Apparatus and method for space sterilization service

Abstract

The present invention provides an apparatus and method for a space sterilization service, the apparatus comprising an air tank for storing high-pressure air, and a sterilizing solution tank for storing a sterilizing solution, wherein: the need for a separate compressor is eliminated to simplify the configuration and facilitate operation; a gas heater or a phase change material is used as an energy source required for vaporizing the sterilizing solution, thereby significantly reducing the electric energy consumption; and an angle-adjustable fan is provided to be applied to the diffusion and decomposition of the sterilizing solution so as to eliminate the need for a sanitation worker to install the fan, thereby shortening the working time and significantly enhancing worker safety.

Description

Space sterilization service device and method

[0001] The present invention relates to a space sterilization service, and more particularly, to a space sterilization service device including a robot that performs space sterilization, and a space sterilization service method using the same.

[0002] Recently, a space sterilization device equipped with a heating unit, a chamber, and a compressor has been used to heat a sterilizing liquid to generate sterilizing liquid vapor to perform space sterilization.

[0003] Conventional space sterilization devices utilize readily available electricity as the heating energy for their heating elements, and utilize a compressor to condense the sterilizing solution in a liquid carrier into droplets (splashes). Therefore, conventional space sterilization devices consume significant power, requiring constant power and, in practice, facing significant limitations when powered by batteries.

[0004] In addition, the space sterilization device of the prior art requires a separate circulation fan to disperse the generated sterilizing liquid vapor into the space, and thus, multiple circulation fans had to be installed around the space sterilization device.

[0005] Additionally, after the sterilization process began, there was the inconvenience of having to have a safety device to protect people from the sterilizing liquid in order to enter the space to be sterilized.

[0006] The concentration of hydrogen peroxide in the sterilizing solution required for sterilization is 100 ppm, and the concentration of hydrogen peroxide that humans can be exposed to is 1 ppm based on the TWA (Time Weighted Average) for 8 hours.

[0007] Hydrogen peroxide is a relatively safe sterilizing agent because it decomposes into water and oxygen, but it must be decomposed by waiting sufficient time until the concentration of hydrogen peroxide in the space drops below the standard level, or by installing a device such as a scrubber together with the sterilization device and operating it after the sterilization process is complete.

[0008] When using devices like the aforementioned scrubber, workers had to install circulation fans around the space sterilizer before starting the sterilization process to ensure the sterilizing solution was dispersed. These circulation fans, installed in this manner, were intended to evenly distribute the concentration within the space, and therefore cannot be considered optimized for decomposition.

[0009] Furthermore, the conventional space sterilization devices described above are labor-intensive and have limitations, such as process reliability varying depending on the operator's skill level. Since the target area for quarantine is indoors, the energy source for operating the space sterilization devices primarily relies on readily available electricity. Therefore, their use is limited in situations where power supply is unavailable.

[0010] The present invention aims to provide a space sterilization service device and method that excludes the configuration of a separate compressor, including an air tank capable of storing high-pressure air for spraying a sterilizing solution in a droplet state.

[0011] Another object of the present invention is to provide a space sterilization service device and method that can significantly reduce electrical energy consumption by using a gas heater or a phase change material as an energy source required for vaporizing a sterilizing liquid.

[0012] Another object of the present invention is to provide a space sterilization service device and method that are equipped with an angle-adjustable fan and are applied to the diffusion and decomposition of a sterilizing liquid, thereby eliminating the need for a quarantine worker to perform the installation work of the fan.

[0013] Another object of the present invention is to provide a space sterilization service device and method that can analyze the diffusion and degree of disinfection of a sterilizing solution by merging a thermal image and a lidar image.

[0014] Another object of the present invention is to provide a space sterilization service device and method that can effectively perform quarantine based on the above analysis results.

[0015] Another object of the present invention is to provide a space sterilization service device and method that facilitates space sterilization preparation work by simultaneously charging a robot's battery and charging high-pressure air and gas or a heat source.

[0016] One embodiment of the present invention provides a space sterilization service robot including a robot power unit that is charged by receiving an external power supply and supplies power for driving; a sterilization vapor generation unit that stores a sterilization liquid and then receives heat to generate sterilization liquid vapor; a heat source unit that stores a heat source material and supplies heat for generating the sterilization liquid vapor to the sterilization liquid vapor generation unit; a circulation and scrubber unit that selectively performs diffusion and decomposition of the sterilization liquid vapor generated in the sterilization liquid vapor generation unit; a driving unit that receives power from the robot power unit to supply driving power; a sensor unit that measures at least one of a diffusion state and a temperature image of the sterilization liquid; and a robot control unit that controls driving for space sterilization.

