A device and method for cleaning and disinfecting the chassis of a mobile disinfection robot

Abstract

The present invention discloses a device for cleaning and disinfecting the chassis of a mobile disinfection robot, including a lifting mechanism, a cleaning mechanism, a disinfection mechanism and a fixed seat. The lifting mechanism is used to lift the height of the wheeled disinfection robot so that the wheel hub is suspended in the air, and the cleaning mechanism cleans the chassis of the mobile robot. A method for cleaning and disinfecting the chassis of the mobile disinfection robot is also disclosed. The beneficial effects of the present invention are that the wheel hub of the mobile disinfection robot is suspended in the air by a lifting mechanism, disinfected by a UVC ultraviolet lamp, cleaned by a cleaning mechanism, and dust is collected by a negative pressure device to perform full coverage disinfection and cleaning, which solves the problem of incomplete cleaning of the chassis by manual cleaning, and can realize the problem of cleaning multiple disinfection robots by one disinfection and cleaning device. Disinfection robots of the same specifications can perform disinfection and cleaning work, and orderly control is achieved for the scheduling of multiple mobile disinfection robots.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent disinfection robots, and in particular to a device for cleaning and disinfecting a chassis of a mobile disinfection robot, and also to a method for cleaning and disinfecting the chassis of a mobile disinfection robot. Background Art

[0002] Intelligent disinfection robots will appear in wards with infectious viruses, or repeatedly shuttle between wards with different infectious viruses. The robot chassis, especially the wheel hub, is the place that contacts the ground the most, so the chassis and wheel hub will also carry a lot of viruses or dust. Therefore, the disinfection robot must not only disinfect the surrounding environment, but also the body, especially the chassis.

[0003] There is no device specifically for cleaning and disinfecting the chassis of the disinfection robot in the prior art. The commonly used cleaning and disinfection method is to manually spray disinfectant liquid. This method is not only incomplete, but the liquid disinfectant liquid will also threaten the internal circuit of the chassis, which poses a great risk. When manual cleaning is used, humans will be exposed to an environment with viruses and bacteria, posing a serious threat to the safety of operators. In addition, some disinfection machines will be equipped with disinfection ultraviolet lamps inside the chassis, but this method has a dead corner for disinfection and is simply disinfection. It cannot clean the wheel hub. Moreover, if each disinfection robot is equipped with a separate disinfection ultraviolet lamp, it will increase the cost of the unit, which is not conducive to mass production. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned problem. A device for cleaning and disinfecting the chassis of a mobile disinfection robot is designed, which is applied to the chassis of a wheeled mobile disinfection robot and includes a lifting mechanism, a cleaning mechanism, a disinfection mechanism and a fixed seat. The lifting mechanism and the cleaning mechanism are fixed inside the fixed seat. The lifting mechanism can extend from the inside of the fixed seat to the outside of the fixed seat to lift the height of the wheeled disinfection robot so that the wheel hub is suspended in the air. The cleaning mechanism can extend from the inside of the fixed seat to the outside of the fixed seat to clean the chassis of the mobile robot.

[0005] Furthermore, the lifting mechanism includes a first driving device, a lifting connecting rod assembly, a screw assembly and a lifting top plate, the first driving device is fixedly connected to the screw assembly, the screw assembly is fixedly connected to the lifting connecting rod assembly, and the lifting top plate and the lifting connecting rod assembly are rotatably arranged.

[0006] Furthermore, the lifting link assembly includes a first link, a second link, a first slide rail and a second slide rail. The first link and the second link are rotatably connected at the middle thereof. The two ends of the first link are respectively slidably connected to the first slide rail and the second slide rail. The two ends of the second link are respectively rotatably connected to the first slide rail and the lifting top plate.

[0007] Furthermore, the screw assembly includes a screw and a screw nut, the screw is fixedly connected to the first driving device, the screw nut is threadedly connected to the screw, and the screw nut is fixedly connected to the second connecting rod.

[0008] Furthermore, the cleaning mechanism comprises a driving unit and a cleaning unit, and the driving unit and the cleaning unit are rollingly arranged to drive the cleaning unit to rotate an angle.

[0009] Further, the driving unit includes a second driving device, an active member, a first driven member, a second driven member and a guide assembly, an active member is fixed to the output end of the second driving device, the active member and the first driven member are meshed with each other, the first driven member and the second driven member are meshed with each other, the second driven member is fixedly connected to the cleaning unit to change the rotation angle of the cleaning unit, and a guide assembly is fixed between the first driven member and the fixed seat.

