Atomization disinfection robot

Abstract

The utility model belongs to the technical field of disinfection robots, and particularly discloses an atomizing disinfection robot, which comprises a self-propelled base, a plurality of atomizing nozzles and a plurality of atomizing nozzles, the self-propelled base comprises a base body, a driving wheel and a plurality of supporting wheels, and the driving wheel and the supporting wheels are respectively arranged at the bottom of the base body; the disinfectant tank is mounted on the upper surface of the seat body; the atomizing nozzle is mounted at the top of the disinfectant tank; the interior of the atomizing nozzle is communicated with an inner cavity of the disinfectant tank; the robot has the following advantages that by designing the elastic supporting wheels, the robot can adapt to complex terrains, the adaptability is improved, the walking problem is solved, and various environment disinfection requirements are met.

Description

Technical Field

[0001] The utility model relates to the technical field of disinfection robots, and in particular to an atomization disinfection robot. Background Art

[0002] At present, atomizing disinfection robots have been widely used in the field of public health. They efficiently disinfect the environment in an automated way, improving work efficiency and disinfection quality. However, most of the existing atomizing disinfection robots can only walk on relatively flat ground. When faced with a threshold or a gradient ground, such as a carpeted area, the robot is easily stuck and cannot pass smoothly. This situation results in the robot's ability to operate in complex terrain being limited, its adaptability is low, and it cannot meet the disinfection needs of diverse environments. Therefore, the existing technology has obvious deficiencies in its ability to adapt to different terrains. How to improve the adaptability of the atomizing disinfection robot to complex ground and solve the problem of its difficulty in walking on uneven ground has become a technical problem that needs to be solved urgently.

[0003] Therefore, an atomization disinfection robot is proposed to solve the above-mentioned problems. Utility Model Content

[0004] The utility model aims to provide an atomization disinfection robot to solve or improve at least one of the above technical problems.

[0005] In view of this, a first aspect of the present invention is to provide an atomization disinfection robot.

[0006] The first aspect of the utility model provides an atomizing disinfection robot, comprising: a self-propelled base, comprising a base body, a driving wheel and a plurality of supporting wheels, wherein the driving wheel and the supporting wheels are respectively arranged at the bottom of the base body; the driving wheel is used to drive the base body to move on the ground; the supporting wheel is elastically connected to the base body to support the base body when the base body is deflected relative to the ground; a disinfectant tank is installed on the upper surface of the base body and stores disinfectant through an inner cavity formed inside; an atomizing nozzle is installed on the top of the disinfectant tank; the interior of the atomizing nozzle is connected to the inner cavity of the disinfectant tank to spray the disinfectant onto the ground; a control panel is installed on the upper surface of the base body through a bracket; the control panel is electrically connected to the self-propelled base and the atomizing nozzle respectively to set the travel trajectory of the self-propelled base driving the atomizing nozzle to move; the control panel is located below the atomizing nozzle in the longitudinal direction; a laser radar is arranged on the base body; the travel direction of the self-propelled base on the travel trajectory is the same as the irradiation direction of the laser radar.

[0007] In any of the above technical solutions, the disinfectant tank includes a tank body and a suspension pipe, and the tank body is installed on the upper surface of the base body; the bottom of the suspension pipe passes through the top of the tank body and extends to the interior of the tank body, and the top of the suspension pipe is fixedly assembled with the atomizing nozzle.

[0008] In any of the above technical solutions, a through hole is opened on the top of the tank body, and the suspension tube is inserted inside the through hole; the tube wall of the suspension tube is hollow so that the suspension tube floats on the disinfectant.

[0009] In any of the above technical solutions, a hose is provided at the bottom liquid inlet of the atomizing nozzle, and a lower end of the hose is provided at the inner lower end of the tank body.

[0010] In any of the above technical solutions, the self-propelled base also includes a battery and a controller, and the controller is electrically connected to the battery, the atomizing nozzle, the control panel and the laser radar respectively; an installation cavity is formed inside the base body, and the battery, the controller and the laser radar are respectively installed in the installation cavity.

[0011] In any of the above technical solutions, the controller is provided with a charging interface electrically connected to the battery; the charging interface and the irradiation end of the laser radar respectively penetrate the side wall of the base and extend to the outside.

[0012] In any of the above technical solutions, the tank body and the battery are arranged correspondingly in the longitudinal direction, and are both located in the middle of the seat body in the longitudinal direction.

[0013] In any of the above technical solutions, each of the support wheels is elastically connected to the seat body through a support arm, and the support arm includes: an arm tube, fixed to the top of the inner wall of the installation cavity; an arm rod, sleeved inside the arm tube; one end of the arm rod passes through the bottom of the seat body and is connected to the support wheel, and the other end of the arm rod is connected to the top of the inner wall of the arm tube through a spring.

