WO2023075003A1 - Robot de désinfection hybride - Google Patents

Robot de désinfection hybride Download PDF

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Publication number
WO2023075003A1
WO2023075003A1 PCT/KR2021/017970 KR2021017970W WO2023075003A1 WO 2023075003 A1 WO2023075003 A1 WO 2023075003A1 KR 2021017970 W KR2021017970 W KR 2021017970W WO 2023075003 A1 WO2023075003 A1 WO 2023075003A1
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WO
WIPO (PCT)
Prior art keywords
disinfectant
purified air
delivery pipe
sterilization
air
Prior art date
Application number
PCT/KR2021/017970
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English (en)
Korean (ko)
Inventor
김태준
김건형
Original Assignee
(주)에이버츄얼
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Filing date
Publication date
Application filed by (주)에이버츄얼 filed Critical (주)에이버츄얼
Publication of WO2023075003A1 publication Critical patent/WO2023075003A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L9/00—Disinfection, sterilisation or deodorisation of air
    • A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
    • A61L9/18—Radiation
    • A61L9/20—Ultraviolet radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L9/00—Disinfection, sterilisation or deodorisation of air
    • A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
    • A61L9/22—Ionisation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to a hybrid sterilization robot, and more specifically, to a hybrid sterilization robot capable of self-driving, spraying disinfectant and purified air into a room, providing individual sterilization mode and complex sterilization mode, enabling selective sterilization and air purification, and internal sterilization It relates to a hybrid sterilization robot that can maintain cleanliness by purifying the inside of the robot with purified air through a mode.
  • the government sets indoor air quality standards for five pollutants, such as fine dust, formaldehyde, and airborne bacteria, to comply with, and more and more people use air purifiers at home.
  • Fine dust is small dust less than 10 ⁇ m and is called PM10, and ultrafine dust that is 1/4 smaller than PM10 is called PM2.5.
  • the World Health Organization has designated ultrafine dust as a first-class carcinogen, and it is a cause of various respiratory diseases in addition to pneumonia, heart disease, and various cancers.
  • the conventional automatic disinfectant sprayer is inconvenient because it is fixed in a specific place and requires a user to approach and use it, and a large number of users tend to be reluctant to use it as they pass by, and there is a problem in that there is no air cleaning function other than sterilization. there is.
  • a quarantine robot combining autonomous robot technology and quarantine technology is being released.
  • LG Electronics can autonomously drive while avoiding obstacles and can sterilize 99.9% of E. CLOi DisinfectBot has been developed, and SK Telecom has launched Keemi, a 5G disinfection robot that autonomously drives indoors according to a set schedule and sterilizes by irradiating UV lamps into space.
  • Hancom Robotics measures the fever of visitors, detects those not wearing masks, guides them in wearing them, irradiates UV-C to the floor to sterilize, and develops the self-driving robot Elligen that can attach and detach accessories such as hand sanitizer. have been released
  • zetabank has released an AI disinfection robot capable of self-driving that disinfects by irradiating ultraviolet light with a wavelength of 240 to 280 nm and air purification function.
  • the above-mentioned quarantine robots usually perform autonomous driving using ultraviolet rays to sterilize and clean the air, but there is a problem that there is no function to directly spray disinfectant to the contaminated location, and the inside of the robot is sterilized by itself The function to cleanly manage the spray nozzle through which the disinfectant is sprayed is not included, so there is a risk of causing secondary infection.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a hybrid sterilization robot capable of selectively or simultaneously performing disinfectant spray and air purification functions while autonomously driving indoors.
  • another object of the present invention is to self-sterilize the inside of the robot, and to sterilize the injection nozzle or the collection pipe in which the condensed liquid of the injection nozzle is recovered and the delivery pipe in which the disinfectant solution is delivered can be sterilized with purified air. It is to provide a hybrid sterilization robot that can prevent secondary infection due to contamination.
  • the present invention is an autonomous driving body capable of autonomously driving while avoiding obstacles; and a sterilizer body mounted on the autonomous driving body and spraying the purified air and disinfectant solution to the outside, wherein the sterilizer body includes: an individual sterilization mode for selectively spraying the purified air and the disinfectant solution; a complex sterilization mode in which the purified air and the disinfectant solution are sprayed together; and an internal sterilization mode in which the purified air is supplied to the inside of the sterilizer body to sterilize the inside of the sterilizer body.
  • the sterilizer body includes a disinfectant tank in which a disinfectant is stored; a pump supplying the disinfectant solution in the disinfectant tank to a lower spray nozzle; at least one spray nozzle for spraying the disinfectant solution supplied from the pump to the outside; an air sterilization module for inhaling and purifying polluted air in a space in which the autonomous driving body moves; and a purified air outlet for discharging purified air purified by the air sterilization module.
  • the sterilizer main body includes an aggregated liquid collection tray for collecting the disinfectant liquid that is aggregated and falls from the outlet of the injection nozzle; and a disinfectant recovery pipe for transferring the disinfectant collected in the aggregated liquid collection tray to the disinfectant liquid tank.