[0010] Furthermore, the cleaning unit includes a rotating seat, a fixed frame and a cleaning brush, the fixed frame is fixed on the fixed seat, the rotating seat is rotatably arranged on the fixed frame, the rotating seat is fixedly connected to the second follower, and the cleaning brush is fixedly connected to the rotating seat.

[0011] Furthermore, the guide assembly includes a guide rail and a slider slidably arranged with the guide rail, the guide rail is fixedly connected to a fixed seat, and the slider is fixedly connected to the first follower.

[0012] Furthermore, the disinfection mechanism is an ultraviolet disinfection device, and the ultraviolet disinfection device is provided with at least two groups, wherein the two groups of ultraviolet disinfection lamps are respectively arranged on both sides of the lifting mechanism.

[0013] Furthermore, it also includes a collecting unit, which includes a negative pressure device and a collecting box. The negative pressure device is connected to the collecting box, and the collecting box is connected to a rotating seat. A side of the rotating seat where the cleaning brush is fixed is provided with a plurality of negative pressure dust suction holes.

[0014] Furthermore, it also includes a control cabinet, and an infrared positioning sensor and an auxiliary positioning identification block for identifying and positioning are installed on the outside of the control cabinet, and the infrared positioning sensor is arranged on both sides of the auxiliary positioning identification block.

[0015] Furthermore, it also includes a main control system disposed inside the control cabinet, which is electrically connected to the first drive device, the second drive device, and the negative pressure device to control the start and stop thereof, and further control the action flow of the entire disinfection and cleaning device. The main control system assists the disinfection robot in positioning on the cleaning and disinfection device and communicating with the cloud service end.

[0016] Furthermore, it also includes a cloud server, which is used to receive requests from the disinfection robot for cleaning and disinfection, obtain current status information of the disinfection and cleaning device, and schedule the disinfection robot to perform disinfection and cleaning.

[0017] A method for cleaning and disinfecting a chassis of a mobile disinfection robot is also disclosed, comprising step S1: the disinfection robot obtains a current environment map, the disinfection robot searches for a disinfection cleaning device and marks the location of the disinfection cleaning device in the environment map;

[0018] Step S2: The disinfection robot receives the disinfection instruction from the cloud server. After receiving the disinfection instruction, the disinfection robot plans the disinfection path and disinfection time, and sets the time value for disinfection and cleaning of the chassis. When the disinfection process reaches the set time value for disinfection and cleaning of the chassis, the disinfection robot sends a disinfection and cleaning request to the cloud server.

[0019] Step S3: After receiving the demand, the cloud server sends information to the disinfection and cleaning device to obtain the current status of the disinfection and cleaning device, and determines whether the disinfection and cleaning device is currently working; if the disinfection and cleaning device has no work tasks, the cloud server notifies the disinfection robot to execute the disinfection and cleaning plan; if the disinfection and cleaning device has work tasks to execute, the cloud server notifies the disinfection robot to suspend the disinfection and cleaning plan, and enters the queue waiting sequence, and returns to step S2;

[0020] Step S4: After the disinfection and cleaning is completed, the disinfection and cleaning equipment returns to its original state, and the disinfection robot also returns to its original position, waiting for the next disinfection task to arrive.

[0021] The disinfection and cleaning plan in step S3 includes identifying the position of the disinfection and cleaning device, moving to the fixed seat of the disinfection and cleaning device, and realizing the disinfection and cleaning task of the chassis of the disinfection robot.

[0022] The identifying the position of the disinfection and cleaning device includes the disinfection robot arriving near the disinfection and cleaning device, scanning the surrounding environment through its own laser radar, identifying the auxiliary positioning and identification structure on the disinfection and cleaning device, judging the specific position of the disinfection and cleaning device according to its structural data, and adjusting the disinfection robot to approach the disinfection and cleaning device.

[0023] The movement to the fixed seat of the disinfection and cleaning device includes that when the disinfection robot approaches the disinfection and cleaning device, the infrared positioning sensors on both sides of the disinfection and cleaning device correct the position of the disinfection robot, so that the disinfection robot approaches the disinfection and cleaning device at a position between the two sensors. Two infrared positioning sensors are provided, and an auxiliary positioning identification structure is provided in the middle of the two sensors to limit the movement space of the disinfection robot and continuously correct its position.

