WO2022087710A1 - Robot de désinfection par ultraviolet avec réflecteur rotatif - Google Patents

Robot de désinfection par ultraviolet avec réflecteur rotatif Download PDF

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Publication number
WO2022087710A1
WO2022087710A1 PCT/CA2021/050243 CA2021050243W WO2022087710A1 WO 2022087710 A1 WO2022087710 A1 WO 2022087710A1 CA 2021050243 W CA2021050243 W CA 2021050243W WO 2022087710 A1 WO2022087710 A1 WO 2022087710A1
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WO
WIPO (PCT)
Prior art keywords
reflector
light source
actuator
base
optical
Prior art date
Application number
PCT/CA2021/050243
Other languages
English (en)
Inventor
Farhang BIDRAM
Ashkan BABAIE
Original Assignee
Advanced Intelligent Systems Inc.
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 Advanced Intelligent Systems Inc. filed Critical Advanced Intelligent Systems Inc.
Publication of WO2022087710A1 publication Critical patent/WO2022087710A1/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
    • 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
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles

Definitions

  • the present disclosure relates to disinfection of an environment and more particularly to an apparatus that uses Ultraviolet (UV) Light for disinfecting an environment.
  • UV Ultraviolet
  • Certain surfaces need routine disinfection to maintain a cleanly environment in which to operate, or to prevent the spread of infectious disease.
  • the task of manually disinfecting such surfaces is often tedious and occasionally hazardous, potentially exposing a worker to unpleasant chemicals, hazardous UV radiation, or otherwise exposing the worker to potential biological contaminants. Due to such conditions, disinfection is usually carried out when there are few to no other people at a facility.
  • Common autonomous UV disinfection systems have a number of shortcomings when faced with surfaces with complex geometry which may take considerable time to reach an effective level of irradiation to effect disinfection.
  • an apparatus for ultraviolet disinfection includes a mobile base, and a UV irradiation tower including a support structure mounted on the base, the support structure being aligned with a vertical axis extending upwardly from the base.
  • the apparatus also includes a UV light source attached to the support structure for providing a disinfecting dose of UV radiation, and a reflector disposed on the support structure for directing the UV radiation provided by the UV light source.
  • the apparatus further includes a reflector actuator for rotating the reflector about a rotation axis orthogonal to the vertical axis, and a controller configured to cause the reflector to rotate in response to receiving signals from a surface sensor indicating location information for a target surface to be disinfected.
  • the base may include a rotating platform mounted on the base and rotatable about the vertical axis, an actuator coupled to cause rotation of the rotating platform with respect to the base, and the support structure may be mounted on the rotating platform.
  • the reflector may be rotatable about the vertical axis and the reflector actuator may include a second reflector actuator for rotating the reflector about the vertical axis.
  • the apparatus may include a tower actuator for translating the UV light source and reflector on the support structure along the vertical axis and the controller may be further configured to cause the reflector to be translated along the vertical axis based on the location information.
  • the apparatus may include a radiation pattern adjustor configured to move the UV light source with respect to the reflector for changing an irradiation pattern emitted by the UV light source and reflector.
  • the rotation axis may be a first rotation axis, and may further include a second reflector actuator for rotating the reflector about a second rotation axis perpendicular to the first rotation axis and the vertical axis.
  • the apparatus may include a tower actuator for translating the UV light source and reflector on the support structure along the vertical axis and the controller may be further configured to cause the reflector to be translated along the vertical axis based on the location information.
  • the apparatus may include a radiation pattern adjustor configured to move the UV light source with respect to the reflector for changing an irradiation pattern emitted by the UV light source and reflector.
  • the controller may be further configured to cause the radiation pattern adjustor to adjust the irradiation pattern based on the location information.
  • the location information may include at least one of a distance to the target surface, an orientation of the target surface, or an area of the target surface.
  • the mobile base may be autonomously movable and the controller is operably configured to cause movement of the base to dispose the UV irradiation tower for irradiating the target surface.
  • an apparatus for ultraviolet disinfection includes a mobile base, a UV irradiation module disposed on the base, the module includes a UV light source, an optical reflector associated with the UV light source and rotatable about the UV light source, and a reflector actuator associated with the optical reflector for rotating the optical reflector about the UV light source, and a controller for controlling the reflector actuator and UV light source, the controller is operably configured to control the UV light source and the optical reflector to produce a defined irradiation pattern in response to receiving signals from a surface sensor indicating location information for a target surface.
