CN213490841U - Mobile sterilization robot - Google Patents
Mobile sterilization robot Download PDFInfo
- Publication number
- CN213490841U CN213490841U CN202021614843.8U CN202021614843U CN213490841U CN 213490841 U CN213490841 U CN 213490841U CN 202021614843 U CN202021614843 U CN 202021614843U CN 213490841 U CN213490841 U CN 213490841U
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- CN
- China
- Prior art keywords
- mobile
- base
- host computer
- movable base
- water tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000004659 sterilization and disinfection Methods 0.000 title abstract description 18
- 230000001954 sterilising effect Effects 0.000 title description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 239000007921 spray Substances 0.000 claims description 11
- 238000000889 atomisation Methods 0.000 claims description 8
- 230000002070 germicidal effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims 1
- 239000003814 drug Substances 0.000 abstract description 8
- 239000007788 liquid Substances 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 abstract description 6
- 238000012876 topography Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 241000700605 Viruses Species 0.000 description 4
- 239000000047 product Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
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- Apparatus For Disinfection Or Sterilisation (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a remove robot that disappears, including removing base, laser radar, ultrasonic radar, drive wheel, driving motor, data receiving unit, atomizing water tank, atomizer, arm, nozzle and sterilamp. In data transmission to the host computer through data receiving element with user's appointed, the drive wheel drives and removes the base and advance along route and the speed that sets up, and ultrasonic radar and laser radar carry out the survey and drawing location to the topography and feed back to the host computer on, thereby the host computer calculates according to data and keeps away the barrier route and avoid the barrier, thereby host computer control atomizer opens and spouts liquid medicine from the nozzle and disappears and kill to the destination back, the host computer opens sterilamp and disappears when needing to carry out sterilamp. And the target object can be positioned by the depth camera and moved to the periphery of the target object by the mechanical arm, so that accurate disinfection is achieved. Compared with the prior art, the scheme has the advantages that automatic killing is realized, time and labor are saved, and a large amount of labor cost is reduced.
Description
Technical Field
The utility model relates to a disinfection field, especially a remove robot that disappears.
Background
Since the new crown virus epidemic situation, the disinfection and sterilization work in public places becomes more important, but the traditional method is to kill the crown virus by manpower or by using an ultraviolet lamp. The disinfection and killing of the manual mode is to spray the disinfectant to the space area needing to be disinfected and killed manually, the mode is time-consuming and labor-consuming, all areas can not be covered, the efficiency is low, meanwhile, disinfection and killing personnel still have the risk of being infected, and the ultraviolet lamp disinfection and killing can not directly contact the human body, so that the use of an application scene is limited.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, an object of the utility model is to provide a thereby can disappear automatically and kill robot replaces the manual work to disappear and kills.
The utility model discloses a technical scheme that the solution problem adopted is: a mobile killing robot comprising:
the mobile base is provided with a host, the mobile base is provided with a laser radar and an ultrasonic radar which are electrically connected with the host, the bottom of the mobile base is provided with a driving wheel, the mobile base is provided with a driving motor connected with the driving wheel, the mobile base is provided with a data receiving unit connected with the host, and the mobile base is provided with a battery;
the atomization water tank is arranged on the movable base, and an atomizer is arranged in the atomization water tank;
the mechanical arm is arranged on the movable base, the depth camera is arranged on the mechanical arm or the movable base, and the mechanical arm and the depth camera are electrically connected with the host;
the nozzle is arranged on the mechanical arm, the rear end of the nozzle is connected with a spray pipe, and the spray pipe is communicated with the atomizer;
the ultraviolet germicidal lamp is arranged on the movable base.
As a further improvement of the technical scheme, an inertia measurement module is arranged on the movable base.
As a further improvement of the technical scheme, the mechanical arm is a six-axis mechanical arm.
As a further improvement of the technical scheme, the capacity of the water tank is 16L.
As a further improvement of the technical scheme, a plurality of fixed nozzles communicated with the atomization water tank are arranged on the movable base.
