KR20240027193A - Autonomous driving Disinfecting Robot - Google Patents

Abstract

The present invention relates to a self-driving disinfection robot, which includes a traveling body that autonomously drives an area subject to quarantine, a main body mounted on top of the traveling body, and a plurality of storage units installed inside the main body and storing various types of disinfectant solutions. an ultrasonic wave generator, which is respectively installed at the lower part of the storage unit and transmits ultrasonic waves to the disinfectant solution to vibrate the disinfectant solution to float the disinfectant particles to the upper part of the storage unit; and an ultrasonic generator unit which extends toward the upper part of the main body and floats on the upper part of the storage unit. A guide pipe for guiding disinfectant particles, a discharge pipe formed along the upper circumference of the guide pipe to spray the disinfectant particles into the air, and a discharge pipe installed on the main body to direct disinfectant particles floating on the upper part of the storage unit to the outside of the discharge pipe. A self-driving disinfection robot is disclosed, which includes a blower that generates a spraying air current.

Description

Autonomous driving Disinfecting Robot}

The present invention relates to a self-driving disinfection robot that stores a variety of disinfectant solutions and autonomously moves through areas subject to quarantine, evaluates components contained in the air, and sprays appropriate disinfectant solutions simultaneously or individually to effectively sterilize various pathogens. It's about disinfection robots.

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

In particular, due to the recent outbreak of the COVID-19 virus, the number of confirmed cases and deaths is increasing explosively as the COVID-19 virus spreads not only in China but also around the world.

Accordingly, the importance of air purification and disinfection systems in public places with large floating populations has recently been highlighted. To disinfect such public places, a method of spraying disinfectant while workers move around avoiding people was used to avoid spraying disinfectant directly on people.

However, the method in which workers spray disinfectant as described above has the risk of damaging the health of the sprayed disinfectant particles as they enter the worker's respiratory tract through the air, and there is a problem that a large number of personnel are required to disinfect a large space.

As a prior technology to solve this problem, the unmanned autonomous pest control robot of Republic of Korea Patent No. 10-1987133 was disclosed. According to prior art, a robot equipped with a double nozzle structure and a compression spray system autonomously drives and disinfects the space.

However, the above prior art has the problem of being able to sterilize only specific pathogens because a single control solution is mixed with water and sprayed into the relevant space. In other words, although there are various pathogens in places where there is a lot of human traffic, the pest control robot of the prior art sterilizes only a single pathogen, and as a result, there is a risk that unsterilized pathogens can proliferate and be transmitted to humans.

In addition, since the prior art is made by compressing the disinfectant solution and spraying it through a nozzle, the disinfectant solution is sprayed from the pest control robot in the form of a water stream, which has the advantage of reaching a long distance. When using a pest control robot, there is a problem that the disinfectant is sprayed directly on people, which can cause discomfort.

KR 10-1987133 B (2019.06.03)

The present invention is intended to solve the above problems, and its purpose is to provide a self-driving disinfection robot that can sterilize various pathogens by spraying various types of disinfectants simultaneously or individually.

In addition, the present invention is that when the disinfectant solution is discharged to the outside of the disinfection robot, it is discharged in the form of water mist, so that people located around the disinfection robot do not feel uncomfortable, and is sprayed far away along the air flow to effectively disinfect a large space. The purpose is to provide self-driving disinfection robots.

The technical idea of the present invention for achieving the above object includes a traveling aircraft that autonomously travels in an area subject to quarantine, a main body mounted on top of the traveling aircraft, and a variety of disinfectant solutions installed inside the main body. A plurality of storage units to be stored, an ultrasonic generator unit installed in the lower part of the storage unit to transmit ultrasonic waves to the disinfectant solution to vibrate the disinfectant solution and float the disinfectant particles to the upper part of the storage unit, and extending toward the upper part of the main body and storing the storage unit. A guide tube for guiding the disinfectant particles floating at the top of the unit, a discharge pipe formed along the upper circumference of the guide tube to spray the disinfectant particles into the air, and a discharge pipe installed on the main body to guide the disinfectant particles floating at the top of the storage unit. This is achieved by a self-driving disinfection robot characterized by including a blower that generates an air current spraying to the outside of the discharge pipe.