[0014] In any of the above technical solutions, a posture detector electrically connected to the controller is installed inside the installation cavity to obtain the posture data of the self-propelled base; and the support arm also includes: an electromagnet electrically connected to the controller, and the controller controls the current intensity flowing through the electromagnet through the posture data; the spring is connected to the top of the inner wall of the arm tube through the electromagnet; a permanent magnet is arranged laterally between the arm tube and the arm rod, and corresponds to the electromagnet longitudinally.

[0015] In any of the above technical solutions, a driving motor is installed at the bottom of the seat, and the output end of the driving motor is connected to the driving wheel; the driving motor is electrically connected to the controller; two driving wheels are provided, and the two driving wheels can rotate in the same direction or in opposite directions.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] By designing elastically connected support wheels and adjustable support arm structures, the robot can automatically adjust the height and support strength of the support wheels according to terrain changes. In this way, the robot can maintain stable movement in complex terrain, no longer restricted by flat ground, and avoids stuck and unable to pass. It effectively improves the robot's adaptability to complex terrain, solves the technical problem of difficulty in walking on uneven ground, and meets the disinfection needs of diverse environments.

[0018] Additional aspects and advantages of the embodiments of the present invention will become apparent in the following description or will be understood through practice of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the tank body and its connection structure of the utility model;

[0022] Figure 3 This is a schematic diagram of the battery and its connection structure of the utility model;

[0023] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0024] in, Figure 1-4 The corresponding relationship between the reference numerals and the component names is as follows:

[0025] 1 self-propelled base, 101 driving wheel, 102 supporting wheel, 103 base body, 104 driving motor, 2 disinfectant tank, 201 tank body, 2011 through hole, 202 suspension pipe, 3 atomizing nozzle, 301 nozzle, 4 control panel, 5 bracket, 6 laser radar, 7 battery, 8 support arm, 801 arm tube, 802 arm rod, 803 spring, 804 top plate, 805 permanent magnet, 806 electromagnet, 9 controller, 10 charging interface, 11 attitude detector. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0028] See also Figure 1-4 , the following describes an atomizing disinfection robot according to some embodiments of the utility model.

[0029] The embodiment of the first aspect of the present utility model provides an atomization disinfection robot. In some embodiments of the present utility model, such as Figure 1-4 As shown, the atomizing disinfection robot comprises:

[0030] The self-propelled base 1 includes a base body 103, a driving wheel 101 and a plurality of supporting wheels 102, wherein the driving wheel 101 and the supporting wheels 102 are respectively arranged at the bottom of the base body 103; the driving wheel 101 is used to drive the base body 103 to move on the ground; the supporting wheels 102 are elastically connected to the base body 103 to support the base body 103 when the base body 103 is deflected relative to the ground.

[0031] The disinfectant tank 2 is mounted on the upper surface of the base 103 and stores the disinfectant in an inner cavity formed therein.

[0032] The atomizing nozzle 3 is installed on the top of the disinfectant tank 2; the interior of the atomizing nozzle 3 is connected with the inner cavity of the disinfectant tank 2 to spray the disinfectant onto the ground.

[0033] The control panel 4 is installed on the upper surface of the base 103 through the bracket 5; the control panel 4 is electrically connected to the self-propelled base 1 and the atomizing nozzle 3 respectively to set the movement trajectory of the atomizing nozzle 3 driven by the self-propelled base 1; the control panel 4 is located below the atomizing nozzle 3 in the longitudinal direction.

[0034] The laser radar 6 is arranged on the base 103 ; the moving direction of the self-propelled base 1 on the moving track is the same as the irradiation direction of the laser radar 6 .

[0035] The utility model provides a kind of atomizing disinfection robot, the self-propelled base 1 is the core bearing structure of the robot, including a seat body 103, a driving wheel 101 and a plurality of supporting wheels 102: the seat body 103 is used as the main frame of the robot for installing various functional components, including an atomizing disinfection system and a control system; the driving wheel 101 is arranged at the bottom of the seat body 103, responsible for providing the robot with forward, backward and steering power. The driving wheel 101 is driven by a motor and can adjust the speed and direction according to the instructions of the control system; the supporting wheels 102 and a plurality of supporting wheels 102 are also arranged at the bottom of the seat body 103, but unlike the driving wheels 101, the supporting wheels 102 are connected to the seat body 103 by elastic connectors. For example, a spring 803 or a shock absorber is used to enable the supporting wheels 102 to provide adaptive support when the seat body 103 is deflected relative to the ground.

