JP2017169613A - Mobile Autonomous Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile autonomous robot capable of performing deodorization and sterilization by spraying hypochlorous acid efficiently.SOLUTION: A mobile autonomous robot includes an aqueous hypochlorous acid supply part for supplying hypochlorous acid to a processing object, a chemical sensor for detecting a processing object material and/or image recognition means for recognizing a subject matter, and moving means, and further includes means for determining an object, a place, means, a quantity, and a time for supplying hypochlorous acid from information detected by the chemical sensor and/or information obtained from the image recognition means.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a mobile autonomous robot.

  Hypochlorous acid is effective in disinfection and deodorization, and a stationary hypochlorous acid spraying device equipped with an odor sensor is known. However, if it is away from the cause, hypochlorous acid cannot be used efficiently and it is sprayed excessively. It is effective for the worker to spray hypochlorous acid on the cause, but the worker himself feels uncomfortable, and privacy issues in the care of supported people, for example elderly people and sick people There is also.

JP 2002-95728 A

  An object of an embodiment of the present invention is to provide a mobile autonomous robot that can efficiently deodorize and disinfect by spraying hypochlorous acid.

  According to the embodiment, the mobile autonomous robot of the present invention includes a hypochlorous acid water supply unit that supplies hypochlorous acid to an object to be processed, a chemical sensor that detects the object to be processed, and / or an object. An object for recognizing hypochlorous acid from information detected by the chemical sensor and / or information obtained from the image recognition means, comprising an image recognition means for recognizing and a means for moving; Means for determining time.

It is a typical perspective view of the mobile autonomous robot suitable for the care etc. which concern on 1st Embodiment. It is a block diagram which shows an example of a structure of the control part which controls a mobile autonomous robot. It is a flowchart explaining an example of the spray amount setting applied to a mobile autonomous robot. It is a flowchart explaining an example of the process of the spray applied to a mobile autonomous robot. It is a typical perspective view of the mobile autonomous robot suitable for the flight which concerns on 2nd Embodiment. It is a typical perspective view of the mobile autonomous robot suitable for the cleaning which concerns on 3rd Embodiment. It is the schematic which shows an example of a structure of the three-chamber type hypochlorous acid manufacturing apparatus applied to a mobile autonomous robot.

  The mobile autonomous robot according to the present embodiment includes a hypochlorous acid water supply unit that supplies hypochlorous acid to an object to be processed, a chemical sensor that detects a substance to be processed, and / or an image recognition unit that recognizes the object. And means for determining the object, location, means, amount, and time for supplying hypochlorous acid from information detected by the chemical sensor and / or information obtained from the image recognition means With.

  Hypochlorous acid can be supplied efficiently by being able to move to the workpiece. Also, since it is not known to others, the mental burden is small. In group life, people do not care. A mobile autonomous robot is a robot that moves based on its own judgment. Such a robot can replace the work that the worker has done so far.

  Here, the chemical sensor is preferably an FET sensor, and a graphene FET is particularly preferable because of its high sensitivity. The objects to be processed include people, animals, objects, and spaces (air). The treated space includes indoors and outdoors. It is preferable that the object can be specified in advance as the image recognition means.

  The mobile autonomous robot according to this embodiment includes a moving means for detecting surrounding obstacles and moving the robot, a control unit for controlling the moving means based on an obstacle detection signal obtained from the detecting means, and the like. This means that the robot makes it possible to determine the direction of movement and stop and the movement of the robot by itself.

  The moving means broadly means means for moving the robot with respect to a base surface such as a floor surface, and includes, for example, a motor, driving wheels driven by the motor, driven wheels that stabilize the posture of the robot, and the like. The driving wheel may be replaced with an endless track, or the driving wheel and the endless track may be used in combination. In either case, a driven wheel is not essential. Moreover, you may have a flight means consisting of rotary wings, such as a helicopter.

