US20170100499A1 - Decontamination Systems and Methods - Google Patents
Decontamination Systems and Methods Download PDFInfo
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- US20170100499A1 US20170100499A1 US14/877,511 US201514877511A US2017100499A1 US 20170100499 A1 US20170100499 A1 US 20170100499A1 US 201514877511 A US201514877511 A US 201514877511A US 2017100499 A1 US2017100499 A1 US 2017100499A1
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- gantry
- computing device
- decontamination
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- control box
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/12—Apparatus for isolating biocidal substances from the environment
- A61L2202/122—Chambers for sterilisation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/17—Combination with washing or cleaning means
Definitions
- vehicles In use, vehicles often can get contaminated with hazardous substances. For example, when in use vehicles may come in contact with chemical, biological, and radiological substances that are dangerous to humans, animals, or the environment. It is often necessary to employ decontamination procedures to neutralize or remove contaminants from the contaminated vehicles.
- vehicle decontamination is often used during the quarantine of farms infected with foreign animal diseases.
- the effective and rapid decontamination of vehicles and equipment prevents the spread of contaminants into unaffected areas, thus reducing the overall human, economic and logistic cost.
- a decontamination system for decontaminating an object of the present disclosure has a gantry moveably coupled to a track, and the gantry is situated adjacent the object.
- the gantry has at least one control box rotationally coupled to a first leg and at least one spray arm comprising a nozzle for spraying fluid that is rotationally coupled to the control box.
- the decontamination system has logic configured for initiating spraying through the one or more nozzles in a first direction when the control box is in a first position, the logic further configured to rotate the control box to a second position based on profile data of the object.
- a decontamination method for decontaminating an object of the present disclosure comprises the steps of: (1) initiating spray in a first direction through one or more nozzles of a spray arm rotationally coupled to a control box, the control box in a first position and rotationally coupled to a leg of a gantry that is moveably coupled to a track; and (2) rotating the control box to a second position based on profile data of the object.
- FIG. 1 is a perspective view of an exemplary decontamination system in accordance with an embodiment of the present disclosure.
- FIG. 2 is a perspective view of the decontamination system of FIG. 1 with the shelter removed.
- FIG. 3 is a block diagram of the decontamination system of FIG. 1 .
- FIG. 4 is a block diagram of an exemplary computing device of the decontamination system of FIG. 3 .
- FIG. 5 is a block diagram of an exemplary operator device of the decontamination system of FIG. 3 .
- FIG. 6 is a perspective view of an exemplary track and gantry system such as is depicted in FIG. 2 with the vehicle removed.
- FIG. 7 is a top view of exemplary control boxes and exemplary spray arms of the track and gantry system such as is depicted in FIG. 6 .
- FIG. 8 is a perspective view of a control box and a spray arm such as is depicted in FIG. 7 .
- FIG. 9 is an exemplary control box such as is depicted in FIG. 8 .
- FIG. 10 is an exemplary fluid delivery system of the decontamination system such as is depicted in FIG. 3 .
- FIG. 11 is a block diagram of an exemplary fluid delivery system controller of the fluid delivery system depicted in FIG. 10 .
- FIG. 12 is an exemplary “HOME” graphical user interface (GUI) of the decontamination system such as is depicted in FIG. 3 .
- GUI graphical user interface
- FIG. 13 is an exemplary “CONTROL” GUI of the decontamination system such as is depicted in FIG. 3 .
- FIG. 14 is a flowchart depicting exemplary architecture and functionality of the decontamination system such as is depicted in FIG. 3 .
- a decontamination system in accordance with an embodiment of the present disclosure comprises a shelter that houses a track and gantry system.
- a vehicle that has been subjected to chemical, biological, or radiological substances is driven into the shelter between a pair of tracks and beneath a gantry that is moveably coupled to the tracks.
- Two control boxes are rotationally coupled to either side of the gantry. Additionally, two spray arms are rotationally coupled to each control box.
- the gantry Upon detection of a vehicle in the shelter, the gantry passes over the length of the tracks so that a laser scanner can detect and measure the full profile of the vehicle and its location within the tracks.
- the laser scanner transmits the collected data indicative of the vehicle profile to a central computing device.
- the central computing device develops a spray plan that consists of a series of orchestrated instructions to be given in a time controlled sequence to the gantry and spray arms. Taken together, the instruction result in movements that cover every surface of the vehicle.
- the central computing device transmits instructions to the control boxes and the spray arms that raise, lower, and direct nozzles on the spray arms toward the vehicle as the gantry passes over the vehicle.
- a fluid delivery system supplies decontaminants and water to the gantry, which is sprayed on the affected vehicle as described above.
- the fluid delivery system comprises one or more tanks that hold decontaminants and/or water.
- a user of the decontaminant system selects one or more of the decontaminants and a concentration of the selected decontaminants to be delivered to the gantry via a handheld device.
- the handheld device communicates with the central computing device, which controls pumps in fluid communication with the tanks.
- the concentration of a selected decontaminant may be user-controlled.
- FIG. 1 is a decontamination system 100 in accordance with an embodiment of the present disclosure.
- the decontamination system 100 comprises a shelter 105 and one or more tanks 102 - 104 that contain decontaminants and/or water.
- FIG. 1 depicts the track and gantry system 200 in a position wherein a gantry 300 is positioned closest to an opening 106 of the shelter 105 .
- spray arms 402 and 403 that are coupled to the gantry 300 via control boxes 400 and 401 are positioned in front of a vehicle 101 perpendicular to tracks 301 and 302 .
- the vehicle 101 enters one side of the shelter 105 and is positioned between the tracks 301 and 302 and beneath the gantry 300 .
- FIG. 1 shows the vehicle 101 in a position at the end of the track and gantry system 200 closest to the opening 106 of the shelter 105 . This position of the vehicle 101 is hereinafter referred to as the “ready position.”
- a driver (not shown) of the vehicle 101 exits the vehicle 101 and the shelter 105 .
- decontamination of the vehicle 101 begins. The decontamination process is described further herein.
- the driver may then reenter the vehicle 101 .
- the spray arms 402 and 403 are moved, and the driver can drive the vehicle 101 from the shelter 105 via the opening 106 .
- FIG. 1 further depicts a trailer 190 .
- the trailer 190 comprises various components of the system, including the central computing device (not shown) and the fluid delivery system (not shown), both of which are described further herein. Note that in one embodiment of the present disclosure, all components of the decontamination system 100 may be broken down, stored, and/or transported in the trailer 190 .
- the present disclosure describes decontamination of a vehicle.
- other objects may be decontaminated by the decontamination system in other embodiments.
- the decontamination system may be used to decontaminate farm equipment.
- FIG. 2 is a track and gantry system 200 in accordance with an embodiment of the present disclosure that comprises the parallel tracks 301 , 302 and the U-shaped gantry 300 .
- the track and gantry system 200 is shown in FIG. 2 with the shelter 105 removed. Further, the vehicle 101 is positioned between the parallel tracks 301 and 302 and beneath the U-shaped gantry 300 .
- the inverted U-shaped gantry 300 comprises two vertical legs 303 and 305 . Coupling together the top ends of the two vertical legs 303 and 305 is a horizontal bridge 304 . Further, opposing ends of each leg 303 and 304 are moveably coupled to respective tracks 301 and 302 . During scanning, decontamination and/or rinsing, the U-shaped gantry 300 moves bi-directionally along the tracks 301 and 302 , as indicated by reference arrows 221 and 220 .
- Coupled to the U-shaped gantry 300 is a laser scanner 364 .
- the gantry 300 moves along tracks 301 and 302 from the front of the vehicle 101 to the back of the vehicle 101 .
- proximity sensors (not shown) are used to detect the front and backend of the vehicle 101 .
- the laser scanner 364 collects data indicative of a profile of the vehicle 101 .
- the laser scanner 364 collects data indicative of x, y, and z coordinates of the profile of the vehicle.
- FIG. 2 depicts a position of the gantry 300 that is approximately midway down the length of the vehicle 101 , and this position occurs as the vehicle is being scanned, decontaminated, or rinsed.
- the initial position of the track and gantry system 200 prior to beginning decontamination is described hereinabove with reference to FIG. 1 .
- FIG. 3 is a block diagram depicting the decontamination system 100 in accordance with an embodiment of the present disclosure.
- the decontamination system 100 comprises the track and gantry system 200 , an operator device 500 , a fluid delivery system 507 , and a central computing device 504 (collectively referred to herein as system components).
- the central computing device 504 is any type of computing device that can interface with the other system components either via cables or wirelessly.
- the central computing device 504 controls the system 100 at direction from an operator 502 via the operator device 500 .
- the central computing device 504 may be, but is not limited to, a server or a personal computer (PC).
- the central computing device 504 is communicatively coupled to the operator device 500 via a communication link 504 , to the track and gantry system 200 via communication link 504 and to the fluid delivery system via communication link 505
- some or all communication links 503 , 506 , and 505 are effectuated with a wireless local area network (WLAN).
- WLAN wireless local area network
- the central computing device 504 communicates bi-directionally with the operator device 500 , the track and gantry system 200 , and the fluid delivery system 507 via the WLAN.
- some or all communication links 503 , 506 , and 505 are established via direct cabling.
- the link 506 between the central computing device 504 and the track and gantry system 200 and the link 505 between the central computing device 504 and the fluid delivery system 507 may be an Ethernet cable.
- system components including the central computing device 504 , the operator device 500 , the track and gantry system 200 , and the fluid delivery system 507 , is described as being effectuated via a WLAN or Ethernet.
- other types of hardware and software may be used to establish the communication links between the system components in other embodiments.
- the present disclosure is not intended to limit the type of hardware and/or software that communicatively couples the system components.
- the operator device 500 is any type of computing device that may be used by an operator 502 to control the system 100 via the central computing device 504 , including, but not limited to, a tablet, e.g., an iPadTM, a personal digital assistant (PDA), a cell phone, or a laptop computer.
- a tablet e.g., an iPadTM, a personal digital assistant (PDA), a cell phone, or a laptop computer.
- PDA personal digital assistant
- the operator 502 inputs data indicative of instructions for controlling the system 100 .
- the data indicative of the instructions is sent to the central computing device 504 , which controls the system 100 accordingly.
- the fluid delivery system 507 comprises components for delivering decontaminants (not shown) and water (not shown) to the gantry 300 .
- the gantry 300 sprays the vehicle 101 with the fluids delivered.
- the fluid delivery system 504 is in fluid communication with the track and gantry system 200 via piping 507 .
- the fluid delivery system 507 comprises a plurality of conduits, pumps, flow meters, and tanks 102 - 104 ( FIG. 1 ) for delivering the fluids to the gantry 300 .
- FIG. 4 is a block diagram of an exemplary central computing device 504 in accordance with an embodiment of the present disclosure.
- the exemplary computing device 504 comprises processor 600 , output interface 608 , input interface 607 , a Wi-Fi transceiver 609 , and a communication interface 610 .
- Each of these components communicates over local interface 406 , which can include one or more buses.
- the central computing device 504 further comprises central computing device control logic 602 .
- Central computing device control logic 602 can be software, hardware, or a combination thereof.
- control logic 602 is software stored in memory 601 .
- Memory 601 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like.
- the central computing device control logic 602 is shown as stored in memory 601 .
- the central computing device control logic 602 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
- a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- the computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
- Processor 600 may be a digital processor or other type of circuitry configured to run the central computing device control logic 602 by processing and executing the instructions of the central computing device control logic 602 . Further, the processor 600 communicates with and drives the other elements within the central computing device 504 via the local interface 406 .
- the Wi-Fi transceiver 609 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples the central computing device 504 with the other system components, e.g., the operator device 500 ( FIG. 3 ).
- the Wi-Fi transceiver 609 is a wireless transceiver that is configured to transmit and receive messages wirelessly from the system components.
- the output interface 608 is any type of device for providing information to the operator 502 ( FIG. 3 ).
- the output interface may be, for example, a backlit liquid crystal display (LCD) screen (not shown).
- Other types of output interfaces 608 may be, for example, an audio device that provides instructions to the operator 502 audibly, light emitting diodes (LED) that show status of the system 100 , or any other type of output interface that provides sensory information to the operator. While some examples have been given, other types of output interfaces may be used in other embodiments of the present disclosure
- the input interface 607 is any device that enables the operator to input data into the central computing device 504 .
- the input interface 607 is a touchscreen that allows the operator 502 to provide information to the central computing device 504 by selecting areas on the touch screen.
- the input interface may be, for example, a keyboard or a microphone. In this regard, the operator may use the keyboard to type data into the central computing device 504 . While some examples have been given, other types of input interfaces may be used in other embodiments of the present disclosure.
- the communication interface 610 is any other type of communication interface that the central computing device 504 may use to communicate with the system components and/or a network (not shown).
