WO2023075003A1

WO2023075003A1 - Hybrid disinfection robot

Info

Publication number: WO2023075003A1
Application number: PCT/KR2021/017970
Authority: WO
Inventors: 김태준; 김건형
Original assignee: (주)에이버츄얼
Priority date: 2021-10-26
Filing date: 2021-12-01
Publication date: 2023-05-04
Also published as: KR102383742B1

Abstract

The present invention relates to a hybrid disinfection robot and, more particularly, to a hybrid disinfection robot which can spray a disinfecting fluid and purified air indoors while autonomous driving, provides individual disinfection modes and a multi-disinfection mode to allow selective disinfection and air purification, and can be kept clean by purifying the interior of the robot with purified air in an interior disinfection mode.

Description

hybrid sterilization robot

The present invention relates to a hybrid sterilization robot, and more specifically, to a hybrid sterilization robot capable of self-driving, spraying disinfectant and purified air into a room, providing individual sterilization mode and complex sterilization mode, enabling selective sterilization and air purification, and internal sterilization It relates to a hybrid sterilization robot that can maintain cleanliness by purifying the inside of the robot with purified air through a mode.

Since 80% of the substances people ingest daily are air and they spend more than 80% of their time indoors, indoor air pollution can cause abnormal symptoms such as building sickness syndrome.

The government sets indoor air quality standards for five pollutants, such as fine dust, formaldehyde, and airborne bacteria, to comply with, and more and more people use air purifiers at home.

Recently, the occurrence of fine dust has become serious due to various causes. Fine dust is small dust less than 10㎛ and is called PM10, and ultrafine dust that is 1/4 smaller than PM10 is called PM2.5. The World Health Organization has designated ultrafine dust as a first-class carcinogen, and it is a cause of various respiratory diseases in addition to pneumonia, heart disease, and various cancers.

On the other hand, due to the COVID-19 pandemic, various technologies related to non-face-to-face indoor sterilization devices are being developed, and an automatic disinfectant sprayer that sprays disinfectant onto hands in a non-contact manner without direct contact with the user's body is a typical example.

However, the conventional automatic disinfectant sprayer is inconvenient because it is fixed in a specific place and requires a user to approach and use it, and a large number of users tend to be reluctant to use it as they pass by, and there is a problem in that there is no air cleaning function other than sterilization. there is.

In order to solve these problems, a quarantine robot combining autonomous robot technology and quarantine technology is being released. LG Electronics can autonomously drive while avoiding obstacles and can sterilize 99.9% of E. CLOi DisinfectBot has been developed, and SK Telecom has launched Keemi, a 5G disinfection robot that autonomously drives indoors according to a set schedule and sterilizes by irradiating UV lamps into space. , Hancom Robotics measures the fever of visitors, detects those not wearing masks, guides them in wearing them, irradiates UV-C to the floor to sterilize, and develops the self-driving robot Elligen that can attach and detach accessories such as hand sanitizer. have been released

In addition, zetabank has released an AI disinfection robot capable of self-driving that disinfects by irradiating ultraviolet light with a wavelength of 240 to 280 nm and air purification function.

However, the above-mentioned quarantine robots usually perform autonomous driving using ultraviolet rays to sterilize and clean the air, but there is a problem that there is no function to directly spray disinfectant to the contaminated location, and the inside of the robot is sterilized by itself The function to cleanly manage the spray nozzle through which the disinfectant is sprayed is not included, so there is a risk of causing secondary infection.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a hybrid sterilization robot capable of selectively or simultaneously performing disinfectant spray and air purification functions while autonomously driving indoors.

In addition, it is to provide a hybrid sterilization robot capable of maintaining cleanliness by preventing the disinfectant solution condensed in the spray nozzle through which the disinfectant solution of the present invention is sprayed from falling into the room.

In addition, another object of the present invention is to self-sterilize the inside of the robot, and to sterilize the injection nozzle or the collection pipe in which the condensed liquid of the injection nozzle is recovered and the delivery pipe in which the disinfectant solution is delivered can be sterilized with purified air. It is to provide a hybrid sterilization robot that can prevent secondary infection due to contamination.

