Disinfection robot and disinfection method thereof

Abstract

The invention relates to a disinfection robot and a disinfection method of the disinfection robot. The disinfection robot comprises a machine body; the environment detection mechanism is arranged on the machine body and is used for monitoring environment information of an external environment; the first disinfection mechanism and the second disinfection mechanism are arranged on the machine body; the first disinfection mechanism is used for proportioning a corresponding disinfection solution according to the environment information and performing spray disinfection on an external environment according to the proportioned disinfection solution; and the second disinfection mechanism is used for generating ultraviolet light to perform ultraviolet disinfection on the external environment. According to the scheme, multiple disinfection functions can be integrated, the disinfection effect is good, the proportion of the disinfection solution can be adjusted in a self-adaptive mode according to the monitored environment information, diversified disinfection requirements are met, and the practicability and popularization of the disinfection robot are effectively improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a disinfection robot and a disinfection method of the disinfection robot. Background Art

[0002] As people's awareness of hygiene and health continues to increase, disinfection robots play an increasingly important role in a variety of environments such as public places, medical institutions, food processing plants, etc. However, although there are many types of disinfection robots on the market, including spray disinfection robots and ultraviolet disinfection robots, the existing technologies still have obvious limitations.

[0003] In the related art, disinfection robots are generally only equipped with ultraviolet disinfection or spray disinfection, with a single disinfection function, low disinfection efficiency and poor disinfection quality. In addition, disinfection robots usually use a well-proportioned disinfection solution for spray disinfection. The single solution ratio method leads to inconsistency in the disinfection effect in different application environments, and sometimes even fails to achieve the ideal disinfection level. It cannot meet diverse disinfection needs, affecting the practicability and promotion of disinfection robots. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related technology, the present application provides a disinfection robot and a disinfection method for the disinfection robot, which can integrate multiple disinfection functions, have good disinfection effects, and can adaptively adjust the ratio of disinfection solution according to monitored environmental information to meet diverse disinfection needs, thereby effectively improving the practicability and promotion of the disinfection robot.

[0005] The first aspect of the present application provides a disinfection robot, comprising: Body; An environment detection mechanism is provided in the body, and the environment detection mechanism is used to monitor environmental information of the external environment; A first disinfection mechanism and a second disinfection mechanism are arranged on the body; the first disinfection mechanism is used to mix a corresponding disinfection solution according to the environmental information, and spray disinfection on the external environment according to the mixed disinfection solution; the second disinfection mechanism is used to generate ultraviolet light to perform ultraviolet disinfection on the external environment.

[0006] In some embodiments, the first disinfection mechanism includes: a plurality of solution barrels and disinfection nozzles; A plurality of solution barrels are arranged in the body, and the plurality of solution barrels are used to load the same or different disinfection solutions; the disinfection nozzle is arranged on the top of the body, and the disinfection nozzle is connected with the plurality of solution barrels, and the disinfection nozzle draws disinfection solution from the plurality of solution barrels for spray disinfection.

[0007] In some embodiments, the first disinfection mechanism further includes: a mixing barrel respectively connected to the plurality of solution barrels and disinfection nozzles; The mixing barrel draws disinfectant solution from at least two solution barrels for mixing, so that the disinfection nozzle draws the mixed disinfectant solution from the mixing barrel for spray disinfection.

[0008] In some embodiments, the second disinfection mechanism includes: an adjustment component and an ultraviolet disinfection lamp; The machine body is provided with a storage bin; the ultraviolet disinfection lamp is arranged in the storage bin through the adjustment component; the adjustment component is configured to drive the ultraviolet disinfection lamp to swing along a preset trajectory so that the ultraviolet disinfection lamp extends out of the storage bin.

[0009] In some embodiments, a disinfection lamp protective cover is also provided on the body; The disinfection lamp protection cover is movably connected to one side of the accommodating bin so as to control the opening and closing of the accommodating bin through the disinfection lamp protection cover.

[0010] In some embodiments, the disinfection robot further comprises: a third disinfection mechanism disposed on the body; The third disinfection mechanism is used for circulating the air of the external environment and filtering and disinfecting the circulated air.

[0011] In some embodiments, the third disinfection mechanism is connected to the second disinfection mechanism, and the second disinfection mechanism uses ultraviolet rays to disinfect the air circulated by the third disinfection mechanism.

[0012] A second aspect of the present application provides a disinfection method of a disinfection robot, comprising: Monitoring environmental information of the external environment through an environmental detection mechanism, and determining a first disinfection strategy and a second disinfection strategy according to the environmental information; According to the first disinfection strategy, the first disinfection system is controlled to mix a corresponding disinfection solution and perform external disinfection through the mixed disinfection solution, and according to the second disinfection strategy, the second disinfection system is controlled to perform external disinfection through ultraviolet rays.

