Automatic disinfectant spraying device

Abstract

The invention provides an automatic disinfectant spraying device which comprises a vehicle body and a liquid storage tank arranged on the vehicle body, a stirring rotating rod is arranged in the liquid storage tank, the automatic disinfectant spraying device further comprises a first spraying unit, the first spraying unit comprises a first spraying pipe, a lifting assembly and a swinging assembly, and the first spraying pipe is installed on a switching rod; the two ends of the switching rod are slidably connected to a guide frame through sliding blocks correspondingly, and the guide frame is installed on a vehicle body. The lifting assembly is connected to the output end of the stirring rotating rod and the sliding block and used for converting the rotating motion of the stirring rotating rod into driving force for driving the first spraying pipe to ascend and descend. The swing assembly is connected with the guide frame, the sliding block and the switching rod and used for responding to the lifting motion of the sliding block and driving the first spraying pipe to swing around the axis of the switching rod, and only one existing stirring motor is used for synchronously driving the stirring of the disinfectant and the lifting and swinging functions of the spraying pipe.

Description

Technical Field

[0001] This invention relates to the field of disinfectant spraying equipment technology, and in particular to an automatic disinfectant spraying device. Background Technology

[0002] Routine disinfection of large public places such as hospitals, stadiums, and waiting halls is a crucial aspect of ensuring public health and safety. Mobile automatic spray disinfection devices are widely used due to their mobility, flexibility, and wide coverage. These devices typically include a mobile vehicle, a storage tank, spray pipes, and an actuator to drive the spray pipes.

[0003] In existing technologies, to improve the coverage of disinfection, devices have emerged that enable spray pipes to rotate horizontally, oscillate vertically, and even move up and down. However, such devices capable of complex movements typically require independent drive motors for each dimension of motion (e.g., separate lifting, oscillating, and / or rotating motors). While this multi-motor drive scheme achieves the functionality, it also significantly increases the manufacturing cost of the device.

[0004] In addition, the storage tank is equipped with a stirring mechanism to prevent disinfectant from settling, but the stirring motor is only used for this single function, and its power is not fully utilized.

[0005] Therefore, how to design an automatic spraying device that can achieve compound motion of the spray pipe (such as simultaneous lifting and swinging) without significantly increasing the complexity of the motor, thereby significantly improving the efficiency of disinfection coverage, has become a technical problem to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic disinfectant spraying device.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An automatic disinfectant spraying device includes a vehicle body and a liquid storage tank mounted on the vehicle body. The liquid storage tank contains a stirring rod, the input end of which is connected to a stirring motor. The device also includes a first spraying unit, which comprises: The first spray pipe is mounted on the switching rod, and the two ends of the switching rod are slidably connected to the guide frame by sliders. The guide frame is mounted on the vehicle body. A lifting assembly is connected to the output end of the stirring rod and the slider, and is used to convert the rotational motion of the stirring rod into a driving force to drive the first spray pipe to rise and fall. The oscillating assembly is connected to the guide frame, the slider, and the switching rod, respectively, and is used to drive the first spray pipe to oscillate around the axis of the switching rod in response to the lifting and lowering movement of the slider.

[0008] In a preferred embodiment, the lifting assembly includes: A turntable, which is connected to the output end of the stirring rod; A lifting plate, which is connected to the slider, and a strip groove is provided on the lifting plate; A drive rod, one end of which is connected to the turntable, and the other end of which is inserted into the strip groove.

[0009] In a preferred embodiment, the guide frame is provided with a wave-shaped guide groove, the slider is provided with a limiting frame, and the swing assembly includes: A transmission rod is connected between the switching rod and the slider, and a linkage groove is formed on the surface of the transmission rod; A sliding sleeve is fitted onto the transmission rod, and the sliding sleeve is provided with a first insert rod that cooperates with the linkage groove; A connecting strip is inserted into the limiting frame. One end of the connecting strip is connected to the sliding sleeve, and the other end is provided with a second insert rod that slides in conjunction with the wave guide groove. When the slider moves up and down along the guide frame, the second insert moves along the wave guide groove, and drives the first insert to move in the linkage groove through the connecting strip and the sliding sleeve, thereby driving the transmission rod and the first spray pipe to swing around the axis of the switching rod.

