Cleaning system with ultraviolet light and monitoring method

Abstract

The invention discloses a cleaning system with ultraviolet light and a monitoring method, which are used for detecting the running state of an ultraviolet light tube of an autonomous mobile robot. The monitoring method for ultraviolet light elimination comprises the following steps: enabling the autonomous mobile robot to move at an advancing speed, driving a plurality of ultraviolet light tubes to emit ultraviolet light, obtaining a light-induced voltage value of each ultraviolet light tube, generating return information according to the light-induced voltage value of each ultraviolet light tube, and sending the return information to the autonomous mobile robot. And transmitting the return information to the monitoring platform by the autonomous mobile robot through the network. On the basis, the monitoring platform confirms and records the running state of each ultraviolet lamp tube according to the return information, and sends notification information to a specified client when any ultraviolet lamp tube is abnormal.

Description

Technical Field

[0001] This case is about a robot and a monitoring method thereof, and more particularly about a disinfection system and a monitoring method with ultraviolet light. Background Art

[0002] The common method of disinfecting and sterilizing objects is to wipe the disinfectant on the surface of the target object with alcohol or disinfectant to reduce the number of viruses or bacteria on the surface of the target object. However, for a large area, cleaning staff cannot wipe the surface of every object in the area.

[0003] In order to clean and disinfect (hereinafter referred to as disinfection) a large area, most of the ultraviolet (UV) disinfection equipment is used. The ultraviolet disinfection equipment needs to ensure that the ultraviolet irradiation dose exceeds the disinfection threshold to achieve the purpose of disinfection. The ultraviolet irradiation dose depends on the irradiation energy and irradiation time of the ultraviolet lamp. However, ultraviolet light can destroy the structure of biological deoxyribonucleic acid (DNA) and ribonucleic acid (RNA), including viruses or bacteria and other pathogens. Similarly, ultraviolet light will cause the same harm to the human body. Therefore, ultraviolet disinfection equipment is usually operated in an unmanned environment. In other words, during the operation of the ultraviolet disinfection equipment, the user cannot be on site to confirm the operating status of the ultraviolet lamp, so that if any ultraviolet lamp in the ultraviolet disinfection equipment has been damaged or attenuated, the irradiation dose will be reduced and the pathogen cannot be effectively eliminated. Summary of the invention

[0004] In view of this, the present invention provides a UV light cleaning system and monitoring method, which can automatically identify the operating status of UV light tubes, such as whether any UV light tube has been damaged or decayed. In some embodiments, the UV light cleaning system or monitoring method is also suitable for automatically detecting the irradiation intensity of the UV light tube when it begins to decay, and adjusting the travel speed of the autonomous mobile robot accordingly to achieve a predetermined irradiation dose.

[0005] In one embodiment, the cleaning system with ultraviolet light is used to record the operating status of the autonomous mobile robot during ultraviolet light cleaning. The cleaning system includes a communication module, an ultraviolet light group, a light sensing element and a control module. The ultraviolet light group is used to emit ultraviolet light; the light sensing element is located around the ultraviolet light group, and the light sensing element is used to generate a corresponding light sensing voltage value of the ultraviolet light group; the control module is connected to the communication module and the light sensing element, and the control module is used to generate feedback information according to the light sensing voltage value of the light sensing element and output the feedback information through the communication module, wherein the feedback information indicates the operating status of the ultraviolet light group.

[0006] In some embodiments, the ultraviolet lamp group includes multiple ultraviolet lamp tubes and a driving circuit, each ultraviolet lamp tube is used to emit ultraviolet light, the driving circuit connects the multiple ultraviolet lamp tubes and a control module, the control module drives the multiple ultraviolet lamp tubes through the driving circuit, and each light sensing element is located around the corresponding ultraviolet lamp tube.

[0007] In some embodiments, the reporting information includes an indication value indicating the light source condition of the ultraviolet lamp group and the recorded content of the light sensing voltage value of each ultraviolet lamp tube.

[0008] In some embodiments, the indication value includes a plurality of bits, and the bits correspond to light sensing voltage values ​​of a plurality of ultraviolet lamps, respectively, wherein the control module determines the corresponding bit in the indication value based on the light sensing voltage value of each ultraviolet lamp.

[0009] In some embodiments, the UV lamp assembly further includes a plurality of light shields. The light shields correspond to light sensing elements respectively and are respectively located at one end of a plurality of UV lamp tubes. Each light sensing element is located at the same end of the corresponding UV lamp tube and between the corresponding light shield and the corresponding UV lamp tube. Each UV lamp tube is provided with a corresponding light shield.

[0010] In some embodiments, the communication module signal is connected to the monitoring platform, and the monitoring platform receives the reporting information and records the status information of the ultraviolet lamp group according to the reporting information.

[0011] In some embodiments, the aforementioned status information includes the lamp status of each ultraviolet lamp, and the aforementioned monitoring platform records the lamp status of the ultraviolet lamp whose corresponding light sensing voltage value is less than or equal to the starting voltage value as a damaged lamp according to the reporting information.

[0012] In some embodiments, the aforementioned monitoring platform records the lamp status of the UV lamp whose corresponding light sensing voltage value is greater than the starting voltage value and less than the normal voltage value as an attenuated lamp according to the reporting information, and generates and sends an adjustment command of the light sensing voltage value of the corresponding UV lamp to the autonomous mobile robot. At this time, the control module can receive the adjustment command via the communication module and control the mobile device to reduce the travel speed according to the adjustment command.

[0013] In some embodiments, the aforementioned status information includes the usage time of each ultraviolet lamp, and the aforementioned monitoring platform accumulates the usage time of the ultraviolet lamp corresponding to the light sensing voltage value not less than the starting voltage value according to the reporting information.

[0014] In some embodiments, the status information further includes the light sensing voltage value of each ultraviolet lamp in the report information received each time, and the monitoring platform further records the light sensing voltage value of each ultraviolet lamp based on the report information, and the monitoring platform records the average voltage value of each ultraviolet lamp within a time period, wherein the monitoring platform obtains the average voltage value based on multiple light sensing voltage values ​​of each ultraviolet lamp, and the monitoring platform periodically records the average voltage of each time period.

[0015] In some embodiments, the ultraviolet light elimination monitoring method includes enabling an autonomous mobile robot to move at a traveling speed; driving multiple ultraviolet lamps of the autonomous mobile robot to emit ultraviolet light; obtaining a light sensing voltage value of each ultraviolet lamp; generating report information based on the light sensing voltage value of each ultraviolet lamp; and transmitting the report information to a monitoring platform via a network by the autonomous mobile robot.

