Robotic disinfection apparatus, disinfection robot, and control system

Abstract

Embodiments relate to a robotic disinfection apparatus (10), and to a control system (120) for a disinfection robot (1). In some embodiments, disinfection tools (200, 300, 400) with germicidal light sources (202) are connected to separately-controlled manipulators (110), at least one of which has more than one degree of freedom of articulation relative to a carriage (106) of the robotic disinfection apparatus (10). In some embodiments, a tool-switching operation is possible. In some embodiments, the control system (120) predicts (1314) shadowed areas within a model of an external environment (2). In some embodiments, a tool plan determines which tool size is to be used to disinfect which locations in an external environment (2). In some embodiments, the control system (120) determines which one of a plurality of groups one or more recognized objects (3) belong to. In some examples, a germicidal light source (202) has an adjustable irradiation range.

Description

[0001] ROBOTIC DISINFECTION APPARATUS, DISINFECTION ROBOT, AND CONTROL SYSTEM

[0002] TECHNOLOGICAL FIELD

[0003] Embodiments of the present invention relate to a robotic disinfection apparatus, a disinfection robot, and a control system. In particular, but not exclusively, they relate to a robotic disinfection apparatus, a disinfection robot, a system, a method, and a computer program.

[0004] BACKGROUND

[0005] The disinfection of rooms such as bedrooms, kitchens, bathrooms, offices, classrooms, hospital wards etc., has traditionally been a manual task. In recent times, disinfection robots have been developed to carry out disinfection tasks. However, it is challenging to design a disinfection robot without compromises relating to effectiveness, room coverage, speed, ability to work in unfamiliar environments, and energy consumption, among other things.

[0006] BRIEF SUMMARY

[0007] According to various, but not necessarily all examples of the disclosure, there is provided a robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a plurality of manipulators supported by the carriage, at least one of which has more than one degree of freedom of articulation relative to the carriage, wherein each manipulator is operable to manipulate a respective tool of a plurality of tools; a control system configured to control the mobility apparatus and the manipulators autonomously in dependence on the sensor data, wherein the control system is configured to control the manipulators separately from each other; a first disinfection tool of the plurality of tools, connected or connectable to one of the plurality of manipulators, the first disinfection tool comprising a first germicidal light source; and a second disinfection tool of the plurality of tools, connected or connectable to another of the plurality of manipulators, the second disinfection tool comprising a second germicidal light source.

[0008] An advantage is optimisation of the effectiveness, speed, room coverage, and energy consumption of the apparatus. For example, less bulk motion of the mobility apparatus is required to achieve a high room coverage. Further, hard-to-reach areas may be disinfectable via the additional degrees of freedom of the manipulators).

[0009] The first germicidal light source and / or the second germicidal light source may comprise an ultraviolet light source operable to perform ultraviolet germicidal irradiation of the external environment. One of the germicidal light sources may have a different germicidal capability relative to the other of the germicidal light sources. The different germicidal capability may comprise a different irradiation range. The different irradiation range may comprise one of the germicidal light sources being different in area relative to the other of the germicidal light sources. One of the disinfection tools may be different in size, by volume, than the other of the disinfection tools. The different irradiation range may comprise ultraviolet lamps of one of the germicidal light sources simultaneously facing in a different number of directions relative to a number of directions faced by ultraviolet lamps of the other of the germicidal light sources.

[0010] Alternatively, or additionally, one of or each of the first and second germicidal light sources may have an adjustable germicidal capability. The first and second germicidal light sources may each have the adjustable germicidal capability, separately adjustable relative to each other. The adjustable germicidal capability may comprise an adjustable irradiation range. The adjustable irradiation range may comprise one of the germicidal light sources being extendable in a dimension.

[0011] The adjustable irradiation range may comprise the respective disinfection tool being controllable to relatively move subsets of ultraviolet lamps between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second different number of directions. The second different number of directions may enable simultaneous disinfection of a top and a side of an object.

[0012] Each manipulator may have more than one degree of freedom of articulation relative to the carriage. The control system may be configured to control the manipulators to move the first and second disinfection tools in different planes and / or to rotate at least one of the first and second disinfection tools relative to the other. At least one, or both, of the plurality of manipulators may be operable to control at least rotation, and horizontal translation of the respective tool. The robotic disinfection apparatus may comprise means for controlling vertical translation of the respective tool.

[0013] A number of the plurality of tools may be greater than a number of the plurality of manipulators. A first one of the plurality of manipulators may comprise an attachment-detachment mechanism to enable a tool switching operation. The attachment-detachment mechanism may be controllable by the control system to enable an autonomous tool switching operation. The control system may be configured to initiate the autonomous tool switching operation in dependence on the sensor data.