[0010] In a preferred embodiment, the linkage groove includes a straight segment, a first spiral segment, and a second spiral segment connected in sequence; The first and second helical segments rotate in opposite directions.

[0011] In a preferred embodiment, the first spraying unit further includes a rotating assembly, the rotating assembly comprising: An intermediate seat, which is mounted on the switching lever; A rotary motor is mounted on the intermediate seat and connected to the first spray pipe.

[0012] In a preferred embodiment, the liquid storage tank is connected to a first liquid pump, and the first liquid pump is connected to the first spray pipe via a hose.

[0013] In a preferred embodiment, a second spraying unit is further included, the second spraying unit comprising: Second spray pipe; The second liquid pump is connected between the liquid storage tank and the second spray pipe.

[0014] In a preferred embodiment, a first spraying unit is provided on the front side of the liquid storage tank, and a second spraying unit is provided on the left and right sides of the liquid storage tank, respectively.

[0015] In a preferred embodiment, the vehicle body is equipped with an ultrasonic infrared obstacle avoidance sensor, an automatic charging port, and an ultraviolet disinfection lamp.

[0016] Compared with existing technologies, this technical solution has the following advantages: By using a lifting and swinging assembly, the system simultaneously drives the three functions of disinfectant mixing, spray pipe lifting, and swinging using only one existing stirring motor. This directly eliminates the need for at least two dedicated drive motors (lifting motor and swinging motor) and their associated reducers, controllers, and wiring harnesses, greatly simplifying the mechanical and electrical structure and significantly reducing hardware manufacturing and maintenance costs.

[0017] Since the lifting and swinging motions are generated by the linkage of purely mechanical mechanisms, their motion trajectories and phase relationships are determined by the mechanical structure itself, ensuring stability and reliability. This eliminates the need for complex synchronous motion control programming for multiple motors, simplifying the software design and debugging of the control system. It also reduces the risk of motion misalignment due to electronic control unit or software malfunctions, thereby improving the overall mechanical reliability of the actuator. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the automatic disinfectant spraying device described in this invention; Figure 2 This is a front view of the automatic disinfectant spraying device described in this invention; Figure 3 for Figure 2 Enlarged diagram of A in the middle; Figure 4 This is a rear view of the automatic disinfectant spraying device described in this invention; Figure 5 This is a bottom view of the automatic disinfectant spraying device described in this invention.

[0019] In the diagram: 100 Vehicle body, 110 Ultrasonic infrared obstacle avoidance sensor, 120 Charging port, 130 Ultraviolet disinfection lamp, 140 Mecanum wheel, 200 Storage tank, 210 Stirring rod, 211 Stirring rod, 212 Stirring plate, 220 Stirring motor, 223 Capacity sensor, 224 Transparent window, 300 First spraying unit, 310 First spraying pipe, 311 First nozzle, 320 Lifting assembly, 321 Turntable, 322 Lifting plate, 322a Strip groove, 323 Drive rod, 330 Swing assembly, 331 Transmission rod, 331a Linkage groove, 331a1 Straight section, 331a2 First spiral section, 331a3 Second spiral section, 332 Slide Set, 332a First insert rod, 333 Connecting strip, 333a Second insert rod, 340 Rotating assembly, 341 Intermediate seat, 342 Rotary motor, 351 Switching rod, 352 Slider, 352a Limiting frame, 353 Guide frame, 353a Waveform guide groove, 354 First liquid pump, 355 Hose, 356 Drain valve, 357 First liquid suction pipe, 358 Bottom frame, 400 Second spraying unit, 410 Second spraying pipe, 411 Second nozzle, 420 Second liquid pump, 430 Second liquid suction pipe, 501 Fixing seat, 502 Fixing box, 503 Control panel, 504 Depth camera, 505 Omnidirectional LiDAR, 506 WIFI module. Detailed Implementation