  The control unit of the robot according to the present embodiment means a microcomputer that integrally controls at least the moving unit and the hypochlorous acid supply unit. The control unit includes, for example, a CPU that performs arithmetic processing, a RAM that provides a work area to the CPU, a ROM that stores a control program for the CPU, various sensors such as a chemical sensor and a hypochlorous acid concentration sensor under the control of the CPU, The image recognition unit includes an I / O port that inputs and outputs control signals, a driver circuit that drives various drive units under the control of the CPU, and the like. It is preferable that the control unit is appropriately shielded by a shield plate or the like that shields the electromagnetic wave so as not to be affected by the electromagnetic wave emitted from the other part or the surrounding environment.

  Hereinafter, a mobile autonomous robot according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic perspective view of a mobile autonomous robot suitable for nursing care or the like according to the first embodiment of the present invention.

  A mobile autonomous robot (hereinafter also abbreviated as a robot) 100 includes means for assisting or substituting physical movements of a supported person, for example, a sick person or an elderly person (care recipient) and / or a means for nursing. The body movement is, for example, getting up, turning over, walking, moving to a wheelchair, moving in a wheelchair, etc. Nursing means, for example, detecting a state and taking a necessary treatment.

  As shown in FIG. 1, the robot 100 recognizes a substance to be treated and a target object while autonomously traveling on a floor surface or the like where it is installed, and supplies hypochlorous acid. In addition, the robot 100 can perform nursing care and cleaning.

  The robot 100 includes a power source 101 such as a rechargeable battery or a fuel cell that stores electric power therein. As a hypochlorous acid supply unit 102, a tank 103 for storing hypochlorous acid water, a device 104 for vaporizing or atomizing hypochlorous acid (in a gaseous state), and a hypochlorous acid at a specific place It has a nozzle 105 for feeding. The robot 100 further includes a moving device 106, a chemical sensor 107, an image recognition unit 108, and a control unit 109 that controls each unit in an integrated manner. The control unit 109 is configured by a control board on which various electronic components are mounted. It is preferable that the control unit 109 is appropriately shielded by a shield plate or the like that shields the electromagnetic wave so as not to be affected by the electromagnetic wave emitted from the other part or the surrounding environment. The robot 100 also has means 110 for collecting and holding dust and debris, and means 111 for assisting or substituting physical movement.

  FIG. 2 is a block diagram showing a configuration of a control unit that controls the mobile autonomous robot shown in FIG.

  As shown in FIG. 2, the control unit 109 includes a CPU 21 that performs arithmetic processing, a ROM 22 that stores a control program executed by the CPU 21, a RAM 23 that provides a work area to the CPU 21, and various sensors and control signals under the control of the CPU 21. A microcomputer composed of an I / O port 24 that performs input and output, a driver circuit 25 that drives various drive units under the control of the CPU 21, a storage unit 26 that stores various types of information under the control of the CPU 21, The robot 100 is integratedly controlled to perform a series of autonomous operations and hypochlorous acid supply.

  The control unit 109 accepts a condition setting related to the operation of the robot 100 by the user from an operation panel (not shown) and stores it in the storage unit 26. The storage unit 26 can store a movement map for moving around an installation place or a normal position of the robot 100, for example, a position where a charging power source is located, and a concentration map associated with the concentration of the substance to be processed. . The movement map is information relating to movement such as the movement path and movement speed of the robot 100 and can be stored in the storage unit 26 by the user in advance. Transfer maps can also be automatically recorded during hypochlorous acid supply. Further, the control unit 109 can be controlled to move to an arbitrary position or supply hypochlorous acid by a user operation from a remote controller (not shown).

  The robot 100 includes a chemical sensor 107 that detects a substance to be processed. The chemical sensor 107 detects chemical substances around the outside of the robot 100 in the space in which the robot 100 moves. As the chemical sensor 107, for example, a so-called odor sensor of a semiconductor type or a catalytic combustion type can be used. In order to detect the concentration of the substance to be processed around the outside, the chemical sensor 107 is arranged so that at least the sensor unit (concentration detection unit) is exposed to the outside. The control unit 109 is connected to the chemical sensor 107 via the I / O port 24, and can obtain information on a substance to be processed around the outside of the robot 100 based on an output signal from the chemical sensor 107.