In order to achieve the above object, the present invention is an autonomous driving body capable of autonomously driving while avoiding obstacles; and a sterilizer body mounted on the autonomous driving body and spraying the purified air and disinfectant solution to the outside, wherein the sterilizer body includes: an individual sterilization mode for selectively spraying the purified air and the disinfectant solution; a complex sterilization mode in which the purified air and the disinfectant solution are sprayed together; and an internal sterilization mode in which the purified air is supplied to the inside of the sterilizer body to sterilize the inside of the sterilizer body.

In a preferred embodiment, the sterilizer body: includes a disinfectant tank in which a disinfectant is stored; a pump supplying the disinfectant solution in the disinfectant tank to a lower spray nozzle; at least one spray nozzle for spraying the disinfectant solution supplied from the pump to the outside; an air sterilization module for inhaling and purifying polluted air in a space in which the autonomous driving body moves; and a purified air outlet for discharging purified air purified by the air sterilization module.

In a preferred embodiment, the sterilizer main body: includes an aggregated liquid collection tray for collecting the disinfectant liquid that is aggregated and falls from the outlet of the injection nozzle; and a disinfectant recovery pipe for transferring the disinfectant collected in the aggregated liquid collection tray to the disinfectant liquid tank.

In a preferred embodiment, a disinfectant delivery pipe is provided between the pump and the injection nozzle, a first valve for opening and closing the disinfectant delivery pipe is installed in the disinfectant delivery pipe, and the air sterilization module and the purified air outlet are installed. A purified air delivery pipe is provided between the purified air delivery pipe to discharge purified air to the purified air outlet or branched and supplied to a point of the disinfectant delivery pipe between the pump and the first valve, and the purified air delivery pipe is provided at a branch point of the purified air delivery pipe. A second valve for discharging air to the purified air outlet or supplying air to the disinfectant delivery pipe is installed.

In a preferred embodiment, in the individual sterilization mode, the first valve allows the disinfectant solution in the disinfectant solution delivery pipe to be supplied to the injection nozzle or the second valve allows the purified air to be discharged to the purified air outlet, In the sterilization mode, the first valve allows the disinfectant solution in the disinfectant solution delivery pipe to be supplied to the injection nozzle, while the second valve allows the purified air to be discharged to the purified air outlet. In the internal sterilization mode, the first valve closes the disinfectant delivery pipe, the second valve delivers the purified air to the disinfectant delivery pipe, and the pump reversely rotates to deliver the purified air introduced into the disinfectant delivery pipe to the disinfectant tank; The purified air delivered to the disinfectant tank is discharged to the condensate collection tray through the disinfectant recovery pipe, thereby drying the disinfectant delivery pipe, the disinfectant tank, the disinfectant recovery pipe, and the injection nozzle and simultaneously purifying the purified air. do.

The present invention has the following excellent effects.

First, according to the hybrid sterilization robot of the present invention, it provides an individual sterilization mode and a combined sterilization mode, and has the advantage of selectively or simultaneously automatically performing disinfectant spray and air purification functions while autonomously driving indoors.

In addition, according to the hybrid sterilization robot of the present invention, since the disinfectant solution condensed in the injection nozzle through which the disinfectant solution is sprayed can be collected and recovered to the disinfectant solution tank, the outer surface of the robot or the indoor floor can be kept clean, and the disinfectant solution can be passed inside the robot. There is an advantage of being able to prevent the failure of electronic equipment by being introduced.

In addition, according to the hybrid sterilization robot of the present invention, an internal sterilization mode is provided so that the outside of the spray nozzle, the aggregate liquid collection tray in which the aggregate liquid of the spray nozzle is collected, the disinfectant liquid recovery pipe for recovering the collected disinfectant liquid, and the disinfectant liquid through which the disinfectant liquid is delivered. The transfer tube can be sterilized with purified air, which has the advantage of preventing secondary infection due to self-contamination of the robot.

1 is a view showing an example of a hybrid sterilization robot according to an embodiment of the present invention;

2 is a diagram showing the configuration of a hybrid sterilization robot according to an embodiment of the present invention.

