Multifunctional Decontamination Robot for Powder and Liquid Co-washing

Abstract

This invention discloses a multifunctional decontamination robot for both powder and liquid treatment, relating to the field of chemical emergency response. The robot includes a walking body, a monitoring camera, a material tank, and a spraying unit. The monitoring camera is fixedly mounted on top of the walking body. The material tank has an internal storage cavity for storing decontamination powder and liquid. The spraying unit includes a support frame, a first spray nozzle, a second spray nozzle, a wind-assisted component, a nozzle switching component, and an angle adjustment component. Through the nozzle switching component, this multifunctional decontamination robot can automatically move either the first spray nozzle (dedicated to powder) or the second spray nozzle (dedicated to liquid) to the spraying position within the hollow part of the wind-assisted component, thereby increasing the powder diffusion radius and liquid adhesion rate, achieving efficient powder-liquid co-operation.

Description

Technical Field

[0001] This invention relates to the field of chemical emergency technology, specifically to a multi-functional decontamination robot for both powder and liquid decontamination. Background Technology

[0002] In fields such as chemical emergency response, decontamination is a crucial step in preventing the spread of hazardous substances. Traditional decontamination equipment is mainly divided into three categories:

[0003] Liquid decontamination equipment, such as high-pressure cleaners and vehicle-mounted sprayers, uses a pressure pump to pressurize and atomize liquid decontaminants. It is suitable for liquid pollutants, but its effectiveness is limited for non-water-soluble dust.

[0004] Powder decontamination equipment, such as dry powder sprayers, uses compressed gas or mechanical force to disperse powder for dust pollution, but it is difficult to handle flowing liquids.

[0005] Simple combined equipment: This mechanically connects liquid and powder systems, requiring manual connection and disconnection of pipes or replacement of nozzles for switching; essentially, it remains two independent systems. Therefore, traditional decontamination equipment suffers from the following technical bottlenecks:

[0006] Limited functionality: Most equipment can only spray liquid disinfectants (such as sodium hypochlorite solution) or powders (such as dry powder disinfectant), and cannot be adapted to both forms of disinfectants at the same time, resulting in frequent equipment changes during operation and low efficiency.

[0007] Limitations of spray coverage: Conventional spraying devices rely on pressure pumps for diffusion, resulting in poor atomization of powders. Furthermore, liquid detergents are prone to dripping on vertical surfaces (such as walls and equipment surfaces) due to gravity, leading to insufficient uniformity of coverage.

[0008] Low level of automation: Sprayer switching requires manual intervention, and operation in narrow or high-risk environments (such as nuclear radiation areas or chemical leak areas) is risky; at the same time, the equipment lacks environmental perception capabilities and is difficult to adaptively adjust the spray angle and range. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a multifunctional decontamination robot that combines powder and liquid for decontamination, solving the problems of limited functionality, restricted spray coverage, and low automation in traditional decontamination equipment.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a multi-functional decontamination robot for co-washing and disinfection of powder and liquid, comprising:

[0011] Walking machine body;

[0012] The surveillance camera is fixedly installed on top of the mobile machine.

[0013] The material box has an internal storage cavity for storing disinfectant powder and disinfectant solution;

[0014] The spraying unit includes a bracket, a first spray nozzle, a second spray nozzle, a wind-assisted component, a nozzle switching component, and an angle adjustment component;

[0015] The bracket is mounted on top of the walking machine body via an angle adjustment component. The wind-assisted component and the nozzle switching component are located on top of the bracket. The hollow part inside the wind-assisted component is equipped with a spraying station. The first spray nozzle and the second spray nozzle are both connected to the material box. The first spray nozzle or the second spray nozzle is used to spray disinfectant powder and disinfectant liquid, respectively. The nozzle switching component can move the first spray nozzle or the second spray nozzle to the spraying station. The wind-assisted component can assist the first spray nozzle or the second spray nozzle in the spraying station to diffuse and spray the disinfectant powder or disinfectant liquid.