  • the UV light source may include a plurality of UV light sources and the optical reflector may include a plurality of optical reflectors, each optical reflector being associated with one of the UV light sources and being configured to direct UV light emitted by the UV light source, and the reflector actuator may include a reflector actuator associated with each optical reflector for independently rotating the optical reflector about the respective UV light source to control the plurality of UV light sources and the plurality of optical reflectors to produce the defined irradiation pattern.
  • the apparatus may include at least one deployable UV shield configured to block UV light emitted by the UV light source to limit an extent of the radiation pattern.
  • the apparatus may include a shield actuators for automatically deploying and retracting the at least one deployable UV shield.
  • the apparatus may include a shield movement actuator for moving the UV shield to limit the extent of the radiation pattern.
  • the UV light source and reflector produce the defined irradiation pattern in combination with the UV shield.
  • the UV light source may further include an optical head may include an angled reflector disposed to direct radiation in a direction other than a direction of the defined radiation pattern.
  • the optical head may further include an angled UV light source.
  • the apparatus may include an optical head lamp actuator for adjusting the angle of the angled UV light source.
  • the apparatus may include an optical head actuator for adjusting an angle of the angled reflector.
  • Figure 1 A is a side views of an embodiment of a UV disinfection robot with a rotating reflector
  • Figures 1 B to 1 D are side views of configurations of the UV disinfection robot of Figure 1 A;
  • FIGS 1 E to 1 H are side views of variations of the UV disinfection robot of Figure 1 A;
  • Figure 2A is a side view of another embodiment of a UV disinfection robot with a rotating reflector
  • Figure 2B is a top-down view of the UV disinfection robot of Figure 2A;
  • Figure 2C is a top-down view of an alternate embodiment of the UV disinfection robot of Figure 2A;
  • FIG 3 is a top-down view of an alternate embodiment of the UV disinfection robot of Figure 2A;
  • Figure 4A is a side view of an alternate embodiment of the UV disinfection robot of
  • Figure 4B is a top-down view of the UV disinfection robot of Figure 4A.
  • FIG. 5 is a schematic view of a control system for a UV disinfection robot
  • a UV disinfection robot including a rotating reflector is shown generally at 10.
  • the robot 10 has a mobile base 100 including a plurality of motorized wheels 102, and a UV irradiation tower 110 comprising a support structure 112, an ultraviolet (UV) light source 114 and a reflector assembly 116.
  • the base 100 may be an autonomous robotic base similar to known robotic bases for indoor or outdoor use such as warehousing robots, for example, having sensors and an autonomous control system for autonomously navigating the robot within an environment. While motorized wheels 102 are described, it is contemplated that the robot 10 may alternatively use any other type of locomotion including but not limited to omni-directional or mecanum wheels or may use non-wheeled locomotion such as tracks, for example.
  • the support structure 112 is a rigid structure that holds the UV light source 114 and its associated reflector assembly 116 apart from the base 100 to allow light emitted the UV light source 114 to have an appropriate height to clear obstacles.
  • the support structure 112 may be actuated to adjust a distance between the UV light source 114 and the base 100 in a direction generally aligned with a vertical axis 113.
  • the actuation may be implemented using a worm gear moving along the height of the structure 112, or the structure 112 being a telescoping column, for example.
  • the UV light source 114 may be any light source configured to emit electromagnetic radiation having a wavelengths that provides a disinfecting function.
  • wavelength of the electromagnetic radiation emitted by the UV light source 114 may be between 200 nm and 280 nm.
  • the light source may be implemented using a low-pressure mercury-vapour gas discharge lamp, Xenon UV lamp, or a plurality of UV Light Emitting Diodes (LEDs), for example.
  • the UV light source 114 may be a single light source, or in other embodiments may comprise a plurality of light sources 115 acting as the singular light source 114 as shown in Figure 1 E, for example.
  • Light emitted by the UV light source 114 may be pulsated or continuous. Light may also be emitted at other wavelengths for other purposes, such as for example, promoting plant growth or for illumination.
  • the reflector assembly 116 is disposed to reflect and direct UV light emitted by the light source 114.
  • the reflector assembly 116 may comprise one or more reflectors made of a UV-C reflective material, including but not limited to aluminum, Teflon, and PTFE, for example.
  • the reflector assembly 116 is configured to be rotatable about a transverse axis (i.e. into the plane of the page), which is orthogonal to the vertical axis 113 shown in Figure 1 A.
  • the reflector assembly 116 may be coupled to an actuator for rotating the reflector about the transverse axis. Referring now to Figures 1 B to 1 D, various possible positions and angles of the UV light source 114 and reflector assembly 116 are shown.
  • the support structure 112 or the UV light source 114 and reflector assembly 116 may additionally be rotatable about the vertical axis 113.