[0014] The robotic disinfection apparatus may comprise a first tool carrier supported by the carriage, to hold a stored tool of the plurality of tools, and wherein the control system is configured to control the first manipulator and the attachment-detachment mechanism to autonomously attach the stored tool from the first tool carrier. The robotic disinfection apparatus may comprise a plurality of tool carriers including the first tool carrier, wherein different ones of the plurality of tool carriers are reachable by different ones of the plurality of manipulators. Each of the manipulators may comprise an attachment-detachment mechanism enabling tool switching. One or more of the plurality of tools may be compatible with each of the attachment-detachment mechanisms.

[0015] The plurality of tools may include a third disinfection tool having a third germicidal light source having a different germicidal capability than one of the first and second germicidal light sources. The plurality of tools may include a fourth disinfection tool having a fourth germicidal light source having a different germicidal capability than a pair of the first to third germicidal light sources. A first pair of the first to fourth disinfection tools may have a same germicidal capability as each other. A second different pair of the first to fourth disinfection tools may have a same germicidal capability as each other.

[0016] The plurality of tools may include a shielding tool comprising a shield to block part of a disinfection tool’s irradiation range.

[0017] The sensor apparatus may comprise a manipulatable sensor supported by or attachable to one of the plurality of manipulators, to detect the external environment and provide at least part of the sensor data.

[0018] The robotic disinfection apparatus may comprise an ultraviolet torch, and wherein the manipulatable sensor has a sensitivity range capable of detecting fluorescence and / or reflectance of material within a beam of the ultraviolet torch.

[0019] The control system may be configured to: control the mobility apparatus and the one of the manipulators autonomously to move the manipulatable sensor within the external environment while obtaining the at least part of the sensor data from the manipulatable sensor; determine a model of the external environment in dependence on the sensor data; and control the mobility apparatus and the plurality of manipulators autonomously, in dependence on the model, to move within the external environment while at least one of the plurality of manipulators is operable to manipulate a respective disinfection tool of the plurality of tools.

[0020] Controlling the plurality of manipulators autonomously in dependence on the model may cause manipulation of the first and second disinfection tools.

[0021] The respective disinfection tool may have an adjustable irradiation range, and wherein controlling the plurality of manipulators autonomously in dependence on the model comprises changing the adjustable irradiation range of the respective disinfection tool.

[0022] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the robotic disinfection apparatus. According to various, but not necessarily all examples of the disclosure, there is provided a system comprising a plurality of disinfection robots, wherein each disinfection robot comprises a communication module, wherein the disinfection robots are configured to be networked via the communication modules, wherein a control system of at least one of the plurality of disinfection robots is configured to prepare a collaborative navigation plan in dependence on sensor data, wherein the sensor data includes information from sensors of different ones of the plurality of disinfection robots.

[0023] According to various, but not necessarily all examples of the disclosure, there is provided a robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a plurality of manipulators supported by the carriage, each operable to manipulate a respective tool of a plurality of tools, the plurality of tools including a disinfection tool, wherein the disinfection tool comprises a germicidal light source; and a control system configured to control the mobility apparatus and the manipulators autonomously in dependence on the sensor data, wherein a first one of the manipulators has more than one degree of freedom of articulation relative to the carriage and comprises a first attachment-detachment mechanism enabling a tool switching operation.

[0024] A second one of the manipulators may have more than one degree of freedom of articulation relative to the carriage and comprises a second attachment-detachment mechanism enabling a tool switching operation. One or more of the plurality of tools may be compatible with each of the first and second attachmentdetachment mechanisms.

[0025] The robotic disinfection apparatus may comprise a first tool carrier supported by the carriage, to hold a stored tool of the plurality of tools, and wherein the control system is configured to control the first attachment-detachment mechanism to autonomously attach the stored tool from the first tool carrier. The robotic disinfection apparatus may comprise a plurality of tool carriers including the first tool carrier, wherein different ones of the plurality of tool carriers are reachable by different ones of the plurality of manipulators.

[0026] The control system may be configured to control the plurality of manipulators to move the respective tools in different planes and / or rotate at least one of the respective tools relative to the other of the respective tools. At least one, or both, of the plurality of manipulators may be operable to control at least rotation, and horizontal translation of the respective tool.

[0027] The first attachment-detachment mechanism may be controllable by the control system to enable the tool switching operation to be an autonomous tool switching operation, and wherein the control system is configured to initiate the autonomous tool switching operation in dependence on the sensor data. The plurality of tools may include tools having different capabilities than each other. The plurality of tools may include a plurality of disinfection tools including the disinfection tool.

