KR20210099697A - Autonomous disinfection robot - Google Patents

Abstract

Disclosed is an autonomous disinfection robot comprising: a body; an activation fluid ejection unit provided on the body and configured to eject an activation fluid to the outside of the body; a moving unit which includes a driving wheel rolling along the ground, and moves the body; and a control unit for controlling the activation fluid ejection unit and the moving unit according to a sterilization mode and an air purification mode, wherein the activation fluid ejection unit ejects a fluid in which a medium in a droplet or mist state and an activation gas are mixed in the sterilization mode, and is capable of circulating ambient air in the air purification mode.

Description

Autonomous disinfection robot

The present invention relates to an autonomous driving disinfecting robot, and more particularly, to an autonomous driving disinfecting robot capable of autonomous driving and having a sterilization mode and an air purification mode function.

In general, hospitals, laboratories, good manufacturing practices (GMP, Good Manufacturing Practice), animal breeding facilities, biological safety such as BSL-3, Biological Safety Level-3, aseptic preparation of food and pharmaceuticals, etc. In manufacturing facilities, internal laboratories and production rooms are required to maintain clean, sterile conditions. This sterilization means a high level of treatment in that it completely removes all kinds of living microorganisms through physical and chemical action, unlike cleaning or disinfection.

Recently, highly contagious respiratory diseases such as SARS, MERS, and coronavirus have been occurring frequently, increasing the importance of sterilization not only in hospitals but also in surrounding facilities.

Conventionally, a method of spraying a sterilizing solution while a worker moves was used. However, in this method, there is a risk that the sprayed sterilizing liquid particles are introduced into the respiratory tract of the worker through the air and may harm health, and there is a limitation that a large number of manpower is consumed to sterilize a large space.

The present invention provides an autonomous running disinfection robot capable of sterilizing surrounding facilities while the disinfecting robot moves.

In addition, the present invention provides an autonomous driving disinfection robot capable of purifying medium particles sprayed in the air.

An autonomous driving disinfectant robot according to the present invention includes a body; an activation fluid ejection unit provided on the body and ejecting an activation fluid to the outside of the body; a moving unit including a driving wheel that rolls along the ground and moving the body; and a control unit for controlling the activation fluid injection unit and the moving unit according to a sterilization mode and an air purification mode, wherein the activation fluid injection unit injects a fluid in which a medium in a droplet or mist state and an activation gas are mixed in the sterilization mode, , it is possible to circulate ambient air in the air purification mode.

In addition, the activating fluid spraying unit may include: a nozzle having a first flow passage and a second flow passage communicating with the spray port formed therein; a medium supply unit for supplying a liquid medium to the first flow path; compressor; an activation gas supply line connecting the compressor and the nozzle and supplying the activation gas to the second flow path; an activation gas generator installed on the activation gas supply line and configured to generate the activation gas; and a filter installed in the activation gas supply line in a section between the activation gas generator and the compressor, wherein in the sterilization mode, the liquid medium is supplied to the first passage, and the activation is performed in the second passage. Gas is supplied, and the liquid medium is sprayed from the spray port in the form of droplets or mist and mixed with the activation gas, and in the air purification mode, the supply of the liquid medium to the first flow path is stopped, The supply of the activation gas to the second flow path may be stopped, and the ambient air may be introduced into the activation gas supply line by driving the compressor and may be sprayed to the outside through the spray port.

In addition, a plurality of the nozzles are provided, and the spray holes may be arranged to face different directions with respect to the vertical center axis of the body.

In addition, the moving unit includes a driving unit for providing power to the driving wheel; a peripheral sensing unit for sensing the periphery of the body; a movement path generation unit for generating a movement path using the information sensed by the surrounding sensing unit; and a movement path storage unit configured to store a movement path of the body, wherein the control unit controls the driving unit to move the body along the movement path in the sterilization mode, and in the sterilization mode in the air purification mode may control the driving unit to move the body along the same path as the moving path of the body.

