KR101742489B1 - Mobile robot apparatus and system for UV disinfection - Google Patents

Mobile robot apparatus and system for UV disinfection Download PDF

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Publication number
KR101742489B1
KR101742489B1 KR1020160015415A KR20160015415A KR101742489B1 KR 101742489 B1 KR101742489 B1 KR 101742489B1 KR 1020160015415 A KR1020160015415 A KR 1020160015415A KR 20160015415 A KR20160015415 A KR 20160015415A KR 101742489 B1 KR101742489 B1 KR 101742489B1
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KR
South Korea
Prior art keywords
ultraviolet
unit
ultraviolet sterilizing
main body
mobile robot
Prior art date
Application number
KR1020160015415A
Other languages
Korean (ko)
Inventor
윤형도
박재현
서용곤
Original Assignee
전자부품연구원
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Priority to KR1020160015415A priority Critical patent/KR101742489B1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—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—Ultra-violet radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • 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

Abstract

An ultraviolet sterilizing mobile robot apparatus and system are disclosed. The ultraviolet sterilizing mobile robot of the present invention comprises a main body which is openable and closable at an upper part thereof, a sensor part formed at an outer circumferential surface of the main body and sensing a distance between the external terrain and an external object, An ultraviolet sterilizing unit which is exposed to the outside and irradiates ultraviolet rays, a control unit which controls the movement path of the conveying unit by using data sensed by a conveying unit and a sensor unit which are formed on the bottom surface of the main body, And a control unit for controlling sterilization.

Description

[0001] The present invention relates to an ultraviolet sterilizing mobile robot device,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot apparatus, and more particularly, to an ultraviolet sterilizing mobile robot apparatus and system that perform bactericidal and viral removal using ultraviolet rays.

In general, mobile robots are service robots that can replace or help the hard work in our living space. For example, a mobile robot can determine the distance to an obstacle installed in a zone through various sensors without performing a user operation, and perform a given operation while switching directions.

That is, the mobile robot has a complicated structure and is easily used for performing dangerous tasks to be performed by the user.

On the other hand, in order to remove bacteria such as bacteria and viruses generated in a certain area, the user is directly disinfected and the user is exposed to chemicals. In addition, since the user disinfects the medicine, there is a problem that the bacteria have resistance to the medicine and spray more medicine.

Therefore, studies are being conducted to solve the above-mentioned problems, and researches using a mobile robot have been conducted as one of them.

Korean Registered Patent No. 10-0748016 (2007.08.03)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an ultraviolet sterilizing mobile robot apparatus and system for removing bacteria such as bacteria and viruses with ultraviolet rays by providing an ultraviolet sterilizing lamp inside the mobile robot.

It is another object of the present invention to provide an ultraviolet sterilizing mobile robot apparatus and a system for preventing exposure of a drug caused by disinfection in advance.

In order to achieve the above object, an ultraviolet sterilizing mobile robot apparatus according to the present invention comprises: a main body having an upper portion which is openable and closable; a sensor portion formed on an outer circumferential surface of the main body and sensing a distance to an external terrain and an external object; An ultraviolet sterilizer which is exposed to the outside and emits ultraviolet rays when the upper part of the main body is opened; a transfer unit which is formed on a bottom surface of the main body and moves along the movement path; And a control unit for controlling the movement path of the conveyance unit and controlling ultraviolet sterilization of the ultraviolet sterilizing unit.

The ultraviolet sterilizing unit may further include an ultraviolet sterilizing lamp for irradiating ultraviolet rays, a support for supporting the ultraviolet sterilizing lamp and performing up and down movement, and a motor connected to the support for performing the rotation for the up and down movement. do.

The ultraviolet germicidal lamp may be irradiated with a single wavelength by using any one of UV-A wavelength LED, UV-B wavelength LED and UV-C wavelength LED alone or UV-A wavelength LED, UV-B wavelength LED and UV And-C wavelength LED are mixed and irradiated at a mixed wavelength.

Further, the controller may stop driving the ultraviolet sterilizing unit when the sensor unit detects the living organism while the ultraviolet light is being irradiated.