  • a disinfectant delivery pipe is provided between the pump and the injection nozzle, a first valve for opening and closing the disinfectant delivery pipe is installed in the disinfectant delivery pipe, and the air sterilization module and the purified air outlet are installed.
  • a purified air delivery pipe is provided between the purified air delivery pipe to discharge purified air to the purified air outlet or branched and supplied to a point of the disinfectant delivery pipe between the pump and the first valve, and the purified air delivery pipe is provided at a branch point of the purified air delivery pipe.
  • a second valve for discharging air to the purified air outlet or supplying air to the disinfectant delivery pipe is installed.
  • the first valve allows the disinfectant solution in the disinfectant solution delivery pipe to be supplied to the injection nozzle or the second valve allows the purified air to be discharged to the purified air outlet,
  • the first valve allows the disinfectant solution in the disinfectant solution delivery pipe to be supplied to the injection nozzle, while the second valve allows the purified air to be discharged to the purified air outlet.
  • the first valve closes the disinfectant delivery pipe
  • the second valve delivers the purified air to the disinfectant delivery pipe
  • the pump reversely rotates to deliver the purified air introduced into the disinfectant delivery pipe to the disinfectant tank
  • the purified air delivered to the disinfectant tank is discharged to the condensate collection tray through the disinfectant recovery pipe, thereby drying the disinfectant delivery pipe, the disinfectant tank, the disinfectant recovery pipe, and the injection nozzle and simultaneously purifying the purified air. do.
  • the present invention has the following excellent effects.
  • the hybrid sterilization robot of the present invention provides an individual sterilization mode and a combined sterilization mode, and has the advantage of selectively or simultaneously automatically performing disinfectant spray and air purification functions while autonomously driving indoors.
  • the hybrid sterilization robot of the present invention since the disinfectant solution condensed in the injection nozzle through which the disinfectant solution is sprayed can be collected and recovered to the disinfectant solution tank, the outer surface of the robot or the indoor floor can be kept clean, and the disinfectant solution can be passed inside the robot. There is an advantage of being able to prevent the failure of electronic equipment by being introduced.
  • an internal sterilization mode is provided so that the outside of the spray nozzle, the aggregate liquid collection tray in which the aggregate liquid of the spray nozzle is collected, the disinfectant liquid recovery pipe for recovering the collected disinfectant liquid, and the disinfectant liquid through which the disinfectant liquid is delivered.
  • the transfer tube can be sterilized with purified air, which has the advantage of preventing secondary infection due to self-contamination of the robot.
  • FIG. 1 is a view showing an example of a hybrid sterilization robot according to an embodiment of the present invention
  • FIG. 2 is a diagram showing the configuration of a hybrid sterilization robot according to an embodiment of the present invention.
  • hybrid sterilization robot 110 autonomous driving body
  • FIG. 1 is a diagram showing an example of a hybrid sterilization robot according to an embodiment of the present invention.
  • the hybrid sterilization robot 100 autonomously travels in an indoor space such as a building, subway, or train while avoiding obstacles, and can purify the air while spraying a disinfectant solution. It is a robot in
  • the exterior of the hybrid sterilization robot 100 shown in FIG. 1 is merely an example, and the exterior shape may be changed.
  • the hybrid sterilization robot 100 is mounted on the self-driving main body 110 that moves autonomously on the floor while avoiding obstacles, and is mounted on the autonomous driving main body 110 to purify indoor air and discharge purified air, or It includes a sterilizer body 120 spraying a disinfectant solution for sterilizing viruses.
  • a sensor device 130 is provided on the top of the sterilizer body 120 to obtain information necessary for the self-driving body 110 to perform autonomous driving.
  • the sensor device 130 may be equipped with a lidar sensor, a camera, and the like.
  • the sensor device 130 may be provided in the self-driving body 110, and there is no particular restriction on the mounting position.
  • the self-driving main body 110 is provided with a wheel at the bottom, and uses a motor capable of rotating the wheel inside, a battery that supplies power to the motor, and information from the sensor device 130 to control the motor.
  • a controller is provided to control rotation and direction of the wheel.
  • the sterilizer main body 110 is mounted on the self-driving main body 110 as described above and purifies the externally polluted air while spraying a disinfectant solution to the outside to sterilize viruses.
  • the sterilizer body 110 includes a disinfectant tank 121, a pump 122, a spray nozzle 123, an air sterilization module 124, and a purified air outlet 125.
  • the disinfectant tank 121 is a tank in which a disinfectant is stored.
  • the disinfectant tank 121 may be made of a metal or resin material tank.
  • a resin material tank as the disinfectant tank 121 in order to reduce the weight and increase the moving distance.
  • the pump 122 pumps the disinfectant solution stored in the disinfectant solution tank 121 and supplies it to the disinfectant solution delivery pipe 128 below.
  • the pump 122 can operate in both directions.
  • the spray nozzle 123 injects the disinfectant solution supplied to the disinfectant solution delivery pipe 123 to the outside.
  • the injection nozzle 123 may be composed of a plurality of injection nozzles, and may be radially disposed outside the main body to spray the disinfectant solution three-dimensionally within the space.
  • the injection nozzle 123 is illustrated as being composed of four injection nozzles, but there is no particular restriction on the number.
