JP2023538171A - disinfection system - Google Patents

Abstract

The disinfection compartment includes a plurality of wheels, a casing disposed on the disinfection compartment, at least one tank configured to hold an antimicrobial solution or a hydrogen peroxide solution, and a nozzle/cell disposed on the casing. a dispenser and an attachment member configured to provide a removable fixed attachment to the movable unit, the nozzle/dispenser being an electrostatic sprayer or sprayer.

Description

Cross-References to Related Applications This application is based on U.S. Design Application No. 29/760,014 filed by the United States Patent and Trademark Office on November 27, 2020, and Hong Kong Patent Application No. 32020005636 filed on April 9, 2020. No. 6, and U.S. Provisional Patent Application No. 62/965,987 filed January 26, 2020, the disclosures of which are incorporated herein by reference in their entirety. incorporated into the book.

FIELD OF THE INVENTION The present invention relates generally to disinfection systems. More particularly, aspects of the invention provide systems and methods for controlling an autonomous or remotely controlled mobile robot, and in particular, systems and methods for controlling an autonomous or remotely controlled mobile robot using at least one hydrogen peroxide probe. Relating to a system and method for controlling.

Among other uses, hydrogen peroxide is used as a disinfectant. It may be used to treat gum inflammation and disinfect (drinking) water. It may also be used to suppress excessive microbial growth in water systems and cooling towers. Hydrogen peroxide has been used as a first aid disinfectant for injured skin since the 1920s.

Hydrogen peroxide is being used more and more often in the United States to treat individual water supplies. For example, it is used to prevent the formation of colors, tastes, corrosives, and scale deposits due to contaminant degradation (iron, manganese, sulfates) and microbial degradation. Hydrogen peroxide reacts very quickly. It will then decompose into hydrogen and water without forming any by-products or residues. This increases the amount of oxygen in the water.

The disinfection mechanism of hydrogen peroxide is based on the release of free oxygen radicals, by which pollutants are decomposed. When it decomposes, only water remains. Free oxygen radicals have both oxidizing and disinfecting abilities. Hydrogen peroxide pre-forms its disinfecting ability by damaging, degrading, misfolding, or mutating proteins through oxidation.

Vaporized hydrogen peroxide (VHP) or hydrogen peroxide vapor (HPV) is hydrogen peroxide in atomized form. It can be used as an antibacterial vapor for decontamination.

VHP is recognized as a legal antimicrobial pesticide by multiple agencies including the CDC, EPA, and NHS. It can be used as a germicidal, disinfectant, or sterilizing agent.

Because VHP uses a chemical reaction (oxidation) to destroy viruses and bacteria, controlling the volume of VHP applied becomes the gold standard factor in disinfection effectiveness, i.e. hydrogen peroxide The greater the volume that is released, the more effective the disinfection will be. Additionally, this effectiveness is also affected by ambient temperature, atmospheric pressure, and associated humidity.

In view of the foregoing background, aspects of the present invention provide an alternative design of a disinfection system to provide a superior disinfection experience with effective, accurate, and even cost-effective feedback control.

Accordingly, in one aspect, an embodiment of the invention includes a remote computer system, a probe with a color chart, an optical sensor and a radio frequency module configured to connect to the remote computer system, and a probe for vaporizing hydrogen peroxide. a mobile robot with a vaporizer configured to disinfect a closed area of public transportation or equipment.

In another aspect, embodiments of the invention include a plurality of wheels, a casing disposed over a disinfection compartment, at least one tank configured to hold an antimicrobial solution or a hydrogen peroxide solution, and a casing configured to hold an antimicrobial solution or a hydrogen peroxide solution. and an attachment member configured to provide a removable fixed attachment to the movable unit, the nozzle/dispenser being an electrostatic sprayer or an electrostatic sprayer. It is an electric sprayer, the disinfection compartment of which does not include any drive unit to drive its wheels and cannot move itself.

Those skilled in the art can appreciate that elements in the figures are illustrated not necessarily all connections and options are illustrated for simplicity and clarity. For example, common but well-understood elements that are useful or necessary in commercially viable embodiments are not illustrated so as not to detract in any way from viewing these various embodiments of the present disclosure. There are many things. Although certain acts and/or steps may be described or illustrated as occurring in a particular order, those skilled in the art will appreciate that such order limitations are not necessarily required in practice. It may be further recognized that it may be understood that there is no such thing. In addition, terms and expressions used herein are defined in the context of their corresponding respective areas of scrutiny and consideration, unless otherwise specified herein with a specific meaning. It can also be understood that it can be done.
FIG. 1 is a block diagram of a robotic disinfection system according to one embodiment. 1 illustrates a schematic diagram of an example communication network according to one embodiment. FIG. 2 is a schematic diagram of an example probe according to one embodiment. FIG. 2 is a schematic top view of an example of a chemical indicator and color chart according to one embodiment. 1 is a schematic diagram of a mobile robot according to one embodiment. 1 is a schematic diagram of an example mobile robot according to one embodiment. FIG. FIG. 2 is a schematic illustration of another example of a mobile robot according to one embodiment. 2 is a flowchart illustrating a process for performing concentration measurements based on probe operation, according to one embodiment. 5 is a flowchart illustrating a process for performing recommended actions based on example actions of a mobile robot, according to one embodiment. 5 is a flowchart illustrating a process for performing recommended actions based on another example motion of a mobile robot according to one embodiment. Mobile robot according to one embodiment (weight: 70Kg, power supply: lithium battery, disinfection method: HPV, volume of liquefied hydrogen peroxide: 8L, HPV concentration: 100-200ppm, disinfection power: 1,000-1,500m3, continuous FIG. 2 is an exemplary illustration of an external design with an operating time of 5 hours. FIG. 2 is an exemplary illustration of a mobile robot disinfection system according to one embodiment (in-train disinfection, chemical indicator color changes from blue to red after exposure to 150 ppm HPV for 15 minutes). Illustration showing a collar according to one embodiment (in-train disinfection, test conditions: exposed under HPV (200 ppm) for 1.5 hours, chemical indicators mounted on the ceiling of the train cabin, collar changes with all chemical indicators indicating that HPV reaches all test areas). Illustration showing the collar according to one embodiment (Results: According to previous reports on disinfection conditions (120 ppm for 1 hour), our HPV disinfection procedure (200 ppm for 1.5 hours) The concentration of hydrogen peroxide is required to kill viruses and non-enveloped viruses (including coronaviruses) (4 log reduction), and according to handheld HPV detectors and hydrogen peroxide chemical indicators, the concentration of hydrogen peroxide is low in real-world disinfection tests. (reaching 200 ppm). FIG. 2 is an illustration of navigation of an interior space within a passenger car, according to an embodiment. FIG. 2 is another illustration of navigation of an interior space of an airplane cabin or high-speed train cabin, according to one embodiment. FIG. 2 is an example illustration of a compartment configured to removably dock to a mobile unit to form a mobile robot, according to one embodiment. FIG. 17 is a top view of the compartment of FIG. 16; FIG. 17 is a bottom view of the compartment of FIG. 16; FIG. 17 is a rear view of the compartment of FIG. 16; FIG. 17 is an illustration of the compartment of FIG. 16 with the removable mount removed; FIG. 17 is a top view of the compartment of FIG. 16 with the removable mount removed; FIG. 17 is a bottom view of the compartment of FIG. 16 with the removable mount removed; Figure 17 is a rear view of the compartment of Figure 16 with the removable mount removed; FIG. 2 is an illustration of a removable mount, according to one embodiment. FIG. 25 is a top view of the removable mount of FIG. 24; FIG. 25 is a bottom view of the removable mount of FIG. 24; FIG. 25 is a front view of the removable mount of FIG. 24; FIG. 25 is a rear view of the removable mount of FIG. 24; FIG. 25 is a side view of the removable mount of FIG. 24;

