Integrated wall-climbing intelligent disinfection device based on negative pressure adsorption and control method

Abstract

The application discloses an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption and a control method. The device is characterized in that a movement module is installed at the bottom of a main body, a first dust suction and adsorption module is installed in the inner cavity of the main body and the dust suction and adsorption end penetrates through the main body downward, a disinfection and cleaning module and a second dust suction and adsorption module are installed at the movable end of a folding and telescopic mechanism, and a control module is in communication connection with the movement module, the first and second dust suction and adsorption modules, the disinfection and cleaning module and the folding and telescopic mechanism. The method is characterized in that when a wall is detected, support points and a running track are planned; the device is moved to the support points according to the preset running track, the second dust suction and adsorption module is started to adsorb on the support points; the folding and telescopic mechanism is controlled to press down and extend or pull up and retract, thereby driving the disinfection device to be lifted upward to the side of the wall to be away from the ground and to move towards the wall until the disinfection device climbs onto the wall surface, and the second dust suction and adsorption module is controlled to adsorb the disinfection device on the wall surface. The device and the method solve the problems of low sterilization efficiency, difficulty in cleaning narrow spaces and wall surfaces of the existing device.

Description

Technical Field

[0001] This invention belongs to the fields of auxiliary medical care and electromechanical automation control technology, and relates to an integrated wall-climbing intelligent disinfection device and control method based on negative pressure adsorption, and particularly to an integrated intelligent wall-climbing robot containing a robotic arm that can move in three-dimensional space and climb walls. Background Technology

[0002] In existing smart healthcare, in order to reduce the labor consumption of nursing staff and improve the strength and efficiency of medical care, auxiliary medical equipment such as nursing robots and air sterilization robots are used in the process of medical care in hospitals. This reduces the manpower required for medical staff and greatly reduces the workload of nursing staff, enabling them to perform simple and repetitive tasks quickly and efficiently.

[0003] However, existing auxiliary sterilization and disinfection tools have the following problems when used:

[0004] 1. It can only clean the floor and purify the air, but it cannot effectively clean walls and corners, nor can it effectively kill bacteria and viruses on indoor floors. For example, after using ultraviolet light for sterilization, there is a phenomenon of bacterial reactivation. Some bacteria that are inactivated by ultraviolet irradiation can repair their damaged tissues with the help of light, thus achieving the purpose of revival. Other bacteria may exhibit a dark revival phenomenon. Therefore, it is necessary to clean the surface in time after sterilization.

[0005] 2. When applying disinfectant, uneven distribution can easily lead to excessive or insufficient disinfectant in certain areas, resulting in wasted disinfectant and missed areas due to manual spraying. Furthermore, it is inefficient; traditional manual disinfection of a 1000-square-meter area takes approximately two hours.

[0006] 3. When purifying and disinfecting the air, the purification methods include passive air purification and active air purification. Active air purifiers directly release purifying and sterilizing agents into the air, which then disperse throughout the room for comprehensive purification. This method has the drawback of sterilizing agents binding with bacteria and adhering to environmental surfaces.

[0007] To address the aforementioned issues, there is an urgent need for innovative designs based on existing auxiliary sterilization and disinfection tools. Specifically, a new type of cleaning equipment is required that offers high cleaning efficiency, a wide cleaning range, and the ability to clean narrow spaces and walls that conventional cleaning equipment cannot reach. Summary of the Invention

[0008] The purpose of this invention is to provide an integrated wall-climbing intelligent disinfection device and control method based on negative pressure adsorption with high cleaning efficiency and large cleaning range, so as to solve the technical problems of low sterilization efficiency of existing auxiliary sterilization and disinfection tools, and the difficulty of intelligent cleaning robots in complex room environments to clean floors, cabinets, windows, tiles, as well as narrow spaces and walls.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] An integrated wall-climbing intelligent disinfection device based on negative pressure adsorption is provided, including a robot body, a motion module, a first dust suction adsorption module, a second dust suction adsorption module, a disinfection and cleaning module, a folding and telescopic mechanism, and a control module.

[0011] The robot body has a hollow structure. The motion module is installed at the bottom of the robot body. The first dust suction module is installed in the inner cavity of the robot body, and the suction and adsorption ends of the first dust suction module extend downward through the robot body. The disinfection and cleaning module is installed on the robot body. The drive end of the folding and telescopic mechanism is installed on the robot body. The second dust suction module is installed on the movable end of the folding and telescopic mechanism. The control module is installed inside the robot body and is communicatively connected to the motion module, the first dust suction module, the second dust suction module, the disinfection and cleaning module, and the folding and telescopic mechanism.

[0012] The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by this invention has the following technical advantages over existing technologies:

[0013] The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption combines a first suction module and a second suction module. The first suction module is mounted on the robot body, and the second suction module is mounted on the telescopic folding device. The motion module provides forward propulsion for the robot, and the control module controls the telescopic folding device to move along a set trajectory. Alternatively, it can control the second suction module to adhere to the ground or wall. The telescopic folding device then moves, lifting one side of the robot body off the ground, allowing the motion module to propel the robot onto the wall, where it is then adhered again by the first suction module. This achieves comprehensive cleaning and disinfection of both floors and walls, and the telescopic folding device can also reach into confined spaces. This disinfection device boasts high cleaning efficiency, wide applicability, and strong practicality.