[0017] The above robot power supply unit may be configured to be equipped with a battery and provide power required for each device of the space sterilization service robot.

[0018] The above sterilizing liquid vapor generating unit may be configured to include a compressed air tank storing high-pressure air for generating sterilizing liquid vapor; a sterilizing liquid tank storing sterilizing liquid for generating the sterilizing liquid vapor; and a sterilizing liquid vapor generator that receives heat supplied from the heat source unit and heats high-pressure air and sterilizing liquid supplied from the compressed air tank and the sterilizing liquid tank to generate sterilizing liquid vapor.

[0019] The above heat source unit may be configured to include a fuel tank storing the heat source material; and a heat source generator that generates heat by the heat source material supplied from the fuel tank and supplies the heat to the sterilizing liquid steam generator.

[0020] The above heat source material may include one or more of a phase change material (PMC) or a combustion gas.

[0021] The above circulation and scrubber section may be configured to include a fan; and a scrubber in which the fan is installed so that the circulation and inclination are controlled, and a filter is installed for decomposition of the sterilizing liquid.

[0022] The above driving unit can be driven by including a driving device, a power transmission unit, a wheel, and software that controls the operation of the driving unit.

[0023] The above sensor unit may be configured to include a gas sensor module for measuring the concentration of the sterilizing liquid; and an image sensor module for measuring the diffusion state of the sterilizing liquid vapor.

[0024] The image sensor module may include at least one of a lidar sensor module and a temperature image sensor module.

[0025] Another embodiment of the present invention can provide a space sterilization service device comprising: a space sterilization service robot that provides a space sterilization service by generating sterilizing liquid vapor; and a docking station that supplies sterilizing liquid, heat source gas, and charging power to the space sterilization service robot.

[0026] The above docking station may be configured to include an electric charging unit that supplies battery charging power to the space sterilization service robot; a sterilizing solution charging unit that supplies and charges a sterilizing solution to the space sterilization service robot; a gas charging unit that supplies and charges the space sterilization service robot with high-pressure air for generating sterilizing solution vapor and at least one heat source material among a phase change material or a fuel gas to the heat source unit; a connection unit that connects the space sterilization service robot to perform charging of at least one of power, high-pressure air, sterilizing solution, and heat source material; and a docking control unit that controls charging of at least one of power, high-pressure air, sterilizing solution, and heat source material.

[0027] The above gas charging unit may be configured to charge the space sterilization service robot by supplying high-pressure air for generating sterilizing liquid vapor and a heat source material to the heat source unit.

[0028] The above heat source material may include one or more of a phase change material and a fuel gas.

[0029] Another embodiment of the present invention provides a space sterilization service method of a space sterilization service device including a space sterilization service robot and a docking station, the space sterilization service robot comprising: a step of setting a disinfection path for a space to be disinfected; a step of moving along the set disinfection path and generating sterilizing liquid vapor to perform disinfection; a step of measuring a sterilizing liquid concentration distribution in the space to be disinfected; a step of comparing the sterilizing liquid concentration in the space to be disinfected with a reference value to determine whether sterilizing liquid vapor is to be released; a step of resetting a disinfection path for re-emitting the sterilizing liquid vapor along the reset disinfection path when the sterilizing liquid concentration in the space to be disinfected does not exceed the reference value as a result of determining whether sterilizing liquid vapor is to be released; a step of maintaining disinfection for a predetermined period of time while stopping the emission of the sterilizing liquid vapor when the sterilizing liquid concentration in the space to be disinfected exceeds the reference value as a result of determining whether sterilizing liquid vapor is to be released; A space sterilization service method is provided, including a step of removing sterilizing liquid vapor within the sterilization space after a predetermined period of time for maintaining the sterilization has elapsed; and a step of returning to the docking station and waiting after the sterilizing liquid vapor has been removed.

[0030] The step of determining whether to release the sterilizing solution vapor may further include a step of determining whether to release the sterilizing solution vapor by determining whether the sterilizing solution concentration within the space to be disinfected is uniform, and the step of resetting the disinfection path may further include a step of determining whether the distribution of the sterilizing solution concentration within the space to be disinfected is uniform, and if the distribution of the sterilizing solution concentration within the space to be disinfected is not uniform, resetting the disinfection path and then re-releasing the sterilizing solution vapor along the reset disinfection path.