Further, the control unit restarts the driving of the ultraviolet sterilizing unit when the sensor unit does not detect the living organism during the stop of driving the ultraviolet sterilizing unit.

The ultraviolet sterilizing mobile robot system according to the present invention includes a sterilizing mobile robot device for irradiating ultraviolet rays, a charger for supplying power to the sterilizing mobile robot device, and a controller for supplying power to the sterilizing mobile robot device, The sterilizing mobile robot apparatus according to claim 1, wherein the sterilizing mobile robot apparatus comprises: a main body having an upper portion that is openable and closable; a sensor portion formed on an outer circumferential surface of the main body and sensing a distance to an external terrain and an external object; An ultraviolet sterilizer which is exposed to the outside and emits ultraviolet rays when the upper part of the main body is opened; a transfer unit which is formed on a bottom surface of the main body and moves along the movement path; And a control unit for controlling the movement path of the conveying unit and controlling ultraviolet sterilization of the ultraviolet sterilizing unit .

According to the ultraviolet sterilizing mobile robot apparatus and system according to the present invention, the ultraviolet sterilizing lamp is provided inside the mobile robot to remove bacteria such as bacteria and virus with ultraviolet rays.

In addition, the user can prevent the exposure of the medicine caused by disinfection in advance.

1 is a block diagram illustrating an ultraviolet sterilizing mobile robot system according to an embodiment of the present invention.
2 is a block diagram for explaining an ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention.
3 is a block diagram for explaining an ultraviolet sterilizing unit according to an embodiment of the present invention.
4 is a schematic view for explaining an ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention.
FIG. 5 is an exemplary view illustrating an off-state of the ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention. Referring to FIG.
6 is an exemplary view for explaining an on state of the ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention.
FIG. 7 is an exemplary view for explaining the types of ultraviolet sterilizing lamps according to an embodiment of the present invention.
8 is a schematic view for explaining the structure of an ultraviolet sterilizing lamp according to an embodiment of the present invention.
9 is an exemplary view for explaining a wavelength band of an ultraviolet sterilizing lamp according to an embodiment of the present invention.
10 is a schematic view for explaining a driving unit according to an embodiment of the present invention.
11 is a schematic view for explaining an ultraviolet sterilizing mobile robot apparatus according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals as used in the appended drawings denote like elements, unless indicated otherwise. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather obvious or understandable to those skilled in the art.

1 is a block diagram illustrating an ultraviolet sterilizing mobile robot system according to an embodiment of the present invention.

Referring to FIG. 1, an ultraviolet sterilizing mobile robot system 400 includes an ultraviolet sterilizing mobile robot apparatus 100, a charger 200, and a controller 300.

The ultraviolet sterilizing mobile robot apparatus 100 includes an ultraviolet sterilizing lamp for irradiating ultraviolet rays to remove bacteria such as bacteria and viruses in a designated area. Thus, the ultraviolet sterilizing mobile robot apparatus 100 prevents the user from exposing the medicine caused by disinfection.

Particularly, the ultraviolet sterilizing mobile robot apparatus 100 is provided with a transfer unit at a lower portion thereof to irradiate ultraviolet rays while moving along a set travel path. In addition, the ultraviolet sterilizing mobile robot apparatus 100 can supply power to the charger 200, which will be described later, upon completion of the operation. That is, the ultraviolet sterilizing mobile robot apparatus 100 includes an automatic charging function.

The charger 200 supplies power to the ultraviolet sterilizing mobile robot apparatus 100. The charger 200 may include an induction sensor to guide the ultraviolet sterilizing mobile robot apparatus 100 to the charger 200. [ At this time, the charger 200 may be formed of a male-type connector or an female-type connector so as to be brought into contact with the ultraviolet sterilizing mobile robot apparatus 100 so that mutual coupling can be performed.

The controller 300 transmits a control signal including information on the power source and sterilization time to the sterilizing mobile robot apparatus 100. [ The controller 300 controls on / off of the sterilizing mobile robot apparatus 100 and controls sterilization time. Here, the sterilization time can control the control signal for the sterilization time according to the size of the sterilization zone range. That is, the controller 300 sets the sterilization time to a small value when the sterilization zone is small, and can set a large sterilization time when the sterilization zone is wide. The controller 300 may be a remote controller, a smart phone, a tablet PC, a personal computer, or the like.

