Disinfection device and disinfection method special for DR gastrointestinal machine of radiation equipment

Abstract

The invention relates to the technical field of medical equipment, and discloses a disinfection device and a disinfection method special for a radiation equipment DR gastrointestinal machine, the disinfection device comprises a machine body, the machine body is internally provided with an air inlet cavity, a power supply cavity and two plasma generation cavities, the air inlet cavity is internally fixedly provided with an exhaust fan, the power supply cavity is internally provided with a storage battery, and the two plasma generation cavities are internally provided with an exhaust fan. A plasma generator is arranged in the plasma generation cavity, a machine cover is arranged at the top end of the machine body, and an LED matrix ultraviolet lamp is arranged at the top end of the machine cover; according to the invention, the composite disinfection efficiency is multiplied, plasma and ultraviolet rays cooperate for disinfection, and a high-activity ion flow generated by the plasma generator is combined with full-spectrum irradiation of the LED matrix ultraviolet lamp to form a gas-solid dual-phase disinfection system, so that bacterial propagules, viruses and fungal spores on the surface of the DR gastrointestinal machine can be efficiently inactivated, and the DR gastrointestinal machine can be effectively disinfected. And formaldehyde, ozone and other harmful gases in the machine room can be synchronously degraded, the disinfection rate is improved, and no chemical residue exists.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, specifically to a disinfection device and method for a radiographic DR gastrointestinal machine. Background Technology

[0002] In the field of medical radiology, the DR gastrointestinal machine is a large piece of equipment used frequently. Hundreds of patients have close contact with the equipment, which poses a significant risk of cross-infection. Therefore, the disinfection of its surface and surrounding environment is crucial.

[0003] Traditional disinfection methods mainly rely on manual wiping of chemical disinfectants or fixed ultraviolet irradiation, which have the following significant drawbacks: the equipment structure is complex (such as robotic arms and detector gaps), manual wiping is difficult to completely cover, fixed ultraviolet lamps have blind spots and cannot penetrate the shadow areas of objects; chemical disinfection requires frequent manual operation, and there is a risk of pesticide residue after disinfection; ultraviolet disinfection alone has limited effectiveness in removing airborne pathogens and harmful gases (such as ozone and volatile organic compounds); in order to reduce equipment downtime, rapid disinfection schemes are often used, but chemical disinfection requires ventilation to dissipate odors, and ultraviolet disinfection requires personnel to avoid the area, which affects the efficiency of diagnosis and treatment; while plasma disinfection allows for the coexistence of humans and machines, the airflow organization of traditional equipment is simple and difficult to cover complex spaces. Summary of the Invention

[0004] The purpose of this invention is to provide a special disinfection device and method for DR gastrointestinal machines, which has the effect of high disinfection efficiency and reduced disinfection dead spots.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a special disinfection device and disinfection method for a radiographic DR gastrointestinal machine, comprising a body, wherein the body is provided with an air inlet chamber, a power supply chamber and two plasma generating chambers respectively, an exhaust fan is fixedly installed inside the air inlet chamber, a battery is installed inside the power supply chamber, a plasma generator is installed inside the plasma generating chamber, a cover is provided at the top of the body, a mounting plate is fixedly installed at the top of the cover, an LED matrix ultraviolet lamp is provided on the surface of the mounting plate, a control box is fixedly installed at the bottom of the body, an ultrasonic sensor is provided on the front of the control box, and a walking mechanism is provided below the control box.

[0006] A further feature of the present invention is that the back of the body is provided with an air inlet groove communicating with the air inlet cavity, and the air inlet cavity is provided with a guide seat on the side away from the exhaust fan.

[0007] A further feature of the present invention is that a ventilation slot is provided on the side of the plasma generating chamber near the air inlet chamber, so that air in the air inlet chamber can enter the interior of the plasma generating chamber, and an air outlet slot is provided on the side of the plasma generating chamber away from the air inlet chamber.

[0008] A further feature of the present invention is that a microcontroller is fixedly installed inside the control box, and heat dissipation grooves are provided on both sides of the control box.

