KR102460413B1 - Uv sterilizing robot - Google Patents

Abstract

The present invention is to control the body part 100, the ultraviolet sterilization part 200 installed on the upper part of the body part 100, the moving part 500 and the moving part 500 installed on the lower part of the body part 100. It provides a UV sterilization robot comprising a control unit.
The ultraviolet sterilization unit 200 includes a fixing portion 210a fixedly installed on the upper portion of the body portion 100, a lifting portion 210b installed so as to be able to move up and down on the fixing portion 210a, and a fixing portion 210a and It may be configured to include one or more first ultraviolet light emitting units 230 that are installed vertically in the elevating unit 210b and irradiate ultraviolet rays, and the fixed unit 210a or elevating according to the elevating of the elevating unit 210b. A portion of the first UV light emitting unit 230 installed in the unit 210b may appear and appear.
Accordingly, since the height of the UV sterilization robot 10 can be easily changed, sterilization can be performed quickly and effectively at low cost with a simple configuration. In addition, when the lifting unit 210b rises, the length in the vertical direction of the first UV light emitting unit 230 exposed to the outside increases, so that the area to which ultraviolet rays are irradiated becomes large, so that sterilization can be performed quickly and effectively.

Description

UV sterilization robot {UV STERILIZING ROBOT}

The present invention relates to an ultraviolet sterilization robot, and more particularly, to an ultraviolet sterilization robot that can perform sterilization quickly and effectively at low cost with a simple configuration.

Ultraviolet light is widely used for low-cost, simple and rapid sterilization. For example, a commercially available UV sterilization robot is equipped with an UV lamp that sterilizes by irradiating UV light.

The UV sterilization robot can be effectively used in spaces where sterilization is frequently performed, such as livestock pens, hospital rooms, operating rooms, and passageways.

However, the height of the doorway for entering and exiting the space is generally lower than the height inside the space. Therefore, in order to enter the space and sterilize the entire space quickly and effectively, the height of the UV sterilization robot should be lowered when passing through the entrance and higher after passing through the entrance.

In addition, various devices such as a fan, a lighting device, a camera, and a monitor may be disposed above the space. Therefore, in order to quickly and effectively sterilize the entire space, the height of the UV sterilization robot should be lowered when passing through the various devices and increased after passing through the various devices.

As such, in order to quickly and effectively sterilize, the height of the UV sterilization robot needs to be changed according to the situation.

The prior art of changing the height of the UV sterilization robot is as follows.

Korean Patent Registration No. 10-1742489 relates to a UV sterilization mobile robot device and system. When the power is off, the UV sterilization unit is provided inside the main body and the upper part of the main body is closed, and when the power is on, the upper part of the main body is provided. is opened and the UV sterilization unit rises to irradiate UV rays. Accordingly, the height of the UV sterilization robot may change.

However, the prior art is not to perform sterilization quickly and effectively while changing the height of the UV sterilization robot, but to protect the UV sterilization unit from contaminants by accommodating the UV sterilization unit inside the body when sterilization is not performed.

KR 10-1742489

The present invention has been devised to solve the above problems, and embodiments of the present invention have an object to provide an ultraviolet sterilization robot that can perform sterilization quickly and effectively at low cost with a simple configuration.

In addition, embodiments of the present invention have an object to provide an ultraviolet sterilization robot that can be easily and precisely changed in height and prevents collision.

In addition, embodiments of the present invention have an object to provide a UV sterilization robot that can move stably and has improved durability.

In addition, embodiments of the present invention have an object to provide a UV sterilization robot that can reduce energy consumption and the lifespan of the first UV light emitting unit 230 can be extended.

In addition, embodiments of the present invention have an object to provide an ultraviolet sterilization robot that can safely perform sterilization using ultraviolet rays even in a space where living things exist.

The present invention in order to solve the above problems, the body portion 100; UV sterilization unit 200 installed on the upper portion of the body portion (100); a moving part 500 installed in the lower part of the body part 100; And it provides a UV sterilization robot comprising a control unit for controlling the moving unit (500).

The ultraviolet sterilization unit 200 includes a fixing portion 210a fixedly installed on the upper portion of the body portion 100, a lifting portion 210b installed in the fixing portion 210a so as to be able to move up and down, and the fixing portion 210a. ) and one or more first ultraviolet light emitting units 230 that are vertically installed in the elevating unit 210b and irradiate ultraviolet rays.

A portion of the first UV light emitting unit 230 installed in the fixing unit 210a or the lifting unit 210b appears and protrudes according to the elevation of the lifting unit 210b.

In an embodiment, the plurality of first UV light emitting units 230 are installed radially based on the vertical axis of the fixing unit 210a and the lifting unit 210b.

In one embodiment, the fixing part 210a has a larger cross-section than the lifting part 210b, and a storage space for accommodating the lifting part 210b is provided inside the fixing part 210a, and the lifting part 210b is provided. The 210b moves up and down along the inner surface of the fixing part 210a defined by the storage space.

In one embodiment, a first sensor unit 300 for detecting an external object is installed at the upper end of the lifting unit 210b, and the lifting unit 210b is moved according to the detection result of the first sensor unit 300. go up and down

In an embodiment, a portion of the first UV light emitting unit 230 that is covered is turned off and an exposed portion is turned on according to the lifting and lowering of the lifting unit 210b.

In addition, the present invention in order to solve the above problems, the body portion 100; UV sterilization unit 200 installed on the upper portion of the body portion (100); a moving part 500 installed in the lower part of the body part 100; And it provides a UV sterilization robot comprising a control unit for controlling the moving unit (500).

The ultraviolet sterilization unit 200 extends up and down and at least a part of at least one guide unit 220 is installed so as to be able to move up and down, and at least one guide unit 220 is installed movably in the guide unit 220 and irradiates ultraviolet rays. It is configured to include a first ultraviolet light emitting unit (230).

The maximum height at which the first UV light emitting unit 230 can move is changed according to the elevation of the guide unit 220 .

In one embodiment, the plurality of guide units 220 and the first ultraviolet light emitting unit 230 are installed radially with respect to the central axis in the vertical direction of the ultraviolet sterilization unit 200 .