[0024] The task of achieving chassis disinfection and cleaning of the disinfection robot includes that after the disinfection robot reaches above the disinfection cleaning device, the main control system first controls the lifting mechanism to lift the disinfection robot so that its wheel hub is off the ground, and then the disinfection robot controls the wheel hub motor to rotate. At this time, the main control system of the disinfection cleaning device controls the disinfection mechanism to start the ultraviolet disinfection equipment, and disinfects the entire chassis of the disinfection robot through the ultraviolet disinfection equipment. Then the main control system controls the cleaning mechanism and the collection unit again to clean the motor hub and collect the dust after cleaning. The cleaning mechanism is controlled by the main control system and rotates the cleaning unit hidden inside the device through the cooperation of the drive unit and the guide assembly, so that the cleaning brush contacts the motor hub, and then the cleaning and disinfection device sends instructions to the disinfection robot to rotate its motor hub, which rubs against the cleaning brush for cleaning.

[0025] A device for cleaning and disinfecting the chassis of a mobile disinfection robot made by using the technical solution of the present invention has the following beneficial effects:

[0026] (1) The wheel hub of the mobile disinfection robot is suspended in the air through a lifting mechanism and disinfected by a UVC ultraviolet lamp. The cleaning mechanism rotates the cleaning brush assembly hidden inside the fixed seat through the control of the main control system, so that the brush contacts the wheel hub, thereby achieving cleaning. The dust is further collected into a collection box through a negative pressure device. Following scientific disinfection methods, full coverage disinfection and cleaning are carried out, solving the problem of incomplete cleaning of the chassis by manual cleaning;

[0027] (2) When multiple disinfection robots need to be disinfected, each disinfection robot can be automatically controlled to perform disinfection, and the disinfection technical specifications can meet unified specifications;

[0028] (3) It is possible to realize the problem of using one disinfection and cleaning device to clean multiple disinfection robots. Disinfection robots of the same specifications can all perform disinfection and cleaning work, and the scheduling of multiple mobile disinfection robots can be controlled in an orderly manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic structural diagram of a non-working state of a device for cleaning and disinfecting a chassis of a mobile disinfection robot according to the present invention;

[0030] Figure 2 It is a schematic diagram of the working state structure of a device for cleaning and disinfecting the chassis of a mobile disinfection robot according to the present invention;

[0031] Figure 3 It is a schematic diagram of the internal structure of a device for cleaning and disinfecting the chassis of a mobile disinfection robot according to the present invention;

[0032] Figure 4 It is a structural schematic diagram of the lifting mechanism of the present invention;

[0033] Figure 5 is a three-dimensional diagram of the cleaning mechanism and the collecting unit of the present invention;

[0034] Figure 6 It is a schematic diagram of the use state of a device for cleaning and disinfecting the chassis of a mobile disinfection robot according to the present invention;

[0035] Figure 7 It is a schematic diagram of the use state of the device for cleaning and disinfecting the chassis of a mobile disinfection robot according to the present invention from another perspective;

[0036] Figure 8 It is a flow chart of a method for cleaning and disinfecting a chassis of a mobile disinfection robot according to the present invention;

[0037] In the figure, 1, mobile disinfection robot; 2, chassis; 3, lifting mechanism; 31, first driving device; 32, lifting connecting rod assembly; 321, first connecting rod; 322, second connecting rod; 323, first slide rail; 324, second slide rail; 33, screw rod assembly; 331, screw rod; 332, screw rod nut; 34, lifting top plate; 4, cleaning mechanism; 41, driving unit; 411, second driving device; 412, active part; 413 , first follower; 414, second follower; 415, guide assembly; 416, guide rail; 417, slider; 42, cleaning unit; 421, rotating seat; 422, fixed bracket; 423, cleaning brush; 5, disinfection mechanism; 6, fixed seat; 7, wheel hub; 8, collecting unit; 81, negative pressure equipment; 82, collecting box; 83, negative pressure dust suction hole; 9, control cabinet; 10, infrared positioning sensor; 11, auxiliary positioning identification block. DETAILED DESCRIPTION

