KR200380226Y1 - Rotation sterilization device of sterilization robot - Google Patents

Rotation sterilization device of sterilization robot Download PDF

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Publication number
KR200380226Y1
KR200380226Y1 KR20-2004-0037752U KR20040037752U KR200380226Y1 KR 200380226 Y1 KR200380226 Y1 KR 200380226Y1 KR 20040037752 U KR20040037752 U KR 20040037752U KR 200380226 Y1 KR200380226 Y1 KR 200380226Y1
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South Korea
Prior art keywords
sterilization
robot
ultraviolet
sterilizer
reflection
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KR20-2004-0037752U
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Korean (ko)
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손석근
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손석근
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultra-violet radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Abstract

본 고안은 장애물회피와 자율이동 이 가능한 프로그램과 센서 및 제어시스템을 탑재하여 효율적인 장애물회피와 이동방법을 갖는 무선,무인 자외선 살균용로봇의 살균장치에 관한것이며 그 크기와 램프의수를 최소화 하여 소형화와 제조원가 절감을 위하여 고안된 반사판구조와 그 하부에 구성되는 좌우 회전식의 살균램프를 고안 ,자외선의 반사 및 난반사를 유도하여 전력소비의 감소와 자외선조사량의 증가를이루어 비교적 저비용으로 가정과 사무실 또는 청결을 요하는 장소에 적용하기위함이며 노동력을 동원하여 일반적인 청소를 수행해도 잔존할 수 있는 각종세균을 살균하여 청결한 환경을 유지하는데에 그목적이있다.The present invention is a sterilization apparatus for wireless and unmanned ultraviolet sterilization robot with efficient obstacle avoidance and movement method equipped with obstacle avoidance and autonomous movement program, sensor and control system, and miniaturized by minimizing the size and number of lamps And a reflector structure designed to reduce manufacturing costs and a left and right rotating sterilization lamp composed below, inducing reflection and diffuse reflection of ultraviolet rays, reducing power consumption and increasing ultraviolet irradiation, requiring a relatively low cost for home, office or cleanliness. The purpose is to maintain a clean environment by sterilizing various germs that may remain even if general cleaning is performed by labor force.

Description

자율이동 살균로봇의 회전살균장치{Rotation sterilization device of sterilization robot}Rotation sterilization device of autonomous mobile sterilization robot

알려진 바와 같이 종래의 자외선 살균 기는 고정설치형과 수동, 유선식의 목적과 용도에 따라 나누어지며 고정설치형의 살균기는 본고안과 목적과 용도에서 차이가 있음으로 수동, 유선형 자외선살균기 의 예를 적용하면 도 1 과 같이 손잡이(1)를 잡고 유선으로 전원을 연결 직접 노동력을 동원하여 사용해야 하는 사용상의 불편함은 물론이며 일정시간이상 자외선을 조사해야 효과적인 살균이 가능할 뿐만 아니라 기기의 작동 시에 발생할 수 있는 안전상의 문제에도 노출되어있다 .As is known, conventional UV sterilizers are divided according to the purpose and use of fixed installation type and manual and streamline type. The fixed installation type sterilizer is different from the present purpose and purpose. Holding the handle (1), and connecting the power supply with a wire, as well as the inconvenience of using direct labor force, as well as effective sterilization by irradiating ultraviolet rays for a certain period of time, as well as safety There is also a problem.

또한 이러한 점에 착안하여 무선,무인살균기를 고안함에 있어 여러 가지 제약이 있는바 이동을 하면서 살균을 해야 하기 때문에 고비용의 고용량배터리를 사용하여 출력이 높은 여러 개의 자외선램프를 사용하거나 살균을 수행하는 자외선 살균로봇의 이동속도를 현저히 낮추어서 이등해야하는 문제점 때문에 제조에 있어서 많은 비용이소모되며 살균작업의 시간에 있어서 극히 효율이 낮아 무선, 이동식살균로봇에 적용하기에는 어려움이 있었다.In addition, in view of this point, there are various limitations in the design of wireless and unmanned sterilizers. Since it has to be sterilized while moving, it is necessary to use several ultraviolet lamps with high output or to perform sterilization using high-capacity high-capacity batteries. Due to the problem that the UV sterilization robot has to be significantly lowered in moving speed, it consumes a lot of cost in manufacturing, and it is difficult to apply to the wireless and mobile sterilization robot due to its extremely low efficiency at the time of sterilization work.

본 고안은 상기 서술된 문제점에 착안하여 최적화된 살균로봇의 이동방법을 적용하고 살균로봇의 하부에 자외선조사를 증가시킬 수 있는 반사경구조를 고안하는 한편 연속적으로 좌우 회전이 가능한 자외선램프를 고안하여 자외선의 조사량을 대폭 늘려 종래의 수동식 자외선살균기 또는 이동로봇기술을 응용한 살균기의 고안에 있어서의 단점을 개선하는 데 에 있다.The present invention focuses on the above-mentioned problems, applies the optimized method of moving the sterilizing robot, devises a reflector structure that can increase the UV irradiation on the lower part of the sterilizing robot, and designes an ultraviolet lamp that can rotate left and right continuously. It is to improve the disadvantages in the design of the sterilizer using the conventional manual UV sterilizer or mobile robot technology by greatly increasing the irradiation dose of.