[0020] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0021] Please refer to Figure 1 This invention provides an automatic disinfectant spraying device, aiming to solve the problems mentioned in the background art, such as the complex structure and high cost caused by existing spraying devices relying on multiple independent motors to achieve compound motion. The spraying device includes a vehicle body 100 and a liquid storage tank 200 disposed on the vehicle body 100. A stirring rod 210 is provided inside the liquid storage tank 200, and the input end of the stirring rod 210 is connected to a stirring motor 220. It also includes a first spraying unit 300, which includes: The first spray pipe 310 is mounted on the switching rod 351. The two ends of the switching rod 351 are slidably connected to the guide frame 353 via sliders 352. The guide frame 353 is mounted on the vehicle body 100. The lifting assembly 320 is connected to the output end of the stirring rod 210 and the slider 352, and is used to convert the rotational motion of the stirring rod 210 into a driving force to drive the first spray pipe 310 to rise and fall. The swing assembly 330 is connected to the guide frame 353, the slider 352 and the switching rod 351 respectively, and is used to drive the first spray pipe 310 to swing around the axis of the switching rod 351 in response to the lifting and lowering movement of the slider 352.

[0022] The stirring motor 220 first drives the stirring rod 210 to rotate, thereby continuously and evenly stirring the disinfectant in the storage tank 200. This process effectively prevents the disinfectant from settling or separating due to standing, ensuring that the concentration of the sprayed disinfectant is uniform and guaranteeing the stability and reliability of the disinfection effect.

[0023] The key to the inventiveness of this invention lies in the fact that the power of the stirring motor 220 is not idle or wasted after stirring is completed. On the contrary, the rotational motion of the stirring rod 210 is simultaneously used as a power source: On the one hand, the rotational motion is converted into a linear driving force that drives the first spray pipe 310 to rise and fall through the lifting component 320.

[0024] On the other hand, the lifting motion is further coupled into a rotational driving force that drives the first spray pipe 310 to swing through the swing assembly 330.

[0025] The end result is that a single stirring motor 220 synchronously drives the three functions of stirring, lifting, and oscillation. Compared to the existing technology mentioned in the background section, which requires separate lifting and oscillation motors to achieve the compound motion of the spray pipe, this invention achieves synchronous driving of multiple actions (stirring, lifting, and oscillation) by the stirring motor 220 through a clever mechanical linkage design. This directly reduces at least two drive motors (lifting motor and oscillation motor) and their associated controllers, cables, etc., significantly reducing hardware costs. The elimination of complex synchronous coordination control of multiple motors greatly simplifies the electrical and control systems, reducing software complexity and development and maintenance costs. The reduced number of electrical components also means fewer potential failure points, improving the overall reliability and ease of maintenance of the device.

[0026] like Figure 2As shown, to ensure a stable delivery of the disinfectant, the storage tank 200 is connected to a first pump 354 via a pipeline. The inlet of the first pump 354 is connected to the inside of the storage tank 200 via a first pumping pipe 357, and its outlet is connected to the first spray pipe 310 via a flexible hose 355. During operation, under the action of the first pump 354, the disinfectant in the storage tank 200 is drawn through the first pumping pipe 357 and then pumped into the first spray pipe 310 through the hose 355, and finally atomized and sprayed out by multiple first nozzles 311 evenly distributed on it. The hose 355 ensures that the liquid connection remains unobstructed and unaffected by the combined lifting and oscillating motion of the first spray pipe 310.

[0027] To facilitate the complete emptying of the disinfectant from the storage tank 200, a drain valve 356 is preferably installed at the bottom of the storage tank 200, and the first suction pipe 357 is connected to the drain valve 356. Furthermore, the inner bottom wall of the storage tank 200 is constructed as an inclined surface that gradually slopes down from the side away from the drain valve 356 towards the side where the drain valve 356 is located. This inclined design ensures that the liquid inside the tank can naturally and completely collect at the drain valve 356 under the action of gravity, and be completely drained through the first suction pipe 357, effectively avoiding disinfectant residue, ensuring the effective use of the disinfectant, and facilitating maintenance.