[0036] When the robot is traveling on a threshold, carpet or other uneven ground, the elastically connected support wheel 102 can automatically adjust its position according to the height change of the ground. This design enables the base 103 to remain stable and avoid stagnation caused by the wheels getting stuck; the elastic support wheel 102 provides reverse support force when the base 103 tilts to prevent the robot from tipping over due to the shift of the center of gravity. This is helpful for carrying heavier atomizing equipment or traveling on slopes.

[0037] The disinfectant tank 2 is installed on the upper surface of the base 103, and is provided with an inner cavity for containing disinfectant to ensure that the robot has an adequate supply of disinfectant when performing disinfection tasks; the inner cavity of the disinfectant tank 2 is connected to the interior of the atomizing nozzle 3 through a pipeline or a direct connection to ensure that the disinfectant can be smoothly delivered to the nozzle; the disinfectant tank 2 may be equipped with a liquid level sensor to monitor the remaining amount of disinfectant in real time to ensure that when the liquid level is lower than the set value, a replenishment prompt is sent to the control panel 4; a vent hole is designed or a pressure pump is used to maintain the stability of the pressure in the tank to ensure that the disinfectant is delivered to the atomizing nozzle 3 at a constant flow rate.

[0038] The control panel 4 is installed on the upper surface of the base 103 through the bracket 5, and is located below the atomizing nozzle 3, which is convenient for the operator to set and monitor; it is electrically connected to the self-propelled base 1 and the atomizing nozzle 3 respectively, and is used to set the robot's travel trajectory, disinfection parameters and operation mode; the operator can set the robot's disinfection route on the control panel 4, including the starting point, end point and key nodes in the path.

[0039] The laser radar 6 is installed on the base 103. The irradiation direction of the laser radar 6 is consistent with the travel direction of the self-propelled base 1. It is responsible for scanning the environment ahead and building a real-time environmental model. By emitting laser beams and receiving reflected signals, it calculates the distance and direction to surrounding objects and detects in real time whether there are obstacles ahead. The collected environmental data is transmitted to the control system, and combined with the preset travel trajectory, the route is dynamically adjusted to avoid obstacles.

[0040] To summarize, the support wheel 102 is connected to the base 103 through an elastic element (such as a spring 803 or a shock absorber), so that the support wheel 102 can be elastically extended and retracted in the vertical direction. When the robot travels to a threshold, carpet or uneven ground, the support wheel 102 can automatically rise and fall according to the changes in the terrain to provide necessary support and stability; it can smoothly cross small obstacles and uneven ground to avoid getting stuck, thereby improving the robot's passability in complex terrain. When the ground is tilted or undulating, the elastic support wheel 102 can adjust its posture to prevent the robot from tilting or tipping over, absorb the vibration caused by the uneven ground, reduce the impact on internal components, and extend the life of the equipment.

[0041] The driving wheel 101 provides forward power, and the elastic support wheel 102 assists in load-bearing and terrain adaptation, ensuring that effective driving force can be maintained in various terrains. The design of the seat body 103 takes into account the center of gravity layout and structural strength to adapt to the requirements of complex terrain; on uneven ground, the driving wheel 101 can still maintain good grip to prevent slipping, flexibly respond to different terrains, achieve smooth steering and movement, and enhance work efficiency.

[0042] Furthermore, a plurality of nozzles are formed circumferentially on the atomizing nozzle 3, and a nozzle 301 is installed on each nozzle.

[0043] As can be seen from the above, a plurality of nozzles are formed in the circumference of the atomizing nozzle 3, and a nozzle 301 is installed on each nozzle. Such a design is intended to expand the spraying range of the disinfectant, improve the atomization effect, and enable the disinfectant to cover the target disinfection area more evenly. Functionally, the setting of multiple nozzles allows the disinfectant to be sprayed from different directions at the same time, and the nozzle 301 on each nozzle is used to guide and control the spray angle and direction of the disinfectant, ensuring that the disinfectant can be sprayed in all directions and at multiple angles to achieve a more comprehensive disinfection effect.

[0044] This design of multiple nozzles plus nozzle 301 not only improves the disinfection efficiency, but also enhances the adaptability of the robot, and can meet the disinfection needs in different scenes and environments. For example, in a spacious hall, the angle of the nozzle 301 can be adjusted to make the spray range wider; in a narrow passage, the spray direction can be adjusted to avoid wasting disinfectant. In general, this design makes the atomizing nozzle 3 flexible and efficient, ensuring that the atomizing disinfection robot can perform at its best in various complex environments and complete high-quality disinfection tasks.