  It is preferable that the robot 100 can change the type of the substance to be processed and / or the target object. For example, the chemical sensor 107 of the robot 100 is preferably replaceable. It is also possible to change the substance to be detected from the output pattern using a plurality of different types of chemical sensors 107.

  The robot 100 includes an image recognition unit 108 and an image recognition function programmed in advance so as to suit a specific purpose such as care. The image recognition function may be firmware of the CPU 21, for example, or may be held by the storage unit 26 and operated on the RAM 23. The image recognition function also preferably has a learning function by the user in order to increase the image recognition rate in an individual work environment.

  The robot 100 can estimate the type, three-dimensional position, posture, and motion of the object from the two-dimensional contour information of the object (acquired by the image recognition unit 108) extracted by the image recognition unit 108. Learning functions include, for example, acquiring an image of a specific person and learning by associating the size of the room where the person lives and the spray-prohibited area or movement-prohibited area that does not supply (spray) hypochlorous acid. Is preferred. As a learning function, for example, it is preferable to recognize a specific structure (door or step) or figurine (plant) as an image and learn by associating the size of the space or a prohibited area with respect to the space. .

  For example, the robot 100 can detect at least one chemical substance among skatole, methyl mercaptan, acetic acid, and ammonia. Skatole is a mammalian fecal odor substance and the other is fecal urine odor substance. Also, the chemical substance can be, for example, 4-methyl-3-hexenoic acid or 4-methyl-2-hexenoic acid. These are the causes of the rag odor.

Hypochlorous acid water contains hypochlorous acid molecules (HClO) and hypochlorite ions (ClO ⁻ ) in equilibrium, and HClO has a stronger bactericidal power than ClO ⁻ . The composition ratio of the two changes depending on the pH, and the ratio of ClO ⁻ increases in the alkaline region, and HClO increases in the weakly acidic region. Accordingly, strong sterilizing power can be exhibited in a weakly acidic region. The sterilizing power of chlorine gas (Cl ₂ ), which is widely known as a sterilizing agent, is lower than that of ClO ⁻ .

  Hypochlorous acid can oxidize chemical substances that cause odors, and can kill bacteria that produce these chemical substances.

  As the hypochlorous acid water, for example, electrolyzed water obtained by electrolysis of an aqueous electrolyte solution containing sodium chloride, potassium chloride, or inorganic chloride can be used.

  The effective chlorine concentration in hypochlorous acid water is preferably 10 to 200 ppm.

  The hypochlorous acid water preferably has a pH of 7 or less in order to ensure a certain level of sterilization power.

  The robot 100 can have a mechanism for measuring the hypochlorous acid concentration in the processing space. The mechanism for measuring hypochlorous acid concentration is a container for collecting gaseous and / or mist-like hypochlorous acid water in the space to be treated and contained in the container, and reacts with chlorous acid to emit light. A hypochlorous acid water collecting unit including a fluorescent reagent and a luminescence intensity measuring unit are included, and the hypochlorous acid concentration can be calculated from the luminescence intensity.

  An example of a fluorescent reagent used is aminophenylfluorescein (APF) reagent. The APF reagent has high reactivity to hypochlorous acid and generates a fluorescent compound by oxidation.

  As another embodiment, a mechanism for measuring hypochlorous acid concentration is accommodated in a container for collecting gaseous and / or mist-like hypochlorous acid water in the space to be treated, for example. A hypochlorous acid water sampling unit containing pure water and an effective chlorine concentration meter for measuring the effective chlorine concentration in pure water recovered from the container can be included.

  The effective chlorine concentration meter is a concentration meter using, for example, iodine absorption photometry or DPD method, and measures the effective chlorine concentration by coloring hypochlorous acid in the collected pure water by reaction, and based on the effective chlorine concentration. It is preferable to calculate the hypochlorous acid concentration.