[0028] like Figure 1 and Figure 2 As shown, a bottom frame 358 is fixed on the vehicle body 100, and the first liquid pump 354 is fixed on the bottom frame 358.

[0029] Preferably, there are two guide frames 353, which are parallel to each other and arranged vertically. The lower ends of the two guide frames 353 are reliably fixed to the bottom frame 358 by means of bolts or other connections.

[0030] Each of the guide frames 353 is slidably connected to a slider 352, which can slide vertically along its corresponding guide frame 353. The two sliders 352 are rigidly connected by a switching rod 351. Thus, the first spray pipe 310, mounted on the switching rod 351, can move smoothly vertically up and down along with the sliders 352, guided by the two guide frames 353.

[0031] like Figures 1 to 3 As shown, the lifting assembly 320 includes: Turntable 321, which is connected to the output end of stirring rod 210; A lifting plate 322 is connected to the slider 352, and a strip groove 322a is provided on the lifting plate 322. A drive rod 323 is provided, one end of which is connected to the turntable 321, and the other end of which is inserted into the strip groove 322a.

[0032] The turntable 321 is fixedly connected to the output end of the stirring rod 210 extending from the liquid storage tank 200. The two can be connected synchronously by means of, for example, key connection or sleeve connection, that is, the turntable 321 rotates together with the stirring rod 210.

[0033] The lifting plate 322 has a U-shaped structure. The two sides of the U-shaped lifting plate 322 are fixedly connected to the two sliders 352 respectively.

[0034] The drive rod 323 can be L-shaped, with one end fixedly connected to the side of the turntable 321, and the other end movably inserted into the strip groove 322a of the lifting plate 322. This connection method allows the free end of the drive rod 323 to slide within the strip groove 322a.

[0035] The stirring motor 220 drives the stirring rod 210 to rotate in both directions, which in turn drives the first spray pipe 310 to move up and down. For example: The stirring rod 210 rotates counterclockwise, causing the turntable 321, which is fixedly connected to it, to rotate counterclockwise synchronously. The turntable 321 then drives the driving rod 323 to perform a counterclockwise circular motion. Since the other end of the driving rod 323 is constrained by the strip groove 322a of the lifting plate 322, its circular motion is constrained and decomposed. When the driving rod 323 moves to a specific phase, the force it exerts on the side wall of the strip groove 322a generates a downward component force, thereby pulling (or pushing) the lifting plate 322 together with the slider 352 to move downward along the guide frame 353, so that the first spray pipe 310 moves downward.

[0036] Similarly, when the stirring rod 210 rotates clockwise, the turntable 321 and the driving rod 323 rotate clockwise as well. The movement of the driving rod 323 within the strip groove 322a will generate an upward force component on the groove wall, thereby pushing (or pulling) the lifting plate 322 together with the slider 352 to move upward, so that the first spray pipe 310 moves upward.

[0037] like Figures 1 to 3 As shown, at least one of the guide frames 353 is provided with a wave guide groove 353a, the slider 352 is provided with a limiting frame 352a, and the swing assembly 330 includes: A transmission rod 331 is connected between the switching rod 351 and the slider 352, and a linkage groove 331a is formed on the surface of the transmission rod 331. A sliding sleeve 332 is sleeved on the transmission rod 331, and the sliding sleeve 332 is provided with a first insert rod 332a that cooperates with the linkage groove 331a; Connecting bar 333, the connecting bar 333 is inserted into the limiting frame 352a, one end of the connecting bar 333 is connected to the sliding sleeve 332, and the other end is provided with a second insert 333a that slides with the wave guide groove 353a; When the slider 352 moves up and down along the guide frame 353, the second insert rod 333a moves along the wave guide groove 353a, and drives the first insert rod 332a to move in the linkage groove 331a through the connecting strip 333 and the sliding sleeve 332, thereby driving the transmission rod 331 and the first spray pipe 310 to swing around the axis of the switching rod 351.

