Ros-based intelligent medical disinfection robot

Abstract

The utility model belongs to the technical field of medical disinfection equipment, and discloses an intelligent medical disinfection robot based on ros, which comprises a disinfection cabinet body and a cabinet door hinged on the front surface of the disinfection cabinet body, an ultraviolet lamp group and a sprinkler head are respectively arranged on the back surface of the disinfection cabinet body, the ultraviolet lamp group is positioned above the sprinkler head, and the ultraviolet lamp group is positioned above the sprinkler head. A disinfectant storage tank and a storage battery are arranged in a container of the disinfection cabinet body, an inlet of the disinfectant storage tank is communicated with a liquid injection port through a filling pipe, the liquid injection port is formed in the disinfection cabinet body and communicated with the outside, and an outlet of the disinfectant storage tank is connected with an inlet of a high-pressure injection pump. And an outlet of the high-pressure injection pump is connected with a spraying head through a spraying pipe. The device has the advantages of being compact in structure, stable, reliable, convenient to maintain, accurate in disinfection effect and the like, and has high practical value and market popularization prospects.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical disinfection equipment, and specifically relates to an intelligent medical disinfection robot based on ROS. Background Art

[0002] As a special place with high population density and easy breeding and gathering of bacteria, the cleaning and disinfection of the hospital environment is particularly important. At present, when hospitals disinfect the ground and air, they mainly rely on manual mopping or spraying of disinfectants. This method is not only inefficient, but also easily causes uneven distribution of disinfectants, wastes disinfectant resources, and the disinfection effect is not satisfactory. In addition, the existing disinfection methods have limitations in killing microorganisms such as bacteria and viruses, especially for some microorganisms with strong resistance, the disinfection effect may not be ideal. In addition, traditional disinfection methods also have the disadvantages of complex operation, time-consuming and labor-intensive, and are difficult to adapt to the efficient, convenient and safe disinfection needs of modern hospitals.

[0003] In recent years, with the continuous development of ultraviolet disinfection technology, its application in hospital disinfection has gradually been promoted. Ultraviolet radiation can destroy the DNA structure of microorganisms, making them unable to replicate and die. It has the characteristics of broad-spectrum bactericidal and can kill a variety of microorganisms including bacteria and viruses. However, simple ultraviolet disinfection technology also has certain limitations. For example, for some areas with uneven surfaces or obstructions, ultraviolet radiation may not be able to fully cover them, thus affecting the disinfection effect.

[0004] At the same time, with the continuous development of robotics technology, its application in the field of hospital disinfection has gradually become a research hotspot. Using robots for hospital disinfection can not only improve disinfection efficiency and reduce manual operation costs, but also avoid the risk of cross infection. Among them, robotics technology based on ROS and Raspberry Pi has attracted much attention due to its mature, stable and good compatibility. However, there is currently no intelligent disinfection equipment on the market that can fully utilize the advantages of ultraviolet disinfection technology and robotics technology.

[0005] Therefore, how to use the robot technology based on ROS and Raspberry Pi to develop an intelligent disinfection device that combines disinfection with disinfectant and ultraviolet disinfection lamp to achieve efficient, convenient and safe hospital disinfection has important practical significance and application value. At the same time, through the development and application of this equipment, the cleanliness and safety of the hospital environment can be effectively improved, the risk of hospital infection can be reduced, and a healthier and more comfortable working and treatment environment can be provided for medical staff and patients. Utility Model Content

[0006] In view of the many problems of the existing hospital disinfection methods in the background technology, such as poor disinfection effect and high labor intensity, we carry disinfectant disinfection and ultraviolet disinfection lamp disinfection on the robot, and realize the disinfection operation combining the two disinfection methods according to the path planned by the robot setting, which not only avoids the waste of disinfectant caused by manual wiping and mopping, but also takes into account the efficient ultraviolet disinfection method, so that the above problems are improved. Based on this, the utility model provides an intelligent medical disinfection robot based on ROS.