[0016] Preferably, the wind-assisted component includes:

[0017] outer cylinder;

[0018] The support frame is fixedly connected to the inner wall of the outer cylinder;

[0019] The inner cylinder is rotatably mounted on the inner wall of the support frame. Fan blades are fixedly mounted on the outer side of the inner cylinder, and the spraying station is located inside the inner cylinder. A first pulley is fixedly sleeved on the outer side of the inner cylinder.

[0020] A wind turbine is fixedly installed on the top of the outer cylinder. The end of the output shaft of the wind turbine is fixedly sleeved with a second pulley, and a transmission belt is provided between the first pulley and the second pulley.

[0021] Preferably, a motor housing is installed on the outside of the wind turbine and the second pulley, and the motor housing is fixedly installed on the outside of the outer cylinder. A protective shell is installed on the outside of the first pulley and the transmission belt. The protective shell is movably sleeved on the outside of the inner cylinder and is fixedly connected to the inner wall of the outer cylinder and the support frame.

[0022] Preferably, the nozzle switching assembly includes a moving mechanism and a rotating mechanism. The moving mechanism is used to drive the wind-assisted assembly to move horizontally, so as to separate it from the first spray nozzle or the second spray nozzle. The rotating mechanism is used to drive the first spray nozzle and the second spray nozzle to rotate.

[0023] Preferably, the moving mechanism includes:

[0024] A mobile motor, which is embedded in a bracket;

[0025] A lead screw is rotatably mounted on a support via a bearing seat. Both the end of the lead screw and the end of the output shaft of the moving motor are fixedly sleeved with bevel gears, and the two bevel gears are meshed together.

[0026] A threaded block is threaded onto the outside of the lead screw, and the top of the threaded block is fixedly connected to the wind-assisted assembly.

[0027] Preferably, the rotating mechanism includes:

[0028] An arc-shaped slide rail is fixedly installed on a bracket. Two sliders are slidably arranged on the inner wall of the arc-shaped slide rail, and the first spray gun head and the second spray gun head are respectively inserted through the two sliders.

[0029] Support bars are fixedly installed on the top of the curved slide rail;

[0030] The rotating motor is fixedly installed at the top of the support bar;

[0031] The connector is fixedly connected between the output shaft of the rotating motor and the two sliders.

[0032] Preferably, the angle adjustment component includes a rotating platform and a flipping mechanism, the rotating platform being rotatably mounted on the walking machine body, and the flipping mechanism being installed between the rotating platform and the support.

[0033] Preferably, a rotary motor is installed inside the walking body, and the rotary motor is connected to the rotating platform for transmission, so that the rotary motor can drive the rotating platform to rotate.

[0034] Preferably, the flipping mechanism includes:

[0035] Support base;

[0036] A flip-up seat is rotatably mounted on top of a support base, and the top of the flip-up seat is fixedly connected to a bracket.

[0037] The flipping motor is embedded on the outside of the support base;

[0038] A rotating shaft is fixedly inserted into the inner wall of the flipping base, and the end of the rotating shaft passes through the support base.

[0039] The worm gear is fixedly installed at the output end of the reversing motor;

[0040] The worm gear is fixedly sleeved on the outside of the end of the rotating shaft, and the worm gear and the worm are meshed together.

[0041] Preferably, a protective box is installed on the outside of the flipping motor, worm gear and worm wheel, and the other end of the worm gear is rotatably connected to the inner wall of the protective box.

[0042] This invention discloses a multifunctional decontamination robot that combines powder and liquid washing, which has the following beneficial effects:

[0043] This multi-functional decontamination robot, which combines powder and liquid spraying, can automatically move either a first spray nozzle for powder or a second spray nozzle for liquid to the spraying station within the hollow part of the wind-assisted component via a nozzle switching assembly. The wind-assisted component rotates during operation to generate directional airflow, which assists the first or second spray nozzle in the spraying station to diffuse the decontamination powder or liquid, increasing the powder diffusion radius and liquid adhesion rate, thus achieving efficient powder-liquid co-operation. Furthermore, in chemical emergency situations, dense smoke is often generated; the wind-assisted component can disperse some of this smoke in the direction of movement and spraying, facilitating monitoring by surveillance cameras and improving the accuracy of decontamination powder or liquid spraying.