Here, the blowing unit includes a first blowing fan installed inside the main body and generating an upward airflow toward the flow path of the guide pipe, and a second blowing fan installed inside the upper end of the guide pipe to blow wind toward the flow path of the discharge pipe. It is desirable to include two blowing fans.

In addition, the guide pipe further includes a partition wall formed across the flow path for guiding the disinfectant particles, and the partition wall is formed corresponding to a blowing hole through which an upward airflow generated by the first blowing fan passes, and the storage part. It is preferable to include a plurality of through holes and hoses respectively connecting the through holes and the storage unit.

Additionally, the partition wall is preferably made of a mesh network.

In addition, the partition wall further includes valves respectively installed in the through holes to open and close the through holes, and the valves are preferably opened and closed according to the operation of ultrasonic generators respectively installed in the storage unit.

In addition, the main body preferably includes an air quality sensor that evaluates components contained in the air of the area subject to quarantine, and a control unit that regulates the operation of the ultrasonic generator installed in the storage unit according to the information evaluated by the air quality sensor.

In addition, the traveling body preferably further includes an ultraviolet irradiation unit that irradiates ultraviolet rays toward the ground.

In addition, it is preferable that the traveling aircraft further includes a visible light irradiation unit that irradiates visible light toward the ground.

In addition, it is preferable that a plurality of visible light irradiation units are installed along the circumference of the traveling aircraft to irradiate visible light to the ground located in front of the traveling direction of the traveling aircraft.

In addition, the visible light irradiated from the visible light irradiation unit to the ground is preferably irradiated to the ground in the shape of an arrow.

According to the self-driving disinfection robot according to the present invention, it can effectively sterilize various pathogens by storing various types of disinfectant solutions and moving around the quarantine target area on its own, evaluating components contained in the air, and spraying appropriate disinfectant solutions simultaneously or individually. .

In addition, in the present invention, the disinfectant solution takes the form of water mist by the ultrasonic generator and can be blown away from the discharge pipe by the first blower fan and the second blower fan, making it possible to effectively disinfect a large space.

Figure 1 is a perspective view showing a self-driving disinfection robot according to the present invention.
Figure 2 is an exploded perspective view showing the self-driving disinfection robot according to the present invention.
Figure 3 is a front view showing the self-driving disinfection robot according to the present invention.
Figure 4 is a cross-sectional view showing the self-driving disinfection robot according to the present invention.
Figure 5 is a perspective view showing a partition wall installed in the flow path of the guide pipe among the self-driving disinfection robot according to the present invention.
Figures 6 and 7 are cross-sectional and perspective views showing another embodiment of the self-driving disinfection robot according to the present invention.

Terms and words used in this specification and claims should not be construed as limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of terms to explain his or her invention in the best way. It must be interpreted as meaning and concept consistent with the technical idea of the present invention based on principles.

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

Figure 1 is a perspective view showing the self-driving disinfection robot according to the present invention, Figure 2 is an exploded perspective view showing the self-driving disinfection robot according to the present invention, and Figure 3 is a front view showing the self-driving disinfection robot according to the present invention.

When described with reference to the drawings, the self-driving disinfection robot according to the present invention includes a traveling body 100 that runs autonomously, a main body 200 mounted on the upper part of the traveling body 100, and an interior of the main body 200. A plurality of storage units 300, an ultrasonic generator 400 that vibrates the disinfectant contained in the storage units 300 to form floating disinfectant particles, and a device that guides the floating disinfectant particles to the upper part of the main body 200. A guide pipe 500, a discharge pipe 600 formed along the upper circumference of the guide pipe 500 to spray disinfectant particles into the atmosphere, and a discharge pipe 600 for discharging disinfectant particles floating on the upper part of the storage unit 300. It consists of a blowing unit 700 that generates an air current that sprays to the outside of.

To elaborate, the traveling body 100 enables the main body 200 to run and move in an area subject to quarantine, and includes a plurality of wheels 110 rotatably installed on the lower part of the traveling body 100, and the wheels ( 110) and includes a drive motor (not shown) that rotates each. The drive motors are each independently controlled by the travel control unit described below.