[0028] The plurality of disinfection tools may include a first disinfection tool comprising a first germicidal light source, and a second disinfection tool comprising a second germicidal light source. One of or each of the first and second germicidal light sources may have an adjustable germicidal capability. Alternatively, or additionally, one of the germicidal light sources may have a different germicidal capability relative to the other of the germicidal light sources.

[0029] The control system may be configured to determine which one of the plurality of disinfection tools to attach to the first attachment-detachment mechanism of the first manipulator, in dependence on the sensor data.

[0030] The different or adjustable germicidal capability may comprise an irradiation range. If different, the different irradiation range may comprise one of the germicidal light sources being different in area relative to the other of the germicidal light sources. One of the disinfection tools may be different in size, by volume, than the other of the disinfection tools.

[0031] The different or adjustable irradiation range may comprise a number of directions faced by ultraviolet lamps of one of the germicidal light sources relative to a number of directions faced by ultraviolet lamps of the other of the germicidal light sources. The different or adjustable number of directions may enable simultaneous disinfection of a top and a side of an object.

[0032] The plurality of tools may include a third disinfection tool having a third germicidal light source having a different germicidal capability than one of the first and second germicidal light sources. The plurality of tools may include a fourth disinfection tool having a fourth germicidal light source having a different germicidal capability than a pair of the first to third germicidal light sources. The plurality of tools may include a shielding tool comprising a shield to block part of a disinfection tool’s irradiation range. The sensor apparatus may comprise a manipulatable sensor supported by or attachable to one of the plurality of manipulators, to detect the external environment and provide at least part of the sensor data.

[0033] The robotic disinfection apparatus may comprise an ultraviolet torch, and wherein the manipulatable sensor has a sensitivity range capable of detecting fluorescence and / or reflectance of material within a beam of the ultraviolet torch.

[0034] The control system may be configured to: control the mobility apparatus and the one of the manipulators autonomously to move the manipulatable sensor within the external environment while obtaining the at least part of the sensor data from the manipulatable sensor; determine a model of the external environment in dependence on the sensor data; and control the mobility apparatus and the plurality of manipulators autonomously, in dependence on the model, to move within the external environment while at least one of the plurality of manipulators is operable to manipulate a respective disinfection tool of the plurality of tools.

[0035] Controlling the plurality of manipulators autonomously in dependence on the model may cause manipulation of separate disinfection tools of the plurality of tools.

[0036] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the robotic disinfection apparatus.

[0037] According to various, but not necessarily all examples of the disclosure, there is provided a system comprising a plurality of disinfection robots, wherein each disinfection robot comprises a communication module, wherein the disinfection robots are configured to be networked via the communication modules, wherein a control system of at least one of the plurality of disinfection robots is configured to prepare a collaborative navigation plan in dependence on sensor data, wherein the sensor data includes information from sensors of different ones of the plurality of disinfection robots.

[0038] According to various, but not necessarily all examples of the disclosure, there is provided a control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the control system is configured to: control a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determine a model of the external environment in dependence on the data; predict shadowed areas within the model, in dependence on the data; and control the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment.

[0039] According to various, but not necessarily all examples of the disclosure, the control system comprises at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the control system at least to perform the above operations.

[0040] The control system may be configured to: determine whether a coverage condition is satisfied, in dependence on the predicted shadowed areas; in dependence on satisfaction of the coverage condition, initiate execution of a disinfection plan based on the data, to control movement of the mobility apparatus and of at least one of the manipulators to which the first disinfection tool is attached; and in dependence on non-satisfaction of the coverage condition, control the first manipulator to move the manipulatable sensor to a new position in the external environment.

[0041] Predicting shadowed areas within the model may be dependent on a ray tracing method.

[0042] The control system may be configured to determine and execute a required germicidal light dosage exposure, in dependence on the predicted shadowed areas of the model.

[0043] The control system may be configured to predict a likelihood of pathogens within the predicted shadowed areas, wherein the required dosage exposure is dependent on the predicted likelihood of pathogens within the predicted shadowed areas, wherein predicting the likelihood of pathogens is dependent on object recognition.

[0044] The control system may be configured to: determine an obstruction within the model; and determine whether to control the first manipulator to move the manipulatable sensor over a top of the detected obstruction, in dependence on the predicted shadowed areas and on the detected obstruction.

[0045] The control system may be configured to: control the first manipulator to move the manipulatable sensor over a top of the detected obstruction to position the manipulatable sensor directly above the detected obstruction, and obtain further data from the manipulatable sensor indicative of a top plane of the detected obstruction.

[0046] The control system may be configured to: additionally determine whether to control the first manipulator to move the manipulatable sensor to the rear of the detected obstruction, in dependence on the further data indicative of the top plane of the detected obstruction.

