IT202000013975A1 - SYSTEM AND METHOD OF CONTROLLING THE SANITIZATION OF AN ENVIRONMENT - Google Patents

Description

Patent application for industrial invention entitled:

?SYSTEM AND METHOD OF CONTROL OF THE SANITIZATION OF

AN ENVIRONMENT?

DESCRIPTION

The present invention relates to a system and method for controlling the sanitization of an environment. In particular, the system and method object of the present invention find application in closed spaces where it is important to guarantee the sanitization of the environment and the correct monitoring and detection of the bacterial load of the surfaces.

For example, places of this kind are hospitals, industrial complexes, hotels, gyms, public toilets or, in general, places open to the public.

In general, with sanitization we mean a complex of treatments aimed at making a surface or an environment hygienically safe.

Sanitization takes place mainly in two phases: sanitization and sanitization.

By sanitation, or cleaning, we mean the mechanical operation of removing dirt, impurities and or harmful substances from surfaces.

Sanitization does not have the ultimate aim of reducing the bacterial load on surfaces.

Generally, the sanitization phase follows the sanitization process.

By sanitization, or disinfection or sterilization, we mean a process that leads to the reduction of the bacterial, viral and/or microbial load by means of specific substances or processes.

Bacteria are microorganisms, also called germs or microbes, including pathogenic and infectious microorganisms.

To date, sanitization processes are known, both manual and automated.

For example, manual sanitization processes are known which are carried out by dispensing sanitizing substances on the surfaces or environments to be treated.

However, these systems do not provide any estimate of the risk of biological contamination in the environment, nor? first n? after the sanitization process.

Meaning by what? checking for the presence of potential contaminants or pathogens in the environment. Basically, the known systems carry out the sanitization process regardless of the effective level of contamination of the surface and/or environment.

To date, in fact, for risk assessment, sample measurements are carried out in the environment to be analyzed and subsequently the presence of bacteria and viruses in the samples taken from the surfaces is checked in the laboratory.

This process has the main disadvantage that it takes a long time.

Furthermore, laboratory analysis postpones the results of the investigation, effectively preventing timely action on a possible outbreak of pathogens. Another disadvantage of known methods? given by the fact that the sanitization processes are carried out in a standardized way, preventing a real effectiveness of the treatment since? do these procedures not fit the specific needs? hygiene of the environment and of the various portions of the same.

Furthermore, especially in the event that ultraviolet (UV) lamps with a germicidal action are used, so that the do these have any effect? a prolonged action over time is usually required.

Under such circumstances, can happen to treat the environment for a longer time than the real needs, slowing down the entire sanitization process.

Purpose of the present invention? that of providing a system and a method capable of making environmental sanitation processes more efficient.

Another purpose of the present invention ? to improve the quality? of sanitization processes. Another purpose of the present invention? that of providing a system capable of assessing the risk of contamination of people and professional operators in an instantaneous way.

Yet another purpose? to provide a system of practical, fast and effective use.

According to the invention, these aims and others are achieved by a system and method for controlling the sanitization of an environment having the technical characteristics described in the attached claims.

The technical characteristics of the invention, according to the above purposes, are clearly described in the attached claims and its advantages are evident from the following detailed description, with reference to the attached drawings which illustrate a purely exemplifying and non-limiting embodiment thereof, in which:

figure 1 is a schematic illustration of the constituent elements of the system object of the present invention;

- figure 2 illustrates, in a schematic perspective view, some constituent elements of the control system of figure 1.

With reference to figures 1 and 2, ? illustrated a control system for the sanitization of a closed environment according to the present invention and referred to hereinafter simply as system 1.

By closed environment we mean a circumscribed place in which the circulation of air can be reduced to minimum levels, even null, in order to make the treatment with ultraviolet or infrared radiations effective.

The system 1 comprises a self-propelled robot 2, lighting means 3, optical detection means 4 and a unit? 5 control and command.