[0009] A further configuration of the present invention is as follows: the walking mechanism includes a universal wheel, a mounting column, and a walking wheel; the universal wheel is disposed on one side of the bottom end of the control box; the mounting column is rotatably disposed on the other side of the bottom end of the control box; a mounting shaft is rotatably disposed in the middle of the mounting column; and the walking wheel is fixedly disposed at both ends of the mounting shaft.

[0010] A further configuration of the present invention is as follows: a support shaft is fixedly provided at the top of the mounting column, a driven gear is fixedly provided in the middle of the support shaft, a motor frame is fixedly provided on the back of the control box, a DC geared motor is fixedly provided at the bottom of the motor frame, and a driving gear that meshes with the driven gear is fixedly provided on the transmission shaft of the DC geared motor.

[0011] A further configuration of the present invention is as follows: a driven gear two is fixedly provided on the surface of the mounting shaft, a motor frame two is fixedly provided on one side of the mounting column, a DC geared motor two is fixedly provided on one side of the motor frame two, and a driving gear two that meshes with the driven gear two is fixedly provided on the transmission shaft of the DC geared motor two.

[0012] A further provision of the present invention includes the following steps:

[0013] S1. Start the device, the exhaust fan starts working, drawing outside air into the air intake chamber from the air intake slot, and guiding it into the plasma generation chambers on the left and right sides through the guide seat;

[0014] S2. After air enters the plasma generation chamber, the plasma generator applies high-voltage discharge treatment to generate plasma active gas, which is discharged through the air outlet slot and diffuses to the surface of the DR gastrointestinal machine and the corners of the machine room to achieve gas phase disinfection.

[0015] S3 and LED matrix ultraviolet lamps start simultaneously, emitting 254nm wavelength ultraviolet light to achieve spectral killing of microorganisms on the surface of the DR gastrointestinal machine. Ultraviolet light and plasma together form a synergistic disinfection field.

[0016] S4. The device starts the walking mechanism, controls the walking wheels to move forward at a constant speed, the universal wheels assist in guidance, the ultrasonic sensor scans the environment in front in real time, and the microcontroller processes the obstacle echo information to adjust the direction of the device to achieve full coverage dynamic disinfection of the entire area.

[0017] A further provision of the present invention is that, in step S2, the plasma generator dissociates oxygen molecules in the air into highly reactive oxygen ions and free radicals through high-frequency high-voltage discharge, and carries energy into the gaps and corners of the equipment to further decompose harmful gases such as formaldehyde and ozone in the air, thereby improving the overall space disinfection effect.

[0018] A further configuration of the present invention is as follows: In step S4, the ultrasonic sensor emits a 40kHz pulse signal, which is amplified by a power amplifier to detect the location of the obstacle; when the echo signal is received and processed and identified by the microcontroller, the stepper motor is triggered to control the direction adjustment of the walking wheel to achieve automatic obstacle avoidance; if there is no echo signal, the movement is paused and the system continues to wait until an echo signal is received before continuing to move.

[0019] In summary, this invention has the following beneficial effects: The composite disinfection efficiency of this invention is doubled, with plasma and ultraviolet light working synergistically for disinfection. The highly active ion current generated by the plasma generator is combined with the full-spectrum irradiation of the LED matrix ultraviolet lamps to form a gas-solid dual-phase disinfection system. This system can not only efficiently inactivate bacterial vegetative cells, viruses, and fungal spores on the surface of the DR gastrointestinal machine, but also simultaneously degrade harmful gases such as formaldehyde and ozone in the machine room, improving the disinfection rate without chemical residue; it provides comprehensive, no-dead-angle coverage, with the exhaust fan forcing airflow evenly distributed to both sides of the plasma generation chamber via the guide seat, and high-pressure discharge... After being electrified, the active particles are ejected at high speed through the air outlet, penetrating traditional disinfection blind spots such as mechanical gaps and cable gaps in the equipment. The LED matrix ultraviolet lamps achieve three-dimensional coverage, eliminating shadow areas and ensuring that the surface and air are sterilized simultaneously. Intelligent movement and precise obstacle avoidance are achieved by driving a gear set with a DC geared motor to achieve precise steering and uniform speed of the walking wheels. It can flexibly avoid obstacles such as equipment bases and cables in a small machine room. The ultrasonic sensor, combined with the temperature compensation algorithm, calibrates the sound wave propagation speed in real time, maintaining distance measurement accuracy even in environments with fluctuating temperature and humidity, ensuring safe operation with zero collisions. Attached Figure Description