In addition, the traveling aircraft 100 has a traveling sensor unit 120 installed along its circumference. The traveling sensor unit 120 is a lidar sensor that detects obstacles or drivable areas in the quarantine target area, and the traveling gas 100 It consists of a human body detection sensor that detects people and animals around it, and a camera that captures images around the vehicle. The detection information detected by the LiDAR sensor and the image captured by the camera are transmitted to the travel control unit and transmitted to the vehicle (100). It is used as data to control.

In addition, the traveling body 100 is provided with a charging port (not shown) at the rear to supply power to the battery installed inside the traveling body 100, and the battery's power is used to power electronic components such as the driving motor and driving control unit. It is used as energy to operate.

The main body 200 mounted on the upper part of the traveling aircraft 100 includes a case 210 with an open top, a cover 220 that closes the upper part of the case 210, and an evaluation of components contained in the air in the area subject to quarantine. It consists of an air quality sensor 230 that regulates the operation of the ultrasonic generator 400 installed in the storage unit 300 according to the information evaluated by the air quality sensor 230.

The case 210 is made in the form of a hollow box with an open top so that a plurality of storage parts can be installed therein, and a cover 220 that is detachable from the case 210 is installed on the open top.

In addition, an air quality sensor 230 is provided on the side of the case 210 of the main body 200 to evaluate components contained in the air of the quarantine target area, so that the main body 200 autonomously drives the quarantine target area by the traveling gas 100. While doing this, the components contained in the air are evaluated in real time, and based on this evaluation information, the operation of the ultrasonic generator 400 installed in the storage unit is controlled through the control unit.

The storage unit 300 is installed inside the case 210 of the main body 200. There are multiple storage units 300, and various types of disinfectant solutions are stored in each storage unit 300. This storage unit 300 has an ultrasonic generator 400 installed at the bottom and consists of an enclosure 320 with an open top that stores the disinfectant solution and a shielding unit 310 that closes the upper part of the enclosure 320. The shielding unit 310 is structured to be detachable from the housing 320. When the disinfectant solution stored in the housing 320 is exhausted, the shielding unit 310 is separated from the housing 320 and new disinfecting solution is added to the housing 320. I do it.

In addition, the storage unit 300 is composed of four storage units 300 as shown in FIG. 2, and different disinfectant solutions are stored in each storage unit 300. For example, chlorine compounds, ammonium compounds, peroxides, and phenol compounds are independently stored in each storage unit 300, making it possible to store various types of disinfectant solutions in the main body 200, and through the air quality sensor 230 described above. A disinfectant solution suitable for disinfection of the evaluated quarantine target area is sprayed to the outside of the main body 200.

Meanwhile, the ultrasonic generators 400 installed at the bottom of the case 210 of the storage unit 300 transmit ultrasonic waves to the disinfectant solution to vibrate the disinfectant solution and cause the disinfectant particles to float to the upper part of the storage unit 300.

This ultrasonic generator 400 has a diaphragm 410 installed on the inner bottom of the storage unit 300, and an ultrasonic vibrator 420 is provided on the back of the diaphragm 410. This ultrasonic vibrator 420 is made of a material that changes shape when a current flows. For example, the ultrasonic vibrator may be a piezoelectric ceramic.

When current is provided to the ultrasonic vibrator 420, the size of the ultrasonic vibrator 420 changes depending on the frequency, and the vibration plate 410 vibrates to generate ultrasonic waves, causing vibration in the disinfectant solution, causing the particles on the surface of the disinfectant solution to become fine particles. As a result, the disinfectant particles bounce to the surface of the disinfectant and float from the reservoir.

As described above, when disinfectant particles float from the surface of the disinfectant stored in the storage unit 300 by the ultrasonic generator 400, the disinfectant particles are guided to the guide tube 500 provided at the upper part of the main body 200.

That is, the guide tube 500 is formed on the cover 220 installed on the upper part of the case 210 of the main body 200. The guide tube 500 has the shape of a hollow tube inside and is attached to the main body 200. It extends toward the top to guide the disinfectant particles floating in the upper part of the storage unit 300.

Then, the disinfectant particles introduced into the guide tube 500 are sprayed into the air through the discharge tube 600 formed along the upper circumference of the guide tube 500. At this time, as shown in FIGS. 1 and 2, the discharge pipe 600 extends in all directions around the guide pipe 500 and is in communication with the guide pipe 500, so that the disinfectant particles introduced into the interior of the guide pipe 500 is sprayed in all directions of the guide pipe 500 through the discharge pipe 600.