[0044] This multi-functional decontamination robot, which combines powder and liquid washing, uses a rotating motor to drive the connecting parts to rotate, which in turn moves the slider along an arc-shaped slide rail. This allows the first or second spray nozzle to be positioned directly behind the inner cylinder. When the inner cylinder is reset by the moving mechanism, the nozzle positioned directly behind the inner cylinder can enter the spraying station inside the inner cylinder, thus achieving automatic nozzle switching.

[0045] This multi-functional decontamination robot, which combines powder and liquid spraying, operates as follows: When the first spray nozzle is in the spraying position, a wind turbine drives a second pulley, which in turn drives the inner cylinder to rotate at high speed via a transmission belt. The fan blades generate a directional airflow, creating a negative pressure zone at the spraying position, which accelerates the powder from the first spray nozzle, increasing the powder's diffusion radius. When the second spray nozzle is in the spraying position, the airflow couples with the liquid droplets from the second spray nozzle, creating a fine atomization effect and increasing the liquid's adhesion density. Attached Figure Description

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 This is a schematic diagram of the spraying unit of the present invention;

[0049] Figure 3 This is a schematic diagram of the angle adjustment component and bracket of the present invention;

[0050] Figure 4This is a schematic diagram of the structure of the first spray nozzle, the second spray nozzle, the wind-assisted component, and the nozzle switching component of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of the wind-powered auxiliary component of the present invention;

[0052] Figure 6 This is a partial structural schematic diagram of the wind-powered auxiliary component of the present invention;

[0053] Figure 7 This is a schematic diagram of the moving mechanism and support of the present invention;

[0054] Figure 8 This is a schematic diagram of the rotating mechanism, the first spray nozzle, and the second spray nozzle of the present invention.

[0055] Figure 9 This is a schematic diagram of the structure of the first spray nozzle, the second spray nozzle, and the connecting member of the present invention;

[0056] Figure 10 This is a schematic diagram of the initialization and environmental perception process of the present invention;

[0057] Figure 11 This is a schematic diagram of the pollution identification and spraying mode selection process of the present invention;

[0058] Figure 12 This is a schematic diagram of the spraying execution and closed-loop control process of the present invention.

[0059] In the diagram: 1. Walking machine body; 2. Monitoring camera; 3. Material bin; 4. Spraying unit; 41. Support frame; 42. First spray nozzle; 43. Second spray nozzle; 44. Wind-powered auxiliary component; 441. Outer cylinder; 442. Support frame; 443. Inner cylinder; 444. Fan blade; 445. Wind turbine; 446. First pulley; 447. Second pulley; 448. Motor housing; 449. Protective shell; 45. Nozzle switching component; 451. Moving mechanism; 4511. 4512. Moving motor; 4513. Lead screw; 4514. Threaded block; 4515. Bevel gear; 452. Rotating mechanism; 4521. Arc slide rail; 4522. Support bar; 4523. Rotating motor; 4524. Slider; 4525. Connector; 46. Angle adjustment assembly; 461. Rotating platform; 462. Tilting mechanism; 4621. Support base; 4622. Tilting base; 4623. Tilting motor; 4624. Rotating shaft; 4625. Worm gear; 4626. Worm wheel. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] This application provides a multi-functional decontamination robot that combines powder and liquid decontamination, solving the problems of limited functionality, limited spray coverage, and low automation in traditional decontamination equipment.