  • the rotation may be achieved by rotating the support structure 112 about the base 100, or rotating the UV light source 114 and reflector assembly 116 about the support structure 112 for example.
  • the base 100 or the support structure 112 may contain actuators (not shown) to autonomously affect this rotation.
  • the reflector assembly 116 may additionally include a radiation pattern adjustor such as a linear actuator (not shown) for adjusting the distance 120 between the reflector assembly 116 and the UV light source 114 in order to adjust a pattern of UV radiation emitted, for example.
  • a radiation pattern adjustor such as a linear actuator (not shown) for adjusting the distance 120 between the reflector assembly 116 and the UV light source 114 in order to adjust a pattern of UV radiation emitted, for example.
  • Patterns such as a convergent pattern 122 as shown in Figure 1 F, a divergent pattern 123 as shown in Figure 1 G, or a collimated pattern 124 as shown in Figure 1 H may be desirable for disinfection of rooms or surfaces with different geometries. While these exemplary UV radiation patterns are shown, any other pattern may be achieved with the appropriate UV reflector assembly 116 and distance 120.
  • the controller 50 may be located in the base 100 of the robot 10.
  • the controller 50 is in communication with a plurality of sensors 52, which may include Light Detection and Ranging (LiDAR), Ultrasonic sensors, optical cameras, Ultra-Wide Band (UWB) radio transceivers, or any other type of sensor.
  • the controller 50 is in communication with a plurality of actuator modules, including the reflector actuator 54, tower actuator 56, base platform actuator 58, and base mobility actuators 60.
  • the base mobility actuators are configured to control the movement of the base 100 by actuating the motorized wheels 102.
  • the sensors 52 include navigation sensors that generate signals for autonomous navigation of the base 100.
  • the sensors 52 also include sensors configured to act as surface sensors to detect the geometry of a target object that is to be disinfected and determine properties of the target object such as height, relative position, and relative angle of the object to the robot 10.
  • the sensors 52 include 3D optical sensors that generate signals representing a surface distance, surface orientation, and surface area for a target surface being disinfected.
  • the surface distance, surface orientation, and surface area represent location information for the target surface that may be used by the controller to determine signals for activating the reflector actuator 54, tower actuator 56, base platform actuator 58, and base mobility actuators 60 to direct the UV light toward the target surface.
  • the controller 50 may use the location information signals to adjust the vertical position of the light source 114 and reflector assembly 116 by actuating the tower actuator 56 that controls the vertical position of the light source 114 and the reflector actuator 54 that controls the angle of the reflector assembly 116 in response to the detected height of the target surface.
  • the controller 50 may also be configured to adjust an angle of the reflector assembly 116 by actuating reflector actuator 54 in response to the detected relative angle and/or relative position of the target object.
  • the controller may also cause the base platform actuator 58 to rotate the UV irradiation tower to better position the tower to irradiate the target surface.
  • the controller 50 may further cause the base mobility actuators 60 to reposition the base 100 based on the navigation signals and location information provided by the sensors 52.
  • the robot 20 has a base 200 having a plurality of motorized wheels 202, and a UV irradiation module 210 comprising a plurality of UV light sources 214 and a plurality of reflectors 216, each UV light source 214 having a corresponding reflector 216.
  • the UV irradiation module 210 also includes a UV shield 218.
  • the base 200 may be an autonomous robotic base similar to known robotic bases for indoor or outdoor use such as warehousing robots, for example, having sensors and an autonomous control system for autonomously navigating the robot within an environment.
  • Each UV light source 214 extends vertically from the base 200 and may be any light source configured to emit electromagnetic radiation.
  • the electromagnetic radiation may have a wavelength of between 200 to 280 nm, and the light source 214 may be a low-pressure mercury- vapour gas discharge lamp, Xenon UV lamps, a plurality of UV Light Emitting Diodes (LEDs), for example. Light emitted at other wavelengths may be included for other purposes.
  • Each reflector 216 is attached to the base 200 such that it can rotate about its associated UV light source 214 and is configured to reflect and direct the UV light emitted by its associated light source 214.
  • Each reflector 216 may comprise one or more reflectors made of UV-C reflective material including but not limited to aluminum, Teflon, and PTFE, for example.
  • the plurality of reflectors 216 may be actuated by actuators located in the base 200 to autonomously and independently control the orientation of each reflector 216, allowing the reflectors to cooperatively generate a UV irradiation pattern out of the UV light emitted by the plurality of UV light sources 214.
  • the plurality of UV reflectors 216 may not all be independent, and some UV reflectors 216 may be associated with more than one of the plurality of light sources 214, as shown illustratively in Figure 2C, for example.