[0016] In some embodiments, the reporting information includes an indication value, which indicates the light source status of the ultraviolet lamp group and has multiple bits, and the multiple bits correspond to multiple light sensing voltage values ​​of multiple ultraviolet lamp tubes. The step of generating the reporting information based on the light sensing voltage value of each ultraviolet lamp tube includes determining whether the light sensing voltage value of each ultraviolet lamp tube is greater than the starting voltage value; recording the bit corresponding to the light sensing voltage value greater than the starting voltage value in the indication value as the first value; recording the bit corresponding to the light sensing voltage value not greater than the starting voltage value in the indication value as the second value; and recording the indication value and the light sensing voltage values ​​of multiple ultraviolet lamp tubes in the reporting information. The first value is different from the second value.

[0017] In some embodiments, the step of obtaining the light-induced voltage value of each ultraviolet lamp includes sensing the ultraviolet light emitted from one end of each ultraviolet lamp to obtain the corresponding light-induced voltage value while shielding the ambient light.

[0018] In some embodiments, the monitoring method for ultraviolet light elimination may further include receiving an adjustment command from a monitoring platform; and reducing the travel speed of the autonomous mobile robot in response to the adjustment command, wherein the adjustment command is related to at least one light sensing voltage value of the plurality of ultraviolet light tubes that is less than a normal voltage value.

[0019] In some embodiments, the UV light cleaning monitoring method may further include analyzing the reporting information by the monitoring platform to obtain and record the status information of each UV lamp.

[0020] In some embodiments, the aforementioned status information includes the lamp status of each ultraviolet lamp tube, and the step of analyzing the report information by the monitoring platform to obtain and record the status information of each ultraviolet lamp tube includes determining whether the light sensing voltage value of each ultraviolet lamp tube is greater than the starting voltage value; and recording the lamp status of the ultraviolet lamp tube whose corresponding light sensing voltage value is less than or equal to the starting voltage value as a damaged lamp tube.

[0021] In some embodiments, the step of analyzing the report information by the monitoring platform to obtain and record the status information of each ultraviolet lamp further includes determining whether the light sensing voltage value of each ultraviolet lamp is less than the normal voltage value; recording the lamp status of the ultraviolet lamp whose corresponding light sensing voltage value is greater than the starting voltage value and less than the normal voltage value as an attenuated lamp; generating an adjustment command according to the light sensing voltage values ​​of multiple ultraviolet lamps; transmitting the adjustment command to the autonomous mobile robot by the monitoring platform; and reducing the travel speed of the autonomous mobile robot in response to the adjustment command.

[0022] In some embodiments, the ultraviolet light cleaning monitoring method may further include generating a notification message notifying that a damaged lamp has occurred.

[0023] In some embodiments, the monitoring method of ultraviolet light cleaning may further include the autonomous mobile robot receiving a start command from the monitoring platform. Here, the step of enabling the autonomous mobile robot to move at a traveling speed and the step of driving a plurality of ultraviolet light tubes of the autonomous mobile robot to emit ultraviolet light are performed in response to the start command.

[0024] In some embodiments, the monitoring method for ultraviolet light elimination may further include receiving, by the autonomous mobile robot, a stop command from the monitoring platform; and stopping driving the plurality of ultraviolet lamps in response to the stop command.

[0025] In summary, the ultraviolet light disinfection system and its monitoring method of any embodiment are suitable for monitoring the autonomous mobile robot to realize the disinfection operation when unattended, and can also synchronously confirm the operating status of the ultraviolet light tube of the autonomous mobile robot each time the disinfection operation is performed, and then provide corresponding processing in time to ensure the implementation effect of the disinfection operation. In some embodiments, the ultraviolet light disinfection system or the monitoring method of ultraviolet light disinfection also uses an indicator value to represent the operating status of each ultraviolet light tube, so as to quickly identify whether there is an abnormality in the ultraviolet light tube in the ultraviolet light group (such as attenuation or damage). In some embodiments, when any ultraviolet light tube of the autonomous mobile robot is abnormal, the ultraviolet light disinfection system or the monitoring method of ultraviolet light disinfection can also generate corresponding notification information and / or adjust the travel speed of the autonomous mobile robot accordingly, so as to ensure that the autonomous mobile robot can provide a predetermined irradiation dose, thereby ensuring that the disinfection operation can effectively eliminate the source of the disease. In some embodiments, the UV light elimination system or the UV light elimination monitoring method further utilizes a light shield to isolate the light source (i.e., ambient light) other than the corresponding UV lamp tube, thereby preventing the light sensing element from being interfered with by the light source other than the corresponding UV lamp tube, thereby avoiding misjudgment of the operating status of the UV lamp tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the structure of an ultraviolet disinfection system according to an embodiment.

[0027] Figure 2 for Figure 1 Functional block diagram of the UV disinfection system.

[0028] Figure 3 for Figure 1 A functional block diagram of an ultraviolet disinfection system according to another embodiment of the present invention.

[0029] Figure 4 The present invention is a flow chart of a method for monitoring ultraviolet disinfection according to an embodiment of the present invention.

[0030] Figure 5 A schematic diagram of an embodiment of a disinfection operation of an ultraviolet disinfection system.

[0031] Figure 6 The diagram is a schematic diagram of the corresponding relationship between parameters related to the irradiation dose in an embodiment of an ultraviolet light disinfection system.

[0032] Figure 7 The diagram is a schematic diagram of the corresponding relationship between parameters related to the irradiation dose in another embodiment of the ultraviolet light disinfection system.

[0033] Figure 8 is a schematic diagram of an embodiment of an autonomous mobile robot.

[0034] The reference numerals are described as follows:

[0035] 100: UV light disinfection system

[0036] 110: Autonomous Mobile Robot

[0037] 111: Mobile Devices

[0038] 112: Communication module

[0039] 113: UV lamp set

[0040] 114: UV lamp

[0041] 114a~114e: UV lamp

[0042] 115: Driving circuit

[0043] 116: Light sensing element

[0044] 116a~116e: Light sensing element

[0045] 117: Control module

[0046] 118: User Interface

[0047] 119: Lens hood

[0048] 120: Monitoring platform

[0049] 200: Network

[0050] 211, 211a~211e: light-induced voltage value

[0051] 220: Report information

[0052] 221: Indication value

[0053] 222: Record content

[0054] 231: Start command

[0055] 232: Adjustment Command

[0056] 233: Stop command

[0057] E1, E2, E3: Irradiation intensity

[0058] Enm: target irradiation dose

[0059] Eth: Irradiation intensity

[0060] I1, I2, I3, Inm: irradiation dose

[0061] Ith: irradiation dose

[0062] T1, T2, T3, Tth, Tnm: irradiation time

[0063] V1, V2, V3, Vth, Vn: light sensing voltage values

[0064] Vnm: normal voltage value

[0065] S310~S370: Steps DETAILED DESCRIPTION

[0066] Please refer to Figure 1 and Figure 2 , an ultraviolet (UV) disinfection system 100 is used to record the operating status of an autonomous mobile robot 110 during ultraviolet disinfection. The ultraviolet disinfection system 100 includes an autonomous mobile robot 110 and a monitoring platform 120. The autonomous mobile robot 110 includes a communication module 112, an ultraviolet lamp group 113, a light sensing element 116 and a control module 117. The control module 117 is connected to the communication module 112, the ultraviolet lamp group 113 and the light sensing element 116. In some embodiments, the control module 117 can be implemented by one or more processing units. Among them, the aforementioned processing unit can be but is not limited to a microprocessor, a microcontroller, an embedded controller (embedder controller), a digital signal processor, a central processing unit, a programmable logic controller, or any chip or circuit based on an operation instruction operation signal.