[0014] This invention also provides a control method for an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption, comprising the following steps:

[0015] When the control module detects wall information, it plans the support points and operating trajectory of the folding telescopic mechanism;

[0016] Control the folding and telescopic mechanism to move to the support point position according to the preset running trajectory, and activate the adsorption mode of the second dust suction adsorption module to adsorb at the support point position;

[0017] The control module controls the folding telescopic mechanism to press down and extend or pull up and retract, causing the disinfection device to rise to the side of the wall until it leaves the ground. The control module controls the motion module to move the disinfection device toward the wall until it climbs onto the wall surface. The control module controls the second dust suction module to activate the strong suction mode, adsorbing the disinfection device onto the wall surface.

[0018] Compared with the prior art, the beneficial effects of the control method of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention are the same as the beneficial effects of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption described in the above technical solution, and will not be repeated here. Attached Figure Description

[0019] Other and more objects and advantages will become apparent from the following description. The accompanying drawings are intended to illustrate examples of various forms of the invention. They should not be construed as showing a limitation on all the ways in which the invention can be made and adopted. Undoubtedly, various changes and substitutions can be made to various components of the invention. The invention also lies in the sub-combinations and subsystems of the described elements, and in the methods of using them.

[0020] In the attached diagram:

[0021] Figure 1 A schematic diagram of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention;

[0022] Figure 2 is a schematic diagram of the structure of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention, which is equipped with a disinfection spraying unit.

[0023] Figure 3 A schematic diagram of the motion module of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention;

[0024] Figure 4 A schematic diagram of the dust suction and adsorption module of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention;

[0025] Figure 5 for Figure 4 Airflow diagram during vacuuming by the central suction module;

[0026] Figure 6 for Figure 4 Airflow diagram during adsorption by the central dust collection adsorption module;

[0027] Figure 7 A schematic diagram of the extendable robotic arm of an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption;

[0028] Figure 8 for Figure 7 A schematic diagram of the telescopic mechanism;

[0029] Figure 9 for Figure 8 Schematic diagram of the first stage of the telescopic mechanism's extension;

[0030] Figure 10 for Figure 8 Schematic diagram of the second stage of the telescopic mechanism's extension;

[0031] Figure 11 The functional block diagram of the control module of the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption provided by the present invention.

[0032] Figure label:

[0033] 1-Main body; 11-Storage slot; 12-Top cover plate; 13-Left side plate; 14-Right side plate; 15-Base plate; 2-Motion module; 21-Universal wheel; 22-Track wheel; 23-Track; 24-Servo motor; 3-Telescopic mechanism; 301-First plug; 302-First telescopic rod; 303-Second telescopic rod; 304-Third telescopic rod; 305-Stepper motor; 306-Lead screw; 307-Sixth plug; 308-Fifth plug; 309-Third plug; 310-Threaded plug; 311-Hollow lead screw; 312-Second plug; 313-Fourth plug; 4-First dust suction module; 41-Roller 42-Module housing; 43-Dust box body; 44-Dust box cover; 45-First one-way valve; 46-Sealing skirt; 47-First centrifugal fan; 48-First drive motor; 49-Second one-way valve; 5-Robotic arm; 51-Connecting block between first telescopic mechanism and robotic arm; 52-Third motor; 53-Lower robotic arm; 54-Base; 55-First motor; 56-Second motor; 57-Connecting block between second telescopic mechanism and dust collection device; 6-Functional module; 7-Second dust collection module; 8-Disinfection and cleaning module; 81-Disinfection unit; 82-Sweeping unit; 83-Disinfecting mopping unit; 84-High-temperature disinfection unit. Detailed Implementation

[0034] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0035] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0037] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] like Figures 1 to 11 As shown, the present invention provides an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption, including a robot body 1, a motion module 2, a first dust suction adsorption module 4, a second dust suction adsorption module 7, a disinfection and cleaning module 8, a folding and telescopic mechanism, and a control module.

[0040] The robot body 1 has a hollow structure. The motion module 2 is installed at the bottom of the robot body 1. The first dust suction module 4 is installed in the inner cavity of the robot body 1. The dust suction and adsorption ends of the first dust suction module 4 extend downward through the robot body 1. The disinfection and cleaning module 8 is installed on the robot body 1. The drive end of the folding and telescopic mechanism is installed on the robot body 1. The second dust suction module 7 is installed on the movable end of the folding and telescopic mechanism. The control module is installed inside the robot body 1 and is communicatively connected to the motion module 2, the first dust suction module 4, the second dust suction module 7, the disinfection and cleaning module, and the folding and telescopic mechanism 5.

[0041] Furthermore, the disinfection device also includes a functional module 6 mounted on the robotic arm 5 using a quick-change gripper, comprising a water spray gun, grippers, a disinfection spraying unit, and a rotating mopping module. Figure 2 The diagram shows the structure of the disinfection spraying unit.

[0042] In practice:

[0043] The main body 1 includes: a storage compartment 11, a top cover 12, a left side panel 13, a right side panel 14, and a bottom plate 15; the left side panel 13 and the right side panel 14 are bolted to the bottom plate 15, the top cover 12 is bolted to the left side panel 13 and the right side panel 14, and the storage compartment 11 is fastened to the top cover 12. The volume of the storage compartment 11 is greater than or equal to 100 cubic centimeters.