In addition, the body may include a first body block in which the nozzle is installed; a second body block placed under the first body block and capable of being separated and combined with the first body block; and a third body block placed under the second body block and capable of being separated and combined with the second body block, wherein at least one of the second body block and the third body block is in the liquid phase. A medium storage tank for storing the medium of may be provided.

According to the present invention, the autonomous driving disinfection robot can generate a movement path by sensing the surroundings, and spray the activation fluid to the surroundings while moving along the created movement path.

Further, according to the present invention, it is possible to remove the particles of the activation fluid remaining in the air by performing the air purification mode after the sterilization mode.

1 is a perspective view showing an autonomous driving disinfection robot according to an embodiment of the present invention.
FIG. 2 is a diagram showing the configuration of the autonomous driving disinfection robot of FIG. 1 .
3 is a view showing an activation fluid ejection unit according to an embodiment of the present invention.
4 is a view illustrating a state in which nozzles of the activation fluid ejection unit are disposed.
5 is a view showing an activation gas generator according to an embodiment of the present invention.
6 is a diagram illustrating a configuration of a moving unit according to an embodiment of the present invention.
7 is a view showing an autonomous driving disinfection robot according to another embodiment of the present invention.
FIG. 8 is a view showing one usage mode of the autonomous driving disinfection robot of FIG. 7 .
9 is a view showing a nozzle and an activation gas generator according to another embodiment of the present invention.
10 is a view illustrating a nozzle and an activation gas generator according to another embodiment of the present invention.
11 is a diagram illustrating a nozzle and an activation gas generator according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, thicknesses of films and regions are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, 'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to designate that a feature, number, step, element, or a combination thereof described in the specification is present, and one or more other features, numbers, steps, configuration It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. Also, in the present specification, the term “connection” is used to include both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a perspective view showing an autonomous driving disinfecting robot according to an embodiment of the present invention, and FIG. 2 is a diagram showing the configuration of the autonomous driving disinfecting robot of FIG. 1 .

Referring to FIGS. 1 and 2 , the autonomous driving disinfection robot 10 is a disinfecting robot capable of running, and may spray an activation fluid to the surroundings while driving. And, when the concentration of the activating fluid contained in the surrounding air is sensed above a predetermined standard, the autonomous driving disinfection robot 10 may purify the surrounding air to lower the concentration of the activating fluid in the air to a stable range. The autonomous driving disinfection robot 10 is not only capable of autonomous driving, but is also controllable by a user's remote controller in a manual operation mode.

The activating fluid is a fluid in which a medium in a droplet or mist state and an activating gas are mixed. The medium includes a sterilizing solution. The sterilizing solution may be provided in which hydrogen peroxide is contained in a small amount in water. Hydrogen peroxide may be contained in a low concentration of 7.5% or less. In addition, hydrogen peroxide may be contained in a concentration of 7.5% or 3.0%.

In addition, the medium may contain a first additive and a second additive. The first additive is provided for the purpose of removing metal ions contained in the medium. The decomposition of hydrogen peroxide may be accelerated by a small amount of metal ions (ions such as Mn, Fe, Cu, Pb, Ag, and Pt) contained in the sterilizing solution. Therefore, it is necessary to stabilize the hydrogen peroxide by removing these metal ions. The first additive may be at least one selected from sodium pyrophosphate, magnesium sulfate, sodium silicate, citric acid, and diethylenetriaminepentaacetic acid (DTPA).

The second additive enhances the disinfection effect through combination with hydrogen peroxide. According to an embodiment, DTPA is used as the second additive. DTPA reacts with hydrogen peroxide to produce peracetic acid. Peracetic acid has an excellent microbial sterilization effect, does not form chlorine disinfection by-products, and can be decomposed in an environmentally friendly manner. In addition, it has a long shelf life of 12 to 18 months and minimizes pH and temperature dependence. And it has the advantage of being safe and easy to handle and store.

The activation gas is generated by activating air by applying an electric field. The activating gas may include ozone, nitrogen oxides, hydroxide base, carbon dioxide and carbon monoxide. Ozone, nitrogen oxide, hydroxyl base, etc. may be in a radical state.

