WO2020151919A1 - Appareil mobile robotisé de désinfection d'une pièce - Google Patents

Appareil mobile robotisé de désinfection d'une pièce Download PDF

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Publication number
WO2020151919A1
WO2020151919A1 PCT/EP2020/025023 EP2020025023W WO2020151919A1 WO 2020151919 A1 WO2020151919 A1 WO 2020151919A1 EP 2020025023 W EP2020025023 W EP 2020025023W WO 2020151919 A1 WO2020151919 A1 WO 2020151919A1
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WO
WIPO (PCT)
Prior art keywords
wheeled carriage
carriage
disinfection device
hmi
disinfection
Prior art date
Application number
PCT/EP2020/025023
Other languages
English (en)
Inventor
Guy Braverman
Philip Samuel Johnson
Filipe HORTA
James William WILLIAMSON
Original Assignee
Gama Healthcare Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gama Healthcare Ltd filed Critical Gama Healthcare Ltd
Publication of WO2020151919A1 publication Critical patent/WO2020151919A1/fr

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Classifications

    • 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
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultraviolet radiation
    • 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
    • A61L9/00—Disinfection, sterilisation or deodorisation of air
    • A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
    • A61L9/18—Radiation
    • A61L9/20—Ultraviolet radiation
    • 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
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles

Definitions

  • the present invention relates to a robotic, mobile apparatus for disinfecting an enclosed space, in particular a room in a hospital, for example by using ultraviolet (UV-C) radiation or hydrogen peroxide vapour (HPV) fogging.
  • UV-C ultraviolet
  • HPV hydrogen peroxide vapour
  • UV-C high frequency ultraviolet radiation
  • Hydrogen peroxide vapour (HPV) fogging is also a new and growing method used to disinfect hospital rooms.
  • both methods of disinfection require the apparatus employed to be used remotely in an enclosed space, such as a closed room or closed-off portion of a hospital corridor, so that they do not pose a danger to personnel.
  • an enclosed space such as a closed room or closed-off portion of a hospital corridor
  • hospital rooms have a complexity compounded by their need to contain beds, trolleys, curtains and medical equipment, it is not always possible to provide effective disinfection from a single location within the room. In view of this it is important to ensure that the disinfection apparatus operates effectively and disinfects all parts of the space in which it operates.
  • a robotic, mobile apparatus for disinfecting an enclosed space comprising
  • a controller configured to control operation of the wheels of the carriage to move the wheeled carriage robotically and to operate the disinfection device; and a human-machine interface (HMI) in communication with the controller and operable to start and stop a disinfection procedure;
  • HMI human-machine interface
  • the disinfection device is electrically powered via a mains supply but the wheeled carriage is powered by a rechargeable main battery that is charged when the disinfection device is operating.
  • the disinfection device comprises a plurality of UV-C emitting lamps.
  • a portable timer is provided that provides an alarm when the treatment procedure has been carried out by the treatment device.
  • the disinfection device is electrically powered via the mains supply using an electrical cable and a management system is provided that controls the tension of the electrical cable to prevent the wheeled carriage from becoming tangled in the electrical cable when it moves robotically.
  • a transportation trolley is provided on which the wheeled carriage is detachably mounted whereby the apparatus can be transported without the wheeled carriage coming into contact with a floor surface during said transportation.