[0007] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an intelligent medical disinfection robot based on ROS, comprising a disinfection cabinet and a cabinet door hinged on the front thereof, two universal wheels and two stepper motors are arranged at the bottom of the disinfection cabinet, the output shafts of the two stepper motors are respectively connected to the two differential wheels, a laser radar and a GPS locator are respectively arranged on the disinfection cabinet, and the two are connected to the signal input end of the controller through a signal line, the encoders of the two stepper motors are connected to the signal output end of the controller through a data line, the controller is installed on the disinfection cabinet, an ultraviolet lamp group and a spray head are respectively installed on the back of the disinfection cabinet, the ultraviolet lamp group is located above the spray head, and a touch screen, a power switch, a mode button and an ultraviolet lamp knob are respectively arranged on the front of the disinfection cabinet, the touch screen The display screen is connected to the controller through a data line to realize information interaction, the mode button and the ultraviolet lamp knob are respectively connected to the signal input end of the controller, a disinfectant storage tank and a battery are respectively arranged in the container of the disinfection cabinet, the inlet of the disinfectant storage tank is connected to the injection port through a filling pipe, the injection port is arranged on the disinfection cabinet and is connected to the outside, the outlet of the disinfectant storage tank is connected to the inlet of the high-pressure jet pump, the outlet of the high-pressure jet pump is connected to the spray head through a spray pipe, the high-pressure jet pump and the ultraviolet lamp group are respectively connected to the signal output end of the controller through the data line, the input end of the battery is connected to the charging socket through a wire, the charging socket is installed on the disinfection cabinet, and the output end of the battery is powered by the power switch for the two stepping motors, the ultraviolet lamp group, the high-pressure jet pump and the controller.

[0008] As a further supplement to the above technical solution, a disinfectant reserve tank is arranged in the container of the disinfection cabinet, the disinfectant storage tank and the disinfectant reserve tank are connected through a connecting pipe, and the outlets of the two are respectively connected to the two inlets of the electromagnetic three-way valve through a discharge branch pipe, and the outlet of the electromagnetic three-way valve is connected to the inlet of the high-pressure jet pump through a discharge main pipe, and an electric valve is arranged on the connecting pipe, and the electric valve and the electromagnetic three-way valve are respectively connected to the signal output end of the controller through a data line, and pressure-resistance liquid level sensors are respectively arranged on the disinfectant storage tank and the disinfectant reserve tank, and the signal output ends of the two pressure-resistance liquid level sensors are respectively connected to the signal input end of the controller through a data line, and form liquid level interlocking control with the electric valve and the electromagnetic three-way valve respectively.

[0009] As a further supplement to the above technical solution, a support seat is arranged in the container of the disinfection cabinet, the battery, high-pressure jet pump and two stepper motors are located at the bottom of the support seat, and the electric valve, electromagnetic three-way valve, disinfectant storage tank and disinfectant backup tank are respectively installed on the support seat.

[0010] As a further explanation and limitation of the above technical solution, the ultraviolet lamp group includes at least two groups and is arranged side by side horizontally. A transparent dust cover is provided on the back of the disinfection cabinet corresponding to each group of ultraviolet lamp groups to prevent dust from covering the ultraviolet lamp tube and affecting the disinfection effect, while protecting the ultraviolet lamp tube from damage caused by external collisions.

[0011] As a further explanation and limitation of the above technical solution, the spray heads include at least two and are symmetrically arranged along the center line of the disinfection cabinet. A shield is provided on the back of the disinfection cabinet, and the shield covers all the spray heads.

[0012] As a further supplementary explanation of the above technical solution, a blocking cover is provided on the liquid filling port, and the blocking cover prevents foreign matter from entering the disinfectant storage tank and / or the disinfectant standby tank.

[0013] Compared with the prior art, the utility model has the following advantages:

[0014] 1. The utility model provides multiple operation modes through the touch screen, such as manual mode and automatic mode, to adapt to different disinfection needs and environments. Users can choose the disinfection method according to actual conditions, which greatly improves the flexibility and efficiency of disinfection work.

[0015] 2. The utility model uses a pressure-resistance liquid level sensor to accurately control the amount of disinfectant sprayed, avoiding waste during manual operation and effectively saving medical supplies. At the same time, the robot can also automatically generate and store disinfection reports, eliminating the need for manual recording and reducing the possibility of errors.

[0016] 3. The utility model is equipped with laser radar and GPS locator, so the robot can autonomously plan its path and accurately reach the set target point to perform disinfection work while avoiding obstacles. This function greatly improves the accuracy and efficiency of disinfection work and reduces the complexity of manual operation.