- the communication interface 610 may be an Ethernet interface that enables the central computing device 504 to communicate with the system components, e.g., the fluid delivery system 507 .
- the communication 610 may be any type of device that allows the central computing device 504 to communicate with the Internet.
- the central computing device 504 further comprises profile data 603 .
- the profile data 603 is data indicative of a profile of a vehicle 101 ( FIG. 2 ) that is being decontaminated.
- the track and gantry system 200 ( FIG. 2 ) comprises a laser scanner 364 ( FIG. 2 ) that scans the vehicle 101 .
- the laser scanner 364 collects data indicative of the x, y, and z coordinates of the profile of the vehicle 101 to be decontaminated.
- the laser scanner 364 transmits the profile data indicative of the scan to the central computing device 504 .
- the central computing device control logic 602 Upon receipt, the central computing device control logic 602 stores the data received as the profile data 603 .
- the central computing device control logic 602 Upon receipt or prior to beginning decontamination, the central computing device control logic 602 translates the profile data 603 into a spray plan for spraying the vehicle 101 and stores data indicative of the spray plan as spray plan data 620 . In translation, the central computing device control logic 602 generates a three-dimensional mode of the vehicle 101 and generates the spray plan data 620 based upon the three-dimensional model. Note as described above, the profile data 603 comprises the x, y, and z coordinates of the profile of the vehicle 101 . Thus, in translation, the central computing device control logic 602 analyzes the coordinates and determines instructions to be sent to the track and gantry system 200 for moving the components of the track and gantry system 200 so that the surfaces of the vehicle are sprayed with decontaminants and rinse.
- the coordinates may define a height of the vehicle 101 as ten (10) feet.
- the central computing device control logic 602 would translate this data into an instruction that moves the spray arms 402 and 403 from ground level and up the front of the vehicle 101 ten (10) feet. This process is described further herein.
- FIG. 5 is a block diagram of an exemplary operator device 500 in accordance with an embodiment of the present disclosure.
- the exemplary operator device 500 generally comprises processor 700 , output interface 708 , input interface 707 , a wireless transceiver 709 , and a communication interface 710 . Each of these components communicates over local interface 706 , which can include one or more buses.
- the operator device 500 further comprises operator device control logic 702 .
- Operator device control logic 702 can be software, hardware, or a combination thereof.
- operator device control logic 702 is software stored in memory 701 .
- Memory 701 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like.
- operator device control logic 702 is shown as stored in memory 701 .
- operator device control logic 702 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
- a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- the computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
- Processor 700 may be a digital processor or other type of circuitry configured to run the operator device control logic 702 by processing and executing the instructions of the operator device control logic 702 . Further, the processor 700 communicates with and drives the other elements within the operator device 500 via the local interface 706 .
- the wireless transceiver 709 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples the operator device 500 with the other system components.
- the wireless transceiver 709 is a wireless transceiver that is configured to wirelessly transmit data to and wirelessly receive messages from the system components.
- the output interface 708 is any type of device for providing information to the operator 502 ( FIG. 3 ).
- the output interface may be, for example, a touchscreen display device.
- Other types of output interfaces 708 may be, for example, an audio device that provides instructions to the operator audibly, light emitting diodes (LED) that show status of the system 100 , or any other type of output interface that provides sensory information to the operator. While some examples have been given, other types of output interfaces may be used in other embodiments of the present disclosure
- the input interface 707 is any device that enables the operator to input data into the operator device 500 .
- the input interface 607 is a touchscreen that allows the user to provide information to the operator device 500 by selecting areas on the touch screen.
- the input interface 707 may be, for example, a keyboard or a microphone. In this regard, the operator may use the keyboard to type data into the operator device 500 . While some examples have been given, other types of input interfaces may be used in other embodiments of the present disclosure.
- the operator device 500 comprises a battery 711 .
- the battery 711 supplies power to the operator device 500 .
- the operator 502 uses the operator device 500 to indirectly control the decontamination system 100 via communication with the central computing device 504 .
- the operator 502 may enter data indicative of parameters of the decontamination process and transmit the data to the central computing device 504 .
- the central computing device control logic 602 ( FIG. 4 ) translates the data received into instructions for operating the system 100 .
- decontamination can begin.
- the operator 502 after the operator 502 ensures that the driver is clear of the shelter 105 , the operator 502 enters input into the operator device 500 to begin the decontamination process.
- the operator device 500 transmits data indicative of the input to the central computing device 504 .
- the central computing device control logic 602 FIG. 3 ) begins the process of decontamination, i.e., activing the fluid delivery system 507 ( FIG. 3 ) and the track and gantry system 200 ( FIG. 3 ).
- the operator 502 may enter data indicative of concentrations of particular decontaminants for delivery to the gantry 300 , which the operator device 500 transmits to the central computing device 504 .
- the central computing device control logic 602 may control a pump speed associated with the particular decontaminant to ensure delivery of the specified concentration of the decontaminant.
- FIG. 6 depicts the track and gantry system 200 with the vehicle 101 ( FIG. 2 ) removed for clarity and completeness of discussion. Note that in the depiction of FIG. 6 , the spray arms 402 and 403 are actuated such that they meet at a center point and are perpendicular to the tracks 301 and 302 , respectively.
- the track and gantry system 200 comprises the parallel tracks 301 and 302 and the U-shaped gantry 300 .
- the track and gantry system 200 further comprises the control boxes 400 and 401 .
- the control boxes 400 and 401 are rotationally coupled to the legs 303 and 305 , respectively, of the gantry 300 .
- the spray arms 402 and 403 are rotationally coupled to the control boxes 400 and 401 , respectively.
- control boxes 400 and 401 are adapted to move upward and downward in directions indicated by reference arrows 450 and 451 , respectively. Further, the control boxes 400 and 401 are adapted to rotate in directions indicated by reference arrows 452 and 453 , respectively, relative to the legs 303 and 306 , respectively. Additionally, the spray arms 402 and 403 are adapted to rotate relative to the control boxes 400 and 401 , which are described further with reference to FIG. 7 .
- FIG. 7 is top view of the control boxes 400 and 401 and their respective rotationally coupled spray arms 402 and 403 .
- the spray arms 402 and 403 are shown meeting at a center point and perpendicular to the tracks 301 ( FIG. 6 ) and 302 ( FIG. 6 ) at a position indicated as Position A.
- Position A the length of each spray arm 402 and 403 is such that each reaches approximately half the distance between the tracks 301 and 302 .
- nozzles 454 can be oriented in a direction such that decontaminants and water from the nozzles 454 are directed toward a front of the vehicle 101 ( FIG. 2 ). Also, as indicated with reference to FIG. 6 , the control boxes 400 and 401 move upward and downward in the direction indicated by the reference arrows 450 ( FIG. 6 ) and 451 ( FIG. 6 ). Thus decontaminants and water can be sprayed via the nozzles 454 onto the entire front surface of the vehicle 101 when the nozzles are oriented as shown, and the control boxes 400 and 401 move upward and downward as indicated by the reference arrows 450 and 451 .
- the spray arms 402 and 403 In addition to the upward, downward and rotational movement of the control boxes 400 and 401 , the spray arms 402 and 403 also rotate relative to the control boxes 400 and 401 , respectively. In this regard, the spray arms 402 and 403 can bi-directionally rotate relative to the control boxes 400 and 401 as indicated by reference arrows 390 and 391 , respectively.
- the spray arms 402 and 403 are adapted to rotate to Position B.
- the control box 400 rotates relative to the gantry leg 303 ( FIG. 6 ), and the spray arm 402 rotates relative to the control box 400 .
- the spray arm 402 rotates one hundred and eighty degrees (180°) relative to the control box 400 as indicated by reference arrow 390
- the spray arm 402 rests in Position B with the nozzles 454 pointing toward the side of the vehicle 101 .
- the nozzles 454 are oriented in a direction such that decontaminants and water from the nozzles 454 are directed toward the side surfaces of the vehicle 101 . Also, the control boxes 400 and 401 move upward and downward in the directions indicated by the reference arrows 450 and 451 . Thus, decontaminants and water can be sprayed via the nozzles 454 onto the entire side surfaces of the vehicle 101 .
- the spray arms 402 and 403 may also rotate to Position C.
- the spray arm 402 When the control box 400 rotates ninety degrees (90°) relative to the gantry leg 303 as indicated by reference arrow 381 , the spray arm 402 rests in Position C with the nozzles 454 pointing toward the side surface of the vehicle 101 . Note that because of the initial orientation of the spray nozzles 454 , no additional rotation of the spray arm 402 is necessary to effectuate Position C.
- the control box 401 rotates ninety degrees (90°) relative to the gantry leg 305 as indicated by reference arrow 382 , the spray arm 403 rests in Position C with the nozzles 454 pointing toward the side surface of the vehicle 101 . Note that because of the initial orientation of the spray nozzles 454 , no additional rotation of the spray arm 403 is necessary to effectuate Position C.
- the nozzles 454 are oriented in a direction such that decontaminants and water from the nozzles 454 are directed toward the side surfaces of the vehicle 101 . Also, the control boxes 400 and 401 move in the direction indicated by the reference arrows 450 and 451 . Thus decontaminants and water can be sprayed via the nozzles 454 onto the entire side surfaces of the vehicle 101 .
- the spray arms 402 and 403 are positioned, similar to Position A, i.e., perpendicular to the tracks 301 and 302 . However, the spray arms 402 and 403 are rotated such that the nozzles 454 are pointing in the direction toward the back of the vehicle 101 . When the nozzles 454 are oriented toward the back end of the vehicle, and the control boxes 400 and 401 are moved along legs 303 and 305 in the direction indicated by reference arrows 450 and 451 , the entire back surface of the vehicle is sprayed with decontaminants and/or water.
- the spray arms 402 and 403 may be positioned and moved in order to decontaminate an underside of the vehicle 101 .
- the control boxes 400 and 401 are moved to the bottom of the legs 301 and 302 in the direction indicated by reference arrow 451 .
- the spray arms 402 and 403 are rotated ninety degrees (90°) such that the nozzles 454 point upward toward the underside of the vehicle 101 .
- the gantry 300 then moves toward the front of the vehicle 101 , as indicated by reference arrow 221 ( FIG. 2 ) spraying the underside of the vehicle.
- the central computing device computing logic 602 ( FIG. 3 ) generates spray plan data 620 that comprises instructions for moving the control boxes 400 and 401 and the spray arms 402 and 403 .
- the spray plan data 620 are instructions that move the control boxes 400 and 401 such that the obstacles along the underside of the vehicle 101 are avoided when the underside is being sprayed.
- the central computing device control logic 602 transmits instructions that rotate the control boxes 400 and 401 thereby allowing the spray arms 402 and 403 avoid the obstacles.
- the central computing device control logic 602 then transmits instruction that move the spray arms 402 and 403 back to their positions perpendicular to the tracks 301 and 302 to continue spraying the underside of the vehicle 101 .
- the spray arms 402 and 403 may be positioned both via rotation of the control boxes 400 and 401 relative to the gantry legs 303 and 305 and rotation of the spray arms 402 and 403 relative to the control boxes 400 and 401 .
- the front, back, side, and under surfaces of the vehicle 101 may be sprayed with decontaminants and water as needed.
- the gantry 300 is located at one end of the vehicle 101 ( FIG. 2 ).
- the spray arms are positioned perpendicular to the tracks 301 and 302 at ground level. When in this position, the spray arms 402 and 403 meet in the middle between the tracks 301 and 302 to ensure full width coverage, and the nozzles 454 are directed toward the vehicle.
- the computing device control logic 602 transits an instruction to the control boxes 400 and 401 to move upward to spray the front bumper (not shown) and grill (not shown) of the vehicle 101 . Once the front bumper and grill are sprayed, the central computing device control logic 602 sends an instruction to the control boxes 400 and 401 to rotate the spray arms 402 and 403 , respectively, so that the nozzles 454 are pointing toward the hood, windshield, top and back of the vehicle 101 , as the gantry 300 moves along the tracks 301 and 302 .
- the gantry 300 is positioned at the rear of the vehicle 101 .
- the central computing device control logic 602 then sends instructions to the control boxes 400 and 401 to rotate so that the spray arms 402 and 403 are parallel to the tracks 301 and 302 , and to rotate the spray arms 402 and 403 so that the nozzles 454 point toward the side surfaces of the vehicle 101 .
- the control boxes 400 and 401 move up and down in directions indicated by reference arrows 450 and 451 . Accordingly, the spray arms 402 and 403 move up and down in a synchronized fashion to ensure full coverage of the sides of the vehicle 101 .
- a final pass of the gantry 300 covers the underside of the vehicle 101 .
- the spray plan data 620 comprises instructions for avoiding obstacles on the underside of the vehicle, e.g., spare tire racks, wheels, and side skirts.