In an embodiment, the plurality of first ultraviolet light emitting units 230 irradiate ultraviolet rays to specific irradiation areas, at least some of which do not overlap each other.

The ultraviolet sterilization robot is installed in the body part 100 or the ultraviolet sterilization part 200, and a second sensor unit for photographing an external object, detecting a distance from an external object, or detecting a radiation wave radiated from an external object (400); and irradiation of each of the first UV light emitting units 230 based on the information photographed by the second sensor unit 400 or the distance value or the value of the radiation detected by the second sensor unit 400 . It further includes a living organism determination unit that determines whether an organism exists in or near the area.

The control unit turns on or turns off each of the first UV light emitting units 230 according to the determination result of the living organism determination unit.

In one embodiment, the second sensor unit 400 is configured to include a plurality of sensors 410 having a limited sensing area.

Each of the sensors 410 is associated with at least one of the plurality of first UV light emitting units 230, and the associated first UV light emitting unit 230 to an external object existing in or near the irradiation area. For this purpose, it captures an external object, detects the distance to the external object, or detects a radiation wave radiated from an external object.

The living body determination unit is a first ultraviolet light emitting unit associated with each of the sensors 410 based on the information photographed by the sensors 410 or the distance value or the value of the radiation detected by the sensors 410 . It is determined whether an organism exists in or near the irradiation area of 230 .

In one embodiment, the second ultraviolet light emitting unit 110 is installed on the lower side of the body portion 100 .

According to embodiments of the present invention, the UV sterilization robot 10 is moved to be installed in the body part 100, the UV sterilization part 200 installed on the upper part of the body part 100, and the body part 100 installed in the lower part. It may include a control unit for controlling the unit 500 and the moving unit 500 . The ultraviolet sterilization unit 200 includes a fixed portion 210a fixedly installed on the upper portion of the body portion 100 , an elevating portion 210b installed so as to be able to move up and down on the fixed portion 210a, and a fixed portion 210a and elevating portion. It may be configured to include one or more first ultraviolet light emitting units 230 that are installed vertically in the portion 210b and irradiate ultraviolet rays. A portion of the first UV light emitting unit 230 installed in the fixing unit 210a or the lifting unit 210b may appear and protrude according to the elevation of the lifting unit 210b.

Therefore, since the height of the UV sterilization robot 10 can be easily changed according to the height of the lower end of the external object by the elevation of the lifting unit 210b, the UV sterilization robot 10 can freely move and perform sterilization, Areas of high elevation can also be sterilized. Accordingly, sterilization can be performed quickly and effectively at low cost with a simple configuration. In addition, when the lifting unit 210b rises, the length in the vertical direction of the first ultraviolet light emitting unit 230 exposed to the outside increases, so that the area to which ultraviolet rays are irradiated becomes large, so that sterilization can be performed quickly and effectively.

According to an embodiment of the present invention, the plurality of first UV light emitting units 230 are radially fixed with respect to the central axis in the vertical direction of the fixing unit 210a and the lifting unit 210b and the fixing unit 210a and the lifting unit 210b. ) can be installed. Accordingly, since the irradiation area of ultraviolet rays is widened with a simple configuration, sterilization can be performed quickly and effectively at low cost.

According to an embodiment of the present invention, the size of the cross-sectional area of the fixing part 210a may be larger than that of the lifting part 210b. In addition, a storage space capable of accommodating the lifting unit 210b may be provided inside the fixing unit 210a. Accordingly, since the fixed portion 210a may have a greater self-weight than the lifting unit 210b, the center of gravity of the ultraviolet sterilization unit 200 is lowered and the ultraviolet sterilization robot 10 moves stably even if the lifting unit 210b rises. can

According to an embodiment of the present invention, the lifting unit 210b may be raised and lowered along the inner surface of the fixed unit 210a defined by the storage space of the fixed unit 210a. Accordingly, even when the lifting unit 210b rises, it can be stably supported by the fixing unit 210a, so that the UV sterilization robot 10 can move stably.

According to an embodiment of the present invention, the first sensor unit 300 for detecting an external object is installed on the upper end of the lifting unit 210b, and the lifting unit 210b according to the detection result of the first sensor unit 300 is installed. can be elevated Accordingly, the height of the upper end of the lifting unit 210b can be accurately adjusted to a lower height than the lower end of the external object. Therefore, it is possible to effectively prevent the elevator 210b from collided with an obstacle with a simple configuration at low cost. In addition, the height of the lifting unit 210b can be precisely adjusted to a height lower than the lower end of the external object by about a predetermined value. Accordingly, it is possible to prevent the lifting unit 210b from descending too much. Accordingly, since the descending distance of the lifting unit 210b can be reduced, the wear caused by the lifting and lowering of the lifting unit 210b can be minimized, thereby improving the durability of the UV sterilization unit 200 and reducing maintenance costs. In addition, if the descending distance of the lifting unit 210b is reduced, the length in the vertical direction of the first ultraviolet light emitting unit 230 exposed to the outside increases.

According to an embodiment of the present invention, a part covered by the first UV light emitting unit 230 may be turned off and a part exposed to the outside may be turned on according to the elevation of the lifting unit 210b. Accordingly, energy consumption can be reduced, the lifespan of the first ultraviolet light emitting unit 230 can be extended, and sterilization can be performed quickly and effectively.

According to an embodiment of the present invention, the ultraviolet sterilization robot 50 is a body part 100 , an ultraviolet sterilization part 200 installed on the upper part of the body part 100 , and a moving part installed on the lower part of the body part 100 . It may include a control unit for controlling the 500 and the moving unit 500 . The ultraviolet sterilization unit 200 extends up and down and at least a portion of the at least one guide unit 220 is installed so as to be able to move up and down, and at least one first guide unit 220 is installed movably in the guide unit 220 and irradiates ultraviolet light. It may be configured to include an ultraviolet light emitting unit 230 . The maximum height at which the first UV light emitting unit 230 can move may be changed according to the elevation of the guide unit 220 .