[0031] The present invention provides a space sterilization service device and method having a simple configuration and easy operation by excluding the configuration of a separate compressor, including an air tank and a sterilizing liquid tank capable of storing high-pressure air for spraying a sterilizing liquid in a droplet state.

[0032] The present invention provides an effect that can significantly reduce electrical energy consumption by using a gas heater or a phase change material as an energy source required for vaporizing a sterilizing liquid.

[0033] The present invention provides an effect of shortening the work time and significantly improving the safety of workers by applying a fan with an angle adjustment function to the diffusion and decomposition of a sterilizing solution, thereby eliminating the need for a sterilizer to perform the installation work of the fan.

[0034] Another object of the present invention is to provide a space sterilization service device and method that can analyze the diffusion and degree of disinfection of a sterilizing solution by merging a thermal image and a lidar image.

[0035] The present invention provides an effect that enables effective quarantine based on the above analysis results.

[0036] The present invention provides an effect that facilitates the space sterilization preparation work by simultaneously charging the robot's battery and charging high-pressure air and gas or a heat source.

[0037] The present invention provides the effect of enabling complete automation by combining the advantages of the existing sterilization / disinfection method using verified sterilizing liquid steam and the application of robotic technology, although complete automation has not been easy in existing sterilization and disinfection methods in hospitals, GMP (Good Manufacturing Practice) facilities, etc. due to the problem of requiring a lot of electricity.

[0038] The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0039] Figure 1 is a functional block diagram of a space sterilization service device (1) of one embodiment.

[0040] Figure 2 is a detailed configuration diagram of the sterilizing liquid vapor generating unit (120) of the space sterilization service robot (10) of Figure 1.

[0041] Figure 3 is a detailed configuration diagram of the heat source unit (130) of the space sterilization service robot (10) of Figure 1.

[0042] Fig. 4 is a drawing showing the fan (141) and scrubber (143) of the space sterilization service robot (10) of Fig. 1.

[0043] Figure 5 is a detailed configuration diagram of the sensor unit (160) of the space sterilization service robot (10) of Figure 1.

[0044] Figure 6 is a graph showing the exothermic reaction of hydrogen peroxide in a sterilizing solution.

[0045] Fig. 7 is a drawing showing a temperature change image measured by a temperature image sensor module (163).

[0046] Fig. 8 is a drawing showing a lidar sensor image measured by a lidar sensor module (165).

[0047] Figure 9 is a diagram showing the synthesis of a temperature change image and a lidar sensor image.

[0048] Figure 10 is a flowchart showing the processing process of a space sterilization service method of one embodiment.

[0049] Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed in this specification are merely illustrative for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described in this specification.

[0050] Embodiments according to the concept of the present invention may have various modifications and take various forms, and thus, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit embodiments according to the concept of the present invention to specific disclosed forms, but rather includes modifications, equivalents, or alternatives that fall within the spirit and technical scope of the present invention.

[0051] While terms such as "first" or "second" may be used to describe various components, these components should not be limited by these terms. These terms are intended solely to distinguish one component from another. For example, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component," without departing from the scope of the invention.

[0052] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components in between. Conversely, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Expressions that describe relationships between components, such as "between," "immediately between," or "directly adjacent to," should be interpreted similarly.

[0053] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, it should be understood that the terms "comprises" or "has" are intended to specify the presence of a described feature, number, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0054] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0055] Hereinafter, embodiments will be described in detail with reference to the attached drawings. However, the scope of the patent application is not limited or restricted by these embodiments. The same reference numerals in each drawing represent the same components.

[0056] Figure 1 is a functional block diagram of a space sterilization service device (1) of one embodiment.

[0057] As shown in Fig. 1, the space sterilization service device (1) can be configured to include a space sterilization service robot (10) (hereinafter referred to as 'robot (10)') and a docking station (20).

[0058] The robot (10) may be configured to include a robot power supply unit (110) that is charged by receiving external power and supplies power for driving, a sterilizing liquid vapor generation unit (120) that stores a sterilizing liquid and then receives heat to generate sterilizing liquid vapor, a heat source unit (130) that stores a heat source material and supplies heat for generating the sterilizing liquid vapor to the sterilizing liquid vapor generation unit (120), a circulation and scrubber unit (140) that selectively performs diffusion and decomposition of the sterilizing liquid vapor generated in the sterilizing liquid vapor generation unit, a driving unit (150) that receives power from the robot power supply unit and supplies driving force, a sensor unit (160) that measures at least one of a diffusion state and a temperature image of the sterilizing liquid, and a robot control unit ()) that controls driving for space sterilization.