The controller 300 can communicate with the sterilizing mobile robot apparatus 100 through wired / wireless communication. The controller 300 may be any one of a Zigbee, a HomeRF, a Wireless LAN, a Bluetooth, a Power Line Communication (PLC), a Home PNA, an Ethernet, Infrared Data Association (RFD), radio frequency (RF), LTE, WiBro, WiFi, and the like.

2 is a block diagram for explaining an ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention.

1 and 2, the ultraviolet sterilizing mobile robot apparatus 100 includes a communication unit 10, a sensor unit 20, a power supply unit 30, a control unit 40, an ultraviolet sterilizing unit 50, a display unit 60 And a power charging unit 70.

The communication unit 10 receives control signals from external equipment. At this time, the external equipment may be the controller 300, and the control signal may be a signal including information on power supply and sterilization time of the ultraviolet sterilizing mobile robot apparatus 100. The communication unit 10 may support wired / wireless communication and may preferably support ZigBee, HomeRF, wireless LAN, Bluetooth, PLC, home PNA, Ethernet, IRDA, RF, LTE, WiBro, WiFi, Preferably, the communication unit 10 may be associated with the internet of things.

The sensor unit 20 senses the distance between the external terrain and the external object. The sensor unit 20 detects an external terrain and an external object which are close to the front, rear, left, and right sides. Preferably, the sensor unit 20 may include a distance sensor, a floor sensor, a gyro sensor, an acceleration sensor, a position sensor, an anti-collision sensor, and the like. The sensor unit 20 may include a camera. Thus, the sensor unit 20 can capture images of the ceiling and the wall surface by the camera.

The sensor unit 20 detects an external object by separating it into an organism and a non-organism. Here, the organism may include people, animals, plants, and the like. The sensor unit 20 includes a sensor for recognizing heat or motion in order to distinguish an organism from a non-organism. Preferably, the sensor unit 20 may include a passive infrared (PIR) sensor, a microwave motion sensor, and the like. Here, the PIR sensor is a sensor that receives infrared rays (heat) emitted from an object, and the microwave motion sensor is a sensor that detects motion using a Doppler radar principle.

The power supply unit 30 controls ON / OFF. When the power supply unit 30 is on, the ultraviolet sterilizing mobile robot apparatus 100 is powered by the power supply unit 70 to be described later, and when the power supply unit 30 is off, The sterilizing mobile robot apparatus 100 can not receive power from the power charging unit 70 and does not operate.

The control unit 40 controls the movement path by using the data sensed by the sensor unit 20 and controls ultraviolet sterilization through external exposure of the ultraviolet sterilizing unit 50 to be described later. The control unit 40 can control the movement path according to a predetermined movement pattern. Here, the movement pattern may include a pattern moving from the outside to the inside of the zone, a pattern moving from the inside to the outside of the zone, a pattern moving in a zigzag shape, and the like. The control unit 40 controls the ultraviolet sterilizing unit 50 to move up and down. Accordingly, the control unit 40 can control the time of ultraviolet irradiation.

Particularly, the control unit 40 accurately recognizes the position of the ultraviolet sterilizing mobile robot apparatus 100 through the image captured by the sensor unit 20, distinguishes the ultraviolet sterilization space from the non-sterilized space, and efficiently controls the ultraviolet sterilization can do.

The ultraviolet sterilizing unit 50 irradiates ultraviolet rays to remove bacteria such as bacteria and viruses. The ultraviolet sterilizing unit 50 uses an ultraviolet lamp for ultraviolet irradiation. The ultraviolet sterilizing unit 50 can be designed so that ultraviolet rays can be irradiated in all directions.

The display unit 60 displays the current state of the ultraviolet sterilizing mobile robot apparatus 100. The display unit 60 may display the power state of the ultraviolet sterilizing mobile robot apparatus 100, the driving state of the ultraviolet sterilizing unit 50, the indoor temperature, the indoor humidity, the remaining power, the remaining sterilization time, In addition, the display unit 60 may include a touch screen function, and the user may directly input a sterilization time, a movement pattern, and the like. The display unit 60 may be displayed in the form of characters, symbols, emoticons, etc., and may be formed of a liquid crystal display (LCD), an organic light emitting diode (OLED), or a flexible display.

