KR20230026652A - Sterilization robot - Google Patents

Abstract

The present invention relates to a sterilization robot, comprising: a body moved by a power device; an air transport part that compresses air and moves the same with a direction; a sterilizing material supply part for injecting sterilizing material into air moving with a direction; a nozzle through which the sterilizing material mixed in the air is discharged; a battery that provides electricity to the air transport part; and a power generation part receiving some of the air moving from the air transport part to the nozzle to generate electricity and supplying generated electricity to the battery. The sterilization robot of the present invention can minimize a total volume of a battery and a device by generating electricity with unused compressed air among compressed air produced to discharge a sterilizing material.

Description

Sterilization robot

The present invention relates to a sterilization robot capable of minimizing the total volume of a battery and a device by generating electricity with unused compressed air among compressed air produced to discharge a sterilizing substance.

Patent Document 001 is a robot body and; a receiving housing protruding and extending from at least one side of the robot body and having an open bottom; a sterilization unit installed inside the accommodation housing and irradiating disinfection and sterilization light through an open lower portion of the accommodation housing; a rotating wheel installed to surround the outside of the receiving housing and rotated by being supported on the bottom surface; and a wheel driving unit configured to rotationally drive the rotary wheel, wherein the robot body includes first and second bodies formed symmetrically with each other; And a hinge coupling part provided at the corner portion of the first and second bodies in contact with each other to connect the first and second bodies to each other in a parallel and serial position to be changeable. Disinfection and sterilization, characterized in that it comprises It presents the technology related to the robot.

Patent Document 002 includes an ultraviolet sterilizer that emits unidirectional ultraviolet light and can move in three degrees of freedom to sterilize an object to be disinfected, and a body that supports the ultraviolet sterilizer and reads a blind area where ultraviolet light cannot reach, The body maps the ultraviolet sterilization range on a spatial map based on the irradiation distance of the ultraviolet light, and a sterilization schedule module that detects a blind area that is not sterilized because the ultraviolet light does not reach, and a disinfection target or disinfection located in a distant blind area. Includes an integrated control unit that controls the overall disinfection operation, including an operation schedule module that sets a new location for the UV sterilization robot and generates a control command to move to the set location in order to perform the UV disinfection operation in the area, and the sterilization The schedule module creates a grid map that lattices the disinfection space based on the ultrasonic information collected from the ultrasonic sensor, and maps the information on the irradiation distance of ultraviolet light measured by the ultraviolet irradiation distance measuring sensor to the space map so that the ultraviolet sterilization robot is currently A technology related to an ultraviolet sterilization robot is proposed, which is characterized in that the range of ultraviolet sterilization can be specified by displaying an area capable of sterilization at the location.

Patent Document 003 is a mobile unit capable of traveling on the ground; and a sterilization unit detachable from the mobile unit and having a sterilization unit for emitting ultraviolet rays.

Patent Document 004 discloses a case in which driving wheels are formed on the bottom surface to be movable artificially and a motor for driving the same is built-in to form an appearance, a suction means built in the case to provide suction power, and a bottom of the case. A suction nozzle that faces the bottom surface to be cleaned and includes a suction port through which suction air is sucked, and a dust collecting means having a built-in filter assembly for filtering cleaning materials from the suction air in a dust collecting case installed to communicate with the suction means; It includes an ultraviolet light source installed inside the suction nozzle or the dust collecting means to sterilize the floor surface to be cleaned or the suction air/filter assembly by irradiating ultraviolet light, and a control means connected to the ultraviolet light source and controlling to generate ultraviolet light It presents a technology related to a characteristic ultraviolet sterilization robot cleaner.

KR 10-1635593 B1 (June 27, 2016) KR 10-1724447 B1 (April 11, 2017) KR 10-2020-0048184 A (May 08, 2020) KR 10-2007-0066673 A (June 27, 2007)

The present invention relates to a sterilization robot capable of minimizing the total volume of a battery and a device by generating electricity with unused compressed air among compressed air produced to discharge a sterilizing substance.