[0067] In some embodiments, the autonomous mobile robot 110 further includes a mobile device 111, see Figure 3 . The communication module 112, the ultraviolet lamp group 113, the light sensing element 116 and the control module 117 are located on the mobile device 111. Alternatively, the ultraviolet lamp group 113 and the light sensing element 116 are assembled above the mobile device 111. Under the control of the control module 117, the mobile device 111 can move at a moving speed or stop moving. Specifically, the mobile device 111 includes a moving mechanism, a driver and a shell. The communication module 112 and the control module 117 are arranged in the shell of the mobile device 111. The driver is coupled between the control module 117 and the mobile mechanism. The control module 117 enables the driver of the mobile device 111 so that the driver can drive the mobile mechanism, so that the mobile mechanism moves the entire autonomous mobile robot 110. For example, when the mobile device 111 is a carrier using a mobile mechanism such as tires, tracks or mechanical legs, the mobile mechanism can be rotatably embedded in the shell of the mobile device 111 and is located on the side of the shell adjacent to the ground. Alternatively, when the mobile device 111 is a flying device such as a drone, a mobile mechanism such as a propeller or a turbine is installed on the top, front or side of the shell.

[0068] The light sensing element 116 uses a photosensitive element to convert a light signal into an electrical signal. Alternatively, the light sensing element 116 can use a photosensitive element such as a complementary metal oxide semiconductor (CMOS) or a charge-coupled device (CCD) as a light intensity detection element. The ultraviolet lamp set 113 includes a plurality of ultraviolet lamp tubes 114 and a driving circuit 115. The driving circuit 115 is connected to these ultraviolet lamp tubes 114 and a control module 117. Specifically, the driving circuit 115 is coupled between each ultraviolet lamp tube 114 and the control module 117. The control module 117 enables the driving circuit 115 so that the driving circuit 115 drives the ultraviolet lamp tube 114, so that the ultraviolet lamp tube 114 emits ultraviolet light. In some embodiments, the ultraviolet light emitted by the ultraviolet lamp tube 114 may be UV-C (UltraViolet C radiation).

[0069] A light sensing element 116 is disposed correspondingly around each ultraviolet lamp 114. In other words, the ultraviolet lamp 114 corresponds to the light sensing element 116 one-to-one, and each light sensing element 116 is located around the corresponding ultraviolet lamp 114. The number of ultraviolet lamps 114 is the same as the number of light sensing elements 116. In some embodiments, the ultraviolet lamp 114 and the light sensing element 116 can be assembled on the outer surface of the upper side of the housing of the mobile device 111. The driving circuit 115 is assembled on the outer surface of the upper side of the housing or at a position near the top of the housing.

[0070] When the ultraviolet lamp 114 is driven to emit light, each light sensing element 116 generates a light sensing voltage value 211 of the corresponding ultraviolet lamp 114 by sensing the ultraviolet light emitted by the corresponding ultraviolet lamp 114, and provides the generated light sensing voltage value 211 to the control module 117. Here, the light sensing voltage value 211 can be regarded as the current irradiation intensity of the ultraviolet lamp 114, and can be used to evaluate the irradiation dose of the current disinfection operation. Further, the irradiation dose depends on the product of the irradiation intensity and irradiation time of each ultraviolet lamp 114 in the current disinfection operation.

[0071] Furthermore, the control module 117 obtains the light sensing voltage value 211 of the corresponding ultraviolet lamp 114 from the light sensing element 116. Then, the control module 117 generates a report information 220 according to the received light sensing voltage value 211, and outputs the report information 220 through the communication module 112. The report information 220 indicates the operating state of the ultraviolet lamp set 113. Specifically, the control module 117 can determine the operating state of the corresponding ultraviolet lamp 114 (for example, whether it is damaged or attenuated, etc.) according to the value of each light sensing voltage value 211 and generate the corresponding report information 220 accordingly. The communication module 112 can be a wired (or wireless) network element supporting the IEEE802.3 series, Bluetooth wireless communication (Bluetooth), or Zigbee wireless communication (Zigbee), etc.

[0072] The autonomous mobile robot 110 can be connected to the monitoring platform 120 via a wireless network. In some embodiments, the autonomous mobile robot 110 and the monitoring platform 120 can communicate with each other (or wirelessly connect) via wireless communication technologies such as Bluetooth, Ultra-wideband or ZigBee.

[0073] Here, after the control module 117 generates the report information 220 , the control module 117 can transmit the report information 220 to the monitoring platform 120 via the communication module 112 . In this way, the monitoring platform 120 can obtain and record the status information of the ultraviolet lamp assembly 113 according to the report information 220 .

[0074] Please refer to Figures 1 to 4 . In some embodiments, when the ultraviolet disinfection system 100 is to perform a disinfection operation, the control module 117 of the autonomous mobile robot 110 activates its mobile device 111 to enable the autonomous mobile robot 110 to move at a traveling speed (step S310). In addition, the control module 117 of the autonomous mobile robot 110 also activates the drive circuit 115 to drive the multiple ultraviolet lamps 114 of the autonomous mobile robot 110, so that each ultraviolet lamp 114 emits ultraviolet light (step S320). Here, during the operation of the autonomous mobile robot 110, the drive circuit 115 will continue to work, so that the autonomous mobile robot 110 will continue to emit ultraviolet light during the movement process, so as to perform ultraviolet disinfection on the surrounding environment on the travel path.

[0075] After driving the ultraviolet lamp 114 (step S320), each light sensing element 116 senses the ultraviolet light emitted by the corresponding ultraviolet lamp 114, converts the sensed ultraviolet light into a light sensing voltage value 211 corresponding to its irradiation intensity, and then outputs it to the control module 117, so that the control module 117 obtains the light sensing voltage value 211 of each ultraviolet lamp 114 (step S330).

[0076] After step S330, the control module 117 generates a report message 220 corresponding to the operation status of each UV lamp 114 according to the light sensing voltage value 211 of each UV lamp 114 (step S340). Then, the autonomous mobile robot 110 transmits the report message 220 to the monitoring platform 120 via the network 200 (step S350).

[0077] In some embodiments, after the monitoring platform 120 receives the report information 220 transmitted in step S350 , the monitoring platform 120 may generate an adjustment command 232 according to the received report information 220 , and send the adjustment command 232 back to the autonomous mobile robot 110 (step S360 ).