[0047] The control system may be configured to: in dependence on the additional determination, control the first manipulator to move the manipulatable sensor over the detected obstruction to the rear of the detected obstruction, and obtain additional data from the manipulatable sensor indicative of a rear plane of the detected obstruction.

[0048] The first disinfection tool may comprise a germicidal light source having an adjustable germicidal capability. The adjustable germicidal capability may comprise an adjustable irradiation range. The adjustable irradiation range may comprise the germicidal light source being extendable in a dimension. The adjustable irradiation range may comprise the first disinfection tool being controllable to relatively move subsets of ultraviolet lamps of the germicidal light source between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second different number of directions. The second different number of directions may enable simultaneous disinfection of a top and a side of an object.

[0049] The one or more manipulators of the disinfection robot may further comprise a second manipulator, wherein the disinfection robot further comprises a second disinfection tool, and wherein the control system is configured to control the mobility apparatus and the first and second manipulators autonomously, in dependence on the model, to move the first and second disinfection tools within the external environment.

[0050] One of the first and second disinfection tools may have a different germicidal capability than the other of the first and second disinfection tools. The different germicidal capability may comprise a different irradiation range of a germicidal light source of the respective disinfection tool.

[0051] The different irradiation range may comprise one of the germicidal light sources being different in area relative to the other of the germicidal light sources. One of the disinfection tools may be different in size, by volume, than the other of the disinfection tools. The different irradiation range may comprise ultraviolet lamps of one of the germicidal light sources simultaneously facing in a different number of directions relative to a number of directions faced by ultraviolet lamps of the other of the germicidal light sources.

[0052] The control system may be configured to control disinfection tool selection in dependence on the data.

[0053] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the control system.

[0054] According to various, but not necessarily all examples of the disclosure, there is provided a method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the method comprises: controlling a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determining a model of the external environment in dependence on the data; predicting shadowed areas within the model, in dependence on the data; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment. According to various, but not necessarily all examples of the disclosure, there is provided a computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the computer program, when run on a computer, performs: controlling a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determining a model of the external environment in dependence on the data; predicting shadowed areas within the model, in dependence on the data; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment.

[0055] According to various, but not necessarily all examples of the disclosure, there is provided a control system for a robot, the robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the control system is configured to: control a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determine a model of the external environment in dependence on the data; predict shadowed areas within the model, in dependence on the data; and control the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move one or more of the plurality of tools within the external environment.

[0056] According to various, but not necessarily all examples of the disclosure, there is provided a control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the control system is configured to: obtain sensor data indicative of an external environment; determine a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motion plan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and control the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan.

[0057] According to various, but not necessarily all examples of the disclosure, the control system comprises at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the control system at least to perform the above operations.

[0058] The control system may be configured to process the sensor data to recognise objects in the external environment, and wherein the tool plan is dependent on the recognised objects, to cause different tool sizes to be determined to disinfect different recognised objects in the external environment.

[0059] The control system may be configured to determine an obstruction in dependence on the sensor data, and wherein the tool plan is configured to determine the tool size in dependence on the determined obstruction.

[0060] The adjustable tool size may comprise a germicidal light source being extendable and retractable in a dimension in dependence on the determined tool size.

[0061] A disinfection tool having the adjustable tool size may be controllable to relatively move subsets of ultraviolet lamps between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second different number of directions, and wherein the tool plan is further configured to plan relative movement of the subsets of ultraviolet lamps to disinfect different locations in the external environment.

[0062] At least one of the one or more manipulators may comprise an attachment-detachment mechanism controllable by the control system to enable an autonomous tool switching operation enabling switching between different-sized tools, and wherein the tool plan schedules the autonomous tool switching operation. The tool plan may be configured to select a larger-sized one of the disinfection tools, having a greater germicidal capability, prior to the autonomous tool switching operation.

[0063] The greater germicidal capability may comprise a greater irradiation range of a germicidal light source.

[0064] The control system may be configured to determine a required germicidal light dosage exposure associated with the determined tool size, in dependence on the sensor data.

[0065] The control system may be configured to predict a likelihood of pathogens in the external environment, wherein the disinfection plan is dependent on the predicted likelihood of pathogens, and wherein predicting the likelihood of pathogens is dependent on at least one of: sensed biological data indicative of biological deposits in the external environment; or object recognition.

[0066] The one or more manipulators may each have a plurality of degrees of freedom of articulation relative to the carriage, and wherein the manipulator motion plan is configured to utilize the plurality of degrees of freedom.