[0059] The above robot (10) can be configured to be driven by autonomous driving.

[0060] The above robot power supply unit (110) may be configured to be equipped with a battery and provide power required for each device of the space sterilization service robot.

[0061] Figure 2 is a detailed configuration diagram of the sterilizing liquid vapor generating unit (120) of the space sterilization service robot (10) of Figure 1.

[0062] The above sterilizing liquid vapor generating unit (120) may be configured to include a compressed air tank (121) that stores compressed air for generating the sterilizing liquid vapor, a sterilizing liquid tank (123) that stores the sterilizing liquid for generating the sterilizing liquid vapor, and a sterilizing liquid vapor generator (125) that receives heat supplied from the heat source unit and heats the high-pressure air and sterilizing liquid supplied from the compressed air tank and the sterilizing liquid tank to generate sterilizing liquid vapor.

[0063] The sterilizing liquid vapor generating unit (120) of the above configuration creates hydrogen peroxide vapor using high-pressure air and hydrogen peroxide in a liquid state stored in the robot (10).

[0064] To facilitate the vaporization of hydrogen peroxide, an example of the aforementioned sterilizing solution, into a liquid droplet state, compressed air is required. Conventional techniques have used compressors to generate high-pressure air within the device. Consequently, this has posed the problem of requiring compressors to be installed within all sterilizing robots. Furthermore, utilizing this in mobile robots requires batteries as power, which reduces the operating time of the mobile robot due to limited battery capacity.

[0065] The present invention comprises a device that allows the mobile robot (10) to receive high-pressure air from a charging station without installing a separate compressor. This has the advantage of allowing air charged from a single compressor to be injected into multiple robots (10). Furthermore, since the robot (10) does not use separate energy required for air compression, the operating time of the robot (10) can be increased.

[0066] Figure 3 is a detailed configuration diagram of the heat source unit (130) of the space sterilization service robot (10) of Figure 1.

[0067] The above heat source unit (130) may be configured to include a fuel tank (131) that stores a heat source material and a heat source generator (133) that generates heat by the heat source material supplied from the fuel tank (131) and supplies the heat to the sterilizing liquid steam generator (125).

[0068] The above heat source material may include one or more of a phase change material (PMC) or a combustion gas.

[0069] The above heat source unit (130) uses a gas heater or a phase change material to heat hydrogen peroxide, one of the sterilizing liquids, and high-pressure air, thereby providing a heat energy source to the sterilizing liquid vapor generating unit (120) so that the hydrogen peroxide can easily vaporize or vaporize.

[0070] The smaller the hydrogen peroxide particle size, the greater its disinfection effect and the lower the risk of corrosion due to condensation. For this reason, hydrogen peroxide must be vaporized into a vapor, which requires a large amount of heat energy. Existing inventions have used electric coil heaters as a heat source. Electric coil heaters are used because they are readily available in indoor spaces. However, mobile robots cannot be supplied with constant power, requiring the use of stored energy, such as batteries. This necessitates the installation of high-capacity batteries. Furthermore, charging these batteries can be time-consuming.

[0071] In order to solve this problem, the present invention proposes a quarantine robot that uses two heat sources.

[0072]

[0073] This is a quarantine robot that uses phase change materials (PMC) as its first heat source. This method utilizes the heat energy released by the PMC as it changes state to vaporize hydrogen peroxide. Conversely, when the quarantine robot is charging its battery, it can use constant power, so the PMC absorbs a large amount of heat.

[0074] This method involves using a gas heater as a second heat source, a disinfection robot, to vaporize hydrogen peroxide using the heat generated by burning gas. While indoor combustion using a gas heater requires a large amount of oxygen, this is not a problem because hydrogen peroxide decomposes and generates a large amount of oxygen. Furthermore, the structure of the gas heater allows a significant amount of heat energy to escape outside the robot through the exhaust port. This increases the temperature of the disinfection space, lowering the relative humidity within the space and effectively increasing the concentration of hydrogen peroxide in the air. This can help increase disinfection efficiency. The gas required for the gas heater can be recharged in gas form when the robot's battery is recharged, or the gas tank can be replaced within the robot.