[0038] The transmission rod 331 is fixedly connected to the switching rod 351, and the transmission rod 331 is rotatably connected to the slider 352.

[0039] Since the second insert rod 333a is located in the fixed wave guide groove 353a, when the slider 352 rises and falls, the second insert rod 333a is guided by the wave guide groove 353a and has to perform horizontal reciprocating motion along the specific undulating trajectory of the wave guide groove 353a.

[0040] The horizontal movement of the second insertion rod 333a is transmitted to the sliding sleeve 332 through the connecting bar 333. Since the connecting bar 333 is constrained by the limiting frame 352a, the sliding sleeve 332 is driven to reciprocate linearly along the axis of the transmission rod 331.

[0041] The axial movement of the sliding sleeve 332 causes the first insert rod 332a on it to move together. Since the other end of the first insert rod 332a is constrained in the linkage groove 331a of the transmission rod 331, when the first insert rod 332a moves axially, the specific shape of the linkage groove 331a (non-linear, usually curved or polygonal groove) will generate a lateral force on the first insert rod 332a.

[0042] This lateral force acts on the first insert rod 332a. Since the first insert rod 332a is fixed on the sliding sleeve 332, and the sliding sleeve 332 can slide axially but cannot rotate, this force will generate a torque that forces the transmission rod 331 to rotate around its own axis. The rotation of the transmission rod 331 drives the switching rod 351 and the first spray pipe 310, which are fixedly connected to it, to reciprocate around the axis of the switching rod 351.

[0043] Driven by a single stirring motor 220, the entire first spraying unit 300 achieves a combination of lifting and lowering motion of the first spraying pipe 310 and oscillating motion around its axis through the coordinated operation of the lifting component 320 and the swing component 330. This composite motion trajectory greatly expands the effective coverage space of a single spray head, achieving more uniform and efficient three-dimensional disinfection. All of this stems from the ultimate reuse of a single stirring power source, significantly simplifying the system and reducing costs.

[0044] like Figure 3 As shown, the linkage groove 331a includes a straight segment 331a1, a first spiral segment 331a2, and a second spiral segment 331a3 connected in sequence. The first helical segment 331a2 and the second helical segment 331a3 have opposite directions of rotation.

[0045] In this embodiment, a set of each of the linkage groove 331a, sliding sleeve 332, first insert rod 332a, connecting bar 333 and second insert rod 333a is provided on the transmission rod 331 on the right side.

[0046] When the slider 352 reciprocates under the drive of the lifting assembly 320, the second insert rod 333a reciprocates horizontally under the constraint of the wave guide groove 353a, and drives the sliding sleeve 332 to slide left and right along the length direction of the transmission rod 331 through the connecting bar 333. The first insert rod 332a on the sliding sleeve 332 then moves within the linkage groove 331a.

[0047] When the first insert rod 332a moves within the straight section 331a1, since the groove wall is parallel to the axis of the transmission rod 331, the axial movement of the first insert rod 332a will not generate a rotational torque on the transmission rod 331, and the first spray pipe 310 will not swing at this time.

[0048] As the sliding sleeve 332 continues to move, the first insert rod 332a enters the first helical section 331a2. Since the wall of this section is an inclined helical surface, the first insert rod 332a experiences a lateral force perpendicular to the axial direction from the wall while moving axially. This lateral force acts on the sliding sleeve 332 through the first insert rod 332a. However, since the sliding sleeve 332 can only slide axially, the reaction force drives the transmission rod 331 to rotate around its axis. The direction of rotation is determined by the helical direction of the first helical section 331a2, thereby driving the first spray pipe 310 to oscillate forward around the axis of the switching rod 351.

[0049] When the sliding sleeve 332 moves in the opposite direction, or when the first insert rod 332a passes the first spiral section 331a2 and enters the second spiral section 331a3, since the spiral direction of the second spiral section 331a3 is opposite to that of the first spiral section 331a2, the lateral force generated by the groove wall on the first insert rod 332a is also opposite, thereby driving the transmission rod 331 and the first spray pipe 310 to swing in the opposite direction.