[0067] The one or more manipulators of the disinfection robot may be in the form of a plurality of manipulators, a first of which is operable to manipulate one of the disinfection tools, and a second of which is operable to manipulate another of the disinfection tools, wherein the manipulator motion plan is configured to control movement of the first and second manipulators, and wherein the tool plan is configured to select which ones of the disinfection tools manipulated by the first and second manipulators are to be used to disinfect which locations in the external environment.

[0068] Each of the plurality of manipulators may comprise a separate attachment-detachment mechanism separately controllable by the control system to enable a separate autonomous tool switching operation, and wherein the tool plan schedules the separate autonomous tool switching operations.

[0069] The disinfection tools may include more than two disinfection tools defining a plurality of different tool sizes, wherein the tool plan is configured to select which one or a subset of the more than two disinfection tools is to be used, via tool-switching, to disinfect which locations in the external environment.

[0070] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the control system.

[0071] According to various, but not necessarily all examples of the disclosure, there is provided a method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the method comprises: obtaining sensor data indicative of an external environment; determining a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motion plan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan. According to various, but not necessarily all examples of the disclosure, there is provided a computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the computer program, when run on a computer, performs: obtaining sensor data indicative of an external environment; determining a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motion plan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan.

[0072] According to various, but not necessarily all examples of the disclosure, there is provided a control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the control system is configured to: obtain sensor data indicative of an external environment; process the sensor data to recognise one or more objects in the external environment; determine which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and control the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

[0073] According to various, but not necessarily all examples of the disclosure, the control system comprises at least one processor; and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the control system at least to perform the above operations.

[0074] The control system may be configured to disinfect at least a first one of the recognised objects differently, using the disinfection tool, depending on the determined group.

[0075] Disinfecting the first recognised object differently may comprise controlling a required germicidal light dosage exposure of the disinfection tool.

[0076] The control system may be configured to: predict an expected object in the external environment in dependence on the determined group; control a sensor position to search for the expected object in the external environment; obtain further sensor data indicative of the external environment, based on the search; process the further sensor data to recognise the expected object in the external environment; and control at least one of the mobility apparatus or the manipulator autonomously to disinfect the recognised expected object.

[0077] The disinfection robot may comprise a sensor configured to detect biological data indicative of biological deposits in the external environment, and wherein the control system is configured to control a position of the sensor autonomously, in dependence on the determined group.

[0078] The disinfection robot may comprise a plurality of the manipulators each supported by the carriage, each operable to manipulate a respective tool of a plurality of tools, the plurality of tools including the disinfection tool, and wherein the control system is configured to control the manipulators autonomously, in dependence on the determined group.

[0079] At least one of the manipulators may have more than one degree of freedom of articulation relative to the carriage.

[0080] The control system may be configured to control one of the manipulators autonomously to manipulate the disinfection tool, in dependence on the determined group and / or in dependence on the recognised objects, while the control system is further configured to control another of the manipulators autonomously to manipulate another disinfection tool of the plurality of tools, in dependence on the determined group and / or in dependence on the recognised objects.

[0081] The control system may be configured to control one of the manipulators autonomously to move a manipulatable sensor, in dependence on the determined group and / or in dependence on the recognised objects.

[0082] The control system may be configured to control an attachment-detachment mechanism of one of the manipulators to initiate an autonomous tool switching operation, in dependence on the determined group and / or in dependence on the recognised objects.

[0083] The autonomous tool switching operation may enable switching between disinfection tools having different germicidal capabilities than each other. The different germicidal capabilities may comprise different irradiation ranges of germicidal light sources of the respective disinfection tools. The different irradiation ranges comprise one of the germicidal light sources being different in area relative to another of the germicidal light sources.

[0084] The different irradiation ranges may comprise ultraviolet lamps of one of the germicidal light sources simultaneously facing in a different number of directions relative to ultraviolet lamps of another of the germicidal light sources. The disinfection tool may have an adjustable germicidal capability, and wherein the control system is configured to control the adjustable germicidal capability in dependence on the determined group and / or in dependence on the recognised objects. The adjustable germicidal capability may comprise an adjustable irradiation range of a germicidal light source of the disinfection tool. The adjustable irradiation range may comprise the disinfection tool being extendable in a dimension to extend the germicidal light source in the dimension.

[0085] The adjustable irradiation range may comprise the disinfection tool being controllable to relatively move subsets of ultraviolet lamps between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second greater number of directions.

[0086] If the determining which one of the plurality of groups the recognised objects belong to indicates that a confidence condition is not satisfied, the control system may be configured to control at least one of the mobility apparatus or the disinfection tool autonomously, in dependence on the recognised objects individually, and not in dependence on the determining which one of the plurality of groups the recognised objects belong to.

[0087] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the control system.

[0088] According to various, but not necessarily all examples of the disclosure, there is provided a method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the method comprises: obtaining sensor data indicative of an external environment; processing the sensor data to recognise one or more objects in the external environment; determining which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and controlling the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

[0089] According to various, but not necessarily all examples of the disclosure, there is provided a computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the computer program, when run on a computer, performs: obtaining sensor data indicative of an external environment; processing the sensor data to recognise one or more objects in the external environment; determining which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and controlling the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

[0090] According to various, but not necessarily all examples of the disclosure, there is provided a robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a manipulator supported by the carriage, wherein the manipulator is operable to manipulate a disinfection tool; and a control system configured to control the mobility apparatus and the manipulator autonomously in dependence on the sensor data; the disinfection tool comprising a germicidal light source having an adjustable irradiation range.

[0091] The adjustable irradiation range may comprise the germicidal light source being extendable in a dimension.

[0092] The germicidal light source may comprise a plurality of ultraviolet emitter arrays each extending in the dimension, wherein in a retracted state the plurality of ultraviolet emitter arrays form adjacent rows, and wherein adjusting the irradiation range comprises causing relative misalignment of the adjacent rows in the dimension.

[0093] The disinfection tool may comprise a holder to be supported by the manipulator and to support the germicidal light source, wherein one part (portion) of the germicidal light source is extendable away from the holder in a first direction along the dimension, and wherein another part (portion) of the germicidal light source is extendable away from the holder in a second opposite direction along the dimension.

[0094] The adjustable irradiation range may comprise the disinfection tool being controllable to relatively move portions of the germicidal light source of the disinfection tool between a first state in which the portions simultaneously face a first number of directions and a second state in which the portions simultaneously face a second different number of directions. The second number of directions may enable simultaneous irradiation of a top and a side of an object. The second number of directions may enable simultaneous irradiation of a top and a pair of opposing sides of an object.

[0095] The disinfection tool may comprise a first carrier arrangement supporting a first of the portions and a second of the portions, wherein the first portion is unfoldable relative to the second portion. The first portion may be unfoldable by a reflex angle to extend downardly to enable irradiation of a side of an object while the second portion irradiates a top of the object. The first carrier arrangement may be movable to move the first and second portions away from other portions of the germicidal light source of the disinfection tool.

[0096] The disinfection tool may comprise a second carrier arrangement, movable in a different direction than the first carrier arrangement to increase a size of the disinfection tool, wherein the second carrier arrangement supports third and fourth portions of the germicidal light source of the disinfection tool, wherein the fourth portion is unfoldable relative to the third portion. The first and fourth portions may each be unfoldable by a reflex angle to each extend downwardly to enable simultaneous irradiation of a pair of sides of an object while the second and third portions irradiate a top of the object.

[0097] The manipulator may have more than one degree of freedom of articulation relative to the carriage. The manipulator may be operable to control at least rotation, and horizontal translation of the disinfection tool. The robotic disinfection apparatus may comprise means for controlling vertical translation of the respective tool.

[0098] The robotic disinfection apparatus may comprise a second one of the manipulator, supported by the carriage, and a second disinfection tool to be manipulated by the second manipulator. The second manipulator may have more than one degree of freedom of articulation relative to the carriage, wherein the control system is configured to control the manipulator and second manipulator separately from each other. The second disinfection tool may be another one of the disinfection tool.

[0099] The germicidal light source may comprise an ultraviolet light source operable to perform ultraviolet germicidal irradiation of the external environment.

[0100] According to various, but not necessarily all examples of the disclosure, there is provided a disinfection robot comprising the robotic disinfection apparatus.

[0101] BRIEF DESCRIPTION

[0102] Some examples will now be described with reference to the accompanying drawings in which:

[0103] FIG. 1 illustrates a first example disinfection robot;

[0104] FIGS. 2A-2B illustrate functional block diagrams including a control system and a non-transitory computer- readable storage medium, respectively;

[0105] FIGS. 3A-3F illustrate configurations of an adjustable disinfection tool;

[0106] FIG. 4 illustrates a second example disinfection robot;

[0107] FIGS. 5A-5B illustrate views of an example large disinfection tool;

[0108] FIG. 6 illustrates an example small disinfection tool;

[0109] FIG. 7 illustrates an example shielding tool;

[0110] FIG. 8 illustrates an example ultraviolet torch;

[0111] FIG. 9 illustrates simultaneous use of large and small disinfection tools;

[0112] FIG. 10 illustrates simultaneous use of large disinfection tools; FIG. 11 illustrates an example method of determining and executing a disinfection plan;

[0113] FIG. 12 illustrates an example method of executing the disinfection plan;

[0114] FIG. 13 illustrates an example method of exploring an external environment for determining the disinfection plan;

[0115] FIGS. 14A-14B illustrate example methods of determining required dosage exposures for the disinfection plan;

[0116] FIG. 15 illustrates an example method of using object recognition for the disinfection plan;

[0117] FIG. 16 schematically illustrates a plan view of a room, and a system of networked disinfection robots and associated motion plans

[0118] FIG. 17 illustrates a further example disinfection robot; and FIG. 18 illustrated the further example disinfection robot.