  • FIG. 1 is a perspective view of an embodiment of a robotic, mobile apparatus in accordance with the present invention
  • Fig. 2 is a side view of the apparatus shown in Fig. 1;
  • Fig. 3 is a rear view of the apparatus shown in Figs. 1 and 2;
  • Fig. 4 is a perspective view of a disinfection apparatus forming part of the apparatus shown in Figs. 1 to 3;
  • Fig. 5 is an exploded perspective view of the apparatus shown in Fig. 4 but without any UV-C lamps;
  • Fig. 6 is an exploded view to an enlarged scale of a wheeled carriage forming part of the apparatus shown in Fig. 5;
  • Fig. 7 is a perspective view of a drive unit for a wheel of the wheeled carriage
  • Fig. 8 is an end view of the drive unit shown in Fig. 7;
  • Fig. 9 is a cross-sectional view along the line IX-IX in Fig, 8;
  • Fig. 10 is an exploded view of the drive unit
  • Fig. 11 is a plan view of the disinfection apparatus shown in Figs. 1 to 4 with an arm of a cable management system shown in one position
  • Fig. 12 is a view similar to Fig. 11 but with the arm of the cable management system shown in another position;
  • Fig. 13 is a perspective view of the disinfection apparatus with an electrical cable for same shown in a position when plugged into a wall socket;
  • Fig. 14 is a plan view of Fig. 13;
  • Fig. 15 is a view to an enlarged scale of part of the wheeled carriage with a lid of a compartment thereof shown open;
  • Fig. 16 is a side view of the disinfection apparatus when connected to a transportation trolley
  • Fig. 17 is a perspective view of one half of the transportation trolley shown in a position wherein its wheel in a position in contact with a floor surface;
  • Fig. 18 is a view similar to Fig. 18 but showing the trolley with its wheels partially raised above the floor surface;
  • Fig. 19 is a view similar to Fig. 18 but with the wheels fully raised and locked in position;
  • Fig. 20 is a perspective view of two halves of the transportation trolley when connected together.
  • Figs. 21 to 26 are schematic views showing a sequence of events during operation of the apparatus in accordance with the invention when treating an enclosed space containing a bed.
  • Fig. 27 is a side view of a robotic, mobile apparatus similar to that shown in Figs. 1 to 3 but when modified by the addition of a detachable timer; and Fig. 28 is perspective view of the apparatus shown in Fig. 27 when the timer has been detached from the apparatus.
  • the illustrated embodiments of the invention are of apparatus suitable for disinfecting an enclosed space using UV-C irradiation.
  • the apparatus of the invention may be used to provide disinfection using other methods and the following description should be read in this light.
  • a robotic, mobile apparatus 1 for disinfecting an enclosed space is shown in Figs. 1 to 3.
  • the apparatus 1 comprises an assembly of a disinfection device 2 that is mounted on a wheeled carriage 3, which together is hereinafter termed “the disinfection apparatus” and is shown solus in Fig. 4, a transportation trolley 4, on which the wheeled carriage 3 may be removably mounted and from which it is demounted prior to use of the disinfection device 2, and a human-machine interface (HMI) 5 for controlling operation of the apparatus 1.
  • the human-machine interface 5 is provided on a free standing unit 6 that may be docked on the wheeled carriage 3 for transportation as shown in Figs 1 to 3.
  • the disinfection device 2 in the illustrated embodiment is shown as a device that uses ultraviolet (UV-C) radiation for the disinfection of an enclosed space but other forms of disinfection device could be used instead, for example a device that uses hydrogen peroxide vapour (FIPV) fogging or other forms of radiation.
  • UV-C ultraviolet
  • FEPV hydrogen peroxide vapour
  • These devices are conventional and their particular method of operation need not be described herein. Preferably, they are powered via a mains electrical supply with an appropriate ballast.
  • the apparatus 1 is designed to disinfect an enclosed space, such as a hospital room by irradiating the space with UV-C radiation.
  • an enclosed space such as a hospital room by irradiating the space with UV-C radiation.
  • the unit 6 comprising the human-machine interface 5 is undocked from the carriage 3 and located outside the space or room to be irradiated.
  • the rest of the apparatus is then wheeled into the space or room and the transportation trolley 4 detached from the wheeled carriage 3, which is then left standing on the floor of the space or room. It is necessary to plot a predetermined route around the space or room that the disinfection apparatus will follow during operation of the disinfection device 2. This is to ensure that all parts of the room will be effectively disinfected during the treatment procedure.