[0044] The base plate uses carbon fiber, which is lightweight, has high tensile strength, is corrosion resistant, shock resistant, impact resistant, and is relatively inexpensive compared to materials of equivalent strength.

[0045] The top cover plate 12, the left side plate 13, and the right side plate 14 are fixed to the base plate with screws.

[0046] Alternatively, the robotic arm 5 can be equipped with the corresponding cleaning module to clean the wall. In the event of an accidental fall, the second suction module 7 and the first suction module 4 will operate at full power in suction mode to attach the robot to the wall.

[0047] When cleaning surfaces less than 80cm in height or less than 70cm in depth, the robot vacuum cleaner uses its robotic arm 5 to clean and uses the telescopic mechanism 3 to extend the length of the robotic arm 5.

[0048] When cleaning up large pieces of trash, first move the robotic arm 5 to bring the negative pressure suction cup close to the large pieces of trash, then activate the negative pressure suction cup to adsorb the large pieces of trash onto the suction cup, then move the robotic arm 5 to move the negative pressure suction cup above the storage tank 11, then turn off the negative pressure suction cup to let the trash fall into the storage tank 11.

[0049] A vacuuming module is installed on the retractable robotic arm 5, which has a stronger cleaning ability than traditional robotic vacuum cleaners and can assist in transporting smaller objects. Traditional robotic vacuum cleaners can only clean small particles. The robot can use the retractable robotic arm 5 to move the vacuuming module above large pieces of debris, turn on the vacuuming function to suck the large pieces of debris into the air inlet of the vacuuming module, and then use the retractable robotic arm 5 to move the vacuuming module above the storage tank 11. Turn off the vacuuming function so that the large pieces of debris are collected into the storage tank 11. The process of transporting smaller objects is similar to the process of cleaning large pieces of debris, except that the self-cleaning function needs to be turned on before transporting smaller objects to avoid soiling them. Similarly, large pieces of debris accumulated in the storage tank 11 can be transferred to the trash can.

[0050] The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption combines a first suction module and a second suction module. The first suction module is mounted on the robot body, and the second suction module is mounted on the telescopic folding device. The motion module provides forward propulsion for the robot, and the control module controls the telescopic folding device to move along a set trajectory. Alternatively, it can control the second suction module to adhere to the ground or wall. The telescopic folding device then moves, lifting one side of the robot body off the ground, allowing the motion module to propel the robot onto the wall, where it is then adhered again by the first suction module. This achieves comprehensive cleaning and disinfection of both floors and walls, and the telescopic folding device can also reach into confined spaces. This disinfection device boasts high cleaning efficiency, wide applicability, and strong practicality.

[0051] As one possible implementation, the first dust suction adsorption module 4 includes a module housing 42, a roller brush 41, a dust collection box, an adsorption device, a first drive motor 48, a first centrifugal fan 47, a first one-way valve 45, and a second one-way valve 49.

[0052] The module housing 42 has a mounting groove at one end facing the direction of travel of the robot body 1. The roller brush 41 is installed in the mounting groove. The other end of the module housing 42 is a pressure chamber. The dust collection box is installed between the mounting groove and the pressure chamber. An air passage connecting the dust collection box is provided between the mounting groove and the pressure chamber. The second one-way valve 49 is installed in the pressure chamber. The side of the pressure chamber away from the dust collection box has an air outlet that extends obliquely upward through the pressure chamber. The first one-way valve 45 is installed at the air outlet. The first drive motor 48 is installed in the pressure chamber. The first centrifugal fan 47 is fixed to the output end of the first drive motor 48 by a coupling.

[0053] Furthermore, the dustbin includes a dustbin body 43 and a dustbin cover 44. The dustbin body 43 is placed on the module housing 42, and the dustbin cover 44 is inserted into the dustbin body 43 using a sliding groove.

[0054] The vacuuming and adsorption module uses a single motor to perform both vacuuming and adsorption functions. One side of the drive motor 48 is connected to a negative pressure suction cup, and the other side is connected to an air pressure chamber inside the vacuuming and adsorption module housing 42. A second one-way valve 49 connects this air pressure chamber to the dust box. The air pressure chamber has an exhaust port, which is connected to a first one-way valve 45. The second one-way valve 49 ensures that gas can only flow unidirectionally from the dust box to the air chamber, while the first one-way valve 45 ensures that gas can only flow unidirectionally from the exhaust port to the outside. In vacuuming mode, the drive motor 48 rotates forward, and the centrifugal fan 47 directs airflow from the external path of the roller brush 41 to the dust box, then sequentially through the second one-way valve 49 and the module housing 42 before exiting. The first one-way valve 45, connected to the exhaust port, is closed. In negative pressure adsorption mode, the drive motor 48 rotates in reverse, drawing in air through the negative pressure suction cup and expelling it through the exhaust port.

[0055] The dust-collecting and adsorption module, combined with the folding and telescopic mechanism, enables the disinfection device to climb walls and move on the walls, allowing for comprehensive cleaning of the walls.

