CN-122008161-A - Robot for cleaning and disinfecting closestool and cleaning and disinfecting method

CN122008161ACN 122008161 ACN122008161 ACN 122008161ACN-122008161-A

Abstract

The invention relates to a robot for cleaning and disinfecting a closestool and a cleaning and disinfecting method, and belongs to the field of robots. The robot comprises a body main body, a mechanical arm, a drying part and a cleaning and sterilizing part which are sequentially connected, wherein the cleaning and sterilizing part comprises a shell, the front end part of the shell is in an inclined flat shape and is internally provided with an image recognition module, an infrared sensor and a data transmission module, a liquid outlet assembly is arranged in the middle of the shell, a brush rotating assembly is coaxially sleeved outside the liquid outlet assembly, the liquid outlet assembly comprises a liquid outlet barrel, two rows of nozzles are distributed on the circumferential side wall of the liquid outlet barrel along the axis of the liquid outlet barrel, and the brush rotating assembly comprises a rotary barrel, and a plurality of rows of spray holes and a plurality of rows of brushes which are distributed on the circumferential side wall of the rotary barrel in a staggered manner along the axis direction of the rotary barrel. The robot and the method realize full intellectualization of 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: 20260512
Application Date: 20260331

Claims (10)

1. A robot for cleaning and disinfecting a closestool is characterized by comprising a machine body, a mechanical arm, a drying component and a cleaning and disinfecting component which are connected in sequence; The cleaning and disinfecting component comprises a shell, wherein the front end part of the shell is in an inclined flat shape and internally provided with an image recognition module, an infrared sensor and a data transmission module, a liquid outlet component is arranged in the middle of the shell, and a hairbrush rotating component is coaxially sleeved on the outer side of the liquid outlet component; The liquid outlet assembly comprises a liquid outlet cylinder, and two rows of nozzles are distributed on the circumferential side wall of the liquid outlet cylinder along the axial lead of the liquid outlet cylinder; The brush rotating assembly comprises a rotary drum, and a plurality of rows of spray holes and a plurality of rows of brushes are distributed on the circumferential side wall of the rotary drum in a staggered manner along the axial line direction of the rotary drum; When the closestool is cleaned, a processor arranged in the main body of the machine body sends a control instruction to the mechanical arm, the drying component and the cleaning and disinfecting component are controlled to move to the vicinity of the closestool, the infrared sensor senses the closestool, the image recognition module recognizes the shape and position information of the closestool cover and sends the information to the processor through the data transmission module, the processor controls the mechanical arm to control the front end part of the shell to align with a gap between the closestool cover and the closestool and move forwards, the closestool cover is pushed upwards, the processor controls the rotating drum to rotate, when any row of spray holes rotate to align with one row of spray holes, disinfectant sprayed by the spray holes is sprayed on the inner side of the closestool through the spray holes, a row of hair brushes following any row of spray holes rotationally wipes a spraying area, and the drying component dries the disinfectant spraying area by air outlet.
2. The robot for cleaning and disinfecting a toilet bowl according to claim 1, wherein the liquid outlet assembly further comprises a water inlet pipe connected to the liquid outlet cylinder, and an atomization module and a pressurizing module arranged on the water inlet pipe, wherein the pressurizing module pressurizes the disinfection water flowing into the water inlet pipe, and the disinfection water is atomized into atomized disinfection solution through the atomization module.
3. The robot for cleaning and disinfecting a toilet bowl according to claim 1, wherein the brush rotating assembly further comprises a motor and a connecting shaft, the rotating drum is connected with the motor through the connecting shaft, and the rotating drum drives the spray holes and the brush to rotate under the driving of the motor.
4. The robot for toilet cleaning and disinfecting according to claim 1, wherein the inclined surface of the front end of the housing pushes the toilet lid to be opened gradually upward during the forward movement of the front end of the housing from outside to inside.
5. The robot for toilet cleaning and disinfecting according to claim 1, wherein the brush is made of a soft antibacterial material.
6. The robot for toilet cleaning and disinfecting according to claim 1, wherein the front end of the housing is made of silica gel.
7. The robot for cleaning and disinfecting a toilet according to claim 1, wherein the drying part further comprises a fan, a heating module, an upper air outlet and a lower air outlet, wherein the air generated by the fan is heated by the heating module to form hot air, and the hot air is blown to the upper side and the lower side of the interior of the toilet through the upper air outlet and the lower air outlet.
8. The robot for cleaning and disinfecting a toilet bowl according to claim 1, wherein the housing is further provided with a receiving chamber penetrating up and down, the liquid discharging assembly and the brush rotating assembly are disposed in the receiving chamber and perpendicular to a moving direction of the housing, and the brush is protruded from upper and lower ends of the housing.
9. A method of sanitizing a toilet using the robot of any one of claims 1 to 8, comprising the steps of: s1, a main body of the machine body controls a mechanical arm to control a cleaning and sterilizing part to move to the vicinity of a toilet bowl and sense the cleaning and sterilizing part through an infrared sensor, the shape and position information of the outline edge of the toilet bowl cover are recognized through an image recognition module, the information is sent to a processor arranged in the main body of the machine body through a data transmission module, and the processor controls the front end part of the shell to be inserted into a gap between the toilet bowl cover and the toilet bowl according to the information and continuously pushed inwards; s2, the processor controls the rotating drum to rotate, when the spraying hole on the rotating drum rotates to the aligned spraying nozzle, the aligned spraying nozzle sprays sterilizing water on the inner side of the closestool through the spraying hole, and the brush on the rotating drum performs rolling wiping on a spraying area; and S3, the processor controls the drying component to discharge air from the area sprayed by the sterilizing water and dry the area.
10. The method of robot cleaning and disinfecting a toilet according to claim 9, wherein the step S1 further comprises the step of the image recognition module recognizing a spatial position distance between the front end portion of the housing and the toilet cover in real time before the front end portion of the housing is inserted into the gap between the toilet cover and the toilet, and the controller controlling the robot arm to fine-tune the front end portion of the housing according to the spatial position distance so that the front end portion of the housing is just positioned at the front end of the gap between the toilet cover and the toilet.