[0038] In order to better understand the present invention, the present invention is further described below in conjunction with specific embodiments and drawings. A device for cleaning and disinfecting the chassis of a mobile disinfection robot. Figure 1 , Figure 6 and Figure 7, applied to the chassis 2 of the wheeled mobile disinfection robot 1, including a lifting mechanism 3, a cleaning mechanism 4, a disinfection mechanism 5 and a fixed seat 6, the lifting mechanism 3 and the cleaning mechanism 4 are fixed inside the fixed seat 6, the lifting mechanism 3 can extend from the inside of the fixed seat 6 to the outside of the fixed seat 6 to raise the height of the wheeled disinfection robot so that the wheel hub 7 is suspended, and the cleaning mechanism 4 can extend from the inside of the fixed seat 6 to the outside of the fixed seat 6 to clean the chassis 2 of the mobile robot. The wheeled mobile disinfection robot 1 is an intelligent disinfection device with the function of generating a current environment map and automatically planning a path, and the body of the mobile disinfection robot 1 can be illuminated by ultraviolet light all around. The device has a cloud service end, which is used to receive requests for cleaning and disinfection from the disinfection robot, and obtain the current status information of the disinfection and cleaning device, and is also used to schedule the disinfection robot to perform disinfection and cleaning. The disinfection and cleaning device is the execution end for cleaning and disinfecting the disinfection robot, including a lifting mechanism 3, a cleaning mechanism 4, a disinfection mechanism 5 and a fixed seat 6, and also includes a control cabinet 9. The control cabinet 9 is externally installed with an infrared positioning sensor 10 and an auxiliary positioning identification block 11 for identification and positioning. The infrared positioning sensor 10 is arranged on both sides of the auxiliary positioning identification block 11. The disinfection robot identifies the position of the fixed seat 6 through the infrared positioning sensor 10 and the auxiliary positioning identification block 11. The fixed seat 6 has a downward slope to facilitate the movement of the disinfection robot along the slope to the fixed seat 6. When the disinfection robot moves to the fixed seat 6, the main control system controls the lifting mechanism 3 to start, and the lifting mechanism 3 lifts the disinfection robot so that the disinfection robot hub 7 is off the ground, thereby reaching a suspended state to provide conditions for cleaning the hub 7. The disinfection mechanism 5 is further started to disinfect the chassis 2 of the disinfection robot by ultraviolet irradiation. The cleaning mechanism 4 is started simultaneously with the disinfection or after the disinfection, and the cleaning mechanism 4 rotates out the cleaning brush 423 hidden in the fixing seat 6 so that the cleaning brush 423 contacts the wheel hub 7 to achieve the cleaning effect.

[0039] See also Figure 2-4The lifting mechanism 3 includes a first driving device 31, a lifting connecting rod assembly 32, a screw assembly 33 and a lifting top plate 34. The first driving device 31 is fixedly connected to the screw assembly 33, the screw assembly 33 is fixedly connected to the lifting connecting rod assembly 32, and the lifting top plate 34 is rotatably arranged with the lifting connecting rod assembly 32. The lifting connecting rod assembly 32 includes a first connecting rod 321, a second connecting rod 322, a first slide rail 323 and a second slide rail 324. The first connecting rod 321 and the second connecting rod 322 are rotatably connected at the middle part thereof, the two ends of the first connecting rod 321 are respectively slidably connected to the first slide rail 323 and the second slide rail 324, and the two ends of the second connecting rod 322 are respectively rotatably connected to the first slide rail 323 and the lifting top plate 34. The screw assembly 33 includes a screw 331 and a screw nut 332. The screw 331 is fixedly connected to the first drive device 31, the screw nut 332 is threadedly connected to the screw 331, and the screw nut 332 is fixedly connected to the second connecting rod 322. The first drive device 31 can be selected as a motor. After the first drive device 31 is started, it drives the screw 331 to rotate, and the screw nut 332 threadedly connected to the screw 331 moves along the screw 331, and drives the second connecting rod 322 to move in the second slide rail 324. Accordingly, the opening angle between the first connecting rod 321 and the second connecting rod 322 changes, the height of the lifting top plate 34 is increased, and the height of the disinfection robot moving to the lifting top plate 34 is also increased. The wheel hub 7 in the chassis 2 of the disinfection robot is suspended to facilitate subsequent disinfection and cleaning. The lifting mechanism 3 extends out of the fixing seat 6 when performing disinfection and cleaning operations. When waiting for work, the height of the lifting top plate 34 decreases and the lifting mechanism 3 retracts into the fixing seat 6, saving space and preventing dust from accumulating on the surface.