- the spray plan data 620 is used to position the spray arms 402 and 403 so that as the gantry 300 moves along the tracks 301 and 302 , the spray arms 402 and 403 do not impact the obstacles.
- FIG. 8 depicts the control box 401 coupled to the spray arm 403 .
- control box 401 is substantially identical to the control box 400 .
- control box 401 is now provided. However, the description equally applies to control box 400 .
- the control box 401 is rotationally coupled to the gantry leg 305 via a rotating joint 474 . Further, the spray arm 403 is rotationally coupled to the control box 401 , and comprises the plurality of nozzles 454 .
- FIG. 9 is a cut-away view of the control box 401 .
- the control box 401 comprises a shaft 471 and corresponding rotating joints 474 and 479 that rotationally couple the control box 401 to a bracket 477 , which is coupled to the gantry leg 305 .
- the control box 401 comprises a motor 472 that actuates the shaft 471 so that the control box 401 rotates relative to the gantry leg 305 in the direction indicated by the reference arrows 382 ( FIG. 7 ) and 383 ( FIG. 7 ). Additionally, the control box 401 comprises a motor 479 that interfaces with a shaft 473 and rotates the spray arm 403 relative to the control box 401 and in a direction indicated by reference arrow 391 ( FIG. 7 ).
- the control box 401 further comprises a fluid delivery system controller 478 .
- the fluid delivery system controller 478 is communicatively coupled to the central computing device 504 .
- the fluid delivery system controller 478 receives data indicative of instructions and/or commands relating to the operation of the control box 401 from the central computing device 504 .
- the controller 478 may receive data indicative of a command to rotate the control box 401 ninety degrees (90°) from the central computing device control logic 602 .
- the fluid delivery system controller 478 transmits a signal to the motor 472 to activate and rotate the shaft 471 ninety (90°).
- the fluid delivery system controller 478 may receive data indicative of a command to rotate the spray arm 403 ninety degrees (90°) from the central computing device control logic 602 .
- the controller 478 transmits a signal to the motor 479 to activate and rotate the pipe 473 .
- control box 401 comprises a hose connector 460 that is coupled to a pipe 461 .
- the hose connector 460 couples to a main conduit, which is described further herein.
- the main conduit delivers decontaminants and/or water to the spray arm 403 .
- the fluid received is then sprayed through nozzles 454 onto the vehicle 101 .
- the fluid received is a mixture of pre-selected concentrations of different decontaminants.
- the fluid may be 25% of decontaminant 1 , 25% of decontaminant 2 , and 50% of decontaminant 3 .
- the control of the different concentrations of fluids delivered to the vehicle 101 is described further herein.
- FIG. 10 depicts an exemplary fluid delivery system 507 in accordance with an embodiment of the present disclosure.
- the fluid delivery system 507 comprises a fluid delivery system controller 822 that is communicatively coupled to the central computing device 504 ( FIG. 3 ).
- the fluid delivery system 507 receives instructions from the central computing device 504 , and the fluid delivery system controller 822 controls the components of the fluid delivery system 507 based upon the instructions received.
- the exemplary fluid delivery system 507 comprises three tanks 800 - 802 that store decontaminants 812 - 814 , respectively.
- the decontaminants can be any type of disinfectant for decontaminating the vehicle 101 ( FIG. 2 ).
- the decontaminants 812 - 814 may be Hydrogen Peroxide (H 2 O 2 ) and/or Sodium Hypochlorite (NaClO).
- the type of decontaminant used may be dictated by the type of disease or threat related to the vehicle 101 that is being disinfected.
- the exemplary fluid delivery system 507 comprises injection pumps 803 - 805 .
- Each injection pump 803 - 805 is in fluid communication with respective decontaminant tanks 800 - 802 via conduits 815 - 817 , respectively.
- pump 803 pumps decontaminant 812 from the tank 800 , through conduit 815 , and into a conduit 818
- pump 804 pumps decontaminant 813 from the tank 801 , through conduit 816 , and into a conduit 819
- pump 805 pumps decontaminant 814 from the tank 802 , through conduit 817 , and into a conduit 820 .
- Each conduit 818 - 820 interfaces with a respective flow meter 806 - 808 .
- the flow meter 806 measures the flow rate of decontaminant 812 through the conduit 818
- the flow meter 807 measures the flow rate of decontaminant 813 through the conduit 819
- the flow meter 808 measures the flow rate of decontaminant 814 through the conduit 820 .
- the decontaminants are delivered, via the conduits 818 - 820 to a main conduit 821 .
- the fluid in main conduit 821 contains a mixture, i.e., a combination fluid, of decontaminant 812 , decontaminant 813 , and decontaminant 814 .
- the fluid delivery system 507 further comprises a main pressure pump 810 that pumps the combination fluid from the main conduit 821 to the gantry 300 ( FIG. 2 ).
- the main conduit 821 interfaces with a flow meter 809 that measures the overall flow rate of the combination fluid that travels through the main conduit 821 .
- the combination fluid is delivered to the pipe 461 ( FIG. 9 ) via the hose connector 460 ( FIG. 9 ), and the combination fluid is delivered to the nozzles 454 ( FIG. 9 ) via the pipe 473 ( FIG. 9 ) for spraying the vehicle.
- the fluid delivery system 507 comprises one or more sensors 870 - 873 .
- the sensors 870 - 873 are any type of devices for measuring other characteristics of the fluid through the conduits 818 - 821 .
- the sensors 870 - 873 may be temperature sensors for measuring a temperature of the fluid flowing through the conduits 818 - 821 .
- the sensors 870 - 873 may be pressure sensors for measuring a pressure of the fluid flowing through the conduits 818 - 821 . Note that only a single sensor 870 - 873 is shown on respective conduits 818 - 821 ; however, in one embodiment, each sensor 870 - 873 is representative of a plurality of sensors. In this regard, multiple sensors may be used per conduit 818 - 821 to collect data regarding the decontaminant 812 - 814 flowing through conduits 818 - 820 or the combined fluid flowing through conduit 821 .
- the fluid delivery system controller 822 is communicatively coupled to each injection pump 803 - 805 via communication links 830 - 832 and to each of the flow meters 806 - 809 via communication links 833 - 836 . Additionally, the fluid delivery system controller 822 is communicatively coupled to the main pump 810 via a communication link 841 . The fluid delivery system controller 822 is also communicatively coupled to sensors 870 - 873 via communication links 837 - 840 .
- the communication links 830 - 832 are physical cables that couple the fluid delivery system controller 822 to respective pumps 803 - 805 .
- the fluid delivery system controller 822 comprises a wireless transceiver (shown in FIG. 8B ) that communicates with wireless transceivers (not shown) in the injection pumps 803 - 805 .
- FIG. 11 is a block diagram depicting an exemplary fluid delivery system controller 822 in accordance with an embodiment of the present disclosure.
- the fluid delivery system controller comprises a processor 8000 , a communication interface 8010 , and memory 8001 . Each of these components communicates over local interface 8006 , which can include one or more buses.
- the fluid delivery system controller 822 further comprises fluid delivery system control logic 8002 .
- the fluid delivery system control logic 8002 can be software, hardware, firmware, or any combination thereof.
- fluid delivery system control logic 8002 is software stored in memory 8001 .
- Memory 8001 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like.
- fluid delivery system control logic 8002 is shown as stored in memory 8001 .
- fluid delivery system control logic 8002 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
- a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- the computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
- Processor 8000 may be a digital processor or other type of circuitry configured to run the fluid delivery system control logic 8002 by processing and executing the instructions of the fluid delivery system control logic 8002 . Further, the processor 8000 communicates with and drives the other elements within the fluid delivery system controller 822 via the local interface 8006 .
- the communication interface 8010 is any type of communication interface that the fluid delivery system controller 822 may use to communicate with the fluid delivery system components, including the pumps 803 - 805 ( FIG. 10 ), the flow meters 806 - 809 ( FIG. 10 ) and/or the sensors 870 - 873 ( FIG. 10 ), or the central computing device 504 ( FIG. 3 ).
- the communication interface 8010 may be an Ethernet interface that physically communicatively couples the fluid delivery system controller 822 to the fluid delivery system components or the central computing device 504 .
- the fluid delivery system controller 822 comprises a wireless transceiver 8009 .
- the wireless transceiver 8009 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples the fluid delivery system controller 822 with the other fluid delivery system components or the central computing device 504 .
- the transceiver 8009 is a wireless transceiver that is configured to transmit and receive messages wirelessly from the fluid delivery components and/or the central computing device 504 .
- the central computing device 504 and the fluid delivery system controller 822 bi-directionally communicate in real time during the decontamination process.
- the central computing device 504 transmits data to the fluid delivery system controller 822 indicative of desired pump speeds.
- the fluid delivery system controller 822 transmits data indicative of flow rates, temperature, pressure, and actual pump speeds to the central computing device 504 .
- the central computing device control logic 602 calculates a desired speed of each injection pump 803 - 805 ( FIG. 10 ) based upon data indicative of concentrations for each decontaminant, which is received from the operator device 500 ( FIG. 3 ). Once speeds are calculated for each of the injection pumps 803 - 805 , the central computing device control logic 602 ( FIG. 4 ) transmits data indicative of the speeds to the fluid delivery system controller 822 . Upon receipt, the fluid delivery system control logic 8002 transmits data to each of the injection pumps 803 - 805 and the main pump 810 indicative of the speed at which the pumps 803 - 805 and 810 are to operate in order to ensure the concentrations identified by the operator flow through the main conduit 821 .
- the central computing device control logic 602 While decontaminants are being delivered to the gantry 300 ( FIG. 2 ), the central computing device control logic 602 continues to monitor and control the fluid delivery system 507 ( FIG. 10 ). In this regard, the computing device control logic 602 continues to monitor in real-time flow rate in conduits 818 - 820 , overall flow rate in channel 821 , temperature and pressure in conduits from 818 - 821 , and actual speed of the injection pumps 803 - 806 . Thus, the fluid delivery system control logic 8002 obtains such data from the injection pumps 803 - 805 , flow meters 806 - 809 , and sensors 870 - 873 and transmits data indicative of these monitored parameters to the central computing device 504 .
- the central computing device control logic 602 Upon receipt of data indicative of flow rates, temperature, pressure, and actual speeds, the central computing device control logic 602 calculates the discrete error between the desired concentration (as indicated by the operator) and the actual concentration measured by the flow meters 806 - 809 .
- the central computing device control logic 602 performs a proportional-integral-derivative (PID) control loop with specially tuned gains and control coefficients to calculate the speeds for the injection pumps 806 - 808 and the main pump 810 to meet the desired concentrations.
- PID proportional-integral-derivative
- the central computing device control logic 602 calculates the desired speeds for the pumps 806 - 809 and transmits data indicative of the desired speeds to the fluid delivery system controller 822 every few seconds.
- the fluid delivery system control logic 8002 transmits data indicative of the desired speeds to each of the respective pumps 803 - 805 and 810 .
- FIG. 12 is an exemplary “Home” graphical user interface (GUI) 900 that is displayed by the operator device control logic 702 ( FIG. 5 ) to an operator via the output interface 708 ( FIG. 5 ) of the operator device 500 ( FIGS. 3 and 5 ).
- GUI graphical user interface
- the central computing device 504 receives data from the fluid delivery system 507 ( FIG. 3 ) related to the main conduit 821 and main pump 810 .
- the central computing device control logic 602 ( FIG. 4 ) transmits data indicative of the information related to the main conduit to the operator device 500 .
- the operator device control logic 702 displays the GUI 900 comprising information indicative of the data received from the central computing device 504 to the output interface 708 .
- the Home GUI 900 comprises graphical gauges 901 - 905 .
- Gauge 901 displays the pressure detected in the main conduit 821 ( FIG. 10 ).
- Gauge 902 displays the temperature in the main conduit 821 , and gauge 903 displays the battery power of the battery (not shown) of the operator device 500 .
- gauge 904 displays the revolutions per minute of the main pump 810
- gauge 905 displays the gallons per minute (GPM) of the main pump 810 .
- GPS gallons per minute
- the Home GUI 900 further comprises a “Driver Out” pushbutton 906 .
- a driver not shown
- the operator selects pushbutton 906 to indicate that the driver is out of the vehicle 101 and cleared the shelter 105 . Decontamination of the vehicle 101 begins upon selection by the operator of the “Driver Out” pushbutton 906 .
- the Home GUI 900 further comprises a “Vehicle Done” status identifier 907 .
- this identifier 907 alerts the operator 502 that the driver of the vehicle 101 can reenter his/her vehicle.
- the Home GUI 900 further comprises a “Tablet Control” pushbutton 908 .
- the central computing device 504 Upon start-up of the decontamination system 100 , the central computing device 504 is initially in control of the system 100 . This is done by default.