[0078] In some embodiments, steps S310-S320 may be executed in response to a start command 231. The start command 231 may be sent to the autonomous mobile robot 110 by the monitoring platform 120, or may be generated by a schedule set by the autonomous mobile robot 110, or may be generated by a user operating the user interface 118. In one example, the control module 117 of the autonomous mobile robot 110 may communicate with the monitoring platform 120 via the communication module 112 and receive the start command 231 from the monitoring platform 120. Then, the control module 117 activates the operation of the mobile device 111 and the ultraviolet light set 113 in response to the start command 231, so that the autonomous mobile robot 110 starts to move and emit ultraviolet light. In another example, the control module 117 of the autonomous mobile robot 110 may receive a start command 231 from the user interface 118 and start the operation of the mobile device 111 and the ultraviolet light set 113 in response to the start command 231, so that the autonomous mobile robot 110 starts to move and emits ultraviolet light. The user interface 118 may be implemented by a plurality of physical buttons, a touch panel, or a combination of a touch panel and at least one physical button. In another example, when the scheduled execution time of the disinfection operation is reached, the control module 117 of the autonomous mobile robot 110 executes the schedule and generates a start command 231, and starts the operation of the mobile device 111 and the ultraviolet light set 113 in response to the start command 231, so that the autonomous mobile robot 110 starts to move and emits ultraviolet light.

[0079] In some embodiments, the report information 220 includes an indication value 221 indicating the light source status of the ultraviolet lamp group 113. The indication value 221 includes a plurality of bits, and these bits correspond to the light sensing voltage values ​​211 of these ultraviolet lamp tubes 114, respectively. In step S340, the control module 117 determines the corresponding bit in the indication value 221 based on the light sensing voltage value 211 of each ultraviolet lamp tube 114. In some embodiments, the indication value 221 may be a binary bit combination. In other words, this bit combination is composed of a plurality of bits, and the content value of each bit is a binary value, i.e., 0 or 1. In other embodiments, the indication value 221 may be a decimal value further converted from the binary bit combination. In other words, the indication value 221 is a bit combination composed of a plurality of bits expressed in decimal.

[0080] In some embodiments of step S340, the control module 117 compares the light sensing voltage value 211 of each ultraviolet lamp 114 with the starting voltage value. If the light sensing voltage value 211 of the ultraviolet lamp 114 is greater than the starting voltage value, the control module 117 records the bit corresponding to the ultraviolet lamp 114 as the first value, that is, the content value of the bit is the first value. In other words, in step S330, the control module 117 reads the light sensing voltage value 211 generated by the light sensing element 116 in sequence, that is, the ultraviolet lamp 114 has a sequence in the order in which its light sensing voltage value 211 is obtained. At this time, in step S340, after comparison, the control module 117 determines that the light sensing voltage value 211 of the ultraviolet lamp 114 is greater than the starting voltage value, and then writes the first value into the corresponding position in the indication value 221 (that is, the order of the corresponding bit in the bit combination) according to the sequence obtained by the light sensing voltage value 211 of the ultraviolet lamp 114. On the contrary, if the light sensing voltage value 211 of the ultraviolet lamp 114 is less than or equal to the starting voltage value, the control module 117 records the bit corresponding to the ultraviolet lamp 114 as the second value. In other words, the control module 117 writes the second value into the corresponding position in the indication value 221 (i.e., the order of the corresponding bit in the bit combination) according to the sequence obtained from the light sensing voltage value 211 of the ultraviolet lamp 114.

[0081] In some embodiments, the control module 117 also records the light sensing voltage value 211 of each ultraviolet lamp 114 in the reporting information 220. In other words, the reporting information 220 further includes the recorded content of the light sensing voltage value 211 of each ultraviolet lamp 114.

[0082] In one embodiment, the starting voltage value may be the light sensing voltage value 211 when the ultraviolet lamp 114 does not emit light. In another embodiment, the starting voltage value is equivalent to the lower limit illumination of the ultraviolet lamp 114 at the illumination intensity that can be used for disinfection. In other words, the starting voltage value may be the light sensing voltage value 211 of the ultraviolet lamp 114 that emits light but whose illumination intensity cannot provide the expected illumination dose. Under normal circumstances, as long as an operable voltage is provided to the ultraviolet lamp 114, the ultraviolet lamp 114 can be enabled to emit light. However, when the light sensing voltage value 211 is less than the starting voltage value, the illumination dose provided by the illumination intensity of the ultraviolet lamp 114 still does not meet the minimum requirement for disinfection, that is, the product of the illumination intensity and the specified time is less than the expected illumination dose. Specifically, after the ultraviolet lamp 114 with a light sensing voltage value 211 less than the starting voltage value continues to irradiate for a specified time, the illumination dose applied to the irradiation target still cannot reach the predetermined illumination dose. Here, the autonomous mobile robot 110 may pre-set a corresponding starting voltage value according to the model of the ultraviolet lamp 114 used by the autonomous mobile robot 110 , so as to be used by the control module 117 to confirm the operating status of each ultraviolet lamp 114 .

[0083] For example, when the UV lamp 114 is damaged and cannot be enabled (i.e., it still does not emit light when powered), the light sensing voltage value 211 of the UV lamp 114 is "0 (mW / cm2)". The autonomous mobile robot 110 can accordingly set the starting voltage value to "0 (mW / cm 2 )". Therefore, after the ultraviolet lamp group 113 is enabled, if the light sensing voltage value 211 of any ultraviolet lamp tube 114 is not greater than the starting voltage value, the control module 117 will set the bit corresponding to this ultraviolet lamp tube 114 in the indication value 221 to "0" (i.e., the second value). Conversely, after the ultraviolet lamp group 113 is enabled, if the light sensing voltage value 211 of the ultraviolet lamp tube 114 is greater than the starting voltage value, it means that it can be enabled and emits light normally. At this time, the control module 117 will set the bit corresponding to this ultraviolet lamp tube 114 in the indication value 221 to "1" (i.e., the first value).

[0084] For example, refer to Figure 2 (or Figure 3 )and Figure 5 , assuming that the ultraviolet lamp group 113 has five ultraviolet lamp tubes 114a-114e, and five light sensing elements 116a-116e are arranged one by one around the ultraviolet lamp tubes 114a-114e. In addition, the light sensing voltage value 211 when the ultraviolet lamp tube 114 is not emitting light is "0 (mW / cm2)", so the starting voltage value is preset to "0".

[0085] In an example, after the ultraviolet lamp set 113 is enabled, the ultraviolet lamp tubes 114a, 114b, 114d, and 114e emit light, while the ultraviolet lamp tube 114c does not emit light. At this time, the light sensing voltage value 211a output by the light sensing element 116a is "a1", the light sensing voltage value 211b output by the light sensing element 116b is "a2", the light sensing voltage value 211c output by the light sensing element 116c is "0", the light sensing voltage value 211d output by the light sensing element 116d is "a4", and the light sensing voltage value 211e output by the light sensing element 116e is "a5". In addition, a1, a2, a4, and a5 are not 0. Furthermore, in step S340, the control module 117 compares the light sensing voltage values ​​211a~211e with "0" (i.e., the startup voltage value) respectively to obtain that the light sensing voltage values ​​211a, 211b, 211d, and 211e are greater than the startup voltage value and the light sensing voltage value 211c is equal to the startup voltage value, thereby generating a bit combination of "11011".