The power charging unit 70 charges the power source from the external power source. The power charging unit 70 may be formed as an external device of the ultraviolet sterilizing mobile robot apparatus 100, that is, a portion contacting with the charger 200, and may be formed of a male type connector or an female type connector, So that it can be easily performed.

In particular, the power charging unit 70 includes a battery in case the power charging is difficult. That is, when the charged power source is depleted, the ultraviolet sterilizing mobile robot apparatus 100 can receive power from the battery. Preferably, the battery may be of a charging type such as a lithium ion battery.

3 is a block diagram for explaining an ultraviolet sterilizing unit according to an embodiment of the present invention.

2 and 3, the ultraviolet sterilizing unit 50 includes an ultraviolet sterilizing lamp 51, a support 53, and a motor 55. [

The ultraviolet sterilizing lamp 51 is a lamp for irradiating ultraviolet rays. The ultraviolet sterilizing lamp 51 uses an environmentally friendly and durable ultraviolet light emitting diode as a basis. In particular, the ultraviolet sterilizing lamp 51 is designed so that ultraviolet rays can be irradiated to all the upper, lower, left, and right sides, and the ultraviolet wavelength range can be adjusted so that ultraviolet rays can be effectively sterilized according to the external environment. That is, the ultraviolet ray sterilizing lamp 51 can be irradiated with a single wavelength using either UV-A wavelength LED, UV-B wavelength LED, or UV-C wavelength LED alone or UV-A wavelength LED, UV-B wavelength LED And UV-C wavelength LED may be mixed and irradiated at a mixed wavelength.

Here, the ultraviolet sterilizing lamp 51 is limited to ultraviolet light emitting diodes, but it is not limited thereto, and general ultraviolet lamps and plasma lamps may also be used.

The support table 53 supports the ultraviolet sterilizing lamp 51 and performs up and down movement. The supporting table 53 is formed into a rod shape or a bar shape, and an ultraviolet sterilizing lamp 51 is formed on the upper side. At this time, the support table 53 may be formed with a certain thickness and strength so as not to be warped or shaken.

The motor 55 is connected to the support 53 to perform the rotation for the up and down movement of the support 53. [ That is, the motor 55 is connected to the lower portion of the support table 53 to perform the vertical movement of the support table 53. The motor 55 receives the control signal from the control unit 40 and rotates in accordance with the received control signal.

4 is a schematic view for explaining an ultraviolet sterilizing mobile robot apparatus according to an embodiment of the present invention.

1 and 4, the ultraviolet sterilizing mobile robot apparatus 100 is formed with hardware based on a main body 80, and a transfer unit 90 is provided on the bottom surface of the main body 80 to move the apparatus in the longitudinal, do. The ultraviolet sterilizing mobile robot apparatus 100 includes a communication unit 10, a sensor unit 20, a power supply unit 30, a control unit 40, an ultraviolet sterilizing unit 50, a display unit 60, a power charging unit 70, (80) and a transfer part (90).

The communication unit 10 is formed inside the main body 80. The communication unit 10 is formed in the lower portion 85 of the inside of the main body 80 and an antenna (not shown) may be formed on the outer peripheral surface of the main body 80 to facilitate communication with the controller 300 have.

The sensor unit 20 is formed on the outer circumferential surface of the main body 80. The sensor unit 20 may be spaced apart from the central portion 83 of the outer circumferential surface of the main body 80 at regular intervals. Accordingly, the sensor unit 20 can easily detect the distance between the external terrain and the external object.

The power supply unit 30 is formed on the outer circumferential surface of the main body 80. Preferably, the power supply unit 30 may be formed as a switch or a button in the central portion 83 of the outer circumferential surface of the main body 80. Also, the power supply unit 30 may display light using light so that the user can easily confirm the on / off state of the power supply. That is, the power supply unit 30 emits light around the power supply unit 30 when the power supply is on, and may not emit light around the power supply unit 30 when the power supply is off.