- the central computing device control logic 602 automatically gives control of the system 100 to the operator device 500 . Thereafter, the system 100 is controlled by the operator through use of the operator device 500 .
- the Home GUI 900 further comprises a “Manual Mode” pushbutton 909 .
- the “Manual Mode” pushbutton 909 when selected, places the system 100 in manual mode.
- manual mode the operator 502 can transmit specific commands to the central computing device 504 for operating the system 100 .
- Manual mode may be used for testing, calibration, and for decontamination of uniquely-shaped equipment.
- the operator 502 man transmit a command to the central computing device 504 indicative of a particular movement of the gantry.
- the central computing device control logic 602 transmits a command to the gantry indicative of the movement, and the gantry moves accordingly.
- the Home GUI 900 further comprises a “Standby Mode” identifier 910 .
- This identifier indicates that the system is in autonomous mode and ready for a vehicle to enter the tunnel.
- the Home GUI 900 further comprises a “Restart System” pushbutton 911 .
- the operator 502 selects the “Restart System” pushbutton 911
- the operator device control logic 702 transmits a message via transceiver 709 to the central computing device 504 , and in response, the central computing device control logic 602 begins the decontamination process again.
- the Home GUI 900 further comprises a “Stop System” pushbutton 912 .
- the operator device control logic 702 transmits a message via transceiver 709 to the central computing device 504 , and in response, the central computing device control logic 602 stops the decontamination process.
- FIG. 13 is an exemplary “Control” graphical user interface (GUI) 1000 that is displayed by the operator device control logic 702 ( FIG. 7 ) to an operator via the output interface 708 ( FIG. 7 ) of the operator device 500 ( FIGS. 5 and 7 ).
- the Control GUI 1000 comprises controls for controlling and monitoring the system 100 .
- an operator 502 FIG. 5
- the operator device control logic 702 transmits data indicative of the control data input to the central computing device 504 .
- the Control GUI 1000 displays information received from the central computing device 504 .
- the Control GUI 1000 comprises virtual knobs 1001 - 1005 that show when a particular phase of decontamination is occurring.
- Knob 1001 indicates when recirculation is occurring
- knob 1002 indicates when the gantry is rinsing an object
- knob 1003 indicates when ground rinse is occurring
- knob 1004 indicates when the gantry is spraying decontaminants
- knob 1005 indicates when ground decontamination is occurring.
- Data indicative of the statuses of these various processes is received from the central computing device 504 , and the operator device control logic 702 displays this data to the Control GUI 1000 .
- the Control GUI 1000 further comprises sliders 1006 - 1009 .
- the sliders 1006 - 1009 when actuated by the operator enable the operator to select a concentration of a particular decontaminant or concentration of the combined fluid that is in main conduit 821 .
- slider 1006 may be slid to the right to increase the concentration of the combined fluid found in the main conduit 821 .
- a number 1010 to the right of the slider 1006 indicates the percentage being selected by the slider 1006 .
- the operator 502 may slide the slider 1007 to the right to increase the concentration of the decontaminant being pumped into conduit 818 ( FIG. 10 ) by injection pump 803 ( FIG. 10 ).
- a number 1011 to the right of the slider 1007 indicates the concentration percentage being selected by the slider 1007 .
- the operator may desire that the combination fluid in conduit 821 have ten percent (10%) of the decontaminant 812 .
- the operator 502 actuates the slider to the right until the number 1011 indicates ten percent (10%).
- there is a status knob 1015 indicating status of the injection pump 803 , i.e., whether the pump 803 is off or operating.
- Slider 1008 may be slid to the right to increase the concentration of the decontaminant being pumped into conduit 819 ( FIG. 10 ) by injection pump 804 .
- a number 1012 to the right of the slider 1008 indicates the concentration percentage being selected by the slider 1008 .
- the operator may desire that the combination fluid in conduit 821 ( FIG. 10 ) have thirty percent (30%) of the decontaminant 813 .
- the operator 502 actuates the slider to the right until the number 1013 indicates thirty percent (30%).
- there is a status knob 1016 indicating status of the injection pump 804 , i.e., whether the pump 804 is off or operating.
- Slider 1009 may be slid to the right to increase the concentration of the decontaminant being pumped into conduit 820 ( FIG. 10 ) by injection pump 805 .
- a number 1013 to the right of the slider 1009 indicates the concentration percentage being selected by the slider 1009 .
- the operator may desire that the combination fluid in conduit 821 have twenty percent (20%) of the decontaminant 814 .
- the operator 502 actuates the slider to the right until the number 1013 indicates twenty percent (20%).
- there is a status knob 1017 indicating status of the injection pump 805 , i.e., whether the pump 805 is off or operating.
- the operator 504 is selecting concentration of particular decontaminants for the system 100 .
- the operator device control logic 702 transmits data indicative of the concentrations to the central computing device 504 .
- the central computing device control logic 602 uses the data to control delivery of decontaminants to the gantry via the fluid delivery system 507 .
- fields 1018 - 1020 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected for conduit 818 and injection pump 803 .
- fields 1021 - 1023 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected for conduit 819 and injection pump 804 .
- fields 1024 - 1026 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected for conduit 820 and injection pump 805 .
- the Control GUI further comprises a “GANTRY HOME” pushbutton 1027 . If selected by the operator 502 , the operator device control logic 702 transmits data indicating that the user desires the gantry 300 be moved to its initial position. In response, the central computing device 504 transmits data to the track and gantry system 200 ( FIG. 2 ) to move the gantry to its initial position. Similarly, the Control GUI further comprises a “GANTRY END” pushbutton 1028 . If selected by the operator 502 , the operator device control logic 702 transmits data indicating the user desires the gantry to be moved to the end of the vehicle 101 .
- the Control GUI 1000 further comprises a “STOP GANTRY” pushbutton 1029 that, when selected by the operator, transmits data to the central computing device 504 to stop movement of the gantry 300 . In response, the central computing device transmits data indicative of stopping the gantry 300 to the track and gantry system 200 .
- the Control GUI 1000 further comprises a “STOP SYSTEM” pushbutton 1030 that, when selected by the operator 402 , transmits data to the central computing device 504 to stop the system 100 ( FIG. 1 ).
- the central computing device control logic 602 transmits data indicative of stopping the system to the track and gantry system 200 and the fluid delivery system 507 .
- the entire system 100 is halted.
- FIG. 14 depicts a flowchart of exemplary architecture and functionality of the decontamination system 100 in accordance with an embodiment of the present disclosure.
- a driver (not shown) of the vehicle 101 ( FIG. 2 ) drives the vehicle 101 into on entry opening in the shelter 105 .
- the driver exits the vehicle 101 and the shelter 105 ( FIG. 1 ).
- an operator 502 ( FIG. 3 ) of the operator device 500 ( FIGS. 3 and 5 ) initiates a decontamination process.
- the operator 502 of selects the “Driver Out” pushbutton 906 ( FIG. 12 ), and in response, the operator device control logic 702 ( FIG. 5 ) transmits initiation data to the central computing device 504 to start the decontamination process, as indicated in step 1400 .
- the operator device 500 is a portable, hand-held device, such as, for example, an iPad, personal digital assistant (PDA), or a cellular phone.
- the operator 502 may initiate decontamination via the input interface 607 ( FIG.
- the data transmitted to the central computing device 504 may include data indicative of selected decontaminants and a percentage concentration of the selected decontaminants to be sprayed on the vehicle 101 .
- the central computing device logic 602 activates the laser scanner 364 ( FIG. 2 ), as indicated in step 1402 .
- the laser scanner 364 scans the vehicle 101 and collects data indicative of the profile of the vehicle 101 .
- the laser scanner 364 transmits the collected data indicative of the profile of the vehicle 101 to the central computing device 504 , and the central computing device control logic 602 stores the received data as profile data 603 ( FIG. 3 ), as indicated in step 1404 .
- the central computing device control logic 602 After storing the profile data 603 , the central computing device control logic 602 translates the profile data 603 into spray plan data 620 ( FIG. 4 ), as indicated in step 1405 .
- the laser scanner collects data indicative of x, y, and z coordinates of the profile of the vehicle 101 .
- the central computing device control logic 602 generates a three-dimensional model of the vehicle based upon the profile data 603 . Based upon the three-dimensional model, the central computing device control logic 602 generates spray plan data 620 .
- the spray plan data 620 comprises a plurality of instructions for actuating the control boxes 400 ( FIG. 6 ) and 401 ( FIG. 6 ) and the spray arms 402 ( FIG. 6 ) and 403 ( FIG. 6 ) so that every surface on the vehicle 101 is sprayed in its entirety.
- the central computing device control logic 602 calculates pump speeds based upon data received from the operator device 500 .
- the operator 502 can enter data via GUI 1000 that identifies concentrations for each of the decontaminants 812 - 814 ( FIG. 10 ).
- the central computing device logic 602 calculates pump speeds for respective pumps 803 - 805 ( FIG. 10 ) for delivering the identified concentrations to the main conduit 821 ( FIG. 10 ).
- the central computing device control logic 602 simultaneously performs a track and gantry control process and a decontaminant concentration process.
- the central computing device control logic 602 activates the track and gantry system 200 in step 1413 .
- the central computing device control logic 602 controls actuation of the control boxes 400 and 401 and the spray arms 402 and 403 based upon the spray plan data 620 , as described above.
- the central computing device control logic 602 transmits data indicative of control box actuation, as indicated in step 1415 .
- the central computing device control logic 602 transmits data indicative of spray arm rotation, as indicated in step 1417 .
- the central computing device control logic 602 transmits data indicative of pump speed to the fluid delivery system controller 822 ( FIG. 10 ).
- the fluid delivery system controller 822 activates the pumps 803 - 804 at the speeds identified in the received data, as indicated in step 1408 .
- the fluid delivery system controller 822 transmits data indicative of concentrations of the decontaminants as indicated by the flow meters 806 - 809 .
- the central computing device control logic 602 receives the data indicative of the concentrations of the decontaminants, as indicated in step 1409 . If the concentrations are not accurate, i.e., do not match the concentrations as provided by the operator 502 via the operator device 500 in step 1410 , the central computer control logic 602 recalculates pump speed, as indicated in step 1412 . After recalculation, the central computing device control logic 602 transmits data indicative of the recalculated pump speeds to the fluid delivery system controller 822 , as indicated in step 1411 . In response, the fluid delivery system controller 822 transmits signals to the pumps 803 - 805 setting the pumps to the recalculated pump speeds. This process continues throughout the decontamination process.
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Abstract
A decontamination system for decontaminating an object of the present disclosure has a gantry moveably coupled to a track, and the gantry is situated adjacent the object. The gantry has at least one control box rotationally coupled to a first leg and at least one spray arm comprising a nozzle for spraying fluid that is rotationally coupled to the control box. Additionally, the decontamination system has logic configured for initiating spraying through the one or more nozzles in a first direction when the control box is in a first position, the logic further configured to rotate the control box to a second position based on profile data of the object.
Description
- In use, vehicles often can get contaminated with hazardous substances. For example, when in use vehicles may come in contact with chemical, biological, and radiological substances that are dangerous to humans, animals, or the environment. It is often necessary to employ decontamination procedures to neutralize or remove contaminants from the contaminated vehicles.
- As an example, vehicle decontamination is often used during the quarantine of farms infected with foreign animal diseases. The effective and rapid decontamination of vehicles and equipment prevents the spread of contaminants into unaffected areas, thus reducing the overall human, economic and logistic cost.
- A decontamination system for decontaminating an object of the present disclosure has a gantry moveably coupled to a track, and the gantry is situated adjacent the object. The gantry has at least one control box rotationally coupled to a first leg and at least one spray arm comprising a nozzle for spraying fluid that is rotationally coupled to the control box. Additionally, the decontamination system has logic configured for initiating spraying through the one or more nozzles in a first direction when the control box is in a first position, the logic further configured to rotate the control box to a second position based on profile data of the object.
- A decontamination method for decontaminating an object of the present disclosure comprises the steps of: (1) initiating spray in a first direction through one or more nozzles of a spray arm rotationally coupled to a control box, the control box in a first position and rotationally coupled to a leg of a gantry that is moveably coupled to a track; and (2) rotating the control box to a second position based on profile data of the object.
- The present disclosure can be better understood with reference to the following drawings. The elements of the drawings are not necessarily to scale relative to each other, emphasis instead being placed upon clearly illustrating the principles of the disclosure. Furthermore, like reference numerals designate corresponding parts throughout the several views.