[0050] like Figure 2 As shown, the first spraying unit 300 further includes a rotating assembly 340, which includes: Intermediate seat 341, the intermediate seat 341 is mounted on the switching lever 351; A rotary motor 342 is mounted on the intermediate seat 341 and connected to the first spray pipe 310.

[0051] During routine disinfection of large spaces, the first spray pipe 310 is usually kept horizontal or at a preset angle. When it is necessary to disinfect the corners of the hospital walls, the rotating motor 342 on the intermediate seat 341 can be activated to rotate the first spray pipe 310 to a vertical position, thereby better disinfecting the corners of the hospital walls and making it more flexible to use.

[0052] like Figure 1 As shown, the input end of the stirring rod 210 extends to the outside of the liquid storage tank 200 and is connected to the stirring motor 220. Sealing rings are provided between both ends of the stirring rod 210 and the wall of the liquid storage tank 200 to improve sealing performance. It can be seen that the stirring motor 220 is located at the rear of the liquid storage tank 200, and the first spraying unit 300 is located at the front of the liquid storage tank 200.

[0053] The stirring rod 210 is horizontally arranged inside the storage tank 200. Its input end penetrates the wall of the storage tank 200 and is connected to the stirring motor 220, which is fixedly installed on the vehicle body 100 or the outer wall of the storage tank 200. To ensure the airtightness of the storage tank 200 and prevent disinfectant leakage, sealing rings are provided at both ends of the stirring rod 210 penetrating the tank wall. This design effectively improves the sealing performance of the storage tank while allowing the stirring rod 210 to rotate freely, making it suitable for liquid environments.

[0054] Multiple stirring rods 211 are evenly distributed axially and circumferentially on the rod body of the stirring rotor 210 located inside the liquid storage tank 200. One end of each stirring rod 211 is fixedly connected to the stirring rotor 210, and the other end is connected to a stirring plate 212. When the stirring motor 220 drives the stirring rotor 210 to rotate, the stirring rods 211 and the stirring plate 212 rotate accordingly, generating strong shearing and convection effects on the disinfectant in the liquid storage tank 200, thereby achieving efficient and uniform stirring, preventing the effective components in the disinfectant from settling or stratifying, and ensuring that the concentration of the sprayed liquid is consistent.

[0055] like Figure 1 and Figure 2 As shown, the automatic disinfectant spraying device further includes a second spraying unit 400, which includes: The second spray pipe 410 has multiple second nozzles 411 evenly distributed on it, and the second spray pipe 410 is arranged vertically. The second liquid pump 420 has its inlet end connected to the inside of the liquid storage tank 200 through the second liquid pumping pipe 430, and its outlet end connected to the second spray pipe 410.

[0056] In a preferred arrangement of this embodiment, two sets of second spraying units 400 can be provided, located on the left and right sides of the vehicle body 100 respectively, and working together with the first spraying unit 300 located on the front side of the vehicle body 100.

[0057] Driven by the second pump 420, the disinfectant solution that has been stirred and mixed evenly in the storage tank 200 is drawn out through the second pumping pipe 430 and pumped into the second spraying pipe 410, and finally atomized and sprayed out by the second nozzle 411.

[0058] refer to Figure 1 A volume sensor 223 is installed on the inner wall of the storage tank 200. This sensor can be a capacitive level sensor, etc. Its core function is to monitor the liquid level or remaining capacity of the disinfectant in the storage tank 200 in real time. The sensor transmits the detected signal to the control system of the device. The control system can make a judgment based on a preset threshold and issue an alarm or status prompt to the operator through the control panel, indicator lights, or wireless signals.

[0059] refer to Figure 4 and Figure 5On each of the opposite side walls of the storage tank 200, there is a transparent window 224. This transparent window 224 is typically made of a high-strength, corrosion-resistant transparent material (such as tempered glass or transparent engineering plastic) and is embedded in the tank body using a sealed structure. The state of the disinfectant solution inside the storage tank can be directly observed through the transparent window 224, including the liquid level, liquid color, presence of sediment or foreign matter, and the operation of the stirring plate 212.