  • the disinfectant solution delivery pipe 128 is provided with a first valve 129 that opens and closes the disinfectant solution delivery pipe 128 so that the disinfectant solution is discharged to the spray nozzle 123 or not discharged.
  • the air sterilization module 124 sucks in and purifies the contaminated air in the space where the hybrid sterilization robot 100 moves, and then discharges it through the purified air outlet 125 below.
  • the air sterilization module 124 may be composed of one or a plurality of air sterilization modules 124, and when a plurality of air sterilization modules 124 are provided, the air sterilization modules may be connected in series or parallel to each other to sterilize air.
  • the air sterilization module 124 may perform air sterilization in various ways, but may perform antibacterial, deodorizing, volatile organic compound (VOC) removal, and virus removal using a UV light source and a photocatalyst filter.
  • VOC volatile organic compound
  • the air sterilization module 124 may include a pre-filter, a deodorization filter, a medium filter for filtering medium-sized dust of about 0.3 ⁇ m to 10 ⁇ m, and a HEPA filter for filtering fine particles of 0.3 ⁇ m or less.
  • the purified air outlet 125 discharges the purified air purified by the air sterilization module 124 to the outside.
  • the purified air of the air sterilization module 124 is discharged to the purified air outlet 125 or a disinfectant delivery pipe 128 between the pump 122 and the first valve 129 ) is provided with a purified air delivery pipe 130 branching to point (a) to deliver purified air, and a second valve 131 is provided at the point where the purified air diverges from the purified air delivery pipe 130. .
  • the second valve 131 serves to discharge the purified air of the air sterilization module 124 to the purified air outlet 125 or supply it to the disinfectant solution delivery pipe 128 .
  • the sterilizer main body 120 is further provided with an aggregated liquid collection tray 126 for collecting the disinfectant liquid that is aggregated and falls from the outlet of the spray nozzle 123.
  • the condensate collection tray 126 may be provided with one or a plurality of trays corresponding to the number of the injection nozzles 123 .
  • a condensed solution collection tray 126 may be configured to collect the aggregated disinfectant solution from each spray nozzle.
  • the disinfectant solution collected in the aggregated solution collection tray 126 is returned to the disinfectant solution tank 121 through the disinfectant solution recovery pipe 127 .
  • the disinfectant solution condensed in the injection nozzle 123 does not fall to the outer surface of the sterilizer body 120 or to the floor of the space to be disinfected, so it can cleanly disinfect and clean the air. In addition, it is possible to prevent the condensed disinfectant solution from flowing into the robot and affecting electronic equipment.
  • the sterilizer main body 120 of the present invention operates in three sterilization modes: an individual sterilization mode, a complex sterilization mode, and an internal sterilization mode.
  • the individual sterilization mode is a mode in which the purified air and the disinfectant solution are selectively sprayed.
  • the first valve 129 discharges the disinfectant from the disinfectant delivery pipe 128 to the spray nozzle 123 (1) or the second valve 131 discharges the purified air It is discharged through the purified air outlet 125 (2).
  • the second valve 131 allows the purified air to be discharged only through the purified air outlet 125 and not supplied to the disinfectant delivery pipe 128. .
  • the individual sterilization mode is a mode for selectively discharging a disinfectant solution and purified air.
  • This individual sterilization mode can be used when there are many people in the room and it is impossible to spray disinfectant, or when there is no need to spray purified air because the concentration of indoor dust or viruses is low.
  • the complex sterilization mode is a mode in which the purified air and the disinfectant are sprayed at the same time, the first valve 129 supplies the disinfectant to the spray nozzle 123, and the second valve 131 purifies Allow air to be exhausted to the purged air outlet (125).
  • This complex sterilization mode is useful when performing air purification and spraying disinfectant while autonomously driving on a subway or train that is not in operation.
  • the internal sterilization mode is a key configuration in the present invention, and the purified air is supplied to the inside of the sterilizer body 120 to sterilize the inside of the body, and the condensate collection tray 126 and the spray nozzle ( 123) is a mode that can additionally sterilize (3).
  • the first valve 129 is closed, and the second valve 131 prevents the purified air from being discharged to the purified air outlet 125 and supplied to the disinfectant delivery pipe 128.
  • the pump 122 rotates in the reverse direction so that the purified air supplied to the disinfectant solution delivery pipe 128 is supplied to the disinfectant solution tank 121.
  • the purified air supplied to the disinfectant tank 121 is discharged to the condensate collection tray 126 through the disinfectant solution recovery pipe 127, and the purified air discharged to the condensate collection tray 126 is It is blown into the injection nozzle 123.
  • purified air flows through the purified air delivery pipe 130, the disinfectant solution delivery pipe 128, the pump 122, the disinfectant solution tank 121, the disinfectant solution recovery pipe 127, and the condensation solution.
  • the outside of the liquid collecting tray 126 and the injection nozzle 123 is cleaned.
  • This mode is performed when the degree of contamination inside the hybrid sterilization robot 100 exceeds a preset degree of contamination even when the hybrid sterilization robot 100 is resting or in operation.
  • the purified air delivery pipe 130, the disinfectant delivery pipe 128, the pump 122, and the disinfectant solution tank 121 can be disinfected using purified air.