The self-propelled robot 2 comprises a frame 21 and motor means 22.

The self-propelled robot 2 ? also configured to move within a closed environment by means of suitable wheels or castors.

To this end, 23 sensors for autonomous navigation are supported by the 21 chassis.

The 23 sensors for autonomous navigation include 2-D laser scanners, 3-D laser scanners, encoders, cameras operating in the visible spectrum and depth cameras.

In particular, 2-D laser scanners and 3-D laser scanners are used for measuring distances.

In order to calculate the odometry, the self-propelled robot 2 comprises encoders arranged on its motor means 22. Video cameras operating in the visible spectrum and depth video cameras? are used to detect the surrounding environment.

The unit 5 of calculation and control uses data from 23 sensors for autonomous navigation to map the environment.

The mapping ? realized for example, making use of SLAM algorithms or stereoscopy algorithms.

This mapping? used by the self-propelled robot 2 to move safely inside a closed environment without the risk of impacting on its surfaces or objects.

In embodiments not shown, the mapping process is simultaneous to the process of evaluating the level of contamination of the environment and to the sanitization process.

In further embodiments not shown, the system 1 has in memory, from the beginning of the sanitization process, a map of the closed environment, thus avoiding the need? to rebuild this mapping from scratch. The data from the sensors 23 for autonomous navigation are also used to set the navigation trajectory of the system 1 within the closed environment.

The same data of the sensors 23 for autonomous navigation are also used to set the activation times of the sanitizing means 5 of the system 1. The data of the sensors 23 for autonomous navigation are also used to set the speed? of navigation.

The calculation of the speed? navigation system 1 ? chosen autonomously by system 1 according to the level of contamination of the closed environment detected. In embodiments not shown, the self-propelled robot 2 comprises further sensors suitable for measuring the time of exposure to radiation and/or sanitizing substances.

This measurement? advantageous if you want to ensure a correct emission of sanitizing substances and/or radiations in a closed environment.

By measuring the number of pixels, or voxels, exposed to sanitizing substances and/or radiation? is it possible to determine the quantity? of sanitization performed. These measurements are used to calculate the optimal procedure for sanitizing the environment.

By sanitization procedure we mean the set of parameters aimed at uniquely identifying the sanitization process.

To this end, in the sanitization procedure ? defined the type of means 5 of sanitization used, the time of use, the speed? navigation of system 1 within the closed environment, the number of passages that system 1 carries out in the same contamination zone.

The optimal sanitization procedure? such as to optimize the sanitization process, reducing the duration of the process in relation to the effectiveness of the sanitization.

The lighting means 3 are arranged on the self-propelled robot 2 and are configured to light up the enclosed space.

The lighting means 3 comprise at least one light source 31 capable of emitting light radiations in the non-visible spectrum.

These light radiations generate a luminescence in correspondence with any contaminated areas of the closed environment.

In fact, some biological fluids, such as saliva or urine for example, show the so-called phenomenon of fluorescence, ie light emitted during excitation with light sources.

This fluorescence can be elicited by illuminating the biological trace with specific lights in the ultraviolet (UV) or infrared (IR) fields.

For example, UV-A radiation makes traces of urine fluorescent, with visible green and yellow colors.

At the same wavelengths, traces of saliva light up in a similar way, making it possible to detect possible contamination of a surface.

The light source 31 emits light radiations chosen from radiations of the UV-A, UV-B, NIR type or a combination thereof.

UV-A type radiation means ultraviolet radiation with wavelengths between 315 nm ? 400nm.

For UV-B radiation we mean ultraviolet radiation with wavelengths between 280 nm ? 315 margin no.

By infrared radiation we mean radiation with wavelengths greater than 700 nm.

Near infrared radiation (NIR) means radiation with wavelengths between 750 nm ? 1400nm.

Pi? in particular, the system 1 comprises one or more? light sources 31 capable of emitting radiation in the range between approximately 300 nm ? 850 n.m.

