阅读说明：本技术 一种应用在智能办公室的清洁消毒机器人 (Cleaning and disinfecting robot applied to intelligent office ) 是由 卢孟茜 于 2020-06-23 设计创作，主要内容包括：本发明提供一种应用在智能办公室的清洁消毒机器人,包括：本体,底端设置有移动装置；清洁装置,设置在本体底端,用于对智能办公室的地面进行清洁；第一消毒装置,设置在本体内,用于对智能办公室内空间进行消毒；控制器,设置在本体内,与移动装置、清洁装置和第一消毒装置电连接,控制器控制移动装置、清洁装置和第一消毒装置的开启或关闭。本发明的应用在智能办公室的清洁消毒机器人,当智能办公室中的工作人员下班后,对智能办公室内进性智能化巡检,智能化清洁及智能化消毒,并且具有智能火警报警功能。(The invention provides a cleaning and disinfecting robot applied to an intelligent office, which comprises: the bottom end of the body is provided with a moving device; the cleaning device is arranged at the bottom end of the body and used for cleaning the ground of the intelligent office; the first disinfection device is arranged in the body and is used for disinfecting the space in the intelligent office; and the controller is arranged in the body and electrically connected with the moving device, the cleaning device and the first disinfection device, and controls the moving device, the cleaning device and the first disinfection device to be opened or closed. The cleaning and disinfecting robot applied to the intelligent office disclosed by the invention can be used for intelligently inspecting, intelligently cleaning and disinfecting the intelligent office after workers in the intelligent office leave work, and has an intelligent fire alarm function.)

1. A cleaning and disinfecting robot applied to an intelligent office is characterized by comprising:

the bottom end of the body (1) is provided with a moving device (2);

the cleaning device (3) is arranged at the bottom end of the body (1) and is used for cleaning the ground of the intelligent office;

the first disinfection device (4) is arranged in the body (1) and is used for disinfecting the space in the intelligent office;

the controller (5) is arranged in the body (1) and electrically connected with the moving device (2), the cleaning device (3) and the first disinfection device (4), and the controller (5) controls the moving device (2), the cleaning device (3) and the first disinfection device (4) to be opened or closed.

2. A robot cleaner for intelligent offices according to claim 1, wherein said first disinfection device (4) comprises:

the gas bottle placing cavity (41) is an open cavity, is arranged in the body (1) and is used for placing a sterilized gas bottle (42), and the gas bottle placing cavity (41) is provided with a cover plate (46);

the gas cylinder fixing mechanism (43) is arranged in the gas cylinder placing cavity (41) and is used for fixing the disinfection gas cylinder (42);

a gas cylinder opening and closing mechanism (44) arranged in the gas cylinder placing cavity (41) and used for opening or closing the disinfection gas cylinder (42);

the gas cylinder connecting mechanism (45) is arranged in the gas cylinder placing cavity (41) and is used for connecting the gas outlet end of the disinfection gas cylinder (42);

the gas conveying cavity (47) is arranged in the body (1) and communicated with the gas bottle connecting mechanism (45);

the fan (48) is electrically connected with the controller (5) and is arranged in the body (1); the air outlet end of the fan (48) is communicated with the gas conveying cavity (47) through a pipeline and is used for conveying air to the gas conveying cavity (47);

and the air outlets (50) are arranged on the surface of the body (1) and are respectively communicated with the gas conveying cavity (47).

3. The cleaning and disinfecting robot applied to an intelligent office according to claim 2, wherein said gas cylinder opening and closing mechanism (44) comprises:

the device comprises a first arc-shaped body (13) and a second arc-shaped body (14), wherein one end of the first arc-shaped body (13) is hinged with one end of the second arc-shaped body (14), and the other end of the first arc-shaped body (13) is detachably connected with the other end of the second arc-shaped body (14);

the first motor (11) is fixedly arranged at the upper end of the gas cylinder placing cavity (41) and is electrically connected with the controller (5); the rotating shaft of the first motor (11) is coaxially arranged with a circle formed by the first arc-shaped body (13) and the second arc-shaped body (14); the first arc-shaped body (13) is fixedly connected with a rotating shaft of the first motor (11) through a plurality of reinforcing ribs (12);

the gas cylinder connection mechanism (45) includes:

the connector (15) is fixedly connected with the air outlet end of the disinfection air bottle (42);

a first gas flow meter (17), electrically connected to the controller (5), for detecting a first flow rate of sterilizing gas delivered by the sterilizing gas cylinder (42) to the gas delivery chamber (47); one end of the first gas flowmeter (17) is communicated with the joint (15) through a pipeline, and the other end of the first gas flowmeter is communicated with the gas conveying cavity (47) through a pipeline;

a first gas pressure meter (16) arranged on the pipeline between the first gas flow meter (17) and the joint (15), electrically connected with the controller (5) and used for detecting the gas pressure value in the disinfection gas cylinder (42) when the disinfection gas cylinder (42) is opened;

the first disinfection device (4) further comprises:

and the second gas flowmeter (49) is arranged on a pipeline between the air outlet end of the fan (48) and the air conveying cavity (47) and is used for detecting the second flow of the air conveyed by the fan (48).

4. A robot cleaner for intelligent offices according to claim 1, wherein said cleaning device (3) comprises:

the bulldozing mechanism (6) is arranged on one side of the body (1) and is used for pushing large garbage on the ground of the intelligent office;

the mopping mechanism (7) is arranged at the bottom end of the body (1) and is used for mopping the floor of the intelligent office;

the dozing mechanism (6) includes: two third motors (61) symmetrically arranged at two sides of the body (1) and a push plate structure (62) with two ends respectively rotatably connected with the third motors (61); the push plate structure (62) comprises an arc-shaped push plate body (621) and two first connecting bodies (622) which are symmetrically arranged; one end of each of the two first connecting bodies (622) is fixedly connected with two ends of the arc-shaped push plate body (621), and the other end of each of the two first connecting bodies (622) is rotatably connected with two third motors (61); the third motor (61) is electrically connected with the controller (5);

the mopping mechanism (7) comprises:

two gathering bodies (74) which are symmetrically arranged are arranged on one side of the bottom end of the body (1); the gathering body (74) and the front and rear axes at the bottom end of the body (1) are arranged at a certain angle;

the dust collection port (73) is arranged at the bottom end of the body (1) and is arranged at the intersection of the two gathering bodies (74);

a dust collector (75) arranged in the body (1) and communicated with the dust suction port (73);

the absorption sponge body (71) is arranged on one side of the bottom end of the body (1) far away from the gathering body (74);

a plurality of scrubbing bodies (72) arranged at the bottom end of the body (1) and positioned between the absorbing sponge body (71) and the dust suction port (73);

the cleaning cavity (76) is arranged in the body (1) and is positioned above the absorption sponge body (71), and an automatic inserting plate mechanism (9) is arranged at the communication position of the cleaning cavity (76) and the bottom end of the body (1);

the first telescopic mechanism (77) is arranged at the upper end of the cleaning cavity (76), one end of the first telescopic mechanism is fixedly connected with the body (1), and the other end of the first telescopic mechanism is fixedly connected with the absorption sponge body (71);

the clean water cavity (78) is arranged in the body (1) and is communicated with the top end of the cleaning cavity (76) through a first electric control valve (81);

the sewage cavity (79) is arranged in the body (1) and is communicated with the bottom end of the cleaning cavity (76) through a water suction pump (80);

two water squeezing mechanisms (8) which are symmetrically arranged are arranged on two side walls of the cleaning cavity (76); the wringing mechanism (8) includes: a second telescopic mechanism (83) fixedly arranged on the inner wall of the cleaning cavity (76) and a plate body (82) fixedly arranged at one end of the second telescopic mechanism (83);

the automatic board inserting mechanism (9) comprises: the plug board body (85) and a second motor (86) in transmission connection with the plug board body (85); two door bodies (84) which are symmetrically arranged are arranged below the automatic board inserting mechanism (9); one end of the door body (84) is hinged with the body (1).

5. A robot cleaner for intelligent office use according to claim 4, wherein a fourth motor (92) is provided in the body (1), a crankshaft (93) is fixedly provided at the output end of the fourth motor (92), and the plurality of scrubbing bodies (72) are uniformly provided on the crankshaft (93);

the swab body (72) comprises:

the base body (95) is arranged in the sliding groove (91) at the bottom end of the body (1) in a sliding manner; a scrubbing sponge (94) is fixedly arranged on the lower end surface of the seat body (95);

the water inlets (96) are arranged on the upper end surface of the seat body (95) and are communicated with the clean water cavity (78);

one end of the second connecting body (97) is fixedly connected with the upper end face of the seat body (95), and a long-strip-shaped groove body (98) is arranged in the middle of the second connecting body (97); the crankshaft (93) is arranged in the strip-shaped groove body (98) in a sliding mode.

6. The robot cleaner for intelligent office as claimed in claim 1, further comprising:

the second disinfection device is arranged at the bottom end of the body (1), is electrically connected with the controller (5) and is used for disinfecting the cleaned ground.

7. The robot cleaner for intelligent office as claimed in claim 1, further comprising:

and the wireless communication module is electrically connected with the controller (5) and is used for being in communication connection with a central control center of the intelligent office.

8. The robot cleaner for intelligent office as claimed in claim 1, further comprising:

the fire alarm monitoring device is arranged on the upper end face of the body (1), is electrically connected with the controller (5) and is used for sending out fire alarm information when a fire disaster occurs in the intelligent office.

9. The robot cleaner for intelligent office as claimed in claim 1, further comprising:

the double-shaft rotating holder is arranged on the upper end surface of the body (1) and is electrically connected with the controller (5);

the image acquisition device is arranged on the double-shaft rotating holder and is electrically connected with the controller (5);

the sound source positioning device is arranged on the upper end surface of the body (1) and is electrically connected with the controller (5);

the controller (5) performs operations comprising:

acquiring a trigger voice through the sound source positioning device and positioning a first position of the trigger voice;

controlling the double-shaft rotating holder to rotate, and rotating the image acquisition device to face the first position;

acquiring a first image of the first position through the image acquisition device;

analyzing the first image, and determining the direction of the hand of the user in the first image;

controlling the double-shaft rotating holder to rotate according to the direction, and acquiring a second image of the target area corresponding to the direction through the image acquisition device;

locating a second position of the target area based on the second image;

controlling the walking device to act to enable the body (1) to move to a second position of the target area;

controlling the cleaning device (3) to act to clean the second position.

10. The robot cleaner of claim 9, wherein the analyzing the first image to determine the orientation of the user's hand in the first image comprises:

establishing a coordinate system by taking the central position of the first image as an origin;

determining a first coordinate (x) representing a position of a tip of a finger₁,y₁) Second coordinate (x) representing the position of the end of the finger₂,y₂) Third coordinate (x) representing wrist position₃,y₃) Fourth coordinate (x) representing elbow position₄,y₄)；

Determining a first pointing vector based on the first and second coordinates;

determining a second directional vector based on the third coordinate and the fourth coordinate;

calculating an included angle theta based on the first directional vector and the second directional vector, wherein the calculation formula is as follows:

and when the included angle theta is smaller than a preset angle value, taking the direction of the first pointing vector as the pointing direction of the hand.

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning and disinfecting robot applied to an intelligent office.

Background

The intelligent office improves the efficiency of workers by various intelligent devices, so that the workers are liberated from trivial matters in the office, and can better complete the work.

Along with the gradual enhancement of people's epidemic prevention and control consciousness, the disinfection to intelligent office is the trend of being imperative, and traditional mode adopts the manual work to disinfect for the back of leaving work at intelligent office staff, and this kind of mode is inefficient.

Disclosure of Invention

One of the purposes of the invention is to provide a cleaning and disinfecting robot applied to an intelligent office, when workers in the intelligent office leave work, the cleaning and disinfecting robot can intelligently inspect the progress of the intelligent office, intelligently clean and disinfect the intelligent office, and has an intelligent fire alarm function.

The embodiment of the invention provides a cleaning and disinfecting robot applied to an intelligent office, which comprises:

the bottom end of the body is provided with a moving device;

the cleaning device is arranged at the bottom end of the body and used for cleaning the ground of the intelligent office;

the first disinfection device is arranged in the body and is used for disinfecting the space in the intelligent office;

and the controller is arranged in the body and electrically connected with the moving device, the cleaning device and the first disinfection device, and controls the moving device, the cleaning device and the first disinfection device to be opened or closed.

Preferably, the first sterilizing device includes:

the gas cylinder placing cavity is an open cavity and is arranged in the body and used for placing the sterilized gas cylinder, and the gas cylinder placing cavity is provided with a cover plate;

the gas cylinder fixing mechanism is arranged in the gas cylinder placing cavity and used for fixing the sterilized gas cylinder;

the gas cylinder opening and closing mechanism is arranged in the gas cylinder placing cavity and is used for opening or closing the disinfection gas cylinder;

the gas cylinder connecting mechanism is arranged in the gas cylinder placing cavity and is used for connecting the gas outlet end of the disinfection gas cylinder;

the gas conveying cavity is arranged in the body and is communicated with the gas bottle connecting mechanism;

the fan is electrically connected with the controller and arranged in the body; the air outlet end of the fan is communicated with the gas conveying cavity through a pipeline and is used for conveying air to the gas conveying cavity;

and the gas outlets are arranged on the surface of the body and are respectively communicated with the gas conveying cavity.

Preferably, the gas cylinder opening and closing mechanism comprises:

the device comprises a first arc-shaped body and a second arc-shaped body, wherein one end of the first arc-shaped body is hinged with one end of the second arc-shaped body, and the other end of the first arc-shaped body is detachably connected with the other end of the second arc-shaped body;

the first motor is fixedly arranged at the upper end of the gas cylinder placing cavity and is electrically connected with the controller; the rotating shaft of the first motor is coaxially arranged with a circle formed by the first arc-shaped body and the second arc-shaped body; the first arc-shaped body is fixedly connected with a rotating shaft of the first motor through a plurality of reinforcing ribs;

the gas cylinder connecting mechanism comprises:

the connector is fixedly connected with the air outlet end of the disinfection air bottle;

the first gas flow meter is electrically connected with the controller and is used for detecting the first flow of the sterilizing gas delivered to the gas delivery cavity by the sterilizing gas bottle; one end of the first gas flowmeter is communicated with the joint through a pipeline, and the other end of the first gas flowmeter is communicated with the gas conveying cavity through a pipeline;

the first gas pressure meter is arranged on a pipeline between the first gas flow meter and the joint, is electrically connected with the controller and is used for detecting the gas pressure value in the disinfection gas cylinder when the disinfection gas cylinder is opened;

the first sterilizing device further includes:

and the second gas flowmeter is arranged on a pipeline between the air outlet end of the fan and the air conveying cavity and is used for detecting the second flow of the air conveyed by the fan.

Preferably, the cleaning device comprises:

the bulldozing mechanism is arranged on one side of the body and used for pushing large garbage on the ground of the intelligent office;

the mopping mechanism is arranged at the bottom end of the body and is used for mopping the floor of the intelligent office;

bulldoze the mechanism and include: the two third motors are symmetrically arranged on the two sides of the body, and the two ends of the push plate structure are respectively in rotating connection with the third motors; the push plate structure comprises an arc-shaped push plate body and two first connecting bodies which are symmetrically arranged; one ends of the two first connecting bodies are fixedly connected with two ends of the arc-shaped push plate body respectively, and the other ends of the two first connecting bodies are rotatably connected with the two third motors respectively; the third motor is electrically connected with the controller;

the mopping mechanism comprises:

the two gathering bodies are symmetrically arranged and are arranged on one side of the bottom end of the body; the gathering body is arranged at a certain angle with the front and rear axes of the bottom end of the body;

the dust collection port is arranged at the bottom end of the body and is arranged at the intersection of the two gathering bodies;

the dust collector is arranged in the body and communicated with the dust suction port;

the absorption sponge body is arranged on one side of the bottom end of the body, which is far away from the gathering body;

a plurality of scrubbing bodies arranged at the bottom end of the body and positioned between the absorbing sponge body and the dust absorption port;

the cleaning cavity is arranged in the body and is positioned above the absorption sponge body, and an automatic inserting plate mechanism is arranged at the communication position of the cleaning cavity and the bottom end of the body;

the first telescopic mechanism is arranged at the upper end of the cleaning cavity, one end of the first telescopic mechanism is fixedly connected with the body, and the other end of the first telescopic mechanism is fixedly connected with the absorption sponge body;

the clean water cavity is arranged in the body and is communicated with the top end of the cleaning cavity through a first electric control valve;

the sewage cavity is arranged in the body and is communicated with the bottom end of the cleaning cavity through a water suction pump;

the two water squeezing mechanisms are symmetrically arranged and are arranged on two side walls of the cleaning cavity; crowded water mechanism includes: the second telescopic mechanism is fixedly arranged on the inner wall of the cleaning cavity, and the plate body is fixedly arranged at one end of the second telescopic mechanism;

automatic picture peg trigger constructs includes: the second motor is in transmission connection with the plugboard body; two symmetrically arranged door bodies are arranged below the automatic board inserting mechanism; one end of the door body is hinged with the body.

Preferably, a fourth motor is arranged in the body, a crankshaft is fixedly arranged at the output end of the fourth motor, and the plurality of scrubbing bodies are uniformly arranged on the crankshaft;

the scrubbing body comprises:

the seat body is arranged in the sliding groove at the bottom end of the body in a sliding manner; a scrubbing sponge is fixedly arranged on the lower end surface of the seat body;

the water inlets are arranged on the upper end surface of the seat body and communicated with the clear water cavity;

one end of the second connecting body is fixedly connected with the upper end face of the seat body, and a long-strip-shaped groove body is arranged in the middle of the second connecting body; the crankshaft is arranged in the elongated groove body in a sliding manner.

Preferably, the cleaning and disinfecting robot applied to the intelligent office further comprises:

the second disinfection device is arranged at the bottom end of the body, is electrically connected with the controller and is used for disinfecting the cleaned ground.

Preferably, the cleaning and disinfecting robot applied to the intelligent office further comprises:

and the wireless communication module is electrically connected with the controller and is used for being in communication connection with a central control center of the intelligent office.

Preferably, the cleaning and disinfecting robot applied to the intelligent office further comprises:

the fire alarm monitoring device is arranged on the upper end face of the body, is electrically connected with the controller and is used for sending out fire alarm information when a fire disaster occurs in the intelligent office.

Preferably, the cleaning and disinfecting robot applied to the intelligent office further comprises:

the double-shaft rotating holder is arranged on the upper end surface of the body and is electrically connected with the controller;

the image acquisition device is arranged on the double-shaft rotating holder and is electrically connected with the controller;

the sound source positioning device is arranged on the upper end surface of the body and is electrically connected with the controller;

the controller performs operations comprising:

acquiring a trigger voice through a sound source positioning device and positioning a first position of the trigger voice;

controlling the double-shaft rotating holder to rotate, and rotating the image acquisition device to face the first position;

acquiring a first image of a first position through an image acquisition device;

analyzing the first image and determining the direction of the hand of the user in the first image;

controlling the double-shaft rotating holder to rotate according to the direction, and acquiring a second image of a target area corresponding to the direction through the image acquisition device;

locating a second position of the target area based on the second image;

controlling the walking device to move to a second position of the target area;

and controlling the cleaning device to act to clean the second position.

Preferably, analyzing the first image and determining the direction of the hand of the user in the first image specifically includes:

establishing a coordinate system by taking the central position of the first image as an origin;

determining a first coordinate (x) representing a position of a tip of a finger₁,y₁) Second coordinate (x) representing the position of the end of the finger₂,y₂) Third coordinate (x) representing wrist position₃,y₃) Fourth coordinate (x) representing elbow position₄,y₄)；

Determining a first pointing vector based on the first coordinates and the second coordinates;

determining a second directional vector based on the third coordinate and the fourth coordinate;

calculating the included angle theta based on the first directional vector and the second directional vector, wherein the calculation formula is as follows:

and when the included angle theta is smaller than the preset angle value, taking the direction of the first pointing vector as the pointing direction of the hand.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a cleaning and disinfecting robot applied to an intelligent office according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first disinfection device of a cleaning and disinfection robot applied to an intelligent office according to another embodiment of the present invention;

FIG. 3 is a schematic view of a gas cylinder placement chamber in an embodiment of the present invention;

FIG. 4 is a schematic view of a gas cylinder opening and closing mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic view of a dozing mechanism in an embodiment of the present invention;

FIG. 6 is a bottom view of a bottom portion of a body according to an embodiment of the present invention;

FIG. 7 is a front view of a bottom of a body in an embodiment of the invention;

FIG. 8 is a schematic view of a cleaning device according to an embodiment of the present invention;

FIG. 9 is an enlarged view taken at A in FIG. 8;

FIG. 10 is a schematic view of a swab in accordance with an embodiment of the present invention;

FIG. 11 is a schematic illustration of the drive of a scrubbing body in an embodiment of the present invention.

In the figure:

1. a body; 2. a mobile device; 3. a cleaning device; 4. a first sterilizing device; 5. a controller; 6. a bulldozing mechanism; 7. a mopping mechanism; 8. a water squeezing mechanism; 9. an automatic board inserting mechanism; 11. a first motor; 12. reinforcing ribs; 13. a first arcuate body; 14. a second arcuate body; 15. a joint; 16. a first barometer; 17. a first gas flow meter; 41. a gas cylinder placing cavity; 42. sterilizing the gas cylinder; 43. a gas cylinder fixing mechanism; 44. a gas cylinder opening and closing mechanism; 45. a gas cylinder connecting mechanism; 46. a cover plate; 47. a gas delivery chamber; 48. a fan; 49. a second gas flow meter; 50. an air outlet; 61. a third motor; 62. a push plate structure; 71. an absorbent sponge; 72. a scrubbing body; 73. a dust suction port; 74. a gathering body; 75. a vacuum cleaner; 76. a cleaning chamber; 77. a first telescoping mechanism; 78. a clear water cavity; 79. a sewage chamber; 80. a water suction pump; 81. a first electrically controlled valve; 82. a plate body; 83. a second telescoping mechanism; 84. a door body; 85. a board inserting body; 86. a second motor; 91. a chute; 92. a fourth motor; 93. a crankshaft; 94. scrubbing sponge; 95. a base body; 96. a water inlet; 97. a second connector; 98. a strip-shaped groove body; 621. an arc-shaped push plate body; 622. a first connection body.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

An embodiment of the present invention provides a cleaning and disinfecting robot applied to an intelligent office, as shown in fig. 1, including:

the bottom end of the body 1 is provided with a mobile device 2;

the cleaning device 3 is arranged at the bottom end of the body 1 and used for cleaning the ground of the intelligent office;

the first disinfection device 4 is arranged in the body 1 and is used for disinfecting the space in the intelligent office;

and the controller 5 is arranged in the body 1 and is electrically connected with the moving device 2, the cleaning device 3 and the first disinfection device 4, and the controller 5 controls the moving device 2, the cleaning device 3 and the first disinfection device 4 to be opened or closed.

The working principle and the beneficial effects of the technical scheme are as follows:

after the staff who works in the intelligent office leaves work, the cleaning and disinfecting robot is started, the walking device is automatically patrolled and examined according to the preset route under the control of the controller 5, the ground of the intelligent office is cleaned through the cleaning device 3, and after cleaning is completed, the space in the intelligent office is disinfected by the first disinfecting device 4.

For example: the first degassing unit 4 at cleaning and disinfecting robot inner device produces the gaseous disinfectant, the automation that utilizes cleaning and disinfecting robot patrols and examines navigation feature and pneumatic system and diffuses the quick space in intelligent office of gaseous disinfectant, increase gaseous coverage of disinfectant, guarantee the even of gaseous disinfectant cover, it is effective to realize, the pathogenic microorganism in the air in the intelligent office is exterminateed at no dead angle, cleaning and disinfecting robot can be automatic according to the route of setting for, high efficiency, accurate disinfect the epidemic prevention to intelligent office. Generally, the device is started after work, so that the injury of the traditional disinfection liquid or gas adopting a manual disinfection mode to a human body is avoided. For example, chlorine dioxide gas CLO2 may be used as the sterilizing gas.

First degassing unit 4 can adopt spraying degassing unit, and when nobody in intelligent office, the disinfection of spraying can be adopted six shower nozzles of group, realizes 360 degrees no dead angles and sprays the disinfection.

Further, the running gear includes: the walking wheel that receives controller 5 control and the directive wheel that receives controller 5 control, the directive wheel mainly is responsible for the operation that turns to of cleaning and disinfection robot, and the walking wheel is responsible for the removal forward backward of cleaning and disinfection robot, realizes cleaning and disinfection robot's intelligent navigation, advances intelligent patrolling and examining to intelligent office, the fixed point is disinfected, the fixed point is clean to reach clean intellectuality and sterile intellectuality. Furthermore, the intelligent office cleaning and disinfecting robot is provided with a touch screen, the touch screen is electrically connected with the controller 5, and when the last employee leaves the intelligent office, the cleaning and disinfecting robot in the intelligent office is controlled to start through the touch screen. The controller adopts a laser SLAM algorithm to complete the construction and positioning of the global environment map, so as to realize automatic navigation and intelligent obstacle avoidance; when the electric quantity is low, the electric energy can automatically return to the charging seat to charge, and the long-time endurance and disinfection can be guaranteed.

The cleaning and disinfecting robot applied to the intelligent office disclosed by the invention can be used for intelligently inspecting, intelligently cleaning and disinfecting the intelligent office after workers in the intelligent office leave work, and has an intelligent fire alarm function.

In one embodiment, as shown in fig. 2, the first sterilizing device 4 includes:

the gas bottle placing cavity 41 is an open cavity, is arranged in the body 1 and is used for placing the sterilized gas bottle 42, and the gas bottle placing cavity 41 is provided with a cover plate 46;

the gas cylinder fixing mechanism 43 is arranged in the gas cylinder placing cavity 41 and is used for fixing the disinfection gas cylinder 42;

a gas cylinder opening/closing mechanism 44 provided in the gas cylinder placing chamber 41 for opening or closing the sterilizing gas cylinder 42;

the gas cylinder connecting mechanism 45 is arranged in the gas cylinder placing cavity 41 and is used for connecting the gas outlet end of the disinfection gas cylinder 42;

the gas conveying cavity 47 is arranged in the body 1 and communicated with the gas bottle connecting mechanism 45;

a fan 48 electrically connected to the controller 5 and disposed in the body 1; an air outlet end of the fan 48 is communicated with the gas conveying cavity 47 through a pipeline and used for conveying air to the gas conveying cavity 47;

and a plurality of air outlets 50 which are arranged on the surface of the body 1 and are respectively communicated with the air conveying cavity 47.

The working principle and the beneficial effects of the technical scheme are as follows:

when the sterilizing gas is used up, the user can replace the new sterilizing gas bottle 42 by opening the cover plate 46, the replacement efficiency is improved, and the sterilizing gas in the sterilizing gas bottle 42 is not contacted during replacement, zero-contact replacement is realized, the safety is improved, and the replacement step is as follows: firstly, whether the disinfection gas cylinder 42 in the gas cylinder placing cavity 41 is closed or not is confirmed; when not closed, the sterilizing gas cylinder 42 is closed by the gas cylinder opening and closing mechanism 44; then the cover plate 46 is opened, the old sterilized gas bottle 42 is separated from the gas bottle opening and closing mechanism 44, the gas bottle connecting mechanism 45 and the gas bottle fixing mechanism 43, a new sterilized gas bottle 42 is replaced, and the body of the sterilized gas bottle 42 is fixed through the gas bottle fixing mechanism 43; the gas cylinder connecting mechanism 45 is connected with the gas outlet end of the sterilized gas cylinder 42, and the gas cylinder opening and closing mechanism 44 is connected with the switch of the valve of the sterilized gas cylinder 42.

When first degassing unit 4 used, the valve that closing mechanism 44 opened disinfection gas cylinder 42 was opened to the gas cylinder, and gaseous from giving vent to anger the end and pass through gas cylinder coupling mechanism 45 entering gas delivery chamber 47, in gas delivery chamber 47, the air that gaseous and fan 48 carried mixes, is to dilute the gaseous disinfectant of high concentration on the one hand, and on the other hand provides power for gaseous disinfectant for the loss of gaseous toward intelligent office space. In addition, gas outlet 50 sets up in each position on the surface, realizes that the gaseous space that escapes to the intelligent office in faster of disinfection has improved disinfection efficiency. Only when the disinfection operation is carried out, the valve of the disinfection gas bottle 42 is opened through the gas bottle opening and closing mechanism 44, and the valve of the disinfection gas bottle 42 is closed in the rest time, so that the problem of the leakage of the disinfection gas when the gas leakage of the internal pipeline of the first disinfection device 4 occurs is solved. In addition, the controller 5 realizes automatic control of the opening or closing of the first disinfection device 4 by controlling the gas cylinder opening and closing mechanism 44 and the fan 48, and improves the intelligent level.

In one embodiment, as shown in fig. 3 and 4, the gas cylinder opening and closing mechanism 44 includes:

the device comprises a first arc-shaped body 13 and a second arc-shaped body 14, wherein one end of the first arc-shaped body 13 is hinged with one end of the second arc-shaped body 14, and the other end of the first arc-shaped body 13 is detachably connected with the other end of the second arc-shaped body 14;

the first motor 11 is fixedly arranged at the upper end of the gas cylinder placing cavity 41 and is electrically connected with the controller 5; the rotating shaft of the first motor 11 is coaxially arranged with the circular shape formed by the first arc-shaped body 13 and the second arc-shaped body 14; the first arc-shaped body 13 is fixedly connected with a rotating shaft of the first motor 11 through a plurality of reinforcing ribs 12;

as shown in fig. 3, the gas cylinder connection mechanism 45 includes:

the connector 15 is fixedly connected with the air outlet end of the disinfection air bottle 42;

a first gas flow meter 17, electrically connected to the controller 5, for detecting a first flow rate of the sterilizing gas delivered from the sterilizing gas cylinder 42 to the gas delivery chamber 47; one end of the first gas flowmeter 17 is communicated with the joint 15 through a pipeline, and the other end of the first gas flowmeter is communicated with the gas conveying cavity 47 through a pipeline;

a first barometer 16, disposed on the pipeline between the first gas flowmeter 17 and the connector 15, electrically connected to the controller 5, for detecting the pressure value inside the sterilized gas cylinder 42 when the sterilized gas cylinder 42 is opened;

as shown in fig. 2, the first sterilizing device 4 further includes:

and the second gas flowmeter 49 is arranged on a pipeline between the fan 48 and the gas outlet end of the fan 48 and the gas conveying cavity 47 and is used for detecting the second flow of the gas conveyed by the fan 48.

The working principle and the beneficial effects of the technical scheme are as follows:

the first arc-shaped body 13 and the second arc-shaped body 14 are connected and sleeved outside the switch of the disinfection gas cylinder 42, and when the first motor 11 rotates, the first arc-shaped body 13 and the second arc-shaped body 14 rotate along with the first motor, so that the switch is rotated; the rotary switch mainly considers the frictional force between switch and first arc 13 and second arc 14, so in order to increase frictional force, still can set up first arc 13 and second arc 14 inboard to the cusp, in order to make and laminate more between first arc 13 and second arc 14 and the switch, still can set up the cotton layer of elasticity bubble in first arc 13 and second arc 14 inboard, the cotton layer of elasticity bubble is except realizing the function of laminating more, can also increase the frictional force between first arc 13 and second arc 14 and the switch. The detachable connection of the first arc-shaped body 13 and the second arc-shaped body 14 can be realized by a snap connection mechanism.

In order to ensure the gas tightness of the gas transmission of the sterilized gas bottle 42, the connector 15 is fixedly connected with the gas outlet end of the sterilized gas bottle 42 in a threaded connection manner; when the disinfection gas bottle 42 is used for gas transmission, the disinfection gas firstly passes through the first barometer 16, at the moment, the first barometer 16 detects the gas pressure value of the disinfection gas in the disinfection gas bottle 42, and then passes through the first gas flowmeter 17, at the moment, the first gas flowmeter 17 detects the first flow of the disinfection gas; the controller 5 detects the air pressure value and the first flow rate through the first air pressure meter 16 and the first gas flow meter 17; can judge the content of the surplus sterilizing gas in the disinfection gas cylinder 42 through the atmospheric pressure value, when disinfecting as finishing in one time, send the prompt message when confirming in the disinfection gas cylinder 42 not having sterilizing gas or can not carry out the next disinfection operation, inform the user to change, realize the content in the intelligent control disinfection gas cylinder 42, guarantee going on smoothly of disinfection operation. In addition, the controller 5 detects a second flow delivered by the fan 48 through a second gas flow meter 49, and controls the rotation speed of the fan 48 and the rotation of the first motor 11 according to the first flow and the second flow respectively, so as to control the mixing ratio of the sterilizing gas and the air according to the requirement; further, when the cleaning and disinfecting robot is connected to a control server of an intelligent office, the rotating speed of the fan 48 and the rotation of the first motor 11 are controlled according to weather parameters sent by the control server, so that the disinfecting mode is intelligently selected according to weather conditions.

In one embodiment, as shown in fig. 5 to 11, the cleaning device 3 includes:

the bulldozing mechanism 6 is arranged on one side of the body 1 and used for pushing large garbage on the ground of the intelligent office;

the mopping mechanism 7 is arranged at the bottom end of the body 1 and is used for mopping the ground of the intelligent office;

as shown in fig. 5, the dozer mechanism 6 includes: two third motors 61 symmetrically arranged at two sides of the body 1 and a push plate structure 62 with two ends respectively rotatably connected with the third motors 61; the push plate structure 62 includes an arc-shaped push plate body 621 and two first connecting bodies 622 symmetrically arranged; one end of each of the two first connecting bodies 622 is fixedly connected to two ends of the arc-shaped pushing plate 621, and the other end of each of the two first connecting bodies 622 is rotatably connected to the two third motors 61; the third motor 61 is electrically connected with the controller 5;

as shown in fig. 6 to 11, the wiping mechanism 7 includes:

two gathering bodies 74 which are symmetrically arranged are arranged on one side of the bottom end of the body 1; the gathering body 74 is arranged at a certain angle with the front and back axes of the bottom end of the body 1;

the dust suction port 73 is arranged at the bottom end of the body 1 and at the intersection of the two gathering bodies 74;

a dust collector 75 provided in the main body 1 and communicating with the dust suction port 73;

an absorption sponge body 71 which is arranged on one side of the bottom end of the body 1 far away from the gathering body 74;

a plurality of scrubbing bodies 72 arranged at the bottom end of the body 1 and positioned between the absorbing sponge body 71 and the dust suction port 73;

a cleaning cavity 76 which is arranged in the body 1 and is positioned above the absorption sponge body 71, and an automatic inserting plate mechanism 9 is arranged at the communication part of the cleaning cavity 76 and the bottom end of the body 1;

a first telescopic mechanism 77 arranged at the upper end of the cleaning cavity 76, one end of which is fixedly connected with the body 1 and the other end of which is fixedly connected with the absorption sponge body 71;

a clean water cavity 78 which is arranged in the body 1 and is communicated with the top end of the cleaning cavity 76 through a first electric control valve 81;

a sewage chamber 79 arranged in the body 1 and communicated with the bottom end of the cleaning chamber 76 through a water suction pump 80;

two symmetrically arranged water squeezing mechanisms 8 are arranged on two side walls of the cleaning cavity 76; the wringing mechanism 8 includes: a second telescopic mechanism 83 fixedly arranged on the inner wall of the cleaning cavity 76 and a plate body 82 fixedly arranged at one end of the second telescopic mechanism 83;

the automatic board inserting mechanism 9 includes: the board inserting body 85, a second motor 86 in transmission connection with the board inserting body 85; two door bodies 84 which are symmetrically arranged are arranged below the automatic board inserting mechanism 9; one end of the door body 84 is hinged with the body 1.

The working principle and the beneficial effects of the technical scheme are as follows:

the cleaning device 3 of the cleaning and disinfecting robot is mainly provided with a bulldozing mechanism 6 arranged at one side and a mopping mechanism 7 arranged at the bottom; in the process of the cleaning and disinfecting robot, the soil pushing mechanism 6 pushes the garbage such as paper rolls on the ground to move forward, and the garbage is gathered to a designated position; the mopping mechanism 7 scrubs dust and dirt on the ground. In addition, the bulldozer mechanism 6 arranged in front of the cleaning and disinfecting robot can also have an anti-collision function. When paper groups on the ground do not need to be gathered or the paper groups on the ground are gathered, the third motor 61 rotates to lift the push plate structure 62 away from the ground, and the situation that the push plate structure 62 possibly obstructs the walking of the cleaning and disinfecting robot is avoided. Through bulldozing mechanism 6, realized cleaning and disinfecting robot's automatic function of sweeping the floor.

When the cleaning and disinfecting robot moves, the cleaning of the ground is mainly three steps, wherein the first step is as follows: the gathering body 74 gathers dust or fine garbage to the middle of the bottom end of the cleaning and disinfecting robot, and sucks the dust or fine garbage into the dust collector 75 through the dust suction opening 73, the scrubbing body 72 behind the dust suction opening 73 scrubs the ground, the absorbing sponge body 71 behind the scrubbing body 72 absorbs water marks left by the scrubbing body 72, and the ground cleaning effect is ensured through three steps of cleaning; the floor mopping function of the cleaning and disinfecting robot is realized.

The absorption sponge 71 is used as the last step of cleaning, the cleaning of the absorption sponge 71 is an important factor for ensuring the effect of cleaning the floor of the cleaning and disinfecting robot, therefore, a cleaning cavity 76 for cleaning the absorption sponge 71 is arranged in the body 1, and the specific cleaning steps are as follows: the first telescopic mechanism 77 contracts to put the absorption sponge body 71 into the cleaning cavity 76, the automatic board inserting mechanism 9 acts to seal the lower end of the clear water cavity 78 by adopting the board inserting body 85, so that the clear water cavity 78 becomes a sealed cavity, the clear water cavity 78 injects clear water into the cleaning cavity 76, and the water squeezing mechanism 8 squeezes the absorption sponge body 71 from two sides; the cleaning effect of the absorbent sponge 71 is improved by repeatedly squeezing the absorbent sponge 71; after cleaning, the water suction pump 80 sucks the cleaned sewage into the sewage chamber 79. The absorption sponge 71 is a core component for realizing automatic floor wiping of the cleaning robot.

More closely, still have automatic unit of draining on the body, be connected with the sewage chamber for with the sewage evacuation of sewage intracavity.

The body is also provided with an automatic water adding unit which is connected with the clear water cavity and used for adding clear water into the clear water cavity.

The cleaning and disinfecting robot further comprises: the mechanical arm is electrically connected with the controller 5; the mechanical arm is arranged on the upper end surface of the body 1, and a cleaning sponge is arranged at the tail end of the mechanical arm; the controller controls the mechanical arm to wipe the glass by using the cleaning sponge.

In one embodiment, as shown in fig. 10 and 11, a fourth motor 92 is disposed in the body 1, a crankshaft 93 is fixedly disposed at an output end of the fourth motor 92, and the plurality of scrubbing bodies 72 are uniformly disposed on the crankshaft 93;

the swab 72 includes:

the seat body 95 is arranged in the sliding groove 91 at the bottom end of the body 1 in a sliding manner; a scrubbing sponge 94 is fixedly arranged on the lower end surface of the seat body 95;

a plurality of water inlets 96 arranged on the upper end surface of the seat body 95 and communicated with the clear water cavity 78;

one end of the second connecting body 97 is fixedly connected with the upper end face of the seat body 95, and a strip-shaped groove body 98 is arranged in the middle of the second connecting body 97; the crankshaft 93 is slidably disposed within the elongated slot 98.

The working principle and the beneficial effects of the technical scheme are as follows:

the water inlet 96 is connected to the clean water chamber 78 to keep the scrubbing body 72 wet during scrubbing, thereby improving the scrubbing effect of the scrubbing body 72. In order to control the water outlet from the clean water chamber 78 to the water inlet 96, an electrically controlled valve can be arranged in the middle of the pipeline, and the electrically controlled valve is controlled by the controller 5. The crankshaft 93 can slide up and down in the elongated groove 98 in the middle of the second connector 97, and the rotation of the fourth motor 92 is converted into the reciprocating motion of the seat body 95 in the sliding groove 91 in the horizontal direction by the cooperation of the crankshaft 93 and the elongated groove 98, so that the repeated scrubbing of the scrubbing body 72 on the ground is realized, and the scrubbing effect is improved. The two adjacent scrubbing bodies 72 at the bottom end of the body 1 have opposite movement directions, so that the staggered scrubbing on the ground is realized, and the scrubbing effect is improved.