  • the UV shield 218 may be made from UV-C reflective material including but not limited to, aluminum, Teflon, and PTFE, for example. Alternatively the UV shield 218 may be made from non-reflective but UV-Opaque materials.
  • the UV shield 218 may be deployable or retractable such that it blocks UV light along certain directions, but permits UV light in other directions to limit the extent of the UV irradiation pattern generated by the reflectors 216 in order to protect sensitive equipment or humans from potentially harmful UV radiation exposure.
  • the UV shield 218 may be actuated to be autonomously deployed, or may be manually adjusted and/or attached/removed according to the required UV irradiation pattern. Accordingly, the UV shield 218 can also be used in conjunction with the UV reflectors 216 to produce the UV irradiation pattern.
  • the robot 20 may also include a safety sensor 220 such as an optical camera configured to detect the presence of a human, allowing the robot 20 to automatically deploy the UV shield 218, adjust the reflectors 216, or disable the UV light sources 214 as necessary to protect humans from unwanted UV exposure.
  • the safety sensor 220 may detect the presence of a human entering a predefined safety zone while the robot 20 is working in a location alongside humans, and deploy the UV shields 218, adjust the reflectors 216, and/or disable the UV light sources 214 to adjust the emitted UV irradiation pattern such that the human remains safe.
  • the UV shield 218 may also serve as a mounting point for various indicators 222 and warning labels 223 designed to inform or instruct human operators and bystanders.
  • the robot 20, may have a plurality of adjustable UV light sources 214 and corresponding reflectors 216. In some embodiments, an even number of UV light sources 214 and corresponding reflectors 216 may be desirable. Also shown in Figure 3 are deployable or attachable UV shields 218 and 219. The UV shields 218 are shown at 218 deployed or attached. The UV shields 219 are shown as inactive at (i.e. retracted or detached from the robot 20). In combination with the orientation of reflectors 216, the active UV shields 218 can cooperatively generate the UV irradiation pattern which may be configured to deliver optimal UV dose to surfaces for disinfection while excluding zones which do not require irradiation for safety and efficiency. In some embodiments, this may be controlled autonomously or by a machine-learning algorithm, identifying the optimal UV irradiation pattern for safety and efficiency given a detected room or surface, for example.
  • the UV irradiation module 210 may comprise only a single UV light source 214 and a single reflector 216.
  • the UV shields 218 may operate in conjunction with the reflector 216 and light source 214 to generate the UV irradiation pattern.
  • the robot 20 may also have a controller similar to the controller 50 shown in Figure 5.
  • the controller 50 (not shown in Figure 2) may be located in the base 200, and configured to control the movement of the base 200 by actuating the motorized wheels 202.
  • the robot 20 may also have one or more sensors 152 (such as sensor 220 for Figure 2) configured to assist in autonomous navigation of the base 200, such as Light Detection and Ranging (LiDAR), Ultrasonic sensors, optical cameras, Ultra-Wide Band (UWB) radio transceivers, or any other type of sensor.
  • LiDAR Light Detection and Ranging
  • Ultrasonic sensors ultrasonic sensors
  • optical cameras optical cameras
  • Ultra-Wide Band (UWB) radio transceivers or any other type of sensor.
  • the sensors 52 may also include, or be configured to act as surface sensors to detect the geometry of a target object that is to be disinfected and determine properties of the target object such as height, relative position, and relative angle of the object to the robot 20, as well as potential hazards or sensitive objects (such as humans) to be protected.
  • the controller 50 may use the information provided by the surface sensor. For example, the controller 50 may be configured to adjust the UV shields 218 by actuating assembly actuators 56 that control the shields 218 in response to the detected direction of a sensitive object. In other cases, the controller 50 may be configured to adjust the angle of the reflector(s) 216 by actuating reflector actuators 54 controlling the reflector(s) 216 in response to the detected relative angle and/or relative position of the target object.
  • the UV disinfection robot 40 is a variation of the UV disinfection robot 20 of Figure 2A, may include elements similar to those of apparatus 20 but within the respective 400 series of numbers, whether or not those elements are shown.
  • Each reflector 416 has an optical head 430 attached.
  • the optical head includes an angled optical head reflector 436 which is configured to direct light in a different direction than the reflector 416. As shown in Figure 4A, this direction may be generally downwards, for example, as opposed to the horizontal direction of the reflectors 416, which may provide better irradiation of horizontal surfaces.
  • the optical head 430 may also include a separate UV light source 434, shown in Figure 4A as an angled optical head UV light source 434 disposed within the optical head.
  • the optical head 430 may be continuous with its associated reflector 416 for an even and efficient distribution of light.
  • the optical head may be adjustable, such as by an actuator, for example, allowing the angle of the optical head reflector 436 to be adjusted to match the angle of a target surface.
  • the optical head UV light source 434 may also be similarly adjustable and/or actuated.

