Disinfection robot based on intelligent cleaning

Abstract

A disinfection robot based on intelligent cleaning comprises a movement unit, an obstacle avoidance navigation unit, a control unit, a first spraying disinfection device arranged on the upper side of the movement unit and a cleaning unit arranged on the lower side of the movement unit, the first spraying disinfection device comprises a mechanical arm, and a first spray head is arranged at the tail end of the mechanical arm; the cleaning unit comprises a second spraying and disinfecting device, a strip-shaped spraying opening is formed in the lower side of the moving unit in the width direction of the moving unit, the second spraying and disinfecting device comprises a plurality of second spraying heads arranged in the length direction of the spraying opening, and the obstacle avoidance navigation unit, the first spraying and disinfecting device and the second spraying and disinfecting device are all in communication connection with the control unit. The disinfection robot disclosed by the utility model is simple in disinfection operation, and solves the problems that a disinfection spray head of a traditional disinfection robot cannot move, articles with a larger height difference range cannot be disinfected, and the disinfection operation is tedious and low in efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of disinfection robots, in particular to a disinfection robot based on intelligent cleaning. Background Art

[0002] In order to effectively protect public health and safety, it is necessary to disinfect and clean up public places, especially crowded places such as hospitals and shopping malls, which need to be cleaned and disinfected many times every day. In order to save labor costs, intelligent disinfection robots are often used for disinfection and cleaning. The disinfection robot travels on the ground along a preset track, uses radar and camera to obtain the location of objects, and works according to this information. On the one hand, it can avoid pedestrians and obstacles, and on the other hand, it is convenient to disinfect the objects that need to be disinfected. However, due to the different sizes and heights of the objects, the disinfection nozzle of the disinfection robot cannot move, and the disinfection range is limited, resulting in the inability to disinfect objects with a large height difference range, which leads to poor disinfection effect. In addition, when the disinfection robot encounters garbage for cleaning, it disinfects the cleaned ground. Since the disinfection nozzle is located at the upper position of the disinfection robot, after cleaning the garbage, the disinfection robot needs to completely drive away from the original position to expose the cleaned area, and the disinfection nozzle can disinfect the cleaned area. This method is cumbersome to operate and has low efficiency. Utility Model Content

[0003] In order to solve the technical problems existing in the above-mentioned background technology, the utility model provides a disinfection robot based on intelligent cleaning.

[0004] The technical solution of this utility model is as follows:

[0005] A disinfection robot based on intelligent cleaning comprises a motion unit, a cleaning unit and an obstacle avoidance navigation unit, and a control unit communicatively connected to the motion unit, the cleaning unit and the obstacle avoidance navigation unit. A first spray disinfection device is arranged on the upper side of the motion unit, wherein the cleaning unit comprises a cleaning device and a dust suction device arranged at the front and rear, and the obstacle avoidance navigation unit adopts ultrasonic sensors, laser radars and Kinect stereo camera technologies in the prior art to work in coordination to obtain the positions of objects to be disinfected and objects to be cleaned and to plan a motion route, and the disinfection robot performs cleaning work according to the information.

[0006] When in use, the disinfection robot uses lidar and Kinect stereo cameras to resolve images, scan and model the surrounding environment, identify obstacles and garbage, and provide the obtained information to the execution part of the disinfection robot. When pedestrians are identified, the control unit controls the disinfection robot to avoid them. When garbage is detected, the control unit issues instructions based on the location of the detected garbage to control the first spray disinfection device to spray and disinfect the garbage, and controls the cleaning device and vacuum device to clean. When no garbage is identified, the disinfection robot goes to the next place to work.