[0017] 4. The utility model not only optimizes the space layout but also improves the stability and reliability of the equipment by setting a support seat in the disinfection cabinet. This design makes the maintenance of the equipment more convenient and also prolongs the service life of the equipment.

[0018] 5. The utility model connects the disinfectant storage tank with the disinfectant standby tank through a connecting pipe, and realizes flexible switching and supply of disinfectant through an electromagnetic three-way valve and a discharge main pipe. At the same time, the setting of the electric valve and the pressure-resistance liquid level sensor enables the liquid level of the disinfectant to be monitored in real time, and automatically switches the disinfectant storage tank or the disinfectant standby tank as needed, ensuring a continuous and stable supply of disinfectant.

[0019] 6. The utility model also provides a plugging cover on the liquid injection port, which effectively prevents foreign matter from entering the disinfectant storage tank and / or the disinfectant standby tank, thereby ensuring the quality and purity of the disinfectant. The design of the plugging cover is simple and practical, providing a strong guarantee for the normal operation of the equipment.

[0020] 7. The utility model realizes the regional limitation of the spraying range of the disinfectant by setting a shield on the back of the disinfection cabinet, thereby improving the accuracy and efficiency of disinfection. At the same time, the shield can also protect the spray head from external damage.

[0021] 8. The utility model also provides a transparent dust cover on the back of the disinfection cabinet to protect the ultraviolet lamp from dust and external collision. This not only ensures the disinfection effect of the ultraviolet lamp, but also prolongs its service life and improves the performance and stability of the entire disinfection equipment.

[0022] 9. The utility model combines disinfection with disinfection by ultraviolet disinfection lamp, providing a more comprehensive and efficient disinfection method. Users can choose whether to turn on the ultraviolet disinfection lamp according to their needs to achieve the best disinfection effect.

[0023] 10. The utility model has the advantages of compact structure, stable and reliable, convenient maintenance, and precise disinfection effect. It is suitable for various places that require efficient and safe disinfection, and has high practical value and market promotion prospects. At the same time, the touch screen operation interface is simple and clear, which is convenient for users to quickly get started. At the same time, the robot can provide instant feedback after completing the disinfection work, which improves the user experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an assembly diagram of the intelligent medical disinfection robot in the utility model;

[0025] Figure 2 This is a schematic diagram of the interior of the disinfection cabinet of the intelligent medical disinfection robot in the present utility model;

[0026] Figure 3 This is the internal structure diagram of the intelligent medical disinfection robot in the utility model;

[0027] Figure 4 This is a schematic diagram of the assembly of the intelligent medical disinfection robot in the utility model.

[0028] Figure 5 This is a circuit connection block diagram of the intelligent medical disinfection robot in the utility model;

[0029] Figure 6 This is a control flow chart of the intelligent medical disinfection robot in the utility model.

[0030] In the figure: the disinfection cabinet is 1, the cabinet door is 2, the touch display screen is 3, the laser radar is 4, the charging socket is 5, the universal wheel is 6, the differential wheel is 7, the stepper motor is 8, the pressure-resistance liquid level sensor is 9, the support seat is 10, the disinfectant storage tank is 11, the disinfectant backup tank is 12, the GPS locator is 13, the power switch is 14, the mode button is 15, the ultraviolet lamp knob is 16, the filling port is 17, the plugging cover is 18, the ultraviolet lamp group is 19, the transparent dust cover is 20, the connecting pipe is 21, the electric valve is 22, the discharge branch pipe is 23, the electromagnetic three-way valve is 24, the discharge main pipe is 25, the high-pressure jet pump is 26, the filling pipe is 27, the battery is 28, the spray pipe is 29, the spray head is 30, the baffle is 31, and the controller is 32. DETAILED DESCRIPTION

[0031] In order to further illustrate the technical solution of the utility model, the following Figures 1 to 6 , According to the design scheme and implementation process, we further illustrate the utility model through four embodiments. Embodiment 1

