KR20180089124A - Unmanned autonomous driving robot for pest control - Google Patents

Abstract

The present invention relates to an unmanned autonomous driving robot for disease prevention, which is used for prevention of foot-and-mouth disease viruses and disease prevention in a cowshed space. According to the present invention, the unmanned autonomous driving robot for the disease prevention includes a disease prevention liquid spraying unit and a robot driving unit which are provided in a base housing formed from a steel-use-stainless (SUS) plate with a corrosion prevention function, wherein the disease prevention liquid spraying unit includes a normal condition spraying unit inclined from a front side to an upper end and operated in a normal condition to perform disinfection and a foot-and-mouth disease condition spraying unit operated only when a foot-and-mouth disease occurs to perform the disinfection, and the robot driving unit includes a moving unit provided at an inner lower side of the robot driving unit to perform line-tracing autonomous driving, a control unit for controlling an operation of the unmanned autonomous driving robot for the disease prevention and wirelessly communicating with a device, a switch provided on an outer wall of the robot driving unit to turn on/off the operation of the unmanned autonomous driving robot for the disease prevention, and a rechargeable battery module.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot for an autonomous driving robot,

More particularly, the present invention relates to a robot for autonomous navigation using a line tracing system, which uses a double nozzle system and a compression injection system, It is possible to prevent the robot from corroding with the control solution. It is made of anti-corrosive base, and it is composed of the nozzle of 20 micrometers or less and the ultrasonic vibration device of large capacity, .

The first type livestock infectious disease of foot-and-mouth disease, such as cattle, pigs, goats and sheep, which occurs in animals with two hoofs, has a mortality rate of 100%, with young pigs showing a mortality rate of 5 to 55%. Foot-and-mouth disease is a viral disease and there is no cure. It is best to prevent foot-and-mouth disease virus from entering the farm through blockade (external vehicle and human access control, inside / outside disinfection etc.).

As a symptom of foot and mouth disease, it is characterized by the formation of blisters on the mouth and hoof areas along with high fever. In the case of cows, blisters appear on the tongue and gums, and then they show inflammation and ulcers. In particular, shedding foam spit is the main symptom of cattle.

Foot-and-mouth disease viruses are very infectious and spread rapidly through air, vehicles, and humans, so all cattle that come in contact with an infected cattle are slaughtered and buried.

In Korea, since the foot-and-mouth disease occurred in 1934, it occurred in 2000, 64 years after, and it suffered great damage. In 2010, the spread of foot-and-mouth disease in Korea resulted in the disposal of more than 3.4 million livestock, causing more than 3 trillion won in economic damage.

Currently, measures to respond to foot-and-mouth disease are no bigger than direct disinfection and control.

Especially in the case of foot-and-mouth disease, which is spread easily by people in and out of the air or on the farm, avoiding human contact as much as possible,

In the case of this AI, Korea sold 25 million (as of December 27, 2016) but 2 million in Japan (as of December 22, 2016).

In order to prevent the occurrence of AI, Japan has been able to prevent infectious diseases with minimal damage.

In other words, Japan is a result of constant efforts to prevent infection in everyday life.

However, in Korea, it is necessary to conduct disinfection and control similar to the usual one just after infection, rather than regular control. In order to prevent the proliferation of AI and foot-and-mouth disease, which are increasingly spreading in the future, it is absolutely necessary to take care of all the time and it is necessary to develop a disinfection robot for disinfection.

In order to solve the above-mentioned problems, the present invention is a robot that performs self discipline of space disinfection at all times by using a double nozzle structure and a compression injection system in an indoor space of a barnyard, , And to provide an unmanned autonomous navigation robot for the purpose of protecting a safe company from foot-and-mouth disease.