Description

Robot 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 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 previous manual treatment to the current robot for full-automatic treatment. In many situations, such as hotels, guesthouses, office buildings and public toilets, it is known that robots automatically clean and disinfect toilets. 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. Although the intelligent cleaning robot is designed with a nozzle and a rotatable brush structure, in the patent, the nozzle faces the brush to discharge water, and the rotatable brush brushes the inner side of the closestool, so that the cleaning and disinfecting effects are not ideal. Secondly, the technical scheme of the patent does not disclose how the robot pushes the toilet cover upwards, and the brush is used for brushing the toilet and then drying the toilet without drying equipment, so that water drops or disinfectant are adhered to the inner side of the toilet, and when a toilet person is convenient, the water drops or disinfectant can be adhered to the skin, so that personal hygiene protection is not facilitated. Therefore, the whole intelligent degree of the technical scheme is not high, and toilet staff feel unhygienic after the robot is used for cleaning the closestool. 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. However, the patent does not disclose a specific structure of the brush rotating mechanism, and the intelligent degree is low, so that the whole set of automatic processes of pushing the toilet cover upwards, cleaning, sterilizing and drying cannot be realized. Disclosure of Invention The embodiment of the application provides a robot for cleaning and disinfecting a closestool, which aims to solve the problem that the existing robot for cleaning and disinfecting the closestool is low in intelligent degree. A robot for cleaning and sterilizing a toilet bowl comprises a main body, a mechanical arm, a drying component and a cleaning and sterilizing component which are connected in sequence; The cleaning and disinfecting component comprises a shell, wherein the front end part of the shell is in an inclined flat shape and is internally provided with an image recognition module, an infrared sensor and a data transmission module, a liquid outlet component is arranged in the middle part of the shell, and a hairbrush rotating component is coaxially sleeved on the outer side of the liquid outlet component; the liquid outlet component comprises a liquid outlet cylinder, and two rows of nozzles are distributed on the circumferential side wall of the liquid outlet cylinder along the axial lead of the liquid outlet cylinder; The brush rotating assembly comprises a rotary drum, and a plurality of rows of spray holes and a plurality of rows of brushes are distributed on the circumferential side wall of the rotary drum in a staggered manner along the axial line direction of the rotary drum; When the closestool is cleaned, a processor arranged in the main body of the machine body sends a control instruction to the mechanical arm, the drying component and the cleaning and disinfecting component are controlled to move to the vicinity of the closestool, the infrared sensor senses the closestool, the image recognition module recognizes the shape and position information of the closestool cover and sends the information to the processor through the data transmission module, the processor controls the mechanical arm to control the front end of the shell to align with a gap between the closestool cover and the closestool and