[0056] As one possible implementation, the adsorption device includes a first sealing skirt 46 and a first negative pressure suction cup;

[0057] The bottom of the air pressure chamber of the module housing 42 is provided with an installation hole. The first negative pressure suction cup is installed on the module housing 42. The suction end of the first negative pressure suction cup extends downward through the installation hole. The first negative pressure suction cup is sealed with the module housing 42. The first sealing skirt 46 is installed on the module housing 42 and surrounds the protruding end of the first negative pressure suction cup.

[0058] By achieving a good balance between sealing performance and friction performance, it simultaneously possesses the characteristics of low friction and good sealing effect. The sealing skirt 46 uses parachute cloth, which has a low coefficient of friction while providing strong sealing performance. This allows the trolley to adhere to the wall surface and move forward using the tracks 23, facilitating the movement of the disinfection device on the wall.

[0059] As one possible implementation, the folding telescopic mechanism includes a robotic arm 5 and a telescopic mechanism 3;

[0060] The fixed end of the robotic arm 5 is mounted on the robot body 1, one end of the telescopic mechanism 3 is mounted on the movable end of the robotic arm 5, and the second dust suction module 7 is mounted on the end of the telescopic mechanism 3 away from the robotic arm 5.

[0061] The second dust suction module 7 includes a housing, a second drive motor, a second centrifugal fan, a second sealing skirt, and a second negative pressure suction cup. The housing is a cavity structure with openings at both ends. The second drive motor is installed inside the housing, the second centrifugal fan is installed at the output end of the second drive motor, the second negative pressure suction cup is installed inside the housing and extends outward through the opening at one end of the housing, the second negative pressure suction cup is sealed to the housing, the second negative pressure suction cup is installed on the housing, and the housing surrounds the second negative pressure suction cup.

[0062] Furthermore, the second dust suction module 7 is mounted on the telescopic mechanism 3 via the second telescopic mechanism and the dust suction device connecting block 57.

[0063] The second dust suction module 7 has a similar structure to the first dust suction module 4, but uses smaller parts and a lower-power motor, and uses a different shaped shell.

[0064] Among them: the folding telescopic mechanism can swing and extend in space; the telescopic length of the robotic arm 5 is 0.2m to 1m; the telescopic degree of freedom of the robotic arm 5 is 4 to 11; the telescopic arm span of the robotic arm 5 is greater than or equal to 0.2m and less than or equal to 1m; the telescopic width of the robotic arm 5 is less than 6cm.

[0065] The folding and telescopic mechanism enables cleaning within a certain height range and in narrow areas. At the same time, in conjunction with the first dust suction module 4, it enables the disinfection device to climb walls and move on the wall, allowing for more comprehensive cleaning and disinfection.

[0066] As one possible implementation, the robotic arm 5 includes a first motor 55, a second motor 56, a third motor 52, a lower robotic arm 53, a base 54, and a first telescopic mechanism and a robotic arm connecting block 51;

[0067] The first motor 55 is installed in the fixed groove at the top of the robot body 1. The base 54 is installed at the output end of the first motor 55 and closes the fixed groove. The second motor 56 is installed on the base 54. The adjustment end of the lower robotic arm 53 is installed at the output end of the second motor 56. The third motor 52 is installed at the free end of the lower robotic arm 53. The first telescopic mechanism and the robotic arm connecting block 51 are installed at the output end of the third motor 52. The telescopic mechanism 3 is installed on the first telescopic mechanism and the robotic arm connecting block 51.

[0068] The robotic arm 5 is designed to perform multi-axis movements in three-dimensional space, expanding the disinfection range of the disinfection device and achieving cleaning both in the space and in the download area.

[0069] As one possible implementation, the telescopic mechanism 3 includes a stepper motor 305, a first telescopic rod 302, a second telescopic rod 303, a third telescopic rod 304, a lead screw 306, a hollow lead screw 311, a first plug 301, a second plug 312, a third plug 309, a fourth plug 313, a fifth plug 308, a sixth plug 307, and a threaded plug 310;

[0070] Stepper motor 305 is mounted on the connecting seat of robotic arm 5. The fixed end of the third telescopic rod 304 is mounted on stepper motor 305. The second telescopic rod 303 is inserted into the third telescopic rod 304. The first telescopic rod 302 is inserted into the second telescopic rod 303. Guide strips are provided on the outer walls of the first telescopic rod 302 and the second telescopic rod 303. Guide grooves matching the guide strips are provided on the inner walls of the second telescopic rod 303 and the third telescopic rod 304. The guide strips are located in the corresponding guide grooves. The fixed end of lead screw 306 is mounted on the output end of stepper motor 305. Hollow lead screw 311 is threadedly mounted on the extended end of lead screw 306.

[0071] The first plug 301 and the threaded plug 310 are respectively installed at the ends of the first telescopic rod 302 that are away from and towards the stepper motor 305. The threaded plug 310 is rotatably connected to the first telescopic rod 302 and threadedly connected to the hollow lead screw 311.

[0072] The fourth plug 313 and the fifth plug 308 are respectively installed at the ends of the hollow lead screw 311 that are away from and towards the stepper motor 305;

[0073] The second plug 312 and the sixth plug 307 are respectively installed at the ends of the second telescopic rod 303 that are away from and towards the stepper motor 305;

[0074] The third plug 309 is installed at the extended end of the third telescopic rod 304.