[0062] The nozzle switching component 45 automatically moves the first spray nozzle 42 for powder or the second spray nozzle 43 for liquid to the spraying station in the hollow part of the wind-assisted component 44. When working, the wind-assisted component 44 rotates to generate directional airflow, which in turn helps the first spray nozzle 42 or the second spray nozzle 43 in the spraying station to diffuse the decontamination powder or decontamination liquid, thereby increasing the powder diffusion radius and the liquid adhesion rate, achieving efficient powder and liquid synergistic operation. At the same time, in chemical emergency processes, dense smoke is often generated. The wind-assisted component 44 can disperse some of the dense smoke in the direction of movement and spraying, making it convenient for the monitoring camera 2 to monitor and view, and improving the accuracy of decontamination powder or decontamination liquid spraying.

[0063] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0064] Example 1: This invention discloses a multi-functional decontamination robot that combines powder and liquid for decontamination.

[0065] According to the appendix Figure 1 -Appendix Figure 9 Shown, including:

[0066] Walking machine body 1;

[0067] Surveillance camera 2 is fixedly installed on top of the walking machine body 1;

[0068] Material box 3 has an internal storage cavity for storing disinfectant powder and disinfectant solution;

[0069] The spraying unit 4 includes a bracket 41, a first spray nozzle 42, a second spray nozzle 43, a wind-assisted component 44, a nozzle switching component 45, and an angle adjustment component 46.

[0070] The bracket 41 is mounted on top of the walking body 1 via the angle adjustment component 46. The wind-assisted component 44 and the nozzle switching component 45 are located on top of the bracket 41. The hollow part inside the wind-assisted component 44 is provided with a spraying station. The first spray nozzle 42 and the second spray nozzle 43 are both connected to the material box 3. The first spray nozzle 42 or the second spray nozzle 43 is used to spray the decontamination powder and the decontamination liquid, respectively. The nozzle switching component 45 can be used to move the first spray nozzle 42 or the second spray nozzle 43 to the spraying station. The wind-assisted component 44 can assist the first spray nozzle 42 or the second spray nozzle 43 in the spraying station to diffuse the decontamination powder or decontamination liquid.

[0071] The nozzle switching component 45 automatically moves the first spray nozzle 42 for powder or the second spray nozzle 43 for liquid to the spraying station in the hollow part of the wind-assisted component 44. When working, the wind-assisted component 44 rotates to generate directional airflow, which in turn helps the first spray nozzle 42 or the second spray nozzle 43 in the spraying station to diffuse the decontamination powder or decontamination liquid, thereby increasing the powder diffusion radius and the liquid adhesion rate, achieving efficient powder and liquid synergistic operation. At the same time, in chemical emergency processes, dense smoke is often generated. The wind-assisted component 44 can disperse some of the dense smoke in the direction of movement and spraying, making it convenient for the monitoring camera 2 to monitor and view, and improving the accuracy of decontamination powder or decontamination liquid spraying.

[0072] Specifically disclosed, the wind-assisted component 44 includes:

[0073] Outer cylinder 441;

[0074] The support frame 442 is fixedly connected to the inner wall of the outer cylinder 441;

[0075] The inner cylinder 443 is rotatably mounted on the inner wall of the support frame 442. A fan blade 444 is fixedly mounted on the outer side of the inner cylinder 443, and the spraying station is located inside the inner cylinder 443. A first pulley 446 is fixedly sleeved on the outer side of the inner cylinder 443.

[0076] The wind turbine 445 is fixedly installed on the top of the outer cylinder 441. The end of the output shaft of the wind turbine 445 is fixedly sleeved with a second pulley 447, and a transmission belt is provided between the first pulley 446 and the second pulley 447.

[0077] When the first spray nozzle 42 is in the spraying position, the wind turbine 445 drives the second pulley 447, which in turn drives the inner cylinder 443 to rotate at high speed via the transmission belt. The fan blades 444 generate directional airflow, forming a negative pressure zone in the spraying position, which accelerates the powder from the first spray nozzle 42 and increases the powder diffusion radius.

[0078] When the second spray nozzle 43 is in the spraying position, the airflow couples with the droplets of the second spray nozzle 43 to form a fine atomization effect, and the liquid adhesion density is increased.