[0045] In any of the above embodiments, the disinfectant tank 2 includes a tank body 201 and a suspension pipe 202, and the tank body 201 is installed on the upper surface of the base body 103; the bottom of the suspension pipe 202 passes through the top of the tank body 201 and extends to the interior of the tank body 201, and the top of the suspension pipe 202 is fixedly assembled with the atomizing nozzle 3.

[0046] In this embodiment, the disinfectant tank 2 includes two main parts: a tank body 201 and a suspension pipe 202. The tank body 201 is mounted on the upper surface of the base 103, and a closed inner cavity for storing disinfectant is formed therein. The bottom of the suspension pipe 202 passes through the top of the tank body 201 and extends to the inside of the tank body 201, and the top is fixedly assembled with the atomizing nozzle 3.

[0047] During operation, the disinfectant is stored in the inner cavity of the tank 201, and the bottom of the suspension tube 202 penetrates into the disinfectant to form a liquid delivery channel. Since the suspension tube 202 passes through the top of the tank 201 and extends to the internal liquid area, the suspension tube 202 can ensure the continuous supply of the disinfectant regardless of how the liquid level of the disinfectant changes, avoiding the situation where the liquid supply is interrupted due to too low a liquid level. In this way, the disinfectant is stably delivered to the atomizing nozzle 3 through the suspension tube 202.

[0048] The atomizing nozzle 3 is fixedly mounted on the top of the suspension pipe 202 and is directly connected to the suspension pipe 202. After the disinfectant is transported from the suspension pipe 202 to the atomizing nozzle 3, the nozzle uses ultrasonic vibration or high-pressure jet technology to atomize the disinfectant into tiny droplets. These droplets are evenly sprayed onto the ground and in the air to achieve an efficient disinfection effect. The design of the suspension pipe 202 not only simplifies the liquid delivery path, reduces flow resistance and hysteresis, and improves the atomization efficiency, but also ensures the stable supply of disinfectant at different liquid levels.

[0049] In any of the above embodiments, a through hole 2011 is opened on the top of the tank body 201, and the suspension tube 202 is inserted into the through hole 2011; the tube wall of the suspension tube 202 is hollow so that the suspension tube 202 floats on the disinfectant.

[0050] In this embodiment, a through hole 2011 is formed on the top of the tank 201, and the suspension tube 202 is inserted into the through hole 2011. The tube wall of the suspension tube 202 is hollow so that it can float on the liquid surface of the disinfectant. With this structure, the suspension tube 202 is always kept above the liquid surface of the disinfectant and automatically rises and falls with the change of the liquid level, ensuring that the disinfectant can be continuously and stably delivered to the atomizing nozzle 3.

[0051] The disinfectant is stored in the inner cavity of the tank body 201. The suspension tube 202 is hollow in the wall and has a lower density than the disinfectant, so it can float on the liquid surface. The suspension tube 202 is inserted into the through hole 2011 at the top of the tank body 201, but an appropriate gap is left between the suspension tube 202 and the through hole 2011 to allow the suspension tube 202 to rise and fall freely. When the liquid level of the disinfectant drops, the suspension tube 202 will sink accordingly, but always remain above the liquid surface. The top of the suspension tube 202 is fixedly connected to the atomizing nozzle 3, and the disinfectant is stably transported to the atomizing nozzle 3 through the suspension tube 202, so that the continuity of the liquid supply can be guaranteed regardless of how the liquid level changes.

[0052] In any of the above embodiments, a hose is provided at the bottom liquid inlet of the atomizing nozzle 3 , and a lower end of the hose is provided at the lower end of the inner part of the tank body 201 .

[0053] In this embodiment, a hose is provided at the bottom liquid inlet of the atomizing nozzle 3, and the lower end of the hose is located at the lower end of the tank body 201. The function of this design is to ensure that the disinfectant in the disinfectant tank 2 can be fully utilized, and even if the liquid level drops to near the bottom of the tank body 201, the disinfectant can still be transported to the atomizing nozzle 3 through the hose for atomization spraying. The application of the hose increases the flexibility and continuity of the liquid supply system, prevents the interruption of liquid supply due to too low a liquid level, and improves the working efficiency and disinfection effect of the equipment.

[0054] The disinfectant is stored in the internal space of the tank body 201. One end of the hose is connected to the bottom liquid inlet of the atomizing nozzle 3, and the other end extends to the bottom of the tank body 201. When the disinfectant level is high, the liquid is smoothly transported to the atomizing nozzle 3 through the hose under the action of gravity or negative pressure. As the disinfectant is consumed, the liquid level gradually decreases, but because the lower port of the hose is always located at the bottom of the tank body 201, even if the liquid level is close to the bottom, the hose can continue to extract the remaining disinfectant. The flexible characteristics of the hose enable it to adapt to changes in the internal space of the tank body 201, avoiding the problem that the hard pipe cannot continue to supply liquid when the liquid level drops. Through this design, the full utilization of the disinfectant is ensured, waste is reduced, and at the same time, the continuous operation of the atomizing nozzle 3 is guaranteed, thereby improving the reliability and work efficiency of the atomizing disinfection robot.