-
FIG. 1 is a perspective view of an exemplary decontamination system in accordance with an embodiment of the present disclosure. -
FIG. 2 is a perspective view of the decontamination system ofFIG. 1 with the shelter removed. -
FIG. 3 is a block diagram of the decontamination system ofFIG. 1 . -
FIG. 4 is a block diagram of an exemplary computing device of the decontamination system ofFIG. 3 . -
FIG. 5 is a block diagram of an exemplary operator device of the decontamination system ofFIG. 3 . -
FIG. 6 is a perspective view of an exemplary track and gantry system such as is depicted inFIG. 2 with the vehicle removed. -
FIG. 7 is a top view of exemplary control boxes and exemplary spray arms of the track and gantry system such as is depicted inFIG. 6 . -
FIG. 8 is a perspective view of a control box and a spray arm such as is depicted inFIG. 7 . -
FIG. 9 is an exemplary control box such as is depicted inFIG. 8 . -
FIG. 10 is an exemplary fluid delivery system of the decontamination system such as is depicted inFIG. 3 . -
FIG. 11 is a block diagram of an exemplary fluid delivery system controller of the fluid delivery system depicted inFIG. 10 . -
FIG. 12 is an exemplary “HOME” graphical user interface (GUI) of the decontamination system such as is depicted inFIG. 3 . -
FIG. 13 is an exemplary “CONTROL” GUI of the decontamination system such as is depicted inFIG. 3 . -
FIG. 14 is a flowchart depicting exemplary architecture and functionality of the decontamination system such as is depicted inFIG. 3 . - The present disclosure describes systems and methods for decontaminating vehicles. A decontamination system in accordance with an embodiment of the present disclosure comprises a shelter that houses a track and gantry system. A vehicle that has been subjected to chemical, biological, or radiological substances is driven into the shelter between a pair of tracks and beneath a gantry that is moveably coupled to the tracks. Two control boxes are rotationally coupled to either side of the gantry. Additionally, two spray arms are rotationally coupled to each control box.
- Upon detection of a vehicle in the shelter, the gantry passes over the length of the tracks so that a laser scanner can detect and measure the full profile of the vehicle and its location within the tracks. The laser scanner transmits the collected data indicative of the vehicle profile to a central computing device. Upon receipt, the central computing device develops a spray plan that consists of a series of orchestrated instructions to be given in a time controlled sequence to the gantry and spray arms. Taken together, the instruction result in movements that cover every surface of the vehicle. In this regard, the central computing device transmits instructions to the control boxes and the spray arms that raise, lower, and direct nozzles on the spray arms toward the vehicle as the gantry passes over the vehicle.
- A fluid delivery system supplies decontaminants and water to the gantry, which is sprayed on the affected vehicle as described above. The fluid delivery system comprises one or more tanks that hold decontaminants and/or water. During operation, a user of the decontaminant system selects one or more of the decontaminants and a concentration of the selected decontaminants to be delivered to the gantry via a handheld device. The handheld device communicates with the central computing device, which controls pumps in fluid communication with the tanks. Thus, the concentration of a selected decontaminant may be user-controlled.
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FIG. 1 is adecontamination system 100 in accordance with an embodiment of the present disclosure. Thedecontamination system 100 comprises ashelter 105 and one or more tanks 102-104 that contain decontaminants and/or water. - Within the
shelter 105 is a track andgantry system 200. Note thatFIG. 1 depicts the track andgantry system 200 in a position wherein agantry 300 is positioned closest to an opening 106 of theshelter 105. Further, sprayarms gantry 300 viacontrol boxes vehicle 101 perpendicular totracks - The
vehicle 101 enters one side of theshelter 105 and is positioned between thetracks gantry 300. Note thatFIG. 1 shows thevehicle 101 in a position at the end of the track andgantry system 200 closest to the opening 106 of theshelter 105. This position of thevehicle 101 is hereinafter referred to as the “ready position.” - Once the
vehicle 101 is in the ready position, a driver (not shown) of thevehicle 101 exits thevehicle 101 and theshelter 105. When the driver has exited theshelter 105, decontamination of thevehicle 101 begins. The decontamination process is described further herein. - When decontamination is complete, the driver may then reenter the
vehicle 101. Thespray arms vehicle 101 from theshelter 105 via the opening 106. -
FIG. 1 further depicts atrailer 190. Thetrailer 190 comprises various components of the system, including the central computing device (not shown) and the fluid delivery system (not shown), both of which are described further herein. Note that in one embodiment of the present disclosure, all components of thedecontamination system 100 may be broken down, stored, and/or transported in thetrailer 190. - Further note that the present disclosure describes decontamination of a vehicle. However, other objects may be decontaminated by the decontamination system in other embodiments. For example, the decontamination system may be used to decontaminate farm equipment.
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FIG. 2 is a track andgantry system 200 in accordance with an embodiment of the present disclosure that comprises theparallel tracks gantry 300. For clarity of discussion, the track andgantry system 200 is shown inFIG. 2 with theshelter 105 removed. Further, thevehicle 101 is positioned between theparallel tracks U-shaped gantry 300. - The inverted
U-shaped gantry 300 comprises twovertical legs vertical legs horizontal bridge 304. Further, opposing ends of eachleg respective tracks U-shaped gantry 300 moves bi-directionally along thetracks reference arrows - Coupled to the
U-shaped gantry 300 is alaser scanner 364. As will be described in more detail herein, prior to decontamination, thegantry 300 moves alongtracks vehicle 101 to the back of thevehicle 101. In one embodiment, proximity sensors (not shown) are used to detect the front and backend of thevehicle 101. As thegantry 300 moves, thelaser scanner 364 collects data indicative of a profile of thevehicle 101. In one embodiment, thelaser scanner 364 collects data indicative of x, y, and z coordinates of the profile of the vehicle. - Note that
FIG. 2 depicts a position of thegantry 300 that is approximately midway down the length of thevehicle 101, and this position occurs as the vehicle is being scanned, decontaminated, or rinsed. The initial position of the track andgantry system 200 prior to beginning decontamination is described hereinabove with reference toFIG. 1 . -
FIG. 3 is a block diagram depicting thedecontamination system 100 in accordance with an embodiment of the present disclosure. Thedecontamination system 100 comprises the track andgantry system 200, anoperator device 500, afluid delivery system 507, and a central computing device 504 (collectively referred to herein as system components). - The
central computing device 504 is any type of computing device that can interface with the other system components either via cables or wirelessly. Thecentral computing device 504 controls thesystem 100 at direction from anoperator 502 via theoperator device 500. - The
central computing device 504 may be, but is not limited to, a server or a personal computer (PC). Thecentral computing device 504 is communicatively coupled to theoperator device 500 via acommunication link 504, to the track andgantry system 200 viacommunication link 504 and to the fluid delivery system viacommunication link 505 - In one embodiment, some or all
communication links central computing device 504 communicates bi-directionally with theoperator device 500, the track andgantry system 200, and thefluid delivery system 507 via the WLAN. - In another embodiment, some or all
communication links link 506 between thecentral computing device 504 and the track andgantry system 200 and thelink 505 between thecentral computing device 504 and thefluid delivery system 507 may be an Ethernet cable. - Note that communication between the system components, including the
central computing device 504, theoperator device 500, the track andgantry system 200, and thefluid delivery system 507, is described as being effectuated via a WLAN or Ethernet. However, other types of hardware and software may be used to establish the communication links between the system components in other embodiments. The present disclosure is not intended to limit the type of hardware and/or software that communicatively couples the system components. - The
operator device 500 is any type of computing device that may be used by anoperator 502 to control thesystem 100 via thecentral computing device 504, including, but not limited to, a tablet, e.g., an iPad™, a personal digital assistant (PDA), a cell phone, or a laptop computer. In operation, theoperator 502 inputs data indicative of instructions for controlling thesystem 100. The data indicative of the instructions is sent to thecentral computing device 504, which controls thesystem 100 accordingly. - The
fluid delivery system 507 comprises components for delivering decontaminants (not shown) and water (not shown) to thegantry 300. In turn, thegantry 300 sprays thevehicle 101 with the fluids delivered. Thus, thefluid delivery system 504 is in fluid communication with the track andgantry system 200 viapiping 507. As will be described further with reference toFIG. 10 , thefluid delivery system 507 comprises a plurality of conduits, pumps, flow meters, and tanks 102-104 (FIG. 1 ) for delivering the fluids to thegantry 300. -
FIG. 4 is a block diagram of an exemplarycentral computing device 504 in accordance with an embodiment of the present disclosure. Theexemplary computing device 504 comprisesprocessor 600,output interface 608,input interface 607, a Wi-Fi transceiver 609, and acommunication interface 610. Each of these components communicates over local interface 406, which can include one or more buses. - The
central computing device 504 further comprises central computingdevice control logic 602. Central computingdevice control logic 602 can be software, hardware, or a combination thereof. In the exemplarycentral computing device 504 shown inFIG. 4 ,control logic 602 is software stored inmemory 601.Memory 601 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like. - As noted hereinabove, the central computing
device control logic 602 is shown as stored inmemory 601. When stored inmemory 601, the central computingdevice control logic 602 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. - In the context of the present disclosure, a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
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Processor 600 may be a digital processor or other type of circuitry configured to run the central computingdevice control logic 602 by processing and executing the instructions of the central computingdevice control logic 602. Further, theprocessor 600 communicates with and drives the other elements within thecentral computing device 504 via the local interface 406. - The Wi-
Fi transceiver 609 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples thecentral computing device 504 with the other system components, e.g., the operator device 500 (FIG. 3 ). In this embodiment, the Wi-Fi transceiver 609 is a wireless transceiver that is configured to transmit and receive messages wirelessly from the system components. - The
output interface 608 is any type of device for providing information to the operator 502 (FIG. 3 ). In this regard, the output interface may be, for example, a backlit liquid crystal display (LCD) screen (not shown). Other types ofoutput interfaces 608 may be, for example, an audio device that provides instructions to theoperator 502 audibly, light emitting diodes (LED) that show status of thesystem 100, or any other type of output interface that provides sensory information to the operator. While some examples have been given, other types of output interfaces may be used in other embodiments of the present disclosure - The
input interface 607 is any device that enables the operator to input data into thecentral computing device 504. In one embodiment, theinput interface 607 is a touchscreen that allows theoperator 502 to provide information to thecentral computing device 504 by selecting areas on the touch screen. In another embodiment, the input interface may be, for example, a keyboard or a microphone. In this regard, the operator may use the keyboard to type data into thecentral computing device 504. While some examples have been given, other types of input interfaces may be used in other embodiments of the present disclosure. - The
communication interface 610 is any other type of communication interface that thecentral computing device 504 may use to communicate with the system components and/or a network (not shown). As an example, thecommunication interface 610 may be an Ethernet interface that enables thecentral computing device 504 to communicate with the system components, e.g., thefluid delivery system 507. As another example, thecommunication 610 may be any type of device that allows thecentral computing device 504 to communicate with the Internet. - The
central computing device 504 further comprisesprofile data 603. Theprofile data 603 is data indicative of a profile of a vehicle 101 (FIG. 2 ) that is being decontaminated. As indicated hereinabove with reference toFIG. 2 , the track and gantry system 200 (FIG. 2 ) comprises a laser scanner 364 (FIG. 2 ) that scans thevehicle 101. Thelaser scanner 364 collects data indicative of the x, y, and z coordinates of the profile of thevehicle 101 to be decontaminated. Thelaser scanner 364 transmits the profile data indicative of the scan to thecentral computing device 504. Upon receipt, the central computingdevice control logic 602 stores the data received as theprofile data 603. - Upon receipt or prior to beginning decontamination, the central computing
device control logic 602 translates theprofile data 603 into a spray plan for spraying thevehicle 101 and stores data indicative of the spray plan asspray plan data 620. In translation, the central computingdevice control logic 602 generates a three-dimensional mode of thevehicle 101 and generates thespray plan data 620 based upon the three-dimensional model. Note as described above, theprofile data 603 comprises the x, y, and z coordinates of the profile of thevehicle 101. Thus, in translation, the central computingdevice control logic 602 analyzes the coordinates and determines instructions to be sent to the track andgantry system 200 for moving the components of the track andgantry system 200 so that the surfaces of the vehicle are sprayed with decontaminants and rinse. As a mere example, the coordinates may define a height of thevehicle 101 as ten (10) feet. Thus, the central computingdevice control logic 602 would translate this data into an instruction that moves thespray arms vehicle 101 ten (10) feet. This process is described further herein. -