본 고안은 도 2 의 예시 와같이 마이크로프로세서를 포함한 제어부(16)와 장애물감지를 위한 6조의 초음파센서(17)와 안전장치로 사용되는 거리측정용 적외선센서(18),버튼장치를 포함한 상부커버(5)와 감속기어(6), 2개의 구동용바퀴(15) 그리고 주행거리 산출과 보정을 위한 2개의엔코더(7)와 휠의 구동을 위한 두개의DC모터(8), 살균램프의 좌우회전을 위한 DC모터(9) 및 기어(10)와 자외선램프(11),반사 및 난반사 유도를 위한 반사판(12)과 충전을 위한 충전용배터리(13),충전기(14)로 구성되어있으며 6조의 초음파센서로 장애물을 감지, 회피하며 도 5 에 예시한 패턴이동방법과 도 6 에 예시된 랜덤이동방법을 순차적용, 이동하며 동시에 연속적으로 좌280°우280°회전하는 살균램프에서 조사되는 253nm파장의 자외선을 바닥 면과 실내 저부에 반사판을 이용 램프의 회전으로 인한 효과를 이용하여 직접조사 및 반사, 난반사를 증대와 조사면적의 증대를 통한 지외선조사를 실시하여 각종세균을 살균한다. 아울러 살균로봇 앞쪽에 설치된 적외선거리센서로 지면과의 거리를 상시 측정하여 살균로봇이 지면으로부터 이탈되면 즉시 가동을 멈추어 자외선방출이 기기의 작동범위를 벗어나는 현상을 방지하여 안전성을 확보하였다.The present invention, as shown in Figure 2, the control unit 16 including a microprocessor and the six ultrasonic sensors 17 for obstacle detection, the infrared sensor 18 for distance measurement used as a safety device, the upper cover including a button device (5) and reduction gear (6), two driving wheels (15), two encoders (7) for mileage calculation and correction, two DC motors (8) for driving wheels, sterilization lamps left and right It consists of DC motor 9 and gear 10 for rotation, UV lamp 11, reflector 12 for reflection and diffuse reflection induction, rechargeable battery 13 and charger 14 for charging. 253nm irradiated by sterilization lamp which detects and avoids obstacles with a pair of ultrasonic sensors and uses the pattern movement method illustrated in FIG. 5 and the random movement method illustrated in FIG. UV light of the wavelength using a reflector on the floor and indoor bottom of the lamp Using the former due to the effect if subjected to ultraviolet irradiation via a direct irradiated and reflection, the increase of the diffuse and increase the area to be irradiated to sterilize various bacteria. In addition, the infrared distance sensor installed in front of the sterilization robot always measured the distance to the ground, and immediately stopped operation when the sterilization robot was separated from the ground, preventing the phenomenon of ultraviolet radiation out of the operating range of the device to ensure safety.

본 고안의 효과는 노동력을 동원해야하는 종래의 수동식 살균기의 문제점을 보완하여 무선, 무인 살균로봇에 적용가능한 회전식살균램프구조 의 살균로봇을 고안하여 실내의 바닥 면과 실내저층부의 각종 유해한 세균들을 효과적으로 노동력의 소모 없이 정화하며 고안된 살균로봇이 살균을 수행하는데 에 있어서 대부분의 장소에 실재할 수 있는 각종 장애물에 대한 회피, 즉 침대 및 또는 소파하부 등 의 다양한 환경에 대한 대응을 위한부분과 제조상의 경제성을 위해 비교적 소형으로 제작해야하는 필요성이 있는바 살균로봇의 크기와 형태에 많은 제약이 따른다. 이러한 점을 고려하여 비교적 소형화한 살균로봇 하부에 반사 및 난반사를 유도하여 자외선의 조사량을 증가시키기 위해 고안된 반사판과 연속적으로 좌우회전하는 자외선튜브를 설치하여 소량의 자외선튜브를 사용함에 있어서 고정식의 여러 개의 튜브를 사용하는 것과 동일한 효과를 이루고 이로 인한 결과로서 저전력의 소모로 보다 오랜 시간 넓은 범위를 살균할 수 있으며 배터리용량의 소형화로 이로 인한 경제성과 효율성을 바탕으로 청결한 생활환경을 구현할 수 있다.The effect of the present invention complements the problem of the conventional manual sterilizer which should mobilize the labor force, and devises the sterilization robot of the rotary sterilization lamp structure that can be applied to the wireless and unmanned sterilization robot, effectively removing various harmful germs of the floor and indoor floor of the room. The sterilization robot designed to purify without wasting wastes avoids various obstacles that may exist in most places in sterilization. There is a need to manufacture a relatively small in order to put a lot of restrictions on the size and shape of the sterilization robot. Considering this point, the reflector plate designed to increase the amount of UV radiation by inducing reflection and diffuse reflection in the lower part of the sterilizing robot, which is relatively small, is installed with a UV tube that rotates left and right continuously. The same effect as using a tube is achieved, and as a result, it is possible to sterilize a wider range of time with low power consumption, and to realize a clean living environment based on economic efficiency and efficiency due to the miniaturization of battery capacity.