[0055] In any of the above embodiments, the self-propelled base 1 also includes a battery 7 and a controller 9, and the controller 9 is electrically connected to the battery 7, the atomizing nozzle 3, the control panel 4 and the laser radar 6 respectively.

[0056] An installation cavity is formed inside the base 103, and the battery 7, the controller 9 and the laser radar 6 are respectively installed in the installation cavity.

[0057] In this embodiment, the self-propelled base 1 also includes a battery 7 and a controller 9, and the controller 9 is electrically connected to the battery 7, the atomizing nozzle 3, the control panel 4 and the laser radar 6 respectively. As the power source of the robot, the battery 7 provides a continuous and stable energy supply to ensure the normal operation of each component of the robot. As the core processing unit of the robot, the controller 9 is responsible for receiving and processing instructions from the control panel 4, as well as environmental data collected by sensors such as the laser radar 6, and then coordinating and controlling the movement of the self-propelled base 1, the working state of the atomizing nozzle 3, etc. An installation cavity is formed inside the base body 103, and the battery 7, the controller 9 and the laser radar 6 are respectively installed therein. This internal integrated design not only protects key components from the influence of the external environment, but also optimizes space utilization and improves the overall stability and reliability of the robot.

[0058] The battery 7 provides power for all electrical components. The instructions on the control panel 4 are transmitted to the controller 9 through an electrical connection. The controller 9 commands the driving wheels 101 and the supporting wheels 102 of the self-propelled base 1 to adjust the movement direction and speed of the robot according to the preset travel trajectory and disinfection parameters. At the same time, the laser radar 6 scans the surrounding environment in real time and sends the acquired obstacle information and terrain data to the controller 9. The controller 9 uses this data for path planning and obstacle avoidance processing to ensure that the robot moves safely along the set trajectory.

[0059] Specifically, the optional model of the controller 9 is the STM32 series microcontroller 9, which can be STM32F407, STM32F103; the STM32 series microcontroller 9 adopts a 32-bit ARM Cortex-M core with a main frequency of up to 168MHz, which can quickly process data from sensors such as lidar 6, gyroscopes, accelerometers, etc., to achieve real-time navigation and attitude control; supports multiple communication interfaces (UART, I2C, SPI, CAN, etc.), and is convenient for connecting the battery 7 management module, atomizing nozzle 3 control, motor drive, control panel 4 and other peripherals; has multiple energy-saving modes, which helps to extend the battery life of the robot and meet the needs of long-term disinfection operations.

[0060] In any of the above embodiments, the controller 9 is provided with a charging interface 10 electrically connected to the battery 7; the charging interface 10 and the irradiation end of the laser radar 6 respectively penetrate the side wall of the base 103 and extend to the outside.

[0061] In this embodiment, the atomizing disinfection robot is provided with a charging interface 10 electrically connected to the battery 7 on the controller 9. The charging interface 10 and the irradiation end of the laser radar 6 respectively penetrate the side wall of the base 103 and extend to the outside. The design of the charging interface 10 makes the charging process of the battery 7 more convenient. The operator can charge the robot directly through the external charging interface 10 without disassembling the base 103 or opening the inside of the machine, which improves the convenience and safety of charging. The irradiation end of the laser radar 6 penetrates the side wall of the base 103 and extends to the outside, ensuring that the transmission and reception of the laser radar 6 are not blocked by the structure of the base 103, thereby realizing all-round scanning and precise measurement of the external environment, and providing reliable environmental data to support the robot's autonomous navigation and obstacle avoidance functions.

[0062] In any of the above embodiments, the can body 201 and the storage battery 7 are arranged correspondingly in the longitudinal direction, and are both located in the middle of the seat body 103 in the longitudinal direction.

[0063] In this embodiment, the disinfectant tank 2 and the battery 7 are arranged correspondingly in the longitudinal direction, and are both located in the middle of the seat 103 in the longitudinal direction. Such a layout design makes the disinfectant tank 2 and the battery 7 form a longitudinal symmetrical distribution in the seat 103, and the center of gravity is concentrated in the center of the robot. By aligning the two in the longitudinal direction and placing them in the middle of the seat 103, the front and rear weight balance of the robot is ensured, and the overall stability is enhanced.