  • the plotting is carried out during an encoding phase by manoeuvring the disinfection apparatus around the desired route so that its movements can be encoded and recorded or by programming the route into the apparatus 1 beforehand.
  • the disinfection device 2 is be switched on and the wheeled carriage 3 set in motion so that it robotically tracks along the predetermined route around the enclosed space or room to disinfect same.
  • the wheeled carriage 3 is self-propelled and comprises a casing 7 covering a substantially rectangular framework 8 to which the various components of the apparatus 1 housed within the carriage 2 are attached.
  • the disinfection device 2 which in the present embodiment is a UV-C disinfecting device that comprises a plurality of tubular UV-C emitting lamps 10 that are vertically mounted around a central column 11.
  • the column 11 is secured to the plate 9 and extends above the carriage 2.
  • the external surface of the column 11 is shiny and each lamp 10 is located in its own concave portion of the column 11, which portion provides a reflector for that lamp 11.
  • Respectively mounted at the four corners of the framework 8 are four omni-directional, controllable wheels 12.
  • the wheels 12 are preferably mecanum wheels that are each provided with their own drive unit 13 that is linked to a controller 14 housed within an enclosure 15 of the framework 8.
  • the controller 14 is preferably programmable and under the wireless control of the HMI 5, which may itself be independently programmable.
  • the controller 14 and the HMI 5 may also be adapted to communicate with a remote monitoring station that is set up to monitor several apparatuses 1, for example all those used within a specific building, such as a hospital. In this way use of the apparatus 1 can be monitored and validated as described below.
  • the wheels 12 and therefore the carriage 3 is powered by a rechargeable main battery 16 via signals from the controller 14 whereby each wheel 12 can be powered independently of the others.
  • the wheeled carriage 2 is therefore self- propelled and operates robotically, as is described below.
  • the main battery 16 is also used to charge one or more rechargeable daughter batteries in the HMI 5 when the latter is docked on the carriage 3 via a socket 17 into which one or more connectors on the HMI 5 may be plugged.
  • the mecanum wheels 12 are conventional and each comprises an inner wheel 18 around the circumference of which are attached a series of rollers 19 each having an axis of rotation at 45° to the plane of the wheel 18 and at 45° to a line through its centre parallel to the axis of rotation of the wheel 18.
  • the carriage 3 can be made to move in any direction and turn by varying the speed and direction of rotation of each wheel 12.
  • the drive units 13 that control operation of each of the wheels 12 are identical in structure and shown in detail in Figs. 7 to 10. They are mounted via soft damping mounts 20 to the framework 8 and each comprise a motor 21 that is powered by the battery 16.
  • the motor 21 drives a shaft 22 via a gearbox 21a.
  • the shaft 22 has an associated stub axle to which the wheel 12 is connected, via a belt drive 23.
  • a toothed clutch mechanism 24 is provided that is biased via a spring- loading 25 against a driven pulley 26 of the belt drive 23.
  • the belt drive 23 may be replaced by a gear drive (not shown) that comprises a gear wheel against which the toothed clutch mechanism 24 is biased.
  • the clutch mechanism 24 may be disengaged by an actuator 27 which acts against the bias of the spring-loading 25 to disengage intermeshing toothed wheels 28a and 28b of the clutch mechanism 24.
  • the actuator 27 may comprise a linear actuator or a solenoid 27a that on operation shortens the length of the actuator 27 and pulls back a bracket 27b to which the toothed wheel 28b is connected, thereby disconnecting it from the toothed wheel 28a and disengaging the clutch mechanism 24. Operation of the actuator 27 is under the control of the controller 14. When it is operated and the clutch mechanism 24 is disengaged free movement of the wheel 12 is permitted.