[0075] Furthermore, a winding device is fixed to the bottom of the hollow lead screw 311. The two ends of the wire in the device are connected to the dust suction module and the control board, respectively. When the hollow lead screw 311 rotates, the wire of the winding device extends out, and its extension is approximately the same as the extension of the telescopic mechanism 3, thereby keeping the connection of the dust suction module from being affected by the telescopic rod.

[0076] Description of the motion of telescopic mechanism 3:

[0077] When the stepper motor 305 is energized and rotates, the lead screw 306 rotates. Since the friction between the lead screw 306 and the hollow lead screw 311 is greater than the friction between the threaded plug 310 and the hollow lead screw 311, the lead screw 306 initially remains relatively stationary with the hollow lead screw 311, causing the threaded plug 310 to rotate and move forward in a spiral motion until the threaded plug 310 collides with the fourth plug 313. Afterwards, the lead screw 306 drives the hollow lead screw 311 to rotate and move forward in a spiral motion until the sixth plug 307 collides with the third plug 309, at which point the telescopic mechanism 3 reaches its longest position.

[0078] The telescopic mechanism allows the second vacuum adsorption module 7 to extend into higher areas and narrow spaces, expanding the disinfection space of the disinfection device.

[0079] As one possible implementation, the motion module 2 includes casters 21 and track wheel sets;

[0080] The omnidirectional wheel 21 is installed on one side of the robot body 1 for movement. There are two sets of track wheels, which are symmetrically installed on the robot body 1 and located on both sides of the first dust suction module 4.

[0081] The track wheel assembly includes a servo motor 24, track wheels 22, and track 23. The track wheels 22 are connected to the servo motor 24 for transmission, and the track 23 is mounted on the track wheels 22.

[0082] Furthermore, the motion module 2 has a symmetrical structure. A servo motor 24 is fixed to the base plate, with a track wheel 22 fixed to one end of the servo motor 24 rotor. Tracks 23 are wound around the multiple track wheels 22. The motion module 2 uses differential steering. Universal wheels 21 are fixed to the base plate, and their structure allows for 360-degree free horizontal rotation.

[0083] When the control board issues a motion command, the two identical servo motors 24 on the left and right sides are energized. The rotors drive the track wheels 22 to rotate, which in turn causes the track 23 to rotate, enabling the robot to move horizontally. Linear motion is achieved by providing equal voltage to the two servo motors 24, and turning is achieved by providing different voltages to the two servo motors 24 to rotate at different speeds. For example, when the control board issues a left turn command, the left servo motor 24 rotates in reverse at medium speed, while the right servo motor 24 rotates forward quickly. At the same time, the omnidirectional wheel 21 at the front end always faces the direction of movement due to the friction of the ground, assisting in the turning and maintaining the robot's balance.

[0084] As one possible implementation, the control module includes a control board, a laser ranging unit, a vision detection unit, a collision detection unit, a downward viewing unit, and a fall detection unit mounted on the robot body 1;

[0085] The laser ranging unit and the vision detection unit are used to detect whether there are obstacles in the direction of the disinfection device's movement, and send the detection information to the control board for path planning.

[0086] The collision detection unit is used to send an impact signal to the control board after receiving an impact, and move in the opposite direction to the side of the impact according to the instructions of the control board.

[0087] The downward-facing unit is installed at the bottom of the robot body 1 and is used to detect the distance between the robot and the ground. When the distance exceeds the warning value, the control board combines the data fed back by the laser ranging unit and the vision detection unit to replan the travel route.

[0088] The fall detection unit is used to activate the power of the first dust suction module 4 to the maximum when the acceleration of the disinfection device is detected to be greater than the warning value.

[0089] A laser ranging unit and a vision detection unit are fixed on the top cover plate 12 to detect the distance between the robot and obstacles, observe the environment, and transmit the information to the control board, which then plans the path. Downward-looking units are fixed on both sides of the bottom plate. When a large distance to the ground is detected, they transmit a signal to the control board. The control board, combining the laser ranging unit and the vision detection unit, replans a safe path to prevent the robot from falling. A fall detection unit is fixed on the bottom plate. When a large acceleration is detected, it transmits the information to the control board, which then issues a command to maximize the power of the vacuum-adsorption module, providing overall cushioning and reducing loss of life and property. The inner protrusions of the rubber parts are inserted into the holes of the left and right side plates 14 to mitigate damage from accidental impacts. The inner protrusions of the rubber parts attached to the left and right side plates 13 and 14 are respectively inserted into the left and right side plates 14 to mitigate damage from accidental impacts. The collision detection units equipped on the left and right side plates 13 and 14 transmit a signal to the control board after an impact, and the control board issues a command to make the robot move in the opposite direction of the impact. It provides comprehensive information feedback for the disinfection device, ensuring its operational status.

[0090] As one possible implementation, the disinfection and cleaning module 8 includes a disinfection unit 81, a sweeping unit 82, a disinfection mopping unit 83, and a high-temperature disinfection unit 84; the sweeping unit 82, the disinfection mopping unit 83, and the high-temperature disinfection unit 84 are installed at the bottom of the robot body 1, and the disinfection unit 81 is installed at the top of the robot body 1.