[0064] The concentrated and symmetrical center of gravity distribution makes the driving wheel 101 and the support wheel 102 evenly stressed, reducing the risk of slipping or rolling due to weight offset. When encountering uneven terrain, the elastically connected support wheel 102 can automatically adjust according to the ups and downs of the ground, but because the center of gravity is located in the middle, the robot as a whole can still maintain balance. In addition, this layout minimizes the length of the power lines and liquid delivery pipelines, reduces energy loss and liquid delivery resistance, and improves the efficiency of the system. By arranging the battery 7 and the disinfectant tank 2 in the middle of the seat body 103 in the longitudinal direction, the robot achieves a stable center of gravity layout and an efficient internal structure design, ensuring smooth operation and efficient disinfection in various complex environments.

[0065] In any of the above embodiments, each support wheel 102 is elastically connected to the base body 103 via a support arm 8, and the support arm 8 includes:

[0066] The arm tube 801 is fixed to the top of the inner wall of the installation cavity.

[0067] The arm rod 802 is sleeved inside the arm tube 801 ; one end of the arm rod 802 passes through the bottom of the seat body 103 and is connected to the support wheel 102 , and the other end of the arm rod 802 is connected to the top of the inner wall of the arm tube 801 through the spring 803 .

[0068] In this embodiment, each support wheel 102 is elastically connected to the base body 103 through a support arm 8, and the support arm 8 includes an arm tube 801 and an arm rod 802. The arm tube 801 is fixed to the top of the inner wall of the installation cavity, and the arm rod 802 is sleeved inside the arm tube 801, one end of which passes through the bottom of the base body 103 and is connected to the support wheel 102, and the other end is connected to the top of the inner wall of the arm tube 801 through a spring 803. Such a design enables the support wheel 102 to move elastically in the vertical direction, providing support and buffering for the base body 103, ensuring that the robot can adapt to the unevenness of the ground during travel, preventing tilting or vibration caused by terrain changes, and improving the stability and adaptability of the robot.

[0069] The support wheel 102 is in contact with the ground, bears part of the weight and provides support. When the robot travels on uneven ground, such as encountering bumps, depressions or small obstacles, the support wheel 102 will be subjected to vertical force from the ground. Since the arm rod 802 is sleeved in the arm tube 801 and connected to the top of the inner wall of the arm tube 801 through the spring 803, the vertical force on the support wheel 102 will cause the arm rod 802 to move up and down in the arm tube 801, and the spring 803 is compressed or stretched to provide elastic restoring force.

[0070] When the support wheel 102 encounters a bump on the ground, the arm 802 moves upward, the spring 803 is compressed, and the upward impact force is absorbed; after passing the bump, the spring 803 releases the compressed energy and pushes the arm 802 back to its original position. On the contrary, when encountering a depression on the ground, the support wheel 102 sinks, the spring 803 is stretched, and a downward pulling force is provided to ensure that the support wheel 102 is always in contact with the ground. Through the elastic action of the spring 803, the support wheel 102 can automatically adjust the height according to the ups and downs of the terrain, keep the seat 103 stable, and avoid tilting or shaking caused by uneven ground. This design of elastically connected support arm 8 enables the support wheel 102 to flexibly adapt to changes in the ground when the robot is traveling on complex terrain, providing continuous support and shock absorption effects, improving the robot's passability and stability, and ensuring the smooth progress of the disinfection operation.

[0071] Furthermore, the top of the arm rod 802 is connected to the spring 803 via the top plate 804 , and the circumferential side wall of the top plate 804 is slidably fitted with the inner wall of the arm tube 801 .

[0072] As can be seen from the above, the top of the arm 802 is connected to the spring 803 through the top plate 804, and the circumferential side wall of the top plate 804 is slidably fitted with the inner wall of the arm tube 801. The function of this design is to enhance the guidance and stability of the support arm 8, to ensure that the arm 802 always maintains the correct posture when moving up and down in the arm tube 801, and to prevent lateral shaking or deviation. At the same time, the top plate 804 acts as a connecting piece to effectively transfer the elastic force of the spring 803 to the arm 802, so that the support wheel 102 can be sensitively raised and lowered according to the undulations of the ground, ensuring that the robot remains stable during travel and adapts to different terrain changes.

[0073] In any of the above embodiments, a posture detector 11 electrically connected to the controller 9 is installed inside the installation cavity for obtaining posture data of the self-propelled base 1; and the support arm 8 further includes:

[0074] The electromagnet 806 is electrically connected to the controller 9 , and the controller 9 controls the intensity of the current flowing through the electromagnet 806 through the posture data; the spring 803 is connected to the top of the inner wall of the arm tube 801 through the electromagnet 806 .

[0075] The permanent magnet 805 is disposed between the arm tube 801 and the arm rod 802 in the transverse direction and corresponds to the electromagnet 806 in the longitudinal direction.