Embodiments may now be described more fully with reference to the accompanying drawings, which form a part hereof, and which illustrate, by way of illustration, certain exemplary embodiments that may be practiced. These illustrations and exemplary embodiments are illustrative of the principles of one or more embodiments, and are not intended to be limited to any one of the illustrated embodiments. be understood and presented. The embodiments may be embodied in many different forms, so they should not be construed as limited to the embodiments set forth herein; on the contrary, the embodiments may be embodied in many different forms; , this disclosure will be thorough and complete, and will fully convey the scope of the embodiments to those skilled in the art. The invention may be embodied as a method, system, computer readable medium, apparatus, or device, among other things. Accordingly, the invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Accordingly, the following detailed description should not be taken in a limiting sense.

Referring to FIG. 1, a robot disinfection system 100 includes a remote computer system 200 that can exchange data with a mobile robot 300 and control the mobile robot according to parameters directed toward a control application 202 by a user. In one embodiment, control application 202 may be a mobile-based app or application. In another embodiment, control application 202 may be a software program installed using remote computer system 200. Similarly, remote computer system 200 can also control and exchange data with at least one probe 400, 400-1. For example, remote computer system 200 can include a controller having a software module that can send and receive signals to probe 400. Remote computer system 200 can include a microprocessor (not shown) and a computer-readable storage medium or memory (not shown) coupled to the microprocessor for storing software and data. The mobile robot 300 has a port that can disperse or release disinfectant into the surrounding environment in response to a trigger signal from a control application 202, a remote computer system 200, a combination thereof, or an event sensed at the mobile robot 300. , portal, or emitter. Probe 400 can use sensors to measure the concentration of disinfectant around the probe and transmit the collected data to remote computer system 200 . In one embodiment, probe 400 may transmit collected data to mobile robot 300.

FIG. 2 shows a schematic diagram of an exemplary communication network 201 according to one embodiment. Both the mobile robot 300 and the probe 400 can be wirelessly linked to a remote computer system 200 via a WI-FI hotspot network 204 or other protocols, such that the remote computer system 200, the mobile robot 300, and the probe 400. Accordingly, mobile robot 300 may include a communications module (not shown) for performing such communications. Additionally, mobile robot 300 may include a control unit, such as a microprocessor, for controlling or managing data processing. In another embodiment, the onboard microprocessor of mobile robot 300 may be configured to analyze images from probe 400 and operate mobile robot 300 with or without the assistance of remote computer system 200. . In yet another embodiment, the onboard microprocessor of the mobile robot 300 further provides an automatic mode in which the onboard microprocessor controls the mobile robot 300 to complete disinfection operations without additional commands from an operator. can be done. In other words, once disinfection plan data, parameters of the environment to be disinfected, or other information is downloaded or entered into the remote computer system 200 or on-board microprocessor, the mobile robot 300 can automate its operations or movements. , can complete tasks for disinfection.

In another embodiment, communication network 201 may allow remote computer system 200 to directly send command signals to control operation of mobile robot 300. Similarly, communications network 201 may also enable remote computer system 200 to receive data collected from probe 400 and perform data analysis on the remote computer system. In one example, a user can operate control application 202 or remote computer system 200 to enter operating parameters for a disinfection operation, and remote computer system 200 can operate control application 202 or remote computer system 200 to command signals may be generated to cause a disinfection operation of the mobile robot 300.

For example, a user may configure the control application 202 to select predetermined parameters for different levels of settings, such as public transportation settings, indoor settings, underground passage settings, etc. In public transportation settings, those parameters include the length of each cart/car, the width of each cart/car, the height of each cart/car, the number of each cart/car, the model of each cart/car, etc. parameters may be included. In another example, there may be sub-parameters or additional configurations. For example, the model for each cart/car parameter provides additional parameters such as number of doors, connection time between cars, number of seats, number of priority seats, number of disabled spaces, number of bikes allowed, etc. be able to. In another embodiment, control application 202 may receive parameters from a batch file or configuration file that may input all parameters into a user interface. These parameters allow the control application 202 to calculate or determine the amount of space/volume required for the HPV/VHP, the amount of time for disinfection, the amount of power required to drive the mobile robot 300, etc. can be made possible.

In another embodiment, the user may provide parameters on the control application 202 for certain purposes only, so that the system 100 is flexible to the settings or environment required to be disinfected. could be.

In a particular example, communication network 201 may include a WI-FI hotspot network 204 hosted by an environment or mobile robot 300 . In another embodiment, communication network 201 may include a combination of a WI-FI hotspot network 204 and a cellular network. In further embodiments, communications network 201 may include satellite communications. In yet another example, communication network 201 may include BLUETOOTH, NFC, or other short range wireless communication protocols by which mobile robot 300 can communicate with another mobile robot 300. In yet another example, remote computer system 200 may communicate with mobile robot 300 and at least one probe 400 via any wireless and/or wired communication protocol.

