Autonomous, mobile robotic apparatus for applying disinfection to an interior area

{
  "publication_number": "US12105536B2",
  "country": "US",
  "kind": "B2",
  "title": "Autonomous, mobile robotic apparatus for applying disinfection to an interior area",
  "abstract": "An autonomous, mobile robotic device (AMR) is configured with one or more UVC radiation sources, and operates to traverse a path while disinfecting an interior space. Each UVC radiation source is connected to the AMR by an articulating arm that is controlled to orient each source towards a feature or surface that is selected for disinfection during the time that the AMR is moving through the space. The location of each feature selected for disinfection can be mapped, and this map information, a current AMR location and pose can be used to generate signals that are used to control the articulating arm to orient each UVC lamp towards a feature that is selected for disinfection.",
  "claims": [
    "1. An autonomous, mobile robotic (AMR) device configured to disinfect an interior space, comprising: an AMR device body element that is rotatably connected to an AMR device base element; a drive system associated with the AMR device base element; a sensor system associated with the AMR device body element; one or more UVC radiation sources connected to the AMR device body; and a computational device comprising a path planning and navigation module that operates to: use information collected from the sensor system to generate a map of the interior space, and to identify a location of one or more areas in the interior space for disinfection; generate a heatmap as a function of the map of the interior space and the location of the one or more areas for disinfection using an estimating function to identify an optimal path for the AMR device to follow through the interior space in order to disinfect each of the one or more areas; control the AMR device drive system to move the AMR device along the identified optimal disinfection path; and use the location of each of the one or more areas to be disinfected to control the AMR device body element to rotate such that the UVC radiation is directed towards the locations of each of the one or more areas to be disinfected while the AMR device traverses the identified optimal path, wherein a traversal speed of the AMR device is determined as a function of a disinfection dosage assigned to a weighted edge between two nodes the weighted edge traverses along the identified optimal disinfection path using the path planning and navigation module.",
    "2. The AMR device of claim 1, further comprising the computational device using information collected from both the sensor system and an odometer to generate a map of the use the interior space.",
    "3. The AMR device of claim 1, wherein the sensor system is comprised of a sensor capable of generating information used to create a two-dimensional or three-dimensional map of the interior space.",
    "4. The AMR device of claim 1, wherein each of the one or more UVC radiation sources connected to the AMR device body has a reflector, and UVC radiation emitted by the source is confined to a direction that is determined by a size and shape of the reflector.",
    "5. The AMR device of claim 1, wherein one or more areas identified for disinfection are a feature or surface or both comprising the interior space.",
    "6. The AMR device of claim 1, wherein the optimal path for the AMR device to follow is a shortest path through the interior space that permits all of the areas of interest to be disinfected.",
    "7. The AMR device of claim 1, wherein the AMR device body element is controlled to rotate so that the UVC radiation is directed away from an individual detected by the AMR device in the interior space.",
    "8. An autonomous, mobile robotic (AMR) device capable of disinfecting an interior space, comprising: an AMR robotic device body; a drive system associated with the AMR device body; a sensor system associated with the AMR device body; one or more UVC radiation sources, each one of which is connected to the AMR device body; and a computational device comprising a path planning and navigation module that operates to: use information collected from the sensor system to generate a map of the interior space, and to identify a location of one or more areas in the interior space for disinfection; generate a heatmap as a function of the map of the interior space and the location of the one or more areas for disinfection using an estimating function to identify an optimal path for the AMR device to follow through the interior space in order to disinfect each of the one or more areas; control the AMR device drive system to move the AMR device along the identified optimal disinfection path; and use the location of each of the one or more areas to be disinfected in the interior space to control the drive system to orient the AMR device body such that UVC radiation generated by any one or more of the UVC radiation sources is directed towards at least one of the areas to be disinfected while the AMR device traverses the identified optimal path through the interior space, wherein a traversal speed of the AM R device is determined as a function of a disinfection dosage assigned to a weighted edge between two nodes the weighted edge traverses along the identified optimal disinfection path using the path planning and navigation module.",
    "9. The AMR device of claim 8, further comprising an odometer.",
    "10. The AMR device of claim 9, further comprising the map of the interior space is generated by the computational device using information collected from both the sensor system and the odometer.",
    "11. The AMR device of claim 8, wherein the sensor system is capable of generating information used to create a two-dimensional or three-dimensional map of the interior space.",