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  • Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Chemical & Material Sciences (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)
  • Disinfection, Sterilisation Or Deodorisation Of Air (AREA)

Abstract

La présente invention se rapporte à un robot de désinfection hybride et, plus particulièrement, à un robot de désinfection hybride qui peut pulvériser un fluide désinfectant et de l'air purifié en intérieur tout en étant en conduite autonome, qui fournit des modes de désinfection individuels et un mode de désinfection multiple pour permettre une désinfection sélective et une purification d'air, et qui peut être maintenu propre par purification de l'intérieur du robot avec de l'air purifié en mode de désinfection intérieure.
PCT/KR2021/017970 2021-10-26 2021-12-01 Robot de désinfection hybride WO2023075003A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2021-0143762 2021-10-26
KR1020210143762A KR102383742B1 (ko) 2021-10-26 2021-10-26 하이브리드 살균 로봇

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WO2023075003A1 true WO2023075003A1 (fr) 2023-05-04

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KR102383742B1 (ko) * 2021-10-26 2022-04-11 (주)에이버츄얼 하이브리드 살균 로봇

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KR102286123B1 (ko) * 2021-04-09 2021-08-06 주식회사 현진기업 탑 형상의 미세먼지, 악취제거 및 바이러스 살균 시스템
KR20210099697A (ko) * 2020-02-04 2021-08-13 주식회사 코드스테리 자율주행 소독 로봇
KR102301415B1 (ko) * 2021-03-23 2021-09-10 김종석 컴팩트한 구조를 갖는 스탠드형 소독장치
KR102383742B1 (ko) * 2021-10-26 2022-04-11 (주)에이버츄얼 하이브리드 살균 로봇

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KR101987133B1 (ko) 2017-01-31 2019-06-10 (주) 한호기술 무인 자율주행 방제로봇
KR102168445B1 (ko) 2020-03-26 2020-10-21 주식회사 제타뱅크 이동 로봇 및 그 제어방법
KR102373424B1 (ko) 2020-04-13 2022-03-11 이명오 실내공간 방역을 위한 자율주행 공간살균로봇

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Publication number Priority date Publication date Assignee Title
KR20200139394A (ko) * 2019-06-04 2020-12-14 주식회사 우정바이오 실내 표면 및 공기 살균 정화 장치
KR20210095317A (ko) * 2020-01-23 2021-08-02 나기원 전해수를 이용한 스탠드형 공기 살균소독기
KR20210099697A (ko) * 2020-02-04 2021-08-13 주식회사 코드스테리 자율주행 소독 로봇
KR102301415B1 (ko) * 2021-03-23 2021-09-10 김종석 컴팩트한 구조를 갖는 스탠드형 소독장치
KR102286123B1 (ko) * 2021-04-09 2021-08-06 주식회사 현진기업 탑 형상의 미세먼지, 악취제거 및 바이러스 살균 시스템
KR102383742B1 (ko) * 2021-10-26 2022-04-11 (주)에이버츄얼 하이브리드 살균 로봇

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