In some cases, remote computer system 200 can communicate with a cloud server platform (not shown). Through a communication channel, whether for example via WI-FI (e.g., a wireless connection) or via a wired connection, the remote computer system 200 transfers the data collected during the disinfection operation to a cloud server platform. can be uploaded to. This cloud server platform can run analysis software to allow users to analyze the raw data collected. Additionally, the cloud server platform can generate and create operational reports based on the collected data. In yet another example, a user or operator of remote computer system 200 can provide a scheduled disinfection plan to a cloud server platform, and such disinfection plan is downloaded to the communication module of mobile robot 300. and stored on a computer-readable storage medium for processing at a later time on a schedule or immediately.

In other examples, mobile robot 300 may emit vaporized disinfectant through various ports or portals. In one particular example, the vaporized disinfectant may be VHP or HPV (hereinafter, throughout this disclosure and drawings, these two abbreviations may be used interchangeably).

Referring to FIG. 3, in one example, the probe 400 includes an antenna 402, a communication module 404 that may include radio frequency (RF), wireless, or wireless communication capabilities, a system board 406, a light sensor 408, a lighting module 410, a fan 412. , a compartment 414, and a color chart 416 disposed within the compartment 414. Compartment 414 may be ventilated by fan 412 and configured to receive data from chemical indicator 418. Lighting module 410 can include a plurality of light emitting diodes (LEDs) to illuminate the surface of compartment 414. In another embodiment, lighting module 410 can be used to illuminate the environment being disinfected. In yet another embodiment, the lighting module 410 may further provide alert lighting to notify a human operator due to exceptions or unexpected events such as errors, cart/vehicle interior failures, and the like.

System board 406 can control optical sensor 408 to capture at least one image of chemical indicator 418 using color chart 416 . Similarly, system board 406 can control lighting module 410, fan 412, and communication module 404 to transmit images via antenna 402 to remote computer system 200 for further analysis. Chemical indicator 418 can undergo a color change depending on the concentration of disinfectant in its surrounding environment. It will be appreciated that system board 406 includes a microprocessor (not shown) and a computer readable storage medium or memory (not shown) coupled to the microprocessor. Illustrative examples of representative uses of mobile robot 300 may be further described in conjunction with FIGS. 12-14A-B.

Referring to FIG. 4, a schematic top view of color chart 416 and indicator 418 is shown. Color chart 416 may include two color spots 416a-416b. In one example, one of them may be pink and the other may be blue. Chemical indicator 418 can change or change its color from pink to blue as the concentration of disinfectant increases. It is to be understood that the colors discussed herein are for illustrative purposes only. It can be any color, and the transition from one color to another can take various forms. It should also be appreciated that chemical indicator 418 can provide an indication by a variety of means. In another embodiment, spots 416a and 416b can occupy the same location. For example, the color change may occur in either spot 416a or 416b, rather than in a discrete arrangement of spots 416a and 416b as illustrated. It should be understood that other variations in the location or mechanism of color change may be employed without departing from the spirit and scope of embodiments of the present invention.

In some examples, light module 410 has only one LED.

In some cases, color chart 416 may have more than two colors.

In some cases, color chart 416 may have only one color.

In other examples, color chart 416 may not be affixed to compartment 414. Color chart 416 may also be integrated into chemical indicator 418.

In yet another example, optical sensor 408 may be CMOS.

Referring to FIG. 5, a mobile robot 300 includes a disinfectant tank 302, a battery 304, an emitter (e.g., vaporizer) 306 for vaporizing a disinfectant (e.g., VHP), and a disinfectant for dispensing the disinfectant into the surrounding environment. A portal such as a nozzle/dispenser 308 can be included. The mobile robot 300 may also include one or more spatial sensors to detect its surrounding environment and at least one wheel to provide motion to the mobile robot 300. It should also be appreciated that mobile robot 300 can include motors or drives (not shown) to drive mobile robot 300 to move within spaced areas. For example, mobile robot 300 may also move along a track or have sensors to enable the mobile robot to move along a track. For example, the sensor can identify an indicator on the floor and guide the mobile robot 300 to drive therealong. In another embodiment, mobile robot 300 may be remotely controlled by a user with a joystick or other user interface. In yet another embodiment, mobile robot 300 may be tethered via a tether cable, such as 350 in FIG. 7, with a separate (eg, handheld) control unit (not shown). For example, the separate control unit may provide direction instructions. In another embodiment, the tether cable can also transfer electrical current and data between the control unit and mobile robot 300. In yet further embodiments, the drive can also be controlled by a disinfection plan downloaded from a remote computer system 200 or a cloud server platform.

In yet another embodiment, a separate control unit may be wirelessly connected to mobile robot 300, allowing an operator to control mobile robot 300 remotely. For example, mobile robot 300 may be coupled to a separate control unit such as a mobile phone, tablet, smart watch, smartphone, bracelet, etc., and an operator operates the separate control unit to control mobile robot 300. You can. For example, a separate control unit provides a graphical interface that allows the operator to switch on or off the mobile robot 300, capture images via the probe 400, move the mobile robot 300 to different locations, etc. It may also include a touch screen panel presenting a user interface (GUI). In one embodiment, a separate control unit may include a joystick for steering the drives or wheels of mobile robot 300.

In yet another embodiment, mobile robot 300 may include a GUI thereon so that an operator can control or configure mobile robot 300 prior to deployment.

Referring to FIG. 6, mobile robot 300 can include a separate compartment 330 and a robotic arm 332. Vaporizer 306 and nozzle/dispenser 308 may be disposed within compartment 330, which may extend beyond the body of mobile robot 300 by robot arm 332.

Referring to FIG. 7, the weight of mobile robot 300 is reduced by removing its battery 304. A power plug may be disposed on a mobile robot configured to removably receive a power cable from a retractable power cable reel 350. Using this configuration, mobile robot 300 can be manually transported and easily deployed by a single user. In this deployment environment, the environment can provide power for the mobile robot 300. For example, the environment may be a public transportation car or bus, where the floor may provide panels or tracks that can provide power to the mobile robot 300. Mobile robot 300, in this example, may include a rope that can engage a panel or track to receive power. In another embodiment, the wheels of mobile robot 300 can include ropes to receive power from a panel or track as the mobile robot moves along the panel or track. In yet another embodiment, mobile robot 300 may include metal wheels or a metal "third wheel" to receive power from a panel or track.