[0079] Furthermore, a motor housing 448 is installed on the outside of the wind turbine 445 and the second pulley 447, and the motor housing 448 is fixedly installed on the outside of the outer cylinder 441. A protective shell 449 is installed on the outside of the first pulley 446 and the transmission belt. The protective shell 449 is movably sleeved on the outside of the inner cylinder 443 and is fixedly connected to the inner wall of the outer cylinder 441 and the support frame 442.

[0080] Specifically disclosed, the nozzle switching assembly 45 includes a moving mechanism 451 and a rotating mechanism 452. The moving mechanism 451 is used to drive the wind-assisted assembly 44 to move horizontally, so that it is separated from the first spray nozzle 42 or the second spray nozzle 43. The rotating mechanism 452 is used to drive the first spray nozzle 42 and the second spray nozzle 43 to rotate.

[0081] Specifically disclosed, mobile agency 451 includes:

[0082] The movable motor 4511 is embedded in the bracket 41;

[0083] The lead screw 4512 is rotatably mounted on the bracket 41 via a bearing seat. Both the end of the lead screw 4512 and the end of the output shaft of the moving motor 4511 are fixedly sleeved with bevel gears 4514, and the two bevel gears 4514 are meshed together.

[0084] The threaded block 4513 is threadedly connected to the outside of the lead screw 4512, and the top of the threaded block 4513 is fixedly connected to the wind-assisted assembly 44.

[0085] The moving motor 4511 starts and drives the lead screw 4512 to rotate through the bevel gear 4514.

[0086] The threaded block 4513 moves axially along the lead screw 4512, causing the wind-powered auxiliary component 44 to move horizontally.

[0087] Specifically disclosed, the rotating mechanism 452 includes:

[0088] The arc-shaped slide rail 4521 is fixedly installed on the bracket 41. Two sliders 4524 are slidably arranged on the inner wall of the arc-shaped slide rail 4521, and the first spray gun head 42 and the second spray gun head 43 are respectively inserted through the two sliders 4524.

[0089] Support bar 4522 is fixedly installed on the top of arc-shaped slide rail 4521;

[0090] Rotary motor 4523 is fixedly installed on the top of support bar 4522;

[0091] Connector 4525 is fixedly connected between the output shaft of the rotating motor 4523 and the two sliders 4524.

[0092] The rotating motor 4523 drives the connecting piece 4525 to rotate, which in turn drives the slider 4524 to move along the arc-shaped slide rail 4521. This allows the first spray nozzle 42 or the second spray nozzle 43 to move to the rear of the inner cylinder 443. When the inner cylinder 443 is reset under the action of the moving mechanism 451, the nozzle located at the rear of the inner cylinder 443 can enter the spraying position inside the inner cylinder 443, thereby realizing automatic switching of the nozzle.

[0093] Furthermore, the angle adjustment component 46 includes a rotating platform 461 and a flipping mechanism 462. The rotating platform 461 is rotatably mounted on the walking body 1, and the flipping mechanism 462 is installed between the rotating platform 461 and the bracket 41.

[0094] The rotary motor starts and drives the rotary platform 461 after being reduced in speed by the gearbox. The encoder at the bottom of the rotary platform 461 records the rotation angle, forming a closed-loop control.

[0095] Furthermore, a rotary motor is installed inside the walking body 1, and the rotary motor is connected to the rotating platform 461 for transmission, so that the rotary motor can drive the rotating platform 461 to rotate.

[0096] It should be emphasized that both the rotary motor 4523 and the rotary motor are equipped with electromagnetic brakes, which can be used to lock the slider 4524 to the rotary platform 461.

[0097] Specifically disclosed, the flipping mechanism 462 includes:

[0098] Support base 4621;

[0099] The flip seat 4622 is rotatably mounted on the top of the support seat 4621, and the top of the flip seat 4622 is fixedly connected to the bracket 41.

[0100] The flipping motor 4623 is embedded on the outside of the support base 4621;

[0101] The rotating shaft 4624 is fixedly inserted into the inner wall of the flipping seat 4622, and the end of the rotating shaft 4624 passes through the support seat 4621.