[0020] Figure 1 This is one of the three-dimensional structural schematic diagrams of the present invention;

[0021] Figure 2 This is the second three-dimensional structural schematic diagram of the present invention;

[0022] Figure 3 This is the third three-dimensional structural schematic diagram of the present invention;

[0023] Figure 4 This is a schematic diagram of the exploded structure of the present invention;

[0024] Figure 5 This is a partial structural schematic diagram of the walking mechanism of the present invention;

[0025] Figure 6 This is a schematic diagram of the internal structure of the body of the present invention.

[0026] In the diagram: 1. Body; 101. Cover; 102. Exhaust fan; 103. Air guide seat; 104. Ventilation slot; 105. Air inlet slot; 106. Battery; 107. Plasma generator; 108. Air outlet slot; 2. Mounting plate; 201. LED matrix ultraviolet lamp; 3. Control box; 301. Microcontroller; 302. Heat sink; 303. Ultrasonic sensor; 304. Casters; 305. Mounting column; 306. Support shaft; 307. Driven gear one; 308. Motor frame one; 309. DC geared motor one; 3010. Driven gear one; 3011. Mounting shaft; 3012. Traveling wheel; 3013. Driven gear two; 3014. Motor frame two; 3015. DC geared motor two; 3016. Driven gear two. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] Please see Figures 1-6 In this embodiment of the invention, a special disinfection device and method for a DR gastrointestinal machine includes a body 1. The body 1 has an air inlet chamber, a power supply chamber, and two plasma generating chambers inside. The plasma generating chambers are located on both sides of the air inlet chamber. An exhaust fan 102 is fixedly installed inside the air inlet chamber. A battery 106, a high-capacity lithium iron phosphate battery, is installed inside the power supply chamber. Lithium iron phosphate, as the positive electrode material, has a long lifespan, high performance-price ratio, and can discharge at a constant current for a long time. With a dedicated charger, the battery can be fully charged within 40 minutes. It also has a wide operating temperature range. A plasma generator 107 is installed inside the plasma generating chamber. The exhaust fan 102 blows external air into the plasma generating chamber, and the plasma generator 107 discharges the high-voltage plasma from the incoming air into various corners, improving the disinfection effect. A cover 101 is provided at the top of the body 1, and the cover 101 is fixed with bolts. Connected to the body 1, the cover 101 is easy to disassemble and assemble, allowing for the inspection of internal components. A mounting plate 2 is fixed to the top of the cover 101, and a fixing plate is fixed to the bottom of the mounting plate 2. The fixing plate is connected to the top of the cover 101 via fixing bolts. The surface of the mounting plate 2 is equipped with LED matrix ultraviolet lamps 201. These LED matrix ultraviolet lamps 201 have strong short-range spectral sterilization capabilities, ensuring thorough disinfection without dead angles or secondary pollution. They can disinfect not only the ground surface but also remove harmful gases present in the machine room. Furthermore, the combined ultraviolet and plasma disinfection method has a strong disinfecting effect on various bacterial and viral organisms on the surface of the DR gastrointestinal machine, exceeding the effectiveness of a single disinfection mode. A control box 3 is fixed to the bottom of the body 1. An ultrasonic sensor 303 is located on the front of the control box 3, and a walking mechanism is located below the control box 3, enabling the device to move automatically. In conjunction with the ultrasonic sensor 303, obstacle avoidance is achieved.

[0029] In this embodiment, preferably, the back of the body 1 is provided with an air inlet slot 105 communicating with the air inlet cavity, and the inside of the air inlet cavity is provided with a guide seat 103 on the side away from the exhaust fan 102, which plays a guiding role for the air entering the air inlet cavity, so that it can enter the plasma generating chambers on both sides.

[0030] In this embodiment, preferably, a ventilation slot 104 is provided on the side of the plasma generating chamber near the air inlet chamber, so that the air in the air inlet chamber can enter the interior of the plasma generating chamber. An air outlet slot 108 is provided on the side of the plasma generating chamber away from the air inlet chamber, so that the air entering the plasma generating chamber is quickly discharged through the air outlet slot 108 after high-voltage discharge for disinfection.