    "12. The AMR device of claim 8, wherein each of the one or more UVC radiation sources connected to the AMR device body has a reflector, and radiation emitted by each of the one or more UVC radiation sources is confined to a direction that is determined by a size and shape of the reflector.",
    "13. The AMR device of claim 8, wherein one or more areas identified for disinfection are either a feature or surface comprising the interior space.",
    "14. The AMR device of claim 8, wherein the optimal path for the AMR device to follow is a shortest path through the interior space that permits all of the areas of interest to be disinfected.",
    "15. An autonomous, robotic device (AMR) capable of disinfecting an interior space, comprising: an AMR robotic device body; a drive system associated with the AMR device body; a sensor system associated with the AMR device body; one or more UVC radiation sources, at least one of which is connected to a robotic arm comprising the AMR device body; and a computational device comprising a path planning and navigation module that operates to: use information collected from the sensor system to generate a map of the interior space, and to identify a location of one or more areas in the interior space for disinfection; generate a heatmap as a function of the map of the interior space and the location of the one or more areas for disinfection using an estimating function to identify an optimal path for the AMR device to follow through the interior space in order to disinfect each of the one or more areas; control the AMR device drive system to move the AMR device along the identified optimal disinfection path; and use the location of each of the one or more areas to be disinfected in the interior space to control the orientation of at least one of the robotic arms such that UVC radiation generated by the UVC source connected to the robotic arm is directed towards at least one of the areas to be disinfected while the AMR device traverses the identified optimal path through the interior space, wherein a traversal speed of the AMR device is determined as a function of a disinfection dosage assigned to a weighted edge between two nodes the weighted edge traverses along the identified optimal disinfection path using the path planning and navigation module.",
    "16. The AMR device of claim 15, wherein the at least one robotic arm has one or more degrees of movement freedom.",
    "17. The AMR device of claim 15, wherein each of the one or more UVC radiation sources has a reflector, and UVC radiation emitted by each of the one or more UVC radiation sources is confined to a direction that is determined by a size and shape of the reflector.",
    "18. The AMR device of claim 15, wherein each of the one or more areas identified for disinfection is a feature or a surface or both comprising the interior space.",
    "19. The AMR device of claim 15, wherein the optimal path for the AMR device to follow is a shortest path through the interior space that permits all of the areas of interest to be disinfected.",
    "20. The AMR device of claim 15, further comprising a neural network trained to identify areas that a user is interested in disinfecting."
  ],
  "description_excerpt": "The present disclosure relates to disinfecting an environment using a UVC radiation source attached to a mobile, autonomous robotic device.\n\nAutonomous, mobile robotic devices (AMRs) can be designed for use in a variety of different environments for a variety of different applications. Some AMRs are designed for distribution center applications, others are designed to clean interior surfaces, still others are designed to support interaction with humans in a hospital setting or for audio and/or video communication applications. Still other AMRs have been designed for security applications, and some have been designed to rid interior areas occupied by humans of dangerous pathogens, such as bacteria and viruses.\n\nGenerally, AMRs designed for the applications mentioned above can have functionality that enables them to autonomously follow a predetermined path through their environment, and they can be designed to have a variety of different types of sensors that enable them to determine where they are located in their environment, avoid obstructions in their path, to determine how far and in what direction they travel, and they can have functionality that permits them to wireless communicate audio, video or data over a network with an AMR user.\n\nWith the advent of viral pandemics, the disinfection of interior spaces has become an important human health issue. In this regard, there are a number of different disinfection methods being used to rid spaces of harmful pathogens. For example, disinfecting liquids or aerosol sprays can be applied to a surface.",
  "cpc": [
    "G05D 1/689",
    "A61L 2/10",
    "A61L 2/24",
    "A61L 2103/75",
    "A61L 2202/11",
    "A61L 2202/14",
    "A61L 2202/16",
    "A61L 2209/111",
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    "B25J 11/008",
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    "G01C 21/005",
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    "G05D 1/0094",
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    "G05D 1/246",
    "G05D 1/648",
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  "ipc": [
    "A61L 2/10",
    "A61L 2/24",
    "B25J 15/00",
    "B25J 5/00",
    "G01C 21/00",
    "G01C 21/34",
    "G05D 1/00",
    "G05D 1/246",
    "G05D 1/648",
    "G05D 1/65",
    "G05D 1/689"
  ],
  "assignees": [
    "Ava Robotics Inc"
  ],
  "inventors": [
    "Alyssa Pierson",
    "Saman Amarasinghe",
    "Daniela Rus",
    "Marcio Macedo",
    "Youssef Saleh"
  ],
  "filing_date": "2021-11-06",
  "publication_date": "2024-10-01",
  "grant_date": "2024-10-01",
  "priority_date": "2020-11-06",
  "application_number": "US-202117520650-A",
  "family_id": "81454989",
  "cited_by_count": 0,
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}