  • the clutch mechanism 24 is also linked to an encoder 29 comprising a disc 29a and associated sensor 29b that together are used to sense the movement of the wheel 12 over time during an encoding phase of operation of the drive unit 13 when free movement of the wheels 12 of the carriage 3 is required. This is in order that the wheels 12 can be driven in a reverse motion by the motor 21 during a playback phase of operation of the drive unit 13 when the clutch mechanism 24 is engaged, as is described in more detail below. Data relating to the movement of the wheels 12 recorded by the encoder disc 29 is transmitted to and stored by the controller 14 during the encoding phase for recall during the playback phase of operation.
  • the UV-C disinfecting device 2 comprises eight UV-C emitting, tubular lamps 10 that are mounted in the concave reflectors formed by the central column 11, which is hollow.
  • the lamps 10 are adapted to be powered by a mains electrical supply via a cable 30, which is stored on a retractable cable reel 31 housed in the carriage 3.
  • the column 11 is hollow in order that a cooling airflow can be created through the column 11 when the lamps 10 are operational by means of a fan 32 that is mounted at the top of the column 11 beneath a perforated plate 33 that closes off the top of the column 11.
  • the fan 32 draws air into and down through the column 11, in other embodiments a fan or the fan 32 could blow air upwards through the column 11.
  • the clean air drawn into the column 11 is expelled through holes is the column 11 to cool the lamps 10.
  • the column 11 itself, which will typically be made of aluminium, acts as a large heat sink.
  • a projecting rail 34 forming two handgrips is secured to the column 11 to allow the wheeled carriage 3 to be manoeuvred over a floor surface and moved around a predetermined route during the encoding phase as is further described below.
  • the cable 30 is tensioned, preferably by a constant force spring provided within the reel 31, and is threaded through the free end of an arm 35 that is pivotally mounted on and extends from one side of the carriage 3, typically the rear of the carriage.
  • the arm 35 is freely rotatable about its pivot and is long enough to allow the cable 30 to be guided and kept clear of the wheels 12 when the carriage 3 moves, as shown in Figs. 11 and 12 wherein the arm 35 is shown in two different positions respectively.
  • the arm 35 rotates its length is such that it guides the cable 30 around wheeled carriage 3 and keeps the cable 30 from being entangled by the wheels 12 even when the cable 30 is in front of the motion of the carriage 3.
  • a restraint is preferably provided that retains the electrical cable 30 against or close to a floor surface at a location close to the plug 36.
  • the restraint may comprise a weight 37 that weighs the electrical cable 30 against the floor surface.
  • the weight 37 may be provided with wedges and/or a clip (not shown) so that it can be secured to the cable 30.
  • the restraint may comprise a clamp that secures the electrical cable 30 to a fixed location such as the wheel of a bed or other fitting within the enclosed space or room that is close to the floor and to the an electrical socket into which the plug 36 is plugged.
  • the restraint holds the cable 30 close to the floor to prevent it from being a trip hazard.
  • retaining the cable 30 close to the floor ensures that in use it wraps around the wheels 12 and does get snagged in their operating mechanisms under the carriage 3.
  • the wheeled carriage is therefore preferably provided with at least one sensor 38, such as a passive, infrared- based motion sensor (a PIR sensor).
  • the sensor 38 detects the movement of people, animals, and other objects and is linked to the controller 14, which acts to prevent operation of the carriage 3 and the lamps 10 if the sensor 38 detects the presence of persons or animals within the enclosed space.
  • a plurality of sensors 38 are provided and spaced around the base of the column 11 in the carriage 3 in order that no part of the enclosed space is ever hidden from any one of the sensor's fields of operation.
  • a plurality of first UV sensors 39 may be mounted in fixed positions on the wheeled carriage 3 and linked to the controller 14.
  • the sensors 39 are located beneath the casing and such that each only receives UV-C radiation from a respective one of the lamps 10 and is used to monitor the level of this radiation when the lamps 10 are operation.
  • the information received by the sensors 39 is related to the controller 14 and thence to the HIV interface 5 and/or directly to a central monitoring station that collates the operation of a plurality of apparatus 1.