The autonomous driving disinfection robot 10 according to the present invention has a body 110 , an activation fluid injection unit 120 , a moving unit 130 , a UV irradiation unit 140 , a sensor 150 , a display unit 160 , and a control unit. (170).

The body 110 is provided in a predetermined shape, and a space is formed therein. Inside the body 110 , the activation fluid ejection unit 120 , the moving unit 130 , the UV irradiation unit 140 , the sensor 150 , and the control unit 170 are located. According to an embodiment, the body 110 may be provided in a cylindrical shape. Alternatively, the body 110 may be provided as a polyhedron.

The activation fluid spraying unit 120 sprays the activation fluid around the body 110 . In addition, the activation fluid ejection unit 120 may suck the surrounding air and spray the surrounding air.

FIG. 3 is a view showing an activation fluid ejection unit according to an embodiment of the present invention, and FIG. 4 is a view showing a state in which nozzles of the activation fluid ejection unit are disposed.

3 and 4 , the activation fluid ejection unit 120 includes a nozzle 210 , a medium supply unit 220 , and an activation gas supply unit 230 .

The nozzle 210 ejects an activating fluid or air to the surroundings. The nozzle 210 has a spray port 211 , a first flow path 212 , and a second flow path 213 . The spray port 211 is formed at the tip of the nozzle 210 . The first flow path 212 is formed in the central region of the nozzle 210 and communicates with the spray port 211 . The distal end of the first flow path 212 has a flow path reduction region whose diameter gradually decreases as it approaches the spray port 211 . The second flow path 213 is provided to surround the circumference of the first flow path 212 and communicates with the spray port 211 .

A plurality of nozzles 210 having the above-described structure may be provided. The nozzles 210 are disposed so that the spray holes 211 face different directions with respect to the vertical central axis of the body 110 . The nozzles 210 may be disposed to be inclined upward such that the height of the front end is higher than that of the rear end. According to the embodiment, four nozzles 210 are provided, and the nozzles 201 may be sequentially disposed at an angle between them at 90 degrees. Alternatively, the number and arrangement angle of the nozzles 210 may be variously changed.

The medium supply unit 220 supplies a liquid medium to the first flow path 212 . The medium supply unit 220 includes a medium storage tank 221 , a medium supply line 222 , a pump 223 , and a valve 224 .

The medium storage tank 221 is provided in the body 110 and stores a liquid medium. One end of the medium supply line 222 is connected to the medium storage tank 221 , and the other end is branched and connected to the first flow path 212 of the nozzle 210 , respectively.

A pump 223 and a valve 224 are installed in the medium supply line 222 . The pump 223 generates power for transferring the liquid medium toward the nozzle 210 . The valve 224 may be opened and closed so that the liquid medium is transferred along the medium supply line 222 .

The activation gas supply unit 230 sucks ambient air, activates the sucked air to generate an activation gas, and supplies the generated activation gas to the nozzle 210 . The activation gas supply unit 230 includes a compressor 231 , an activation gas supply line 232 , an activation gas generator 233 , and a filter 234 .

The compressor 231 is provided in the body 110 and sucks and compresses ambient air.

The activation gas supply line 232 connects the compressor 231 and the nozzle 210 , and supplies the sucked air to the second flow path 213 . The activation gas supply line 232 may be made of a dielectric material. According to an embodiment, the activation gas supply line 232 may be provided with a polytetrafluoroethylene material. The material may stably maintain the activation gas in a radical state.

The activation gas generator 233 is installed on the activation gas supply line 232 , and activates air supplied along the activation gas supply line 232 by applying an electric field to generate the activation gas.

The filter 234 is installed on the activation gas supply line 232 in a section between the activation gas generator 233 and the compressor 231 . The filter 234 filters particles included in the air transferred through the activation gas supply line 232 .

5 is a view showing an activation gas generator according to an embodiment of the present invention.

Referring to FIG. 5 , the activation gas generator 233 includes a first electrode tube 331 , a barrier 332 , a second electrode tube 333 , and first and second connection terminals 334 and 335 . .