In some examples, the mobile robot's wheels may be front wheel drive. In some other examples, the wheels are continuous tracks to help the robot 300 maneuver over uneven handle ground, ie, door thresholds, bumps, or ramps.

In yet another embodiment, the wheels of mobile robot 300 may be comprised of continuous tracks so that the wheels can navigate over a variety of terrain. For closed areas that may have uneven surfaces, such as connection points between cars or guidance blocks for visually impaired people, the mobile robot 300 can still navigate despite the uneven surfaces. . In such embodiments, the parameters entered above may indicate how the different carts/cars are connected, whether there are doors between the cars, etc. Based on these parameters, mobile robot 300 can navigate the vehicle accordingly.

According to another embodiment of the invention, a method of measuring the concentration of a disinfectant is described. Referring to FIG. 8, at step 700, the probe 400 may capture an image of the chemical indicator 418 using the color chart 416 by the optical sensor 408. This image may then be transmitted to remote computer system 200 for further analysis in step 702. At step 704, color spectral analysis may be performed on remote computer system 200 by control application 202. Color spots 416a-416b on the color chart and predetermined areas of chemical indicator 418 may be positioned within the image by control application 202. The spectrum of first color spot 416a may correspond to the spectrum from chemical indicator 418 at an undesirable concentration of disinfectant. Similarly, the spectrum of second color spot 416b may correspond to the spectrum from chemical indicator 418 at a desired concentration of disinfectant. The spectrum of each pixel of a predetermined region of chemical indicator 418 within the image may be compared to the average spectrum from second color spot 416b. If the number of pixels in the predetermined region that reaches the average spectrum of the second color spot 416b is less than a predetermined threshold, a false signal may be generated and steps 700, 702, and 704 are repeated. As the air surrounding probe 400 flows through compartment 414 when driven by fan 412, chemical indicator 418 is sequentially exposed to different concentrations of disinfectant. Thus, the spectrum from a given region will change as the concentration of disinfectant in the air increases.

A positive signal may be generated as soon as the number of pixels in a predetermined region reaching the average spectrum of the second color spot 416b is greater than or equal to a predetermined threshold.

In some examples, the predetermined threshold may be 95% of the total pixels within the predetermined region.

In another example, data analysis may be performed on system board 406 of probe 400.

According to another aspect of the invention, a method of disinfecting an enclosed area may be provided. Referring to FIG. 9, several probes 400 may be placed along a predetermined path of the mobile robot 300 to efficiently clean or disinfect an enclosed area. Probe 400 can serve as a checkpoint for mobile robot 300 and provide feedback to mobile robot 300. At step 800, all probes 400 are started and activated. Then, in step 802, the mobile robot 300 may also be activated and directed to produce vaporized disinfectant at a selected checkpoint (e.g., the first probe 400 along the mobile robot's path). I can do it. At step 804, mobile robot 300 may stop or hover around the first checkpoint. At step 806, remote computer system 200 may determine whether the remote computer system has received a positive signal from step 704 in the method for detecting disinfectant concentration, as discussed above. . If a positive signal is received, remote computer system 200 may determine whether all checkpoints have positive signals at step 808. The mobile robot can be stopped if the condition is met, or the mobile robot can be commanded to move to a second selected checkpoint and repeat the process.

In some examples, each checkpoint can have multiple probes 400. In this case, step 806 may proceed to step 808 only if a positive signal is received from each of the probes 400.

According to another aspect of the invention, another method of disinfecting an enclosed area is provided. Referring to FIG. 10, multiple probes 400 may be disposed within the closed region. At step 900, all probes are initiated. Then, in step 902, a vaporizer within mobile robot 300 is also activated to produce vaporized disinfectant. Mobile robot 300 can stop or stand still around the closed area. At step 904, remote computer system 200 may continue to retrieve images from all probes 400. At step 906, all images are analyzed in the manner discussed in steps 700, 702, and 704. At step 908, remote computer system 200 may determine whether all probes meet disinfectant exposure criteria. At step 910, computer system 200 may instruct mobile robot 300 to stop only if all probes 400 meet disinfectant exposure criteria.

In some examples, probe 400 can be attached to a wheel. This moving probe 400 can be moved around the closed area for initial measurements. It can be remotely controlled by control application 202.

In some examples, probe 400 can be equipped with temperature, pressure, and associated humidity sensors for calibration and recording purposes. It should be appreciated that other associated sensors may be installed to provide data input to control application 202 or remote computer system 200.

In particular, it would be advantageous to deploy the invention in public transportation, such as trains, airplanes, and buses, to minimize exposure to medical personnel. Naturally, these are merely examples and are not intended to limit the scope of this patent application.

To further illustrate deployment of embodiments of the present invention, FIG. 12 shows an exemplary external design of mobile robot 300 and various environments of deployment, according to one embodiment. For example, mobile robot 300 may weigh approximately 70 kg with four motorized wheels. The mobile robot 300 may include a lithium battery, 8 liters of disinfectant, etc. within a weight of about 70 kg. In one embodiment, the disinfectant can be hydrogen peroxide (H2O2) having a concentration of 100-200 ppm. In one example, the concentration can be used to treat an estimated 1000-1500 m3 of space. In another example, the duration of battery power may be 5 hours. It should be understood that mobile robot 300 can carry disinfectant having other concentrations or volumes without departing from the spirit and scope of this embodiment. In one example, mobile robot 300 can be deployed on a train (e.g., a subway car, a train car, a bus, etc.), a hospital, a factory or laboratory, a shopping mall, or a public transportation station or train platform. .

In another embodiment, mobile robot 300 can be compartmentalized. For example, the mobile robot 300 may have a compartment 330 with a vaporizer 306 and a nozzle/dispenser 308 within one compartment. In another embodiment, mobile robot 300 may have tank 302, vaporizer 306, and nozzle/dispenser 308 in one compartment. In further embodiments, to reduce weight and increase deployment, the movable unit may include a motor and a set of movable elements or other movable mechanisms (e.g., wheels) in one compartment. This type of embodiment may be useful in rapid deployment within a closed area. In one example, compartment 330 (e.g., containing probe 400, vaporizer 306, nozzle/dispenser 308, and tank 302) may be a portable unit with a handle or strap for ease of transportation. good. This embodiment may then allow compartment 330 to dock with the mobile unit prior to deployment. In yet another example, compartment 330 may include vaporizer 306, nozzle/dispenser 308, and tank 302, but may not include probe 400.

For example, in a public transportation system, an entire train of multiple carts may include a mobile unit within each cart/vehicle. These mobile units can be battery operated and can be charged in standby mode. When disinfection is required, the separate compartment containing the tank 302, HPV, nozzle/dispenser 308, and vaporizer 306 can then be connected or engaged to the mobile unit so that the mobile robot 300 can be disinfected. can be expanded for.

In yet another embodiment, the compartment consisting of tank 302, HPV, nozzle/dispenser 308, and vaporizer 306 as a unit may be further available in each cart/car for emergency use, so that the train All employees or conductors of the company can quickly disinfect their carts/vehicles in an instant when the compartment is combined with a mobile unit.

Referring now to FIG. 12, another example of deployment of mobile robot 300. In one embodiment, the deployment environment may be a subway car. In such an example, multiple probes 400 may be placed at predetermined locations within the vehicle. Referring now to FIGS. 13A and 14B, multiple probes 400 may be disposed on the ceiling of the vehicle, the walls of the vehicle, or other locations within the vehicle. Prior to deployment, probe 400 may be unsterilized or may present a blue collar. In one embodiment, probe 400 is easily visible to human vision, as shown in FIGS. 13A and 13B. For example, probe 400 may be a special paper that responds to VHP at a certain concentration. In another example, the probe 400 may be invisible to human vision, but only to a light sensor on the mobile robot 300.

In another embodiment, as shown in FIG. 12, the remote computer system 200, control application 202, or cloud server platform can have a visual representation of the location of the probe 400 within the vehicle so that the user can: Disinfection progress can be monitored.

Once the mobile robot 300 is deployed, the mobile robot 300 can begin releasing VHP into the environment (eg, a car as shown in FIG. 13A) to disinfect a portion or section of the environment. Optical sensor 408 may already have the approximate location of probe 400 and may monitor and monitor detection of color changes in probe 400. Upon detecting or sensing a color spectrum change from one color (e.g., blue) to a color designated to be a "disinfected" color or condition (e.g., peach), the release of VHP may cease. I can do it. As discussed above, mobile robot 300 can then move to the next probe 400.

In another embodiment, the probes 400 may be arranged in clusters or sets responsive to the accuracy range of the sensor 408, either with or without the aid of a robotic arm. For example, sensor 408 can have a range accuracy that can be calibrated. In this way, probe 400 can be positioned as a function of the desired accuracy range of sensor 408, battery power consumption, and the time required to disinfect or sterilize the environment.

In such an example, once the set of probes 400 is determined to be disinfected, the mobile robot 300 may move to the next location to disinfect another portion of the environment. This deployment can be completed when the entire environment is disinfected.

In another embodiment, remote computer system 200 or control application 202 can display on a display to indicate the progress of disinfection. Alerts can be sent to control application 202 or remote computer system 200 to indicate exceptions or notifications to mobile robot 300. For example, if there is an obstacle in the vehicle, mobile robot 300 may take a photo or send an alert, and such photo or alert may be sent to remote computer system 200 or control application 202. good. In another example, a user can remotely control mobile robot 300 to move away from obstacles.

In yet another embodiment, two or more mobile robots 300 can be deployed simultaneously in the same environment to increase efficiency and reduce time for disinfection. In this way, the remote computer system 200 can separately identify each of the mobile robots 300, the mobile robots 300 can each identify themselves, and they can sense each other. . During disinfection, the user can control the part or section of the environment that each mobile robot 300 can be responsible for, so that each mobile robot can deploy accordingly and use different vehicles. Sometimes there is no need to cross. In such an embodiment, with probe 400 each mobile robot 300 can still cover the connection points between cars.

In one embodiment where a large number or multiple mobile robots 300 may be used, each mobile robot 300 may be configured to be restricted to a given vehicle interior, thus making multiple connections within a given amount of time. Completing the disinfection of car trains can be more efficient.

Referring now to FIG. 14, an illustration of navigation of a mobile robot 300 in an interior space 1500 of a public transportation vehicle, bus, or ferry is shown. In one embodiment, mobile robot 300 can include a scanner 1502 that can have the detection range of a medium-range (eg, about 10 meters or more) 3D or 2D scanner. In one embodiment, the scanner may be an optical (e.g., laser) or acoustic-based (e.g., sonar) type scanner to locate the interseat aisle 1504. As mentioned above, mobile robot 300 can be deployed on mass transit carriers such as trains, buses, ferries, or aircraft. These vehicles all share the same characteristic, namely at least one inter-seat aisle 1504. Traditional robots use short-range detection mechanisms such as cameras or sonar transducers. Since these sensor-based drive logic may be limited in the amount of time required to sterilize the cabin, fine tuning may become even more complex and difficult.

A medium range scanner 1502 on the mobile robot 300 can provide the mobile robot 300 with 360 degree visibility of 10 meters or more. For such distances, the interseat aisle 1504 and its path can be easily recognized in a scanned map, such as the accompanying 2D illustration, using pattern recognition techniques. When the mobile robot 300 performs a 360 degree medium range scan, a passenger car seat or bench is detected (represented by dots 1506). Since the inter-seat aisle 1504 is empty, a well-lit path can be determined in the scanned map. Thus, the microprocessor on the mobile robot 300 uses pattern recognition algorithms to identify the inter-seat aisles 1504, design routes, and energize the motors or drives of the mobile robot 300 accordingly. , along the inter-seat aisle 1504.

In another embodiment, as discussed above, the data associated with the inter-seat aisle 1504, such as the absolute or approximate location, or distance thereof, with respect to the seat, bench, or even door may be used by the mobile robot. 300 microprocessor so that the mobile robot 300 can supplement its processing as it moves along the inter-seat aisle 1504.

Referring now to FIG. 15, another illustration of a mobile robot 300 in navigating an enclosed space 1600, such as a train or an aircraft cabin, is shown. In one embodiment, mobile robot 300 can navigate along an inter-seat aisle 1604 that has zones or clusters of seats or benches 1606. In this embodiment, the enclosed space 1600 may further include an area 1610 where the mobile robot 300 with the scanner 1602 may need to navigate to an interseat aisle 1604 where a door 1612 is also nearby.

In such instances, it is not uncommon to have a door 1612. In this illustration, the enclosed space 1600 may be a seat map of a Boeing 737 aircraft. As illustrated here, there is a short passageway 1608 toward the side door 1612. In one embodiment, using the scanner 1602, the seat aisle detection algorithm can determine the seat aisle 1604 by the length of the seat aisle 1604. For example, the inter-seat aisle 1604 may be longer than the aisle 1608; thus, the mobile robot 300 will not mistake the aisle 1608 for the inter-seat aisle 1604. Similarly, the seat-to-seat aisle detection algorithm may mistake region 1610 for potentially being a seat-to-seat aisle, at least based on the approach described above.

In one example, the seat aisle detection algorithm may include a parameter such as the minimum length that the seat aisle is configured to be, such as the height of the seat from the floor. Once these parameters are configured, the scanner 1602 can perform a scan and the microprocessor can determine a seat-to-seat aisle map that meets the parameters. As discussed above, the microprocessor can receive seat map data to assist or accelerate inter-seat aisle detection. It is understood that seating maps may vary from aircraft to aircraft and that airlines may change seating arrangements or configurations. Thus, the combination of a scanner and downloaded or loaded information can facilitate navigation, which can result in faster or more efficient disinfection.

In yet another embodiment, different nozzles apply an oil-based or water-based antimicrobial solution onto the floor (carpet) or seat (e.g., fabric or leather) as the mobile robot 300 moves along the inter-seat aisle 1504 or 1604. can be provided. In such instances, electrostatic spraying may be used. It is to be understood that other means for spraying the antimicrobial solution may be provided without departing from the spirit and scope of the embodiments. In another example, a separate tank can be used to hold the antimicrobial solution.

In yet another embodiment, mobile robot 300 can have one nozzle and tank 302 can hold either an antimicrobial solution or a VHP solution, if desired.

Still further, to illustrate deployment of some embodiments of the present invention, FIG. 16 shows an exemplary compartment 330 configured to removably dock to a mobile unit to form mobile robot 300. . Due to the presence of mobile robot 300, in one embodiment, compartment 330 may not possess a unit or element to solely drive compartment 330. For example, compartment 330 may not include a drive unit. In this manner, compartment 330 can be designed to be attached to, engaged with, docked with, or otherwise associated with a mobile unit, such as mobile robot 300. In such a configuration, the combination of mobile units or mobile robots 300 can enhance the performance of the mobile units or mobile robots 300, according to some embodiments. For example, given that mobile robot 300 has a nozzle that sprays in one direction, compartment 330 can orient its nozzle to spray in the opposite or different direction. In another example, given that mobile robot 300 can include a tank with one type of disinfectant formulation or solution for one setting, compartment 330 can contain a solution for another setting or area. As a result, the compartment can reduce the need for switching solutions and enhance faster deployment. In yet another example, given that the mobile robot 300 can include a vacuum, sweeping mechanism, and/or moping mechanism for cleaning surfaces, the compartment 330 may include a nozzle for spraying a vaporized disinfectant solution. can be included. Additionally, one mobile unit or mobile robot 300 may be associated with one or more compartments 330 designated for various areas of disinfection.

Compartment 330 includes a housing or casing 1702 disposed at the front of compartment 330, a tank for holding an antimicrobial solution or a hydrogen peroxide solution, and at least one container configured to detect movement of compartment 330. a motion detector/sensor; at least one battery pack; a plurality of wheels 1704 disposed at the bottom of the compartment 330; an on button 1706 and an off button 1708 disposed at the front of the casing 1702; The casing 1702 can include a nozzle/dispenser 1710 configured to atomize steam disposed at the top front, and an air vent 1712 and a solution level indicator 1714 disposed at the front of the casing 1702. , the power socket 1716 is configured to receive a power plug for charging the battery pack, and the at least one handle 1718 is configured to facilitate removal or docking between the compartment 330 and the movable unit. The lid 1720 is configured to open and close the inlet of the tank. Compartment 330 may further include a removable mounting system 1800 configured to be a mounting interface between the movable unit and compartment 330.

Turning to FIG. 17, the compartment 330 includes a nozzle/dispenser power switch 1722 configured to switch the nozzle/dispenser 1710 on or off and to indicate whether the nozzle/dispenser 1710 is in an on or off state. and a configured nozzle/dispenser power indicator 1724. FIG. 17 also shows the lid 1720 in its closed position. The top surface 1728 of the casing slopes from the rear of the casing 1702 to the front.

FIG. 18 shows the bottom of compartment 330, which includes bottom plate 1722. FIG. A bottom mount 1724 is further mounted on the bottom plate 1722. The bottom mount 1724 is a lever having an extended end 1724a extending away from the front of the casing 1702, and a bottom hook end 1724b having a hook structure for hooking the bottom bar 1810 of the removable mounting system 1800. could be. Bottom mount 1724 can further include a spring configured to urge or engage bottom hook end 1724b toward bottom bar 1810 of removable mounting system 1800. The hook structure of the bottom hook end 1724b allows the bottom bar 1810 of the removable mounting system 1800 to be released by pulling the extended end 1724a upward. The hook structure at the bottom hook end 1724b is then pulled downwardly and away from the bottom bar 1810 of the removable mounting system 1800, thereby releasing the mounting system.

FIG. 19 shows compartment 330 further comprising two side mounts 1726. Side mount 1726 is installed with handle 1718. Each side mount 1726 is a lever having a flat end 1726a extending into the handle 1718 and a side hook end 1726b having a hook structure configured to hook the side bar 1808 of the removable mounting system 1800. obtain. Each side mount 1726 can further include a spring configured to urge the side hook end 1726b and its hook structure toward the side bar 1808 of the removable mounting system 1800. The hook structure of the side hook end 1726b allows the sidebar of the removable mounting system 1800 to be released by pressing the flat end 1726a of the side mount 1726 toward the handle 1718. The hook structure of side hook end 1724b is then pulled away from side bar 1808 of removable mounting system 1800, thereby releasing the mounting system. In one embodiment, the casing or body 1702 can include an opening for a user to access the handle 1718.