  • a plurality of autonomous, second UV sensors 40 may also be provided and stored in a lidded compartment 41 provided for them in the carriage 3.
  • the sensors 40 are preferably battery operated and may each include a rechargeable battery that is charged from the main battery 16 when they are plugged respectively into a plurality of sockets provided for this purpose within the compartment 41, as shown in Fig. 15.
  • the compartment 41 may also be used for the storage of other items, for example a cover for the disinfection device 2 when not in use and the weight 37.
  • These sensors 40 may be used intermittently in order to validate the operation of the apparatus 1 by being placed at various locations in an enclosed space prior to disinfection of the space by operation of the apparatus 1.
  • the sensors 40 are adapted to detect the level of UV-C radiation received and relay this information either to the HIV interface or to the central monitoring station. The operation of the disinfecting device may therefore be validated.
  • the route taken by the carriage 3 around an enclosed space during operation of the lamps 10 may be adjusted based on the validation information received and transmitted by the sensors 40.
  • a pressure sensitive cushioned tape switch 42 is located around the vertical side walls of the casing 7. This switch 42 is connected to the controller 14, which acts to stop operation of the wheels 12 and operation of the disinfection device 2 should an unexpected obstacle be encountered during use. In these circumstances the controller 14 also signals to the human-machine interface 5 that an obstacle has been encountered so that the problem can be sorted out.
  • the controller 14, the HMI 5 and powered components within the carriage 3 are battery operated, either directly from the main battery 16 or via daughter batteries recharged from the main battery 16.
  • the disinfection device 2 is powered from the mains.
  • the mains supply to the disinfection device 2 is used to recharge the main battery 16 when the disinfection device 2 is operational.
  • the main battery 16 is used to recharge the daughter batteries when the disinfection device is switched off, for example during transportation of the apparatus 1 or when it is in storage.
  • the controller 14 is preferably programmed to ensure recharging of the daughter batteries is initiated as appropriate.
  • a light detection and ranging surveying device 43 may be mounted on the plate 33 at the top of the column 11.
  • Such devices are usually termed “LiDar” units and the unit 33 is linked to the controller 14 and under the control of the HMI 5. It is operated in order that a three-dimensional map of an enclosed space to be disinfected by the apparatus 1 can be created. This enables a preferred route around the space to be predetermined and programmed into the controller 14 via the human-machine interface 5 so that the wheeled carriage 3 can be operated to follow same during operation of the disinfection device 2 without having to be tracked over the route in an encoding phase beforehand.
  • the transportation trolley 4 is provided so that the apparatus 1 can be transported between various locations within a building without the wheels 12 of the carriage 3 having to come into contact with contaminated floor surfaces during said transportation.
  • the trolley 4 also reduces unnecessary wear on the wheels 12.
  • the trolley 4 is made in two parts and each part comprises a pair of castor wheels 44 that are mounted at the end of a connecting rod 45.
  • the rod 45 is connectable to the wheeled carriage 3 in order to raise one side of the wheeled carriage 3 above a floor surface so that the two parts of the trolley 4 are fitted on opposite sides, typically front and rear sides, of the wheeled carriage 3.
  • connection is made by a pair of cranked bars 46, which are rotatably mounted on the rods 45 by clamps 47 so that the bars 46 in each pair are spaced, parallel and have free ends that project at 90° from the rod 45 to which they are connected. These ends are adapted to be inserted into channels 48 provided in strengthening ribs 49 of the framework 8 of the carriage 3.
  • Each rod 45 is also provided with a handle 50 that is pivoted thereto so that it can be folded away parallel with the rod 45 but that can be rotated so that it extends at 90° to the rod 45. When the handle 50 is folded away it engages in a slot 51 provided in one of the clamps 47 and thereby locks the rod 45 against rotation relative to the bars 46.
  • the handles 50 can be pivoted outwards and used to rotate the rods 45 to lower the castor wheels 44 to raise the carriage 3 from the floor.