Therefore, since the height of the UV sterilization robot 50 can be easily changed according to the height of the lower end of the external object by moving the guide unit 220 up and down, the UV sterilization robot 50 can freely move and perform sterilization, Areas of high elevation can also be sterilized. Accordingly, sterilization can be performed quickly and effectively at low cost with a simple configuration. In addition, by allowing the first UV light emitting unit 230 to move up and down along the guide unit 220 , the cost can be reduced by downsizing the first UV light emitting unit 230 and sterilized intensively for an area of a specific height This can be done. In addition, it is possible to form the ultraviolet sterilization unit 200 in which the first ultraviolet light emitting unit 230 moves up and down easily with a simple configuration at low cost.

According to an embodiment of the present invention, the plurality of guide units 220 and the first ultraviolet light emitting unit 230 may be installed radially based on the central axis in the vertical direction of the ultraviolet sterilization unit 200 . Accordingly, since the irradiation area of ultraviolet rays is widened with a simple configuration, sterilization can be performed quickly and effectively at low cost.

According to an embodiment of the present invention, the ultraviolet sterilization robot irradiates ultraviolet rays to a specific irradiation area, respectively, and at least a portion of the irradiation area includes a plurality of first ultraviolet light emitting units 230 that do not overlap each other. part 200; a second sensor unit 400 for photographing an external object, detecting a distance from the external object, or detecting a radiation wave radiated from an external object; The irradiation area of each of the first UV light emitting units 230 based on the information photographed by the second sensor unit 400 or the distance value or the value of the radiation detected by the second sensor unit 400 a living organism determination unit for determining whether an organism exists in or near the living organism; It may include a control unit that turns on or turns off each of the first ultraviolet light emitting unit 230 according to the determination result of the living organism determination unit. Accordingly, it is possible to irradiate the ultraviolet ray only to the region where the living organism does not exist without irradiating the ultraviolet ray to the region where the living organism exists. Therefore, since sterilization using ultraviolet rays can be safely performed even in a space where living things exist, sterilization can be performed quickly and effectively.

According to an embodiment of the present invention, the second sensor unit 400 is configured to include a plurality of sensors 410 having a limited sensing area, and each sensor 410 includes a plurality of first UV light emitting units 230 . It is associated with at least one of them, and each sensor 410 shoots an external object for an external object existing in or near the irradiation area of the first UV light emitting unit 230 associated with each sensor 410 or Detects a distance to an object or detects a radiation wave radiated from an external object, and based on the information photographed by the living body determination unit sensors 410 or a distance value detected by the sensors 410 or a value of the radiation wave to determine whether an organism exists in or near the irradiation area of the first UV light emitting unit 230 associated with each sensor 410 . Accordingly, the living organism determination unit determines whether an organism exists in or near the irradiation area of each first ultraviolet light emitting unit 230 with only a small number of sensors 410 associated with each first ultraviolet light emitting unit 230 information. Since it is possible to judge, it is possible to accurately and quickly determine the existence of an organism at a low cost with a simple configuration.

According to an embodiment of the present invention, the second ultraviolet light emitting unit 110 may be installed on the lower side of the body portion 100 . Accordingly, ultraviolet rays are also irradiated to the lower side or the bottom surface of the sterilization target space, so that the sterilization target space can be sterilized quickly and effectively.

In addition to the above-described effects, the specific effects of the present invention will be described together while describing specific details for carrying out the invention below.

1 and 2 are perspective views showing an elevated state and a lowered state in the ultraviolet sterilization robot according to an embodiment of the present invention. 3 and 4 are plan views of the ultraviolet sterilization robot of FIGS. 1 and 2, showing the state when there is no person at the rear and when there is.
5 and 6 are perspective views showing a raised state and a lowered state of the guide unit in the ultraviolet sterilization robot according to another embodiment of the present invention. 7 and 8 are plan views of the ultraviolet sterilization robot of FIGS. 5 and 6, showing the state when there is no person at the rear and when there is.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is not limited to the embodiments disclosed below, and various changes may be made and may be implemented in various different forms. Only this embodiment is provided so as to complete the disclosure of the present invention and to fully inform those of ordinary skill in the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, and all changes and equivalents included in the technical spirit and scope of the present invention as well as substituting or adding the configuration of any one embodiment and the configuration of other embodiments to each other or substitutes.

The accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed in the present specification is not limited by the accompanying drawings, and all changes and equivalents included in the spirit and scope of the present invention It should be understood to include water or substitutes. In the drawings, in consideration of the convenience of understanding, the size or thickness may be exaggeratedly large or small, but the protection scope of the present invention should not be construed as being limited thereto.

The terms used herein are used only to describe specific embodiments or examples, and are not intended to limit the present invention. And singular expressions include plural expressions unless the context clearly dictates otherwise. In the specification, terms such as includes, consists of, etc. are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist. That is, in the specification, terms such as include and consist of. It should be understood that this does not preclude the possibility of addition or existence of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

Terms including ordinal numbers such as first, second, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

When an element is referred to as "over" or "below" another element, it should be understood that other elements may be present in the middle as well as disposed directly on the other element. .

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

The ultraviolet sterilization robot disclosed in the following embodiments will be described in more detail with reference to each drawing.

1 and 2 are perspective views showing an elevated state and a lowered state in the ultraviolet sterilization robot according to an embodiment of the present invention. 3 and 4 are plan views of the ultraviolet sterilization robot of FIGS. 1 and 2, showing the state when there is no person at the rear and when there is.

1 to 3 , the ultraviolet sterilization robot 10 includes a body part 100 , an ultraviolet sterilization part 200 , a first sensor part 300 , a second sensor part 400 , and a moving part 500 . and a control unit (not shown).

The body part 100 may correspond to the body of the ultraviolet sterilization robot 10 . The ultraviolet sterilization unit 200 , the second sensor unit 400 , the moving unit 500 , and the control unit may be installed in the body unit 100 .

In addition, the second ultraviolet light emitting unit 110 may be installed on the lower side of the body portion 100 . Accordingly, ultraviolet rays are also irradiated to the lower side or the bottom surface of the sterilization target space, so that the sterilization target space can be sterilized quickly and effectively.