[0032] As attached Figures 1 to 6As shown, an intelligent medical disinfection robot based on ROS includes a disinfection cabinet 1 and a cabinet door 2 hinged on the front thereof, two universal wheels 6 and two stepper motors 8 are arranged at the bottom of the disinfection cabinet 1, and the output shafts of the two stepper motors 8 are respectively connected to the two differential wheels 7, and a laser radar 4 and a GPS locator 13 are respectively arranged on the disinfection cabinet 1, and the two are connected to the signal input end of the controller 32 through a signal line, and the encoders of the two stepper motors 8 are connected to the signal output end of the controller 32 through a data line, and the controller 32 is installed on the disinfection cabinet 1, and an ultraviolet lamp group 19 and a spray head 30 are respectively installed on the back of the disinfection cabinet 1, the ultraviolet lamp group 19 includes at least two groups and are arranged side by side in a horizontal direction, and the spray head 30 includes at least two and is symmetrically arranged along the center line of the disinfection cabinet 1, and the ultraviolet lamp group 19 is located above the spray head 30, and a touch display screen 3, a power switch 14, a mode button 15 and an ultraviolet lamp are respectively arranged in front of the disinfection cabinet 1. The touch display screen 3 is connected to the controller 32 through a data line to realize information exchange. The mode button 15 and the ultraviolet lamp knob 16 are respectively connected to the signal input end of the controller 32. A disinfectant storage tank 11 and a battery 28 are respectively arranged in the container of the disinfection cabinet 1. The inlet of the disinfectant storage tank 11 is connected to the injection port 17 through a filling pipe 27. The injection port 17 is arranged on the disinfection cabinet 1 and is connected to the outside world. The outlet of the disinfectant storage tank 11 is connected to the high-pressure injection pump. The inlet of the high-pressure jet pump 26 is connected, the outlet of the high-pressure jet pump 26 is connected to the spray head 30 through the spray pipe 29, the high-pressure jet pump 26 and the ultraviolet lamp group 19 are respectively connected to the signal output end of the controller 32 through the data line, the input end of the battery 28 is connected to the charging socket 5 through a wire, and the charging socket 5 is installed on the disinfection cabinet 1, and the output end of the battery 28 is powered by the two stepping motors 8, the ultraviolet lamp group 19, the high-pressure jet pump 26 and the controller 32 through the power switch 14.

[0033] In this embodiment, we select a mode according to the environmental requirements or disinfection requirements. Assuming that the current environment is only suitable for disinfection with disinfectant, and the robot is required to complete the disinfection task autonomously, the user can view the remaining disinfectant in the two tanks on the touch screen after turning on the machine. If the remaining amount is not enough for this use, you can choose to add disinfectant through the disinfection filling port. When the total amount of disinfectant reaches 90% of the tank volume, the touch screen will display "Disinfectant is full". If the remaining amount is enough for this disinfection work, you can select the destination on the touch screen. At the same time, the controller plans the path according to the settings through the program The encoder controls the stepper motor, thereby controlling the two differential wheels. The vehicle will move along the planned path. Before moving, it will actively open the spray head to disinfect along the way. At the same time, if you want a stronger disinfection effect, you can turn on the ultraviolet disinfection lamp and perform chemical and physical disinfection at the same time; if there are too many people in the current environment and it takes too long for the robot to complete the disinfection work independently, you can use the mode button to change the automatic mode to manual mode. At this time, the robot will not plan the path and will be completely controlled by manual movement. The spray head will be turned on before moving, and you can also use the ultraviolet lamp knob to choose whether to turn on the ultraviolet disinfection lamp.

[0034] After the control processor of the intelligent disinfection robot obtains the path information from the data storage module, it collects the robot's position information in real time through the GPS locator and combines it with the predetermined path information for comprehensive analysis and judgment to send motion instructions to the stepper motor driver to control the two stepper motors to start and stop synchronously or run differently, and perform forward, backward, and turning movements. Although this allows the robot to complete the entire path, the robot cannot update new obstacles in the surrounding environment in real time at this time. If it still moves on the preset path, it is very likely to cause damage to the robot itself or cause unnecessary collisions to pedestrians on the path. To this end, the laser radar will collect the surrounding environment data and send it to the control processor. The control processor will project the point cloud data collected by the laser radar from the local coordinate system of each frame to the global coordinate system, complete map splicing and positioning, obtain the position and posture information of the mobile carrier in the constructed map, and complete the construction of the robot's surrounding environment and the planning of the robot's driving path based on ROS. This can not only assist the robot in avoiding obstacles but also correct it to continue walking along the predetermined path until the destination. Embodiment 2