[0013] In some embodiments, the environmental information includes environmental temperature, environmental humidity, and the number of people in the environment; Determining a first disinfection strategy and a second disinfection strategy according to the environmental information includes: Determining a first disinfection strategy according to the ambient temperature and ambient humidity, the first disinfection strategy comprising: information of a disinfection solution used for disinfection; Determine a second disinfection strategy based on whether the number of people in the environment reaches a preset threshold, the second disinfection strategy including: ultraviolet light activation information; The controlling the first disinfection system to mix a corresponding disinfection solution according to the first disinfection strategy and performing external disinfection through the mixed disinfection solution includes: According to the disinfection solution information, control the first disinfection system to extract disinfection solution from the corresponding solution barrel and mix it into a corresponding disinfection concentration, and spray the mixed disinfection solution into the external environment through a disinfection nozzle for spray disinfection; The controlling the second disinfection system to perform external disinfection by ultraviolet rays according to the second disinfection strategy includes: According to the ultraviolet light start-up information, the second disinfection system is controlled to start the ultraviolet light function to perform external disinfection by ultraviolet light.

[0014] In some embodiments, the method further comprises: Acquire path information, and drive the disinfection robot to move according to the path information; wherein the path information includes an optimal moving path acquired according to pre-constructed map information.

[0015] The technical solution provided by this application may have the following beneficial effects: The technical solution of the present application monitors key parameters of the external environment, such as temperature, humidity and number of people in real time, through an environmental detection mechanism, and adaptively proportions a disinfection solution suitable for the current environment to ensure maximum disinfection effect and meet diverse disinfection needs; a double disinfection mechanism is adopted, in which a first disinfection mechanism proportions disinfection solution according to environmental information and performs spray disinfection, and a second disinfection mechanism uses ultraviolet light for deep disinfection. The double disinfection mechanism improves the disinfection efficiency and disinfection effect, thereby enhancing the practicality and promotion of the disinfection robot.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0018] Figure 1 is a schematic diagram of the structure of a disinfection robot shown in an embodiment of the present application; Figure 2 is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application; Figure 3 is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application; Figure 4is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application; Figure 5 is a schematic flow chart of a disinfection method of a disinfection robot according to an embodiment of the present application; Figure 6 is another schematic flow chart of a disinfection method of a disinfection robot shown in an embodiment of the present application; Figure 7 It is another flow chart of the disinfection method of the disinfection robot shown in the embodiment of the present application.

[0019] Figure numerals: 100, machine body; 110, liquid supply flap; 120, storage compartment; 130, disinfection lamp protective cover; 310, solution barrel; 311, flap; 312, liquid diverter; 320, disinfection nozzle; 330, mixing barrel; 410, adjustment component; 420, ultraviolet disinfection lamp; 510, air intake fan; 520, exhaust fan; 530, circulation air duct; 540, filter; 610, distance detection mechanism; 710, control touch screen. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0021] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0022] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In the related art, disinfection robots are generally only equipped with ultraviolet disinfection or spray disinfection, with a single disinfection function, low disinfection efficiency and poor disinfection quality. In addition, disinfection robots usually use a well-proportioned disinfection solution for spray disinfection. The single solution ratio method leads to inconsistency in the disinfection effect in different application environments, and sometimes even fails to achieve the ideal disinfection level. It cannot meet diverse disinfection needs, affecting the practicability and promotion of disinfection robots.

[0024] In response to the above problems, an embodiment of the present application provides a disinfection robot that can integrate multiple disinfection functions, has good disinfection effect, and can adaptively adjust the ratio of disinfection solution according to monitored environmental information to meet diverse disinfection needs, thereby effectively improving the practicability and promotion of the disinfection robot.

[0025] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0026] Figure 1 It is a schematic diagram of the structure of the disinfection robot shown in an embodiment of the present application.

[0027] See also Figure 1 The disinfection robot of the present application includes a body 100, an environment detection mechanism, a first disinfection mechanism and a second disinfection mechanism.

[0028] The environment detection mechanism is arranged on the body 100. The environment detection mechanism is used to monitor the environment information of the external environment. The environment information may at least include: the environment temperature, the environment humidity and the number of people in the environment. In some embodiments, the environment detection mechanism may be composed of a variety of sensors. Specifically, the environment detection mechanism may include but is not limited to: a temperature sensor, a humidity sensor, and an infrared sensor.

[0029] The first disinfection mechanism and the second disinfection mechanism are arranged on the body 100. The first disinfection mechanism is used to mix the corresponding disinfection solution according to the environmental information, and spray disinfection on the external environment according to the mixed disinfection solution. The second disinfection mechanism is used to generate ultraviolet light to disinfect the external environment. In some embodiments, the second disinfection mechanism can realize the opening control of the ultraviolet disinfection function according to the environmental information. For example, when the number of people in the environment is zero, the second disinfection mechanism turns on the ultraviolet disinfection function to ensure the safety performance of the disinfector.