[0007] The core invention of the utility model is that the first spray disinfection device includes a mechanical arm, and the end of the mechanical arm is provided with a first nozzle. The first nozzle is arranged on the mechanical arm, which is conducive to the flexible rotation of the first nozzle, so as to achieve the disinfection work of some dead corners in some areas, fully disinfect the surrounding environment of the disinfection robot, expand the limited disinfection range, and especially help to disinfect items with a large height difference range, thereby improving the disinfection effect; a cleaning unit is arranged on the lower side of the motion unit, and the cleaning unit also includes a second spray disinfection device arranged on the rear side of the dust suction device, and a strip-shaped spray port is opened on the lower side of the motion unit along its width direction, and the second spray disinfection device includes a plurality of second nozzles arranged along the length direction of the spray port. When the cleaning device and the dust suction device are cleaned, the disinfection robot can use the second spray disinfection device to disinfect the cleaned area during the forward movement, instead of waiting for the disinfection robot to leave the cleaned area before using the first spray disinfection device like the traditional disinfection robot, which only has the first spray disinfection device, and is easy to operate and improves the working efficiency of the disinfection robot.

[0008] It should be noted that the working principles of the dust suction device and the second spray disinfection device are the same as those of the dust suction device and the spray disinfection device in the prior art, so their specific structures will not be described in detail.

[0009] As a further implementation:

[0010] The cleaning unit also includes a brush rotatably arranged on the lower side of the moving unit. A dust suction port is opened on the lower side of the moving unit between the brush and the spray port, and a dust suction device is provided inside the moving unit corresponding to the dust suction port. The brush, dust suction port and spray port are arranged in sequence front and back, which facilitates the disinfection robot to quickly complete the cleaning, collection and disinfection of the cleaning area during the moving process.

[0011] As a further implementation:

[0012] The cleaning unit also includes a cotton drag roller rotatably arranged at the rear side of the spray port, which is configured to be able to retract upward / extend downward the motion unit. When extended out of the motion unit, the cleaned floor is wiped to clean up the debris and liquid stains remaining on the floor after sweeping and spraying.

[0013] Preferably, the width of the vertical projection of the brush, the dust suction port, the spray port and the cotton roller increases from front to back, ensuring that all the garbage swept by the brush can enter the dust suction port; the spray port can completely spray the area where the original garbage is located, making the disinfection more thorough; the cotton roller can wipe the cleaned and disinfected area, and combined with the disinfection function of the first spray disinfection device, it ensures that after the disinfection robot passes through the area that needs to be cleaned and disinfected, there is no garbage or liquid stains remaining in the area, and the cleaning and disinfection is more thorough.

[0014] To facilitate the storage of disinfectant water and the arrangement of the cleaning unit, the motion unit is divided into two hollow cavities, an upper cavity and a lower cavity, by a partition. The upper cavity is used to hold liquid, and the power parts of each part of the cleaning unit are arranged in the lower cavity. The dust suction device is completely arranged in the lower cavity, and the dust suction part of the dust suction device is arranged to align with the dust suction port.

[0015] A water pump is provided in the upper cavity and is connected to the first nozzle and the second nozzle through two water pipes respectively. The water pipe connected to the second nozzle needs to pass through the partition plate, and a sealing connector is provided between the partition plates to ensure the sealing function of the upper cavity and prevent leakage of the disinfectant liquid.

[0016] A stirring mechanism is also provided in the upper cavity. When working, disinfected items will be put into the upper cavity. The stirring mechanism can be used to stir the disinfected items and their sediment in the upper cavity to avoid the sediment blocking the first nozzle and the second nozzle, which is conducive to the normal operation of the disinfection robot.

[0017] For the disinfection of the environment around the disinfection robot, in addition to the first spray disinfection device, ultraviolet disinfection light strips are also provided around the outside of the motion unit, which cooperate with the first spray disinfection device to achieve disinfection work around the disinfection robot, protect the disinfection robot itself from infection, reduce the spread of the virus, and thus quickly complete the disinfection and improve work efficiency.