  The robot 100 can also create a map of the location and concentration of the substance to be processed and move autonomously based on the map information.

  In the robot 100, the nozzle 105 for supplying hypochlorous acid can have directivity. Thereby, hypochlorous acid can be efficiently supplied to the object. The nozzle 105 is preferably capable of spraying hypochlorous acid gas and / or mist in the vertical direction, for example. The ability to spray in the vertical direction is preferable when hypochlorous acid is supplied to the space (suitable for discharging into the space).

  The robot 100 is also connected to an air intake device 112 that intakes air, and the air intake device 112 and the hypochlorous acid water supply unit 102. The air introduced by the air intake device 112 is converted into gaseous and / or mist-like hypochlorous acid. A sterilization / deodorization unit 113 for sterilization and / or deodorization using acid water and an exhaust device 114 can be provided. The hypochlorous acid concentration in the sterilizing / deodorizing unit 113 can be measured by the above-described effective chlorine concentration meter, APF reagent, or the like, and preferably 400 ppb to 200 ppm. If it is less than 400 ppb, a sufficient sterilizing effect cannot be obtained, and if it exceeds 200 ppm, metal corrosion proceeds due to metal oxidation in the apparatus (robot 100) due to corrosive gas generated by equilibrium or the like, and the apparatus (of the robot 100) ) Life tends to be shorter.

  The air that has passed through the sterilization / deodorization unit 113 from the exhaust device 114 is sprayed, for example, on dust and dirt held by the dust collecting means and the holding means 110 via a duct (guide mechanism) (not shown). May be. Further, air (exhaust gas) that has passed through the means 110 for collecting dust and dust and the holding means 110 may be introduced into the sterilization / deodorization unit 113 via a duct (guide mechanism) (not shown), and the exhaust gas may contain. It is also possible to deodorize odor components.

  The robot 100 can also include a salt water tank, a water tank, a hypochlorous acid water tank, and an electrolysis cell for producing hypochlorous acid water. The electrolysis cell is preferably a three-chamber type (two-partition three-chamber type). The hypochlorous acid water may be supplied in a replaceable cartridge format, for example. In that case, some or all of the electrolytic cell, the salt water tank, and the water tank can be omitted.

  The robot 100 can also have means for charging or refueling. As the power source, for example, a fuel cell or a Li ion secondary battery is preferable. As the fuel cell, for example, a direct methanol fuel cell (DMFC) or a hydrogen fuel cell is preferable.

  The robot 100 can also have acid resistance. That is, in consideration of use in a state where the concentration of hypochlorous acid is relatively high, it is necessary that the inside of the apparatus (robot 100) and / or the exterior of the apparatus is not easily rusted. Therefore, it is preferable that the main elements and / or configurations be made of plastic as a main material and the metal part as stainless steel.

  The robot 100 can also have means for setting a prohibited area. The movement prohibition area will be described later with reference to FIG. 4, but can be arbitrarily set, for example, in the user input mode when creating a map for setting the movement range of the robot 100. Even in the automatic creation mode, the movement prohibited area can be set by using in advance a guard transmitter that prevents the robot 100 from approaching by emitting infrared rays, for example, at a predetermined position in the target space. Can be set.

  The robot 100 can also reduce the concentration of hypochlorous acid in the processing space from 400 ppb to 200 ppm. If it is less than 400 ppb, sufficient sterilization and deodorizing effects cannot be obtained, and if it exceeds 200 ppm, the metal in the device and space tends to rust. The hypozinc acid concentration is preferably measured at a predetermined timing using the above-described effective chlorine concentration meter, APF reagent, or the like.

  The robot 100 can also have means for recovering hypochlorous acid. As a means for recovery, it is preferable to suck outside air, that is, air in the space, absorb hypochlorous acid through, for example, an activated carbon filter, and then exhaust the outside.