With reference to figure 1, the system 1 comprises a UV-A lamp, a UV-B lamp and a NIR laser.

System 1 also uses a contrast liquid 32 to aid in the detection of biological traces, such as for example DNA and RNA.

To this end, the self-propelled robot 2 houses a tank and the necessary ducts, not shown, suitable for containing and transmitting the contrast fluid.

The optical detection means 4 are arranged on the self-propelled robot 2 and are configured to detect the contaminated areas of the closed environment and illuminated by the lighting means 3.

Cameras operating in the visible range, cameras operating in the near infrared spectrum (NIR) and depth cameras they define optical detection means 4. The unit 5 control and command ? arranged on the self-propelled robot 2 and ? configured to control and command the self-propelled robot 2, the lighting means 3, the optical detection means 4 and the closed environment.

The unit 5 for control and command controls the movement of the self-propelled robot 2, as previously stated. Furthermore, the unit? 5 of calculation and control, thanks to the data detected by the sensors on board the self-propelled robot 2, estimates the volume of the closed environment and recognizes the flat surfaces in the environment.

The unit 5 of calculation and control calculates the square meters of total flat surfaces of the environment to estimate the dose of radiation and/or sanitizing substances necessary for the sanitization of the environment.

The unit 5 for control and command also associates with each spatial position assumed by the self-propelled robot 2, the time in which the sanitization means 6 have been in operation.

The unit 5 of control and command elaborates a report, in the form of a report, in which the day, the hour, the sanitization means used, the quantity? of radiation or the volume of sanitizing substance released into the environment.

In non-illustrated embodiments, the report indicates other data, such as for example the sanitizing radiation values or the volume of substances diffused in the environment and measured by environmental sensors 71, the sanitization times and procedures to verify compliance with current regulations , or with the instructions for use of the manufacturers of the sanitizing means, or again to verify compliance with the values set by the user.

The report also indicates the timely recording of the dose of irradiated radiation and/or sanitizing substances emitted, the images taken by the optical detection means 4, the overall outcome of the sanitization process, the estimated level of contamination.

The report? saved in a unit? storage not shown.

In further embodiments the report is sent to the user at the end of the sanitization procedure.

The level of contamination of the environment? measured by counting the pixels, or voxels, of the images captured by the optical detection means 4, which present a color in the field of fluorescence emitted by the biological traces.

According to further embodiments of the system 1 according to the invention, the level of contamination ? associated with? intensity? of the color of the pixels, or voxels, of the images themselves.

According to still other embodiments, the level of contamination ? measured by means of a segmentation algorithm of the images acquired by the optical detection means 4.

The segmentation algorithm detects areas or edges containing pixels, or voxels, belonging to the typical colors of the fluorescence emitted by biological traces.

Once the areas of fluorescence have been segmented, the algorithm adds up the areas of these areas and/or the intensity? color of these areas, to give an estimate of the quantity? of contamination detected.

From the estimate of the quantity? of contamination detected ? then associated with a level of contamination of the closed environment.

The system 1 also comprises sanitizing means 6 arranged on the self-propelled robot 2 and configured to sanitize the closed environment.

Are the sanitizing means 6 controlled and commanded by the unit? 5 control and command.

There are direct and indirect sanitization methods.

With reference to figures 1 and 2, the system 1 includes both types of sanitization, both direct and indirect.

By indirect type sanitizing means we mean tools capable of sanitizing without direct contact with the surface to be sanitized.

Pi? in particular, these are systems that act by physical and/or chemical action.

UV-C lamps, sprayers and vaporizers define indirect means of sanitization.

For UV-C type radiations we mean radiations with wavelengths between 280 nm ? 100nm.

Indirect sanitization? implemented, for example, by turning on the UV-C lamps to irradiate the environment with doses of germicidal radiation; micronizing or spraying sanitizing liquid using a water circuit to spray liquids; by vaporizing sanitizing liquid. The vaporization of sanitizing liquid? cold type - using ultrasonic vaporizers - or hot - by heating the sanitizing liquid solution up to the evaporation temperature.