[0030] When the disinfection robot of the present application is working, the first disinfection mechanism mixes a disinfection solution suitable for the current application environment according to the ambient temperature and ambient humidity, so as to use the disinfection solution suitable for the current application environment for spray disinfection, ensuring that the mixed disinfection solution can maximize the disinfection effect, and adaptively adjust the disinfection solution ratio according to the monitored environmental information, so as to improve the disinfection effect; at the same time, the second disinfection mechanism uses ultraviolet light to carry out disinfection operations. The bactericidal ability of ultraviolet rays can quickly destroy the DNA structure of bacteria and viruses, making them lose their reproductive ability, and the ultraviolet light generated by the second disinfection mechanism increases the disinfection area range of the disinfection robot, for example, covering areas that are difficult for the first disinfection mechanism to reach during spray disinfection, such as corners, bottom of tables and other dead corners, thereby achieving comprehensive disinfection of the environment without dead corners, further ensuring the disinfection effect and efficiency of the disinfection robot, and meeting diverse disinfection needs.

[0031] Figure 2 It is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application.

[0032] For reference Figure 2In some embodiments, the first disinfection mechanism may include a plurality of solution barrels 310 and disinfection nozzles 320. The plurality of solution barrels 310 are disposed in the body 100, and the plurality of solution barrels 310 are used to load the same or different disinfection solutions. It is understood that each solution barrel 310 can be used to load a disinfection solution for the disinfection process. Specifically, the solution barrel 310 can adopt a conical structure. The disinfection nozzle 320 is disposed at the top of the body 100, and the disinfection nozzle 320 can be connected to the plurality of solution barrels 310 through a pipeline, and the disinfection nozzle 320 extracts disinfection solution from the plurality of solution barrels 310 for spray disinfection. As an example, the solution barrels 310 can be 4, wherein each solution barrel 310 can be used to load at least one of alcohol, hydrogen peroxide, chlorine-containing compound solution, hypochlorite solution and peracetic acid solution. As an example, there can be 5 solution barrels 310, wherein the 5 solution barrels 310 can be used to load alcohol, chlorine-containing compound solution, hypochlorite solution, peracetic acid solution and water respectively. When the first disinfection mechanism is working, it can directly extract one disinfection solution from alcohol, chlorine-containing compound solution, hypochlorite solution and peracetic acid solution for spray disinfection. Furthermore, the first disinfection mechanism can also reduce the concentration of the disinfection solution to the corresponding application requirements by extracting at least one disinfection solution from alcohol, chlorine-containing compound solution, hypochlorite solution and peracetic acid solution and mixing it with water according to the concentration usage requirements, so as to meet the use requirements of diversified disinfection solutions. Multiple solution barrels 310 can be set in the body through a fixed frame, wherein a flip cover 311 is set on the top of each solution barrel 310, and the flip cover 311 is used to quickly replenish the solution in the solution barrel 310. In some other embodiments, the body 100 is further provided with a liquid supply flap 110 corresponding to the plurality of solution barrels 310 , and the liquid supply flap 110 can be used to open the accommodation space of the body 100 corresponding to the plurality of solution barrels 310 so as to replenish the disinfection solution in the solution barrels 310 .

[0033] In some embodiments, the first disinfection mechanism may further include a mixing barrel 330 connected to a plurality of solution barrels 310 and disinfection nozzles 320, respectively. The mixing barrel 330 may extract disinfection solutions from at least two solution barrels 310 for mixing, so that the disinfection nozzle 320 may extract the mixed disinfection solution from the mixing barrel 330 for spray disinfection. The first disinfection mechanism may extract the disinfection solution through a pump body. It is understood that when the disinfection solution needs to be mixed and proportioned, the corresponding disinfection solution is extracted from the solution barrel 310 to the mixing barrel 330 for mixing, and then the mixing barrel 330 supplies the disinfection nozzle 320 with the mixed and proportioned disinfection solution. For example, solutions are extracted from a solution barrel 310 loaded with alcohol and a solution barrel loaded with water to the mixing barrel 330, and the mixing barrel 330 is shaken by an oscillation motor to fully mix and obtain diluted alcohol. In some specific embodiments, the bottom of each solution barrel 310 can be provided with a liquid diverter 312 to control the solution flow rate, so that the solution flow rate drawn to the mixing barrel 330 can be accurately controlled, thereby improving the accuracy of the mixed solution. Further, the disinfection nozzle 320 is arranged to be liftable on the body 100. When working, the disinfection nozzle 320 rises from the surface of the body 100, and when not working, the disinfection nozzle 320 is lowered to be flush with the surface of the body 100, thereby achieving a protective effect on the disinfection nozzle 320 when not working.

[0034] Figure 3 It is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application.