Meanwhile, a blower 700 that generates an air current is installed in the main body so that the disinfectant particles generated by the operation of the ultrasonic generator 400 can be smoothly sprayed to the outside of the discharge pipe 600 through the guide pipe 500. do.

The blowing unit 700 is installed inside the first blowing fan 710, which is installed inside the main body 200 and generates an upward airflow toward the flow path of the guide pipe 500, and is installed inside the upper end of the guide pipe 500 to create a discharge pipe. It consists of a second blowing fan (720) that blows wind toward the flow path (600).

At this time, the first blowing fan 710 is installed inside the main body 200 located directly below the guide pipe 500, so that the wind generated by the operation of the first blowing fan 710 blows the guide pipe 500. It is provided as a flow path to form an upward airflow that moves the disinfectant particles to the upper part of the guide tube 500, as shown in FIG. 6.

The disinfectant particles moved from the bottom to the top of the guide pipe 500 by the first blowing fan 710 ride on the airflow generated by the operation of the second blowing fan 720 installed inside the top of the guide pipe 500. As a result, it flies away from the discharge pipe 600.

Meanwhile, when various types of disinfectant solutions are stored inside the main body 200 as described above and sprayed in the form of a water mist through the guide pipe 500 and the discharge pipe 600, various types of disinfectant solutions are sprayed simultaneously or individually. A partition wall 510 is provided in the guide tube 500 to enable this. This will be explained based on FIGS. 4 and 5.

The partition wall 510 is formed across the flow path of the guide pipe 500 located at the top of the first blowing fan 710. The partition wall 510 allows the upward airflow generated by the first blowing fan 710 to pass through. It consists of a plurality of through holes 512 formed corresponding to the hole 511 and the storage unit 300, and a hose 513 connecting the through holes 512 and the storage unit 300, respectively.

In addition, a valve 514 is installed in each of the through holes 512 formed in the partition wall 510, and the valve 514 opens and closes the corresponding through hole 512, thereby allowing the disinfectant particles to flow into the guide tube 500. to control things. This valve 514 is composed of a stepping motor 514a installed on the partition wall 510 and a blocking plate 514b installed on the rotation axis of the stepping motor 514a to open and close the through hole 512.

At this time, the stepping motor 514a, which constitutes each valve 514 that opens and closes the through hole 512 of the partition 510, is electrically connected to the ultrasonic generator 400 installed in the storage unit 300 to generate ultrasonic waves. As the generator 400 operates, the corresponding stepping motor 514a operates to open and close the valve 514 to prevent disinfectant particles from flowing into the guide tube 500.

For example, as described above, disinfectant solutions composed of chlorine compounds, ammonium compounds, peroxides, and phenol compounds are stored separately in the storage unit 300, and if quarantine is required using a disinfectant solution composed of a chlorine compound and an ammonium compound, the chlorine compound The ultrasonic generator 400 installed in the storage unit 300 where the and ammonium compounds are respectively stored operates.

In this way, when the ultrasonic generator 400 installed in the storage unit 300 containing the chlorine compound and the ammonium compound respectively operates, the corresponding valve 514, which was blocking the through hole 512 formed in the partition wall 510, is opened. Disinfectant particles of chlorine compounds and ammonium compounds flow into the guide pipe (500) and are sprayed to the outside through the discharge pipe (600).

In this way, since the valve 514 on the partition wall 510 individually shields the through hole 512 through which each disinfectant moves, it blocks different disinfectant particles from flowing back and flowing into the other storage unit 300, thereby preventing the disinfectant from flowing back into the storage unit 300. This prevents mixing.

Meanwhile, the partition wall 510 formed across the flow path of the guide tube 500 may be made of a mesh network in some cases. When the partition wall 510 is made of a mesh network, the pressure loss of the rising airflow generated by the operation of the first blowing fan 710 installed inside the main body 200 is minimized to guide the disinfectant particles more quickly and with stronger pressure. Since it can pass through the pipe 500, the particles of the disinfectant sprayed through the discharge pipe 600 can be blown farther away from the main body 200.

The self-driving disinfection robot according to the present invention having the above configuration stores various types of disinfectant solutions and moves around the quarantine target area on its own, evaluates ingredients contained in the air, and sprays appropriate disinfectant solutions simultaneously or individually to effectively kill various pathogens. It can be sterilized.