[0040] See also Figure 3 , the disinfection mechanism 5 is an ultraviolet disinfection device, and the ultraviolet disinfection device is provided with at least two groups, wherein the two groups of ultraviolet disinfection lamps are respectively arranged on both sides of the lifting mechanism 3. After the lifting mechanism 3 raises the height of the disinfection robot, the ultraviolet disinfection device is located directly below the chassis 2 of the disinfection robot, and is used to disinfect the chassis 2 and the wheel hub 7 of the disinfection robot without dead angles. The ultraviolet disinfection device can be selected as a UVC ultraviolet lamp. Ultraviolet rays are generally divided into four bands, UVA, UVB, UVC and UVD, according to the difference in biological effects. Among them, the UVC wavelength of 200nm-275nm is a short-wave sterilization ultraviolet ray, which has the function of disinfection, and has a high efficiency, no secondary pollution, fast and thorough disinfection effect. It achieves the purpose of disinfection by destroying the DNA in the bacterial and viral cells to achieve the breakage of the cell DNA or RNA chain, the cross-linking rupture of nucleic acids and proteins, and the death of bacteria and viruses.

[0041] See also Figure 3 , Figure 5The cleaning mechanism 4 includes a driving unit 41 and a cleaning unit 42. The driving unit 41 and the cleaning unit 42 are arranged to roll to drive the cleaning unit 42 to rotate. The driving unit 41 includes a second driving device 411, an active member 412, a first driven member 413, a second driven member 414 and a guide assembly 415. The output end of the second driving device 411 is fixed with an active member 412. The active member 412 and the first driven member 413 are meshed with each other. The first driven member 413 and the second driven member 414 are meshed with each other. The second driven member 414 is fixedly connected to the cleaning unit 42 to change the rotation angle of the cleaning unit 42. A guide assembly 415 is fixed between the first driven member 413 and the fixed seat 6. The cleaning unit 42 includes a rotating seat 421, a fixed frame 422 and a cleaning brush 423. The fixed frame 422 is fixed on the fixed seat 6. The rotating seat 421 is rotatably arranged on the fixed frame 422. The rotating seat 421 is fixedly connected to the second follower 414. The cleaning brush 423 is fixedly connected to the rotating seat 421. The guide assembly 415 includes a guide rail 416 and a slider 417 slidably arranged with the guide rail 416. The guide rail 416 is fixedly connected to the fixed seat 6. The slider 417 is fixedly connected to the first follower 413. The second driving device 411 can be selected as a motor, the active member 412 and the second driven member 414 can be selected as gears, and the first driven member 413 can be selected as a rack. The specific working process is as follows: the second driving device 411 is started, the active member 412 rotates, and since the active member 412 is meshed with the first driven member 413, the first driven member 413 moves along the fixed seat 6 under the action of the guide unit. During the movement, the second driven member 414 is meshed with the first driven member 413, and the second driven member 414 rotates. Since the second driven member 41 4 is fixedly connected to the cleaning rotating seat 421, so the rotating seat 421 rotates along the fixed frame 422, and the position of the cleaning brush 423 is changed during the rotation, so that it gradually rotates from the horizontal position to the vertical direction. The cleaning brush 423 is arranged toward the wheel hub 7 of the robot, which is convenient for the subsequent cleaning of the wheel hub 7. The cleaning brush 423 contacts the wheel hub 7 to clean a certain part of it. Further, by controlling the wheel hub 7 motor of the disinfection robot to drive the wheel hub 7 to rotate, the cleaning brush 423 cleans different positions of the wheel hub 7, achieving comprehensive cleaning without leaving dead corners. The cleaning unit 42 rotates out of the fixed seat 6 when in the disinfection state and contacts the wheel hub 7 to clean it. When it is not disinfected and cleaned, the cleaning unit 42 is stored in the fixed seat 6 to save space.

[0042] See also Figure 5, further comprising a collecting unit 8, the collecting unit 8 comprising a negative pressure device 81 and a collecting box 82, the negative pressure device 81 being connected to the collecting box 82, the collecting box 82 being connected to the rotating seat 421, and a plurality of negative pressure dust suction holes 83 being provided on one side of the rotating seat 421 where the cleaning brush 423 is fixed. The negative pressure device 81 can be a vortex fan or a blower, and the dust cleaned by the cleaning unit 42 enters the collecting box 82 from the negative pressure dust suction holes 83 under the action of the negative pressure device 81 and is stored. The collecting unit 8 is used to timely store the dust generated when cleaning the wheel hub 7, so as to avoid dust flying everywhere when cleaning the chassis 2.