도1은 종래의 유선 자외선 살균 기를 도시해보인 개략도1 is a schematic view showing a conventional wired ultraviolet sterilizer

도2는 본 발명의 실 시예에 따른 로봇살균기의 단면도Figure 2 is a cross-sectional view of the robot sterilizer according to an embodiment of the present invention

도3은 반사판을 포함한 회전식 자외선살균장치의 단면도Figure 3 is a cross-sectional view of a rotary ultraviolet sterilizer including a reflecting plate

도4는 적외선 센서를 이용한 안전장치의 개략도4 is a schematic diagram of a safety device using an infrared sensor

도5는 살균로봇의 패턴 이동방법을 도시한 개략도Figure 5 is a schematic diagram showing a pattern movement method of the sterilization robot

도6은 살균로봇의 랜덤 이동방법을 도시한 개략도Figure 6 is a schematic diagram showing a random movement method of the sterilization robot

＊도면의 주요부분에 대한 설명＊Description of the main parts of the drawings

1: 손잡이 2: 전원부1: handle 2: power supply

3: 자외선튜브 4: 전원코드3: ultraviolet tube 4: power cord

5: 버튼장치및커버 6: 감속기5: Button device and cover 6: Reducer

7: 엔코더 8: 구동용 DC모터7: Encoder 8: Driving DC Motor

9: 램프회전용 DC모터 10: 회전기어9: DC motor for lamp rotation 10: Rotary gear

11: 자외선램프 12: 반사판11: UV lamp 12: Reflector

13: 충전용배터리 14: 충전기13: rechargeable battery 14: charger

15: 구동바퀴 16: 제어부(,마이크로프로세서)15: driving wheel 16: control unit (, microprocessor)

17: 초음파센서 18: 적외선센서17: ultrasonic sensor 18: infrared sensor

Claims (1)

자동으로 이동을 하여 바닥을 살균하는 자외선 로봇 살균 기에 있어서 반사판을 갖는 좌우회전식살균램프의 구조로서 살균로봇의 하부에 설치되어 자외선의 반사와 난반사를 유도하는 반사판구조를 포함하는 좌우회전식의 자외선램프를 특징으로 하여 자외선 조사량을 대폭 증가시키는 로봇살균기의 회전식 자외선 살균장치.In the UV robot sterilizer which moves and sterilizes the floor automatically, it is a structure of left and right rotating sterilization lamp with a reflecting plate.It is installed on the lower part of the sterilizing robot and has a left and right rotating ultraviolet lamp including a reflecting plate structure that induces reflection and diffuse reflection of ultraviolet rays. Rotary ultraviolet sterilizer of robot sterilizer which greatly increases the amount of UV irradiation.
KR20-2004-0037752U 2004-12-31 2004-12-31 Rotation sterilization device of sterilization robot KR200380226Y1 (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011139553A3 (en) * 2010-05-07 2012-03-01 Greenzapr, Inc. Mobile uv sterilization unit for fields and method thereof
WO2014039076A1 (en) * 2012-09-06 2014-03-13 Angelini Pharma, Inc. Robotic room sanitizer
US9149548B2 (en) 2010-05-07 2015-10-06 Greenzapr, Inc. Mobile UV sterilization unit with separable sterilization module
KR101635593B1 (en) 2015-03-17 2016-07-01 김정곤 Disinfection and sterilization robot
US10410853B2 (en) 2011-06-08 2019-09-10 Xenex Disinfection Services, Llc. Ultraviolet lamp apparatuses with one or more moving components
KR20210157855A (en) * 2020-06-22 2021-12-29 유버 주식회사 Uv sterilizing system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011139553A3 (en) * 2010-05-07 2012-03-01 Greenzapr, Inc. Mobile uv sterilization unit for fields and method thereof
US9149548B2 (en) 2010-05-07 2015-10-06 Greenzapr, Inc. Mobile UV sterilization unit with separable sterilization module
US10410853B2 (en) 2011-06-08 2019-09-10 Xenex Disinfection Services, Llc. Ultraviolet lamp apparatuses with one or more moving components
EP3806136A3 (en) * 2011-06-08 2022-05-04 Xenex Disinfection Services Inc. Self-propagating discharge lamp apparatuses for room disinfection
US11929247B2 (en) 2011-06-08 2024-03-12 Xenex Disinfection Services Inc. Ultraviolet lamp apparatuses having automated mobility while emitting light
WO2014039076A1 (en) * 2012-09-06 2014-03-13 Angelini Pharma, Inc. Robotic room sanitizer
KR101635593B1 (en) 2015-03-17 2016-07-01 김정곤 Disinfection and sterilization robot
KR20210157855A (en) * 2020-06-22 2021-12-29 유버 주식회사 Uv sterilizing system
KR102453971B1 (en) * 2020-06-22 2022-10-11 유버 주식회사 Uv sterilizing system

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