[0035] See also Figure 3In some embodiments, the second disinfection mechanism may include an adjustment component 410 and an ultraviolet disinfection lamp 420. The body 100 is provided with a storage bin 120, and the ultraviolet disinfection lamp 420 is arranged in the storage bin 120 through the adjustment component 410. Among them, the adjustment component 410 is configured to drive the ultraviolet disinfection lamp 420 to swing along a preset trajectory so that the ultraviolet disinfection lamp 420 extends out of the storage bin 120. It can be understood that the adjustment component 410 can adjust the ultraviolet disinfection lamp 420 to obtain a position. When the second disinfection mechanism performs ultraviolet disinfection externally, the adjustment component 410 adjusts the position of the ultraviolet disinfection lamp 420 so that the ultraviolet disinfection lamp 420 extends out of the storage bin 120, so that the ultraviolet light generated by the ultraviolet disinfection lamp 420 disinfects the external environment. Among them, the adjustment component 410 can adjust the position of the ultraviolet disinfection lamp 420 within a 90-degree angle range, so that the ultraviolet disinfection lamp 420 can be vertically adjusted from 90 degrees to 180 degrees relative to the horizontal angle, so that the ultraviolet disinfection lamp 420 can fully extend out of the storage bin 120, improve the light coverage of the ultraviolet disinfection lamp 420, and thus improve the disinfection effect of the second disinfection mechanism on the external environment. In some specific embodiments, a disinfection lamp protective cover 130 is also provided on the body 100, and the disinfection lamp protective cover 130 matches the storage bin 120. The disinfection lamp protective cover 130 is movably connected to one side of the storage bin 120 so as to control the opening and closing of the storage bin 120 through the disinfection lamp protective cover 130. It can be understood that when the ultraviolet disinfection lamp 420 is not working, the ultraviolet disinfection lamp 420 is located in the accommodating bin 120, and the disinfection lamp protective cover 130 is covered on the accommodating bin 120. In this way, the ultraviolet disinfection lamp 420 is protected, and when the second disinfection mechanism is not operating, the ultraviolet light of the ultraviolet disinfection lamp 420 can be prevented from leaking into the external environment, thereby improving the reliability of the disinfection robot.

[0036] In some embodiments, the disinfection robot of the present application further includes: a third disinfection mechanism disposed on the body 100. The third disinfection mechanism is used to circulate the air of the external environment and filter and disinfect the circulated air. In some specific embodiments, the third disinfection mechanism is connected to the second disinfection mechanism, and the second disinfection mechanism performs ultraviolet disinfection on the air circulated by the third disinfection mechanism by ultraviolet rays. It can be understood that the second disinfection mechanism can cooperate with the third disinfection mechanism to achieve ultraviolet disinfection of the circulating air, wherein the air circulated by the third disinfection mechanism can pass through the accommodating bin 120, thereby using the ultraviolet disinfection lamp 420 located in the accommodating bin 120 to achieve ultraviolet disinfection.

[0037] Figure 4 It is another structural schematic diagram of the disinfection robot shown in an embodiment of the present application.

[0038] See also Figure 4In some embodiments, the third disinfection mechanism may include an intake fan 510, an exhaust fan 520, and a circulating air duct 530 disposed between the intake fan 510 and the exhaust fan 520. Specifically, the circulating air duct 530 passes through the storage bin 120. In this way, the circulating air can be disinfected by ultraviolet light by the ultraviolet disinfection lamp 420 of the second disinfection mechanism. Further, the circulating air duct 530 can pass through the inside of the body 100. In other words, the circulating air duct 530 passes through the inside of the body 100, and the air circulating in the circulating air duct 530 passes through the inside of the body 100, thereby using the third disinfection mechanism to perform self-cleaning disinfection on the internal environment of the disinfection robot.

[0039] In some specific embodiments, the circulating air duct 530 is provided with at least one filter 540. The filter 540 can be at least one of a fiberglass filter, an activated carbon filter, and a photocatalyst filter. Preferably, the circulating air duct 530 of the present application can be provided with at least one fiberglass filter, at least one activated carbon filter, and at least one photocatalyst filter in sequence along the exhaust direction (i.e., the direction from the intake fan 510 to the exhaust fan 520). It can be understood that the fiberglass filter can be used to intercept dust and debris, the activated carbon filter can be used to remove toxic substances, and the photocatalyst filter can be used to oxidize and decompose pollutants under the ultraviolet irradiation of the ultraviolet disinfection lamp 420 of the second disinfection mechanism.

[0040] Specifically, when the third disinfection mechanism is working, the exhaust fan 520 extracts air from the external environment, and the air is filtered through the filter 540 in the circulating air duct 530 for multiple times, and finally discharged by the exhaust fan 520. It should be understood that when the third disinfection mechanism is working, the disinfection lamp protective cover 130 is covered on the accommodating bin 120 to ensure the air transportation effect of the circulating air duct 530 and effectively prevent ultraviolet rays from overflowing. Different filtering effects are achieved by the above-mentioned different filters, so that the air in the circulating air duct 530 is filtered and disinfected, thereby achieving disinfection and filtration of the air in the external environment, and purifying the internal environment of the disinfection robot equipment.