Advantageously, the system 1 also comprises a circuit and a tank, not shown, for the passage of the sanitizing substances suitable for feeding the sprayers and vaporizers.

With reference to figures 1 and 2, the sanitizing means 6 comprise devices 61 for the emission of sanitizing substances.

In particular, with reference to figures 1 and 2, are the devices 61 in the form of sprayers 61? and vaporizers 61??.

Furthermore, the sanitizing means 6 comprise at least one source 62 of light radiation of the UV-C type. The sanitizing means 6 spread sanitizing radiation, liquids, vapors or powders.

By modulating the speed? navigation system of the self-propelled robot 2, the control and command unit 5 controls the radiation dose and the amount? of sanitizing substance released into the environment.

By means of direct sanitization we mean tools capable of sanitizing with direct contact with the surface to be sanitized.

Pi? in particular, these are systems that act by mechanical action.

Telescopic arms and robotic arms define direct sanitizing means.

With reference to figures 1 and 2, the sanitizing means 6 comprise a robotic arm 63 arranged on the self-propelled robot 2.

The robotic arm 63 ? configured to manipulate cleaning tools capable of acting mechanically on the area to be sanitized.

In particular, the robotic arm 63 ? used for spot cleaning of contaminated areas.

For example, if it is difficult to clean this area with other sanitizing means.

System 1? it is also equipped with accessory cleaning tools, not shown, such as disposable cloths, a high-pressure liquid sprayer, a high-temperature vaporizer for sanitizing surfaces.

System 1? furthermore equipped with a disposable cloth dispenser and a suitable waste container where the robotic arm 63 picks up the new cloths and places the used cloths away.

With reference to figure 1, the system 1 further comprises a plurality 7 of environmental sensors 71 arranged in the closed environment.

Are the environmental sensors 71 controlled and commanded by the unit? 5 of control and command, and are configured to detect the quantity? of light radiations emitted by the source 62 of light radiations of the UV-C type and to detect the quantity? of sanitizers emitted by the sanitizers emission devices 61.

Environmental sensors 71 include, for example, electrical impedance and humidity sensors.

The self-propelled robot 2 modulates its speed? to emit the appropriate dose of sanitizing substances and radiation on the 71 environmental sensors.

In its operation, the system according to the present invention comprises the following steps.

The first stage? that of providing a self-propelled robot 2 supporting lighting means 3 and optical detection means 4 in a closed environment.

In a closed environment it is advantageously kept in the dark.

Subsequently, the self-propelled robot 2 moves autonomously and illuminates the closed environment with the lighting means 3 to generate a luminescence in correspondence with contaminated areas.

The contaminated areas are detected with the optical detection means 4 to determine the level of contamination of the closed environment.

Estimated the level of contamination, the unit? 5 for control and command activates the sanitizing means 6 arranged on the self-propelled robot 2 and sanitizes the closed environment.

Depending on the level of contamination the sanitization process is repeated.

In particular, the phases of illuminating the closed environment, detecting the contaminated areas and sanitizing the closed environment are repeated one or more times. times.

The sanitization phase of the closed environment stops when the level of contamination of the closed environment is lower than a value set as a reference.

As previously mentioned, the reference value ? determined on the basis of the regulations, the type of sanitizing means or on the basis of the user's choices. If necessary, for example in conditions of reduced capacity? maneuvering or in the event of reduced electrical autonomy, the system can? send a request to the user to request the intervention of a human operator.

At the end of the sanitization process, the system produces and eventually sends the sanitization operation report to the user.

In embodiments not illustrated, the system selects the sanitization procedure (direct and/or indirect) based on the level of contamination of the closed environment.

For example, the system 1 identifies the surfaces with the highest level of contamination and guides the robotic arm 63 in the sanitization operations (direct sanitization).