As a further improvement of the above technical solution, the driving wheel includes two driving wheels and a driven wheel, the bottom of the movable base is provided with two driving motors, the two driving wheels are arranged in parallel at the bottom of the movable base and are respectively connected with the corresponding driving motors, and the driven wheel is not flush with the two driving wheels.
As a further improvement of the technical scheme, the number of the four driven wheels is four, and every two of the four driven wheels are positioned at the front side and the rear side of the two driving wheels.
As a further improvement of the above technical solution, the data receiving unit is a wireless network module.
As a further improvement of the above technical solution, the voltage of the battery is 12V, and the capacity of the battery is 16000 mAH.
As a further improvement of the technical scheme, the depth camera is positioned on the surface of the movable base.
The utility model has the advantages that: in using earlier through data receiving unit with user's appointed data transmission to host computer, thereby learn set killing data and optimize through the host computer, the drive wheel drives and removes the base and walks along the route and the speed that set up, at the in-process of walking, survey and drawing the location and feed back to the host computer to the topography through ultrasonic radar and laser radar, thereby the host computer calculates according to data and keeps away the barrier route and avoid the barrier, remove to the destination after, the host computer control atomizer is opened, liquid medicine in the atomizing water tank is evenly sprayed out and is evenly killed the virus in killing the air to the space in spray tube extraction to the nozzle along the atomization of atomizer, if the procedure is confirmed when needing to carry out ultraviolet sterilization, the host computer opens the sterilamp and kills. When the disinfection reaches the set time, the host controls the ultraviolet germicidal lamp and/or the atomizer to be turned off so as to stop the disinfection work. When needs carry out accurate killing to something, carry out the picture through degree of depth camera to the target ground and gather, thereby carry out the analysis through the host computer and judge whether the article is the target object in the picture, judge for yes, then continue to judge the position of target object and this killing robot, then drive through the drive wheel and remove the base and remove to suitable position and start the arm, the arm removes to the target object outside according to the location of degree of depth camera, then spray liquid medicine to the target object through the nozzle that sets up on the arm and disinfect. Compared with the prior art, this scheme full automation disappears and kills, and can formulate different routes of disappearing and killing according to the difference automation of topography, can effectively avoid repeated disappearing and killing, labour saving and time saving has reduced a large amount of cost of labor, owing to need not manual control moreover to can carry out the double-line according to the free use ultraviolet ray of the condition of target location and liquid medicine and disappear, it is better to disappear and kill the effect.
Drawings
The invention will be further explained with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does 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 thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1, a mobile killing robot includes:
the mobile base 10 is provided with a host, the mobile base 10 is provided with a laser radar 20 and an ultrasonic radar 30 which are electrically connected with the host, the bottom of the mobile base 10 is provided with a driving wheel, the mobile base 10 is provided with a driving motor connected with the driving wheel, the mobile base 10 is provided with a data receiving unit connected with the host, and the mobile base 10 is provided with a battery;
the atomization water tank 70 is arranged on the movable base 10, and an atomizer is arranged in the atomization water tank 70;
the mechanical arm is arranged on the movable base 10, the depth camera 90 is arranged on the mechanical arm or the movable base 10, and the mechanical arm and the depth camera 90 are electrically connected with the host;
the nozzle 71 is arranged on the mechanical arm, the rear end of the nozzle 71 is connected with a spray pipe, and the spray pipe is communicated with the atomizer;
the ultraviolet sterilizing lamp 80 is arranged on the movable base 10, and the ultraviolet sterilizing lamp 80 is arranged on the movable base 10.