[0119] DETAILED DESCRIPTION

[0120] FIG. 1 illustrates a first embodiment of a robotic disinfection apparatus 10 defining the whole or part of a disinfection robot 1. FIGS. 4 and 9-10 illustrate a second embodiment of the apparatus 10 and disinfection robot 1. The first embodiment is referenced as disinfection robot 1A and the second embodiment is referenced as disinfection robot 1 B.

[0121] As shown in FIGS. 1 , 4, 9-10, or 16, the disinfection robot 1 is operable to navigate autonomously within an external environment 2 to be cleaned, such as a room containing objects 3 to be disinfected such as furniture, fixtures and fittings.

[0122] In examples, the disinfection robot 1 is a contactless disinfection robot, configured to disinfect surfaces via contactless means such as ultraviolet light in the UV-C band (100-280 nanometres).

[0123] The disinfection robot 1 can be suitable for manoeuvring within confined spaces. The disinfection robot 1 can have a wheelbase and / or width less than one metre, to make the disinfection robot 1 manoeuvrable in confined spaces. For similar reasons, the disinfection robot 1 can have a maximum steering angle greater than 60 degrees. The disinfection robot 1 is dimensioned and configured as a passenger-less robot.

[0124] The disinfection robot 1 comprises a mobility apparatus 102 operable to travel within the external environment 2 (FIGS. 9-10, 16), and manipulators 110 carrying tools. The mobility apparatus 102 includes a prime mover 130 (FIG. 2) and wheels 104 including one or more driven wheels and one or more steerable wheels. The prime mover 130 can comprise an electric motor or any other appropriate torque source. The prime mover 130 is powered by an onboard electrical energy storage means, such as an electric battery or supercapacitor.

[0125] The front and rear of the disinfection robot 1 are defined based on a longitudinal direction in which the disinfection robot 1 can travel. The distinction between front and rear may be arbitrary. The left and right sides of the disinfection robot 1 are defined based on a lateral direction in which the disinfection robot 1 can steer. The distinction between left and right may be arbitrary.

[0126] The disinfection robot 1 comprises a carriage 106 transportable by the mobility apparatus 102. The carriage 106 comprises a chassis of the disinfection robot 1 , and an external housing of the disinfection robot 1 . The external housing extends upwardly from the mobility apparatus 102 and comprises an internal volume comprising the various components of the disinfection robot 1 . The height of the disinfection robot 1 , excluding manipulators, may be between 0.5 and 1.5 metres.

[0127] In some examples, the carriage 106 can comprise a composite material to fulfil strength-to-weight requirements. In some examples, the carriage 106 comprises an antimicrobial surface, such as a surface coating comprising an antimicrobial agent such as silver or copper.

[0128] The carriage 106 supports a pair of left and right manipulators 110, each in the form of a robot arm. Each manipulator 110 carries a disinfection tool 200 (or 300, 400, described later). Each manipulator 110 may be controllable to position its disinfection tool 200 to at least one lateral side of the carriage 106, in front of the carriage 106, and behind the carriage 106. The manipulators 110 can be the same as each other, or may differ in one or more respects.

[0129] The root joint 146 (shoulder joint) of each manipulator 110 is supported by a mount of the carriage 106. In the embodiment of FIG. 1 , the mount is in the form of an upright column arrangement 108 of the carriage 106. In some examples, both manipulators 110 can be mounted to the same column arrangement 108 as shown.

[0130] Each manipulator 110 of FIG. 1 is configured with five degrees of freedom of articulation relative to the carriage 106, enabling the manipulator 110 to rotate its disinfection tool 200 (end effector) about up to three orthogonal planes, and translate the disinfection tool 200 along two orthogonal horizontal axes. Each rotation and / or each translation may be simultaneous.

[0131] Each manipulator 110 comprises a first link 148, connected at its proximal end to the root joint 146, and at its distal end to a first joint 150 in the form of an elbow joint.

[0132] Each manipulator 110 further comprises a second link 152, connected at its proximal end to the first joint 150, and at its distal end to a second joint 154.

[0133] Each manipulator 110 may further comprise a third link 156, connected at its proximal end to the second joint 154, and at its distal end to a wrist arrangement 158.