The ultraviolet sterilization unit 200 may be installed on the upper portion of the body unit 100 .

The UV sterilization unit 200 may include a fixing unit 210a, a lifting unit 210b and a first UV light emitting unit 230 .

The fixing part 210a may be fixedly installed on the upper part of the body part 100 . One or more first UV light emitting units 230a1 , 230a2 , and 230a3 may be vertically installed in the fixing unit 210a.

The fixed portion 210a may have a larger cross-sectional area than the elevating portion 210b. In addition, a storage space capable of accommodating the lifting unit 210b may be provided inside the fixing unit 210a. Accordingly, since the fixed portion 210a may have a greater self-weight than the lifting unit 210b, the center of gravity of the ultraviolet sterilization unit 200 is lowered and the ultraviolet sterilization robot 10 moves stably even if the lifting unit 210b rises. can However, the present invention is not limited thereto.

The lifting unit 210b may be installed in the fixing unit 210a to be able to move up and down.

For example, the lifting unit 210b may ascend and descend along the inner surface of the fixed unit 210a defined by the storage space of the fixed unit 210a, as shown in the drawing. Accordingly, even when the lifting unit 210b rises, it can be stably supported by the fixing unit 210a, so that the UV sterilization robot 10 can move stably.

However, since it is not limited to this configuration, unlike the drawings, the lifting unit 210b may be raised and lowered along the outer circumferential surface of the fixing unit 210a. In this case, the size of the cross section of the lifting unit 210b may be larger than that of the fixed unit 210a, and a storage space capable of accommodating the fixed unit 210a may be formed inside the lifting unit 210b.

One or more first ultraviolet light emitting units 230b1 , 230b2 , 230b3 may be vertically installed in the lifting unit 210b.

The first sensor unit 300 may be installed at an upper end of the lifting unit 210b.

The lifting unit 210b may be connected to a controller (not shown) and may be controlled by the controller to ascend and descend.

The first UV light emitting unit 230 may be vertically installed in the fixing unit 210a and the elevating unit 210b, and one or more may be provided. The first ultraviolet light emitting unit 230 may irradiate ultraviolet rays and may include a light emitting diode that emits ultraviolet rays.

In the first UV light emitting unit 230 , a portion of the first UV light emitting unit 230 installed in the fixing unit 210a or the lifting unit 210b may appear and appear according to the elevation of the lifting unit 210b.

For example, when the lifting unit 210b moves along the inner surface of the fixing unit 210a as shown in the figure, the first UV light emitting unit ( 230b) may appear. That is, when the elevating unit 210b rises, a portion of the first UV light emitting unit 230b installed in the elevating unit 210b is exposed to the outside, and when the elevating unit 210b descends, the elevating unit 210b. A portion of the installed first ultraviolet light emitting unit 230b may be covered by the fixing unit 210a.

Conversely, when the lifting unit 210b moves up and down along the outer circumferential surface of the fixing unit 210a, a portion of the first UV light emitting unit 230a installed in the fixing unit 210a according to the lifting and lowering of the lifting unit 210b. can spawn That is, when the lifting unit 210b rises, a portion of the first UV light emitting unit 230a installed in the fixed unit 210a is exposed to the outside, and when the lifting unit 210b descends, the fixed unit 210a A portion of the installed first ultraviolet light emitting unit 230a may be covered by the lifting unit 210b.

At this time, according to the elevation of the lifting unit 210b, a portion of the first UV light emitting unit 230 that is covered may be turned off and a portion exposed to the outside may be turned on. Accordingly, energy consumption can be reduced, the lifespan of the first ultraviolet light emitting unit 230 can be extended, and sterilization can be performed quickly and effectively.

The plurality of first UV light emitting units 230 may be installed in the fixing unit 210a and the lifting unit 210b in a radial direction based on the central axis of the vertical direction of the fixing unit 210a and the lifting unit 210b. Accordingly, since the irradiation area of ultraviolet rays is widened with a simple configuration, sterilization can be performed quickly and effectively at low cost.

The first UV light emitting unit 230 may be connected to a control unit (not shown) and controlled by the control unit so that only a portion of the first UV light emitting unit 230 may be turned on. Accordingly, as described above, a portion of the first UV light emitting unit 230 may be turned on or off according to the lifting and lowering of the lifting unit 210b.

The first sensor unit 300 may be installed on the upper end of the lifting unit 210b, may detect an external object, and may be connected to a control unit (not shown). Here, the external object may correspond to a step above the doorway, a ceiling of an indoor space, a ventilator installed on the ceiling, a lighting device, various equipment such as a camera, a monitor, and the like.

The first sensor unit 300 may include at least one of a camera for photographing an external object and a distance sensor for sensing a distance to the external object. However, it is not limited to this configuration.

The first sensor unit 300 may transmit a result of detecting an external object, such as image information or distance information, to the controller.

The second sensor unit 400 will be described later.

The moving unit 500 may be installed under the body unit 100 and may be controlled by a controller (not shown).

The control unit (not shown) may be installed in the body unit 100 , and may be connected to the ultraviolet sterilization unit 200 , the first sensor unit 300 , the second sensor unit 400 , and the moving unit 500 . .

The controller may turn off a portion of the first UV light emitting unit 230 that is covered and light a portion exposed to the outside according to the elevation of the lifting unit 210b.

The control unit may receive the detection result of the external object from the first sensor unit 300 and may elevate the lifting unit 210b according to the detection result. For example, when an external object is detected in the front, the lifting unit 210b may be lowered to a height lower than the lower end of the external object, and if the external object is not detected, the lifting unit 210b may be raised.

In this way, the first sensor unit 300 for detecting an external object is installed at the upper end of the lifting unit 210b, and the lifting unit 210b is raised and lowered according to the detection result of the first sensor unit 300, so that the lifting unit (210b) It is possible to accurately adjust the height of the upper end to a lower height than the lower end of the external object. Therefore, it is possible to effectively prevent the elevator 210b from collided with an obstacle with a simple configuration at low cost.

In addition, the height of the lifting unit 210b can be precisely adjusted to a height lower than the lower end of the external object by about a predetermined value. Accordingly, it is possible to prevent the lifting unit 210b from descending too much. Accordingly, since the descending distance of the lifting unit 210b can be reduced, the wear caused by the lifting and lowering of the lifting unit 210b can be minimized, thereby improving the durability of the UV sterilization unit 200 and reducing maintenance costs. In addition, if the descending distance of the lifting unit 210b is reduced, the length in the vertical direction of the first ultraviolet light emitting unit 230 exposed to the outside increases.

The control unit may control the movement unit 500 to control the movement of the UV sterilization robot 10 .

In this way, the ultraviolet sterilization robot 10 includes the body part 100, the ultraviolet sterilization part 200 installed on the upper part of the body part 100, the moving part 500 installed on the lower part of the body part 100, and the movement. A control unit for controlling the unit 500 may be included. The ultraviolet sterilization unit 200 includes a fixed portion 210a fixedly installed on the upper portion of the body portion 100 , an elevating portion 210b installed so as to be able to move up and down on the fixed portion 210a, and a fixed portion 210a and elevating portion. It may be configured to include one or more first ultraviolet light emitting units 230 that are installed vertically in the portion 210b and irradiate ultraviolet rays. A portion of the first UV light emitting unit 230 installed in the fixing unit 210a or the lifting unit 210b may appear and protrude according to the elevation of the lifting unit 210b.

Therefore, since the height of the UV sterilization robot 10 can be easily changed according to the height of the lower end of the external object by the elevation of the lifting unit 210b, the UV sterilization robot 10 can freely move and perform sterilization, Areas of high elevation can also be sterilized. Accordingly, sterilization can be performed quickly and effectively at low cost with a simple configuration.

In addition, when the lifting unit 210b rises, the length in the vertical direction of the first UV light emitting unit 230 exposed to the outside increases, so that the area to which ultraviolet rays are irradiated becomes large, so that sterilization can be performed quickly and effectively.

Meanwhile, dotted lines in FIGS. 3 and 4 indicate the irradiation area of the first UV light emitting unit 230 and the sensing area of the first sensor unit 300 and the second sensor unit 400 . 3 and 4 , the first ultraviolet light emitting unit 230 , the second sensor unit 400 , the living body determination unit, and the control unit will be described.

The ultraviolet sterilization robot 10, in addition to the ultraviolet sterilization unit 200, the first sensor unit 300 and the moving unit 500 configured to include the body portion 100, the first ultraviolet light emitting unit 230 described above. , the second sensor unit 400 and the living organism determination unit may be further included.

As shown in FIGS. 3 and 4 , the plurality of first UV light emitting units 230 may respectively irradiate UV rays to a specific irradiation area in which at least some do not overlap each other. Here, the specific irradiation area may be changed according to a location in which the first UV light emitting unit 230 is installed or a direction to which the first UV light emitting unit 230 is directed.

For example, as shown in the drawing, the plurality of first UV light emitting units 230 may be radially disposed in a radial direction. Accordingly, with a simple configuration, the plurality of first UV light emitting units 230 are provided so that the irradiation area of the first UV light emitting unit 230 and at least a part of the irradiation area of the other first UV light emitting unit 230 do not overlap each other. can be placed.

The plurality of first ultraviolet light emitting units 230 may be individually controlled by a controller (not shown) to be turned on or off.

On the other hand, a plurality of second UV light emitting units 110 may also be provided, and each of the second UV light emitting units 110 may irradiate ultraviolet light to a specific irradiation area, and at least a portion of the irradiation area may not overlap each other. can Here, the specific irradiation area may be changed according to a location in which the second ultraviolet light emitting unit 110 is installed or a direction in which the second ultraviolet light emitting unit 110 is directed.

For example, as shown in the drawings, each of the second UV light emitting units 110 may be installed on the lower side of the side of the body 100 along the circumference of the side of the body 100 . Accordingly, a plurality of second UV light emitting units 110 are provided so that the irradiation area of the second UV light emitting unit 110 and at least a part of the irradiation area of the other second ultraviolet light emitting unit 110 do not overlap each other with a simple configuration. can be placed.

The plurality of second UV light emitting units 110 may be individually controlled by a controller (not shown) to be turned on or off.

The second sensor unit 400 may be installed in the body unit 100 or the UV sterilization unit 200 .

The second sensor unit 400 may photograph an external object, detect a distance from the external object, or detect a radiation wave radiated from the external object.

For example, the second sensor unit 400 may include a plurality of sensors 410 having a limited sensing area. Each sensor 410 may correspond to any one of a camera 410a for photographing an external object, a distance sensor 410b for detecting a distance from an external object, or an infrared sensor having a radiation wave radiated from an external object. have. However, it is not limited to this configuration.

Each of the sensors 410 may be associated with at least one of the plurality of first UV light emitting units 230 . For example, in FIGS. 3 and 4 , the first sensor 410a1 may be associated with the first UV light emitting units 230a1 and 230b1 in the upper right, and the second sensor 410a2 is the first UV light in the lower right. It may be associated with the light emitting units 230a2 and 230b2, and the third sensor 410a3 and the fourth sensor 410a4 may be associated with the left first UV light emitting units 230a3 and 230b3.

The first UV light emitting unit 230 associated with each sensor 410 may be determined based on the degree of overlap or adjacency between the sensing area of the sensor 410 and the irradiation area of the first UV light emitting unit 230, and , may be predetermined by the user.

Accordingly, each sensor 410 captures an external object with respect to an external object existing in or near the irradiation area of the associated first UV light emitting unit 230, detects a distance from the external object, or is radiated from the external object. radiation can be detected.

The camera 410a may be used to detect an organism by photographing an external object. For example, based on the skin color included in the image information obtained by photographing the external object through the camera 410a, the living organism determination unit to be described later may determine the existence of the living organism.

A plurality of cameras 410a may be installed on the upper end of the body portion 100 . Accordingly, the camera 410a may be stably installed at an appropriate height to effectively detect the presence or absence of a living organism.