According to an aspect of the present invention, there is provided a robot for controlling autonomous autonomous navigation, comprising: a control liquid spraying part provided in a base housing made of an SUS plate and having corrosion protection function; and a robot driving part, Wherein the robot driving unit is provided below the robot driving unit to perform autonomous tracing of the line tracing operation. The robot driving unit includes a normal-time spraying unit that is sloped from the front to the top and operates at all times, ; A control unit for controlling the operation of the autonomous vehicle control robot and wirelessly communicating with the device; An autonomous travel control robot provided on an outer wall of the robot driving part, including a switch for turning on / off the operation of the autonomous travel control robot and a rechargeable battery module.

Wherein the normal injection unit is located on an inclined surface of the spray liquid spraying unit and spraying the spray liquid; A plurality of continuous nozzles provided on both sides of the center of the bellows nozzle and spraying the control liquid; A constant solution tank for storing the control solution connected to the bellows nozzle and the nozzle at all times, and an always-on compressor connected to the constant solution tank and compressing the air, wherein the compressor always compresses the air and stores it in the constant solution tank The control solution may be transferred to the bellows nozzle and the constant nozzle to be sprayed.

The bellows nozzle and the constant nozzle have a two-fluid nozzle structure, and the constant nozzle can be sprayed with a particle size of 30 to 50 mu.

Further comprising a dilution tank capable of diluting the control solution with water at a dilution ratio, wherein the dilution tank has a control solution space portion for containing the control solution; A water space for containing water for diluting the control liquid; A control solution inlet connected to the control solution space and injecting the control solution; A water inlet connected to the water space to inject the water; And an opening / closing part for discharging the first and second volume scales and the diluted control solution provided on the control solution space part and the water space part outer wall, and connected to the constant solution tank to inject the diluted control solution.

Wherein the dilution tank has one side inserted into the opening and closing part and the other side connected to the constant solution tank, and the diluted control solution moves; A valve for regulating movement of the diluted control fluid in the injection tube; A vertical type ball tower for controlling the opening and closing of the valve according to the level of the cleaning liquid in the normal solution tank, and a connecting rod connecting the vertical type ball tow and the injection tube, wherein the valve is opened / Thereby controlling the diluted control liquid movement of the injection tube.

The relief sprayer includes a plurality of relief nozzles provided at one side of the relief sprayer for spraying the control solution. A solution tank connected to the solution tank for storing the control solution connected to the nozzle at the time of the remedy, and a remover compressor connected to the solution tank at the remediation for compressing the air, wherein the remover compressor compresses air, The control solution stored in the tank may be transferred to the nozzle for remediation to be sprayed.

The remediation nozzle is a two-fluid nozzle structure and can be sprayed with a particle size of 15 to 20 mu.

The normal jetting unit and the remelting jetting unit may include an ultrasonic vibration element that widens the jetting length and range, and may be ultrasonic jetted by the ultrasonic vibration element.

The moving unit includes: a wheel rotatably mounted on both lower sides of the robot driving unit; A motor module for driving the wheels, and a tracking module for controlling movement along the line.

The robot driving unit may include a monitor unit for enabling remote monitoring.

And an ultrasonic sensor capable of measuring a body temperature of a small individual in the house.

And a brush provided on the lower side of the front side of the robot for unmanned autonomous travel control and for removing an obstacle in front of the robot.

The autonomous navigation control robot according to the embodiment of the present invention can autonomously travel using line tracing and can be disinfected using a double nozzle structure and a compression injection system so that the foot- It is possible to block intrusion or air propagation in the fugitive.

In addition, it is possible to prevent the shape of the robot from being corroded by the anti-corrosive base.

In addition, it is possible to constitute a large-capacity ultrasonic vibration element and to control large-scale housing.

In addition, it is possible to constitute a control liquid tank in which a control liquid and a space for injecting water are separated to easily dilute the control liquid at a dilution ratio, and a one-touch valve is provided in the liquid control tank, It can be easy.

1 is a perspective view of an autonomous navigation control robot according to an embodiment of the present invention.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot,
BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a robot,
4 is a sectional view showing a side view of a self-propelled anti-self-propelled robot according to an embodiment of the present invention with a dilution tank attached thereto.
5 is a cross-sectional view illustrating an autonomous navigation control robot according to another embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations can be applied and various embodiments can be made. It is to be understood that the following description covers all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In the following description, the terms first, second, and the like are used to describe various components and are not limited to their own meaning, and are used only for the purpose of distinguishing one component from another component.