In addition, in the present invention, the disinfectant solution has the form of water mist by the ultrasonic generator 400 and can be blown away from the discharge pipe 600 by the first blower fan 710 and the second blower fan 720, thereby creating a wide space. It can be disinfected effectively.

Meanwhile, the present invention is not limited to the embodiments described above, but can be implemented with modifications and modifications without departing from the gist of the present invention, and such modifications and modifications should be considered to fall within the technical spirit of the present invention. .

For example, when the disinfection robot of the present invention autonomously drives in an area subject to quarantine, an ultraviolet ray irradiation unit 130 and a visible light irradiation unit 140 will be provided to sterilize the ground and inform surrounding people of the direction of travel of the disinfection robot. You can. This will be explained based on FIGS. 6 and 7.

As shown in FIG. 6, the ultraviolet irradiation unit 130 is installed at the lower part of the traveling aircraft 100 and irradiates ultraviolet rays toward the ground. This ultraviolet irradiation unit 130 sterilizes the ground by irradiating ultraviolet rays around 260 nm to the ground.

In this way, when the ultraviolet irradiation unit 130 is provided at the lower part of the traveling body 100, the traveling body 100 can drive through the quarantine target area on its own and sterilize the ground, thereby disinfecting the quarantine target area with a disinfectant solution in the form of water mist sprayed into the air. It can be disinfected three-dimensionally.

In addition, as shown in FIG. 7, a plurality of visible light irradiation units 140 are installed along the circumference of the traveling aircraft 100 to irradiate visible light to the ground located in front of the traveling aircraft 100.

At this time, the visible light irradiated to the ground from the visible light irradiation unit 140 is irradiated to the ground in the form of an arrow to visually inform people around the disinfection robot of the direction of travel of the traveling gas 100, thereby preventing accidents where a person and the disinfection robot collide. is prevented in advance.

100: Running body 110: Wheel
120: Driving sensor unit 130: Ultraviolet irradiation unit
140: visible light irradiation unit 200: main body
210: Case 220: Cover
230: Air quality sensor 300: Storage unit
310: shielding part 320: enclosure
400: Ultrasonic generator 410: Vibration plate
420: ultrasonic vibrator 500: guide tube
510: Bulkhead 511: Blowing hole
512: Through hole 513: Hose
514: valve 514a: stepping motor
514b: Blocking plate 600: Discharge pipe
700: blowing unit 710: first blowing fan
720: Second blowing fan

Claims (6)

A vehicle that autonomously drives through areas subject to quarantine;
a main body mounted on the upper part of the traveling aircraft;
A plurality of storage units installed inside the main body and storing various types of disinfectant solutions;
Ultrasound generators each installed at the lower part of the storage unit to transmit ultrasonic waves to the disinfectant solution to vibrate the disinfectant solution and float the disinfectant particles to the upper part of the storage unit;
a guide tube extending toward the upper part of the main body and guiding the disinfectant particles floating on the upper part of the storage unit;
a plurality of discharge pipes formed along the upper circumference of the guide pipe to spray the disinfectant particles into the atmosphere; and
A blowing unit installed in the main body to generate an air current that sprays the disinfectant particles floating on the upper part of the storage unit to the outside of the discharge pipe.
In claim 1,
The blowing part
a first blowing fan installed inside the main body and generating an upward airflow toward the flow path of the guide pipe; and
A self-driving disinfection robot comprising a second blowing fan installed inside the upper end of the guide pipe to blow wind toward the flow path of the discharge pipe.
In claim 1,
The body is
An air quality sensor that evaluates components contained in the air in the area subject to quarantine; and
A control unit that regulates the operation of the ultrasonic generator installed in the storage unit according to the information evaluated by the air quality sensor.
In claim 1,
The traveling body further includes an ultraviolet ray irradiation unit that irradiates ultraviolet rays toward the ground.
In claim 1,
The traveling body further includes a visible light irradiation unit that irradiates visible light toward the ground.
In claim 5,
The visible light irradiation unit
A self-driving disinfection robot installed in plural numbers along the circumference of the traveling aircraft and irradiating visible light to the ground located in front of the traveling direction of the traveling aircraft.