The distance sensor 410b may correspond to a lidar or the like and may detect the shape or movement of an external object. The distance sensor 410b may be used to detect living things, to recognize and avoid obstacles, or to sterilize an object or a wall at an accurate location.

Infrared sensors can detect living things by condensing infrared rays radiated from external objects and detecting only infrared rays of a specific wavelength.

The living body determination unit (not shown) may be installed in the body unit 100 . However, it is not limited to this configuration. For example, the living organism determination unit may be provided in a separate device outside the UV sterilization robot 10 .

The living body determination unit is the irradiation area of each of the first UV light emitting units 230 based on the information photographed by the second sensor unit 400 or the distance value or the value of the radiation detected by the second sensor unit 400 . It can be determined whether there is an organism in or near it. Here, the value of the radiation wave may mean a wavelength length value of the radiation wave or the intensity of a radiation wave having a specific wavelength length.

For example, the living body determination unit is a first UV light emitting unit associated with each sensor 410 based on information photographed by the sensors 410 or a distance value or a value of a radiation wave sensed by the sensors 410 . It may be determined whether an organism exists in or near the irradiation area of 230 .

Specifically, the living organism determination unit determines whether an organism exists in the sensing area (a region between two dotted lines extending from the first sensor) of the first sensor 410a1 based on the image information captured by the first sensor 410a1. It can be determined and based on the determination result on the sensing area, the irradiation area of the first UV light emitting units 230a1 and 230b1 associated with the first sensor 410a1 (between two dotted lines extending from the upper right UV light emitting unit) It is possible to determine whether living things exist in or near an area).

For example, as shown in FIG. 3 , when there is no living organism in the sensing region of the first sensor 410a1 , the living organism determining unit is located in or near the irradiation area of the upper right first UV light emitting units 230a1 and 230b1 . It can be concluded that there is no Accordingly, the controller (not shown) may turn on the upper right first UV light emitting units 230a1 and 230b1.

On the other hand, as shown in FIG. 4 , when there is an organism 60 in the sensing area of the first sensor 410a1 , the organism determining unit is located in or near the irradiation area of the upper right first UV light emitting units 230a1 and 230b1 . It can be determined that there is a living organism (60). Accordingly, the control unit may turn off the first ultraviolet light emitting unit (230a1, 230b1) on the upper right.

In addition, the living organism determination unit determines whether an organism exists in the sensing area (a region between two dotted lines extending from the second sensor) of the second sensor 410a2 based on the image information captured by the second sensor 410a2. In the irradiation area (the area between the two dotted lines from the lower right first UV light emitting unit) of the first UV light emitting units 230a2 and 230b2 associated with the second sensor 410a2 based on the determination result for the sensing area Or it can be determined whether there is an organism in the vicinity.

For example, as shown in FIG. 3 , when there is no living organism in the sensing area of the second sensor 410a2 , the organism determining unit is located in or near the irradiation area of the lower right first UV light emitting units 230a2 and 230b2 . It can be concluded that there is no Accordingly, the control unit may turn on the first ultraviolet light emitting unit (230a2, 230b2) in the lower right.

On the other hand, as shown in FIG. 4 , when there is an organism 60 in the sensing area of the second sensor 410a2 , the organism determination unit is in or near the irradiation area of the lower right first UV light emitting units 230a2 and 230b2 . It can be determined that there is a living organism (60). Accordingly, the control unit may turn off the lower right first UV light emitting units (230a2, 230b2).

In addition, the living body determination unit is based on the image information captured by the third sensor 410a3 and the fourth sensor 410a4, the sensing area (the third sensor and the fourth sensor) of the third sensor 410a3 and the fourth sensor 410a4. It can be determined whether an organism exists in each of the two dotted lines extending from the sensor), and the first associated with the third sensor 410a3 and the fourth sensor 410a4 based on the determination result for each sensing area. It may be determined whether an organism exists in or near the irradiation area of the ultraviolet light emitting units 230a3 and 230b3 (a region between two dotted lines extending from the first ultraviolet light emitting unit on the left).

For example, as shown in FIGS. 3 and 4 , when there is no living organism in the sensing regions of the third sensor 410a3 and the fourth sensor 410a4 , the organism determining unit is the left first UV light emitting unit 230a3 and 230b3 . It can be judged that there are no living things in or near the irradiation area of Accordingly, the control unit may turn on the left first ultraviolet light emitting unit (230a3, 230b3).

In this way, the second sensor unit 400 is configured to include a plurality of sensors 410 having a limited sensing area, and each sensor 410 includes at least one of the plurality of first ultraviolet light emitting units 230 and related, each sensor 410 photographing an external object for an external object existing in or near the irradiation area of the first UV light emitting unit 230 associated with each sensor 410 or measuring the distance from the external object Each sensor ( It may be determined whether an organism exists in or near the irradiation area of the first ultraviolet light emitting unit 230 associated with 410). Accordingly, the living organism determination unit determines whether an organism exists in or near the irradiation area of each first ultraviolet light emitting unit 230 with only a small number of sensors 410 associated with each first ultraviolet light emitting unit 230 information. Since it is possible to judge, it is possible to accurately and quickly determine the existence of an organism at a low cost with a simple configuration.

In addition, the organism determination unit may transmit the determination result to the control unit (not shown).

A control unit (not shown) may be installed in the body portion 100 , and may turn on or off each of the first UV light emitting units 230 according to the determination result of the living organism determination unit.

In this way, the ultraviolet sterilization robot irradiates ultraviolet rays to a specific irradiation area, and at least a portion of the irradiation area includes a plurality of first ultraviolet light emitting units 230 that do not overlap each other, the ultraviolet sterilization unit 200; a second sensor unit 400 for photographing an external object, detecting a distance from the external object, or detecting a radiation wave radiated from an external object; The irradiation area of each of the first UV light emitting units 230 based on the information photographed by the second sensor unit 400 or the distance value or the value of the radiation detected by the second sensor unit 400 a living organism determination unit for determining whether an organism exists in or near the living organism; It may include a control unit that turns on or turns off each of the first ultraviolet light emitting unit 230 according to the determination result of the living organism determination unit. Accordingly, it is possible to irradiate the ultraviolet ray only to the region where the living organism does not exist without irradiating the ultraviolet ray to the region where the living organism exists. Therefore, since sterilization using ultraviolet rays can be safely performed even in a space where living things exist, sterilization can be performed quickly and effectively.