  FIG. 3 is a flowchart for explaining an example of the spray amount setting applied to the mobile autonomous robot.

  First, in the space to be sprayed, an odor sensor (chemical sensor) detects an odor (the presence of an odor component) [S11-YES].

  A spray amount of hypochlorous acid is set based on the detected odor level (intensity) [S12]. The spray amount is determined based on, for example, the location of the spray target, the type of the target, the type of spray, the concentration, or the spray time. The locations to be sprayed include, for example, living rooms or hospital rooms, rooms with pets, spaces where many people gather (for example, conference rooms, gymnasiums, elevators or multipurpose halls), and garbage collection locations (or near the trash can). Is possible. As the types of objects, for example, pet manure (pet toilet), garbage, rags, various odors accumulated by gathering a large number of people, and the like can be classified. Examples of spray types include direct injection (spray) of hypochlorous acid into feces and urine in pet toilets, and a high concentration / hypochlorite water mist around pet toilets. Or it can classify | categorize into the spraying of the gas which vaporized hypochlorous acid water, the spraying of the gas (vaporized) of the predetermined density | concentration for the living room or the meeting room. The spraying time is appropriately set based on the type and concentration of spraying.

  The set spray amount is sprayed at a predetermined place. At this time, the spray may be moved to a predetermined position for spraying, or sprayed while moving [S13].

  After spraying or during spraying, the odor sensor detects the odor level (intensity) of the target space, and the odor level (intensity) has reached a predetermined level (the odor level has fallen below the set value). In the case [S14-YES], spraying is terminated. When the odor level exceeds the set value (predetermined level) [S14-NO], the spray amount is set again and sprayed [S12]-[S13].

  FIG. 4 is a flowchart for explaining an example of creating an automatic movement map and spraying of hypozinc acid that is applied to a mobile autonomous robot. The map may represent the location of the substance to be treated and / or the odor concentration (concentration distribution in space).

  It is determined whether to move and spray based on the odor level (intensity) detected in the space to be sprayed [S101].

  When it moves and sprays [S101-YES], it is judged whether a map is prepared [S102]. When the map is prepared [S102-YES], it is determined whether the prepared existing map is used or newly created [S103].

  When using an existing map [S103-NO], move to the planned spray location set in the map [S104], measure the odor level (intensity) [S105], and set the spray amount and spray type [S106] A predetermined amount of hypochlorous acid water, mist or gas is sprayed at a predetermined concentration [S107].

  If no map is prepared [S102-NO], it is determined whether to create a new map [S111].

  When a map is newly created [S111-YES], either user input mode selection [S112] or automatic creation mode selection [S113] can be selected.

  When the user input mode is selected [S112-YES], using an input key (button) group of a remote control device (not shown) or a predetermined application prepared in the tablet PC device or smartphone, for example, moving or flying, etc. It is possible to set the movement mode, the size / height of the movement space, the movement prohibited area, and the like.

  In the user input mode, for example, in combination with space recognition using the image recognition unit 108 and object recognition (detection), a non-spray object (object to be processed) in the object space represented by, for example, a pet It is also possible to define what moves.

  When the automatic creation mode is selected [S113-YES], the start of the automatic creation mode is instructed from an automatic creation mode key (button) of a remote controller (not shown) or a predetermined application prepared in the tablet PC device or smartphone. .

  In the automatic creation mode, for example, a combination of predetermined movement patterns that move linearly and change the direction again when approaching and / or recognizing a wall, step, or movement prohibited area, and / or an image recognition unit The map is created while moving by space recognition using 108 or object recognition (detection). For the object to be recognized, it is preferable to increase the image recognition rate of the object in advance by a combination with a learning function by the user.

  In the automatic creation mode, the odor concentration is detected each time a predetermined amount is moved, and the odor concentration is detected at that position or in a direction approaching the odor source, thereby vaporizing a predetermined concentration and a predetermined amount of hypochlorous acid water. The sprayed gas or atomized mist may be sprayed, or hypochlorous acid water may be sprayed directly.