In using earlier through data receiving unit with user's appointed data transmission to the host computer, thereby learn set killing data and optimize through the host computer, the drive wheel drives and removes base 10 along the route and the speed walking that set up, at the in-process of walking, survey and drawing the location and feed back to the host computer to the topography through ultrasonic radar 30 and laser radar 20, thereby the host computer calculates according to data and keeps away the barrier route and avoid the barrier, remove to the destination after, the host computer control atomizer is opened, liquid medicine in the atomizing water tank 70 is extracted along the spray tube through the atomization of atomizer and is evenly squirted in nozzle 71 and kill the virus in the air of killing to the space, if when the procedure confirms that needs carry out ultraviolet sterilization, the host computer opens sterilamp 80 and kills. When the sterilization reaches the set time, the host controls the ultraviolet germicidal lamp 80 and/or the atomizer to be turned off so as to stop the sterilization. When needing to carry out accurate killing to some thing, carry out the picture through degree of depth camera 90 and gather to the target ground, thereby carry out the analysis through the host computer and judge whether the article are the target object in the picture, judge for yes, then continue to judge the position of target object and this killing robot, then drive through the drive wheel and remove base 10 and remove to suitable position and start the arm, the arm removes to the target object outside according to the location of degree of depth camera 90, then spray liquid medicine to the target object through setting up nozzle 71 on the arm and disinfect. Compared with the prior art, this scheme full automation disappears and kills, and can formulate different routes of disappearing and killing according to the difference automation of topography, can effectively avoid repeated disappearing and killing, labour saving and time saving has reduced a large amount of cost of labor, owing to need not manual control moreover to can carry out the double-line according to the free use ultraviolet ray of the condition of target location and liquid medicine and disappear, it is better to disappear and kill the effect.
The improvement is further carried out, because the mobile base 10 can produce certain inertia when moving, in order to brake accurately, preferably, an inertia measurement module is arranged on the mobile base 10, the three-axis attitude angle and the acceleration of the product are measured and calculated through the inertia measurement module and fed back to the host, and the host carries out navigation positioning measurement and calculation by combining data, so that the movement of the product is accurately controlled to stop at a fixed point.
Further improved, preferably the robot arm is a six-axis robot arm 60.
Further, it is preferable that the capacity of the water tank is 16L in consideration of the load capacity and the amount of sprayed medicine in normal use.
In a further improvement, the nozzle 71 is fixed to a mechanical arm for sterilization, and in a sterilization mode for sterilizing the surrounding environment, in order to widen the sterilization range, it is preferable that the movable base 10 further has a plurality of fixed nozzles 72 communicated with the atomized water tank 70. The fixed nozzles 72 are preferably arranged in three numbers uniformly along the circumferential direction of the movable base 10, and when the surrounding environment is sterilized, the space on the circumferential side is sterilized mainly through the fixed nozzles 72.
Further, preferably, the driving wheel includes two driving wheels 40 and a driven wheel 50, two driving motors are disposed at the bottom of the movable base 10, the two driving wheels 40 are disposed at the bottom of the movable base 10 in parallel and are respectively connected with the corresponding driving motors, and the driven wheel 50 is not flush with the two driving wheels 40. The two driving wheels 40 are used for driving, and the driven wheels 50 are used for assisting the movement, so that the movement of the movable base 10 is smoother.
It is further preferred that the number of the driven wheels 50 is four, and the four driven wheels 50 are arranged on the front and rear sides of the two driving wheels 40 in pairs.
In the above scheme, the data receiving unit may be an input panel disposed on the mobile base 10, and in consideration of convenience of operation, the data receiving unit is preferably a wireless network module, and the host can be connected to the terminal through a wireless network by the wireless network module, so that the user only needs to input data at the terminal, thereby preventing the user from directly entering the product to input data.
Further improved, preferably, the voltage of the battery is 12V, and the capacity of the battery is 16000 mAH.
In a further improvement, the depth camera 90 is located on the surface of the mobile base 10.