FIG. 20 shows removable mounting system 1800 being removed from compartment 330. 21-23 show top, bottom, and rear views of compartment 330 without removable mounting system 1800 attached.

Turning now to FIG. 24, removable mounting system 1800 includes a neck portion 1802 having a hole 1804 disposed thereon that connects to a body frame 1812 of removable mounting system 1800. In one embodiment, the neck portion 1802 can further connect the other head 1806 apart from the body frame 1812. In one embodiment, the hole 1804 receives a portion or protrusion of the mobile unit to secure the removable mounting system 1800 to the mobile unit. In another embodiment, the head includes a hook-like element for further engaging a portion of the movable unit. In one embodiment, the head 1806 and neck portion 1802 form an angle for engaging or hooking a predetermined portion of the movable unit to further secure the attachment of the removable mounting system 1800 to the movable unit. Additionally, the tops of the head 1806, neck portion 1802, and body frame 1812 may be contoured to better conform to portions of the movable unit and provide a streamlined appearance.

Removable mounting system 1800 further includes two side bars 1808 and one bottom bar 1810. The two side bars 1808 can be connected on the sides of the body frame 1812. In one embodiment, sidebar 1808 extends a substantial length of body frame 1812. In another embodiment, the sidebar 1808 can extend in a direction toward the head 1806 of the body frame of the removable mount 1812. In yet another embodiment, sidebar 1808 can be on the same side of head 1806 and extend in a direction that is perpendicular to the plane of body frame 1812. A bottom bar 1810 can be connected to the bottom edge of the body frame 1812 and can project downwardly.

In one embodiment, the bottom bar 1810 and the two side bars 1808 are on different planes, and the bottom bar 1810 is on the same plane as the body frame 1812 of the removable mounting system 1800. The removable mounting system 1800 includes a spacing bar 1814 configured to contact the body of the movable unit at one end and extend the body frame 1812 of the removable mounting system 1800 in a direction toward the head 1806. further including. In one embodiment, spacing bar 1814 can provide space between the body frame 1812 of removable mounting system 1800, or side bar 1808, and the body of the movable unit.

In one embodiment, the spacing bar 1814 provides the necessary space between the side bar 1808 and the body of the movable unit to ensure a secure connection between the hook structure of the side hook end 1726b and the side bar 1808. may allow for close engagement or contact. In some embodiments, spacing bar 1814 and bottom bar 1810 can be attached to the body frame of removable mounting system 1800 by screws or bolts. In some embodiments, the holes 1804 have a shape similar to a triangle.

Turning to FIGS. 25 and 26, spacing bar 1814 can include at least one recess 1814a.

27-39 show rear, front, and side views of a removable mounting system 1800 attached to a spacing bar.

In some embodiments, the nozzle/dispenser is an electrostatic sprayer or sprayer. Further, in some embodiments, the compartment 330 includes two or more tanks for holding an antimicrobial solution or a hydrogen peroxide solution, a vaporizer, and data related to the concentration of the received VPH and/or disinfectant. further comprising a microcontroller configured to process data received from the motion sensor/detector and control the vaporizer and nozzle/dispenser 1710. In some embodiments, such data is obtained from probe 400. In some further embodiments, data is obtained from at least one VPH and/or disinfectant concentration sensor located on compartment 330. Solution level indicator 1714 is configured to indicate the solution level in at least one tank. In some further embodiments, the nozzle/dispenser 1710 can be further coupled to at least one motor such that the indicated direction of the output tip of the nozzle/dispenser is determined by the direction received by the at least one motor from the microcontroller. It can be adjusted by its motor via command. In some embodiments, the compartment 330 further comprises a data communication interface for providing a data link between the microcontroller of the compartment 330 and the microcomputer of the mobile unit, such that the microcontroller receives input instructions may be provided to and received from the microcomputer, the input of which may be the concentration of HPV obtained. The data communication interface may be a wired or wireless communication interface.

In some embodiments, compartment 330 does not include any drive unit to drive its wheels and is unable to move on its own.

Turning now to the method of operating compartment 330. To attach compartment 330 to a mobile unit, removable mounting system 1800 is first removed from compartment 330. The removable mounting system 1800 is then attached to the mobile unit by hooking the hook structure 1806 to predetermined features of the mobile unit and placing holes 1804 around the protrusions of the mobile unit. The compartment 330 can then be moved toward the attached removable mounting system 1800 and the side hook ends 1726b of each side mount 1726 can be engaged with the side bar 1808. Similarly, the hook structure of the bottom hook end 1724b of the bottom mount 1724 can engage the bottom bar 1810. Compartment 330 continues to be moved toward removable mounting system 1800 until the hook structures at bottom hook end 1724b and side hook end 1726b hook onto bottom bar 1810 and side bar 1808, respectively.

When the compartment 330 is docked to the mobile unit, the compartment can be opened and closed separately from the mobile unit. The motion sensor/detector can then detect any movement of the compartment 330 and provide a signal to the microcontroller of the compartment 330 when the compartment 330 is opened or turned on. The microcontroller can control the compartment 330 to spray vaporized disinfectant or VPH when the compartment 330 is in motion and to stop spraying when the compartment stops moving. In some embodiments, compartment 330 may only be sprayed with vaporized disinfectant or VPH a predetermined amount of time after compartment 330 is exercised. In some embodiments, compartment 330 may simply stop spraying vaporized disinfectant or VPH after a predetermined amount of time after compartment 330 is inactive. In some further embodiments, the microcontroller receives spraying instructions from the mobile unit via a data link. In another embodiment, some of the elements or embodiments discussed in the previous section regarding optical sensors associated with mobile robot 300 may be further added to compartment 330.

The mobile unit includes at least one wheel, a microcomputer, a drive unit, at least one sensor configured to detect the surrounding area and provide such data to the microcomputer, which then Instructions can be provided to the drive unit to navigate the mobile unit through the area. This sensor may be a scanner or any short-range sensing mechanism, as described above. Once the compartment 330 is removably connected/docked to the mobile unit, the mobile unit can then transport the compartment 330 as it navigates through the area.