It is an invention related to a sterilization robot for solving the problems of the prior inventions, and the present invention is a body 100 moving by a power device; An air delivery unit 200 that compresses air and moves it in a direction; A sterilization material supply unit 300 for injecting sterilization material into air moving in a direction; A nozzle 400 through which a sterilizing substance mixed with air is discharged; a battery 500 providing electricity to the air conveying unit 200; a power generation unit 600 receiving some of the air moving from the air transfer unit 200 to the nozzle 400 to generate electricity and supplying the generated electricity to the battery 500; made including

The present invention relates to a sterilization robot, and includes an inverter (I) that receives electricity generated from the power generation unit 600 and converts it into a form that can be supplied to the battery 500 or the air transfer unit 200; includes

The present invention relates to a sterilization robot, and includes a control unit 700 for adjusting a ratio of air supplied to the nozzle 400 and the power generation unit 600; includes

The present invention relates to a sterilization robot, and the power generation unit 600 includes a turbine unit 610 that converts power transmitted while moving air into rotational force; a rotor 620 for rotating a plurality of magnetic bodies 621 with rotational force transmitted from the turbine unit 610; a stator 630 having a structure surrounding the rotor 620 and having a plurality of coils 631 disposed on an inner surface to face the magnetic body 621; Torque adjusting means 640 for controlling the area or number of the magnetic body 621 and the coil 631 facing each other by adjusting the length of the stator 630; includes

The present invention relates to a sterilization robot, and the air transfer unit 200 includes a compression fan 210 that pressurizes air using rotational force; includes

The present invention relates to a sterilization robot, and the air transfer unit 200 includes a compressed air storage case 230 in which air is compressed and stored; A piston 240 located inside the compressed air storage case 230; an elastic body 250 connecting the compressed air storage case 230 and the piston 240; an air injection unit 260 for injecting air into the compressed air storage case 230; includes

The present invention has the advantage of minimizing the size of the battery because electricity is generated from excess air.

In detail, since the sterilization robot requires a lot of energy to move and generate compressed air, there is a problem that the battery must have a certain size or more, and this problem leads to an increase in the overall volume of the device. In the present invention, surplus compressed air By generating electricity and charging the battery, the volume of the battery was minimized.

The present invention has the advantage of having a higher power generation efficiency because the area or number of the magnetic body and the coil facing each other is adjusted in response to the speed of the air flowing into the power generation unit.

1 is a block diagram showing a sterilization substance release and power generation process of the sterilization robot of the present invention.
Figure 2 is a perspective view showing the sterilization robot of the present invention.
Figure 3 is a side view showing the sterilization robot of the present invention.
4 is a block diagram embodying the control unit of the sterilization robot of the present invention.
5 is a conceptual diagram for explaining the design and movement of the sterilization route of the sterilization robot of the present invention.
6 is a conceptual diagram showing a power generation unit of the sterilization robot of the present invention.
7 is a conceptual diagram showing the air transfer unit of the sterilization robot according to the present invention;
8 is a conceptual diagram showing an additional embodiment of the sterilization robot of the present invention.

Hereinafter, the most preferred embodiment of the present invention will be described in detail in order to explain the present invention in detail to the extent that those skilled in the art can easily practice the present invention.

Numbers cited in the examples below are not limited to the referenced subject and can be applied to all examples. An object that exhibits the same purpose and effect as the configuration presented in the embodiment corresponds to an equivalent replacement object. The high-level concept presented in the examples includes sub-concept objects that are not described.

(Example 1-1) The sterilization robot of the present invention includes a body 100 moving by a power device; An air delivery unit 200 that compresses air and moves it in a direction; A sterilization material supply unit 300 for injecting sterilization material into air moving in a direction; A nozzle 400 through which a sterilizing substance mixed with air is discharged; a battery 500 providing electricity to the air conveying unit 200; a power generation unit 600 receiving some of the air moving from the air transfer unit 200 to the nozzle 400 to generate electricity and supplying the generated electricity to the battery 500; includes

(Embodiment 1-2) In the sterilization robot of the present invention, in Embodiment 1-1, the body 100 includes a lower body 110 with a moving means 111 formed at the lower side to move in the designed direction, and the nozzle An upper body 120 to which 400 is coupled, a central body 130 positioned between the lower body 110 and the upper body 120 and adjusting the height of the upper body 120; includes

(Example 1-3) In the sterilization robot of the present invention, in Example 1-2, the body 100 includes an ultrasonic sensor 140 coupled to an edge of the lower body 110 or the central body 130; includes

(Example 1-4) In the sterilization robot of the present invention, in Example 1-1, the nozzle 400 includes a first nozzle 410 and a second nozzle 420 having different spray angles and spray radii; includes