[0075] FIG. 4 is a drawing showing a circulation and scrubber section (140) equipped with a fan (141) and a scrubber (143) of the space sterilization service robot (10) of FIG. 1.

[0076] The above circulation and scrubber unit (140) may be configured to include a fan (141) installed to control circulation and inclination and a scrubber (143) equipped with a filter (145) for decomposition of the sterilizing liquid.

[0077] The above circulation and scrubber unit (140) is equipped with a fan (141) capable of adjusting the circulation and inclination and a scrubber (143) equipped with a filter (145) capable of decomposing hydrogen peroxide, respectively. The circulation and scrubber unit (140) of the above configuration controls the angle of the fan (141) so as not to be affected by the filter (145) when the hydrogen peroxide vapor needs to be diffused, thereby helping the hydrogen peroxide vapor to be well mixed within the space. Meanwhile, when the hydrogen peroxide needs to be quickly decomposed, the fan (141) is maintained in a state of being coupled to the upper portion of the scrubber unit (140) to function as a suction fan so that the hydrogen peroxide can be decomposed through the filter (145).

[0078] In conventional disinfection techniques using hydrogen peroxide vapor, a separate circulation fan is installed within the sterilizer or within the space to ensure smooth diffusion of the hydrogen peroxide vapor generated by the sterilizer. These circulation fans do not use algorithm-based control; they simply rotate. Meanwhile, scrubbers are used to rapidly decompose hydrogen peroxide within the space, using fans to draw air through the hydrogen peroxide filter.

[0079] In the present invention, a scrubber (143) equipped with a circulation fan (141) and a filter (145) is mounted on a robot (10), and the fan (141) is not used separately, but is used in an integrated manner with the scrubber (143).

[0080] When diffusion of hydrogen peroxide vapor is required, the fan (141) is operated to circulate the air within the space by adjusting it vertically or at an arbitrary angle. When rapid decomposition of hydrogen peroxide in the air is required, the filter (145) is coupled to the upper part of the scrubber (143) and operated to suck in air so that the hydrogen peroxide is decomposed.

[0081] High-concentration hydrogen peroxide vapor generated in the sterilizing liquid vapor generation unit (120) can be diffused by a fan that is vertically or inclined, thereby minimizing the concentration variation of hydrogen peroxide within the space. At this time, an algorithm can be applied that enables the mobile robot (10) to rotate in the direction required for diffusion of hydrogen peroxide vapor to efficiently diffuse it.

[0082] Meanwhile, after hydrogen peroxide has sufficiently diffused within the space, the concentration of hydrogen peroxide must be decomposed to 1 ppm or less for people to enter the space. To achieve this, a scrubber (143) can be used to rapidly decompose the hydrogen peroxide, and a fan (141) can be adjusted horizontally to allow air to be sucked in and operated while attached to the upper portion of the scrubber (143).

[0083] The above driving unit (150) can be driven by including a driving device, a power transmission device, wheels, and software that controls the operation of the driving unit (150) that are basically necessary for the robot (10) to move.

[0084] Figure 5 is a detailed configuration diagram of the sensor unit (160) of the space sterilization service robot (10) of Figure 1.

[0085] The sensor unit (160) may be configured to include a gas sensor module (161) for measuring the concentration of the sterilizing solution and an image sensor module (163) for measuring the diffusion state of the sterilizing solution vapor. The image sensor module (163) may include at least one of a lidar sensor module (165) and a temperature sensor module (167). The sensor unit (160) may merge video images obtained from the lidar sensor module (165) and the temperature sensor module (167) and provide the combined image to the robot (10).

[0086] FIG. 6 is a graph showing an exothermic reaction of hydrogen peroxide in a sterilizing solution, FIG. 7 is a drawing showing a temperature change image measured by a temperature image sensor module (163), FIG. 8 is a drawing showing a lidar sensor image measured by a lidar sensor module (165), and FIG. 9 is a drawing showing the synthesis of a temperature change image and a lidar sensor image.

[0087] For space disinfection using hydrogen peroxide, the concentration of hydrogen peroxide must be at least 100 ppm. This requires sufficient time and concentration to allow the reactive oxygen species generated by the hydrogen peroxide to decompose and destroy microbial cellular components. From this perspective, it is crucial to monitor the extent of hydrogen peroxide decomposition on walls, floors, and objects (chairs, desks, equipment, etc.) within the space.