  • the handles 50 can then be folded away thereby locking the wheels 44 in place in their lowered position. In this position the apparatus 1 is readily manoeuvrable using the rail 34 without risk of contamination to the wheels 12 of the carriage.
  • Each of the castor wheels 44 is also provided with a brake pedal 52.
  • the transportation trolley Prior to use of the disinfection device 2, the transportation trolley can be removed from the carriage 3 by firstly pivoting the handles 50 and rotating the rod 45 to raise the wheels 44 and to lower the carriage 3 so that the wheels 12 contact the floor surface.
  • the bars 46 can then be removed from the channels 48 and the transportation trolley stowed away while the sterilization device 2 is in use.
  • the two parts of the transportation trolley 4 can be clipped together for easy transportation, as shown in Fig. 20.
  • an apparatus 1 in accordance with the invention and comprising the assembly of the disinfection device 2 and carriage 3, the transportation trolley 4 and the human-machine interface (HMI) 5, as shown in Figs. 1 to 3 is wheeled to a position outside the enclosed space, in this example the room 53, to be disinfected, as shown in Fig. 21.
  • the free-standing unit 6 comprising the HMI 5 is then undocked from the carriage 3 and stood outside the room 53.
  • the rest of the apparatus 1 is then wheeled into the room and parked at a location at one side of the room, preferably near an electrical socket, as shown in Fig. 22.
  • the transportation trolley 4 is then removed from the carriage 3, which is lowered onto the floor.
  • the trolley 4 is preferably taken outside the room 53 and the electrical cable 30 of the disinfection device 2 is plugged into a mains socket.
  • the weight 37 is then preferably attached to the cable 30 in a position close to the socket so that the cable is anchored to the floor.
  • the disinfection apparatus is placed into a record mode wherein the encoders 29 in the drive units 13 will record the movement of the wheels 12.
  • the disinfection apparatus is then manually wheeled around the room 53 tracing a desired route, as shown by the arrow in Fig. 23, that will permit UV-C radiation emanating from the lamps 10 to reach all parts of the room for an appropriate length of time to achieve disinfection when the lamps 10 are operational. It may be necessary for the operator to move pieces of movable furniture or other obstacles in the path of the disinfection apparatus around the room 53 to create an optimal route.
  • the operator should evacuate the room 53 leaving the disinfection apparatus in place at the end of the route, as shown in Fig. 24.
  • the door of the room 53 should be closed to enclose the room and then the disinfection apparatus can be switched into a playback mode wherein it becomes operational via the HMI 5.
  • the disinfection device 2 is activated from the HMI 5 so that the lamps 10 are switched on and the wheels 12 of the carriage 3 are operated via the controller 14 so that they follow the movements recorded during the encoding phase but in reverse.
  • the carriage 3 therefore robotically tracks back along the predetermined route from its end to its beginning, as shown by the arrow in Fig. 25.
  • the controller 14 alerts the HMI 5 and switches off the lamps 10 of the disinfection device.
  • the controller 14 also operates the actuator 27 so that the wheels 12 can free-wheel.
  • the room 53 can now be safely entered to retrieve the disinfection device, which is wheeled out of the room, the transportation trolley 4 attached to the carriage 3 and the HMI 5 docked back on the carriage 3.
  • the sensors 38 and 39 are in operation to ensure that the lamps 10 are switched off if any motion is detected within the room 53 and that the lamps 10 are operating correctly. From time to time, the operation of the apparatus 1 can be monitored for any given shape of room 53 by deploying the autonomous sensors 40.
  • the LiDar unit 43 can be used to provide a map of the room that is displayed on the HMI 5. An operator can then draw a preferred route for the disinfection apparatus to follow over the map and the controller 14 instructed to operate the wheels 12 of the carriage 3 to follow the predetermined route. The interchange of information between the controller 14 and the HMI 5 permits this to happen as the LiDar unit 43 is aware of the position of the disinfection unit within the room 53.