[0086] When the indication value 221 is expressed in binary, the control module 117 directly uses the generated byte as the indication value 221, and adds the indication value 221 of "11011" and the light sensing voltage values ​​211a-211e as "a1", "a2", 0, "a4" and "a5" respectively into the report information 220. When the indication value 221 is expressed in decimal, the control module 117 further converts the generated byte into a decimal value of "27" as the indication value 221, and adds the indication value 221 of "27" and the light sensing voltage values ​​211a-211e as "a1", "a2", 0, "a4" and "a5" respectively into the report information 220.

[0087] In another example, after the ultraviolet lamp group 113 is enabled, its ultraviolet lamp tubes 114a~114e do not emit light, and the light sensing voltage values ​​211a~211e of the ultraviolet lamp tubes 114a~114e obtained by the control module 117c are all "0", thereby generating a bit combination of "00000" (that is, a decimal value of "0").

[0088] In another example, after the ultraviolet lamp group 113 is enabled, its ultraviolet lamp tubes 114a~114e all emit light, and the light sensing voltage values ​​211a~211e of the ultraviolet lamp tubes 114a~114e obtained by the control module 117c are all greater than "0", thereby generating a bit combination of "11111" (or a decimal value of "31").

[0089] In some embodiments, after the monitoring platform 120 receives the report information 220 transmitted in step S350, the monitoring platform 120 also records the status information of the ultraviolet lamp set 113 according to the report information 220 (step S370). In other words, the monitoring platform 120 stores the status information of the autonomous mobile robot 110. After receiving the report information 220, the monitoring platform 120 analyzes the recorded content related to the status of the ultraviolet lamp set 113 in the report information 220 to determine the operating status that the ultraviolet lamp set 113 can provide and adds the determination result to the status information of the corresponding autonomous mobile robot 110.

[0090] In some embodiments, the status information of the UV lamp assembly 113 includes the status of each UV lamp tube 114 . Therefore, in step S370 , the monitoring platform 120 analyzes the reporting information 220 to obtain and record the status of each UV lamp tube 114 .

[0091] In some exemplary aspects of step S370 , the monitoring platform 120 obtains the light sensing voltage value 211 of each ultraviolet lamp 114 from the reporting information 220 , and determines whether the light sensing voltage value 211 meets the starting voltage value.

[0092] When the light sensing voltage value 211 of the ultraviolet lamp tube 114 is less than or equal to the starting voltage value, the monitoring platform 120 obtains and records the lamp state of the ultraviolet lamp tube 114 as a damaged lamp tube (no label). In one embodiment, the starting voltage value may be the light sensing voltage value 211 when the ultraviolet lamp tube 114 does not emit light. In another embodiment, the starting voltage value may be the light sensing voltage value 211 of the ultraviolet lamp tube 114 that emits light but whose irradiation intensity cannot provide the expected irradiation dose. In other words, under normal conditions, as long as an operable voltage is provided to the ultraviolet lamp tube 114, the ultraviolet lamp tube 114 can be enabled to emit light. However, when the light sensing voltage value 211 is less than the starting voltage value, the irradiation dose provided by the irradiation intensity of the ultraviolet lamp tube 114 still does not meet the minimum requirement for disinfection, that is, the product of the irradiation intensity and the specified time is less than the expected irradiation dose. In other words, the UV lamp 114 whose light sensing voltage value 211 is less than the starting voltage value still cannot reach the predetermined irradiation dose after irradiation for a specified time. Here, the monitoring platform 120 sets the corresponding starting voltage value according to the model of the UV lamp 114 used by the autonomous mobile robot 110, so as to confirm the lamp status of each UV lamp 114.

[0093] For example, refer to Figure 1 and Figure 6, taking three ultraviolet lamp tubes 114 as an example. The light sensing voltage values ​​211 of the three ultraviolet lamp tubes 114 correspond to the irradiation intensities E1, E2, and E3, respectively. Among them, the irradiation intensity E3 is greater than the irradiation intensity E2, and the irradiation intensity E2 is greater than the irradiation intensity E1. The irradiation dose Ith (i.e., the area enclosed by the irradiation intensity Eth and the time Tth, Ith=Eth*Tth) is the target amount to be achieved. Therefore, the irradiation intensity E3 requires the irradiation dose I3 provided by the irradiation time T1 (i.e., the area enclosed by the irradiation intensity E3 and the time T1, I3=E3*T1) to be equal to the irradiation dose Ith. The irradiation intensity E2 requires the irradiation dose I2 provided by the irradiation time T2 (i.e., the area enclosed by the irradiation intensity E2 and the time T2, I2=E2*T2) to be equal to the irradiation dose Ith. The irradiation intensity E1 requires the irradiation dose I1 provided by the irradiation time T3 (ie, the area enclosed by the irradiation intensity E1 and the time T3, I1 = E1 * T3) to be equal to the irradiation dose Ith. Among them, the time T1 is less than the time T2, and the time T2 is less than the time T3.

[0094] In other words, in order to reach the predetermined irradiation dose Ith, the irradiation time T3 of the ultraviolet lamp 114 with irradiation intensity E1 will exceed the specified time Tth, indicating that the irradiation dose I1 provided by the ultraviolet lamp 114 with irradiation intensity E1 within the specified time Tth cannot reach the predetermined irradiation dose Ith. Therefore, the light sensing voltage value Vth of the ultraviolet lamp 114 with irradiation intensity Eth is set as the starting voltage value (Vth) in advance. That is, by comparing the light sensing voltage values ​​V1 / V2 / V3 of each ultraviolet lamp 114 with the starting voltage value (Vth), it can be determined which ultraviolet lamp 114 is damaged, and then its lamp status is recorded as a damaged lamp. Specifically, if the light sensing voltage value V1 of the ultraviolet lamp 114 with irradiation intensity E1 is less than the starting voltage value (Vth), the monitoring platform 120 determines that the ultraviolet lamp 114 with irradiation intensity E1 is damaged and records its lamp status as a damaged lamp. Since the light sensing voltage values ​​V2 and V3 of the ultraviolet lamp tube 114 with the irradiation intensity E2 and E3 are greater than the starting voltage value (Vth), the monitoring platform 120 determines that the ultraviolet lamp tube 114 with the irradiation intensity E2 and E3 is not damaged.

[0095] In some exemplary embodiments of step S370, in addition to recording the corresponding lamp status of the damaged ultraviolet lamp 114, the monitoring platform 120 will also determine the ultraviolet lamp 114 whose light sensing voltage value 211 is greater than the starting voltage value (Vth) as not damaged and record the lamp status of the undamaged ultraviolet lamp 114 as a running lamp.

[0096] In some embodiments, after the monitoring platform 120 determines that the ultraviolet lamp group 113 of the autonomous mobile robot 110 has a damaged ultraviolet lamp tube 114, the monitoring platform 120 generates a notification message for notifying that the damaged lamp tube has appeared. Then, the monitoring platform 120 sends the generated notification message to a designated client, thereby generating information on the client that the autonomous mobile robot 110 has a damaged ultraviolet lamp tube 114 to inform the user.

[0097] In some exemplary embodiments of step S370, in addition to determining whether the startup voltage value is met to find the damaged UV lamp 114 (i.e., its lamp status is a damaged lamp), the monitoring platform 120 determines whether the normal voltage value is met to find the attenuated UV lamp 114 (i.e., its lamp status is an attenuated lamp). After the UV lamp 114 begins to be used, its irradiation intensity will decay with the use time. Figure 1 and Figure 7 When the irradiation intensity is greater than or equal to a critical value, the ultraviolet lamp tube 114 can reach the target irradiation dose within the ideal time, that is, Ei≧Enm, Ti≦Tnm, and Ii≧Inm. Wherein, i is a positive integer. Similarly, when the irradiation intensity is less than this critical value, the ultraviolet lamp tube 114 will not be able to reach the target irradiation dose within the ideal time, that is, Ei<Enm, Ti≦Tnm, and Ii<Inm. The light sensing voltage value 211 of the ultraviolet lamp tube 114 with the critical value of irradiation intensity Enm can be set to the normal voltage value Vnm. Wherein, the normal voltage value Vnm is greater than the starting voltage value Vth.

[0098] Specifically, after the monitoring platform 120 obtains the light sensing voltage value 211 of each ultraviolet lamp 114 from the feedback information 220, it will compare the light sensing voltage value 211 of each ultraviolet lamp 114 with the starting voltage value Vth and the normal voltage value Vnm. Then, the monitoring platform 120 determines that the ultraviolet lamp 114 whose light sensing voltage value 211 is less than or equal to the starting voltage value Vth is damaged and records the lamp status of this ultraviolet lamp 114 as a damaged lamp. In addition, the monitoring platform 120 also determines that the ultraviolet lamp 114 whose light sensing voltage value 211 is greater than the starting voltage value Vth and less than the normal voltage value Vnm is attenuated and records the lamp status of this ultraviolet lamp 114 as an attenuated lamp. Based on this, the monitoring platform 120 can learn and record the abnormal UV lamps 114 of the autonomous mobile robot 110 and the abnormality through the reporting information 220, and then provide users with inquiries to perform corresponding maintenance on the autonomous mobile robot 110 to eliminate the abnormality.

[0099] In some exemplary embodiments of step S370, in addition to recording the corresponding lamp status of the abnormal (i.e., damaged or attenuated) ultraviolet lamp tube 114, the monitoring platform 120 will also determine the ultraviolet lamp tube 114 whose light sensing voltage value 211 is greater than or equal to the normal voltage value Vnm as normal and record the lamp status of the normal ultraviolet lamp tube 114 as a normal lamp tube.

[0100] In some exemplary aspects of step S370, after the monitoring platform 120 determines that the ultraviolet lamp 114 of the ultraviolet lamp group 113 of the autonomous mobile robot 110 has a weakened ultraviolet lamp tube 114, the monitoring platform 120 generates and sends an adjustment command 232 corresponding to the light sensing voltage value 211 of the ultraviolet lamp tube 114 to the autonomous mobile robot 110. At this time, the control module 117 of the autonomous mobile robot 110 can receive the adjustment command 232 from the monitoring platform 120 via the communication module 112, and control the mobile device 111 to reduce the travel speed according to the adjustment command 232.

[0101] In some embodiments, the monitoring platform 120 can convert the total irradiation intensity that the ultraviolet lamp group 113 can currently provide according to the light sensing voltage value 211 of the attenuated ultraviolet lamp tube 114 and the light sensing voltage value 211 of the normal ultraviolet lamp tube 114, and calculate the required minimum irradiation time according to the total irradiation intensity and the predetermined irradiation dose (i.e., the target dose). Then, the monitoring platform 120 generates a new travel speed according to the obtained minimum irradiation time, and generates an adjustment command 232 according to the new travel speed.

[0102] Therefore, the control module 117 of the autonomous mobile robot 110 can update the travel speed of the mobile device 111 to the new travel speed indicated by the adjustment command 232 according to the adjustment command 232, so that the mobile device 111 moves at the updated travel speed. In some embodiments, the monitoring platform 120 can be preset with a unit distance corresponding to the autonomous mobile robot 110. In the process of the autonomous mobile robot 110 moving a unit distance, the ultraviolet light emitted by the autonomous mobile robot 110 can continue to irradiate the same target point. Therefore, the monitoring platform 120 can calculate the threshold value of the travel speed based on the minimum irradiation time and the unit distance, and generate a new travel speed based on the allowable range of the travel speed of the autonomous mobile robot 110 and the threshold value. That is, the new travel speed is less than or equal to the threshold value and falls within the allowable range.

[0103] In some exemplary aspects of step S370, after the monitoring platform 120 determines that the ultraviolet lamp 114 of the ultraviolet lamp group 113 of the autonomous mobile robot 110 has a decayed ultraviolet lamp, the monitoring platform 120 will also generate a notification message for notifying the occurrence of the decayed lamp. Then, the monitoring platform 120 will send the generated notification message to the designated client, so as to generate information on the client that the ultraviolet lamp 114 of the autonomous mobile robot 110 has a decayed ultraviolet lamp to inform the user.

[0104] In some embodiments, the status information of the UV lamp set 113 may further include the usage time of each UV lamp tube 114 . After the monitoring platform 120 receives the report information 220 transmitted in step S350 , the monitoring platform 120 may also accumulate the usage time of each UV lamp tube 114 according to the report information 220 .

[0105] In some embodiments, the monitoring platform 120 particularly accumulates the usage time of the ultraviolet lamp 114 when the light sensing voltage value 211 is not less than the starting voltage value Vth. For example, the monitoring platform 120 calculates a time difference between the time when the report information 220 is obtained this time and the time when the report information 220 is obtained last time, and then calculates the sum of the usage time of the undamaged ultraviolet lamp 114 in the stored status information of the ultraviolet lamp group 113 and the time difference to obtain the update time of the undamaged ultraviolet lamp 114, and updates the usage time of the corresponding ultraviolet lamp 114 in the stored status information of the ultraviolet lamp group 113 with the update time of the undamaged ultraviolet lamp 114.

[0106] In some embodiments, the status information of the ultraviolet lamp assembly 113 may further include the light sensing voltage value 211 of each ultraviolet lamp tube 114 in each received report information 220. In other words, after the monitoring platform 120 receives the report information 220 transmitted in step S350, the monitoring platform 120 may obtain the light sensing voltage value 211 of each ultraviolet lamp tube 114 from the report information 220, and record the light sensing voltage value 211 of each ultraviolet lamp tube 114 in the stored status information of the ultraviolet lamp assembly 113 corresponding to the time when the report information 220 is received.