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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 de désinfection par ultraviolets. L'appareil comprend une base mobile, une tour d'irradiation UV comprenant une structure de support montée sur la base, la structure de support étant alignée avec un axe vertical s'étendant vers le haut depuis la base. L'appareil comprend également une source de lumière UV fixée à la structure de support pour fournir une dose désinfectante de rayonnement UV, et un réflecteur disposé sur la structure de support pour diriger le rayonnement UV fourni par la source de lumière UV. L'appareil comprend en outre un actionneur de réflecteur pour faire tourner le réflecteur autour d'un axe de rotation orthogonal à l'axe vertical, et un dispositif de commande configuré pour faire tourner le réflecteur en réponse à la réception de signaux provenant d'un capteur de surface indiquant des informations de localisation pour une surface cible à désinfecter.
PCT/CA2021/050243 2020-11-02 2021-02-26 Robot de désinfection par ultraviolet avec réflecteur rotatif WO2022087710A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202063108610P 2020-11-02 2020-11-02
US63/108,610 2020-11-02

Publications (1)

Publication Number Publication Date
WO2022087710A1 true WO2022087710A1 (fr) 2022-05-05

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PCT/CA2021/050243 WO2022087710A1 (fr) 2020-11-02 2021-02-26 Robot de désinfection par ultraviolet avec réflecteur rotatif

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080253941A1 (en) * 2006-12-29 2008-10-16 Wichers Donald W Ultraviolet (uv) radiation source-based surface disinfection system
WO2018089288A1 (fr) * 2016-11-14 2018-05-17 Diversey, Inc. Appareil et procédé de décontamination
CA2835661C (fr) * 2011-04-15 2019-07-30 Samuel Richard Trapani Procede et systeme pour la sterilisation d'une chambre
US10406254B2 (en) * 2012-01-31 2019-09-10 Surfacide, Llc Hard surface disinfection system and method
US10583212B2 (en) * 2017-01-12 2020-03-10 UD Innovations, LLC Portable UV-C disinfection apparatus, method, and system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080253941A1 (en) * 2006-12-29 2008-10-16 Wichers Donald W Ultraviolet (uv) radiation source-based surface disinfection system
CA2835661C (fr) * 2011-04-15 2019-07-30 Samuel Richard Trapani Procede et systeme pour la sterilisation d'une chambre
US10406254B2 (en) * 2012-01-31 2019-09-10 Surfacide, Llc Hard surface disinfection system and method
WO2018089288A1 (fr) * 2016-11-14 2018-05-17 Diversey, Inc. Appareil et procédé de décontamination
US10583212B2 (en) * 2017-01-12 2020-03-10 UD Innovations, LLC Portable UV-C disinfection apparatus, method, and system

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