[0091] The system includes a disinfection unit 81 for spraying a mist of disinfectant alcohol into the air, a sweeping unit 82 for sweeping up debris on the floor and walls, a disinfecting mopping unit 83 for wiping and disinfecting the floor and walls, and a high-temperature disinfection unit 84 for drying and further disinfecting the floor and walls. Through these disinfection and cleaning modules 8, comprehensive cleaning of the floor and walls is achieved.

[0092] This invention also provides a control method for an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption, comprising the following steps:

[0093] When the control module detects wall information, it plans the support points and operating trajectory of the folding telescopic mechanism;

[0094] Control the folding and telescopic mechanism to move to the support point position according to the preset running trajectory, and activate the adsorption mode of the second dust suction adsorption module to adsorb at the support point position;

[0095] The control module controls the folding and telescopic mechanism to press down and extend or pull up and retract, causing the disinfection device to rise to the side of the wall until it leaves the ground. The control module controls the motion module to move the disinfection device toward the wall until it climbs onto the wall surface. The control module controls the second suction module to activate the strong suction mode, adsorbing the disinfection device onto the wall surface.

[0096] Intelligent disinfection devices also have a variety of other control methods:

[0097] The robot overcomes obstacles less than 5cm in height using the following method:

[0098] Step 21: The laser sensor detected an obstacle;

[0099] Step 22: The control panel plans the support points of the robotic arm when jumping over obstacles and plans the movement path of the robotic arm.

[0100] Step 23: The motor rotates to the corresponding position;

[0101] Step 24: The second motor 56 and the third motor 52 rotate to bring the second dust suction module 7 into contact with the ground;

[0102] Step 25: The second vacuum adsorption module 7 is activated in adsorption mode and fixed on the ground;

[0103] Step 26: The third motor 52 and the second motor 56 are activated, and the robotic arm presses down to reduce the pressure of the front end of the main body on the ground, so as to lift it up.

[0104] Step 27: Servo motor 25 and the opposite servo motor are turned on, the track rotates, the robot moves forward, and the track presses onto the obstacle;

[0105] Step 28: The third motor 52 and the second motor 56 increase their power, lift the main body, and the main body passes over the obstacle.

[0106] The specific steps for the first method of mounting the robot on the wall are as follows:

[0107] Step 301: The laser ranging unit detected the wall;

[0108] Step 302: The control panel plans the support points of the robotic arm when climbing the wall and plans the movement path of the robotic arm.

[0109] Step 303: The first motor 55 rotates to the corresponding position;

[0110] Step 304: The second motor 56 and the third motor 52 rotate to bring the second dust suction module 7 into contact with the ground;

[0111] Step 305: The second vacuum adsorption module 7 is activated in adsorption mode and fixed on the ground;

[0112] Step 306: The third motor 52 and the second motor 56 are activated, and the robotic arm presses down to reduce the pressure of the front end of the main body on the ground, so as to lift it up.

[0113] Step 307: Servo motor 25 and the opposite servo motor are turned on, the track rotates, the robot moves forward, and presses the track against the wall.

[0114] Step 308: The third motor 52 and the second motor 56 increase their power, lift the main body, and the main body climbs onto the wall.

[0115] Step 309: The first dust suction module 4 on the main body base plate starts the suction mode and operates at full power to generate suction on the wall.

[0116] Step 310: There may be a baseboard at the bottom of the wall. If there is no baseboard, the main body is already attached to the wall. If there is a baseboard, the bottom of the sealing ring 46 cannot adhere to the wall. At this time, the attachment cannot be completed. The third motor 52, the second motor 56, the servo motor 25 and the opposite servo motor need to continue to run until the main body reaches the highest height of the baseboard, that is, the lowest point of the main body is about 50mm from the ground. At this time, the bottom of the sealing ring 46 adheres to the wall and the main body is attached to the wall.

[0117] Step 311: The second suction module 7 is deactivated in suction mode. The third motor 52 and the second motor 56 rotate at an appropriate angle to align the second suction module 7 with the wall. As a safety measure, the second motor 7 will be activated at full power in case the robot accidentally falls, thus adhering the robot to the wall. However, the third motor 52 and the second motor 56 should not rotate too quickly, and the robotic arm should be kept close to the wall to prevent excessive gravitational torque and moment of inertia, which could cause the first suction module 4 on the base plate to fail to maintain the robot's adhesion to the wall, resulting in the robot falling.

[0118] The specific steps for the second method of robot wall mounting are as follows:

[0119] Similar to the first method of robot mounting, but steps 304, 305, and 310 of the second method are slightly different. In the second method, the robotic arm is moved to the second vacuuming module 7 to contact the wall surface, and the suction mode is activated to adhere to the wall surface. The third motor 52 and the second motor 56 are used to pull up the main body, and then the servo motor is activated to make the main body fully contact the wall surface.

[0120] How robots overcome obstacles on walls:

[0121] Step 41: The first dust suction module 4 on the robot's base plate has been activated, and the robot body is now attached to the wall.

[0122] Step 42: The third motor 52 and the second motor 56 rotate, causing the second dust suction module 7 to contact the wall behind the obstacle;

[0123] Step 43: The second dust suction module 7 starts the suction mode;

[0124] Step 44: The third motor 52 and the second motor 56 rotate, and at the same time, the motion module 2 is activated, and the main body moves to be close to the obstacle;

[0125] Step 45: The power of the first dust suction module 4 in the suction mode is reduced, and the main body maintains only a small suction force on the wall surface.