[0035] As attached Figure 2 and 4As shown, a support base 10 is arranged in the container of the disinfection cabinet 1, and a disinfectant storage tank 11 and a disinfectant standby tank 12 are respectively installed on the support base 10, and the battery 28, the high-pressure jet pump 26 and the two stepper motors 8 are located at the bottom of the support base 10. A disinfectant standby tank 12 is arranged in the container of the disinfection cabinet 1, and the disinfectant storage tank 11 and the disinfectant standby tank 12 are connected through a connecting pipe 21, and the outlets of the two are respectively connected to the two inlets of the electromagnetic three-way valve 24 through a discharge branch pipe 23, and the outlet of the electromagnetic three-way valve 24 is connected to the two inlets of the electromagnetic three-way valve 24 through a discharge branch pipe 23. The main pipe 25 is connected to the inlet of the high-pressure jet pump 26, and an electric valve 22 is arranged on the connecting pipe 21. The electric valve 22 and the electromagnetic three-way valve 24 are respectively installed on the support seat 10, and the two are connected to the signal output end of the controller 32 through a data line. Pressure-resistance liquid level sensors 9 are respectively arranged on the disinfectant storage tank 11 and the disinfectant backup tank 12, and the signal output ends of the two pressure-resistance liquid level sensors 9 are respectively connected to the signal input end of the controller 32 through data lines, and form liquid level interlocking control with the electric valve 22 and the electromagnetic three-way valve 24 respectively.

[0036] A blocking cover 18 is provided on the liquid injection port 17 , and the blocking cover 18 prevents foreign matter from entering the disinfectant storage tank 11 and / or the disinfectant standby tank 12 . Embodiment 3

[0037] In order to achieve a more precise spray range of disinfectant. Figure 3 As shown, we set a shield 31 on the back of the disinfection cabinet 1, and the shield 31 covers all the spray heads 30, which plays a role in limiting the spray range of the disinfectant, and also plays a role in regulating the subsequent robot disinfection to achieve accurate regional disinfection according to the planned path. At the same time, the shield can also protect the spray head. Example

[0038] To prevent dust from covering the UV lamp and affecting the disinfection effect. Figure 3 As shown, a transparent dust cover 20 is provided on the back of the disinfection cabinet 1 corresponding to each group of the ultraviolet lamp groups 19, so as to protect the ultraviolet lamp tubes from being damaged by external collisions.

[0039] The operation process of the intelligent disinfection robot: Figure 6As shown, after turning on the machine, select manual mode or automatic mode. When manual mode is selected, the remaining disinfectant will be monitored. If it exceeds 50%, the user will be asked to turn on the ultraviolet disinfection lamp. Otherwise, an alarm will be issued to remind the user to add disinfectant. After adding, the system will test again. After the selection is completed, the disinfection work can be started. When automatic mode is selected, the remaining disinfectant will be monitored. If it exceeds 50%, the next step will be entered. Otherwise, an alarm will be issued to remind the user to add disinfectant. After adding, the system will test again. The next step is to choose whether to turn on the ultraviolet disinfection lamp. After selecting, the target point will be set and the disinfection work will be started. The operation process ends when the disinfection work is completed.