[0043] It also includes a main control system disposed inside the control box, which is electrically connected to the first drive device 31, the second drive device 411, and the negative pressure device 81, and is used to control the start and stop thereof, and further control the action flow of the entire disinfection and cleaning device. The main control system assists the disinfection robot in positioning on the cleaning and disinfection device and communicating with the cloud service end.

[0044] The method for cleaning and disinfecting the chassis 2 of the mobile disinfection robot 1 is as follows:

[0045] Step S1: The disinfection robot obtains the current environment map, searches for the disinfection cleaning device and marks the location of the disinfection cleaning device in the environment map. This step establishes a communication connection between multiple disinfection robots and the disinfection cleaning device. When the disinfection robot needs to perform disinfection cleaning, the disinfection robot cleans the disinfection cleaning device according to the location of the disinfection cleaning device in the map.

[0046] Step S2: The disinfection robot receives the disinfection instruction from the cloud server. After receiving the disinfection instruction, the disinfection robot plans the disinfection path and disinfection time, and sets the time value for disinfection and cleaning of chassis 2. When the disinfection process reaches the set time value for disinfection and cleaning of chassis 2, the disinfection robot sends a disinfection and cleaning requirement to the cloud server. The disinfection robot performs the disinfection task according to the instructions of the cloud server. When the time for disinfection and cleaning set in advance is reached, the disinfection robot sends a disinfection and cleaning requirement to the cloud server to prepare for disinfection and cleaning of the robot chassis 2.

[0047] Step S3: After obtaining the demand, the cloud service end sends information to the disinfection and cleaning device to obtain the current state of the disinfection and cleaning device, and determines whether the disinfection and cleaning device is currently working; if the disinfection and cleaning device has no work task, the cloud service end notifies the disinfection and cleaning robot to execute the disinfection and cleaning plan; if the disinfection and cleaning device has a work task to execute, the cloud service end notifies the disinfection and cleaning robot to suspend the disinfection and cleaning plan, and enters the queue waiting sequence, and returns to step S2. For the disinfection and disinfecting robot that has not executed the disinfection and killing work task, the cloud service end notifies it to execute the disinfection and cleaning plan of chassis 2. For the disinfection and disinfecting robot that is executing the disinfection and killing work task, the cloud service end sends the disinfection and killing robot an instruction to suspend the disinfection and killing cleaning plan, enters the queue sequence, and waits until the next time the disinfection and disinfecting robot sends the disinfection and cleaning demand to the cloud service end, and the cycle is repeated. The disinfection and killing robots are classified, and the tasks they perform are distinguished according to the classification, so that the disinfection and disinfecting cleaning device and the disinfection and disinfecting robot can realize a one-to-many working mode and improve efficiency.

[0048] Step S4: After the disinfection and cleaning is completed, the disinfection and cleaning equipment returns to its original state, and the disinfection robot also returns to its original position, waiting for the next disinfection task to arrive.

[0049] Furthermore, the disinfection and cleaning plan in step S3 includes identifying the position of the disinfection and cleaning device, moving to the fixing seat 6 of the disinfection and cleaning device, and implementing the disinfection and cleaning task on the chassis 2 of the disinfection robot.

[0050] The identification of the position of the disinfection cleaning device includes the disinfection robot arriving near the disinfection cleaning device, scanning the surrounding environment through its own laser radar, identifying the auxiliary positioning identification structure on the disinfection cleaning device, judging the specific position of the disinfection cleaning device according to its structural data, and adjusting the disinfection robot to approach the disinfection cleaning device. When the disinfection robot is performing the disinfection cleaning task, in the process of moving toward the fixed seat 6, the laser radar on the disinfection robot scans the surrounding environment, and the auxiliary identification positioning block has data information of length, width and height. The laser radar scans its structural information and sends information to the disinfection robot, and the disinfection robot approaches the disinfection cleaning device.

[0051] The movement to the fixed seat 6 of the disinfection cleaning device includes that when the disinfection robot approaches the disinfection cleaning device, the infrared positioning sensors 10 on both sides of the disinfection cleaning device correct the position of the disinfection robot, so that the disinfection robot approaches the disinfection cleaning device at a position between the two sensors. Two infrared positioning sensors 10 are provided, and an auxiliary positioning identification structure is provided in the middle of the two sensors to limit the movement space of the disinfection robot and continuously correct its position.