[Description of code]

100: hybrid sterilization robot 110: autonomous driving body

120: sterilizer body 121: disinfectant tank

122; pump 123: injection nozzle

124: air sterilization module 125: purified air outlet

126: Aggregate collection tray 127: Disinfectant recovery pipe

128: disinfectant delivery pipe 129: first valve

130: purified air delivery pipe 131: second valve

130: sensor device

The terms used in the present invention have been selected from general terms that are currently widely used as much as possible, but in certain cases, there are terms arbitrarily selected by the applicant. Therefore, its meaning should be understood.

Hereinafter, the technical configuration of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings.

However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Like reference numbers indicate like elements throughout the specification.

1 is a diagram showing an example of a hybrid sterilization robot according to an embodiment of the present invention.

Referring to FIG. 1 , the hybrid sterilization robot 100 according to an embodiment of the present invention autonomously travels in an indoor space such as a building, subway, or train while avoiding obstacles, and can purify the air while spraying a disinfectant solution. It is a robot in

In addition, the exterior of the hybrid sterilization robot 100 shown in FIG. 1 is merely an example, and the exterior shape may be changed.

In addition, the hybrid sterilization robot 100 is mounted on the self-driving main body 110 that moves autonomously on the floor while avoiding obstacles, and is mounted on the autonomous driving main body 110 to purify indoor air and discharge purified air, or It includes a sterilizer body 120 spraying a disinfectant solution for sterilizing viruses.

In addition, a sensor device 130 is provided on the top of the sterilizer body 120 to obtain information necessary for the self-driving body 110 to perform autonomous driving.

In addition, the sensor device 130 may be equipped with a lidar sensor, a camera, and the like.

However, the sensor device 130 may be provided in the self-driving body 110, and there is no particular restriction on the mounting position.

In addition, the self-driving main body 110 is provided with a wheel at the bottom, and uses a motor capable of rotating the wheel inside, a battery that supplies power to the motor, and information from the sensor device 130 to control the motor. A controller is provided to control rotation and direction of the wheel.

Hereinafter, the configuration of the sterilizer body 110 will be described in detail with reference to FIG. 2 .

Referring to FIG. 2 , the sterilizer main body 110 is mounted on the self-driving main body 110 as described above and purifies the externally polluted air while spraying a disinfectant solution to the outside to sterilize viruses.

In addition, the sterilizer body 110 includes a disinfectant tank 121, a pump 122, a spray nozzle 123, an air sterilization module 124, and a purified air outlet 125.

The disinfectant tank 121 is a tank in which a disinfectant is stored.

In addition, the disinfectant tank 121 may be made of a metal or resin material tank.

However, it is preferable to use a resin material tank as the disinfectant tank 121 in order to reduce the weight and increase the moving distance.

The pump 122 pumps the disinfectant solution stored in the disinfectant solution tank 121 and supplies it to the disinfectant solution delivery pipe 128 below.

In addition, the pump 122 can operate in both directions.

The spray nozzle 123 injects the disinfectant solution supplied to the disinfectant solution delivery pipe 123 to the outside.

In addition, the injection nozzle 123 may be composed of a plurality of injection nozzles, and may be radially disposed outside the main body to spray the disinfectant solution three-dimensionally within the space.

In addition, in FIG. 2, the injection nozzle 123 is illustrated as being composed of four injection nozzles, but there is no particular restriction on the number.

In addition, the disinfectant solution delivery pipe 128 is provided with a first valve 129 that opens and closes the disinfectant solution delivery pipe 128 so that the disinfectant solution is discharged to the spray nozzle 123 or not discharged.

The air sterilization module 124 sucks in and purifies the contaminated air in the space where the hybrid sterilization robot 100 moves, and then discharges it through the purified air outlet 125 below.

In addition, the air sterilization module 124 may be composed of one or a plurality of air sterilization modules 124, and when a plurality of air sterilization modules 124 are provided, the air sterilization modules may be connected in series or parallel to each other to sterilize air.

In addition, the air sterilization module 124 may perform air sterilization in various ways, but may perform antibacterial, deodorizing, volatile organic compound (VOC) removal, and virus removal using a UV light source and a photocatalyst filter.