FIG. 5 is a block diagram of anexemplary operator device 500 in accordance with an embodiment of the present disclosure. Theexemplary operator device 500 generally comprisesprocessor 700,output interface 708,input interface 707, awireless transceiver 709, and a communication interface 710. Each of these components communicates over local interface 706, which can include one or more buses. - The
operator device 500 further comprises operator device control logic 702. Operator device control logic 702 can be software, hardware, or a combination thereof. In theexemplary operator device 500 shown inFIG. 5 , operator device control logic 702 is software stored inmemory 701.Memory 701 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like. - As noted hereinabove, operator device control logic 702 is shown as stored in
memory 701. When stored inmemory 701, operator device control logic 702 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. - In the context of the present disclosure, a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
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Processor 700 may be a digital processor or other type of circuitry configured to run the operator device control logic 702 by processing and executing the instructions of the operator device control logic 702. Further, theprocessor 700 communicates with and drives the other elements within theoperator device 500 via the local interface 706. - The
wireless transceiver 709 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples theoperator device 500 with the other system components. In this embodiment, thewireless transceiver 709 is a wireless transceiver that is configured to wirelessly transmit data to and wirelessly receive messages from the system components. - The
output interface 708 is any type of device for providing information to the operator 502 (FIG. 3 ). In this regard, the output interface may be, for example, a touchscreen display device. Other types ofoutput interfaces 708 may be, for example, an audio device that provides instructions to the operator audibly, light emitting diodes (LED) that show status of thesystem 100, or any other type of output interface that provides sensory information to the operator. While some examples have been given, other types of output interfaces may be used in other embodiments of the present disclosure - The
input interface 707 is any device that enables the operator to input data into theoperator device 500. In one embodiment, theinput interface 607 is a touchscreen that allows the user to provide information to theoperator device 500 by selecting areas on the touch screen. In another embodiment, theinput interface 707 may be, for example, a keyboard or a microphone. In this regard, the operator may use the keyboard to type data into theoperator device 500. While some examples have been given, other types of input interfaces may be used in other embodiments of the present disclosure. - In addition, the
operator device 500 comprises abattery 711. Thebattery 711 supplies power to theoperator device 500. - During operation, the operator 502 (
FIG. 3 ) uses theoperator device 500 to indirectly control thedecontamination system 100 via communication with thecentral computing device 504. As will be described further herein, theoperator 502 may enter data indicative of parameters of the decontamination process and transmit the data to thecentral computing device 504. Upon receipt, the central computing device control logic 602 (FIG. 4 ) translates the data received into instructions for operating thesystem 100. - As an example, when the driver (not shown) of the vehicle 101 (
FIG. 2 ) exits theshelter 105, then decontamination can begin. In such an example, after theoperator 502 ensures that the driver is clear of theshelter 105, theoperator 502 enters input into theoperator device 500 to begin the decontamination process. Theoperator device 500 transmits data indicative of the input to thecentral computing device 504. In response, the central computing device control logic 602 (FIG. 3 ) begins the process of decontamination, i.e., activing the fluid delivery system 507 (FIG. 3 ) and the track and gantry system 200 (FIG. 3 ). - As another example, which is described further herein with reference to
FIG. 10 , theoperator 502 may enter data indicative of concentrations of particular decontaminants for delivery to thegantry 300, which theoperator device 500 transmits to thecentral computing device 504. During the decontamination process, the central computingdevice control logic 602 may control a pump speed associated with the particular decontaminant to ensure delivery of the specified concentration of the decontaminant. -
FIG. 6 depicts the track andgantry system 200 with the vehicle 101 (FIG. 2 ) removed for clarity and completeness of discussion. Note that in the depiction ofFIG. 6 , thespray arms tracks - As discussed above with reference to
FIG. 2 , the track andgantry system 200 comprises theparallel tracks U-shaped gantry 300. In addition, the track andgantry system 200 further comprises thecontrol boxes control boxes legs gantry 300. Further, thespray arms control boxes - During operation, the
control boxes reference arrows control boxes reference arrows legs 303 and 306, respectively. Additionally, thespray arms control boxes FIG. 7 . -
FIG. 7 is top view of thecontrol boxes spray arms spray arms FIG. 6 ) and 302 (FIG. 6 ) at a position indicated as Position A. In Position A, the length of eachspray arm tracks - In
Position A nozzles 454 can be oriented in a direction such that decontaminants and water from thenozzles 454 are directed toward a front of the vehicle 101 (FIG. 2 ). Also, as indicated with reference toFIG. 6 , thecontrol boxes FIG. 6 ) and 451 (FIG. 6 ). Thus decontaminants and water can be sprayed via thenozzles 454 onto the entire front surface of thevehicle 101 when the nozzles are oriented as shown, and thecontrol boxes reference arrows - In addition to the upward, downward and rotational movement of the
control boxes spray arms control boxes spray arms control boxes reference arrows - Therefore, in addition to Position A, the
spray arms control box 400 rotates relative to the gantry leg 303 (FIG. 6 ), and thespray arm 402 rotates relative to thecontrol box 400. When thecontrol box 400 rotates ninety degrees (90°) relative to thegantry leg 303 as indicated byreference arrow 380, and thespray arm 402 rotates one hundred and eighty degrees (180°) relative to thecontrol box 400 as indicated byreference arrow 390, thespray arm 402 rests in Position B with thenozzles 454 pointing toward the side of thevehicle 101. Similarly, when thecontrol box 401 rotates ninety degrees (90°) relative to the gantry leg 305 (FIG. 6 ) as indicated byreference arrow 382, and thespray arm 403 rotates one hundred and eighty degrees (180°) relative to thecontrol box 401 as indicated byreference arrow 391, thespray arm 403 rests in Position B with thenozzles 454 pointing toward the other side of thevehicle 101. - Note that in Position B, the
nozzles 454 are oriented in a direction such that decontaminants and water from thenozzles 454 are directed toward the side surfaces of thevehicle 101. Also, thecontrol boxes reference arrows nozzles 454 onto the entire side surfaces of thevehicle 101. - In addition to Positions A and B, the
spray arms control box 400 rotates ninety degrees (90°) relative to thegantry leg 303 as indicated byreference arrow 381, thespray arm 402 rests in Position C with thenozzles 454 pointing toward the side surface of thevehicle 101. Note that because of the initial orientation of thespray nozzles 454, no additional rotation of thespray arm 402 is necessary to effectuate Position C. Similarly, when thecontrol box 401 rotates ninety degrees (90°) relative to thegantry leg 305 as indicated byreference arrow 382, thespray arm 403 rests in Position C with thenozzles 454 pointing toward the side surface of thevehicle 101. Note that because of the initial orientation of thespray nozzles 454, no additional rotation of thespray arm 403 is necessary to effectuate Position C. - Further note that in Position C, the
nozzles 454 are oriented in a direction such that decontaminants and water from thenozzles 454 are directed toward the side surfaces of thevehicle 101. Also, thecontrol boxes reference arrows nozzles 454 onto the entire side surfaces of thevehicle 101. - In regard to the back end of the
vehicle 101, thespray arms tracks spray arms nozzles 454 are pointing in the direction toward the back of thevehicle 101. When thenozzles 454 are oriented toward the back end of the vehicle, and thecontrol boxes legs reference arrows - Additionally, the
spray arms vehicle 101. To decontaminate the underside of thevehicle 101, thecontrol boxes legs reference arrow 451. - From Position A, the
spray arms nozzles 454 point upward toward the underside of thevehicle 101. Thegantry 300 then moves toward the front of thevehicle 101, as indicated by reference arrow 221 (FIG. 2 ) spraying the underside of the vehicle. - As indicated hereinabove, prior to spraying the
vehicle 101, the central computing device computing logic 602 (FIG. 3 ) generatesspray plan data 620 that comprises instructions for moving thecontrol boxes spray arms spray plan data 620 are instructions that move thecontrol boxes vehicle 101 are avoided when the underside is being sprayed. In this regard, when obstacles, e.g., tires, are in the path of thespray arms device control logic 602 transmits instructions that rotate thecontrol boxes spray arms device control logic 602 then transmits instruction that move thespray arms tracks vehicle 101. - With further reference to
FIG. 6 , thespray arms control boxes gantry legs spray arms control boxes vehicle 101 may be sprayed with decontaminants and water as needed. - An exemplary spray procedure is now described with reference to
FIGS. 6 and 7 . To begin the spray procedure, thegantry 300 is located at one end of the vehicle 101 (FIG. 2 ). The spray arms are positioned perpendicular to thetracks spray arms tracks nozzles 454 are directed toward the vehicle. - The computing
device control logic 602 transits an instruction to thecontrol boxes vehicle 101. Once the front bumper and grill are sprayed, the central computingdevice control logic 602 sends an instruction to thecontrol boxes spray arms nozzles 454 are pointing toward the hood, windshield, top and back of thevehicle 101, as thegantry 300 moves along thetracks - Once the back of the
vehicle 101 is sprayed, thegantry 300 is positioned at the rear of thevehicle 101. The central computingdevice control logic 602 then sends instructions to thecontrol boxes spray arms tracks spray arms nozzles 454 point toward the side surfaces of thevehicle 101. As thegantry 300 moves along the length of thetracks control boxes reference arrows spray arms vehicle 101. - A final pass of the
gantry 300 covers the underside of thevehicle 101. Because the profile data 603 (FIG. 3 ) is used by the central computingdevice control logic 602 to develop thespray plan data 620, thespray plan data 620 comprises instructions for avoiding obstacles on the underside of the vehicle, e.g., spare tire racks, wheels, and side skirts. In this regard, thespray plan data 620 is used to position thespray arms gantry 300 moves along thetracks spray arms -
FIG. 8 depicts thecontrol box 401 coupled to thespray arm 403. Note thatcontrol box 401 is substantially identical to thecontrol box 400. For simplicity, only a detailed description of thecontrol box 401 is now provided. However, the description equally applies to controlbox 400. - The
control box 401 is rotationally coupled to thegantry leg 305 via arotating joint 474. Further, thespray arm 403 is rotationally coupled to thecontrol box 401, and comprises the plurality ofnozzles 454. -
FIG. 9 is a cut-away view of thecontrol box 401. In this regard, thecontrol box 401 comprises ashaft 471 and correspondingrotating joints control box 401 to abracket 477, which is coupled to thegantry leg 305. - The
control box 401 comprises amotor 472 that actuates theshaft 471 so that thecontrol box 401 rotates relative to thegantry leg 305 in the direction indicated by the reference arrows 382 (FIG. 7 ) and 383 (FIG. 7 ). Additionally, thecontrol box 401 comprises amotor 479 that interfaces with ashaft 473 and rotates thespray arm 403 relative to thecontrol box 401 and in a direction indicated by reference arrow 391 (FIG. 7 ). - The
control box 401 further comprises a fluiddelivery system controller 478. The fluiddelivery system controller 478 is communicatively coupled to thecentral computing device 504. Thus, the fluiddelivery system controller 478 receives data indicative of instructions and/or commands relating to the operation of thecontrol box 401 from thecentral computing device 504. - As an example, the
controller 478 may receive data indicative of a command to rotate thecontrol box 401 ninety degrees (90°) from the central computingdevice control logic 602. In response to the command, the fluiddelivery system controller 478 transmits a signal to themotor 472 to activate and rotate theshaft 471 ninety (90°). Similarly, the fluiddelivery system controller 478 may receive data indicative of a command to rotate thespray arm 403 ninety degrees (90°) from the central computingdevice control logic 602. In response to the command, thecontroller 478 transmits a signal to themotor 479 to activate and rotate thepipe 473. - Additionally, the
control box 401 comprises ahose connector 460 that is coupled to apipe 461. Thehose connector 460 couples to a main conduit, which is described further herein. The main conduit delivers decontaminants and/or water to thespray arm 403. The fluid received is then sprayed throughnozzles 454 onto thevehicle 101. Note that in one embodiment, the fluid received is a mixture of pre-selected concentrations of different decontaminants. For example, the fluid may be 25% ofdecontaminant decontaminant 2, and 50% ofdecontaminant 3. The control of the different concentrations of fluids delivered to thevehicle 101 is described further herein. -
FIG. 10 depicts an exemplaryfluid delivery system 507 in accordance with an embodiment of the present disclosure. Thefluid delivery system 507 comprises a fluiddelivery system controller 822 that is communicatively coupled to the central computing device 504 (FIG. 3 ). Thefluid delivery system 507 receives instructions from thecentral computing device 504, and the fluiddelivery system controller 822 controls the components of thefluid delivery system 507 based upon the instructions received. - The exemplary
fluid delivery system 507 comprises three tanks 800-802 that store decontaminants 812-814, respectively. The decontaminants can be any type of disinfectant for decontaminating the vehicle 101 (FIG. 2 ). As an example, the decontaminants 812-814 may be Hydrogen Peroxide (H2O2) and/or Sodium Hypochlorite (NaClO). The type of decontaminant used may be dictated by the type of disease or threat related to thevehicle 101 that is being disinfected. - The exemplary