[0031] In this embodiment, preferably, a microcontroller 301 is fixedly installed inside the control box 3. The microcontroller 301 is an Arduino ATmega2560 microcontroller. The ATmega2560 microcontroller is powerful and supports online programming and debugging. It has 54 digital input / output interfaces, of which 16 can be used as PWM outputs, 16 can be used as analog inputs, 4 serial data interfaces, 1 USB interface, and integrates 256Kb flash, 4Kb EEPROM, 8Kb RAM, and a system clock of 16MHz. Both sides of the control box 3 are provided with heat dissipation slots 302, so that the heat generated by the microcontroller 301 can be quickly dissipated through the heat dissipation slots 302.

[0032] In this embodiment, preferably, the walking mechanism includes a universal wheel 304, a mounting column 305, and a walking wheel 3012. The universal wheel 304 is disposed on one side of the bottom end of the control box 3, the mounting column 305 is rotatably disposed on the other side of the bottom end of the control box 3, the mounting column 305 is rotatably disposed on the middle part of the mounting shaft 3011, and the walking wheel 3012 is fixedly disposed on both ends of the mounting shaft 3011. The walking direction of the walking wheel 3012 is adjusted by rotating the mounting column 305.

[0033] In this embodiment, preferably, a support shaft 306 is fixedly provided at the top of the mounting column 305, a driven gear 307 is fixedly provided in the middle of the support shaft 306, a motor frame 308 is fixedly provided on the back of the control box 3, a DC geared motor 309 is fixedly provided at the bottom of the motor frame 308, and a drive gear 3010 that meshes with the driven gear 307 is fixedly provided on the transmission shaft of the DC geared motor 309. The DC geared motor 309 drives the drive gear 3010 to rotate, and the drive gear 3010 and the driven gear 307 mesh with each other to drive the support shaft 306 to rotate, thereby adjusting the walking direction of the walking wheel 3012.

[0034] In this embodiment, preferably, a driven gear 3013 is fixedly provided on the surface of the mounting shaft 3011, a motor frame 3014 is fixedly provided on one side of the mounting column 305, a DC geared motor 3015 is fixedly provided on one side of the motor frame 3014, and a driving gear 3016 that meshes with the driven gear 3013 is fixedly provided on the transmission shaft of the DC geared motor 3015. The DC geared motor 3015 drives the driving gear 3016 to rotate, and under the meshing of the driving gear 3016 and the driven gear 3013, it drives the mounting shaft 3011 to rotate, thereby driving the walking wheel 3012 to rotate and realizing automatic walking.

[0035] DC geared motor 1 (309) and DC geared motor 2 (3015) are stepper motors. Stepper motors are characterized by simple control, convenient reversing, and slow speed. A stepper motor is an actuator that converts electrical pulses into angular displacement. When the stepper motor driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle (called the "step angle") in a set direction. Its rotation is done step by step at fixed angles. The amount of angular displacement can be controlled by controlling the number of pulses, thereby achieving the effect of accurate positioning.

[0036] Inside the control box 3, there is also an obstacle avoidance system, which mainly consists of an ultrasonic transmitting and receiving circuit, a temperature compensation circuit, a digital tube display circuit, and a communication circuit. The transmitting circuit of the ultrasonic sensor 303 transmits a 40kHz pulse signal to the target obstacle in front of the device through the transmitting probe. The microcontroller 301 outputs the signal through a timer, but the power is not high enough. It is then sent to an isolation power amplifier composed of ULN2003 for buffering to ensure that the transmission distance is far enough. The ultrasonic receiving circuit amplifies, filters, and shapes the weak signal received by the probe before outputting it. Finally, it calculates the propagation time t of the ultrasonic wave in the air. The ultrasonic receiving circuit drives the microcontroller 301 to first send a drive signal and detect whether an echo signal is generated. If an echo signal is detected, it drives the DC geared motor 309 to work and adjust the direction of movement. If no echo signal is detected, the program stops here and waits for an echo signal until an echo signal is detected.