Like reference numerals used throughout the specification denote like elements.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the terms " comprising, "" comprising, "or" having ", and the like are intended to designate the presence of stated features, integers, And should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5 attached herewith.

1 is a perspective view illustrating an autonomous navigation control robot according to an embodiment of the present invention.

2 is a cross-sectional view of a robot according to an embodiment of the present invention.

3 is a rear view of the robot according to an embodiment of the present invention.

1 to 3, the autonomous mobile robot according to the embodiment of the present invention may include a base housing 1, a spraying liquid spraying unit 100, and a robot driving unit 200.

Specifically, the base housing 1 is made of an SUS plate and can perform a corrosion-preventing function. It is preferable that the base housing 1 is made of the SUS plate in order to prevent the corrosion of the robot due to the control solution. However, since the present invention is only an embodiment of the present invention, The base housing 1 can be manufactured.

Further, the base housing 1 can be fitted with the fan 2 therein. This is intended to withstand the problem of temperature and humidity, and the fan 2 can be mounted inside to prevent condensation.

The base housing 1 may include a spraying liquid spraying unit 100 and a robot driving unit 200.

The spraying liquid spraying part 100 is provided on the upper side of the base housing and can be formed to have a rectangular shape inclined from the front to the top, but it is only an embodiment of the present invention, and thus can be formed in various shapes.

The controlling liquid spraying unit 100 may include a normal spraying unit 110 and a spraying unit 120.

 The normal spraying section 110 can operate at all times and spray sterilization liquid to disinfect it. In addition, when water is used in place of the control solution, it can serve as a humidifier. The control liquid may be harmless to the human body.

The normal injection part 110 may include a bellows nozzle 111, a constant nozzle 112, a constant solution tank 113, an always-on compressor 114, and an ultrasonic vibration element 115.

The bellows nozzle 111 is located on an inclined surface of the spraying liquid spraying unit 100 and can spray the spraying liquid. The bellows nozzle 111 can be injected in a supersized fashion and can adjust the angle, height and position.

The regular nozzles 112 are provided on both sides of the center of the bellows nozzle 111 and can spray the cleaning liquid. Since the constant nozzle 112 is an injection nozzle of 30 to 50 mu, it can be sprayed with a particle size of 30 to 50 mu.

Further, the bellows nozzle 111 and the constant nozzle 112 may be a two-fluid nozzle structure.

This configuration of the bellows nozzle 111 and the constant nozzle 112 can overcome the difficulty of the space injection which is a limit of the conventional first-class nozzle, and realize the whole space injection. In addition, it is possible to prevent an object in the space from being wetted when spraying the cleaning liquid with such a configuration.

In addition, a filter (not shown) may be provided at a position where the bellows nozzle 111 and the constant nozzle 112 are always connected to the solution tank 113. The size of the filter (not shown) and the diameter of the nozzle is such that the sludge is generated when the control liquid passes through the solution tank for a predetermined time, and the shape of the nozzle clogged by the sludge can be prevented.

The constant solution tank 113 is connected to the bellows nozzle 111 and the constant nozzle 112 and can store the control solution. The constant solution tank 113 may be connected to the compressor 114 at all times.

The constant pressure compressor 114 is connected to the solution tank 113 at all times and compresses air to move the cleaning liquid to the bellows nozzle 111 and the constant nozzle. The normal compressor 114 compresses the air so that the cleaning liquid stored in the solution tank 113 at all times can be moved to the bellows nozzle 111 and the constant nozzle 112 to be sprayed.

The ultrasonic vibration element 115 can make the spray length and range wider when spraying the control liquid. The ultrasonic vibration element 115 can be ultrasonically jetted. As a result, it can be used for large-scale housing.