  Even in the automatic creation mode, for example, a movement prohibited area can be set by setting in advance a guard transmitter that prevents the robot 100 from approaching by emitting infrared rays in the target space. it can.

  When a map is not newly created [S111-NO], it is possible to spray at that place without moving [S121-YES]-[S123]. Alternatively, spraying can be performed by moving within a predetermined range [S121-NO]-[S122]. As the predetermined range, for example, moving in a circle within a radius of X meters or reciprocating a predetermined distance along a wall in the space can be selected.

  FIG. 5 is a schematic perspective view of a mobile autonomous robot 300 suitable for flight according to the second embodiment of the present invention. Elements and / or configurations that are the same as or substantially the same as those described with reference to FIGS. 1 and 2 may have the same reference numerals in the last two digits, and may not be described in detail.

  The mobile autonomous robot 300 incorporates a power supply 301 such as a rechargeable battery or a fuel cell that stores electric power therein. The hypochlorous acid supply unit 302 includes a tank 303 for storing hypochlorous acid water, a device 304 for vaporizing or atomizing hypochlorous acid, and a nozzle 305 for supplying hypochlorous acid. .

  The mobile autonomous robot 300 includes flying means that can fly, for example, in the vicinity of the ceiling of an indoor space (living room) or at a predetermined height that does not cause contact with a pedestrian or the like. As a flying means, it can have at least one rotor 306 according to a helicopter.

  This makes it possible to achieve stable flight and stop in the air.

  The mobile autonomous robot 300 is further provided with a chemical sensor 307, an image recognition unit 308, and a control unit 309 that controls each unit in an integrated manner. The control unit 309 is configured by a control board on which various electronic components are mounted as shown in FIG. 2 as an example.

  In addition, the autonomous robot 300 is connected to an intake device 312 that inhales air, the intake device 312 and the hypochlorous acid water supply unit 302, and the air introduced by the intake device 312 is in a gaseous and / or mist form. A sterilization / deodorization unit 313 for sterilization and / or deodorization using chlorous acid water and an exhaust device 314 can be provided. The hypochlorous acid concentration in the sterilizing / deodorizing unit 313 can be measured by the above-described effective chlorine concentration meter, APF reagent, or the like, and preferably 400 ppb to 200 ppm. If it is less than 400 ppb, a sufficient sterilizing effect cannot be obtained, and if it exceeds 200 ppm, metal corrosion proceeds due to metal oxidation in the device (robot 300) due to corrosive gas generated by equilibrium or the like, and the device (of the robot 300) ) Life tends to be shorter.

  FIG. 6 is a schematic perspective view of a mobile autonomous robot 400 suitable for cleaning according to the third embodiment of the present invention. Elements and / or configurations that are the same as or substantially the same as those described with reference to FIG. 1 and FIG. 2 or FIG. There is.

  The mobile autonomous robot 400 incorporates a power source 401 such as a rechargeable battery or a fuel cell that stores electric power therein. The hypochlorous acid supply unit 402 includes a tank 403 for storing hypochlorous acid water, a device 404 for vaporizing or atomizing hypochlorous acid, and a nozzle 405 for supplying hypochlorous acid.

  The mobile autonomous robot 400 is further provided with a moving device 406, at least one chemical sensor 407, an image recognition unit 408, and a control unit 409 that integrally controls each unit. At least one of the image recognition units 408 can recognize the state of the floor surface, and when the robot 400 is moved by the moving device 406, dust or the like located below the robot 100 (floor surface) can also be detected. .

  The mobile autonomous robot 400 is further provided with a three-chamber hypochlorous acid production apparatus 415. FIG. 7 shows a schematic configuration of a three-chamber hypochlorous acid production apparatus.

  The control unit 409 is configured by a control board on which various electronic components are mounted as shown in FIG. 2 as an example.