System 1, after detecting the level of contamination, checks whether the threshold values have been exceeded and determines the correct dose and action necessary for any subsequent sanitization.

The correct dose? sanitizing action? set through system setup 1.

This setting? manual or automatic.

When the setting? manual, the threshold values for which the sanitization system is activated are set by the user.

When the setting? automatic, the threshold values for which the sanitization system is activated are set on the basis of appropriate regulations or practices or on the basis of construction parameters depending on the type of device or sanitizing substance used. For example, the reference parameters are the minimum radiation doses per square meter to obtain the inactivation of viruses and bacteria.

Or, the concentration and/or quantity? minimum amount of liquid to be applied per square meter of surface. This activity? it is repeated for subsequent cycles.

That is, any sanitization action? performed for a specified time.

After that? the system carries out a new detection to monitor the level of contamination of the surface or the environment.

Subsequently, the new level of contamination detected is associated with a new sanitization intervention for a pre-established time, manually or automatically, for a specific sanitization action.

The specific sanitization action is also determined manually or automatically.

Similarly to what was previously said, the sanitization procedure ? defined manual if ? set in advance by the user.

Conversely, if ? set automatically on the basis of appropriate regulations or practices and on the basis of construction parameters depending on the type of device or sanitizing substance used.

The system assigns a contamination level to the environment.

This choice in some embodiments takes place by choosing between three different levels: high, low or medium contamination.

For example, in an environment where multiple? areas to be sanitized with a low level of contamination, the system initially activates the 62 UV-C lamps for 30 minutes moving inside the closed environment. While, for example, in an environment in which an area to be sanitized with a high level of contamination has been detected, the system initially activates the robotic arm 63 for a punctual sanitization action.

After that? take a new measurement to check the state of contamination.

Based on the state of contamination, it automatically chooses the type of sanitization process to be carried out, the time and the location.

The system also provides for a plurality 7 of environmental sensors 71 arranged in the closed environment, for measuring the efficiency of the sanitization.

The environmental sensors 71 are in fact configured to detect the quantity? of light radiations and sanitizing substances emitted in closed environments.

The 71 environmental sensors record the quantity? absorbed by radiation and sanitizing substances.

Through the control and command unit 5 ? detected in a timely manner the quantity? of radiation and sanitizing substances irradiated and sprayed in the closed environment. Furthermore, the plurality 7 of sensors allows you to check if the quantity? of irradiated and sprayed radiation and sanitizing substances? approximately equal to that absorbed, measuring the efficiency of sanitization.

In some embodiments, the estimation of the level of contamination ? performed continuously while navigating the self-propelled robot 2.

Alternatively, the measurement of the level of contamination of the environment? carried out in pre-established points of the environment.

Such pre-established points could be chosen to uniformly monitor the environment.

In this regard, these pre-established points are, for example, selected at fixed distances from each other, and such as to allow the self-propelled robot 2 to visualize the entire working environment.

Alternatively, does the self-propelled robot 2 rotate on its own? itself to generate 360-degree images of the work environment, even from more points of view.

Depending on the level of contamination measured, the unit? 5 of control and command establishes whether the self-propelled robot 2 must stay in the same position and continue the sanitization process.

If the level of contamination is not ? dropped below a value set as a reference, the sanitization phase is repeated.

In alternative embodiments, if the level of contamination has not fallen below a value set as a reference, the maximum radiation dose foreseen or set by the sanitization processes is emitted.

The system ? in fact able to adapt the sanitization procedures to the real sanitization needs of living environments, based on the level of contamination measured by system 1.

In particular, the system able to plan the autonomous navigation trajectories of the self-propelled robot and the permanence times of the self-propelled robot in the areas with greater probability of contamination in a particular environment.

In case of detection of high levels of contamination, the self-propelled robot 2 stops in a single point of the environment to sanitize a particular area or surface.