[0076] In this embodiment, a posture detector 11 electrically connected to the controller 9 is installed inside the installation cavity to obtain the posture data of the self-propelled base 1. The support arm 8 further includes an electromagnet 806 and a permanent magnet 805. The electromagnet 806 is electrically connected to the controller 9. The controller 9 controls the current intensity flowing through the electromagnet 806 through the posture data obtained by the posture detector 11. The spring 803 is connected to the top of the inner wall of the arm tube 801 through the electromagnet 806. The permanent magnet 805 is arranged horizontally between the arm tube 801 and the arm rod 802, and corresponds to the electromagnet 806 longitudinally. Such a design enables the robot to dynamically adjust the elastic supporting force of the support arm 8 according to the change of its own posture, so as to maintain balance and stability under complex terrain, prevent tilting or tipping, and improve the adaptability and safety of the robot.

[0077] The attitude detector 11 monitors the attitude data of the self-propelled base 1 in real time, such as the tilt angle and direction. When it is detected that the robot is tilted in a certain direction, the attitude detector 11 transmits the data to the controller 9. The controller 9 adjusts the current intensity flowing through the electromagnet 806 in the corresponding support arm 8 according to the degree and direction of the tilt. The electromagnet 806 is affected by the current, and the magnetic field strength changes accordingly, generating different degrees of magnetic repulsion or magnetic attraction with the corresponding permanent magnet 805. By adjusting the magnetic force of the electromagnet 806, the force state of the spring 803 can be changed, the degree of stretching or compression of the spring 803 can be increased or decreased, and the length and stiffness of the support arm 8 can be fine-tuned.

[0078] Specifically, the attitude detector 11 includes a gyroscope and an accelerometer, and adjusts the amount of current flowing through each electromagnet 806 in real time through the data detected by the gyroscope and the accelerometer to provide different strengths of magnetic repulsion assistance to each spring 803, so as to provide assistance adaptively in different ground conditions.

[0079] As can be seen from the above, the attitude detector 11 specifically includes a gyroscope and an accelerometer, which are used to monitor the attitude and motion state of the self-propelled base 1 in real time. By collecting the angular velocity and acceleration data of the robot in three-dimensional space, the attitude detector 11 can accurately determine whether the robot is tilted, shaken or has other attitude changes. Based on these real-time detected data, the controller 9 dynamically adjusts the amount of current flowing through each electromagnet 806, thereby changing the magnetic field strength generated by the electromagnet 806, and applying different degrees of magnetic repulsion to the corresponding spring 803. Such a design enables each support arm 8 to provide appropriate support strength according to the posture changes of the robot, enhance the adaptability and stability of the robot under different ground conditions, prevent tilting or tipping over, and ensure that the robot can smoothly and efficiently complete the disinfection task.

[0080] The gyroscope and accelerometer continuously monitor the posture and movement of the robot in three-dimensional space. The accelerometer measures linear acceleration and the gyroscope measures angular velocity. The data of both are transmitted to the controller 9 in real time. When the robot encounters uneven or inclined ground during travel, the posture detector 11 will capture subtle posture changes. The controller 9 calculates the support strength that each support arm 8 needs to adjust based on the acquired posture data. Subsequently, the controller 9 adjusts the amount of current flowing through each electromagnet 806, changes the magnetic field strength of the electromagnet 806, and generates different degrees of magnetic repulsion with the corresponding permanent magnet 805. The change of magnetic repulsion directly affects the force of the spring 803, causing the spring 803 to compress or stretch, thereby adjusting the length and elastic response of the support arm 8. In this way, the support arm 8 can quickly respond to changes in the ground, provide appropriate support and buffering, and maintain the balance and stability of the robot. This real-time, adaptive adjustment mechanism enables the robot to travel smoothly under various complex terrains, avoid tilting or tipping due to uneven ground, and improve the safety and work efficiency of the robot.

[0081] In any of the above embodiments, a driving motor 104 is mounted on the bottom of the seat body 103 , and an output end of the driving motor 104 is connected to the driving wheel 101 ; the driving motor 104 is electrically connected to the controller 9 .

[0082] Two driving wheels 101 are provided, and the two driving wheels 101 can rotate in the same direction or in opposite directions.

[0083] In this embodiment, a driving motor 104 is mounted at the bottom of the seat 103, and the output end of the driving motor 104 is connected to the driving wheel 101 and electrically connected to the controller 9. The robot is equipped with two driving wheels 101, which can rotate in the same direction or in opposite directions. Such a design enables the robot to have a high degree of maneuverability and flexibility, and can achieve multiple motion modes such as moving forward, backward, turning and rotating in place. By controlling the rotation direction and speed of the driving wheel 101, the robot can accurately move according to the set travel trajectory, meet the disinfection needs in different environments and complex terrains, and improve work efficiency and disinfection coverage.