[0107] In some embodiments, the status information of the ultraviolet lamp group 113 may further include an average voltage value of all light-sensing voltage values ​​211 of each ultraviolet lamp tube 114 recorded in each time period. In other words, the monitoring platform 120 periodically receives the report information 220 (i.e., the report information 220 transmitted in step S350) from the autonomous mobile robot 110 and records the light-sensing voltage value 211 of each ultraviolet lamp tube 114 therein in the status information of the ultraviolet lamp group 113. Then, after each time period, the monitoring platform 120 also calculates and records the average voltage value of all light-sensing voltage values ​​211 of each ultraviolet lamp tube 114 recorded in this time period. The time period experienced each time may be of the same duration or of a random duration. In other words, the monitoring platform 120 periodically calculates the average voltage of each ultraviolet lamp tube 114 recorded in the time period. In some embodiments, the monitoring platform 120 can provide the average voltage value of each ultraviolet lamp 114 recorded at different times to the client, so that the user can determine whether the ultraviolet lamp group 113 has decayed. When the average voltage value is abnormal, it can be considered that any ultraviolet lamp 114 in the ultraviolet lamp group 113 has decayed or cannot emit light.

[0108] In some embodiments, the time period may be a day, a week, a month, a season, or a year as the duration of the average voltage value of each UV lamp 114 .

[0109] In some embodiments, reference Figure 1 and Figure 8, the ultraviolet lamp assembly 113 may further include a plurality of light shields 119. The light shields 119 correspond to the ultraviolet lamp tubes 114 one-to-one, that is, the number of the light shields 119 is equal to the number of the ultraviolet lamp tubes 114. Each light shield 119 is disposed at one end of the corresponding ultraviolet lamp tube 114, and the light sensing element 116 is located between the corresponding light shield 119 and the corresponding ultraviolet lamp tube 114. Here, each light shield 119 is located at the peripheral position of one end of the corresponding ultraviolet lamp tube 114, its edge is in contact with the ultraviolet lamp tube 114, and the middle section of its cover body is at a predetermined distance from the corresponding ultraviolet lamp tube 114, so that an accommodation space is sandwiched between each light shield 119 and the corresponding ultraviolet lamp tube 114. The corresponding light sensing element 116 is disposed in this accommodation space. Here, the light shield 119 is used to shield the ambient light (e.g., the ultraviolet light of the adjacent ultraviolet light tube 114) to prevent the ambient light from interfering with the corresponding light sensing element 116. For example, the light shield 119 can prevent the ultraviolet light projected by the adjacent ultraviolet light tube 114 from affecting the detection accuracy of the corresponding light sensing element 116 generating the light sensing voltage value 211 of the corresponding ultraviolet light tube 114. In other words, each light sensing element 116 senses the ultraviolet light emitted from one end of the corresponding ultraviolet light tube 114 while shielding the ambient light, and accordingly generates the light sensing voltage value 211 of the ultraviolet light tube 114.

[0110] In some embodiments, the autonomous mobile robot 110 can be controlled by the monitoring platform 120 to stop its timing. Specifically, when the autonomous mobile robot 110 is to stop the disinfection operation, the monitoring platform 120 can generate and send a stop command 233 to the autonomous mobile robot 110. After the autonomous mobile robot 110 receives the stop command 233 from the monitoring platform 120, the autonomous mobile robot 110 will respond to the stop command 233 to stop driving the ultraviolet lamp group 113 to emit light (i.e., disable the driving circuit 115 of the ultraviolet lamp group 113) or / and stop the operation of the mobile device 111 (i.e., disable the driver of the mobile device 111). At the same time, the autonomous mobile robot 110 encapsulates each light sensing voltage value 211 of the ultraviolet lamp group 113 as a report information 220. Since the ultraviolet lamp group 113 does not emit light, its bit combination is "00000". The autonomous mobile robot 110 sends the reporting information 220 to the monitoring platform 120 , so that the monitoring platform 120 stops counting the usage time of each ultraviolet lamp 114 .

[0111] In summary, the ultraviolet disinfection system 100 and the monitoring method thereof of any embodiment are suitable for monitoring the autonomous mobile robot 110 to realize the disinfection operation when no one is on duty, and can also synchronously confirm the operating status of the ultraviolet lamp tube 114 of the autonomous mobile robot 110 each time the disinfection operation is performed, and then provide corresponding processing in time to ensure the implementation effect of the disinfection operation. In some embodiments, the ultraviolet disinfection system 100 or the monitoring method of ultraviolet disinfection also uses an indication value 221 to represent the operating status of each ultraviolet lamp tube 114, so as to quickly identify whether there is an abnormality (e.g., attenuated or damaged) in the ultraviolet lamp group 113. In some embodiments, when any ultraviolet lamp 114 of the autonomous mobile robot 110 is abnormal, the ultraviolet disinfection system 100 or the monitoring method of ultraviolet disinfection can also generate corresponding notification information and / or adjust the travel speed of the autonomous mobile robot 110 accordingly, so as to ensure that the autonomous mobile robot 110 can provide a predetermined irradiation dose, thereby ensuring that the disinfection operation can effectively eliminate the source of the disease. In some embodiments, the ultraviolet disinfection system 100 or the monitoring method of ultraviolet disinfection further uses a light shield 119 to isolate the light source (i.e., ambient light) outside the corresponding ultraviolet lamp 114, so as to prevent the corresponding light sensing element 116 from being interfered by the light source outside the corresponding ultraviolet lamp 114, thereby avoiding misjudgment of the operating state of the ultraviolet lamp 114.

Claims

1. A cleaning system with ultraviolet light, used to record an operating state of an autonomous mobile robot during ultraviolet light cleaning, the cleaning system comprising: a communication module; An ultraviolet lamp assembly, the ultraviolet lamp assembly is used to emit ultraviolet light; At least one light sensing element, the light sensing element is located around the ultraviolet lamp group, and the light sensing element is used to generate a light sensing voltage value corresponding to the ultraviolet lamp group; as well as A control module is arranged on the autonomous mobile robot. The control module is connected to the communication module and the light sensing element to generate a feedback information according to the light sensing voltage value of the light sensing element and output the feedback information through the communication module, wherein the feedback information represents the operating status of the ultraviolet lamp groups.

2. The disinfection system with ultraviolet light as described in claim 1, wherein the ultraviolet lamp group includes a plurality of ultraviolet lamp tubes and a driving circuit, each of the ultraviolet lamp tubes is used to emit the ultraviolet light, the driving circuit connects the plurality of ultraviolet lamp tubes and the control module, the control module drives the plurality of ultraviolet lamp tubes through the driving circuit, and each of the light sensing elements is located around the corresponding ultraviolet lamp tube.