[0052] The task of disinfecting and cleaning the chassis 2 of the disinfection robot includes that after the disinfection robot reaches the top of the disinfection cleaning device, the main control system first controls the lifting mechanism 3 to lift the disinfection robot so that its wheel hub 7 is off the ground, and then the disinfection robot controls the wheel hub 7 motor to rotate. At this time, the disinfection cleaning device main control system controls the disinfection mechanism 5 to start the ultraviolet disinfection equipment, and disinfects the entire disinfection robot chassis 2 through the ultraviolet disinfection equipment. Then the main control system controls the cleaning mechanism 4 and the collecting unit 8 again to clean the motor hub 7 and collect the dust after cleaning. The cleaning mechanism 4 rotates the cleaning unit 42 hidden inside the device through the cooperation of the driving unit 41 and the guide component 415 under the control of the main control system, so that the cleaning brush 423 contacts the motor hub 7, and then the cleaning and disinfection device sends instructions to the disinfection robot to rotate the motor hub 7 and rub against the cleaning brush 423 to clean. The mobile disinfection robot 1, the cloud service end, and the automatic disinfection cleaning device are connected into a whole to realize the intelligent cleaning of the bottom of the mobile disinfection robot 1. The present invention fills the blank of the prior art that there is no professional automatic cleaning device for the bottom of the mobile disinfection robot 1, so that the cleaning and disinfection work of the chassis 2 of the disinfection robot can also be realized unmanned.

[0053] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A method for cleaning and disinfecting the chassis of a mobile disinfection robot, and a device for cleaning and disinfecting the chassis of a mobile disinfection robot; The device for cleaning and disinfecting the chassis of a mobile disinfection robot is applied to the chassis (2) of a wheeled mobile disinfection robot (1), and comprises a lifting mechanism (3), a cleaning mechanism (4), a disinfection mechanism (5) and a fixing seat (6); the lifting mechanism (3) and the cleaning mechanism (4) are fixed inside the fixing seat (6); the lifting mechanism (3) can extend from the inside of the fixing seat (6) to the outside of the fixing seat (6) to raise the height of the wheeled mobile disinfection robot so that the wheel hub (7) is suspended; the cleaning mechanism (4) can extend from the inside of the fixing seat (6) to the outside of the fixing seat (6) to clean the chassis (2) of the mobile robot; The cleaning mechanism (4) comprises a driving unit (41) and a cleaning unit (42); the driving unit (41) and the cleaning unit (42) are arranged in a rolling manner to drive the cleaning unit (42) to rotate at a certain angle; The cleaning unit (42) comprises a rotating seat (421), a fixing frame (422) and a cleaning brush (423); The driving unit (41) comprises a second driving device (411), an active member (412), a first driven member (413), a second driven member (414) and a guide assembly (415); the active member (412) is fixed to the output end of the second driving device (411); the active member (412) and the first driven member (413) are meshed with each other; the first driven member (413) and the second driven member (414) are meshed with each other; the second driven member (414) is fixedly connected to the cleaning unit (42) to change the rotation angle of the cleaning unit (42); and the guide assembly (415) is fixed between the first driven member (413) and the fixed seat (6); The fixed frame (422) is fixed on the fixed seat (6), the rotating seat (421) is rotatably arranged on the fixed frame (422), the rotating seat (421) is fixedly connected to the second follower (414), and the cleaning brush (423) is fixedly connected to the rotating seat (421); The device also includes a collecting unit (8); The device also includes a control cabinet (9), and an infrared positioning sensor (10) and an auxiliary positioning identification block (11) for identifying positioning are installed outside the control cabinet (9); Methods include; Step S1: The disinfection robot obtains the current environment map, searches for the disinfection cleaning device and marks the location of the disinfection cleaning device in the environment map; Step S2: the disinfection robot receives the disinfection instruction from the cloud server. After receiving the disinfection instruction, the disinfection robot plans the disinfection path and disinfection time, and sets the time value for disinfecting and cleaning the chassis (2). When the disinfection process reaches the set time value for disinfecting and cleaning the chassis (2), the disinfection robot sends a disinfection and cleaning request to the cloud server. Step S3: After receiving the demand, the cloud server sends information to the disinfection and cleaning device to obtain the current status of the disinfection and cleaning device and determine whether the disinfection and cleaning device is currently working; If the disinfection and cleaning device has no work tasks, the cloud server notifies the disinfection robot to execute the disinfection and cleaning plan; if the disinfection and cleaning device has work tasks to execute, the cloud server notifies the disinfection robot to suspend the disinfection and cleaning plan, and enter the queue waiting sequence, and return to step S2; Step S4: After the disinfection and cleaning is completed, the disinfection and cleaning equipment returns to its original state, and the disinfection robot also returns to its original position, waiting for the next disinfection task to arrive; The disinfection and cleaning plan in step S3 includes identifying the position of the disinfection and cleaning device, moving to the fixing seat (6) of the disinfection and cleaning device, and performing the disinfection and cleaning task on the chassis (2) of the disinfection robot; The disinfection and cleaning task of the chassis (2) of the disinfection robot includes: after the disinfection robot reaches the top of the disinfection cleaning device, the main control system first controls the lifting mechanism (3) to lift the disinfection robot so that its wheel hub (7) is off the ground, and then the disinfection robot controls the wheel hub (7) motor to rotate. At this time, the main control system of the disinfection cleaning device controls the disinfection mechanism (5) to start the ultraviolet disinfection equipment, and disinfects the entire chassis (2) of the disinfection robot through the ultraviolet disinfection equipment. Then the main control system controls the cleaning mechanism (4) and the collection unit (8) again to clean the motor hub (7) and collect the dust after cleaning. The cleaning mechanism (4) is controlled by the main control system and rotates the cleaning unit (42) hidden inside the device through the cooperation of the drive unit (41) and the guide component (415), so that the cleaning brush (423) contacts the motor hub (7). Then the cleaning and disinfection device sends a command to the disinfection robot to rotate the motor hub (7) and rub against the cleaning brush (423) to perform cleaning.