On the other hand, the second UV light emitting unit 110 may also be associated with the second sensor unit 400, like the first UV light emitting unit 230, and each second UV light emitting unit ( 110) may be turned on or off.

5 and 6 are perspective views showing a raised state and a lowered state of the guide unit in the ultraviolet sterilization robot according to another embodiment of the present invention. 7 and 8 are plan views of the ultraviolet sterilization robot of FIGS. 5 and 6, showing the state when there is no person at the rear and when there is.

5 to 7 , the ultraviolet sterilization robot 50 includes a body part 100 , an ultraviolet sterilization part 200 , a first sensor part 300 , a second sensor part 400 , and a moving part 500 . and a control unit (not shown).

The body part 100 may correspond to the body of the UV sterilization robot 50 . The ultraviolet sterilization unit 200 , the second sensor unit 400 , the moving unit 500 , and the control unit may be installed in the body unit 100 .

In addition, the second ultraviolet light emitting unit 110 may be installed on the lower side of the body portion 100 . Accordingly, ultraviolet rays are also irradiated to the lower side or the bottom surface of the sterilization target space, so that the sterilization target space can be sterilized quickly and effectively.

The ultraviolet sterilization unit 200 may be installed on the upper portion of the body unit 100 .

The ultraviolet sterilization unit 200 may include one or more guide units 220 and one or more first ultraviolet light emitting units 230 .

The guide unit 220 may extend up and down and at least a part of it may be installed to be liftable. For example, as shown in the drawing, the entire guide portion 220 may be installed to be liftable on the body portion 100 . However, it is not limited to this configuration.

In addition, the first ultraviolet light emitting unit 230 may be installed in the guide unit 210 to be movable up and down.

The guide unit 220 may be connected to a control unit (not shown) and may be controlled by the control unit to ascend and descend.

A maximum height at which the first UV light emitting unit 230 can move along the guide unit 220 may be changed according to the elevation of the guide unit 220 .

The first ultraviolet light emitting unit 230 may be installed in the guide unit 220 to be movable up and down, and may irradiate ultraviolet rays.

The first ultraviolet light emitting unit 230 may be connected to a controller (not shown) and may be controlled by the controller to move up and down.

The plurality of guide units 220 and the first ultraviolet light emitting unit 230 may be installed radially based on the central axis in the vertical direction of the ultraviolet sterilization unit 200 . Accordingly, since the irradiation area of ultraviolet rays is widened with a simple configuration, sterilization can be performed quickly and effectively at low cost.

The first sensor unit 300 may be installed on the upper end of the guide unit 220 , may detect an external object, and may be connected to a control unit (not shown). Here, the external object may correspond to a step above the doorway, a ceiling of an indoor space, a ventilator installed on the ceiling, a lighting device, various equipment such as a camera, a monitor, and the like.

The first sensor unit 300 may include at least one of a camera for photographing an external object and a distance sensor for sensing a distance to the external object. However, it is not limited to this configuration.

The first sensor unit 300 may transmit a result of detecting an external object, such as image information or distance information, to the controller.

The second sensor unit 400 will be described later.

The moving unit 500 may be installed under the body unit 100 and may be controlled by a controller (not shown).

The control unit (not shown) may be installed in the body unit 100 , and may be connected to the ultraviolet sterilization unit 200 , the first sensor unit 300 , the second sensor unit 400 , and the moving unit 500 . .

The control unit may receive the detection result of the external object from the first sensor unit 300 and may raise/lower the guide unit 220 according to the detection result. For example, when an external object is detected in the front, the guide unit 220 may be lowered to a height lower than the lower end of the external object, and if the external object is not detected, the guide unit 220 may be raised.

In addition, the control unit may move the first UV light emitting unit 230 up and down, and may control the moving unit 500 to control the movement of the UV sterilization robot 50 .

In this way, the UV sterilization robot 50 includes the body part 100, the UV sterilization part 200 installed on the upper part of the body part 100, the moving part 500 installed on the lower part of the body part 100, and the movement. A control unit for controlling the unit 500 may be included. The ultraviolet sterilization unit 200 extends up and down and at least a portion of the at least one guide unit 220 is installed so as to be able to move up and down, and at least one first guide unit 220 is installed movably in the guide unit 220 and irradiates ultraviolet light. It may be configured to include an ultraviolet light emitting unit 230 . The maximum height at which the first UV light emitting unit 230 can move may be changed according to the elevation of the guide unit 220 .

Therefore, since the height of the UV sterilization robot 50 can be easily changed according to the height of the lower end of the external object by moving the guide unit 220 up and down, the UV sterilization robot 50 can freely move and perform sterilization, Areas of high elevation can also be sterilized. Accordingly, sterilization can be performed quickly and effectively at low cost with a simple configuration.

In addition, by allowing the first UV light emitting unit 230 to move up and down along the guide unit 220 , the cost can be reduced by downsizing the first UV light emitting unit 230 and sterilized intensively for an area of a specific height This can be done. In addition, it is possible to form the ultraviolet sterilization unit 200 in which the first ultraviolet light emitting unit 230 moves up and down easily with a simple configuration at low cost.

On the other hand, dotted lines in FIGS. 7 and 8 indicate the irradiation area of the first ultraviolet light emitting unit 230 and the sensing area of the first sensor unit 300 and the second sensor unit 400, as in FIGS. 3 and 4 . . In this regard, the first UV light emitting unit 230 , the second sensor unit 400 , the living body determination unit and the control unit will be mainly examined with respect to differences from FIGS. 3 and 4 .

The ultraviolet sterilization robot 50, in addition to the ultraviolet sterilization unit 200, the first sensor unit 300 and the moving unit 500, which are configured including the above-described body portion 100, the first ultraviolet light emitting unit 230, , the second sensor unit 400 and the living organism determination unit may be further included.