[0060] like Figure 1 As shown, Mecanum wheels 140 are mounted on the bottom of the vehicle body 100. Mecanum wheels are a special set of wheels that enable omnidirectional movement. By controlling the speed and direction of each wheel, the vehicle body 100 can move forward and backward in a straight line, translate laterally, rotate in place, and move diagonally in any direction within a plane. This highly flexible mobility allows the device to move freely in complex, crowded, and narrow environments such as hospitals and stadiums (e.g., corridors of patient rooms, areas with dense equipment), without needing to reserve a large amount of space for turning, greatly improving the flexibility of path planning and operational efficiency.

[0061] like Figure 4 As shown, an ultrasonic infrared obstacle avoidance sensor 110 is installed around the vehicle body 100 (for example, in the case of a rectangular vehicle body, at the center of each of the four sides: front, rear, left, and right). This sensor combines ultrasonic ranging and infrared detection technologies, enabling continuous detection and distance measurement of obstacles (such as walls, furniture, pedestrians, and other equipment) in all directions at short to medium distances.

[0062] like Figure 2 and Figure 4 As shown, the fixing box 502 is mounted on the fixing base 501 on top of the liquid storage tank 200. The fixing box 502 is provided with: Two depth cameras (504) use binocular stereo vision to acquire high-precision 3D information of the scene in front of them in real time, and are good at identifying and classifying living beings such as people and animals.

[0063] The omnidirectional LiDAR 505, located between two depth cameras 504, accurately measures the distance and contour of the surrounding environment through 360-degree rotation scanning, and is used to build environmental maps, achieve centimeter-level positioning, and global path planning.

[0064] The WIFI module 506, located between the two depth cameras 504, supports wireless data exchange between the device and the cloud management platform and remote monitoring terminal, enabling task distribution, status uploading, remote monitoring and software updates.

[0065] Control panel 503 provides a local human-machine interface for on-site operation, status viewing, and parameter setting.

[0066] Two depth cameras 504, an omnidirectional lidar 505, and a WIFI module 506 face the front of the vehicle body 100, while the control panel 503 faces the left or right side of the vehicle body 100.

[0067] The control system utilizes a map constructed by the omnidirectional LiDAR 505 to achieve autonomous positioning and plan safe paths. It achieves omnidirectional, flexible movement through precise control of the Mecanum wheels 140 at the bottom. The system continuously monitors the area in front and around it. When the fusion perception system of the depth camera 504 and LiDAR 505 detects personnel or animals entering the core work area within a preset safe distance (e.g., 2 meters), an advanced safety protocol is immediately triggered. Operation pause: Automatically and immediately pauses all work units that may cause impact, including the first liquid pump 354, the second liquid pump 420, and the ultraviolet disinfection lamp 130, to ensure that the disinfectant and ultraviolet light do not come into contact with personnel.

[0068] Active deterrence: At the same time, the acoustic deterrent device on the fixed box 502 is activated to emit safe but effective warning sound waves in a directional manner, prompting the intruder to leave the danger area on its own initiative.

[0069] Once the sensors confirm that people or animals have completely left the area, the system will automatically resume the previously paused disinfection operation and continue to perform the task.

[0070] In addition, the side of the vehicle body 100 is provided with an automatic charging port 120, and the bottom of the vehicle body 100 is provided with an ultraviolet disinfection lamp 130.

[0071] In summary, by using lifting and swinging components, the rotational power of the stirring motor is reused and converted into the lifting and reciprocating swinging motion of the first spray pipe, thus achieving three-dimensional composite motion of the spray head without the need for additional lifting and swinging motors. Furthermore, the device integrates an independent rotating component, an auxiliary second spraying unit, an omnidirectional intelligent mobile chassis (Mecanum wheels and obstacle avoidance sensors), an AI perception and safety control system based on multi-sensor fusion, and autonomous charging and ground ultraviolet disinfection functions. Therefore, this invention successfully integrates multiple objectives such as efficient disinfection, power reuse, intelligent mobility, and active safety into a single, autonomous, adaptable, and reliable disinfection robot solution.