[0126] In step 46, the third motor 52 and the second motor 56 rotate, and the motion module 2 is activated. Since both the second dust suction module 7 and the first dust suction module 4 are in suction mode, the main body will not fall when it passes over obstacles.

[0127] Compared with existing devices, the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption also has the following technical advantages:

[0128] 1. By using a retractable robotic arm, the robot has a wider cleaning range than any other robot. The robot can extend its robotic arm to 0.2m to 1m to clean blind spots with a depth below the arm span and a width of more than 6cm. At the same time, it can clean walls and cabinets with a height of -50~80cm by extending its robotic arm without climbing walls, which can fully meet daily cleaning needs.

[0129] 2. The robot is equipped with a dust-collecting and adsorption module on its retractable robotic arm, giving it a stronger obstacle-crossing ability than traditional robotic vacuum cleaners. The dust-collecting and adsorption module adheres to a relatively flat surface and uses it as a support point. The robot uses the motor on the robotic arm to apply force to assist it in crossing obstacles, thus enabling it to cross thresholds and go up and down steps.

[0130] 3. The motion module uses tracks instead of tires to increase friction and prevent instability and slippage on glass surfaces when using the robotic arm;

[0131] 4. Unlike existing robots, this robot uses adsorption instead of vacuuming when working on walls, and vacuuming instead of adsorption when working on the ground. Combining adsorption and vacuuming saves materials and reduces weight.

[0132] 5. Unlike existing robots, this robot can be equipped with a water spray gun, grippers, disinfection spraying unit, and rotating mopping module by using a quick-change gripper to replace robotic arm components, thus meeting a variety of cleaning needs.

[0133] 6. Unlike traditional sweeping and window cleaning robots that can only move on a flat surface, this invention uses a robotic arm and negative pressure suction cups on the robot's base plate, allowing the robot to climb relatively smooth walls, such as floor-to-ceiling windows, doors, cabinets, and tiles, thus expanding its range of motion.

[0134] 7. The robot uses a retractable robotic arm to hook the protrusion of the dust suction module onto the door handle, and then moves and rotates the door handle by the retractable robotic arm to open and close the door. The retractable robotic arm can also be used to widen the gap of the door or sliding door. Unlike the three-wheel structure of traditional sweeping robots, the front wheel of this invention is a universal wheel, the rear wheel is a track, and the chassis is equipped with a negative pressure suction cup, which can make the robot move more smoothly and prevent the robot from slipping on smooth surfaces.

[0135] 8. The robot is equipped with a high-temperature disinfection unit. When it comes into contact with the ground, it temporarily raises the ground temperature, which not only disinfects the ground but also dries the ground after the disinfection mopping unit has finished mopping, preventing people from slipping and falling.

[0136] 9. The disinfection mopping unit is divided into multiple cavities, which can hold various disinfectants in addition to clean water, to achieve better disinfection results.

[0137] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0138] Of course, various changes and substitutions can be made to the above description, and all such changes and substitutions are within the spirit and scope of the invention. Therefore, the invention should not be limited except for the appended claims and their equivalents.

Claims

1. An integrated wall-climbing intelligent disinfection device based on negative pressure adsorption, characterized in that, It includes the robot body, motion module, first dust suction module, second dust suction module, disinfection and cleaning module, folding and telescopic mechanism, and control module; The robot body has a hollow structure. The motion module is installed at the bottom of the robot body. The first dust suction module is installed in the inner cavity of the robot body. The dust suction and adsorption ends of the first dust suction module extend downward through the robot body. The disinfection and cleaning module is installed on the robot body. The drive end of the folding and telescopic mechanism is installed on the robot body. The second dust suction module is installed on the movable end of the folding and telescopic mechanism. The control module is installed inside the robot body and is communicatively connected to the motion module, the first dust suction module, the second dust suction module, the disinfection and cleaning module, and the folding and telescopic mechanism. The first dust collection and adsorption module includes a module shell, a roller brush, a dust collection box, an adsorption device, a first drive motor, a first centrifugal fan, a first one-way valve, and a second one-way valve; The module housing has a mounting groove at one end facing the robot body's direction of travel, and the roller brush is installed in the mounting groove. The other end of the module housing is a pressure chamber, and the dust collection box is installed between the mounting groove and the pressure chamber. An air passage connecting the dust collection box is provided between the mounting groove and the pressure chamber. The second one-way valve is installed in the pressure chamber. The side of the pressure chamber away from the dust collection box has an upward-sloping air outlet, and the first one-way valve is installed at the air outlet. The first drive motor is installed in the pressure chamber, and the first centrifugal fan is installed at the output end of the first drive motor. The folding and telescopic mechanism includes a robotic arm and a telescopic mechanism; The fixed end of the robotic arm is mounted on the robot body, one end of the telescopic mechanism is mounted on the movable end of the robotic arm, and the second dust suction module is mounted on the end of the telescopic mechanism away from the robotic arm. The second dust suction module includes a housing, a second drive motor, a second centrifugal fan, a second sealing skirt, and a second negative pressure suction cup. The housing is a cavity structure with openings at both ends. The second drive motor is installed inside the housing. The second centrifugal fan is installed at the output end of the second drive motor. The second negative pressure suction cup is installed inside the housing and extends outward through the opening at one end of the housing. The second negative pressure suction cup is sealed to the housing. The second negative pressure suction cup is installed on the housing and surrounded by the housing.

2. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 1, characterized in that, The adsorption device includes a first sealing skirt and a first negative pressure suction cup; The bottom of the air pressure chamber of the module housing is provided with a mounting hole. The first negative pressure suction cup is installed on the module housing. The suction end of the first negative pressure suction cup extends downward through the mounting hole. The first negative pressure suction cup is sealed with the module housing. The first sealing skirt is installed on the module housing and surrounds the protruding end of the first negative pressure suction cup.

3. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 1, characterized in that, The robotic arm includes a first motor, a second motor, a third motor, a lower robotic arm, a base, and a telescopic mechanism and a connecting block for the robotic arm. The first motor is installed in a fixed slot at the top of the robot body. The base is installed at the output end of the first motor and closes the fixed slot. The second motor is installed on the base. The adjustment end of the lower robotic arm is installed at the output end of the second motor. The third motor is installed at the free end of the lower robotic arm. The telescopic mechanism and robotic arm connecting block are installed at the output end of the third motor. The telescopic mechanism is installed on the telescopic mechanism and robotic arm connecting block.

4. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 3, characterized in that, The telescopic mechanism includes a stepper motor, a first telescopic rod, a second telescopic rod, a third telescopic rod, a lead screw, a hollow lead screw, a first plug, a second plug, a third plug, a fourth plug, a fifth plug, a sixth plug, and a threaded plug; The stepper motor is mounted on the connecting block between the telescopic mechanism and the robotic arm. The fixed end of the third telescopic rod is mounted on the stepper motor. The second telescopic rod is inserted into the third telescopic rod, and the first telescopic rod is inserted into the second telescopic rod. Guide strips are provided on the outer walls of the first and second telescopic rods. Guide grooves matching the guide strips are provided on the inner walls of the second and third telescopic rods. The guide strips are located in the corresponding guide grooves. The fixed end of the lead screw is mounted on the output end of the stepper motor, and the hollow lead screw is threadedly mounted on the extended end of the lead screw. The first plug and the threaded plug are respectively installed at the ends of the first telescopic rod that are away from and towards the stepper motor. The threaded plug is rotatably connected to the first telescopic rod and threadedly connected to the hollow lead screw. The fourth plug and the fifth plug are respectively installed at the ends of the hollow lead screw that are away from and towards the stepper motor; The second plug and the sixth plug are respectively installed at the ends of the second telescopic rod that are away from and towards the stepper motor; The third plug is installed at the extended end of the third telescopic rod.

5. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 1, characterized in that, The motion module includes omnidirectional wheels and track wheel sets; The omnidirectional wheel is installed on one side of the robot body for movement. There are two sets of track wheels, which are symmetrically installed on the robot body and located on both sides of the first dust suction module. The track wheel assembly includes a servo motor, track wheels, driven wheels, and tracks. The track wheels are connected to the servo motor for transmission, and the tracks are mounted on the track wheels and driven wheels.

6. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 1, characterized in that, The control module includes a control board, a laser ranging unit, a vision detection unit, a collision detection unit, a downward viewing unit, and a fall detection unit installed on the robot body; The laser ranging unit and the vision detection unit are used to detect whether there are obstacles in the direction of the disinfection device's movement, and send the detection information to the control board for path planning. The collision detection unit is used to send an impact signal to the control board after receiving an impact, and move in the opposite direction to the side of the impact according to the instructions of the control board. The downward-facing unit is installed at the bottom of the robot body and is used to detect the distance between the robot and the ground. When the distance exceeds the warning value, the control board combines the data fed back by the laser ranging unit and the vision detection unit to replan the travel route. The fall detection unit is used to activate the power of the first dust suction module to its maximum when the acceleration of the disinfection device is detected to be greater than the warning value.

7. The integrated wall-climbing intelligent disinfection device based on negative pressure adsorption according to claim 1, characterized in that, The disinfection and cleaning module includes a disinfection unit, a sweeping unit, a disinfection mopping unit, and a high-temperature disinfection unit. The sweeping unit, disinfection mopping unit, and high-temperature disinfection unit are installed at the bottom of the robot body, and the disinfection unit is installed at the top of the robot body.

8. A control method for an integrated wall-climbing intelligent disinfection device based on negative pressure adsorption, comprising the integrated wall-climbing intelligent disinfection device based on negative pressure adsorption as described in any one of claims 1 to 7, characterized in that, Includes the following steps: When the control module detects wall information, it plans the support points and operating trajectory of the folding telescopic mechanism; Control the folding and telescopic mechanism to move to the support point position according to the preset running trajectory, and activate the adsorption mode of the second dust suction adsorption module to adsorb at the support point position; The control module controls the folding telescopic mechanism to press down and extend or pull up and retract, causing the disinfection device to rise to the side of the wall until it leaves the ground. The control module controls the motion module to move the disinfection device toward the wall until it climbs onto the wall surface. The control module controls the second dust suction module to activate the strong suction mode, adsorbing the disinfection device onto the wall surface.

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