The second sensor unit 400 may include a plurality of sensors 410 having a limited sensing area.

* Each of the sensors 410 may be associated with at least one of the plurality of first UV light emitting units 230 . For example, in FIGS. 7 and 8 , the first sensor 410a1 may be associated with the first UV light emitting unit 230a at the upper right, and the second sensor 410a2 may be associated with the first UV light emitting unit at the lower right. It may be associated with 230b, and the third sensor 410a3 and the fourth sensor 410a4 may be associated with the left first UV light emitting unit 230c.

The living organism determination unit can determine whether an organism exists in the sensing area (the area between two dotted lines extending from the first sensor) of the first sensor 410a1 based on the image information captured by the first sensor 410a1. and based on the determination result for the sensing area, within the irradiation area of the first UV light emitting unit 230a associated with the first sensor 410a1 (the area between two dotted lines extending from the upper right UV light emitting unit) or its It is possible to determine whether or not there is an organism in the vicinity.

For example, as shown in FIG. 7 , when there is no living organism in the sensing area of the first sensor 410a1 , the organism determining unit does not have an organism in or near the irradiation area of the upper right first UV light emitting unit 230a. can judge Accordingly, the controller (not shown) may turn on the first ultraviolet light emitting unit 230a on the upper right.

On the other hand, as shown in FIG. 8 , when there is an organism 60 in the sensing area of the first sensor 410a1 , the organism determining unit is located in or near the irradiation area of the first UV light emitting unit 230a on the upper right side. It can be concluded that (60) exists. Accordingly, the control unit may turn off the first ultraviolet light emitting unit 230a on the upper right.

In addition, the living organism determination unit determines whether an organism exists in the sensing area (a region between two dotted lines extending from the second sensor) of the second sensor 410a2 based on the image information captured by the second sensor 410a2. and based on the determination result for the sensing area, within the irradiation area of the first ultraviolet light emitting unit 230b associated with the second sensor 410a2 (the area between the two dotted lines from the lower right first ultraviolet light emitting unit) or its It is possible to determine whether or not there is an organism in the vicinity.

For example, as shown in FIG. 7 , when there is no living organism in the sensing area of the second sensor 410a2 , the organism determining unit does not have an organism in or near the irradiation area of the lower right first UV light emitting unit 230b. can judge Accordingly, the controller may turn on the first ultraviolet light emitting unit 230b on the lower right.

On the other hand, as shown in FIG. 8 , when there is an organism 60 in the sensing area of the second sensor 410a2 , the organism determining unit is located in or near the irradiation area of the first UV light emitting unit 230b in the lower right corner. It can be concluded that (60) exists. Accordingly, the control unit may turn off the first ultraviolet light emitting unit 230b on the lower right.

In addition, the living body determination unit is based on the image information captured by the third sensor 410a3 and the fourth sensor 410a4, the sensing area (the third sensor and the fourth sensor) of the third sensor 410a3 and the fourth sensor 410a4. It can be determined whether an organism exists in each of the two dotted lines extending from the sensor), and the first associated with the third sensor 410a3 and the fourth sensor 410a4 based on the determination result for each sensing area. It may be determined whether an organism exists in or near the irradiation area of the ultraviolet light emitting unit 230c (a region between two dotted lines extending from the first ultraviolet light emitting unit on the left).

For example, as shown in FIGS. 7 and 8 , when there is no living organism in the sensing regions of the third sensor 410a3 and the fourth sensor 410a4, the living organism determination unit irradiates the left first UV light emitting unit 230c. It can be determined that there are no organisms in or near the area. Accordingly, the control unit may turn on the first ultraviolet light emitting unit 230c on the left side.

As described above, the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings disclosed in the present specification. It is obvious that variations can be made. In addition, although the effects according to the configuration of the present invention are not explicitly described and described while describing the embodiments of the present invention, it is natural that the effects predictable by the configuration should also be recognized.

10, 50: UV sterilization robot
100: body part 110: second ultraviolet light emitting part
200: UV sterilization unit
210a: fixing part 210b: elevating part
220: guide unit 230: first ultraviolet light emitting unit
300: first sensor unit
400: second sensor unit 410: sensor
500: moving unit

Claims (4)

body part 100;
UV sterilization unit 200 installed on the upper portion of the body portion (100);
a moving part 500 installed in the lower part of the body part 100; and
A control unit for controlling the moving unit 500,
The ultraviolet sterilization unit 200 is installed in one or more guide units 220 and the guide unit 220 extending up and down and at least a portion of which is installed to be liftable with respect to the body unit 100 and the guide unit ( 220) is installed to be movable up and down relative to the guide portion 220 along the longitudinal direction of the 220) and is configured to include one or more first ultraviolet light emitting units 230 for irradiating ultraviolet rays,
In accordance with the elevation of the guide portion 220, the maximum height at which the first ultraviolet light emitting unit 230 can move is changed, an ultraviolet sterilization robot.
The method according to claim 1,
The plurality of guide portions 220 and the first ultraviolet light emitting unit 230 are installed radially based on the central axis in the vertical direction of the ultraviolet sterilization unit 200, the ultraviolet sterilization robot.
The method according to claim 1,
A first sensor unit 300 for detecting an external object is installed at an upper end of the guide unit 220,
The UV sterilization robot, in which the guide unit 220 moves up and down according to the detection result of the first sensor unit 300 .
The method according to claim 1,
Each of the plurality of first ultraviolet light emitting units 230 irradiates ultraviolet rays to a specific irradiation area in which at least some do not overlap each other,
The UV sterilization robot,
a second sensor unit 400 installed in the body unit 100 or the ultraviolet sterilization unit 200, photographing an external object, sensing a distance from an external object, or detecting a radiation wave radiated from an external object; and
The irradiation area of each of the first UV light emitting units 230 based on the information photographed by the second sensor unit 400 or the distance value or the value of the radiation detected by the second sensor unit 400 Further comprising a living organism determination unit to determine whether there is an organism in or near,
The control unit turns on or turns off each of the first UV light emitting units 230 according to the determination result of the living organism determination unit, the UV sterilization robot.

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