The first electrode tube 331 is a metal tube made of a conductive material, and is connected to the (+) pole of the power source through the first connection terminal 334 .

The barrier 332 is inserted into the first electrode tube 331 , and a tip protrudes to the outside of the first electrode tube 331 . The barrier 332 is provided as a tube made of a dielectric material. According to an embodiment, the barrier 332 is at least one of polyimide (PI), polyethylene terephthalate (PET), polyethersulfone (PES), polytetrafluoroethylene (PTFE, Polytetrafluoroethylene), and polycarbonate (polycarbonate). It may be provided with any one material. Air supplied through the activation gas supply line 232 may flow in the inner space of the barrier 332 .

The second electrode tube 333 is a metal tube made of a conductive material, and is spaced apart from the first electrode tube 331 by a predetermined distance. The second electrode tube 333 is connected to the (-) pole of the power source through the second connection terminal 335 .

When power is applied from the power source, an electric field is generated between the first electrode tube 331 and the second electrode tube 333 , and the electric field activates air passing through the barrier 332 . According to the embodiment, it is possible to activate the air by applying a low power of 1 to 30 watts (W).

6 is a diagram illustrating a configuration of a moving unit according to an embodiment of the present invention. Referring to FIG. 6 , the moving unit 130 moves the body 110 . The moving unit 130 includes a peripheral sensing unit 131 , a moving path generating unit 132 , a moving path storing unit 133 , a driving wheel 134 , and a driving unit 135 .

The peripheral sensing unit 131 is installed on the body 110 and senses the body 110 periphery. The surrounding sensing unit 131 may obtain the position of the obstacle and 3D spatial information through the detected surrounding information. A camera capable of acquiring image information may be used as the surrounding sensing unit 131 . Alternatively, a lidar may be used as the peripheral sensing unit 131 .

The moving path generator 132 generates a moving path through the surrounding information obtained from the surrounding sensing unit 131 . The movement path generation unit 132 generates a movement path of the body 110 based on the 3D spatial information displayed in the surrounding information and the location information of the obstacle.

The moving path storage unit 133 stores the path the body 110 moves.

The driving wheel 135 is coupled to the bottom surface of the body 110 and rolls along the ground. A plurality of driving wheels 135 may be provided.

The driving unit 134 transmits power to the driving wheel 135 .

The UV irradiator 140 is installed on the body 110 and irradiates ultraviolet light around the body. Ultraviolet light increases the sterilization power.

The sensor 150 is installed in the body 110 and measures the concentration of the activating fluid contained in the surrounding air. According to the embodiment, the sensor 150 measures the concentration of hydrogen peroxide contained in the air.

The display unit 160 displays various types of information, such as driving information, movement path information, and measurement information from the sensor 150 .

The control unit 170 controls the activation fluid injection unit 120 and the moving unit 130 according to the sterilization mode and the air purification mode.

First, in the sterilization mode, the controller 170 controls the moving unit 130 to move the body 110 along the moving path. In addition, the controller 170 controls the activating fluid ejection unit 120 to inject a fluid in which a medium in a droplet or mist state and an activating gas are mixed from the spray port 211 of the nozzle 210 . Specifically, the valve 224 is opened and the compressor 231 and the pump 223 are driven. And power is applied to the first connection terminal 334 and the second connection terminal 335 . When the compressor 231 is driven, external air flows into the activation gas supply line 232 , and flows into the first electrode tube 331 through the filter 234 . With the power applied to the first connection terminal 334 and the second connection terminal 335 , an electric field is generated between the first electrode tube 331 and the second electrode tube 333 , and the electric field passes through the barrier 332 . Activates the air passing through. The activation gas is introduced into the second flow path 213 through the activation gas supply line 232 .

At the same time, the liquid medium stored in the medium storage tank 221 is supplied to the first flow path 212 through the medium supply line 222 by driving the pump 223 . The liquid medium is sprayed to the outside in a droplet or mist state through the spray port 211 . At the same time, the activation gas is introduced into the medium by the flow of the medium sprayed from the spray port 211 . The activity of the medium in the droplet or mist state is improved by binding with the activating gas. By improving the activity of the medium, the sterilization power is increased. In particular, the medium in the form of droplets or mist is mainly combined with ozone radicals contained in the activation gas, so that the sterilization power may be further improved.