fluid delivery system 507 comprises injection pumps 803-805. Each injection pump 803-805 is in fluid communication with respective decontaminant tanks 800-802 via conduits 815-817, respectively. In this regard, pump 803 pumps decontaminant 812 from thetank 800, throughconduit 815, and into aconduit 818, pump 804 pumps decontaminant 813 from thetank 801, throughconduit 816, and into aconduit 819, and pump 805 pumps decontaminant 814 from thetank 802, throughconduit 817, and into aconduit 820. - Each conduit 818-820 interfaces with a respective flow meter 806-808. In this regard, the
flow meter 806 measures the flow rate ofdecontaminant 812 through theconduit 818, theflow meter 807 measures the flow rate ofdecontaminant 813 through theconduit 819, and theflow meter 808 measures the flow rate ofdecontaminant 814 through theconduit 820. - The decontaminants are delivered, via the conduits 818-820 to a
main conduit 821. Thus, the fluid inmain conduit 821 contains a mixture, i.e., a combination fluid, ofdecontaminant 812,decontaminant 813, anddecontaminant 814. - The
fluid delivery system 507 further comprises amain pressure pump 810 that pumps the combination fluid from themain conduit 821 to the gantry 300 (FIG. 2 ). Themain conduit 821 interfaces with aflow meter 809 that measures the overall flow rate of the combination fluid that travels through themain conduit 821. Note that the combination fluid is delivered to the pipe 461 (FIG. 9 ) via the hose connector 460 (FIG. 9 ), and the combination fluid is delivered to the nozzles 454 (FIG. 9 ) via the pipe 473 (FIG. 9 ) for spraying the vehicle. - In one embodiment, the
fluid delivery system 507 comprises one or more sensors 870-873. The sensors 870-873 are any type of devices for measuring other characteristics of the fluid through the conduits 818-821. As an example, the sensors 870-873 may be temperature sensors for measuring a temperature of the fluid flowing through the conduits 818-821. As another example, the sensors 870-873 may be pressure sensors for measuring a pressure of the fluid flowing through the conduits 818-821. Note that only a single sensor 870-873 is shown on respective conduits 818-821; however, in one embodiment, each sensor 870-873 is representative of a plurality of sensors. In this regard, multiple sensors may be used per conduit 818-821 to collect data regarding the decontaminant 812-814 flowing through conduits 818-820 or the combined fluid flowing throughconduit 821. - The fluid
delivery system controller 822 is communicatively coupled to each injection pump 803-805 via communication links 830-832 and to each of the flow meters 806-809 via communication links 833-836. Additionally, the fluiddelivery system controller 822 is communicatively coupled to themain pump 810 via acommunication link 841. The fluiddelivery system controller 822 is also communicatively coupled to sensors 870-873 via communication links 837-840. - In one embodiment, the communication links 830-832 are physical cables that couple the fluid
delivery system controller 822 to respective pumps 803-805. In another embodiment, the fluiddelivery system controller 822 comprises a wireless transceiver (shown inFIG. 8B ) that communicates with wireless transceivers (not shown) in the injection pumps 803-805. -
FIG. 11 is a block diagram depicting an exemplary fluiddelivery system controller 822 in accordance with an embodiment of the present disclosure. The fluid delivery system controller comprises aprocessor 8000, acommunication interface 8010, andmemory 8001. Each of these components communicates over local interface 8006, which can include one or more buses. - The fluid
delivery system controller 822 further comprises fluid deliverysystem control logic 8002. The fluid deliverysystem control logic 8002 can be software, hardware, firmware, or any combination thereof. In the exemplary fluiddelivery system controller 822 shown in FIG. 11, fluid deliverysystem control logic 8002 is software stored inmemory 8001.Memory 8001 may be of any type of memory known in the art, including, but not limited to random access memory (RAM), read-only memory (ROM), flash memory, and the like. - As noted hereinabove, fluid delivery
system control logic 8002 is shown as stored inmemory 8001. When stored inmemory 8001, fluid deliverysystem control logic 8002 can be stored and transported on any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. - In the context of the present disclosure, a “computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium
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Processor 8000 may be a digital processor or other type of circuitry configured to run the fluid deliverysystem control logic 8002 by processing and executing the instructions of the fluid deliverysystem control logic 8002. Further, theprocessor 8000 communicates with and drives the other elements within the fluiddelivery system controller 822 via the local interface 8006. - In an exemplary embodiment, the
communication interface 8010 is any type of communication interface that the fluiddelivery system controller 822 may use to communicate with the fluid delivery system components, including the pumps 803-805 (FIG. 10 ), the flow meters 806-809 (FIG. 10 ) and/or the sensors 870-873 (FIG. 10 ), or the central computing device 504 (FIG. 3 ). For example, thecommunication interface 8010 may be an Ethernet interface that physically communicatively couples the fluiddelivery system controller 822 to the fluid delivery system components or thecentral computing device 504. - In another embodiment, the fluid
delivery system controller 822 comprises awireless transceiver 8009. Thewireless transceiver 8009 may be, for example, a low-powered radio device, e.g., a radio semiconductor, radio frequency antenna (RF antenna) or other type of communication device, which communicatively couples the fluiddelivery system controller 822 with the other fluid delivery system components or thecentral computing device 504. In this embodiment, thetransceiver 8009 is a wireless transceiver that is configured to transmit and receive messages wirelessly from the fluid delivery components and/or thecentral computing device 504. - During operation, the
central computing device 504 and the fluiddelivery system controller 822 bi-directionally communicate in real time during the decontamination process. In this regard, thecentral computing device 504 transmits data to the fluiddelivery system controller 822 indicative of desired pump speeds. Additionally, the fluiddelivery system controller 822 transmits data indicative of flow rates, temperature, pressure, and actual pump speeds to thecentral computing device 504. - Initially, the central computing
device control logic 602 calculates a desired speed of each injection pump 803-805 (FIG. 10 ) based upon data indicative of concentrations for each decontaminant, which is received from the operator device 500 (FIG. 3 ). Once speeds are calculated for each of the injection pumps 803-805, the central computing device control logic 602 (FIG. 4 ) transmits data indicative of the speeds to the fluiddelivery system controller 822. Upon receipt, the fluid deliverysystem control logic 8002 transmits data to each of the injection pumps 803-805 and themain pump 810 indicative of the speed at which the pumps 803-805 and 810 are to operate in order to ensure the concentrations identified by the operator flow through themain conduit 821. - While decontaminants are being delivered to the gantry 300 (
FIG. 2 ), the central computingdevice control logic 602 continues to monitor and control the fluid delivery system 507 (FIG. 10 ). In this regard, the computingdevice control logic 602 continues to monitor in real-time flow rate in conduits 818-820, overall flow rate inchannel 821, temperature and pressure in conduits from 818-821, and actual speed of the injection pumps 803-806. Thus, the fluid deliverysystem control logic 8002 obtains such data from the injection pumps 803-805, flow meters 806-809, and sensors 870-873 and transmits data indicative of these monitored parameters to thecentral computing device 504. - Upon receipt of data indicative of flow rates, temperature, pressure, and actual speeds, the central computing
device control logic 602 calculates the discrete error between the desired concentration (as indicated by the operator) and the actual concentration measured by the flow meters 806-809. The central computingdevice control logic 602 performs a proportional-integral-derivative (PID) control loop with specially tuned gains and control coefficients to calculate the speeds for the injection pumps 806-808 and themain pump 810 to meet the desired concentrations. In this regard, the central computingdevice control logic 602 calculates the desired speeds for the pumps 806-809 and transmits data indicative of the desired speeds to the fluiddelivery system controller 822 every few seconds. In response, the fluid deliverysystem control logic 8002 transmits data indicative of the desired speeds to each of the respective pumps 803-805 and 810. -
FIG. 12 is an exemplary “Home” graphical user interface (GUI) 900 that is displayed by the operator device control logic 702 (FIG. 5 ) to an operator via the output interface 708 (FIG. 5 ) of the operator device 500 (FIGS. 3 and 5 ). During decontamination, thecentral computing device 504 receives data from the fluid delivery system 507 (FIG. 3 ) related to themain conduit 821 andmain pump 810. In response, the central computing device control logic 602 (FIG. 4 ) transmits data indicative of the information related to the main conduit to theoperator device 500. Upon receipt, the operator device control logic 702 displays theGUI 900 comprising information indicative of the data received from thecentral computing device 504 to theoutput interface 708. - The
Home GUI 900 comprises graphical gauges 901-905. Gauge 901 displays the pressure detected in the main conduit 821 (FIG. 10 ). Gauge 902 displays the temperature in themain conduit 821, and gauge 903 displays the battery power of the battery (not shown) of theoperator device 500. Additionally, gauge 904 displays the revolutions per minute of themain pump 810, and gauge 905 displays the gallons per minute (GPM) of themain pump 810. - The
Home GUI 900 further comprises a “Driver Out”pushbutton 906. When a driver (not shown) has exited the vehicle 101 (FIG. 1 ) and cleared the shelter 105 (FIG. 1 ), the operator selectspushbutton 906 to indicate that the driver is out of thevehicle 101 and cleared theshelter 105. Decontamination of thevehicle 101 begins upon selection by the operator of the “Driver Out”pushbutton 906. - The
Home GUI 900 further comprises a “Vehicle Done”status identifier 907. When the decontamination process is complete, thisidentifier 907 alerts theoperator 502 that the driver of thevehicle 101 can reenter his/her vehicle. - The
Home GUI 900 further comprises a “Tablet Control”pushbutton 908. Upon start-up of thedecontamination system 100, thecentral computing device 504 is initially in control of thesystem 100. This is done by default. When anoperator 502 selects the “Tablet Control”pushbutton 908, the central computingdevice control logic 602 automatically gives control of thesystem 100 to theoperator device 500. Thereafter, thesystem 100 is controlled by the operator through use of theoperator device 500. - The
Home GUI 900 further comprises a “Manual Mode”pushbutton 909. The “Manual Mode”pushbutton 909, when selected, places thesystem 100 in manual mode. In manual mode, theoperator 502 can transmit specific commands to thecentral computing device 504 for operating thesystem 100. Manual mode may be used for testing, calibration, and for decontamination of uniquely-shaped equipment. As an example, theoperator 502 man transmit a command to thecentral computing device 504 indicative of a particular movement of the gantry. In response, the central computingdevice control logic 602 transmits a command to the gantry indicative of the movement, and the gantry moves accordingly. - The
Home GUI 900 further comprises a “Standby Mode”identifier 910. This identifier indicates that the system is in autonomous mode and ready for a vehicle to enter the tunnel. - The
Home GUI 900 further comprises a “Restart System”pushbutton 911. When the operator 502 (FIG. 5 ) selects the “Restart System”pushbutton 911, the operator device control logic 702 transmits a message viatransceiver 709 to thecentral computing device 504, and in response, the central computingdevice control logic 602 begins the decontamination process again. - The
Home GUI 900 further comprises a “Stop System”pushbutton 912. When theoperator 502 selects the “Stop System” pushbutton, the operator device control logic 702 transmits a message viatransceiver 709 to thecentral computing device 504, and in response, the central computingdevice control logic 602 stops the decontamination process. -
FIG. 13 is an exemplary “Control” graphical user interface (GUI) 1000 that is displayed by the operator device control logic 702 (FIG. 7 ) to an operator via the output interface 708 (FIG. 7 ) of the operator device 500 (FIGS. 5 and 7 ). TheControl GUI 1000 comprises controls for controlling and monitoring thesystem 100. Thus, an operator 502 (FIG. 5 ) can enter data intoControl GUI 1000 for controlling the operation of thesystem 100, and the operator device control logic 702 transmits data indicative of the control data input to thecentral computing device 504. Additionally, theControl GUI 1000 displays information received from thecentral computing device 504. - The
Control GUI 1000 comprises virtual knobs 1001-1005 that show when a particular phase of decontamination is occurring.Knob 1001 indicates when recirculation is occurring,knob 1002 indicates when the gantry is rinsing an object,knob 1003 indicates when ground rinse is occurring,knob 1004 indicates when the gantry is spraying decontaminants, andknob 1005 indicates when ground decontamination is occurring. Data indicative of the statuses of these various processes is received from thecentral computing device 504, and the operator device control logic 702 displays this data to theControl GUI 1000. - The
Control GUI 1000 further comprises sliders 1006-1009. The sliders 1006-1009 when actuated by the operator enable the operator to select a concentration of a particular decontaminant or concentration of the combined fluid that is inmain conduit 821. - In this regard,
slider 1006 may be slid to the right to increase the concentration of the combined fluid found in themain conduit 821. Anumber 1010 to the right of theslider 1006 indicates the percentage being selected by theslider 1006. Further, there is astatus knob 1014 indicating status of themain pump 810, i.e., whether thepump 810 is off or operating. - The
operator 502 may slide theslider 1007 to the right to increase the concentration of the decontaminant being pumped into conduit 818 (FIG. 10 ) by injection pump 803 (FIG. 10 ). Anumber 1011 to the right of theslider 1007 indicates the concentration percentage being selected by theslider 1007. For example, the operator may desire that the combination fluid inconduit 821 have ten percent (10%) of thedecontaminant 812. Thus, theoperator 502 actuates the slider to the right until thenumber 1011 indicates ten percent (10%). Further, there is astatus knob 1015 indicating status of theinjection pump 803, i.e., whether thepump 803 is off or operating. -