In addition, the air sterilization module 124 may include a pre-filter, a deodorization filter, a medium filter for filtering medium-sized dust of about 0.3 μm to 10 μm, and a HEPA filter for filtering fine particles of 0.3 μm or less.

The purified air outlet 125 discharges the purified air purified by the air sterilization module 124 to the outside.

In addition, in the sterilizer body 120, the purified air of the air sterilization module 124 is discharged to the purified air outlet 125 or a disinfectant delivery pipe 128 between the pump 122 and the first valve 129 ) is provided with a purified air delivery pipe 130 branching to point (a) to deliver purified air, and a second valve 131 is provided at the point where the purified air diverges from the purified air delivery pipe 130. .

In addition, the second valve 131 serves to discharge the purified air of the air sterilization module 124 to the purified air outlet 125 or supply it to the disinfectant solution delivery pipe 128 .

In addition, the sterilizer main body 120 is further provided with an aggregated liquid collection tray 126 for collecting the disinfectant liquid that is aggregated and falls from the outlet of the spray nozzle 123.

In addition, the condensate collection tray 126 may be provided with one or a plurality of trays corresponding to the number of the injection nozzles 123 .

However, even if a plurality of spray nozzles 123 are provided, a condensed solution collection tray 126 may be configured to collect the aggregated disinfectant solution from each spray nozzle.

In addition, the disinfectant solution collected in the aggregated solution collection tray 126 is returned to the disinfectant solution tank 121 through the disinfectant solution recovery pipe 127 .

That is, in the hybrid sterilization robot 100 of the present invention, the disinfectant solution condensed in the injection nozzle 123 does not fall to the outer surface of the sterilizer body 120 or to the floor of the space to be disinfected, so it can cleanly disinfect and clean the air. In addition, it is possible to prevent the condensed disinfectant solution from flowing into the robot and affecting electronic equipment.

Meanwhile, the sterilizer main body 120 of the present invention operates in three sterilization modes: an individual sterilization mode, a complex sterilization mode, and an internal sterilization mode.

First, the individual sterilization mode is a mode in which the purified air and the disinfectant solution are selectively sprayed.

In addition, in the individual sterilization mode, the first valve 129 discharges the disinfectant from the disinfectant delivery pipe 128 to the spray nozzle 123 (①) or the second valve 131 discharges the purified air It is discharged through the purified air outlet 125 (②).

In addition, when the purified air is discharged in the individual sterilization mode, the second valve 131 allows the purified air to be discharged only through the purified air outlet 125 and not supplied to the disinfectant delivery pipe 128. .

That is, the individual sterilization mode is a mode for selectively discharging a disinfectant solution and purified air.

This individual sterilization mode can be used when there are many people in the room and it is impossible to spray disinfectant, or when there is no need to spray purified air because the concentration of indoor dust or viruses is low.

Next, the complex sterilization mode is a mode in which the purified air and the disinfectant are sprayed at the same time, the first valve 129 supplies the disinfectant to the spray nozzle 123, and the second valve 131 purifies Allow air to be exhausted to the purged air outlet (125).

This complex sterilization mode is useful when performing air purification and spraying disinfectant while autonomously driving on a subway or train that is not in operation.

Next, the internal sterilization mode is a key configuration in the present invention, and the purified air is supplied to the inside of the sterilizer body 120 to sterilize the inside of the body, and the condensate collection tray 126 and the spray nozzle ( 123) is a mode that can additionally sterilize (③).

In addition, in the internal sterilization mode, the first valve 129 is closed, and the second valve 131 prevents the purified air from being discharged to the purified air outlet 125 and supplied to the disinfectant delivery pipe 128. The pump 122 rotates in the reverse direction so that the purified air supplied to the disinfectant solution delivery pipe 128 is supplied to the disinfectant solution tank 121.

In addition, the purified air supplied to the disinfectant tank 121 is discharged to the condensate collection tray 126 through the disinfectant solution recovery pipe 127, and the purified air discharged to the condensate collection tray 126 is It is blown into the injection nozzle 123.