The control unit (40) is formed inside the main body (80). The control unit 40 is formed inside the main body 80 and can be protected from the external environment and is preferably formed in the lower portion 83 and includes the communication unit 10, the ultraviolet sterilizing unit 50, , It is possible to facilitate connection with the transfer unit 90.

The ultraviolet sterilizing unit 50 is formed inside the main body 80 but can be exposed to the outside by being moved up and down by engaging with the opening and closing of the upper portion 81 of the main body 80. [ That is, the upper part of the main body 80 of the ultraviolet sterilizing unit 50 may be opened and then exposed to the outside.

The display portion 60 is formed on the outer peripheral surface of the main body 80. The display unit 60 may be formed at a central portion 83 of the outer circumferential surface of the main body 80 and may be formed at a portion adjacent to the power source unit 30. [ Accordingly, after confirming the display, the user can easily turn off the power source when the ultraviolet sterilizing mobile robot apparatus 100 has completed the task.

The power charging unit 70 is formed on the outer peripheral surface of the main body 80. Preferably, the power charging unit 70 is formed at a lower portion of the main body 80 so as to engage with the connector height of the charger 200 installed outside. The power charging unit 70 may include a male type connector or an female type connector.

The main body 80 is formed in a dome shape and is divided into an upper portion 81, a central portion 83 and a lower portion 85. Here, the main body 80 is limited to a dome shape, but is not limited thereto, and may be formed into a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid.

The transfer unit 90 is formed on the bottom surface of the main body 80 and moves the main body 80 along the movement path. The transfer unit 90 may be formed in a roller structure that can be used in a special disaster area or an external polluted area by using wheels having a circular structure so as to easily move in a general flat area. In particular, the roller structure may not climb up a hill or fall downhill.

FIG. 5 is an exemplary view for explaining an off-state of the ultraviolet sterilizing mobile robot according to an embodiment of the present invention, and FIG. 6 is a view for explaining an operation of the ultraviolet sterilizing mobile robot according to an embodiment of the present invention. ) State.

Referring to FIGS. 4 to 6, the ultraviolet sterilizing mobile robot apparatus 100 can perform different driving when the power is in an off state and an on state.

The ultraviolet sterilizing mobile robot apparatus 100 closes the upper portion 81 of the main body 80 and provides the ultraviolet sterilizing portion 50 inside the main body 80. [ Thus, the ultraviolet sterilizing mobile robot apparatus 100 can protect the ultraviolet sterilizing unit 50 from dust and contaminants. Here, if the ultraviolet sterilizing lamp 51 is provided inside the main body 80, the ultraviolet sterilizing lamp 51 is turned off without being irradiated with ultraviolet rays.

The ultraviolet sterilizing mobile robot apparatus 100 opens the upper portion 81 of the main body 80 and moves the ultraviolet sterilizing unit 50 to the outside of the main body 80 when the power is on. At this time, the ultraviolet sterilizing mobile robot apparatus 100 rotates the motor 55 to raise the support table 53, and changes the ultraviolet sterilizing lamp 51 to the ON state. Here, the ultraviolet sterilizing lamp 51 moved to the outside of the main body 80 is sterilized by ultraviolet irradiation in all directions.

The ultraviolet sterilizing mobile robot apparatus 100 moves the ultraviolet sterilizing unit 50 to the inside of the main body 80 and moves the ultraviolet sterilizing unit 50 to the inside of the main body 80 (81) is closed and stopped for a while. The ultraviolet sterilizing mobile robot apparatus 100 is stopped and remains in a dormant state and if the organism is not detected during the dormant state, the upper portion 81 of the main body 80 is opened again and the ultraviolet sterilizing unit 50 is returned to the main body 80 ), And ultraviolet rays are irradiated according to the set sterilization time. At this time, the ultraviolet sterilizing mobile robot apparatus 100 may not include the sleeping time in the sterilization time.

In addition, if the ultraviolet sterilizing mobile robot apparatus 100 senses an organism even after waiting for a predetermined period of time in a dormant state, the ultraviolet sterilizing mobile robot apparatus 100 moves to an area where no organism is detected, Can be performed.