[0041] In some embodiments, the disinfection robot of the present application may further include a distance detection mechanism 610 and a driving module. Among them, the distance detection mechanism 610 is arranged on the body 100, and the distance detection mechanism 610 may include at least one ranging sensor among ultrasonic sensors, millimeter wave sensors, and cameras, which are not limited here. The distance detection mechanism 610 is used to obtain obstacle information through the ranging sensor, and the driving module plans the optimal moving route for the disinfection robot through the obstacle information, so as to realize the automatic movement function and automatic obstacle avoidance function of the disinfection robot. In some specific embodiments, the driving module can construct an environmental map corresponding to the external environment in which the disinfection robot operates through the SLAM algorithm, and after the map is constructed, use the A* algorithm to obtain the optimal moving route of the disinfection robot. It should be understood that a mobile module composed of components such as a stepping motor and universal wheels is set at the bottom of the disinfection robot, In some embodiments, the disinfection robot of the present application may also include an alarm module. The alarm is used to detect whether the environmental information obtained by the environmental detection mechanism and / or the obstacle information obtained by the distance detection mechanism 610 exceeds a preset threshold, and if exceeded, an alarm is issued. Specifically, the alarm mode can be alarmed by sound alarm and / or light alarm. Furthermore, the alarm module can also send the alarm information to a designated terminal, such as a mobile phone, to improve the feedback efficiency of the alarm.

[0042] In some embodiments, the disinfection robot of the present application may further include a fault module. Among them, the fault module is used to detect operational failures of the disinfection robot or automatically repair operational failures. Specifically, operational failures may include failures when the disinfection robot cannot run the program correctly due to unknown reasons. The fault module can repair operational failures by restarting. Furthermore, the fault module can also record relevant record information when an alarm or operational failure occurs, wherein the record information may be information such as the time, location, and cause when the alarm or operational failure occurs, which is not limited here. The alarm module and fault module of the present application can be implemented using relevant technologies, which are not limited here.

[0043] In some other embodiments, the disinfection robot of the present application may also include a control touch screen 710 for human-computer interaction. Among them, the control touch screen 710 is used to perform relevant operations on the disinfection robot to realize the human-computer interaction function of the disinfection robot. Furthermore, the disinfection robot of the present application may also include a communication module for remote communication. The communication module is used to realize the communication between the disinfection robot and the motion server, so that the disinfection robot of the present application has a remote control function. Specifically, using the communication module, it is also convenient to monitor and debug the disinfection robot in real time in the cloud, so as to perform control or task execution operations on the disinfection robot, including but not limited to: real-time status monitoring, remote troubleshooting, system upgrades, etc.

[0044] In this embodiment, the disinfection robot of the present application is equipped with an environmental detection mechanism to monitor key parameters of the external environment such as temperature, humidity, and number of people in real time, and adaptively mixes disinfection solutions suitable for the current environment to ensure maximum disinfection effect and meet diverse disinfection needs; a double disinfection mechanism is adopted, in which the first disinfection mechanism mixes disinfection solution according to environmental information and performs spray disinfection, and the second disinfection mechanism uses ultraviolet light for deep disinfection. The double disinfection mechanism improves the disinfection efficiency and disinfection effect, thereby enhancing the practicality and promotion of the disinfection robot.

[0045] The present application also provides a disinfection method for a disinfection robot and corresponding embodiments.

[0046] Figure 5 It is a flow chart of the disinfection method of the disinfection robot shown in the embodiment of the present application.

[0047] See also Figure 5 The disinfection method of the disinfection robot of the present application comprises: S810, monitoring environmental information of the external environment through an environmental detection mechanism, and determining a first disinfection strategy and a second disinfection strategy according to the environmental information.

[0048] In this step, a first disinfection strategy for controlling the first disinfection system and a second disinfection strategy for controlling the second disinfection system are determined according to environmental information corresponding to the external environment.

[0049] In some embodiments, the environment detection mechanism may be composed of a variety of sensors, including but not limited to: a temperature sensor, a humidity sensor, and an infrared sensor.

[0050] In some embodiments, the environmental information may include at least: environmental temperature, environmental humidity, and the number of people in the environment.

[0051] S820, according to the first disinfection strategy, control the first disinfection system to mix a corresponding disinfection solution and perform external disinfection through the mixed disinfection solution, and according to the second disinfection strategy, control the second disinfection system to perform external disinfection through ultraviolet rays.

[0052] In this step, the first disinfection mechanism is controlled to mix a disinfection solution corresponding to the external environment according to the first disinfection strategy, and the external environment is disinfected by the mixed disinfection solution. At the same time, the second disinfection mechanism is controlled to perform ultraviolet disinfection according to the second disinfection strategy.