That is, in the internal sterilization mode, purified air flows through the purified air delivery pipe 130, the disinfectant solution delivery pipe 128, the pump 122, the disinfectant solution tank 121, the disinfectant solution recovery pipe 127, and the condensation solution. The outside of the liquid collecting tray 126 and the injection nozzle 123 is cleaned.

This mode is performed when the degree of contamination inside the hybrid sterilization robot 100 exceeds a preset degree of contamination even when the hybrid sterilization robot 100 is resting or in operation.

That is, in the internal sterilization mode, the purified air delivery pipe 130, the disinfectant delivery pipe 128, the pump 122, and the disinfectant solution tank 121 can be disinfected using purified air.

In particular, in the case of the condensate collection tray 126 and the spray nozzle 123, since they are in contact with the outside air, dust or contaminants are attached to the outer surface due to moisture. These dust or contaminants can be purified with purified air. Therefore, when the robot sprays the disinfectant solution, it has the advantage of preventing the risk of secondary infection due to dust or contaminants being sprayed together.

As described above, the present invention has been shown and described with preferred embodiments, but is not limited to the above embodiments, and to those skilled in the art within the scope of not departing from the spirit of the present invention Various changes and modifications will be possible.

Claims

An autonomous driving body capable of autonomously driving while avoiding obstacles; and

A sterilizer body mounted on the autonomous driving body and spraying purified air and a disinfectant solution to the outside;

The sterilizer body,

an individual sterilization mode in which the purified air and the disinfectant solution are selectively sprayed;

a complex sterilization mode in which the purified air and the disinfectant solution are sprayed together; and

The hybrid sterilization robot characterized in that it functions in an internal sterilization mode in which the purified air is supplied to the inside of the sterilizer body to sterilize the inside of the sterilizer body.
According to claim 1,

The sterilizer body:

a disinfectant tank in which a disinfectant is stored;

a pump supplying the disinfectant solution in the disinfectant tank to a lower spray nozzle;

at least one spray nozzle for spraying the disinfectant solution supplied from the pump to the outside;

an air sterilization module for inhaling and purifying polluted air in a space in which the autonomous driving body moves; and

A hybrid sterilization robot comprising a purified air outlet for discharging purified air purified by the air sterilization module.
According to claim 2,

The sterilizer body:

an aggregated liquid collection tray for collecting the disinfectant liquid that is aggregated and falls from the outlet of the injection nozzle; and

The hybrid sterilization robot, characterized in that it comprises a; disinfectant solution collection pipe for transferring the disinfectant solution collected in the condensed solution collection tray to the disinfectant solution tank.
According to claim 3,

A disinfectant delivery pipe is provided between the pump and the injection nozzle, and a first valve for opening and closing the disinfectant delivery pipe is installed in the disinfectant delivery pipe,

A purified air delivery pipe is provided between the air sterilization module and the purified air outlet for discharging purified air to the purified air outlet or branching and supplying purified air to a point of the disinfectant delivery pipe between the pump and the first valve. A hybrid sterilization robot, characterized in that a second valve for discharging purified air to the purified air outlet or supplied to the disinfectant solution delivery pipe is installed at a branch point of the purified air delivery pipe.
According to claim 4,

In the individual sterilization mode, the first valve allows the disinfectant solution in the disinfectant solution delivery pipe to be supplied to the injection nozzle or the second valve allows the purified air to be discharged through the purified air outlet,

In the complex sterilization mode, the first valve allows the disinfectant solution in the disinfectant delivery pipe to be supplied to the injection nozzle, and the second valve allows the purified air to be discharged through the purified air outlet,

In the internal sterilization mode, the first valve closes the disinfectant delivery pipe, the second valve delivers the purified air to the disinfectant delivery pipe, and the pump reversely rotates the purified air introduced into the disinfectant delivery pipe. to the disinfectant tank, and the purified air delivered to the disinfectant tank is discharged to the condensate collection tray through the disinfectant recovery pipe, so that the disinfectant delivery pipe, the disinfectant tank, the disinfectant recovery pipe, and the spray nozzle A hybrid sterilization robot characterized in that it dries and purifies with the purified air.