In the air purification mode, the control unit 170 controls the moving unit 123 to move the body. The path moved by the body 110 during the sterilization mode is stored in the movement path storage unit 133 . The control unit 170 may move the body 110 along a path stored in the movement path storage unit 133 . The control unit 170 blocks the valve 224 and stops the operation of the pump 223 . The control unit 170 blocks the application of power to the first and second connection terminals 334 and 335 . And the controller 170 drives the compressor 231 . As the compressor 231 is driven, ambient air flows into the activation gas supply line 232 . The introduced air is supplied to the second flow path 213 of the nozzle 210 through the filter 234 , and is sprayed to the outside through the spray port 211 . In this process, the activating fluid contained in the ambient air is filtered by the filter 234 , and air not containing the activating fluid is sprayed to the outside through the nozzle 210 . If the air purification board proceeds for a predetermined time, the concentration of hydrogen peroxide in the air may be lowered.

The controller 170 may switch from the sterilization mode to the air purification mode when the concentration of the activation fluid in the air measured by the sensor 150 exceeds the reference concentration. Also, the control unit 170 may switch to the air purification mode after the sterilization mode has been performed for a preset time.

7 is a view showing an autonomous driving disinfecting robot according to another embodiment of the present invention, and FIG. 8 is a diagram showing one use of the autonomous driving disinfecting robot of FIG. 7 .

Referring to FIG. 7 , the body 110 includes first to third body blocks 111 to 113 . The first to third body blocks 111 to 113 may be sequentially stacked from the top. The first body block 111 may be positioned on the second body block 112 , and the second body block 112 may be positioned on the third body block 113 . The first to third body blocks 111 to 113 can be combined and disassembled. The above-described nozzles 210 may be installed in the first body block 111 . Driving wheels 135 may be installed on the bottom surface of the third body block 113 .

According to an embodiment, a medium storage tank 221 for storing a liquid medium may be provided in at least one of the second body block 112 and the third body block 113 . According to the embodiment, the medium storage tank 221 may be provided in each of the second and third body blocks 112 and 113 . Due to this, the capacity of the medium that the autonomous driving disinfection robot 10 can spray at a time can be increased.

Referring to FIG. 8 , the autonomous driving disinfection robot 10 may be provided by removing the second body block 112 and combining the first body block 111 and the third body block 113 . A medium storage tank 221 is provided inside the third body block 113 . This autonomous driving disinfection robot 10 has a lower height than the first to third body blocks 111 to 113 are combined. Therefore, the autonomous driving disinfection robot 10 can easily enter the space under the patient's bed in the hospital during unmanned driving, and can disinfect every corner of the facility.

Also, according to an embodiment, the second body block 112 may have an outer peripheral surface provided as a transparent window, and a peripheral sensing unit 131 may be provided therein. The transparent window may be provided along the circumference of the second body block 112 . The peripheral sensing unit 131 is provided with a lidar, and may acquire spatial information about the entire periphery of the body 110 .

9 is a view showing a nozzle and an activation gas generator according to another embodiment of the present invention.

Referring to FIG. 9 , a flow path 411 is formed on a central axis of the nozzle 410 , and the flow path 411 is connected to a medium supply line 222 . The flow path 411 has a flow path reducing region 412 and a spray port 413 . The spray port 413 is located at the end of the flow path 411 . The flow path reduction region 412 communicates with the spray port 413 , and the inner diameter gradually decreases as it approaches the spray hole 413 . The flow path reduction region 412 may be provided in a conical shape.

The front end 415 of the nozzle 410 may have a diameter gradually decreasing toward the front end, so that the outer peripheral surface of the front end 415 may be provided as an inclined surface. A thickness between the inner surface and the outer peripheral surface of the nozzle 410 may have a thickness of 0.3 to 0.7 mm. According to an embodiment, a thickness between the inner surface and the outer peripheral surface of the nozzle 410 may be 0.5 mm.