3. The disinfection system with ultraviolet light as described in claim 2, wherein the reporting information includes an indication value representing the light source status of the ultraviolet lamp group and the record content of the light sensing voltage value of each of the ultraviolet lamp tubes.

4. The disinfection system with ultraviolet light as described in claim 3, wherein the indication value includes a plurality of bits, each corresponding to the light sensing voltage values ​​of the plurality of ultraviolet lamps, wherein the control module determines the corresponding bit in the indication value based on the magnitude of the light sensing voltage value of each of the ultraviolet lamps.

5. The UV-light cleaning system as claimed in claim 2, wherein the UV light assembly further comprises: A plurality of light shields respectively correspond to the light sensing elements and are respectively located at one end of the plurality of ultraviolet lamp tubes, wherein each of the light sensing elements is located at the end of the corresponding ultraviolet lamp tube and between the corresponding light shield and the corresponding ultraviolet lamp tube.

6. The UV light disinfection system as claimed in claim 2, wherein the communication module signal is connected to a monitoring platform, and the monitoring platform receives the reporting information and records a status information of the UV light assembly according to the reporting information.

7. The disinfection system with ultraviolet light as described in claim 6, wherein the status information includes a lamp status of each ultraviolet lamp, and the monitoring platform records the lamp status of the ultraviolet lamp whose corresponding light sensing voltage value is less than or equal to a starting voltage value as a damaged lamp according to the reporting information.

8. A disinfection system with ultraviolet light as described in claim 7, wherein the monitoring platform records the lamp status of the ultraviolet lamp whose corresponding light sensing voltage value is greater than the starting voltage value and less than a normal voltage value as an attenuated lamp according to the feedback information, and generates and sends an adjustment command corresponding to the light sensing voltage values ​​of the multiple ultraviolet lamps to the autonomous mobile robot, and the control module receives the adjustment command via the communication module and controls the ultraviolet autonomous mobile robot to reduce a travel speed according to the adjustment command.

9. The disinfection system with ultraviolet light as described in claim 7, wherein the status information further includes a usage time of each ultraviolet lamp, and the monitoring platform accumulates the usage time of the ultraviolet lamp whose corresponding light sensing voltage value is not less than the starting voltage value according to the reporting information.

10. The UV light cleaning system as claimed in claim 6, wherein the status information further includes the light sensing voltage value of each UV lamp in the report information received each time, and the monitoring platform further records the light sensing voltage value of each UV lamp according to the report information, and the monitoring platform records an average voltage value of each UV lamp within a time period, wherein, The monitoring platform obtains the average voltage value according to the multiple light-induced voltage values ​​of each ultraviolet lamp tube, and the monitoring platform periodically records the average voltage of each time period.

11. A method for monitoring ultraviolet light elimination, comprising: enabling an autonomous mobile robot to move at a linear velocity; A plurality of ultraviolet lamp tubes driving the autonomous mobile robot emit ultraviolet light; Obtaining a light sensing voltage value of each of the ultraviolet lamps; Generate a feedback message based on the light sensing voltage value of each ultraviolet lamp; as well as The autonomous mobile robot transmits the reporting information to a monitoring platform via a network.

12. The monitoring method of ultraviolet light elimination as claimed in claim 11, wherein the reporting information includes an indication value, the indication value represents a light source condition of the ultraviolet lamps and has a plurality of bits, the plurality of bits respectively correspond to the plurality of light sensing voltage values ​​of the plurality of ultraviolet lamps, and the step of generating the reporting information based on the plurality of light sensing voltage values ​​of each of the ultraviolet lamps comprises: Determining whether the light sensing voltage value of each ultraviolet lamp is greater than a starting voltage value; Recording the bit corresponding to the light sensing voltage value greater than the start-up voltage value in the indication value as a first value; Recording the bit corresponding to the light sensing voltage value that is not greater than the start-up voltage value in the indication value as a second value, wherein the first value is different from the second value; and The indicated value and the light sensing voltage values ​​of the plurality of ultraviolet lamps are recorded in the reporting information.

13. The ultraviolet light cleaning monitoring method as claimed in claim 11, wherein the step of obtaining the light sensing voltage value of each ultraviolet lamp comprises: The ultraviolet light emitted from one end of each ultraviolet lamp is sensed under the condition of shielding the ambient light to generate the light sensing voltage value accordingly.

14. The ultraviolet light cleaning monitoring method of claim 11, further comprising: Receiving an adjustment command from the monitoring platform, wherein the adjustment command is related to at least one light sensing voltage value of the plurality of light sensing voltage values ​​of the ultraviolet lamp tubes that is less than a normal voltage value; as well as In response to the adjustment command, the traveling speed of the autonomous mobile robot is reduced.

15. The ultraviolet light cleaning monitoring method of claim 11, further comprising: The monitoring platform analyzes the reporting information to obtain and record status information of each of the ultraviolet lamps.

16. The ultraviolet light cleaning monitoring method of claim 15, wherein the status information includes a lamp status of each of the ultraviolet lamps, and the step of analyzing the reporting information by the monitoring platform to obtain and record the status information of each of the ultraviolet lamps comprises: Determining whether the light sensing voltage value of each ultraviolet lamp is greater than a starting voltage value; as well as The lamp state of the ultraviolet lamp whose corresponding light sensing voltage value is less than or equal to the starting voltage value is a damaged lamp.

17. The ultraviolet light cleaning monitoring method of claim 16, further comprising: A notification message is generated to notify that the damaged lamp tube has appeared.

18. The ultraviolet light cleaning monitoring method as claimed in claim 16, wherein the step of analyzing the reporting information by the monitoring platform to obtain and record the status information of each ultraviolet lamp further comprises: Determining whether the light sensing voltage value of each ultraviolet lamp is less than a normal voltage value; Recording that the corresponding light sensing voltage value of the ultraviolet lamp is greater than the starting voltage value and less than the normal voltage value, the lamp state of the lamp is an attenuated lamp; Generating an adjustment command according to the light sensing voltage values ​​of the plurality of ultraviolet lamp tubes; The monitoring platform transmits the adjustment command to the autonomous mobile robot; as well as In response to the adjustment command, the traveling speed of the autonomous mobile robot is reduced.

19. The ultraviolet light cleaning monitoring method of claim 18, further comprising: A notification message is generated to notify that the decayed lamp tube exists.

20. The ultraviolet light cleaning monitoring method of claim 11, further comprising: The autonomous mobile robot receives a start-up command from the monitoring platform, wherein the step of enabling the autonomous mobile robot to move at the travel speed and the step of driving the multiple ultraviolet lamps of the autonomous mobile robot to emit the ultraviolet light are executed in response to the start-up command.

21. The ultraviolet light cleaning monitoring method of claim 20, further comprising: The autonomous mobile robot receives a stop command from the monitoring platform; as well as In response to the stop command, the driving of the plurality of ultraviolet lamp tubes is stopped.

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