[0053] In this embodiment, the disinfection method of the disinfection robot of the present application monitors the environmental information of the external environment in real time, such as key parameters such as temperature, humidity, and number of people, and adaptively proportions a disinfection solution suitable for the current environment for disinfection, thereby effectively ensuring that the disinfection effect is maximized and meeting diverse disinfection needs. In addition, a double disinfection mechanism is adopted, in which a first disinfection mechanism proportions a disinfection solution according to environmental information and performs spray disinfection, and a second disinfection mechanism uses ultraviolet light for deep disinfection. The double disinfection mechanism improves the disinfection efficiency and disinfection effect, thereby enhancing the practicality and promotion of the disinfection robot.

[0054] Figure 6 It is another flow chart of the disinfection method of the disinfection robot shown in the embodiment of the present application.

[0055] See also Figure 6 The disinfection method of the disinfection robot of the present application comprises: S910, obtaining path information, and driving the disinfection robot to move according to the path information; wherein the path information includes an optimal moving path obtained according to pre-constructed map information.

[0056] In this step, path information for controlling the movement of the disinfection robot is obtained. It should be understood that the path information may be the range of movement of the disinfection robot for a single disinfection operation, that is, the path information corresponds to the area covered by the disinfection robot for a single disinfection. Specifically, the path information may include an optimal movement path obtained based on pre-constructed map information.

[0057] In some implementations, the optimal moving path may be obtained by: S911, determining a start node and a target node according to pre-built map information.

[0058] In this step, the starting node and target node of the disinfection operation of the disinfection robot are determined. The starting node may be the same as or different from the current position of the disinfection robot. When the starting node is different from the current position of the disinfection robot, the disinfection robot may move to the starting node before starting the disinfection operation.

[0059] The start node and the target node can be automatically acquired or manually set, which is not limited here.

[0060] S912: According to the starting node and the target node, a preset path planning algorithm is used to obtain an optimal moving path between the starting node and the target node.

[0061] In this step, a preset path planning algorithm is used to determine the optimal moving path between the starting node and the target node.

[0062] As an example, the preset path planning algorithm can be an A* algorithm. According to the map information, the actual cost g(n) and the best path estimated cost h(n) are summed, where the actual cost g(n) represents the actual cost from the starting point to the current node, and the best path estimated cost h(n) represents the estimated shortest path cost from the current node to the target node. The actual cost g(n) and the best path estimated cost h(n) are summed to obtain the comprehensive cost f(n). Repeat the above summing process to obtain the minimum comprehensive cost f(n) from the starting node to the target node, that is, to obtain the optimal moving path between the starting node and the target node.

[0063] In some implementations, pre-built map information may be obtained by: S913, obtaining environmental characteristic information.

[0064] In this step, environmental feature information is obtained through a distance detection mechanism, wherein the distance detection mechanism may include but is not limited to: at least one of a camera and a ranging radar.

[0065] Environmental features are extracted through perception by cameras and ranging radars, where cameras and ranging radars are used to capture visual information and distance information of the environment respectively. By fusing the above two types of information, comprehensive and accurate environmental feature information can be obtained. Furthermore, features can refer to corners, edges, or other structural features that are helpful for positioning and map construction.

[0066] S914, estimating the position and posture information of the disinfection robot based on the acquired environmental feature information.

[0067] In this step, the position information of the disinfection robot is predicted based on the acquired continuous environmental feature information. It can be understood that the position information of the disinfection robot can be used to predict the motion trajectory of the disinfection robot.

[0068] S915, constructing map information based on the acquired environmental feature information and the position information of the disinfection robot.

[0069] In this step, a map outline is drawn in a plane or three-dimensional space based on the acquired environmental feature information and the position information of the disinfection robot, thereby obtaining map information.

[0070] In some embodiments, the map information can be continuously updated while the disinfection robot is repeatedly operating according to the map information. It is understood that in order to improve the accuracy of the map information, the disinfection robot obtains the corresponding environmental feature information and the location information of the disinfection robot at the same time during each disinfection operation in the process of operating according to the map information, and re-constructs new map information or updates the historical map information after completing the disinfection operation. Furthermore, after the map information is updated, the map information can also be processed to remove errors, so as to remove possible errors and interference factors and obtain higher-precision map information.

[0071] S920, monitor the ambient temperature, ambient humidity and number of people in the external environment through an environmental detection agency.

[0072] In this step, the ambient temperature, ambient humidity and number of people in the external environment are monitored by an environmental detection mechanism.

[0073] Among them, the ambient temperature and ambient humidity have different effects on the disinfection effects of different disinfection solutions. Therefore, selecting a suitable disinfection solution according to the ambient temperature and ambient humidity can effectively improve the disinfection effect.

[0074] The number of people in the environment can refer to the number of people within a certain range centered on the disinfection robot.

[0075] S930, determining a first disinfection strategy according to the ambient temperature and ambient humidity, the first disinfection strategy including information of a disinfection solution used for disinfection; determining a second disinfection strategy according to whether the number of people in the environment reaches a preset threshold, the second disinfection strategy including: ultraviolet light activation information.