8 is a schematic view for explaining the structure of an ultraviolet sterilizing lamp according to an embodiment of the present invention, and FIG. 9 is a schematic view for explaining the structure of an ultraviolet sterilizing lamp according to an embodiment of the present invention. FIG. 2 is an exemplary view for explaining a wavelength band of an ultraviolet sterilizing lamp according to an embodiment of the present invention; FIG.

7 to 9, the ultraviolet sterilizing lamp 51 is designed and manufactured so that light can be irradiated to all the upper, lower, left, and right sides, and the ultraviolet sterilizing lamp 51 has a planar shape (see FIG. 7 (a) (See Fig. 7 (b)), a cylindrical shape (see Fig. 7 (c)), and the like.

The ultraviolet sterilizing lamp 51 includes an ultraviolet LED chip 52, a heat sink 510, a substrate 530, a lens unit 550 and a reflector 570.

The ultraviolet LED chip 52 is a semiconductor device in which an ultraviolet light emitting diode is manufactured in the form of a semiconductor chip. The ultraviolet LED chip 52 can be bonded to the substrate 530 by a series structure, a parallel structure, or a series / parallel hybrid structure according to a printed circuit pattern of the substrate 530.

The ultraviolet LED chip 52 can be classified into a chip for emitting a long wavelength UV-A, a long wavelength UV-B and a short wavelength UV-C ultraviolet ray according to the wavelength. Here, UV-A has a wavelength of 320 to 360 nm, UV-B has a wavelength of 280 to 320 nm, and UV-C has a wavelength of 250 to 280 nm. The ultraviolet LED chips 52 are arranged according to the printed circuit pattern of the substrate 530 to form an array. At this time, the array can uniformly arrange the ultraviolet LED chips 52 that emit the same kind of wavelength, or mix and arrange the ultraviolet LED chips 52 that emit different kinds of wavelengths.

For example, as shown in Figs. 9 (a) to 9 (c), the ultraviolet sterilizing lamp 51 can arrange the ultraviolet LED chip 52 that emits the same kind of wavelength on the substrate 530. [ 9 (a) shows an ultraviolet LED chip 52 that emits UV-A, Fig. 9 (b) shows an ultraviolet LED chip 52 that emits UV-B, An ultraviolet LED chip 52 that emits UV-C is arranged

9 (d) to 9 (f), the ultraviolet ray sterilizing lamp 51 can arrange the ultraviolet LED chip 52 that emits different kinds of wavelengths on the substrate 530. FIG. 9 (d), ultraviolet LED chips 530 which emit wavelengths of UV-A, UV-B, UV-C, UV-A and UV- The ultraviolet LED chips 52 emitting ultraviolet rays of UV-A, UV-B, UV-A, UV-A and UV-B are arranged in order from the left. C, UV-B, UV-C, UV-B and UV-C.

Particularly, the ultraviolet sterilizing lamp 51 for emitting different wavelengths is not limited to the arrangement shown in Figs. 9 (d) to 9 (f), and various arrangements can be applied according to the external environment.

The heat sink 510 emits heat emitted from the ultraviolet LED chip 52 and the substrate 530. The heat sink 510 may be formed using a heat spreader, a heat sink, a heat pipe, or the like.

The substrate 530 is a PCB substrate and may be classified into an epoxy resin substrate, a flexible substrate, a ceramic substrate, and a metal substrate depending on the material. In particular, the substrate 530 includes a connector portion 535 that receives power from the power source charging portion 70.

The lens unit 550 diffuses the ultraviolet light of the point light source into the surface light source, and expands the angle at which the ultraviolet light is radiated, thereby irradiating ultraviolet light to a wider area. The lens unit 550 includes a diffuser plate 551 and a radiation angle lens 553.

The diffuser plate 551 changes ultraviolet light of the point light source to ultraviolet light of the surface light source. That is, the ultraviolet LED chip 52 emits ultraviolet rays of the point light source, and ultraviolet rays of the point light source are diffused into the ultraviolet rays of the surface light source as they pass through the diffusion plate 551. A diffusion pattern is formed in the diffusion plate 551, and the ultraviolet rays of the point light source incident on the diffusion pattern formed are diffused into the ultraviolet rays of the planar light source. The diffuser plate may be made of synthetic quartz or glass to prevent ultraviolet light diffusion and deterioration.