The above is only the preferred embodiment of the present invention, not limiting the patent scope of the present invention, all of which are under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct or indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (10)
1. A mobile killing robot, comprising:
the ultrasonic radar detection device comprises a mobile base (10), wherein a host is arranged on the mobile base (10), a laser radar (20) and an ultrasonic radar (30) which are electrically connected with the host are arranged on the mobile base (10), a driving wheel is arranged at the bottom of the mobile base (10), a driving motor connected with the driving wheel is arranged on the mobile base (10), a data receiving unit connected with the host is arranged on the mobile base (10), and a battery is arranged on the mobile base (10);
the atomizing water tank (70), the atomizing water tank (70) is arranged on the movable base (10), and an atomizer is arranged in the atomizing water tank (70);
the mechanical arm is arranged on the movable base (10), the depth camera (90) is arranged on the mechanical arm or the movable base (10), and the mechanical arm and the depth camera (90) are electrically connected with the host;
the nozzle (71), the said nozzle (71) is set up on the arm, the rear end of the said nozzle (71) connects with a spray pipe, the said spray pipe communicates with atomizer;
the ultraviolet germicidal lamp (80), the ultraviolet germicidal lamp (80) is arranged on the movable base (10).
2. A mobile killing robot as claimed in claim 1, wherein:
an inertia measurement module is arranged on the movable base (10).
3. A mobile killing robot as claimed in claim 1, wherein:
the mechanical arm is a six-axis mechanical arm (60).
4. A mobile killing robot as claimed in claim 1, wherein:
the capacity of the water tank is 16L.
5. A mobile killing robot as claimed in claim 1, wherein:
the movable base (10) is provided with a plurality of fixed nozzles (72) communicated with the atomization water tank (70).
6. A mobile killing robot as claimed in claim 1, wherein:
the driving wheel includes two action wheels (40) and follows driving wheel (50), remove base (10) bottom and be provided with two driving motor, two action wheels (40) parallel arrangement are connected with the driving motor who corresponds in the bottom of removing base (10) respectively, follow driving wheel (50) and two action wheels (40) and do not flush.
7. A mobile killing robot as claimed in claim 6, wherein:
the number of the driven wheels (50) is four, and the four driven wheels (50) are arranged on the front side and the rear side of the two driving wheels (40) in a pairwise mode.
8. A mobile killing robot as claimed in claim 1, wherein:
the data receiving unit is a wireless network module.
9. A mobile killing robot as claimed in claim 1, wherein:
the voltage of the battery is 12V, and the capacity of the battery is 16000 mAH.
10. A mobile killing robot as claimed in claim 1, wherein:
the depth camera (90) is positioned on the surface of the movable base (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021614843.8U CN213490841U (en) | 2020-08-05 | 2020-08-05 | Mobile sterilization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021614843.8U CN213490841U (en) | 2020-08-05 | 2020-08-05 | Mobile sterilization robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213490841U true CN213490841U (en) | 2021-06-22 |
Family
ID=76436462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021614843.8U Expired - Fee Related CN213490841U (en) | 2020-08-05 | 2020-08-05 | Mobile sterilization robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213490841U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114632174A (en) * | 2022-03-28 | 2022-06-17 | 广州铁路职业技术学院（广州铁路机械学校） | Spraying sterilization robot and spraying sterilization method |
| EP4090387A1 (en) * | 2020-02-21 | 2022-11-23 | Siemens Aktiengesellschaft | Disinfection robot and disinfection robot control system |
-
2020
- 2020-08-05 CN CN202021614843.8U patent/CN213490841U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4090387A1 (en) * | 2020-02-21 | 2022-11-23 | Siemens Aktiengesellschaft | Disinfection robot and disinfection robot control system |
| CN114632174A (en) * | 2022-03-28 | 2022-06-17 | 广州铁路职业技术学院（广州铁路机械学校） | Spraying sterilization robot and spraying sterilization method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Jinlan Inventor after: Hu Yuhang Inventor after: Yin Bangzheng Inventor after: Shan Ziqi Inventor after: Cao Zhongjia Inventor after: Fu Qiang Inventor after: Zhou Liuping Inventor before: Wang Jinlan Inventor before: Yin Bangzheng Inventor before: Cao Zhongjia Inventor before: Fu Qiang Inventor before: Zhou Liuping |
|
| CB03 | Change of inventor or designer information | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210622 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |