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CN-121989211-A - Robot equipment for cleaning and disinfecting closestool and cleaning and disinfecting method

CN121989211ACN 121989211 ACN121989211 ACN 121989211ACN-121989211-A

Abstract

The invention relates to a robot device for cleaning and disinfecting a toilet and a cleaning and disinfecting method. The robot equipment comprises a machine body, a mechanical arm and a sterilizing, cleaning and drying component which are sequentially connected, wherein the sterilizing, cleaning and drying component comprises a supporting component, a hairbrush rotating component and a liquid supply component, wherein the hairbrush rotating component is arranged on the supporting component, the liquid supply component can control a plurality of nozzles to independently discharge water, the front end of the supporting component is a wedge-shaped plate, an image recognition module, an infrared sensor and a data processing module are arranged at the front end of the wedge-shaped plate, an air inlet is formed in the rear end of the wedge-shaped plate along the length direction, and a plurality of groups of air outlet holes which are communicated with the air inlet and gradually reduce in cross section area to the air outlet direction are formed in the upper end and the lower end of the wedge-shaped plate along the length direction. The robot equipment and the method realize full intellectualization and differential disinfection and sterilization in the whole operation process, improve the working efficiency and save the cost.

Inventors

  • LI CHENGHUA
  • SUN JINAN

Assignees

  • 广州市升辉清洁服务有限公司
  • 北京大学

Dates

Publication Date
20260508
Application Date
20260331

Claims (9)

  1. 1. The toilet cleaning and disinfecting robot device is characterized by comprising a machine body main body, a mechanical arm and a sterilizing, cleaning and drying component which are connected in sequence; The sterilizing, cleaning and drying component comprises a supporting component, a hairbrush rotating component and a liquid supply component, wherein the hairbrush rotating component is arranged on the supporting component, and the liquid supply component can control a plurality of nozzles to independently discharge water; The front end part of the supporting component is a wedge-shaped plate, an image recognition module, an infrared sensor and a data processing module are arranged at the front end of the wedge-shaped plate, an air inlet hole is formed in the rear end part of the wedge-shaped plate along the length direction, and a plurality of groups of air outlet holes which are communicated with the air inlet hole and gradually reduce in cross section area towards the air outlet direction are formed in the upper end and the lower end of the wedge-shaped plate along the length direction; a supporting plate horizontally extends backwards from two sides of the wedge plate, the hairbrush rotating assembly and the liquid supply assembly are vertically arranged on the two supporting plates, and the liquid supply assembly is connected with the mechanical arm; The hairbrush rotating assembly comprises a rotating shaft penetrating between two supporting plates, a motor for driving the rotating shaft to rotate, and a plurality of turntables uniformly arranged at intervals along the length direction of the rotating shaft, wherein a plurality of hairbrushes are uniformly distributed on the circumference of each turntable; The liquid supply assembly comprises a liquid supply pipe penetrating between two support plates, wherein the mechanical arm is connected with the liquid supply pipe, a plurality of nozzle seats which are communicated with the liquid supply pipe are uniformly distributed along the length direction of the liquid supply pipe, and each nozzle seat is suspended and penetrated between every two adjacent turntables on the rotating shaft; When the closestool is sterilized, cleaned and dried, a processor arranged in the main body of the machine body sends a control instruction to the mechanical arm to control the sterilizing, cleaning and drying component to open the closestool cover and move forward to the bottom; The processor controls the sterilizing, cleaning and drying components to retract backwards through the mechanical arm, and the dirt detection unit in each nozzle seat detects whether dirt exists in a passing area: when the dirt is detected, the dirt detection unit sends an instruction of opening a valve switch on a corresponding nozzle seat to the processor, and the disinfectant flows through two groups of spray holes through the valve switch to spray the disinfectant to a dirt area; The processor controls the brush rotating assembly to rotate, the inner side of the closestool is rotated to be wiped and scrubbed, and the air blown in by the air inlet hole is blown out through the air outlet to dry a wiping and scrubbing area.
  2. 2. The toilet cleaning and disinfecting robot apparatus of claim 1, wherein when sterilizing, cleaning and drying a toilet, a processor provided in the main body of the main body transmits a control command to the robot arm, controls the sterilizing, cleaning and drying part to open and move the toilet lid forward to the bottom, and comprises: The processor controls the front end part of the supporting component to move to the vicinity of the toilet bowl through the mechanical arm and is sensed by the infrared sensor, the image recognition module sends information for recognizing the shape and the position of the toilet bowl cover to the processor through the data processing module, and the processor controls the mechanical arm to control the front end part of the supporting component to align with a gap between the toilet bowl cover and the toilet bowl and move forwards to the bottom and open the toilet bowl cover.
  3. 3. The toilet cleaning and disinfecting robot device according to claim 1, wherein the nozzle holder is a U-shaped nozzle holder, a hollow U-shaped bend is arranged in the U-shaped nozzle holder, one end of the U-shaped nozzle holder is connected with the liquid supply pipe in a penetrating way, the other end of the U-shaped nozzle holder is closed and suspended, two groups of spray holes are respectively arranged on two sides of the bottom end of the U-shaped nozzle holder and are communicated with the U-shaped bend, and the rotating shaft passes through the inner side of the bottom end of the U-shaped nozzle holder in a non-contact way and is parallel to the liquid supply pipe.
  4. 4. The toilet cleaning and sanitizing robot apparatus of claim 2, wherein the liquid supply assembly further comprises an atomizing module and a pressurizing module disposed in the liquid supply pipe, the pressurizing module pressurizing the sanitizing water flowing into the liquid supply pipe, and atomizing the sanitizing mist through the atomizing module.
  5. 5. A toilet cleaning and sanitizing robot apparatus as claimed in claim 3, wherein the distance d between each adjacent two of the turntables on the spindle is greater than the thickness h of the U-shaped nozzle holder.
  6. 6. A toilet cleaning and sanitizing robot apparatus as recited in claim 3, wherein the brush is a soft antimicrobial material.
  7. 7. The toilet cleaning and disinfecting robot apparatus of claim 1, wherein the front end of the support member is made of silica gel.
  8. 8. A method of cleaning and sanitizing a toilet using the robotic device of any one of claims 1 to 7, comprising the steps of: The method comprises the following steps that S1, a processor controls a mechanical arm to control a sterilizing, cleaning and drying component to move to the vicinity of a toilet bowl and sensed by an infrared sensor, an image recognition module recognizes information of the shape and the position of the outline edge of the toilet bowl cover, the information is sent to the processor through a data processing module, and the processor controls the front end part of a supporting component to be inserted into a gap between the toilet bowl cover and the toilet bowl through the mechanical arm according to the information and continuously moves inwards to the bottom; S2, the processor controls the sterilizing, cleaning and drying components to back through the mechanical arm, a dirt detection unit on each nozzle seat detects whether dirt exists in a passing area, if so, the dirt detection unit sends an instruction for opening a valve switch on the nozzle seat to the processor, and sterilizing water flows through two groups of spray holes through the valve switch to spray the sterilizing water to the dirt area; And S3, the processor controls the brush rotating assembly to rotate, so as to rotationally wipe and brush the closestool, and the air blown in by the air inlet hole is blown out through the air outlet and then dries the wiping and brushing area.
  9. 9. The method of claim 8, wherein in step S1, before the front end portion of the support assembly is inserted into the gap between the toilet cover and the toilet bowl, the method further comprises the step of the image recognition module recognizing the spatial position distance between the front end portion of the support assembly and the toilet cover in real time, and the processor controlling the mechanical arm to fine-tune the front end portion of the support assembly according to the spatial position distance so that the front end portion of the support assembly is just positioned at the front end of the gap between the toilet cover and the toilet bowl.