(Embodiment 1-5) In the sterilization robot of the present invention, in Embodiment 1-1, the electricity generated by the power generation unit 600 is received and supplied to the battery 500 or the air transport unit 200. converting inverter (I); includes

Conventional sterilization robots are equipped with bulky large batteries in order to cope with the large amount of energy consumed in operations such as movement and discharge of sterilization substances. However, when a large battery is installed in the sterilization robot, not only the overall volume of the sterilization robot increases, but also the energy required for driving increases as the weight of the sterilization robot increases, so there is a problem in that energy efficiency decreases.

Therefore, in the present invention, the energy efficiency of the device is maximized while minimizing the installed battery capacity by recycling the energy wasted in the process of releasing the sterilizing material.

In detail with reference to FIG. 1, electricity is produced by supplying unused surplus air among the compressed air used to release the sterilizing material to the power generation unit 600, and the generated electricity is supplied to the battery 500 Thus, the battery 500 can be charged.

At this time, the electricity produced in the power generation unit 600 can be converted into a form suitable for charging in the inverter (I) and then charged in the battery 500, but in addition to this, it is possible to smoothly supply power to the air transport unit 200. After being converted into a form, it is immediately supplied to the air transport unit 200 without passing through the battery 500, and insufficient power may be supplied from the battery 500.

In addition, when the inverter (I) is a hybrid inverter, the battery 500 can be charged even when the battery 500 supplies electricity to the air transport unit 200 . In addition, referring to FIGS. 2 and 3, the sterilization robot 1000 of the present invention is a device capable of moving and sterilizing. ), and the body 100 in which the power generation unit 600 is accommodated, and the ultrasonic sensor 140 is attached to the edge of the body 100 to obtain information about the shape of the space where sterilization is performed and whether or not there are obstacles.

In addition, the upper body 120 of the body 100 is coupled with the central body 130 to be height-adjustable, and as shown in FIG. It is recommended that it can be spread evenly over the area, and the nozzle 400 is coupled obliquely to the top of the upper body 120 and vertically coupled to the first nozzle 410 having a wide spray radius and the lower side of the upper body 120. Compared to the first nozzle 410, a second nozzle 420 having a narrow spraying radius and a long spraying distance may be included.

In detail, when a plurality of nozzles have the same spraying radius and spraying distance, an area in which the sterilizing material emitted from the nozzles is not supplied occurs, so that the first nozzle 410 is adjacent to the inner area among the areas to be sterilized. The sterilizing material is evenly spread on the surface, and the second nozzle 420 is able to spread the sterilizing material to the far edge area among the areas to be sterilized.

(Embodiment 2-1) The present invention relates to a sterilization robot, and in Embodiment 1-1, the control unit 700 for adjusting the ratio of air supplied to the nozzle 400 and the power generation unit 600; includes

(Embodiment 2-2) In the sterilization robot of the present invention, in Embodiment 2-1, the control unit 700 includes a structure grasping unit 710 that obtains structural information of the sterilization space, and a charging device (C) installed in the sterilization space. The charging location identification unit 720 for determining the location information of the charging device based on the structure information identified by the structure determination unit 710 and the charging device (C) location information identified by the charging location determination unit 720 a sterilization route designing unit 730 for determining a sterilization route passing through (C) and a sterilization position and sterilization area for discharging sterilization substances in a stationary state; includes

(Example 2-3) In the sterilization robot of the present invention, in Example 2-2, any one or more of the plurality of sterilization positions determined by the sterilization path design unit 730 is a position where the charging device (C) is installed; includes

(Example 2-4) In the sterilization robot of the present invention, in Example 2-3, the control unit 700 controls the nozzle 400 and power generation unit 600 in correspondence with the sterilization area determined by the sterilization route design unit 730. ) Discharge pressure control unit 740 for adjusting the air ratio supplied to; includes

4 and 5, the sterilization robot of the present invention identifies the structure of a sterilization space based on information obtained from a structure identification unit 710 including an ultrasonic sensor 140 and a camera, and the charging location determination unit In 720, the location of the charging device (C) installed in the sterilization space is identified, and the sterilization path design unit 730 uses the information identified to determine the path along which the sterilization robot moves and the sterilization material while the sterilization robot is stopped. Determine the sterilization location for spraying.