[0102] Worm gear 4625 is fixedly installed at the output end of the flip motor 4623;

[0103] The worm gear 4626 is fixedly sleeved on the outside of the end of the rotating shaft 4624, and the worm gear 4626 and the worm 4625 are meshed together.

[0104] The flip motor 4623 drives the worm gear 4625 to rotate, which in turn drives the worm wheel 4626 and the rotating shaft 4624 to rotate. The flip seat 4622 rotates with the rotating shaft 4624, adjusting the pitch angle of the bracket 41.

[0105] Furthermore, a protective box is installed on the outside of the flip motor 4623, the worm 4625 and the worm wheel 4626, and the other end of the worm 4625 is rotatably connected to the inner wall of the protective box.

[0106] During use, the monitoring camera 2 scans the work area to identify contaminated areas. For aerosols or non-water-soluble pollutants, such as dust-like toxic agents, the first spray nozzle 42 is selected for powder decontamination mode. For liquid pollutants, such as acids or biological contaminants, the second spray nozzle 43 is selected for liquid decontamination mode.

[0107] When the moving motor 4511 starts, it drives the lead screw 4512 to rotate via the bevel gear 4514. The threaded block 4513 moves axially along the lead screw 4512, causing the wind-assisted component 44 to move horizontally. The rotating motor 4523 drives the connecting piece 4525 to rotate, causing the slider 4524 to move along the arc-shaped slide rail 4521. This drives the first spray nozzle 42 or the second spray nozzle 43 to move to the rear of the inner cylinder 443. When the inner cylinder 443 is reset under the action of the moving mechanism 451, the nozzle located at the rear of the inner cylinder 443 can enter the spraying position inside the inner cylinder 443, thereby realizing the automatic switching of the nozzle.

[0108] When the first spray nozzle 42 is in the spraying position, the wind turbine 445 drives the second pulley 447, which in turn drives the inner cylinder 443 to rotate at high speed via the transmission belt. The fan blades 444 generate a directional airflow, creating a negative pressure zone at the spraying position, which accelerates the powder from the first spray nozzle 42 and increases the powder diffusion radius. When the second spray nozzle 43 is in the spraying position, the airflow couples with the droplets from the second spray nozzle 43, forming a fine atomization effect, increasing the liquid adhesion density, and achieving efficient powder-liquid synergistic operation.

[0109] Meanwhile, in chemical emergency processes, dense smoke is often generated. The wind-assisted component 44 can disperse some of the dense smoke in the direction of movement and spraying, making it convenient for the monitoring camera 2 to monitor and view, and improving the accuracy of spraying decontamination powder or decontamination liquid.

[0110] Example 2: According to the appendix Figure 10 -Appendix Figure 12 As shown, based on Embodiment 1, a further step can be taken to integrate a gas sensor array, a dust concentration sensor, a temperature and humidity sensor, and a liquid sensor at the front end of the walking body 1.

[0111] Gas sensor arrays monitor the concentration of toxic gases in the working environment and identify the type and spread of pollution. Dust concentration sensors detect the concentration of suspended particulate matter in the air. Temperature and humidity sensors detect the ambient temperature and humidity. Liquid sensors are used to detect the conductivity of liquids.

[0112] The internal control system of the walking machine 1 determines the type of pollution based on sensor data:

[0113] 1. Dust pollution, such as toxic dust, radioactive dust, and non-water-soluble particulate pollutants, specifically PM2.5 and PM10 concentrations exceeding the threshold (e.g., PM10 > 1000 μg / m³), particle size distribution peak in the range of 1-50 μm, volatile organic compound (VOCs) concentration normal or slightly increased, relative humidity < 60%, visual inspection showing no reflective areas, and no obvious liquid traces;

[0114] Select powder mode:

[0115] The first spray nozzle 42 uses disinfectant powder;

[0116] The wind-assisted component 44 adopts a high-speed mode (1800-2000 RPM) to form a wide-range diffusion;

[0117] Prioritize horizontal spraying to cover large areas of suspended dust.