The dispenser 120 for dispensing may include a dispenser nozzle 121, a solution tank 122 for dispensing, a compressor 123 for dispensing, and an ultrasonic vibration device 124.

The remedying nozzles 121 are provided at one side of the jetting unit 120 at the time of relief, and can spray the control liquid. Since the remover 121 is 15 to 20 mu, it can be sprayed with a particle size of 15 to 20 mu.

Also, the remover nozzle 121 may be a two-fluid nozzle structure.

This configuration of the remedying nozzle 121 can overcome the difficulty of the space injection, which is a limit of the conventional primary type nozzle, and realize the whole space injection. In addition, it is possible to prevent an object in the space from being wetted when spraying the cleaning liquid with such a configuration.

In addition, a filter (not shown) may be provided at a position where the nozzle 121 is connected to the solution tank 122 during the remediation. The effect of such a configuration is the same as that of the constant-

With this configuration, the same disinfecting effect as the existing one can be obtained even in the amount of 1/10 of the existing control solution, which is economical.

The solution tank 122 can be connected to the nozzle 121 at the time of remediation and can store the solution. The solution tank 122 may be connected to the compressor 123 during the remediation.

The compressor 123 during the remediation is connected to the solution tank 122 during the remediation and compresses air to move the remedy to the nozzle during remediation. The compressor 123 during the remedying operation may compress the air to cause the remediation liquid stored in the solution tank 122 to move to the nozzle 121 during the remediation to be jetted.

The ultrasonic vibration element 124 can make the spraying length and range wider when the spraying liquid is sprayed. The ultrasonic vibration element 124 can be an ultrasonic jet. As a result, it can be used for large-scale housing.

In addition, since the construction of the normal sprayer 110 and the sprayer sprayer 120 is provided with two compressors, disinfection at all times and sterilization at the time of remediation can be separately performed. The normal sprayer 110 and the sprayer sprayer 120 are all operated at the time of relief so that the disinfection effect .

The robot driving unit 200 may include a moving unit 210, a controller 220, a switch 230, a battery module 240, a monitor unit 250, an ultrasonic sensor 260, and a brush 270.

The moving unit 210 is provided in the lower portion of the robot driving unit 200 to perform autonomous line tracing. The moving part 210 may include a wheel 211, a motor module 212, and a tracking module 213.

The wheels 211 may be rotatably mounted on both lower sides of the robot driving unit 200. The wheel 211 rotates to move the autonomous mobile robot.

The motor module 212 may drive the wheels. The wheel 211 can be rotated by the operation of the motor module 212. The motor module 212 may be a control board of a 180W class BLDC motor equipped with an electromagnetic brake and a low gear ratio (20: 1 or more). A low noise driving body can be implemented through the motor module 212 so as to reduce environmental stress to beef cattle and ensure stable running of the robot. In particular, PWM control with elimination of the delay phenomenon and rattling of the drive during the connection with the camera module can be implemented and thus more stable control can be achieved.

The tracking module 213 may control the wheels 211 to have lines in the right side and move along the lines. The tracking module 213 can cause the control robot to autonomously run in the unmanned state.

In addition, the moving unit 210 may include the auxiliary wheel 214 at a lower end of the robot driving unit 200. The auxiliary wheels 214 may assist in balancing and moving the wheels 211 of the moving part 210. Also, it can help to keep the weight increase even when injecting the control solution of the unmanned autonomous mobile robot.

The control unit 220 controls the operation of the autonomous mobile robot and can wirelessly communicate with the device. The control unit 220 can control the bellows nozzle 111 of the autonomous travel control robot, the compressor 123, the motor module 212, and the trekking module 213. In addition, the control unit 220 can wirelessly connect with the device to remotely control movement, injection operation, and the like of the autonomous navigation control robot in the device.

Accordingly, it is possible to reduce the labor force of the human being and to minimize the entry of persons in the domestic poultry, thereby preemptively blocking the inflow of domestic disease pathogens and the propagation of the domestic races.