[0072] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of patent application of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. An automatic disinfectant spraying device, comprising a vehicle body (100) and a liquid storage tank (200) disposed on the vehicle body (100), wherein a stirring rod (210) is provided inside the liquid storage tank (200), and the input end of the stirring rod (210) is connected to a stirring motor (220); characterized in that, It also includes a first spraying unit (300), which includes: The first spray pipe (310) is mounted on the switching rod (351). The two ends of the switching rod (351) are slidably connected to the guide frame (353) by the slider (352). The guide frame (353) is mounted on the vehicle body (100). A lifting assembly (320) is connected to the output end of the stirring rod (210) and the slider (352) to convert the rotational motion of the stirring rod (210) into a driving force to drive the first spray pipe (310) to rise and fall. The swing assembly (330) is connected to the guide frame (353), the slider (352) and the switching rod (351) respectively, and is used to drive the first spray pipe (310) to swing around the axis of the switching rod (351) in response to the lifting and lowering movement of the slider (352).

2. The automatic disinfectant spraying device as described in claim 1, characterized in that, The lifting assembly (320) includes: A turntable (321) is connected to the output end of the stirring rod (210); A lifting plate (322) is connected to the slider (352), and a strip groove (322a) is provided on the lifting plate (322). A drive rod (323) is provided, one end of which is connected to the turntable (321), and the other end of which is inserted into the strip groove (322a).

3. The automatic disinfectant spraying device as described in claim 1, characterized in that, The guide frame (353) is provided with a wave guide groove (353a), the slider (352) is provided with a limiting frame (352a), and the swing assembly (330) includes: A transmission rod (331) is connected between the switching rod (351) and the slider (352), and a linkage groove (331a) is provided on the surface of the transmission rod (331). Sliding sleeve (332), the sliding sleeve (332) is sleeved on the transmission rod (331), and the sliding sleeve (332) is provided with a first insert rod (332a) that cooperates with the linkage groove (331a). A connecting strip (333) is inserted into a limiting frame (352a). One end of the connecting strip (333) is connected to the sliding sleeve (332), and the other end is provided with a second insert (333a) that slides in cooperation with the wave guide groove (353a). When the slider (352) moves up and down along the guide frame (353), the second insert rod (333a) moves along the wave guide groove (353a) and drives the first insert rod (332a) to move in the linkage groove (331a) through the connecting strip (333) and the sliding sleeve (332), thereby driving the transmission rod (331) and the first spray pipe (310) to swing around the axis of the switching rod (351).

4. The automatic disinfectant spraying device as described in claim 3, characterized in that, The linkage groove (331a) includes a straight segment (331a1), a first spiral segment (331a2), and a second spiral segment (331a3) connected in sequence. The first helical segment (331a2) and the second helical segment (331a3) have opposite directions of rotation.

5. The automatic disinfectant spraying device as described in claim 1, characterized in that, The first spraying unit (300) also includes a rotating assembly (340), which comprises: An intermediate seat (341) is mounted on the switching lever (351); A rotary motor (342) is mounted on the intermediate seat (341) and connected to the first spray pipe (310).

6. The automatic disinfectant spraying device as described in claim 1, characterized in that, The storage tank (200) is connected to a first pump (354), and the first pump (354) is connected to the first spray pipe (310) via a hose (355).

7. The automatic disinfectant spraying device as described in claim 1, characterized in that, It also includes a second spraying unit (400), which includes: Second spray pipe (410); The second liquid pump (420) is connected between the liquid storage tank (100) and the second spray pipe (410).

8. The automatic disinfectant spraying device as described in claim 7, characterized in that, The front side of the liquid storage tank (100) is provided with a first spraying unit (300), and the left and right sides of the liquid storage tank (100) are respectively provided with a second spraying unit (400).

9. The automatic disinfectant spraying device as described in claim 1, characterized in that, The vehicle body (100) is equipped with an ultrasonic infrared obstacle avoidance sensor (110), an automatic charging port (120), and an ultraviolet disinfection lamp (130).

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