In detail, the sterilization robot of the present invention repeatedly performs the steps of moving, stopping, and releasing a sterilizing substance for sterilizing a wide area.

Therefore, as shown in FIG. 5, the sterilization space identified by the structure grasping unit 710 in the sterilization path design unit 730 is a plurality of detailed areas S1 where the sterilization material emitted from the nozzle 400 can spread. , S2, S3, S4, S5, S6, S7, S8, S9), and among the plurality of detailed areas, the detailed areas (S2, S5, S7) where the charging devices (C1, C2, C3) are located are divided into a plurality of It is spaced apart between the detailed areas so that when the sterilization robot sequentially moves through the detailed areas and sterilizes the sterilization space, it is naturally charged by the charging devices (C1, C2, C3).

At this time, the charging device (C) includes a wireless / wired charging device, and it is sufficient if the battery 500 can be charged while the sterilization robot is in a stopped state and moving along a designated path for sterilization, so it is not limited.

In addition, the information grasped by the structure grasping unit 710 may include the size of the sterilization space, the position of the wall constituting the sterilization space, the entrance of the sterilization space, and the position of obstacles located in the sterilization space. In addition, the charging location determining unit 720 communicates with the charging device C located in the sterilization space, and the communication means 721 for determining the location of the charging device C and the location information of the charging device C are stored. A charging information storage unit 722 may be included.

(Embodiment 3-1) The present invention relates to a sterilization robot, and in Embodiment 2-1, the power generation unit 600 includes a turbine unit 610 that converts power transmitted by moving air into rotational force; a rotor 620 for rotating a plurality of magnetic bodies 621 with rotational force transmitted from the turbine unit 610; a stator 630 having a structure surrounding the rotor 620 and having a plurality of coils 631 disposed on an inner surface to face the magnetic body 621; Torque adjusting means 640 for controlling the area or number of the magnetic body 621 and the coil 631 facing each other by adjusting the length of the stator 630; includes

(Embodiment 3-2) In the sterilization robot of the present invention, in Embodiment 3-1, the turbine unit 610 is rotatably coupled to the turbine housing 611 having an accommodation space formed therein, and the turbine Turbine 612 rotated by the air passing through the housing 611; includes

(Example 3-3) In the sterilization robot of the present invention, in Example 3-2, the rotor 620 is coupled to the turbine 612 and rotates together with the turbine 612, the rotating shaft 622, the magnetic body a magnetic coupling part 623 to which 621 is coupled; includes

(Embodiment 3-4) In the sterilization robot of the present invention, in Embodiment 3-3, the stator 630 has a shaft 633 formed with a slide hole 632 into which the rotary shaft 622 is inserted in the longitudinal direction at the center. ), a stator housing 634 coupled to one side of the shaft 633 in the longitudinal direction and to which the coil 631 is coupled to an inner surface; includes

(Example 3-5) In the sterilization robot of the present invention, in Example 3-4, the torque adjusting means 640 includes a lift unit 641 for adjusting the length of the shaft 633; includes

(Example 3-6) In the sterilization robot of the present invention, in Example 3-1, the power generation unit 600 measures air information for measuring at least one of the pressure and speed of air flowing into the turbine unit 610. acquisition unit 650; includes

(Embodiment 3-7) In the sterilization robot of the present invention, in Embodiment 3-6, the control unit 700 is a magnetic body 621 facing each other in response to the speed of air measured by the air information acquisition unit 650 and a power generation efficiency enhancing unit 760 for adjusting the area or number of coils 631; includes

(Embodiment 3-8) In the sterilization robot of the present invention, in Embodiment 3-5, the control unit 700 gradually increases the area or number of the magnetic body 621 and the coil 631 facing each other to reduce the initial power generation power. section 770; includes

6, the air introduced through the inlet hole 611-1 of the turbine housing 611 rotates the turbine 612, and when the turbine 612 rotates, the rotation shaft 622 connected to the turbine 612 rotates. As it rotates, the magnetic body 621 coupled to the rotating shaft 622 rotates, and electricity is generated in the coil 631 .

At this time, since the amount of electricity produced is proportional to the area of the coil 631 facing the magnetic body 621 or the number of coils 631, in the present invention, a plurality of magnetic bodies 621 are spaced apart from each other on the rotating shaft 622, After the plurality of coils 631 are spaced apart in the stator housing 634, the area and number of the magnetic body 621 and the coil 631 face each other in response to the speed and amount of air flowing into the turbine unit 610. made adjustable.