[0088] The present invention is characterized by estimating the degree of surface disinfection by tracking the degree of thermal decomposition reaction during the hydrogen peroxide decomposition process. More specifically, since hydrogen peroxide is decomposed by an exothermic reaction as shown in Fig. 6, a temperature difference occurs before and after decomposition, and the present invention is characterized by a disinfection robot including a step of recognizing this through a thermal imaging camera (sensor), a step of combining an image of the temperature difference in the thermal imaging image with a lidar sensor image to estimate the degree of disinfection performed on each wall, floor, and object in the space, and a step of controlling the robot's movement and circulation fan by an algorithm that takes into account the degree of disinfection performed.

[0089] For example, by merging and analyzing temperature change images with lidar sensor images, the robot can determine the level of hydrogen peroxide exposure for each object, wall, floor, etc. within the space it is disinfecting, thereby minimizing the difference in hydrogen peroxide concentration within the space. This means that the amount of hydrogen peroxide used for disinfection can be minimized, and this can be very effective because the time for people to enter the space can be minimized by using a scrubber to break down hydrogen peroxide.

[0090] Figure 10 is a flowchart showing the processing process of a space sterilization service method of one embodiment.

[0091] The above space sterilization service method is a space sterilization service method of a space sterilization service device including a space sterilization service robot and a docking station, comprising: a step (S10) in which the space sterilization service robot sets a disinfection path for a space to be disinfected; a step (S20) in which the space sterilization service robot moves along the set disinfection path and generates sterilizing solution vapor to perform disinfection; a step (S30) in which the sterilizing solution concentration distribution of the space to be disinfected is measured; a step (S40) in which the sterilizing solution concentration in the space to be disinfected is compared with a reference value to determine whether sterilizing solution vapor is to be released; a step (S50) in which the sterilizing solution concentration in the space to be disinfected does not exceed the reference value as a result of the determination of whether sterilizing solution vapor is to be released, the disinfection path is reset to a disinfection path for re-emitting the sterilizing solution vapor along the reset disinfection path; and a step (S50) in which the sterilizing solution concentration in the space to be disinfected exceeds the reference value as a result of the determination of whether sterilizing solution vapor is to be released is stopped for a certain period of time. It may include a step of maintaining quarantine (S60), a step of removing sterilizing liquid vapor within the quarantine space after a certain period of time for maintaining quarantine has elapsed (S70), and a step of returning to the docking station and waiting after the sterilizing liquid vapor is removed (S80).

[0092] The step (S40) of determining whether the sterilizing liquid vapor is released may further include a step of determining whether the sterilizing liquid vapor is released by determining whether the sterilizing liquid concentration within the space to be disinfected is uniform.

[0093] The above-mentioned disinfection path resetting step (S50) may further include a step of determining whether the sterilizing solution concentration distribution within the disinfection space is uniform, and if the sterilizing solution concentration distribution within the disinfection target space is not uniform, resetting the disinfection path and then re-releasing the sterilizing solution vapor along the reset disinfection path.

[0094] The devices described above may be implemented as hardware components, software components, and / or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0095] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0096] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0097] Although the embodiments described above have been described with limited drawings, those skilled in the art will recognize that various modifications and variations can be made based on the above description. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0098] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A robot power supply that receives external power, is charged, and supplies power for operation; A sterilizing liquid vapor generating unit that supplies heat to generate sterilizing liquid vapor after storing the sterilizing liquid; A heat source unit storing a heat source material and supplying heat for generating the sterilizing liquid vapor to the sterilizing liquid vapor generating unit; A circulation and scrubber section that selectively performs diffusion and decomposition of the sterilizing liquid vapor generated in the above sterilizing liquid vapor generating section; A driving unit that supplies driving force by receiving power from the above robot power supply unit; A sensor unit for measuring at least one of the diffusion state and temperature images of the above sterilizing solution; and Including a robot control unit that controls the drive for space sterilization. Space sterilization service robot.

2. In paragraph 1, The above robot power supply unit, It is configured to be equipped with a battery and provide the necessary power to each device of the above space sterilization service robot. Space sterilization service robot.