[0018] The beneficial effects of the disinfection robot based on intelligent cleaning in the utility model are:

[0019] (i) Through the design and layout of the first spray disinfection device and the detection device, the camera device, and the ultraviolet disinfection light strip, the spray disinfection range of the first spray disinfection device can be expanded by adjusting the angles of the two long arms, so that the disinfection robot can also disinfect objects with a large height difference, thereby improving the disinfection effect and efficiency;

[0020] (ii) By means of the cleaning unit provided under the moving chassis, the disinfection robot can disinfect the cleaned ground while moving forward after cleaning the garbage. There is no need to completely leave the cleaned area before disinfecting the cleaned ground. The operation process is simple and helps to improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In the attached picture:

[0022] Figure 1 This is an axonometric schematic diagram of a disinfection robot based on intelligent cleaning in the utility model;

[0023] Figure 2 This is a bottom view of a disinfection robot based on intelligent cleaning according to the utility model;

[0024] Figure 3 This is a schematic diagram of the internal structure of a disinfection robot based on intelligent cleaning (with a hidden cleaning unit) of the utility model;

[0025] The components represented by the reference numerals in the figure are:

[0026] 1. Movement unit; 11. Movement chassis; 111. Dust suction port; 112. Spray port; 12. Boss; 13. Partition; 2. First spray disinfection device; 3. Cleaning unit; 31. Brush; 32. Second nozzle; 33. Cotton roller; 4. Ultrasonic sensor; 5. Camera device; 6. Detection device; 7. Water pump; 8. Stirring mechanism. DETAILED DESCRIPTION

[0027] Combination Figure 1 and Figure 2 This embodiment provides a disinfection robot based on intelligent cleaning, which mainly includes a motion unit 1, an obstacle avoidance navigation unit, a disinfection unit, a cleaning unit 3 and a control unit.

[0028] The motion unit 1 includes a motion chassis 11 and a boss 12 at the upper rear thereof, and the motion chassis 11 and the boss 12 are bilaterally symmetrical structures.

[0029] The interiors of the moving chassis 11 and the boss 12 are both designed as cavity structures. The moving chassis 11 is divided into two upper and lower cavities by a partition 13. The upper cavity of the moving chassis 11 is connected to the interior of the boss 12 to form an upper cavity, which contains disinfectant liquid provided for the disinfection work of the disinfection robot. The lower cavity of the moving chassis 11 is recorded as a lower cavity.

[0030] Grooves are respectively provided inwardly on the four corners on the left and right sides of the bottom of the moving chassis 11, and moving wheels are provided in the four grooves. The outer side surfaces of the moving wheels are located on the inner side of the side plane of the moving chassis 11, making the overall structure more compact and the disinfection robot more compact and flexible. At the same time, the moving wheels arranged in the grooves can also increase the rotation center of the moving wheels, thereby reducing the height of the bottom surface of the moving chassis 11 from the ground, so that the disinfection robot can clean the ground, making it convenient for the disinfection robot to perform disinfection and cleaning work, and can also avoid obstacles more intelligently, thereby better ensuring the safety of the disinfection robot itself, humans and objects.

[0031] The obstacle avoidance navigation unit includes a detection device 6 arranged in front of the upper part of the moving chassis 11 , a camera device 5 arranged on the front side of the boss 12 , and two ultrasonic sensors 4 arranged on the front side of the boss 12 .

[0032] In the utility model, the detection device 6 is a laser radar, and the camera device 5 is a Kinect stereo camera. The ultrasonic sensor 4, the laser radar and the Kinect stereo camera can be used to obtain the positions of the objects to be disinfected and the objects to be cleaned and plan the movement routes, and disinfection and cleaning work can be performed based on this information. The Kinect stereo camera is located on the upper side of the laser radar to prevent the laser radar from blocking the field of view of the Kinect stereo camera, thereby ensuring normal shooting of the Kinect stereo camera.

[0033] The disinfection unit adopts two methods: ultraviolet light disinfection and spray disinfection. The ultraviolet light disinfection is achieved by setting ultraviolet disinfection lamp belts around the moving chassis 11 and the boss 12, and the spray disinfection is achieved by a first spray disinfection device 2 set on the boss 12.