In detail, since the speed and amount of air introduced into the power generation unit 600 vary according to the ratio set in the discharge pressure adjusting unit 740, the power generation efficiency enhancing unit 760 uses it for power generation in response thereto. By adjusting the number and area of the magnetic body 621 and the coil 631, power generation can be made more effectively.

At this time, the power generation efficiency enhancing unit 760 can adjust the number and area of the magnetic body 621 and coil 631 used for power generation in various ways, and in one embodiment, by using a torque control means 640 A method for adjusting the length of the shaft 633 may be included.

In addition, since the force for rotating the turbine 612 is large in the initial stage when the turbine 612 is stationary and decreases after rotation of the turbine 612 starts, in the present invention, the initial generation power reduction unit 770 When the turbine 612 is stopped, the number and area of the magnetic body 621 and the coil 631 facing each other are minimized, and when the turbine 612 starts to rotate, the facing magnetic body 621 and the coil 631 The number and area of ) are gradually increased, so that power generation can be started quickly even when the amount of air introduced into the turbine 612 is small and the speed is slow.

(Embodiment 4-1) The present invention relates to a sterilization robot, and in Embodiment 1-1, the air transfer unit 200 includes a compression fan 210 that pressurizes air using rotational force; includes

(Embodiment 4-2) In the sterilization robot of the present invention, in Embodiment 4-1, the air conveying unit 200 is a passage area adjusting means 220 for adjusting the inner diameter of the conveying pipe 10 through which the compressed air is conveyed. ; includes

A method of making the air move in a direction in the air transport unit 200 may include various forms, and in one embodiment, as shown in (a) of FIG. 7, a compression fan 210 in the transport pipe 10 ) Is installed, the compression fan 210 may be in the form of making the air move with a direction.

At this time, a passage area adjusting means 220 for adjusting the inner diameter of the transfer pipe 10 is located on the other side of the branch pipe 20 through which air is transported to the power generation unit 600, and the passage area adjusting means 220 is discharged. It is controlled by the pressure regulator 740.

(Embodiment 5-1) The present invention relates to a sterilization robot, and in Embodiment 1-1, the air transfer unit 200 includes a compressed air storage case 230 in which compressed air is stored; A piston 240 located inside the compressed air storage case 230; an elastic body 250 connecting the compressed air storage case 230 and the piston 240; an air injection unit 260 for injecting air into the compressed air storage case 230; includes

(Example 5-2) In the sterilization robot of the present invention, in Example 5-1, the compressed air storage case 230 is plural; includes

(Example 5-3) In the sterilization robot of the present invention, in Example 5-2, the plurality of compressed air storage cases 230 have the elastic body 250 and the air inlet and air outlet located in different directions; includes

The method of making the air move in a direction in the air transport unit 200 may include various forms, and in one embodiment, as shown in (b) of FIG. 7, air is supplied to the compressed air storage case 230. After storing, a method of discharging the stored air through the outlet 231 connected to the nozzle 400 may be included.

At this time, the piston 240 provided inside the compressed air storage case 230 is connected to an elastic body 250 such as a spring, so that the amount and speed of air discharged through the outlet 231 are always constant. Adjustment of the amount and speed of discharged air may be achieved by adjusting the number of outlets 231 of the compressed air storage case 230 to be opened.

In addition, the sterilization robot in the form of compressing and storing air in the plurality of compressed air storage cases 230 and releasing it can minimize the noise generated in the process of discharging the sterilization material, and the control unit 700 allows the user to compress A compressed air storage location input unit 780 for setting the air storage location is formed, so that when the air stored in the compressed air storage case 230 runs out during the sterilization process, it moves to the set soundproof space, refills compressed air, and then sterilization can be performed again. do.

(Embodiment 6-1) The present invention relates to a sterilization robot, and in Embodiment 1-1, the sterilization material supply unit 300 includes an ozone generator 310 generating ozone using plasma; an ozone injecting means 320 for injecting the ozone produced by the ozone generating means 310 into water; Supply means 330 for supplying water containing ozone to the nozzle 400; includes

The sterilizing material may include various materials having sterilizing ability, and in one embodiment may include ozone-containing water having a high sterilizing ability.