The radiation lens 553 may be made of synthetic quartz, glass, Teflon, special acrylic, or special plastic to prevent deterioration. The radiation lens 553 is formed using laser processing, coating, vapor deposition, scratch, etching, or the like.

Here, the lens unit 550 can be manufactured by integrally forming the diffuser plate 551 and the radiation angle lens 553, respectively. Preferably, the lens part 55 can be manufactured as an integral type which can reduce the number of parts and lower the unit price of the price.

The reflection plate 570 reflects ultraviolet rays emitted from the ultraviolet LED chip 52, and the reflected ultraviolet rays are incident on the lens unit 550. The reflector 570 may be reflective coated on the inner side to increase the reflectance of ultraviolet rays. At this time, the coating material may be a reflective metal film such as aluminum (Al), gold (Au), silver (Ag) or the like having good reflection characteristics.

The ultraviolet sterilizing lamp 51 may further include a driver for protecting the plurality of ultraviolet LED chips 52. [ The driver includes a driver IC and peripheral components, and the driver IC can add functions such as PWM control and constant current control according to the design.

10 is a schematic view for explaining a driving unit according to an embodiment of the present invention.

Referring to FIG. 10, the driving unit 610 may be additionally formed between the ultraviolet sterilizing lamp 51 and the power charging unit 70. The driving unit 610 drives the ultraviolet LED chip 52 mounted on the substrate 530 using the power supplied from the power charging unit 70. At this time, the driving unit 610 can selectively drive some or all of the plurality of ultraviolet LED chips 52 arranged on the substrate 530.

As described above, the ultraviolet sterilizing lamps 51 can be uniformly arranged by the ultraviolet LED chips 52 that emit the same kind of wavelength, or they can be mixed and arranged by the ultraviolet LED chips 52 that emit different kinds of wavelengths.

When the ultraviolet LED chips 52 emitting the same kind of wavelength are uniformly arranged, the driving unit 610 drives only a part of the ultraviolet LED chips 52 arranged on the substrate 530, ), Or to control the intensity of the wavelength. The ultraviolet LED chip 52 differs from the ultraviolet LED chips 52 arranged on the substrate 530. The ultraviolet LED chip 52 may be formed of a material such as aluminum, Can be driven. To this end, the driving unit 610 includes a driving IC 611 and peripheral parts 613. The driving IC 611 includes a PWM controller and a constant current generator in accordance with the design. The peripheral component 613 includes a resistor, a diode, an inductor, and the like.

11 is a schematic view for explaining an ultraviolet sterilizing mobile robot apparatus according to another embodiment of the present invention.

4 and 11, the ultraviolet sterilizing mobile robot apparatus 700 has the same structure and function as the ultraviolet sterilizing mobile robot apparatus 100, and further includes a vacuum cleaning unit 750 to include a cleaning function.

The vacuum cleaner 750 is formed at a lower portion of the main body 80 to remove dust and foreign substances formed on the bottom. The vacuum cleaner 750 includes a suction port 755 for sucking dust and foreign matter, and a brush is formed around the suction port 755 to improve the cleaning function.

Therefore, the ultraviolet sterilizing mobile robot apparatus 700 can simultaneously perform sterilization and floor cleaning.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation in the embodiment in which said invention is directed. It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

10: communication unit 20:
30: power supply unit 40:
50: ultraviolet sterilizing part 51: ultraviolet sterilizing lamp
52: ultraviolet LED chip 53: support
55: motor 60: display part
70: Power supply charger 80:
81: upper portion 83: central portion
85: Lower part 90:
100, 500: Ultraviolet sterilizing mobile robot device 200: Charger
300: controller
400: Ultraviolet sterilizing mobile robot system 510: Heat sink
530: substrate 535: connector portion
550: lens portion 551: diffusion plate
553: Rectangular lens 570: Reflector
610: Driving unit 611: Driving IC
613: Peripheral component 750: Vacuum cleaner
755: inlet

Claims (10)