[0034] Specifically, the structure of the first spray disinfection device 2 includes a support, a first long arm, a second long arm and a first nozzle. The support is detachably connected to the boss 12. The two ends of the first long arm are rotatably connected to the upper end of the base and one end of the second long arm, respectively. The first nozzle is rotatably connected to the other end of the second long arm, and the first nozzle can be extended and retracted along the length direction of the second long arm. The two rotatable long arms are conducive to the flexible rotation of the first nozzle, and the design that the first nozzle can be extended and retracted along the length direction of the second long arm can achieve the disinfection of some dead corners in some areas, so as to achieve full disinfection of the surrounding environment. In addition, the ultraviolet disinfection light belt is used to disinfect the surroundings of the disinfection robot, protect the disinfection robot itself from infection, reduce the spread of viruses, and then quickly complete the disinfection and improve work efficiency.

[0035] For cleaning unit 3 combined Figure 3Specifically, the cleaning unit 3 is arranged at the lower side of the moving chassis 11, and the cleaning unit 3 includes a cleaning device, a dust suction device, a second spray disinfection device and a floor wiping device arranged at the front and rear.

[0036] The cleaning device includes a connecting shaft rotatably connected to the lower cavity. The lower end of the connecting shaft passes through the lower cavity and is provided with a rotating disk downward. A plurality of brushes 31 are arranged in a circular array at the lower end of the rotating disk, and are driven to rotate by the power part of the cleaning device to achieve the cleaning of garbage.

[0037] The dust suction device and the second spray disinfection device are both arranged in the lower cavity, and on the lower side surface of the lower cavity behind the brush 31, a dust suction port 111 and a spray port 112 are opened in front and back, and the spray port 112 is a strip spray port opened along the width direction of the lower cavity. The dust suction device includes a dust collecting box arranged in the lower cavity. When working, the dust suction device sucks garbage into the dust collecting box through the dust suction port 111. The second spray disinfection device includes a plurality of second nozzles 32 arranged along the length direction of the spray port 112, and uses the second nozzle 32 to disinfect the ground after cleaning the garbage through the spray port 112. The working principles of the dust suction device and the second spray disinfection device are the same as those of the dust suction device and the spray disinfection device in the prior art. Therefore, the dust suction device and the second spray disinfection device are not displayed too much here.

[0038] The floor wiping device includes a bracket arranged in the lower cavity and a cotton drag roller 33 rotatably connected to the bracket. The cotton drag roller 33 is arranged at the rear side of the spray port 112, and the cotton drag roller 33 can be retracted upward into the lower cavity, and can also be extended downward out of the lower cavity. When extended out of the lower cavity, the cleaned floor is wiped to clean the liquid stains remaining on the floor after sweeping and spraying. The width of the vertical projection of the brush 31, the suction port 111, the spray port 112 and the cotton drag roller 33 increases from front to back, ensuring that the garbage swept by the brush 31 can all enter the suction port 111; the spray port 112 can completely spray the area where the original garbage is located, making the disinfection more thorough; the cotton drag roller 33 can wipe the cleaned and disinfected area, and combined with the disinfection function of the disinfection unit, it is ensured that after the disinfection robot passes through the area that needs to be cleaned and disinfected, there is no garbage and liquid stains remaining in the area, and the cleaning and disinfection are more thorough.

[0039] A water pump 7 and a stirring mechanism 8 are provided in the lower cavity.

[0040] The water pump 7 is a booster pump, and the first nozzle and the second nozzle 32 are both connected to the water pump 7 through water pipes.

[0041] As for the use of the water pump 7, when it is working, the water pump 7 transports the disinfectant liquid in the lower cavity through two water pipes to the first nozzle and the second nozzle 32 respectively, so as to provide disinfectant liquid for the first nozzle and the second nozzle 32 to perform spray disinfection work.

[0042] The stirring mechanism 8 includes a rotating shaft and a motor. The upper end of the rotating shaft is arranged in the lower cavity and is provided with stirring blades. The lower end of the rotating shaft passes through the partition 13 and is connected to the motor in the lower cavity. The rotating shaft and the upper and lower surfaces of the partition 13 are sealed. When the motor is started, the stirring blades rotate, and the sediment in the upper cavity can be stirred to avoid the sediment from blocking the first nozzle and the second nozzle 32, thereby avoiding affecting the operation of the disinfection robot.