At this time, the production of ozone-containing water can be performed in various ways, and in one embodiment, when air is injected through the air injection pipe 301 as shown in FIG. 8, the ozone generating means 310 generates plasma. Ozone is generated and extracted from the air, and the ozone generated in the ozone input unit 320 is supplied to water located below the ozone generating housing 302 so that the ozone dissolves in the water.

And, the water containing ozone is supplied to the nozzle 400 through the supply means 330 and used for external sterilization.

At this time, the ozone generating housing 302 is provided with a remaining amount checking means for checking the amount of water received, and when the remaining amount checking means confirms that the amount of water remaining is less than a certain amount, water is supplied through the water injection pipe 303 to the ozone generating housing. 302 is further injected into the interior. In addition, since ozone contained in water is lighter than water molecules, it does not remain in water for a certain period of time and floats up, so the ozone injection means 320 continuously re-injects newly created ozone and ozone separated from water into water. recommended to do

In addition, a distribution supply plate 302-1 for distributing and supplying so that the injected ozone can be dissolved in water as much as possible may be formed at the bottom of the ozone generating housing 302, and in the case of the distribution supply plate 302-1 It may include a plate shape in which a plurality of through holes 302-1A are formed in the thickness direction.

100: body 110: lower body
120: upper body 130: central body
140: ultrasonic sensor
200: air transport unit 210: compression fan
220: passage area adjusting means 230: compressed air storage case
240: piston 250: elastic body
260: air inlet
300: Sterilization material supply unit
400: nozzle 410: first nozzle
420: second nozzle
500: battery
600: power generation unit 610: turbine unit
611: turbine housing 612: turbine
620: rotor 621: magnetic body
622: rotational shaft 623: magnetic coupling part
630: stator 631: coil
632: slide ball 633: shaft
634: stator housing 640: torque control means
641: lift unit 650: air information acquisition unit
700: control unit 710: structure grasping unit
720: charging position identification unit 730: sterilization route design unit
740: discharge pressure control unit 760: power generation efficiency enhancement unit
I: Inverter

Claims (7)

A body 100 moved by a power unit;
An air delivery unit 200 that compresses air and moves it in a direction;
A sterilization material supply unit 300 for injecting sterilization material into air moving in a direction;
A nozzle 400 through which a sterilizing substance mixed with air is discharged;
a battery 500 providing electricity to the air conveying unit 200;
a power generation unit 600 receiving some of the air moving from the air transfer unit 200 to the nozzle 400 to generate electricity and supplying the generated electricity to the battery 500; A sterilization robot comprising a.
The method of claim 1,
An inverter (I) that receives electricity generated from the power generation unit 600 and converts it into a form that can be supplied to the battery 500 or the air transport unit 200; A sterilization robot comprising a.
The method of claim 1,
a control unit 700 for adjusting a ratio of air supplied to the nozzle 400 and the power generation unit 600; A sterilization robot comprising a.
The method of claim 3,
The power generation unit 600 is a turbine unit 610 that converts the air moving and transmitted power into rotational force;
a rotor 620 for rotating a plurality of magnetic bodies 621 with rotational force transmitted from the turbine unit 610;
a stator 630 having a structure surrounding the rotor 620 and having a plurality of coils 631 disposed on an inner surface to face the magnetic body 621;
Torque adjusting means 640 for controlling the area or number of the magnetic body 621 and the coil 631 facing each other by adjusting the length of the stator 630; A sterilization robot comprising a.
The method of claim 1,
The air conveying unit 200 includes a compression fan 210 for pressure-transmitting air using rotational force; A sterilization robot comprising a.
The method of claim 1,
The air delivery unit 200 includes a compressed air storage case 230 in which compressed air is stored;
A piston 240 located inside the compressed air storage case 230;
an elastic body 250 connecting the compressed air storage case 230 and the piston 240;
an air injection unit 260 for injecting air into the compressed air storage case 230; A sterilization robot comprising a.
The method of claim 1,
The sterilizing material supply unit 300 includes an ozone generating means 310 for generating ozone using plasma;
an ozone injecting means 320 for injecting the ozone produced by the ozone generating means 310 into water;
Supply means 330 for supplying the ozone injected through the ozone injection means 320 to the nozzle 400; A sterilization robot comprising a.

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