2. A method for cleaning and disinfecting a mobile disinfection robot chassis according to claim 1, characterized in that: The lifting mechanism (3) comprises a first driving device (31), a lifting connecting rod assembly (32), a screw rod assembly (33) and a lifting top plate (34); the first driving device (31) is fixedly connected to the screw rod assembly (33); the screw rod (331) assembly is fixedly connected to the lifting connecting rod assembly (32); and the lifting top plate (34) and the lifting connecting rod assembly (32) are rotatably arranged.

3. A method for cleaning and disinfecting a mobile disinfection robot chassis according to claim 1, characterized in that: The disinfection mechanism (5) is an ultraviolet disinfection device, and at least two groups of the ultraviolet disinfection devices are provided, wherein the two groups of the ultraviolet disinfection devices are respectively provided on both sides of the lifting mechanism (3).

4. A method for cleaning and disinfecting a mobile disinfection robot chassis according to claim 3, characterized in that: The collecting unit (8) comprises a negative pressure device (81) and a collecting box (82); the negative pressure device (81) is connected to the collecting box (82); the collecting box (82) is connected to a rotating seat (421); and a plurality of negative pressure dust suction holes (83) are provided on one side of the rotating seat (421) on which a cleaning brush (423) is fixed.

5. A method for cleaning and disinfecting a mobile disinfection robot chassis according to claim 4, characterized in that: The infrared positioning sensors (10) are arranged on both sides of the auxiliary positioning identification block (11).

6. A method for cleaning and disinfecting a mobile disinfection robot chassis according to claim 1, characterized in that: The identifying the position of the disinfection and cleaning device includes the disinfection robot arriving near the disinfection and cleaning device, scanning the surrounding environment through its own laser radar, identifying the auxiliary positioning identification structure on the disinfection and cleaning device, determining the specific position of the disinfection and cleaning device according to its structural data, and adjusting the disinfection robot to approach the disinfection and cleaning device; The movement to the fixed seat (6) of the disinfection and cleaning device includes when the disinfection robot approaches the disinfection and cleaning device, the infrared positioning sensors (10) on both sides of the disinfection and cleaning device correct the position of the disinfection robot, so that the disinfection robot approaches the disinfection and cleaning device at a position between the two sensors; two infrared positioning sensors (10) are provided and an auxiliary positioning identification structure is provided in the middle of the two sensors, so as to limit the moving space of the disinfection robot and continuously correct its position.

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