3. In paragraph 1, The above sterilizing liquid steam generating unit is, A compressed air tank storing high-pressure air for generating the above sterilizing liquid vapor; A sterilizing solution tank storing the sterilizing solution for generating the sterilizing solution vapor; and It comprises a sterilizing liquid steam generator that receives heat supplied from the above heat source unit, heats high pressure air and sterilizing liquid supplied from the compressed air tank and the sterilizing liquid tank, and generates sterilizing liquid vapor. Space sterilization service robot.

4. In paragraph 1, The above heat source part is, a fuel tank storing the above heat source material; and It comprises a heat source generator that generates heat by a heat source material supplied from the fuel tank and supplies it to the sterilizing liquid steam generator. Space sterilization service robot.

5. In paragraph 4, The above heat source material comprises at least one of a phase change material (PMC) or a combustion gas. Space sterilization service robot.

6. In paragraph 1, The above circulation and scrubber parts are, Fan; and The above fan is installed so that the circulation and inclination are controlled, and comprises a scrubber equipped with a filter for decomposition of the sterilizing liquid. Space sterilization service robot.

7. In paragraph 1, The above driving part, A driven device including a driving device, a power transmission device, wheels and software controlling the operation of the driving device. Space sterilization service robot.

8. In paragraph 1, The above sensor part, A gas sensor module for measuring the concentration of the above sterilizing solution; and Consisting of an image sensor module that measures the diffusion state of the above sterilizing liquid vapor. Space sterilization service robot.

9. In paragraph 8, The above image sensor module, Comprising at least one of a lidar sensor module and a temperature image sensor module Space sterilization service robot.

10. A space sterilization service robot that provides space sterilization service by generating sterilizing liquid vapor; and The above space sterilization service robot comprises a docking station that supplies sterilizing liquid, heat source gas, and charging power. Space sterilization service device, 11. In paragraph 10, The above docking station, An electric charging unit that supplies battery charging power to the above space sterilization service robot; A sterilizing solution filling unit that supplies and fills a sterilizing solution to the above space sterilization service robot; A gas charging unit for charging the above space sterilization service robot by supplying high pressure air for generating sterilizing liquid vapor and at least one heat source material among a phase change material or a fuel gas to the heat source unit; A connection part for said space sterilization service robot to perform charging of one or more of power, high pressure air, sterilizing liquid and heat source material; and Consisting of a docking control unit that controls the charging of one or more of power, high pressure air, sterilizing liquid, and heat source material. Space sterilization service device, 12. In paragraph 11, The above gas charging part, The above space sterilization service robot supplies high pressure air for generating sterilizing liquid vapor and heat source material to the above heat source to charge it. Space sterilization service device, 13. In paragraph 12, The above heat source material is, Containing at least one of a phase change material and a fuel gas Space sterilization service device, 14. A space sterilization service method of a space sterilization service device including a space sterilization service robot and a docking station, A step in which the above space sterilization service robot sets a disinfection path for the space to be disinfected; A step of performing quarantine by moving along the established quarantine path and generating sterilizing liquid vapor; A step of measuring the concentration distribution of a sterilizing solution in the above-mentioned quarantine target space; A step of comparing the concentration of sterilizing solution within the above-mentioned quarantine target space with a reference value to determine whether sterilizing solution vapor is released; A quarantine path resetting step of resetting the quarantine path and then re-releasing the sterilizing solution vapor along the reset quarantine path when the sterilizing solution concentration within the quarantine target space does not exceed the threshold as a result of determining whether the sterilizing solution vapor is released; A step of maintaining quarantine for a certain period of time while stopping the emission of the sterilizing solution vapor when the concentration of the sterilizing solution within the space to be quarantined exceeds the above threshold as a result of determining whether the sterilizing solution vapor is released; A step of removing the sterilizing liquid vapor within the quarantine space after a certain period of time for maintaining the quarantine has elapsed; and Including a step of returning to the docking station and waiting after the sterilizing liquid vapor is removed. Method of space sterilization service.

15. In paragraph 14, The step of determining whether the above sterilizing solution vapor is released is: It further includes a step of determining whether the concentration of the sterilizing solution in the above-mentioned quarantine target space is uniform and determining whether the sterilizing solution vapor is released. The above quarantine route reset steps are: A method for determining whether the sterilizing solution concentration distribution within the above-mentioned quarantine space is uniform, and if the sterilizing solution concentration distribution within the above-mentioned quarantine target space is not uniform, further comprising the step of resetting the quarantine path and then re-releasing the sterilizing solution vapor along the reset quarantine path. Method of space sterilization service.

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