Description

Robot equipment for cleaning and disinfecting closestool and cleaning and disinfecting method Technical Field The invention relates to the technical field of robots, in particular to a robot device for cleaning and disinfecting a closestool and a cleaning and disinfecting method. Background With the continuous development of science and technology, the cleaning and disinfection of the closestool is changed from the prior manual disinfection into the prior robot to carry out full-automatic disinfection. In many occasions such as hotels, guesthouses, office buildings and public toilets, the situation that the full-automatic cleaning and sterilizing toilet of the robot is used is seen. Patent CN116494269a (publication time: 2023.7.28) discloses a full-automatic tool self-cleaning system and an artificial intelligent cleaning robot that is provided with a cleaning tool, a processor and a self-cleaning assembly. Patent CN219661628U (grant publication day: 2023.09.12) discloses a toilet cleaning robot comprising a body, a receiving cavity provided at a lower side of the body for receiving a toilet bowl part, the receiving cavity forming an opening at a rear side of the body, a laser radar provided at a front side position of the receiving cavity, the laser radar being exposed at a front side of the body to detect an object at the front side of the body, the laser radar being exposed at the receiving cavity to detect an object at the rear side of the body through the opening, a cleaning assembly provided at the body for cleaning the toilet bowl part located in the receiving cavity, and a moving mechanism provided at the body to move the body. Through the laser radar arrangement, not only can the forward detection requirement be met, but also the use requirement of the backward alignment toilet seat part can be met, the cost is effectively reduced, and meanwhile, the movement control is convenient. The two patents have the defects that if the inner side of the closestool (including the closestool cover and the closestool) has no dirt, the corresponding area can be sprayed with the sterilizing water like a liquid spraying port, so that the sterilizing water is wasted. That is, the above two patents cannot realize cleaning of the area with dirt, which is unfavorable for personalized, intelligent and regional sterilization, and secondly, the above two patents cannot realize full automatic operations of opening the toilet cover, spraying the sterilizing water, brushing and drying with a brush, and the degree of automation is low. Disclosure of Invention The embodiment of the application provides a robot device for cleaning and sterilizing a closestool, which aims to solve the problems that the conventional robot device for cleaning and sterilizing the closestool cannot realize the aim of personalized sterilization and has low intelligent degree. A toilet cleaning and sterilizing robot device comprises a main body, a mechanical arm and a sterilizing, cleaning and drying component which are connected in sequence; the sterilizing, cleaning and drying component comprises a supporting component, a hairbrush rotating component and a liquid supply component, wherein the hairbrush rotating component is arranged on the supporting component, and the liquid supply component can control a plurality of nozzles to independently discharge water; The front end part of the supporting component is a wedge-shaped plate, the front end of the wedge-shaped plate is provided with an image recognition module, an infrared sensor and a data processing module, the rear end part of the wedge-shaped plate is provided with an air inlet along the length direction, and the upper end and the lower end of the wedge-shaped plate are provided with a plurality of groups of air outlet holes which are communicated with the air inlet and the cross section area of which gradually becomes smaller from the air outlet direction along the length direction; A supporting plate is horizontally extended backwards from two sides of the wedge plate, the hairbrush rotating assembly and the liquid supply assembly are vertically arranged on the two supporting plates, and the liquid supply assembly is connected with the mechanical arm; The brush rotating assembly comprises a rotating shaft penetrating between two supporting plates, a motor for driving the rotating shaft to rotate and a plurality of turntables uniformly arranged at intervals along the length direction of the rotating shaft, and a plurality of brushes are uniformly distributed on the circumference of each turntable; The liquid supply assembly comprises a liquid supply pipe penetrating between two support plates, a mechanical arm connected with the liquid supply pipe, a plurality of nozzle seats uniformly distributed along the length direction of the liquid supply pipe and communicated with the liquid supply pipe, and a valve switch, a dirt detection unit and two groups of spray holes arranged in each nozzle