The invention achieves the intended aims and achieves important advantages.

A first advantage of the invention consists in the possibility to make the environmental sanitation process more efficient.

Additional advantage? represented by the possibility to carry out an automatic assessment of the quality? of sanitization processes.

Additional advantage? given by the fact that the system 1 ? able to carry out an automatic assessment of the risk of contamination of people and professional operators.

The system 1 and method object of the present invention also has the advantage of adapting the sanitization procedures to the real sanitization needs of living environments, based on the risk of contamination measured by the automatic system.

Another advantage of system 1 ? the capacity? to intervene instantly where necessary.

In this way ? Is it possible to carry out sanitization in a timely manner, i.e. where ? actually necessary.

Claims (12)

1. Sanitization control system of an enclosed environment including: a self-propelled robot (2) comprising a frame (21), motor means (22) and sensors (23) for autonomous navigation supported by said frame (21), configured to move within said closed environment, lighting means (3) arranged on said self-propelled robot (2) and configured to illuminate said closed environment, said lighting means (3) comprising at least one light source (31) suitable for emitting light radiations in the non-visible spectrum suitable for generating a luminescence in correspondence with any contaminated areas of said closed environment, optical detection means (4) arranged on said self-propelled robot (2) and configured to detect said contaminated areas of said closed environment illuminated by said lighting means (3), a unit (5) arranged on said self-propelled robot (2) and configured to control and command said self-propelled robot (2), said lighting means (3), said optical detection means (4) and said closed environment. 2. System according to claim 1 in which said light source (31) emits light radiations chosen from radiations of the UV-A, UV-B, NIR type or a combination thereof. 3. System according to any one of the preceding claims further comprising sanitizing means (6) disposed on said self-propelled robot (2), controlled and commanded by said unit? (5) of control and command, and configured to sanitize said closed environment. 4. System according to the preceding claim wherein said sanitizing means (6) comprise a device (61) for emitting sanitizing substances. 5. System according to claim 3 wherein said sanitizing means (6) comprise a source (62) of light radiations of the UV-C type. 6. System according to claim 3 wherein said sanitizing means (6) comprise a robotic arm (63) disposed on said self-propelled robot (2) and configured to manipulate cleaning tools able to act mechanically on said contaminated areas. 7. System according to any one of the preceding claims further comprising a plurality? (7) of environmental sensors (71) disposed in said closed environment, controlled and commanded by said one unit? (5) control and command, and configured to detect the amount? of radiation emitted by said source (62) of light radiation of the UV-C type and to detect the quantity? of substances emitted by said devices (61) for the emission of sanitizing substances. 8. Sanitization control method of a closed environment including the phases of: - providing a self-propelled robot (2) supporting lighting means (3) and optical detection means (4); - illuminating said closed environment with said lighting means (3) to generate a luminescence in correspondence with contaminated areas; - detecting said contaminated areas with said optical detection means (4) to determine the level of contamination of said closed environment. 9. Method according to the preceding claim comprising the steps of: - providing sanitizing means (6) on said self-propelled robot (2); - sanitize this closed environment. 10. Method according to claim 9 comprising the steps of: - repeating said steps of illuminating said closed environment, detecting said contaminated areas and sanitizing said closed environment; - stopping said step of sanitizing said closed environment when the level of contamination of said closed environment is lower than a value set as a reference. 11. Method according to any one of claims from 8 to 10 comprising the steps of: - arranging in said closed environment a plurality of? (7) of sensors (71) environmental configured to detect the quantity? of luminous radiations and sanitizing substances emitted in said closed environment; - measure the quantity? of radiation and sanitizing substances absorbed by said plurality? (7) of sensors. 12. A method according to any one of claims 8 to 11, comprising the steps of: - providing a plurality of? of sanitization procedures, - define a plurality? levels of contamination of said closed environment, - select a sanitization procedure based on the detected level of contamination of said closed environment.