  The mobile autonomous robot 400 also includes means for collecting dust and / or dust and means 410 for holding the collected dust and / or dust, for example, prior to the collection of dust than the floor (moving surface). A means 411 for removing dust in high areas is provided. As a means for holding, it is preferable to compress and hold garbage.

  The mobile autonomous robot 400 shown in FIG. 6 can also include a sterilization / deodorization unit equivalent or similar to the sterilization / deodorization unit 113 and the exhaust device 114 shown in FIG. In that case, the air that has passed through the sterilization / deodorization unit from the exhaust device can be sprayed to dust and / or dust held by the dust and / or dust holding means 410 via a duct (guide mechanism) (not shown). . Also, the air (exhaust gas) that has passed through the means 410 for collecting dust and dust and the holding means 410 is introduced into the sterilization / deodorization section via a duct (guide mechanism) (not shown), and the odor that the exhaust gas may contain is introduced. It is also possible to deodorize the components. Alternatively, hypochlorous acid can be sprayed directly from the hypochlorous acid supply unit 402 to the means 410 for holding dust and / or dust through the path 412. The mobile autonomous robot 400 may be one that does not supply hypochlorous acid to the outside (no nozzle 405).

  FIG. 7 is a schematic diagram showing an example of a three-chamber type (two-partition three-chamber type) electrolyzed water generating apparatus suitable for the mobile autonomous robot of the present embodiment.

  The electrolyzed water generating device 550 includes a three-chamber electrolytic cell 558 composed of three chambers: an anode chamber 554, a cathode chamber 555, and an intermediate chamber 551 provided between the anode chamber 554 and the cathode chamber 555.

  The intermediate chamber 551 has a saturated saline reservoir 561, a salt water circulation pump 562, and a saline solution supply line 569 for accommodating a saturated saline solution 565 and a residual salt 566 that is an inorganic chloride as an aqueous electrolyte solution containing inorganic chloride. It is connected to the provided saturated saline circulation system 563, and a substantially saturated saline solution 565 is always supplied.

  The anode chamber 554 and the cathode chamber 555 are connected to a water supply system 564, and each is constantly supplied with fresh water. The intermediate chamber 551 and the anode chamber 554 are partitioned by a diaphragm 552 that transmits anions, and the intermediate chamber 551 and the cathode chamber 555 are partitioned by a diaphragm 553 that transmits cations. The anode chamber 554 is provided with an anode electrode 556, and the cathode chamber 555 is provided with a cathode electrode 557, to which positive and negative voltages are respectively applied.

  In the anode chamber 554, chlorine ions in the intermediate chamber 551 are pulled by the anode electrode 556, pass through the diaphragm 552, move to the anode chamber 554, pass electrons through the anode electrode 556, and generate hypochlorous acid. The slightly acidic electrolyzed water containing hypochlorous acid is taken out through the acidic electrolyzed water line 567.

  In the cathode chamber 555, sodium ions in the intermediate chamber 551 are pulled by the cathode electrode 557, pass through the cation exchange membrane 553, move to the cathode chamber 555, and hydrogen ions whose water is decomposed at the cathode electrode 557 receive electrons. Into hydrogen gas, producing sodium hydroxide. This aqueous solution of sodium hydroxide is taken out through an alkaline electrolyzed water line 571 as alkaline electrolyzed water.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, the autonomous robot includes a means for collecting dust and / or dust, a means for holding collected dust and / or dust, a hypochlorous acid water supply unit for supplying hypochlorous acid, a dust and And / or a means for supplying hypochlorous acid to the means for holding garbage. The autonomous robot also includes a chemical sensor for detecting dust and / or dust and / or an image recognition means for recognizing dust or dust, a means for collecting dust and / or dust, and a means for moving. Hypochlorous acid may be supplied to the means for holding the detected and / or recognized dust and / or dust.