[0118] 2. Liquid contamination, such as acid leaks, biological contaminants, and oil contaminants, specifically abnormal concentrations of certain gases (such as acidic gases like HCl and H2S), normal dust concentrations but significantly increased humidity (>80%), and abnormal liquid conductivity detected by the liquid sensor;

[0119] Select liquid mode:

[0120] The second spray nozzle 43 uses a decontamination solution;

[0121] The wind-assisted component 44 uses a medium-speed mode (1200-1500 RPM) to enhance droplet atomization but avoid excessive dispersion;

[0122] Tilt at a 45° angle to prioritize coverage of pollution sources and flow paths.

[0123] 3. Complex pollution, mixed pollution after chemical explosion (dust + liquid + toxic gas), areas with superimposed multiple types of pollutants, with multiple pollutants exceeding the standard (e.g., PM10 > 500 μg / m³ and SO2 > 50 ppm), particle size distribution showing multiple peaks (e.g., significant peaks in 1-10 μm and 100-500 μm), and large fluctuations in temperature and humidity (temperature change rate > 2℃ / minute).

[0124] Spraying mode selection in stages:

[0125] S1. Phased treatment (the second phase is triggered when the SO2 concentration decreases by 50% after the first phase):

[0126] Phase 1: The second spray nozzle 43 uses the decontamination solution to quickly suppress the spray;

[0127] Second stage: The first spray nozzle 42 uses the decontamination powder to adsorb residual pollutants;

[0128] Wind-assisted component 44:

[0129] Phase 1: Low speed mode (1000 RPM) to avoid disturbing the smoke;

[0130] Second stage: High-speed mode (1800 RPM) to enhance powder diffusion.

[0131] A gas sensor array, dust concentration sensor, temperature and humidity sensor, and liquid sensor work together to construct a pollution characteristic model from four dimensions: gas composition, particulate matter characteristics, environmental parameters, and liquid conductivity. This model uses quantitative indicators to achieve objective judgment, improving the accuracy of pollution type identification. Simultaneously, the sensor array continuously collects data at a frequency of 10Hz, enabling real-time tracking of pollution diffusion trends and dynamic updates to the pollution type assessment results.

[0132] To address dust pollution, the design of "high-speed wind-assisted (1800-2000RPM) + horizontal spraying" increases the diffusion radius of the decontamination powder by 40% and the coverage area by 60%, avoiding excessive use of powder.

[0133] For liquid contamination, "medium-speed atomization (1200-1500 RPM) + 45° tilted spraying" increases the liquid adhesion rate by 30% and reduces liquid waste;

[0134] For complex contamination, a phased treatment approach (first suppression, then adsorption, and finally rinsing) avoids a "one-size-fits-all" spraying method, improving the efficiency of decontamination while reducing the total consumption of decontamination agents.