The nozzle 410 is made of a conductive material. The nozzle 410 is grounded and serves as a ground electrode.

The activation gas generator 420 generates an activation gas by activating ambient air around the tip 415 of the nozzle 410 . The activation gas generator 420 includes a dielectric layer 421 , a power electrode 422 , and a power source 423 .

The dielectric layer 421 is a dielectric material and may be coated on the outer peripheral surface of the nozzle 410 . The dielectric layer 421 may be coated over the entire area from the rear end to the front end of the nozzle 410 .

The power electrode 422 may be provided on the dielectric layer 421 . The power electrode 422 is provided in the longitudinal direction of the nozzle 410 , and the front end 422a is positioned on an inclined surface between the front end and the rear end of the front end 415 of the nozzle 410 .

The power source 423 applies power to the power electrode 232 .

The liquid medium is supplied to the flow path 411 of the nozzle 410 through the medium supply line 222 . The liquid medium is sprayed in a droplet or mist state 21 at a high pressure through the flow passage changing region 412 and the spray port 413 in the flow passage 411 . In the spraying process of the medium, a negative pressure is formed around the spray port 413, and the ambient air 22 is introduced by the negative pressure in the "? direction?" of the medium 21. In the vicinity of the nozzle 410, the nozzle 410 ) along the outer peripheral surface of the air stream 22 is formed in the front region of the spray port 413.

Meanwhile, when power is applied from the power source 423 , the activation gas 23 is generated in the boundary region of the front end 422a of the power electrode 422 . The activation gas 23 is generated by activating the surrounding air of the power electrode 422 with electrons, radical ozone, nitrogen oxide, hydroxide, and the like. The activation gas 23 flows into the front area of the spray port 413 along the air stream 22 around the nozzle 410 and mixes with the medium 21 in the form of droplets or mist. The activity of the medium 21 in a droplet or mist state is improved by bonding with the activating gas 23 . By improving the activity of the medium 21, the sterilization power is increased. In particular, the medium 21 in a droplet or mist state is mainly combined with ozone radicals contained in the activation gas 23, so that the sterilization power can be further improved.

In the sterilization mode, the control unit 170 drives the pump 223 and applies power to the power electrode 422 . A liquid medium is supplied to the flow path 411 of the nozzle 410 by driving the pump 223 , and the liquid medium is sprayed to the outside in a droplet or mist state through the spray port 413 .

When electric power is applied to the power electrode 422 , the activation gas 23 is generated in the boundary region of the front end 422a of the power electrode 422 . The activating gas 23 flows into the front area of the spray port 413 along the air stream 22 around the nozzle 220 and mixes with the medium 21 in the form of droplets or mist.

In the air purification mode, the control unit 170 stops the operation of the pump 223 and closes the valve 224 . The control unit 170 drives the compressor 231 . With the operation of the compressor 231 , the ambient air sequentially passes through the activation gas supply line 232 and the filter 234 , and is sprayed to the outside through the spray port 413 of the nozzle 410 . In this air circulation process, the hydrogen peroxide particles and by-products contained in the air are filtered by the filter to lower the hydrogen peroxide concentration in the surrounding air.

10 is a view illustrating a nozzle and an activation gas generator according to another embodiment of the present invention.

Referring to FIG. 10 , the activation gas generator 420 includes a dielectric tube 421 , a power electrode 422 , an insulator film 423 , and a power source (not shown).

The dielectric tube 421 is a tube made of a dielectric material, and a space is formed therein. A nozzle tip 415 is positioned in the inner space of the dielectric tube 421 . The dielectric tube 421 has an inner surface facing the front end 415 of the nozzle and an outer surface provided parallel to the inner surface. The inner surface of the dielectric tube 421 is inclined in the same direction as the inclined surface of the nozzle tip 415 . The inner surface of the dielectric tube 421 has a larger diameter than the front end 415 of the nozzle, and maintains a predetermined distance from the outer circumferential surface of the nozzle tip 415 .