[0076] In this step, the disinfection solution corresponding to the ambient temperature and humidity of the current external environment is determined according to the monitored ambient temperature and humidity. It is determined whether to turn on the ultraviolet disinfection function according to whether the number of people in the environment reaches a preset threshold.

[0077] S940, according to the disinfection solution information, control the first disinfection system to extract disinfection solution from the corresponding solution barrel and mix it into the corresponding disinfection concentration, and spray the mixed disinfection solution into the external environment through the disinfection nozzle for spray disinfection; according to the ultraviolet light start-up information, control the second disinfection system to turn on the ultraviolet light function to disinfect the outside through ultraviolet light.

[0078] In this step, the first disinfection mechanism and the second disinfection mechanism are controlled to perform disinfection work according to the acquired first disinfection strategy and the second disinfection strategy respectively.

[0079] Among them, according to the disinfection solution information, the first disinfection system is controlled to first mix the corresponding disinfection solution, and then the mixed disinfection solution is sprayed and disinfected externally through the disinfection nozzle in a spraying manner.

[0080] As an example, this application takes four application environments, namely, high temperature and high humidity environment, high temperature and low humidity environment, low temperature and high humidity environment, and low temperature and low humidity environment, as examples to respectively describe the disinfection solutions prepared by the disinfection robot of this application at different ambient temperatures and different ambient humidities. Specifically, the prepared solution information table can be shown in Table 1 below: Table 1: Mixing solution information table

[0081] According to the above table, in a high temperature and high humidity environment, alcohol or hydrogen peroxide with the characteristics of fast volatilization and heat resistance is used as the disinfection solution; in a high temperature and low humidity environment, a chlorine-containing compound solution with the characteristics of heat resistance and low residual moisture is used as the disinfection solution; in a low temperature and high humidity environment, a hypochlorite solution with high stability in a high humidity environment is used as the disinfection solution; in a low temperature and low humidity environment, a peracetic acid solution with low temperature resistance is used as the disinfection solution.

[0082] Furthermore, the disinfection method of the disinfection robot of the present application can achieve the ratio of disinfection solutions of different concentrations by mixing different disinfection solutions with water. It can be understood that each disinfection solution can be set in a separate solution barrel, water is extracted from the solution barrel loaded with water, and disinfection solution is extracted from the solution barrel loaded with the corresponding disinfection solution, and water is used to mix and dilute the extracted disinfection solution, so that the concentration of the mixed disinfection solution meets the corresponding application requirements.

[0083] The disinfection method of the disinfection robot of the present application adaptively mixes disinfection solutions that are compatible with the current application environment for different application environments, thereby effectively improving the disinfection effect of the disinfection robot.

[0084] The ultraviolet disinfection lamp of the second disinfection mechanism is turned on and off according to the ultraviolet turn-on information, so as to achieve ultraviolet disinfection of the external environment by using ultraviolet rays and avoid causing harm to personnel.

[0085] In some embodiments, the preset threshold value may be zero, that is, when the number of personnel in the environment reaches zero, the ultraviolet light activation information is determined to be to activate the ultraviolet light disinfection function of the second disinfection mechanism, otherwise, the ultraviolet light activation information is determined to be to deactivate the ultraviolet light disinfection function of the second disinfection mechanism. It should be understood that the monitoring of the number of personnel in the environment may be carried out in real time so as to control the ultraviolet light disinfection function of the disinfection robot in real time, thereby ensuring the safety performance of the disinfection robot and maximizing its disinfection effect. Among them, the number of personnel in the environment may refer to the number of personnel within a certain range centered on the disinfection robot, for example, the number of personnel in the environment may be the number of personnel within a radius of 2 meters centered on the disinfection robot.

[0086] In this embodiment, the disinfection method of the disinfection robot of the present application can realize the control of different disinfection functions according to the monitoring of different environmental information. In the process of proportioning the disinfection solution, different disinfection solutions are proportioned by using different temperatures and humidity. At the same time, the opening of the ultraviolet function is controlled according to the number of people in the monitored environment. This ensures that the disinfection effect of the disinfection robot is ensured while effectively ensuring the safety of people in the application environment, thereby improving the safety and reliability of the disinfection process of the disinfection robot.

[0087] Figure 7 It is another flow chart of the disinfection method of the disinfection robot shown in the embodiment of the present application.

[0088] See also Figure 7 The disinfection method of the disinfection robot of the present application comprises: S1001, obtaining an optimal moving path.

[0089] S1002, move in a straight line along the optimal moving path and perform spray disinfection and ultraviolet disinfection.

[0090] S1003, determine whether an obstacle is detected, if so, go to step S1004, if not, go to step S1007.

[0091] Obstacles may refer to mobile or non-mobile targets that affect the movement of the disinfection robot within the disinfection range or have an adverse effect on the disinfection process. It should be understood that the targets include pedestrians.