A body having an upper portion formed to be openable and closable;
A sensor unit formed on an outer circumferential surface of the body and sensing a distance between the external terrain and an external object;
An ultraviolet sterilizing unit formed inside the main body and exposed to the outside when the upper part of the main body is opened to emit ultraviolet rays;
A transporting unit formed on a bottom surface of the main body and moving along a movement path; And
And a control unit controlling the movement path of the transfer unit using the data sensed by the sensor unit and controlling ultraviolet sterilization of the ultraviolet sterilizing unit,
The ultraviolet-
An ultraviolet sterilizing lamp for irradiating ultraviolet rays;
A support for supporting the ultraviolet sterilizing lamp and performing up and down movement; And
And a motor connected to the supporter to perform the rotation for the up and down movement,
Wherein,
Recognizing a current position using an image of a ceiling and a wall surface captured from a camera of the sensor unit, discriminating an ultraviolet sterilized space and an unsterilized space using the recognized current position, Sterilization control,
Wherein the sensor unit detects at least one living organism of a person, an animal, or a plant during the irradiation of the ultraviolet ray, moves the ultraviolet sterilizing unit to the inside of the main body, then closes the upper part of the main body, Stop,
When the sensor unit does not detect the living organism during the driving of the ultraviolet sterilizing unit is stopped, the upper part of the main body is opened and then the ultraviolet sterilizing unit is moved to the outside of the main body,
Wherein when the sensor unit senses the organism for a predetermined period of time while the driving of the control unit sterilizer unit is stopped, the control unit instructs the movement path change to the area where the organism is not sensed. delete The method according to claim 1,
The ultraviolet sterilization lamp includes:
UV-A wavelength LEDs, UV-B wavelength LEDs, and UV-C wavelength LEDs alone or at least two of UV-A wavelength LEDs, UV-B wavelength LEDs, and UV-C wavelength LEDs. And the mixture is irradiated at a mixed wavelength. delete delete delete The method according to claim 1,
Wherein,
Wherein at least one of the thermal information and the motion recognition information sensed by the sensor unit is used to distinguish the organism from the non-organism. delete The method according to claim 1,
A vacuum cleaner formed at a lower portion of the main body to suck dust and foreign substances formed on the floor and perform floor cleaning;
Further comprising: an ultraviolet sterilizing mobile robot device having an ultraviolet sterilizing function. An ultraviolet sterilizing mobile robot device for irradiating ultraviolet rays;
A charger for supplying power to the ultraviolet sterilizing mobile robot device; And
And a controller for transmitting a control signal including information on power and sterilization time to the ultraviolet sterilizing mobile robot apparatus,
The ultraviolet sterilizing mobile robot apparatus comprises:
A body having an upper portion formed to be openable and closable;
A sensor unit formed on an outer circumferential surface of the body and sensing a distance between the external terrain and an external object;
An ultraviolet sterilizing unit formed inside the main body and exposed to the outside when the upper part of the main body is opened to emit ultraviolet rays;
A transporting unit formed on a bottom surface of the main body and moving along a movement path; And
And a control unit controlling the movement path of the transfer unit using the data sensed by the sensor unit and controlling ultraviolet sterilization of the ultraviolet sterilizing unit,
The ultraviolet-
An ultraviolet sterilizing lamp for irradiating ultraviolet rays;
A support for supporting the ultraviolet sterilizing lamp and performing up and down movement; And
And a motor connected to the support and performing rotation for the up and down movement,
Wherein,
Recognizing a current position using an image of a ceiling and a wall surface captured from a camera of the sensor unit, discriminating an ultraviolet sterilized space and an unsterilized space using the recognized current position, Sterilization control,
Wherein the sensor unit detects at least one living organism of a person, an animal, or a plant during the irradiation of the ultraviolet ray, moves the ultraviolet sterilizing unit to the inside of the main body, then closes the upper part of the main body, Stop,
When the sensor unit does not detect the living organism during the driving of the ultraviolet sterilizing unit is stopped, the upper part of the main body is opened and then the ultraviolet sterilizing unit is moved to the outside of the main body,
Wherein when the sensor unit senses the organism for a predetermined period of time while the driving of the control unit sterilizer unit is stopped, the controller instructs the movement path change to the area where the organism is not sensed.
KR1020160015415A 2016-02-11 2016-02-11 Mobile robot apparatus and system for UV disinfection KR101742489B1 (en)

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