  DESCRIPTION OF SYMBOLS 100 ... Robot, 101 ... Power supply, 102 ... Hypochlorous acid supply part, 103 ... Tank, 104 ... Vaporization / atomization apparatus, 105 ... Nozzle, 106 ... Moving apparatus, 107 ... Chemical sensor, 108 ... Image recognition part, DESCRIPTION OF SYMBOLS 109 ... Control part, 110 ... Collecting / holding means, 111 ... Auxiliary / alternative means, 112 ... Intake device, 113 ... Sterilization / deodorization part, 114 ... Exhaust device, 306 ... Moving device (rotary blade), 411 ... Auxiliary / Alternative means (means of defeating).

Claims (20)

A hypochlorous acid water supply unit for supplying hypochlorous acid to the object to be treated;
A chemical sensor for detecting the substance to be treated and / or an image recognition means for recognizing the object;
Means for moving;
Means for determining an object, location, means, amount, and time for supplying hypochlorous acid from information detected by a chemical sensor and / or information obtained from an image recognition means;
Mobile autonomous robot equipped with.   The mobile autonomous robot according to claim 1, wherein the type of the substance to be detected and / or the object to be detected can be changed.   The mobile autonomous robot according to claim 1 or 2, wherein the chemical substance is at least one of skatole, methyl mercaptan, acetic acid, and ammonia.   The mobile autonomous robot according to claim 1 or 2, wherein the chemical substance is 4-methyl-3-hexenoic acid or 4-methyl-2-hexenoic acid.   The mobile autonomous robot according to any one of claims 1 to 4, further comprising means for measuring hypochlorous acid concentration in the space to be treated. The means for measuring the hypochlorous acid concentration is:
Hypochlorous acid water containing a container for collecting gaseous and / or mist-like hypochlorous acid water in the space to be treated and a fluorescent reagent that is contained in the container and emits light by reacting with the hypochlorous acid A collection unit;
An emission intensity measurement unit, and
The mobile autonomous robot according to claim 5, wherein the hypochlorous acid concentration is calculated from emission intensity.   The mobile autonomous robot according to any one of claims 1 to 6, wherein the hypochlorous acid water supply unit includes a vaporizer that converts the hypochlorous acid water into a gaseous state or a spray device that forms a mist.   The mobile autonomous robot according to any one of claims 1 to 7, wherein a map of the location and concentration of the substance to be processed is prepared and moved based on the map information.   The mobile autonomous robot according to claim 1, wherein a nozzle for supplying hypochlorous acid has directivity.   The mobile autonomous robot according to claim 1, wherein spraying of hypochlorous acid can be controlled in a vertical direction.   An air intake device that inhales air, and the air intake device and the hypochlorous acid water supply unit connected to the air intake device and the hypochlorous acid water supply unit, using the gaseous and / or mist-like hypochlorous acid water as the air introduced by the air intake device The mobile autonomous robot according to claim 1, further comprising a sterilizing unit for sterilizing.   The mobile autonomous robot according to claim 1, comprising a salt water tank, a water tank, a hypochlorous acid water tank, and a hypochlorous acid production electrolysis cell.   The mobile autonomous robot according to claim 1, further comprising means for charging or refueling.   The mobile autonomous robot according to claim 1, which has acid resistance.   The mobile autonomous robot according to claim 1, further comprising means for setting a movement prohibited area.   The mobile autonomous robot according to any one of claims 1 to 15, further comprising means for recovering hypochlorous acid.   The mobile autonomous robot according to any one of claims 1 to 16, wherein the concentration of hypochlorous acid in the treated space is changed from 400 ppb to 200 ppm.   The mobile autonomous robot according to any one of claims 1 to 17, further comprising means for assisting or substituting the body motion of the supportee and / or means for nursing.   The mobile autonomous robot according to any one of claims 1 to 18, further comprising means for flying as the moving means.   2. Means for collecting dust and / or dust, means for holding collected dust and / or dust, and means for supplying hypochlorous acid to the means for holding dust and / or dust. 19. The mobile autonomous robot according to any one of 1 to 19.

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