The switch 230 is provided on the outer wall of the robot driving unit 200 to turn on / off the unmanned autonomous travel control robot. The switch 230 may be in the form of a key or an E / W switch, but this is not limiting as it is only an embodiment of the present invention.

The battery module 240 is located inside the robot driving unit 200 and can be charged. The battery module 240 may be connected to a power outlet provided at the rear of the robot driving unit, and may include a charging station in the in-use charging station to charge and connect the charging socket 241. However, this is only an embodiment of the present invention , And a charging method in which a power source is connected can be used.

Also, the battery module 240 may send a signal to the controller 220 before the battery discharge to automatically return to the charging station by the controller 220 to be charged. At this time, the control unit 220 may establish a wireless connection with the charging station so that the unmanned self-running robot can go to the charging station.

In addition, the autonomous navigation control robot may include a monitor unit 250, an ultrasonic sensor 260, and a brush 270 in the robot driving unit 200.

The monitor unit 250 may enable remote monitoring. The monitor unit 250 may be controlled by the control unit 220 and may provide a real-time image of the inside of a house in a wirelessly connected device. Also, it is possible to monitor the movement of the animal in the house.

Accordingly, it is possible to perform clinical observation at any time through real-time imaging and to establish a rapid disease response. In addition, it can be possible to construct a rapid response system such as dispatching an on-site evacuee dispatcher by sharing real-time video on the farm through consensus between livestock and livestock prevention agencies and swift analysis of disease experts.

The ultrasonic sensor 260 may be provided in the robot driving unit 200, and may measure the body temperature of each individual in the housing.

The brush (270) is provided on the lower side of the front side of the unmanned self-propelled robot, and can remove obstacles, dust, soil, jeeps, cattle excrement, etc. at the front.

The brush 270 removes the obstacle in front of the robot, so that the autonomous mobile robot can run without a wheel jam or a failure.

FIG. 4 is a sectional view showing a state in which a dilution tank is attached to an unmanned autonomous travel control robot according to an embodiment of the present invention.

Referring to FIG. 4, the autonomous navigation control robot according to the embodiment of the present invention may include a dilution tank 300.

The dilution tank 300 can be diluted by mixing the control solution with water at a dilution ratio. The dilution tank 300 can easily dilute the control liquid at a ratio.

The dilution tank 300 includes a control liquid space part 310, a water space part 320, a control liquid injection port 330, a water injection port 340, first and second capacity graduations 351 and 352, and an opening / closing part 360 .

The control liquid space unit 310 can receive the control liquid. The control liquid space part 310 may be opened at one side so that the control liquid can be moved to the water space part 320. May be provided at one side of the dilution tank 300, but may be located anywhere inside the dilution tank 300, since this is merely an embodiment of the present invention.

The water space portion 320 can receive water for diluting the control liquid. The water space portion 320 may occupy the entirety of the dilution tank 300.

The control solution injection port 330 is connected to the control solution space part 310 to inject the control solution.

The water inlet 340 may be connected to the water space 320 to inject water.

The first and second volume scales 351 and 352 may be provided on the outer wall of the liquid control space part 310 and the water space part 320, respectively. The first and second volume scales 351 and 352 can be used to conveniently inject the control liquid and water into the control liquid space part 310 and the water space part 320 at a desired capacity without metering.

The opening and closing part 360 can inject the diluted control solution at all times in connection with the solution tank 113.

The opening / closing part 360 may include an insertion tube 361 and an opening / closing cap 362.

An injection port (not shown) of the solution tank or the injection tube 370 can be always inserted into the insertion tube 361.

The opening / closing cap 362 is provided at one end of the insertion tube 361. When the dilution tank 300 is not in use, the insertion tube 361 is closed and the inlet tube 361 is always connected to the inlet (Not shown) or an injection tube 370 may be inserted and opened (open).

As described above, the diluting tank 300 can inject the control liquid and the water in accordance with the dilution ratio while injecting the control liquid without separately metering. In addition, the cleaning solution immediately connected to the solution tank 113 can be always injected into the solution tank 113.