[0043] The control unit is arranged in the lower cavity of the moving chassis 11, and is connected in communication with the first spray disinfection device 2, the camera device 5, the detection device 6 and the cleaning unit 3. When working, the ultrasonic sensor 4, the laser radar and the Kinect stereo camera are used to distinguish the image, and the obstacles and garbage are identified by scanning and modeling the surrounding environment, and the obtained information is provided to the execution part of the disinfection robot. When pedestrians are identified, the control unit controls the disinfection robot to avoid and close the first nozzle and the second nozzle 32 in time; when garbage is detected, the control unit issues a command according to the position of the detected garbage to control the brush 31 cleans the garbage, and starts the dust suction device to suck the garbage into the dust collection box from the dust suction port 111, and then controls the disinfection robot to continue to move forward. When the spray port 112 moves to the original garbage location, controls the second nozzle 32 to spray and disinfect, and then controls the disinfection robot to continue to move forward, and at the same time controls the cotton drag roller 33 to extend. During the forward movement of the disinfection robot, the debris, dust and liquid residue in the cleaned area are cleaned up by the cotton drag roller 33; when it is identified that there is no garbage and stains, the disinfection robot goes to the next place to work, which ensures the cleanliness of the working environment and reduces the risk of infection of the disinfection robot itself.

Claims

1. A disinfection robot based on intelligent cleaning, comprising a motion unit (1), characterized in that: It also comprises a first spray disinfection device (2) arranged on the upper side of the motion unit (1), wherein the first spray disinfection device (2) comprises a mechanical arm, and a first spray head is arranged at the end of the mechanical arm; It also comprises a cleaning unit (3) arranged at the lower side of the moving unit (1), and the cleaning unit (3) comprises a second spray disinfection device; A strip-shaped spray port (112) is provided on the lower side of the motion unit (1) along its width direction, and the second spray disinfection device comprises a plurality of second spray heads (32) arranged along the length direction of the spray port (112); It also comprises an obstacle avoidance navigation unit and a control unit arranged inside the motion unit (1), and the obstacle avoidance navigation unit, the first spray disinfection device (2) and the second spray disinfection device are all communicatively connected to the control unit.

2. A disinfection robot based on intelligent cleaning as claimed in claim 1, characterized in that: The cleaning unit (3) further comprises a brush (31) rotatably arranged on the lower side of the moving unit (1); a dust suction port (111) is provided on the lower side of the moving unit (1) between the brush (31) and the spray port (112); and a dust suction device is provided inside the moving unit (1) corresponding to the dust suction port (111).

3. A disinfection robot based on intelligent cleaning as claimed in claim 2, characterized in that: The cleaning unit (3) further comprises a cotton drag roller (33) rotatably arranged at the rear side of the spray port (112), which is arranged to be able to retract upwards / extend downwards into the moving unit (1).

4. A disinfection robot based on intelligent cleaning as claimed in claim 3, characterized in that: The widths of the vertical projections of the brush (31), the dust suction port (111), the spray port (112) and the cotton drag roller (33) increase sequentially from front to back.

5. A disinfection robot based on intelligent cleaning as claimed in claim 2, characterized in that: The motion unit (1) is divided into an upper cavity and a lower cavity by a partition (13); the upper cavity is configured to be able to contain liquid, and the dust collection device is arranged in the lower cavity.

6. A disinfection robot based on intelligent cleaning as claimed in claim 5, characterized in that: A water pump (7) is provided in the upper cavity and is connected to the first spray head and the second spray head (32) via a water pipe.

7. A disinfection robot based on intelligent cleaning as claimed in claim 5, characterized in that: The upper cavity is also provided with a stirring mechanism (8).

8. A disinfection robot based on intelligent cleaning as described in any one of claims 1 to 7, characterized in that: Ultraviolet disinfection light strips are arranged around the outside of the motion unit (1).

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