[0037] In this embodiment, preferably, the following steps are included:

[0038] S1. Start the device, the exhaust fan 102 starts working, draws outside air into the air inlet cavity from the air inlet slot 105, and guides it into the plasma generating chambers on the left and right sides through the guide seat.

[0039] S2. After air enters the plasma generation chamber, the plasma generator 107 applies high-voltage discharge treatment to generate plasma active gas, which is discharged through the air outlet 108 and diffuses to the surface of the DR gastrointestinal machine and the corners of the machine room to achieve gas phase disinfection.

[0040] S3 and LED matrix ultraviolet lamp 201 start simultaneously, emitting 254nm wavelength ultraviolet light to achieve spectral killing of microorganisms on the surface of the DR gastrointestinal machine. Ultraviolet light and plasma together form a synergistic disinfection field.

[0041] S4. The device starts the walking mechanism, controls the walking wheels to move forward at a constant speed, the universal wheel 304 assists in guidance, the ultrasonic sensor 303 scans the environment in front in real time, and combines the microcontroller to process the obstacle echo information to adjust the direction of the device to achieve full coverage dynamic disinfection of the entire area.

[0042] In this embodiment, preferably, in step S2, the plasma generator 107 dissociates oxygen molecules in the air into highly active oxygen ions and free radicals through high-frequency high-voltage discharge, and carries energy into the gaps and corners of the equipment to further decompose harmful gases such as formaldehyde and ozone in the air, thereby improving the overall space disinfection effect.

[0043] In this embodiment, preferably, in step S4, the ultrasonic sensor 303 emits a 40kHz pulse signal, which is amplified by a power amplifier to detect the location of the obstacle; when the echo signal is received and processed and identified by the microcontroller, the stepper motor is triggered to control the direction adjustment of the walking wheels to achieve automatic obstacle avoidance; if there is no echo signal, the movement is paused and the system continues to wait until an echo signal is received before continuing to move.

[0044] During use, the exhaust fan 102 is activated, and external air is drawn into the air inlet cavity through the air inlet slot 105. The air guide seat 103 evenly distributes the airflow to the ventilation slots 104 of the plasma generation chambers on both sides. After the air enters the plasma generation chamber, the plasma generator 107 applies a high-voltage discharge to dissociate oxygen molecules into highly active oxygen ions, free radicals and other disinfection components. The activated plasma airflow is ejected at high speed through the air outlet slot 108, penetrating into the mechanical gaps of the DR gastrointestinal machine and the dead corners of the machine room. The LED matrix ultraviolet lamp 201 is activated simultaneously, emitting a 254nm ultraviolet spectrum to directly destroy the DNA / RNA of microorganisms. The plasma flow and ultraviolet radiation form a gas-solid dual-phase disinfection field. The plasma decomposes harmful gases such as formaldehyde and ozone, and the ultraviolet light irradiates the surface of the equipment to inactivate residual pathogens.

[0045] DC geared motor 3015 drives drive gear 3016, which meshes with driven gear 3013 to rotate mounting shaft 3011, causing the walking wheel 3012 to move at a constant speed. The omnidirectional wheel 304 assists in steering, ensuring stable linear movement. Ultrasonic sensor 303 emits a 40kHz pulse signal, which is amplified by ULN2003 amplifier to detect obstacles ahead. A temperature compensation circuit calibrates the sound velocity in real time, eliminating ranging errors caused by temperature and humidity. When an obstacle echo is detected, DC geared motor 309 is activated, driving drive gear 3010 to rotate. The meshing of drive gear 3010 and driven gear 307 rotates support shaft 306, adjusting the walking direction of the walking wheel 3012. If no echo signal is detected, the program stops here waiting for an echo signal until one is detected, achieving dynamic obstacle avoidance.

[0046] The above description is only a preferred embodiment of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included in the scope of this patent application.

Claims

1. A special disinfection device for a radiographic DR gastrointestinal machine, comprising a body (1), characterized in that, The machine body (1) is provided with an air inlet chamber, a power supply chamber and two plasma generating chambers. An exhaust fan (102) is fixedly installed inside the air inlet chamber. A battery (106) is installed inside the power supply chamber. A plasma generator (107) is installed inside the plasma generating chamber. A cover (101) is provided at the top of the machine body (1). A mounting plate (2) is fixedly installed at the top of the cover (101). An LED matrix ultraviolet lamp (201) is provided on the surface of the mounting plate (2). A control box (3) is fixedly installed at the bottom of the machine body (1). An ultrasonic sensor (303) is provided on the front of the control box (3). A walking mechanism is provided below the control box (3).

2. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 1, characterized in that: The back of the body (1) is provided with an air inlet slot (105) that communicates with the air inlet cavity, and the inside of the air inlet cavity is provided with a guide seat (103) on the side away from the exhaust fan (102).

3. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 1, characterized in that: The plasma generating chamber is provided with a ventilation slot (104) on the side near the air inlet chamber, so that the air in the air inlet chamber can enter the interior of the plasma generating chamber. The plasma generating chamber is provided with an air outlet slot (108) on the side away from the air inlet chamber.

4. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 1, characterized in that: The control box (3) is equipped with a microcontroller (301) inside, and heat dissipation slots (302) are provided on both sides of the control box (3).

5. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 1, characterized in that: The walking mechanism includes casters (304), mounting posts (305), and walking wheels (3012). The casters (304) are located on one side of the bottom of the control box (3). The mounting posts (305) are rotatably located on the other side of the bottom of the control box (3). The mounting posts (305) have a mounting shaft (3011) rotatably located in the middle. The walking wheels (3012) are fixedly located at both ends of the mounting shaft (3011).

6. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 5, characterized in that: A support shaft (306) is fixedly provided at the top of the mounting column (305), a driven gear (307) is fixedly provided in the middle of the support shaft (306), a motor frame (308) is fixedly provided on the back of the control box (3), a DC geared motor (309) is fixedly provided at the bottom of the motor frame (308), and a drive gear (3010) that meshes with the driven gear (307) is fixedly provided on the transmission shaft of the DC geared motor (309).

7. The special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 5, characterized in that: A driven gear two (3013) is fixedly provided on the surface of the mounting shaft (3011). A motor frame two (3014) is fixedly provided on one side of the mounting column (305). A DC geared motor two (3015) is fixedly provided on one side of the motor frame two (3014). A driving gear two (3016) that meshes with the driven gear two (3013) is fixedly provided on the transmission shaft of the DC geared motor two (3015).

8. A disinfection method using a special disinfection device for DR gastrointestinal machines according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Start the device, the exhaust fan (102) starts working, draws outside air into the air inlet cavity from the air inlet slot (105), and guides it into the plasma generating chambers on the left and right sides through the guide seat; S2. After the air enters the plasma generating chamber, the plasma generator (107) applies a high voltage discharge treatment to generate plasma active gas, which is discharged through the air outlet (108) and diffuses to the surface of the DR gastrointestinal machine and the corner of the machine room to achieve gas phase disinfection. S3 and LED matrix ultraviolet lamps (201) are activated simultaneously, emitting 254nm wavelength ultraviolet light to achieve spectral killing of microorganisms on the surface of the DR gastrointestinal machine. Ultraviolet light and plasma together form a synergistic disinfection field. S4. The device starts the walking mechanism, controls the walking wheels to move forward at a constant speed, the universal wheels (304) assist in guidance, the ultrasonic sensor (303) scans the environment in front in real time, and combines the microcontroller to process the obstacle echo information to adjust the direction of the device to achieve full coverage dynamic disinfection of the entire area.

9. The disinfection method of the special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 8, characterized in that: In step S2, the plasma generator (107) dissociates oxygen molecules in the air into highly active oxygen ions and free radicals through high-frequency high-voltage discharge, and carries energy into the gaps and corners of the equipment to further decompose harmful gases such as formaldehyde and ozone in the air, thereby improving the overall space disinfection effect.

10. The disinfection method of the special disinfection device for DR gastrointestinal machine of radiological equipment according to claim 8, characterized in that: In step S4, the ultrasonic sensor (303) emits a 40kHz pulse signal, which is amplified by a power amplifier to detect the location of obstacles. When the echo signal is received and processed and identified by the microcontroller, the stepper motor is triggered to control the direction adjustment of the walking wheels to achieve automatic obstacle avoidance. If there is no echo signal, the movement is paused and the system continues to wait until an echo signal is received before continuing to move.

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