  • All of the information gleaned from the sensors 38, 39 and 40 and information relating to the predetermined route for any given shape of room can be stored for future use and for monitoring and validation purposes in a computer memory device within the controller 14, the free-standing unit 6 and/or at a remote monitoring station with which the apparatus 1 may communicate wirelessly.
  • the present invention provides a mobile disinfection apparatus that will operate robotically and move around an enclosed space while in operation with view to providing an efficient treatment that treats all parts of the enclosed space without operator intervention being required during the treatment.
  • the apparatus 1 may be modified by the provision of a detachable, portable timer 55 that docks into the human-machine interface (HMI) 5.
  • the timer 55 is provided in order that it can be detached from the HMI 5 after the device 2 has been activated and provide an alarm, for example by buzzing and/or flashing, when the disinfection procedure has been carried out by the device 2.
  • the timer 55 can be carried by an operator who can engage in other tasks during the disinfection procedure and be alerted by the timer 55 when the procedure is finished so that he or she can return to the apparatus 1 to deploy it elsewhere.
  • the timer 55 is also adapted to indicate to an operate at any given time the remaining runtime of the disinfection procedure.
  • the timer 55 is battery powered, the battery preferably being rechargeable, in which case the timer 55 plugs into the HMI 5 and is charged at the same time as the rechargeable daughter batteries in the HMI 5 by the main battery 16 when the HMI 5 is docked on the carriage 3.
  • a projected time for the treatment procedure may be calculated by the controller and transmitted to the timer 55 by Wi-Fi.
  • the timer 55 may be adapted to receive start and stop signals from the controller 14 by Wi-Fi on commencement and after completion of a disinfection procedure respectively. In all cases the timer 55 is adapted to provide the alarm either after the projected time has elapsed or following receipt of a stop signal.
  • the projected time for the treatment procedure may be calculated by the controller 14 and/or HMI 5 in one of several ways. All of these use the path length travelled by the device 2, which is calculated using the known circumference of the wheels 12, the number of pulses from the encoders 29, which may be 500 per wheel rotation, and the trace speed, which is the speed of rotation of the wheels 55 and which is theoretically constant. This data is cross-referenced with the required motor speed to calculate the time taken by the device to travel the predetermined route and then dwell times during and at the start and end of the disinfection procedure are added to this to obtain the total treatment time. This time is then sent to the portable timer 55 by Wi-Fi once a treatment procedure is started.
  • Five possible ways of calculating the time taken by the device 2 to travel the predetermined route are as follows. 1. The highest number of pulses of all four wheels 12 during the record mode is taken and broken into intervals where the speed during record mode is constant. The times of these intervals are calculated using the trace speed, which is a constant factor, and a fraction of the speed during record more for each interval. These times are then added together to give the total time to travel the predetermined route.
  • the average number of pulses of the two front wheels 12a (see Fig. 27) of the device 2 is recorded and times calculated for a plurality of intervals based on the trace speed, which is a constant factor, and a fraction of the speed during record mode for each interval. These time are then added together to give the total time to travel the predetermined route.
  • the average number of pulses of the two rear wheels 12b (see Fig. 27) of the device 2 is recorded and times calculated for a plurality of intervals based on the trace speed, which is a constant factor, and a fraction of the speed during record mode for each interval. These time are then added together to give the total time to travel the predetermined route.
  • the average number of pulses of all four wheels 12 of the device 2 is recorded and times calculated for a plurality of intervals based on the trace speed, which is a constant factor, and a fraction of the speed during record mode for each interval. These time are then added together to give the total time to travel the predetermined route.