The dilution tank 300 may also include an injection tube 370, a valve 371, a vertical ballpoint 372, and a connecting rod 373.

One side of the injection tube 370 may be inserted into the opening and closing part 360 and the other side thereof may be connected to the solution tank 113 at all times. The injection pipe 370 can always transfer the diluted control solution of the dilution tank 300 to the solution tank 113.

The valve 371 can regulate the diluted control fluid movement of the injection tube 370. The opening and closing of the valve 371 can be controlled by the vertical ball tip 372.

The vertical ball towers 372 can control the opening and closing of the valve 371 according to the height of the cleaning solution in the solution tank 113 at all times. The vertical ball tip 372 is in the open (open) state by lowering the level of the control solution in the solution tank at all times and lowering the height of the solution tank, and the diluted control solution is injected, So that the valve can be closed (closed).

The connecting rod 373 can connect the vertical ball tip 372 and the injection tube 370. The connecting rod 373 connects the vertical ball screw 372 and the injection tube 370 to adjust the opening and closing of the valve 371 located in the injection tube 370 by the movement of the vertical ball screw 372.

FIG. 5 is a cross-sectional view illustrating an autonomous navigation control robot according to another embodiment of the present invention.

5, the robot may include a speaker 280, a temperature sensor 281, an ammonia value sensor 282, and an emergency light 283, according to another embodiment of the present invention.

The speaker 280 can output sound. The speaker 280 may be provided at one side of the robot driving unit 200, but it may be provided anywhere within the base housing 1 because it is only another embodiment of the present invention. The speaker 280 may be a sound source reproduction module, reproduce a sound source stored by the control unit 220, or wirelessly connect the device to the sound output device.

The temperature sensor 281 can measure the temperature of the housing. The temperature sensor 281 transmits the measured temperature of the housing to the controller 220, and the controller 220 can transmit the received housing temperature to the device.

The ammonia level sensor 282 can measure the ammonia level. The ammonia value sensor 282 transmits the measured ammonia value to the control unit 220, and the control unit 220 can transmit the received ammonia value to the device.

The emergency light 283 can emit light according to the emergency condition. The emergency light 283 may be composed of red, green, and yellow light colors, but this is merely another embodiment of the present invention, and thus may be composed of various colored lights. Such an emergency light indicates, for example, a failure of the unmanned self-propelled robot in the case of a red light, an absence of the control liquid in the case of a green light, and a foot and foot disease occurrence in a yellow light.

As described in the above description, the unmanned autonomous mobile robot of the present invention is capable of space disinfection by unmanned operation of a barn and a barn, and can be disinfected at all times and remotely.

In addition, such unmanned autonomous travel control robots can be used indoors, in hospitals, in elderly facilities, and the like.

In addition, water, EM, lactic acid bacteria, and the like can be sprayed in place of the control solution, and they can be used as different functions. At this time, the used nozzle can be simply replaced.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. The embodiments described above are therefore to be considered in all respects as illustrative and not restrictive.

1: Base housing 2: Fan
100: Control liquid spraying part 110:
111: Bellows nozzle 112: Constant nozzle
113: Continuous solution tank 114: Always-on compressor
115: Ultrasonic vibration element
120: Relieved when spraying 121: Relieved nozzle
122: solution tank at the time of relief 123: compressor
124: Ultrasonic vibration element
200: robot driving unit 210:
211: wheel 212: motor module
213: tracking module 214: auxiliary wheel
220: control unit 230: switch
240: Battery module 241: Charging outlet
250: Monitor section 260: Ultrasonic sensor
270: Brush 280: Speaker
281: Temperature sensor 282: Ammonia numerical sensor
283: Emergency lights
300: Dilution tank 310: Control solution space part
320: water space part 330: control solution inlet
340: water inlet 351: first capacity graduation
352: second capacity graduation 360: opening / closing part
361: insertion tube 362: opening / closing cap
370: injection tube 371: valve
372: Vertical type ball tower 373: Connecting rod