The power electrode 422 is provided on the outer surface of the dielectric tube 421 and is spaced apart from each other by a predetermined distance. The power electrode 422 is connected to a power source and power is applied thereto.

An insulator film 423 is coated on the outer surface of the dielectric tube 421 so that the power electrode 422 is positioned inside. The insulator layer 423 is coated on the entire area of the power electrode 420 , thereby blocking the contact of the power electrode 422 with external air. The insulator layer 423 may be made of the same material as the dielectric tube 421 .

The nozzle 410 is grounded and serves as a ground electrode.

When power is applied to the power electrode 422 , the activation gas 23 is generated in a space between the inner surface of the dielectric tube 421 and the nozzle tip 415 . The activation gas 23 flows into the front region of the spray port 413 along the air stream 22 generated by the atomization of the medium 21 , and is mixed with the medium 21 in the form of droplets or mist.

11 is a diagram illustrating a nozzle and an activation gas generator according to another embodiment of the present invention.

Referring to FIG. 11 , unlike the embodiment of FIG. 10 , the tip 415 of the nozzle 410 has the same diameter as other regions. In addition, the dielectric tube 421 may be provided with the same inner diameter. When electric power is applied to the power electrode 422 , an activation gas 23 is generated in a space between the dielectric tube 421 and the nozzle tip 415 . The activation gas 23 flows into the front area of the spray port 413 along the air flow 22 generated by the atomization of the medium, and is mixed with the medium 21 in the form of droplets or mist.

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the present invention.

10: disinfection robot
110: body
120: activating fluid ejection unit
130: moving unit
140: UV irradiation unit
150: sensor
160: display unit
170: control unit

Claims (5)

body;
an activation fluid ejection unit provided on the body and ejecting an activation fluid to the outside of the body;
a moving unit including a driving wheel that rolls along the ground and moving the body; and
A control unit for controlling the activation fluid spraying unit and the moving unit according to a sterilization mode and an air purification mode,
The activating fluid spraying unit sprays a fluid in which a medium in a droplet or mist state and an activation gas are mixed in the sterilization mode, and circulates ambient air in the air purification mode. The method of claim 1,
The activation fluid spraying unit,
a nozzle having a first flow passage and a second flow passage communicating with the spray port formed therein;
a medium supply unit for supplying a liquid medium to the first flow path;
compressor;
an activation gas supply line connecting the compressor and the nozzle and supplying the activation gas to the second flow path;
an activation gas generator installed on the activation gas supply line and configured to generate the activation gas; and
Including a filter installed in the activation gas supply line in a section between the activation gas generator and the compressor,
In the sterilization mode, the liquid medium is supplied to the first flow passage, the activation gas is supplied to the second flow passage, and the liquid medium is sprayed from the spray port in the form of droplets or mist to form the activation gas mixed with,
In the air purification mode, the supply of the liquid medium to the first flow path is stopped, the supply of the activation gas to the second flow path is stopped, and the ambient air is moved to the activation gas supply line by driving the compressor An autonomous driving disinfection robot that is introduced and sprayed to the outside through the spray port. 3. The method of claim 2,
A plurality of the nozzles are provided, and the autonomous driving disinfection robot is disposed so that the spray ports face different directions with respect to a vertical central axis of the body. The method of claim 1,
the moving part
a driving unit for providing power to the driving wheel;
a peripheral sensing unit for sensing the periphery of the body;
a movement path generation unit for generating a movement path using the information sensed by the surrounding sensing unit; and
Comprising a movement path storage unit for storing the movement path of the body,
The control unit is
controlling the driving unit to move the body along the movement path in the sterilization mode;
An autonomous driving disinfecting robot that controls the driving unit to move the body along the same path as the moving path of the body in the sterilization mode in the air purification mode. 3. The method of claim 2,
The body is
a first body block in which the nozzle is installed;
a second body block placed under the first body block and capable of being separated and combined with the first body block; and
A third body block placed under the second body block and capable of being separated and combined with the second body block,
An autonomous driving disinfection robot provided with a medium storage tank for storing the liquid medium in at least one of the second body block and the third body block.

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