  • the speed of the centre of the device 2 is recorded along with its angle at each of a plurality of intervals and integrated over time to give the length of the predetermined path. As the trace speed is known for each interval, the total time to travel the predetermined route can be calculated.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)

Abstract

L'invention concerne un appareil mobile robotisé (1) servant à traiter un espace fermé (53), en particulier une pièce, comprenant un chariot à roues (3) sur lequel est monté un dispositif de désinfection (2). L'appareil comprend un dispositif de commande (14) conçu pour commander la mise en œuvre des roues (12) du chariot (3) et pour mettre en œuvre le dispositif de désinfection (2). L'appareil comprend également une interface homme-machine (HMI) (5) en communication avec le dispositif de commande (14) et pouvant servir à démarrer et à interrompre une procédure de désinfection. Le dispositif de désinfection (2) est alimenté électriquement par l'intermédiaire d'une alimentation secteur mais le chariot à roues (3) est alimenté par une batterie principale rechargeable (16) qui est chargée lorsque le dispositif de désinfection (2) est en fonctionnement. De préférence, l'appareil comprend un système de gestion qui commande la tension d'un câble électrique servant à connecter le dispositif de désinfection (2) à l'alimentation secteur afin d'empêcher que le chariot à roues ne s'enchevêtre dans le câble électrique lorsqu'il se déplace de manière robotisée. Le dispositif de désinfection (2) peut comprendre une pluralité de lampes émettant des UV-C (10).
PCT/EP2020/025023 2019-01-22 2020-01-21 Appareil mobile robotisé de désinfection d'une pièce WO2020151919A1 (fr)

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GBGB1900865.5A GB201900865D0 (en) 2019-01-22 2019-01-22 Robotic, mobile apparatus for disinfecting a room

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CN111888494A (zh) * 2020-06-21 2020-11-06 珠海市一微半导体有限公司 智能消毒机器人
CN112426550A (zh) * 2020-12-17 2021-03-02 珠海市一微半导体有限公司 一种雾化消毒机器人
CN112917497A (zh) * 2021-03-31 2021-06-08 扬州工业职业技术学院 一种室内巡回的轮式移动消毒机器人及其控制方法
CN113456876A (zh) * 2021-06-07 2021-10-01 深圳数字链享科技有限公司 一种基于大数据的废弃医疗用具运转消毒机器人
DE102020117143A1 (de) 2020-06-30 2021-12-30 Mario Selic Mobiler Desinfektionsroboter mit Luftdesinfektionsvorrichtung
EP3939621A1 (fr) * 2020-07-17 2022-01-19 Asti Mobile Robotics, S.A.U. Système et procédure de désinfection-stérilisation
DE102020120348A1 (de) 2020-07-31 2022-02-03 Mundus Fluid AG Vorrichtung zum Desinfizieren der Umgebung
WO2022271003A1 (fr) * 2021-06-25 2022-12-29 Instituto Tecnológico y de Estudios Superiores de Monterrey Robot modulaire reconfigurable télécommandé polyvalent

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111888494A (zh) * 2020-06-21 2020-11-06 珠海市一微半导体有限公司 智能消毒机器人
DE102020117143A1 (de) 2020-06-30 2021-12-30 Mario Selic Mobiler Desinfektionsroboter mit Luftdesinfektionsvorrichtung
EP3939621A1 (fr) * 2020-07-17 2022-01-19 Asti Mobile Robotics, S.A.U. Système et procédure de désinfection-stérilisation
DE102020120348A1 (de) 2020-07-31 2022-02-03 Mundus Fluid AG Vorrichtung zum Desinfizieren der Umgebung
CN112426550A (zh) * 2020-12-17 2021-03-02 珠海市一微半导体有限公司 一种雾化消毒机器人
CN112917497A (zh) * 2021-03-31 2021-06-08 扬州工业职业技术学院 一种室内巡回的轮式移动消毒机器人及其控制方法
CN113456876A (zh) * 2021-06-07 2021-10-01 深圳数字链享科技有限公司 一种基于大数据的废弃医疗用具运转消毒机器人
WO2022271003A1 (fr) * 2021-06-25 2022-12-29 Instituto Tecnológico y de Estudios Superiores de Monterrey Robot modulaire reconfigurable télécommandé polyvalent

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