Claims (12)

In the autonomous navigation control robot,
A control liquid spraying part and a robot driving part which are made of SUS plate and are provided in a base housing having a corrosion prevention function,
The control liquid spraying unit
A normally-injected portion formed to be sloped from the front to the top and operated at all times to disinfect, and
And a dispenser for relieving the disinfectant by operating only when the foot-and-mouth disease occurs,
The robot-
A moving unit provided below the robot driving unit to perform autonomous line tracing;
A control unit for controlling the operation of the autonomous vehicle control robot and wirelessly communicating with the device;
A switch provided on the outer wall of the robot driving unit for turning on / off the operation of the autonomous navigation robot
An autonomous self - propelled robot including a rechargeable battery module.
The method according to claim 1,
Wherein the constant-
A bellows nozzle positioned on an inclined surface of the spraying liquid spraying unit and spraying the spraying liquid;
A plurality of continuous nozzles provided on both sides of the center of the bellows nozzle and spraying the control liquid;
A constant solution tank for storing the control solution connected to the bellows nozzle and the constant nozzle,
And an always-on compressor connected to the constant solution tank and compressing air,
Wherein the normal compressor compresses air to move the control solution stored in the constant solution tank to the bellows nozzle and the constant nozzle so as to be sprayed.
3. The method of claim 2,
Wherein the bellows nozzle and the constant nozzle are arranged in a circumferential direction,
Two-fluid nozzle structure,
Wherein the continuous nozzle is sprayed with a particle size of 30 to 50 mu m.
3. The method of claim 2,
Further comprising a dilution tank capable of diluting the control solution with water at a dilution rate,
The dilution tank may comprise:
A cleaning liquid space for containing the cleaning liquid;
A water space for containing water for diluting the control liquid;
A control solution inlet connected to the control solution space and injecting the control solution;
A water inlet connected to the water space to inject the water;
First and second capacity graduations provided in the treatment liquid space part and the water space outer wall,
And an opening / closing part for discharging the diluted control liquid,
Wherein the diluted control solution is connected to the constant solution tank to inject the diluted control solution.
5. The method of claim 4,
The dilution tank may comprise:
An injection pipe in which one side is inserted into the opening and closing part and the other side is connected to the constant solution tank, and the diluted control solution moves;
A valve for regulating movement of the diluted control fluid in the injection tube;
A vertical ball tower for controlling the opening and closing of the valve according to the height of the cleaning solution in the constant solution tank,
And a connecting rod connecting the vertical ball tow and the injection tube,
Wherein the valve is opened and closed in accordance with the movement of the vertical type ball so as to control the movement of the diluted control liquid in the injection tube.
The method according to claim 1,
The relief-
A plurality of remover nozzles provided at one side of the remover during the remedy and spraying the remedy;
A solution tank for storing the control solution connected to the remover nozzle,
And a relief compressor connected to the solution tank and compressing air during the relief,
Wherein the compressor for compressing the compressed air compresses the air so that the control solution stored in the solution tank during the remedying operation is transferred to the nozzle during the remedying operation so as to be sprayed.
The method according to claim 6,
The remedying nozzle is a nozzle
Two-fluid nozzle structure,
15 to 20 mu m in particle size.
The method according to claim 1,
Wherein the normal injection part and the remedy-
And an ultrasonic vibration element for widening the jet length and the range,
And the ultrasonic vibration is applied by the ultrasonic vibration element.
The method according to claim 1,
The moving unit includes:
A wheel rotatably mounted on both lower sides of the robot driving unit;
A motor module for driving the wheels;
And a tracking module for controlling the robot to move along the line.
The method according to claim 1,
The robot-
And a monitoring unit for enabling remote monitoring of the robot.
The method according to claim 1,
Wherein the robot further comprises an ultrasonic sensor capable of measuring the body temperature of the individual objects in the housing.
The method according to claim 1,
Further comprising a brush provided below the front of the autonomous self-propelled robot for removing obstacles in front of the robot.

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