In one embodiment, the cleaning and disinfecting robot applied to the intelligent office further comprises:

and the second disinfection device is arranged at the bottom end of the body 1, is electrically connected with the controller 5 and is used for disinfecting the cleaned ground.

The working principle and the beneficial effects of the technical scheme are as follows:

the second degassing unit sets up in the bottom of body 1, and the second degassing unit can adopt UVC sterilamp, adopts the sterilamp to disinfect ground, and the ultraviolet disinfection is effectual to the environmental protection, can not harmful substance in the disinfection process. In addition, a plurality of second sterilizing devices (UVC ultraviolet sterilizing lamps) are uniformly distributed on the side surface of the body 1, so that ultraviolet sterilization of the peripheral space is realized; the ultraviolet sterilization can directly destroy DNA, RHA, protein and the like in virus cells, so that the cells are directly dead and cannot be reproduced and copied, and the problem of drug resistance does not exist; has the characteristics of broad spectrum, high efficiency, rapidness, thoroughness, no need of adding chemical agents, no drug resistance, no secondary pollution and the like.

In one embodiment, the cleaning and disinfecting robot applied to the intelligent office further comprises:

and the wireless communication module is electrically connected with the controller 5 and is used for being in communication connection with a central control center of the intelligent office.

The working principle and the beneficial effects of the technical scheme are as follows:

the cleaning and disinfecting robot is connected to a central control center of an intelligent office through a wireless communication module and receives the dispatching of the central control center of the intelligent office; after the central control center is connected, still can set up interactive module on the cleaning and disinfection robot, speaker and mike promptly, controller 5 gathers user's interactive pronunciation through mike, controller 5 sends interactive pronunciation to the central control center through wireless communication module, the broadcast pronunciation that corresponds is returned to the central control center, the broadcast pronunciation that controller 5 control speaker broadcast was returned, realized cleaning and disinfection robot's voice interaction function, improved cleaning and disinfection robot's intellectuality. In addition, the voice control of the cleaning and disinfecting robot can be realized.

In one embodiment, the cleaning and disinfecting robot applied to the intelligent office further comprises:

fire alarm monitoring devices sets up at 1 up end of body, is connected with controller 5 electricity for send out fire alarm information when taking place the conflagration in intelligent office.

The working principle and the beneficial effects of the technical scheme are as follows:

the cleaning and disinfecting robot monitors the fire information in the intelligent office through the fire monitoring device, and when the fire happens, the cleaning and disinfecting robot dials a fire alarm phone or sends information to a mobile phone of a worker in the intelligent office.

In one embodiment, the cleaning and disinfecting robot applied to the intelligent office further comprises:

the double-shaft rotating tripod head is arranged on the upper end surface of the body 1 and is electrically connected with the controller 5;

the image acquisition device is arranged on the double-shaft rotating holder and is electrically connected with the controller 5;

the sound source positioning device is arranged on the upper end surface of the body 1 and is electrically connected with the controller 5;

the controller 5 performs operations including:

acquiring a trigger voice through a sound source positioning device and positioning a first position of the trigger voice;

controlling the double-shaft rotating holder to rotate, and rotating the image acquisition device to face the first position;

acquiring a first image of a first position through an image acquisition device;

analyzing the first image and determining the direction of the hand of the user in the first image;

controlling the double-shaft rotating holder to rotate according to the direction, and acquiring a second image of a target area corresponding to the direction through the image acquisition device;

locating a second position of the target area based on the second image;

controlling the walking device to move to enable the body 1 to move to a second position of the target area;

the cleaning device 3 is controlled to act to clean the second position.

The working principle and the beneficial effects of the technical scheme are as follows:

the camera is arranged on the double-shaft rotating holder, 360-degree image shooting of the cleaning and disinfecting robot is achieved, a user speaks a voice control command word (such as a cleaning word) for starting the cleaning and disinfecting robot and points to an area needing cleaning through fingers, the cleaning and disinfecting robot firstly positions the position of the user through a sound source positioning device (such as a microphone array), then the finger direction of the user is identified, the area needing cleaning is determined according to the finger direction, and then the area appointed by the user is cleaned. The robot cleaner realizes random triggering except fixed point triggering and starting of the robot cleaner during off duty, intelligently recognizes voice control and gesture control of a user, further understands the intention of the user, cleans a corresponding area, and improves the intelligence of the robot cleaner. Further, not only the body language pointed to by the finger but also the body language of the position indicated by the stomp can be recognized.

In one embodiment, parsing the first image and determining the orientation of the user's hand in the first image specifically includes:

establishing a coordinate system by taking the central position of the first image as an origin;

determining a first coordinate (x) representing a position of a tip of a finger₁,y₁) Second coordinate (x) representing the position of the end of the finger₂,y₂) Third coordinate (x) representing wrist position₃,y₃) Fourth coordinate (x) representing elbow position₄,y₄)；

Determining a first pointing vector based on the first coordinates and the second coordinates;

determining a second directional vector based on the third coordinate and the fourth coordinate;

calculating the included angle theta based on the first directional vector and the second directional vector, wherein the calculation formula is as follows:

and when the included angle theta is smaller than the preset angle value, taking the direction of the first pointing vector as the pointing direction of the hand. When the included angle is larger than the preset angle value, the pointing direction of the finger is not judged, the preset range of the position of the first position is directly divided into a target area, and the walking device is controlled to move, so that the body 1 moves to the target area for cleaning.

The working principle and the beneficial effects of the technical scheme are as follows:

in parsing the first image, the user's finger pointing needs to be determined. When the finger pointing direction of the user is determined, the finger pointing direction of the user is confirmed through the finger tip position, the finger tail end position, the wrist position and the elbow position, and the accuracy of the finger pointing direction identification of the user by the cleaning and disinfecting robot is improved. The discrimination and judgment capability of the cleaning and disinfecting robot on the user instruction is improved, and the intellectualization is improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.