Slider 1008 may be slid to the right to increase the concentration of the decontaminant being pumped into conduit 819 (FIG. 10 ) byinjection pump 804. Anumber 1012 to the right of theslider 1008 indicates the concentration percentage being selected by theslider 1008. For example, the operator may desire that the combination fluid in conduit 821 (FIG. 10 ) have thirty percent (30%) of thedecontaminant 813. Thus, theoperator 502 actuates the slider to the right until thenumber 1013 indicates thirty percent (30%). Further, there is astatus knob 1016 indicating status of theinjection pump 804, i.e., whether thepump 804 is off or operating. -
Slider 1009 may be slid to the right to increase the concentration of the decontaminant being pumped into conduit 820 (FIG. 10 ) byinjection pump 805. Anumber 1013 to the right of theslider 1009 indicates the concentration percentage being selected by theslider 1009. For example, the operator may desire that the combination fluid inconduit 821 have twenty percent (20%) of thedecontaminant 814. Thus, theoperator 502 actuates the slider to the right until thenumber 1013 indicates twenty percent (20%). Further, there is astatus knob 1017 indicating status of theinjection pump 805, i.e., whether thepump 805 is off or operating. - In regards to sliders 1006-1009, the
operator 504 is selecting concentration of particular decontaminants for thesystem 100. After the data is entered, the operator device control logic 702 transmits data indicative of the concentrations to thecentral computing device 504. As described hereinabove, the central computingdevice control logic 602 uses the data to control delivery of decontaminants to the gantry via thefluid delivery system 507. - Additional information regarding a decontamination process is further displayed to the
Control GUI 1000. In theexemplary GUI 1000, fields 1018-1020 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected forconduit 818 andinjection pump 803. Further, fields 1021-1023 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected forconduit 819 andinjection pump 804. Additionally, fields 1024-1026 display the percentage of decontaminant being delivered, the actual concentration being delivered, and the flow rate detected forconduit 820 andinjection pump 805. - The Control GUI further comprises a “GANTRY HOME”
pushbutton 1027. If selected by theoperator 502, the operator device control logic 702 transmits data indicating that the user desires thegantry 300 be moved to its initial position. In response, thecentral computing device 504 transmits data to the track and gantry system 200 (FIG. 2 ) to move the gantry to its initial position. Similarly, the Control GUI further comprises a “GANTRY END”pushbutton 1028. If selected by theoperator 502, the operator device control logic 702 transmits data indicating the user desires the gantry to be moved to the end of thevehicle 101. - The
Control GUI 1000 further comprises a “STOP GANTRY”pushbutton 1029 that, when selected by the operator, transmits data to thecentral computing device 504 to stop movement of thegantry 300. In response, the central computing device transmits data indicative of stopping thegantry 300 to the track andgantry system 200. - The
Control GUI 1000 further comprises a “STOP SYSTEM”pushbutton 1030 that, when selected by theoperator 402, transmits data to thecentral computing device 504 to stop the system 100 (FIG. 1 ). In response, the central computingdevice control logic 602 transmits data indicative of stopping the system to the track andgantry system 200 and thefluid delivery system 507. Thus, theentire system 100 is halted. -
FIG. 14 depicts a flowchart of exemplary architecture and functionality of thedecontamination system 100 in accordance with an embodiment of the present disclosure. In operation, a driver (not shown) of the vehicle 101 (FIG. 2 ) drives thevehicle 101 into on entry opening in theshelter 105. The driver exits thevehicle 101 and the shelter 105 (FIG. 1 ). - Once the driver has exited the
shelter 105, an operator 502 (FIG. 3 ) of the operator device 500 (FIGS. 3 and 5 ) initiates a decontamination process. In one embodiment, theoperator 502 of selects the “Driver Out” pushbutton 906 (FIG. 12 ), and in response, the operator device control logic 702 (FIG. 5 ) transmits initiation data to thecentral computing device 504 to start the decontamination process, as indicated instep 1400. In one embodiment, theoperator device 500 is a portable, hand-held device, such as, for example, an iPad, personal digital assistant (PDA), or a cellular phone. In another embodiment, theoperator 502 may initiate decontamination via the input interface 607 (FIG. 4 ) of the central computing device 504 (FIGS. 3 and 4 ). Note that in one embodiment, the data transmitted to thecentral computing device 504 may include data indicative of selected decontaminants and a percentage concentration of the selected decontaminants to be sprayed on thevehicle 101. - In response to receiving the data indicative of initiation in
step 1401, the centralcomputing device logic 602 activates the laser scanner 364 (FIG. 2 ), as indicated instep 1402. Upon activation, thelaser scanner 364 scans thevehicle 101 and collects data indicative of the profile of thevehicle 101. Once the scan is complete, thelaser scanner 364 transmits the collected data indicative of the profile of thevehicle 101 to thecentral computing device 504, and the central computingdevice control logic 602 stores the received data as profile data 603 (FIG. 3 ), as indicated in step 1404. - After storing the
profile data 603, the central computingdevice control logic 602 translates theprofile data 603 into spray plan data 620 (FIG. 4 ), as indicated instep 1405. As described hereinabove, the laser scanner collects data indicative of x, y, and z coordinates of the profile of thevehicle 101. The central computingdevice control logic 602 generates a three-dimensional model of the vehicle based upon theprofile data 603. Based upon the three-dimensional model, the central computingdevice control logic 602 generatesspray plan data 620. Thespray plan data 620 comprises a plurality of instructions for actuating the control boxes 400 (FIG. 6 ) and 401 (FIG. 6 ) and the spray arms 402 (FIG. 6 ) and 403 (FIG. 6 ) so that every surface on thevehicle 101 is sprayed in its entirety. - In
step 1406, the central computingdevice control logic 602 calculates pump speeds based upon data received from theoperator device 500. As described above, theoperator 502 can enter data viaGUI 1000 that identifies concentrations for each of the decontaminants 812-814 (FIG. 10 ). Based upon the identified concentrations, the centralcomputing device logic 602 calculates pump speeds for respective pumps 803-805 (FIG. 10 ) for delivering the identified concentrations to the main conduit 821 (FIG. 10 ). - At this point in the process, the central computing
device control logic 602 simultaneously performs a track and gantry control process and a decontaminant concentration process. - In the track and gantry control process, the central computing
device control logic 602 activates the track andgantry system 200 instep 1413. Note that the central computingdevice control logic 602 controls actuation of thecontrol boxes spray arms spray plan data 620, as described above. In this regard, if thespray plan data 620 indicates that thecontrol boxes step 1414, the central computingdevice control logic 602 transmits data indicative of control box actuation, as indicated instep 1415. If thespray plan data 620 indicates that thespray arms step 1416, the central computingdevice control logic 602 transmits data indicative of spray arm rotation, as indicated instep 1417. - When the
spray plan data 620 indicates that the vehicle spray has been completed, as indicated instop 1418, the decontamination process ends. - In the decontamination concentration process, the central computing
device control logic 602 transmits data indicative of pump speed to the fluid delivery system controller 822 (FIG. 10 ). In response, the fluiddelivery system controller 822 activates the pumps 803-804 at the speeds identified in the received data, as indicated instep 1408. - Periodically, in real time, the fluid
delivery system controller 822 transmits data indicative of concentrations of the decontaminants as indicated by the flow meters 806-809. The central computingdevice control logic 602 receives the data indicative of the concentrations of the decontaminants, as indicated instep 1409. If the concentrations are not accurate, i.e., do not match the concentrations as provided by theoperator 502 via theoperator device 500 instep 1410, the centralcomputer control logic 602 recalculates pump speed, as indicated instep 1412. After recalculation, the central computingdevice control logic 602 transmits data indicative of the recalculated pump speeds to the fluiddelivery system controller 822, as indicated instep 1411. In response, the fluiddelivery system controller 822 transmits signals to the pumps 803-805 setting the pumps to the recalculated pump speeds. This process continues throughout the decontamination process.
Claims (24)
1. A decontamination system for decontaminating an object, comprising:
a gantry moveably coupled to a track, the gantry situated adjacent the object and comprising at least one control box rotationally coupled to a first leg of the gantry and at least one spray arm comprising a nozzle for spraying fluid, the spray arm rotationally coupled to the control box;
logic configured for initiating spraying through the one or more nozzles in a first direction when the control box is in a first position, the logic further configured to rotate the control box to a second position based on profile data of the object.
2. The decontamination system of claim 1 , wherein the logic is further configured for rotating the spray arm so that the one or more nozzles are spraying in a second direction based on the profile data.
3. The decontamination system of claim 1 , wherein the gantry is an inverted U-shaped comprising the first leg and a second leg.
4. The decontamination system of claim 3 , wherein the track comprises a first track parallel with a second track, the first leg moveably coupled to the first track and the second leg moveably coupled to the second track.
5. The decontamination system of claim 1 , wherein the gantry further comprises a laser scanner.
6. The decontamination system of claim 5 , wherein the logic is further configured for activating the laser scanner and the gantry, wherein the gantry moves on the track relative to the object and during movement of the gantry, the laser scanner collects the profile data indicative of a profile of the object.
7. The decontamination system of claim 6 , further comprising a central computing device, wherein the laser scanner is configured for transmitting the collected profile data to the central computing device.
8. The decontamination system of claim 7 , wherein the logic is further configured for receiving the profile data and storing the profile data in resident memory.
9. The decontamination system of claim 8 , wherein the logic is further configured for generating a spray plan corresponding to the object based upon the profile data received.
10. The decontamination system of claim 1 , further comprising:
an operator device configured for receiving a user input and transmitting data indicative of the user input; and
a central computing device communicatively coupled to the operator device and comprising the logic in resident memory, wherein the logic is further configured to receive the data indicative of the user input and activate decontamination of the object based upon the user input.
11. The decontamination system of claim 1 , further comprising:
a pump in fluid communication with a tank and a main pipe, the main pipe in fluid communication with the nozzles of the spray arm,
wherein the logic is further configured for monitoring a concentration of the fluid in the main pipe and modifying a speed of the pump based upon the concentration.
12. The decontamination system of claim 11 , further comprising an operator device configured for receiving user input indicating the desired concentration of the fluid in the main pipe.
13. The decontamination system of claim 12 , wherein the logic is further configured for receiving data indicative of the desired concentration and modifying the speed of the pump based upon the desired concentration.
14. A decontamination method for decontaminating an object, comprising:
initiating spray in a first direction through one or more nozzles of a spray arm rotationally coupled to a control box, the control box in a first position and rotationally coupled to a leg of a gantry that is moveably coupled to a track;
rotating the control box to a second position based on profile data of the object.
15. The decontamination method of claim 14 , further comprising rotating the spray arm so that the one or more nozzles are spraying in a second direction based on the profile data.
16. The decontamination method of claim 1 , further comprising collecting, via a laser scanner, data indicative of a profile of the object when the gantry is moving relative to the track;
17. The decontamination method of claim 16 , further comprising transmitting, by the laser scanner, the profile data to a central computing device.
18. The decontamination method of claim 17 , further comprising:
receiving the profile data by the central computing device;
storing the profile data in resident memory by the central computing device.
19. The decontamination method of claim 14 , further comprising generating a spray plan corresponding to the object based upon the profile data received.
20. The decontamination method of claim 14 , further comprising:
receiving, by an operator device, a user input;
transmitting data indicative of the user input to a central computing device; and
receiving the data indicative of the user input; and
activating decontamination of the object based upon the user input.
21. The decontamination method of claim 14 , further comprising:
monitoring a concentration of fluid in a main pipe; and
modifying a speed of a pump based upon the concentration in the main pipe.
22. The decontamination method of claim 21 , further comprising receiving a user input indicating a desired concentration of the fluid in the main pipe.
23. The decontamination method of claim 22 , further comprising:
receiving data indicative of the desired concentration from an operator device; and
modifying, by a central computing device, a speed of the pump based upon the data indicative of the desired concentration.
24. A decontamination system for decontaminating an object, comprising:
a gantry moveably coupled to a track, the gantry situated adjacent the object and comprising at least one control box rotationally coupled to a first leg of the gantry and at least one spray arm comprising a nozzle for spraying fluid, the spray arm rotationally coupled to the control box;
logic configured for initiating spraying through the one or more nozzles wherein the control box and the spray arm begin spraying in an initial position, the logic further configured to continuously modify positions of the control box and the spray arm in real time based on profile data of the object.
Priority Applications (2)
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US20170101078A1 (en) | 2017-04-13 |
US9770523B2 (en) | 2017-09-26 |
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