Example embodiments may include additional devices and networks beyond the illustrated embodiments. Additionally, functions described as being performed by one device can be distributed and performed by two or more devices. Multiple devices may also be combined into a single device that can perform the functions of the combined devices.

The various parties and elements described herein may operate one or more computing devices to facilitate the functions described herein. Any of the elements in the diagrams above, including any servers, user devices, or databases, may use any suitable number of subsystems to facilitate the functionality described herein.

Any of the software components or functionality described in this application may be implemented, e.g., using conventional or object-oriented techniques, e.g., using any suitable computer language, such as Java, C++, or Python, at least It can be implemented as software code or computer readable instructions that can be executed by a single processor.

Software code is a set of instructions or instructions stored on a non-transitory computer-readable medium such as random access memory (RAM), read-only memory (ROM), magnetic media such as a hard drive or floppy disk, or optical media such as a CD-ROM. Can be stored as a command. Any such computer-readable medium can reside on or within a single computing device and may reside on or within different computing devices within a system or network. I can do it.

It can be appreciated that the invention as described above can be implemented in the form of control logic using computer software in a modular or integrated manner. Based on the disclosure and teachings provided herein, those skilled in the art will know of other ways and/or ways to implement the invention using hardware, software, or a combination of hardware and software. can be understood.

The above description is illustrative and non-limiting. Many variations of the embodiments may become apparent to those skilled in the art based on a review of the disclosure. The scope of the embodiments should, therefore, be determined not with reference to the above description, but on the contrary, the scope of the embodiments should be determined with reference to the pending claims, along with their full scope or equivalents. be.

One or more features from any embodiment may be combined with one or more features from any other embodiment without departing from the scope of the embodiment. The enumeration "a," "an," or "the" is intended to mean "one or more" unless specifically indicated to the contrary. The recitation "and/or" is intended to represent the most inclusive meaning of the term, unless specifically indicated to the contrary.

One or more of the elements of the system may be claimed as a means for accomplishing a particular function. When describing certain elements of the claimed system using such means-plus-functionality elements, the corresponding structure also uses functions found in the computer after specific programming and/or or specifically programmed to perform the recited functionality by implementing one or more algorithms to accomplish the recited functionality as recited in the claims or steps above. It can be understood by those skilled in the art having a reading of this specification, the figures, and the claims preceding them, to include a computer, processor, or microprocessor (as the case may be). As will be understood by those skilled in the art, such algorithms may be expressed in the form of mathematical formulas, flowcharts, narratives, and/or any other method that provides sufficient structure for one skilled in the art to implement the recited processes and their equivalents. may be expressed within this disclosure as .

Although the disclosure may be embodied in many different forms, the drawings and discussion illustrate that the disclosure is illustrative of one or more of the principles of the invention, and that any embodiments are limited to the embodiments illustrated. It is presented with the understanding that it is not intended to be used.

Further advantages and modifications of the systems and methods described above will readily occur to those skilled in the art.

Therefore, the present disclosure in its broader aspects is not limited to the specific details, representative systems and methods, and illustrative examples shown and described above. Various modifications and variations may be made to the above specification without departing from the scope and spirit of the disclosure, and those various modifications and variations may be made to the following claims: This disclosure is intended to cover all such modifications and variations insofar as they come within the scope of and equivalents thereof.

Claims (11)

a disinfection compartment,
at least one wheel;
a casing disposed over the disinfection compartment;
at least one tank configured to hold an antimicrobial solution or a hydrogen peroxide solution;
handle and
a nozzle/dispenser disposed on the casing;
a bottom mount including a hook structure at one end of the bottom mount configured to hook a bottom bar of the removable mount;
a side mount including a hook structure at one end of the side mount, and a flat end;
the hook structure of the side mount is configured to hook a side bar of the removable mount, and the flat end is disposed within the handle;
A disinfection compartment, wherein said disinfection compartment lacks any drive unit to drive its wheels or to move itself. an air ventilation device disposed at the front of the casing;
a solution level indicator configured to indicate solution levels in a plurality of tanks;
a battery pack configured to power the disinfection compartment;
a power socket disposed in the front portion of the casing configured to receive a power plug for charging the battery pack;
a motion sensor configured to detect motion of the disinfection compartment;
A disinfection compartment according to claim 1, wherein the nozzle/dispenser comprises an electrostatic sprayer or an electrostatic sprayer. a motor connected to the nozzle/dispenser configured to adjust the pointing direction of the output tip of the nozzle/dispenser;
at least one sensor configured to detect a concentration of vaporized hydrogen peroxide or disinfectant surrounding the disinfection compartment;
a data communications interface configured to establish a data link with the mobile unit;
3. The disinfection compartment of claim 2, further comprising a microcontroller configured to receive the concentration data and signals from the motion sensor and connect to the data communication interface. a removable mounting system,
The main body frame,
a neck portion having a hole, the neck portion connecting the head and the first end of the body frame;
a plurality of side bars on a side surface of the main body frame, the plurality of side bars extending in a direction toward the head;
a bottom bar disposed at a second end of the body frame;
a spacing bar extending in a direction toward the head. 5. The removable mounting system of claim 4, wherein the head includes a hook structure for engaging a portion of the movable unit. 5. The removable mounting system of claim 4, wherein the plurality of sidebars engage a portion of a disinfection system. 5. The removable mounting system of claim 4, wherein the hole receives another portion of the movable unit. 5. The removable mounting system of claim 4, wherein the bottom bar engages another portion of the disinfection system. 5. A removable mounting system according to claim 4, wherein the spacing bar engages a further part of the movable unit. a disinfection compartment,
at least one wheel;
housing and
at least one tank within the housing holding an antimicrobial solution or a hydrogen peroxide solution;
handle and
a nozzle/dispenser disposed on the housing;
A disinfection compartment, wherein said disinfection compartment lacks any independent drive unit to drive its wheels or move itself. a plurality of side mounts for engaging a plurality of side bars of a removable mounting system, the removable mounting system engaging a portion of the movable unit;
a plurality of side mounts, each of the plurality of side mounts comprising a hook and a handle, the handle operably releasing or engaging the hook to each of the plurality of side bars;
11. The disinfection compartment of claim 10, further comprising a bottom mount including another hook structure for engaging a bottom bar of the removable mounting system.