[0135] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-functional decontamination robot that combines powder and liquid washing, characterized in that, include: Walking machine body (1); A surveillance camera (2) is fixedly installed on top of the walking machine body (1); Material box (3) has an internal storage cavity for storing disinfectant powder and disinfectant solution; The spraying unit (4) includes a bracket (41), a first spray nozzle (42), a second spray nozzle (43), a wind-assisted component (44), a nozzle switching component (45), and an angle adjustment component (46). The bracket (41) is installed above the walking body (1) via the angle adjustment component (46). The wind-assisted component (44) and the nozzle switching component (45) are located above the bracket (41). The hollow part inside the wind-assisted component (44) is provided with a spraying station. The first spray nozzle (42) and the second spray nozzle (43) are both connected to the material box (3). The first spray nozzle (42) or the second spray nozzle (43) is used to spray the cleaning powder and the cleaning liquid, respectively. The nozzle switching component (45) can move the first spray nozzle (42) or the second spray nozzle (43) to the spraying station. The wind-assisted component (44) can assist the first spray nozzle (42) or the second spray nozzle (43) in the spraying station to diffuse the cleaning powder or cleaning liquid. The nozzle switching assembly (45) includes a moving mechanism (451) and a rotating mechanism (452). The moving mechanism (451) is used to drive the wind-assisted assembly (44) to move horizontally so that it is separated from the first spray nozzle (42) or the second spray nozzle (43). The rotating mechanism (452) is used to drive the first spray nozzle (42) and the second spray nozzle (43) to rotate. The moving mechanism (451) includes: A mobile motor (4511) is mounted on a bracket (41); A lead screw (4512) is rotatably mounted on a bracket (41) via a bearing seat. Both the end of the lead screw (4512) and the end of the output shaft of the moving motor (4511) are fixedly sleeved with bevel gears (4514), and the two bevel gears (4514) are meshed together. A threaded block (4513) is threaded to the outside of the lead screw (4512), and the top of the threaded block (4513) is fixedly connected to the wind-assisted assembly (44). The rotating mechanism (452) includes: An arc-shaped slide rail (4521) is fixedly installed on a bracket (41). Two sliders (4524) are slidably arranged on the inner wall of the arc-shaped slide rail (4521), and the first spray gun head (42) and the second spray gun head (43) are respectively disposed in the two sliders (4524). Support bar (4522), which is fixedly installed on the top of the arc-shaped slide rail (4521); A rotating motor (4523) is fixedly mounted on the top of the support bar (4522); The connector (4525) is fixedly connected between the output shaft of the rotating motor (4523) and the two sliders (4524).

2. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 1, characterized in that, The wind-assisted component (44) includes: Outer cylinder (441); The support frame (442) is fixedly connected to the inner wall of the outer cylinder (441); The inner cylinder (443) is rotatably mounted on the inner wall of the support frame (442). A fan blade (444) is fixedly mounted on the outer side of the inner cylinder (443), and the spraying station is located inside the inner cylinder (443). A first pulley (446) is fixedly sleeved on the outer side of the inner cylinder (443). A wind turbine (445) is fixedly installed on the top of the outer cylinder (441). The end of the output shaft of the wind turbine (445) is fixedly sleeved with a second pulley (447), and a transmission belt is provided between the first pulley (446) and the second pulley (447).

3. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 2, characterized in that, A motor housing (448) is installed on the outside of the wind turbine (445) and the second pulley (447), and the motor housing (448) is fixedly installed on the outside of the outer cylinder (441). A protective shell (449) is installed on the outside of the first pulley (446) and the transmission belt. The protective shell (449) is movably sleeved on the outside of the inner cylinder (443) and is fixedly connected to the inner wall of the outer cylinder (441) and the support frame (442).

4. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 1, characterized in that, The angle adjustment component (46) includes a rotating platform (461) and a flipping mechanism (462). The rotating platform (461) is rotatably mounted on the walking body (1), and the flipping mechanism (462) is installed between the rotating platform (461) and the bracket (41).

5. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 4, characterized in that, The walking body (1) is equipped with a rotary motor, which is connected to the rotating platform (461) for transmission. The rotary motor can drive the rotating platform (461) to rotate.

6. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 5, characterized in that, The flipping mechanism (462) includes: Support base (4621); A flip seat (4622) is rotatably mounted on top of a support seat (4621), and the top of the flip seat (4622) is fixedly connected to a bracket (41); A flip motor (4623) is embedded on the outside of the support base (4621); A rotating shaft (4624) is fixedly inserted into the inner wall of the flipping seat (4622), and the end of the rotating shaft (4624) passes through the support seat (4621). The worm gear (4625) is fixedly installed at the output end of the reversing motor (4623); A worm gear (4626) is fixedly sleeved on the outside of the end of the rotating shaft (4624), and the worm gear (4626) and the worm (4625) are meshed together.

7. The multifunctional decontamination robot for powder and liquid co-washing and disinfection according to claim 6, characterized in that, The outer side of the flip motor (4623), worm (4625) and worm wheel (4626) is equipped with a protective box, and the other end of the worm (4625) is rotatably connected to the inner wall of the protective box.

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