[0084] The controller 9 sends a control signal to the drive motor 104 according to the preset path and the real-time data from the sensor. After receiving the signal, the drive motor 104 drives the drive wheel 101 to rotate through the output end. When the two drive wheels 101 rotate in the same direction and at the same speed, the robot will move forward or backward in a straight line; when the two drive wheels 101 rotate in the same direction but at different speeds, the robot will turn along the slower side to achieve curved motion; when the two drive wheels 101 rotate in opposite directions, the robot can rotate in place, that is, rotate around its own axis. This flexible driving method enables the robot to flexibly shuttle in a small space, complex terrain or environment with dense obstacles.

[0085] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0086] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A mist disinfection robot, characterized in that: include: The self-propelled base comprises a base body, a driving wheel and a plurality of supporting wheels, wherein the driving wheel and the supporting wheels are respectively arranged at the bottom of the base body; The driving wheel is used to drive the seat body to move on the ground; the supporting wheel is elastically connected to the seat body to support the seat body when the seat body is deflected relative to the ground; A disinfectant tank is mounted on the upper surface of the seat body and stores disinfectant in an inner cavity formed therein; an atomizing nozzle, mounted on the top of the disinfectant tank; the interior of the atomizing nozzle is connected to the inner cavity of the disinfectant tank so as to spray the disinfectant onto the ground; A control panel is mounted on the upper surface of the base through a bracket; the control panel is electrically connected to the self-propelled base and the atomizing nozzle respectively to set a moving track of the atomizing nozzle driven by the self-propelled base; The control panel is located below the atomizing nozzle in the longitudinal direction; The laser radar is arranged on the base; the travel direction of the self-propelled base on the travel track is the same as the irradiation direction of the laser radar.

2. The atomizing disinfection robot according to claim 1, characterized in that: The disinfectant tank includes a tank body and a suspension pipe, wherein the tank body is mounted on the upper surface of the base body; the bottom of the suspension pipe passes through the top of the tank body and extends to the inside of the tank body, and the top of the suspension pipe is fixedly assembled with the atomizing nozzle.

3. The atomizing disinfection robot according to claim 2, characterized in that: A through hole is opened on the top of the tank body, and the suspension tube is inserted inside the through hole; the tube wall of the suspension tube is hollow so that the suspension tube floats on the disinfectant.

4. The atomizing disinfection robot according to claim 2, characterized in that: The bottom liquid inlet of the atomizing nozzle is provided with a hose, and the lower end of the hose is arranged at the inner lower end of the tank body.

5. The atomizing disinfection robot according to claim 2, characterized in that: The self-propelled base also includes a battery and a controller, and the controller is electrically connected to the battery, the atomizing nozzle, the control panel and the laser radar respectively; An installation cavity is formed inside the base, and the battery, the controller and the laser radar are respectively installed in the installation cavity.

6. The atomizing disinfection robot according to claim 5, characterized in that: The controller is provided with a charging interface electrically connected to the battery; the charging interface and the irradiation end of the laser radar respectively penetrate the side wall of the base and extend to the outside.

7. The atomizing disinfection robot according to claim 5, characterized in that: The tank body and the storage battery are arranged correspondingly along the longitudinal direction, and are both located in the middle of the seat body along the longitudinal direction.

8. The atomizing disinfection robot according to claim 5, characterized in that: Each of the support wheels is elastically connected to the seat body through a support arm, and the support arm includes: An arm tube, fixed to the top of the inner wall of the installation cavity; An arm rod is sleeved inside the arm tube; one end of the arm rod passes through the bottom of the seat body and is connected to the supporting wheel, and the other end of the arm rod is connected to the top of the inner wall of the arm tube through a spring.

9. The atomizing disinfection robot according to claim 8, characterized in that: A posture detector electrically connected to the controller is installed inside the installation cavity for acquiring posture data of the self-propelled base; and the support arm further includes: The electromagnet is electrically connected to the controller, and the controller controls the current intensity flowing through the electromagnet according to the posture data; the spring is connected to the top of the inner wall of the arm tube through the electromagnet; The permanent magnet is arranged between the arm tube and the arm rod in the transverse direction and corresponds to the electromagnet in the longitudinal direction.

10. The atomization disinfection robot according to claim 5, characterized in that: The bottom of the seat body is equipped with a driving motor, the output end of the driving motor is connected to the driving wheel; the driving motor is electrically connected to the controller; Two driving wheels are provided, and the two driving wheels can rotate in the same direction or in opposite directions.

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