[0040] The above shows and describes the main features and advantages of the utility model. For those skilled in the art, it is obvious that the specific implementation of the utility model is not limited to the details of the above exemplary embodiments, and the creative ideas and design ideas of the utility model can be realized in other specific forms without departing from the spirit or basic features of the utility model, which should be equivalent to the protection scope disclosed in the technical solution of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the utility model.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent medical disinfection robot based on ROS, comprising a disinfection cabinet (1) and a cabinet door (2) hinged on the front thereof, two universal wheels (6) and two stepper motors (8) are arranged at the bottom of the disinfection cabinet (1), the output shafts of the two stepper motors (8) are respectively connected to two differential wheels (7), a laser radar (4) and a GPS locator (13) are respectively arranged on the disinfection cabinet (1), and the two are connected to the signal input end of the controller (32) through a signal line, the encoders of the two stepper motors (8) are connected to the signal output end of the controller (32) through a data line, and the controller (32) is installed on the disinfection cabinet (1), characterized in that: An ultraviolet lamp group (19) and a spray head (30) are respectively installed on the back of the disinfection cabinet (1), and the ultraviolet lamp group (19) is located above the spray head (30). A touch screen (3), a power switch (14), a mode button (15) and an ultraviolet lamp knob (16) are respectively arranged on the front of the disinfection cabinet (1). The touch screen (3) is connected to a controller (32) via a data line to realize information exchange. The mode button (15) and the ultraviolet lamp knob (16) are respectively connected to the signal input end of the controller (32). A disinfectant storage tank (11) and a storage battery (28) are respectively arranged in the container of the disinfection cabinet (1). The inlet of the disinfectant storage tank (11) is connected to the liquid filling port (17) via a filling pipe (27). The liquid injection port (17) is arranged on the disinfection cabinet (1) and is connected to the outside, the outlet of the disinfection liquid storage tank (11) is connected to the inlet of the high-pressure jet pump (26), the outlet of the high-pressure jet pump (26) is connected to the spray head (30) through a spray pipe (29), the high-pressure jet pump (26) and the ultraviolet lamp group (19) are respectively connected to the signal output end of the controller (32) through a data line, the input end of the storage battery (28) is connected to the charging socket (5) through a wire, and the charging socket (5) is installed on the disinfection cabinet (1), and the output end of the storage battery (28) supplies power to the two stepping motors (8), the ultraviolet lamp group (19), the high-pressure jet pump (26) and the controller (32) through a power switch (14).

2. According to claim 1, an intelligent medical disinfection robot based on ROS is characterized in that: A disinfectant reserve tank (12) is arranged in the container of the disinfection cabinet (1). The disinfectant storage tank (11) and the disinfectant reserve tank (12) are connected via a connecting pipe (21), and the outlets of the two are respectively connected to the two inlets of an electromagnetic three-way valve (24) via a discharge branch pipe (23). The outlet of the electromagnetic three-way valve (24) is connected to the inlet of a high-pressure injection pump (26) via a discharge main pipe (25). An electric valve (22) is arranged on the connecting pipe (21). The electric valve (22) and the electromagnetic three-way valve (24) are respectively connected to the signal output end of a controller (32) via a data line. Pressure-resistance type liquid level sensors (9) are respectively arranged on the disinfectant storage tank (11) and the disinfectant reserve tank (12). The signal output ends of the two pressure-resistance type liquid level sensors (9) are respectively connected to the signal input end of the controller (32) via a data line, and respectively form liquid level interlocking control with the electric valve (22) and the electromagnetic three-way valve (24).

3. According to claim 2, an intelligent medical disinfection robot based on ROS is characterized in that: A support base (10) is arranged in the container of the disinfection cabinet (1); the storage battery (28), the high-pressure jet pump (26) and the two stepping motors (8) are located at the bottom of the support base (10); and the electric valve (22), the electromagnetic three-way valve (24), the disinfectant storage tank (11) and the disinfectant standby tank (12) are respectively installed on the support base (10).

4. An intelligent medical disinfection robot based on ROS according to claim 2 or 3, characterized in that: The ultraviolet lamp groups (19) include at least two groups which are arranged side by side in a transverse manner. A transparent dust cover (20) is provided on the back of the disinfection cabinet (1) corresponding to each group of the ultraviolet lamp groups (19) to prevent dust from covering the ultraviolet lamp tubes and affecting the disinfection effect, while protecting the ultraviolet lamp tubes from damage caused by external collisions.

5. According to claim 4, an intelligent medical disinfection robot based on ROS is characterized in that: The spray heads (30) include at least two and are symmetrically arranged along the center line of the disinfection cabinet (1). A shield (31) is provided on the back of the disinfection cabinet (1), and the shield (31) covers all the spray heads (30).

6. An intelligent medical disinfection robot based on ROS according to claim 2, 3 or 5, characterized in that: A blocking cover (18) is provided on the liquid injection port (17), and the blocking cover (18) prevents foreign matter from entering the disinfectant storage tank (11) and / or the disinfectant standby tank (12).

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