[0092] S1004, determine whether the obstacle is a pedestrian, if so, proceed to step S1005, if not, proceed to S1006.

[0093] S1005, suspend the ultraviolet disinfection function.

[0094] S1006, turn and return to step S1001.

[0095] S1007, check whether the job is completed, if so, end the work, if not, return to step S1002.

[0096] In this embodiment, when the disinfection robot of the present application is working, it can distinguish between pedestrians and objects among the obstacles detected by the disinfection robot, and suspend the ultraviolet function when a pedestrian is determined to be one. In this way, it is ensured that the disinfection robot will not endanger the safety of pedestrians during the disinfection process, thereby improving the safety performance of the disinfection robot.

[0097] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A disinfection robot, characterized in that: include: Body; An environment detection mechanism is provided in the body, and the environment detection mechanism is used to monitor environmental information of the external environment; A first disinfection mechanism and a second disinfection mechanism are arranged on the body; the first disinfection mechanism is used to mix a corresponding disinfection solution according to the environmental information, and spray disinfection on the external environment according to the mixed disinfection solution; the second disinfection mechanism is used to generate ultraviolet light to perform ultraviolet disinfection on the external environment.

2. The disinfection robot according to claim 1, characterized in that: The first disinfection mechanism includes: a plurality of solution barrels and disinfection nozzles; A plurality of solution barrels are arranged in the body, and the plurality of solution barrels are used to load the same or different disinfection solutions; the disinfection nozzle is arranged on the top of the body, and the disinfection nozzle is connected with the plurality of solution barrels, and the disinfection nozzle draws disinfection solution from the plurality of solution barrels for spray disinfection.

3. The disinfection robot according to claim 2, characterized in that: The first disinfection mechanism further includes: a mixing barrel respectively connected to the plurality of solution barrels and disinfection nozzles; The mixing barrel draws disinfectant solution from at least two solution barrels for mixing, so that the disinfection nozzle draws the mixed disinfectant solution from the mixing barrel for spray disinfection.

4. The disinfection robot according to claim 2, characterized in that: The second disinfection mechanism includes: an adjustment component and an ultraviolet disinfection lamp; The machine body is provided with a storage bin; the ultraviolet disinfection lamp is arranged in the storage bin through the adjustment component; the adjustment component is configured to drive the ultraviolet disinfection lamp to swing along a preset trajectory so that the ultraviolet disinfection lamp extends out of the storage bin.

5. The disinfection robot according to claim 4, characterized in that: The machine body is also provided with a disinfection lamp protection cover; The disinfection lamp protection cover is movably connected to one side of the accommodating bin so as to control the opening and closing of the accommodating bin through the disinfection lamp protection cover.

6. The disinfection robot according to any one of claims 1 to 5, characterized in that: The disinfection robot further comprises: a third disinfection mechanism disposed on the body; The third disinfection mechanism is used for circulating the air of the external environment and filtering and disinfecting the circulated air.

7. The disinfection robot according to claim 6, characterized in that: The third disinfection mechanism is connected to the second disinfection mechanism, and the second disinfection mechanism uses ultraviolet rays to disinfect the air circulated by the third disinfection mechanism.

8. A disinfection method for a disinfection robot, characterized in that: include: Monitoring environmental information of the external environment through an environmental detection mechanism, and determining a first disinfection strategy and a second disinfection strategy according to the environmental information; According to the first disinfection strategy, the first disinfection system is controlled to mix a corresponding disinfection solution and perform external disinfection through the mixed disinfection solution, and according to the second disinfection strategy, the second disinfection system is controlled to perform external disinfection through ultraviolet rays.

9. The disinfection method of the disinfection robot according to claim 8, characterized in that: The environmental information includes the environmental temperature, environmental humidity and the number of people in the environment; Determining a first disinfection strategy and a second disinfection strategy according to the environmental information includes: Determining a first disinfection strategy according to the ambient temperature and ambient humidity, the first disinfection strategy comprising: information of a disinfection solution used for disinfection; Determine a second disinfection strategy based on whether the number of people in the environment reaches a preset threshold, the second disinfection strategy including: ultraviolet light activation information; The controlling the first disinfection system to mix a corresponding disinfection solution according to the first disinfection strategy and performing external disinfection through the mixed disinfection solution includes: According to the disinfection solution information, control the first disinfection system to extract disinfection solution from the corresponding solution barrel and mix it into a corresponding disinfection concentration, and spray the mixed disinfection solution into the external environment through a disinfection nozzle for spray disinfection; The controlling the second disinfection system to perform external disinfection by ultraviolet rays according to the second disinfection strategy includes: According to the ultraviolet light start-up information, the second disinfection system is controlled to start the ultraviolet light function to perform external disinfection by ultraviolet light.

10. The disinfection method of a disinfection robot according to claim 8, characterized in that: The method further includes: Acquire path information, and drive the disinfection robot to move according to the path information; wherein the path information includes an optimal moving path acquired according to pre-constructed map information.

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