[0134] In the disinfection robot 1A of FIG. 1 , but not necessarily in all examples, the axes of rotation of the joints 146, 150, 154 may be substantially parallel to each other. The axes of rotation may be vertical. Each joint 146, 150, 154 may be limited to the same degree of freedom of rotation. Each link 148, 152, 156 may be limited to pivoting in the same / horizontal plane.

[0135] The rotation at each joint 146, 150, 154 may be controlled autonomously by respective actuators 128 (FIG. 2A). By controlling the actuators 128, the position of the wrist arrangement 158 can be controlled in both horizontal axes. The same actuators 128 can also control the angle of the wrist arrangement 158 about the vertical axis.

[0136] The wrist arrangement 158 itself can provide further rotational degrees of freedom. The wrist arrangement 158 can comprise a first wrist joint rotatable about an axis of rotation that is nonparallel, e.g., orthogonal, to that of the other joints. The wrist arrangement 158 can further comprise a second wrist joint rotatable about an axis of rotation that is nonparallel, e.g., orthogonal, to that of the first joint. The first and second wrist joints of the wrist arrangement 158 may be controlled by respective actuators 128 (not shown).

[0137] A tool interface 160, such as a bracket, is connected to the second joint. A disinfection tool 200 is connected to the tool interface 160, either permanently or detachably.

[0138] To enable vertical translation of the disinfection tools 200, the disinfection robot 1A of FIG. 1 is provided with a lifter 144 to control the height of the root joint 146 of each manipulator 110. This provides the sixth degree of freedom (vertical axis translation).

[0139] In FIG. 1 , but not necessarily in all examples, a lifter 144 comprises an actuator (not visible) for each manipulator 110, and a track along the column arrangement 108 for the manipulator 110, along which the actuator can slide the manipulator 110 up and down. The actuator may autonomously raise and lower each manipulator 110 via a lead screw or any other appropriate mechanism. Lifters 144 may be configured to control the height of each manipulator 110 separately. This enables the manipulators 110 to perform separate or independent disinfection tasks.

[0140] An advantage of a lifter 144 is lower electrical power requirements than the later embodiment of FIG. 4, while having the same number of degrees of freedom. Lower electrical power requirements enables smaller actuators to be used and / or enables larger heavier tools to be attached. A further advantage of the lifter 144 is that the maximum horizontal reach of the manipulators 110 is not dependent on vertical height.

[0141] The degree of freedom of vertical translation, however it is achieved, may enable a height range of the wrist arrangement 158 of greater than 0.5 metres or greater than 1 metre. A maximum height of the height range may be greater than 1 metre above ground level, to enable elevated surfaces such as desk tops to be disinfected.

[0142] Further, the tools are manoeuvrable by the manipulators 110 within a >180 degree (e.g., >300 degree) horizontal radius around the disinfection robot 1 , such as 360 degrees. Each manipulator 110 may have a maximum horizontal reach of at least 1 metre from the root joint 146. This horizontal reach may be achievable regardless of a height of the wrist arrangement 158. Therefore, with both manipulators 110 at their maximum reach, a working diameter of the disinfection robot 1 may be at least 2 metres.

[0143] The manipulators 110 can be controllable to perform simultaneous tasks substantially separately of each other. Substantial independence means that at least some of the degrees of freedom of articulation of each of the manipulators 110 is controllable without dependence on a pose (position and orientation) of the other manipulator 110 in any of the degrees of freedom of articulation of the other manipulator 110.

[0144] In some examples, none of the degrees of freedom of articulation of each manipulator 110 are dependent on or constrained by any of the degrees of freedom of articulation of the other manipulator 110.

[0145] In some examples, each manipulator 110 can comprise a composite material to fulfil strength-to-weight requirements. A low manipulator weight reduces bending moments to reduce actuator size, electrical power consumption, and battery size. In some examples, each manipulator 110 comprises an antimicrobial surface, such as a surface coating comprising an antimicrobial agent such as silver or copper.

[0146] The alternative disinfection robot 1 B of FIG. 4 differs in that each manipulator 110 has the degree of freedom of vertical translation. This is because each manipulator 110 of FIG. 4 is a six-axis robotic arm. The embodiment of FIG. 4 does not require a column arrangement 108, the root joints 146 of the manipulators 110 instead being laterally alongside each other and extending upwards from an upper / top portion of the carriage 106.

[0147] FIG. 4 also shows the end of each manipulator 110 having an attachment-detachment mechanism 136, enabling tool switching operations. The attachment-detachment mechanism 136 enables the disinfection robot 1 B to execute a disinfection plan with an appropriate selection of end effector attachments (disinfection tools 300, 400 - FIGS. 5A-6). It would be appreciated that such a mechanism could also be provided to the embodiment of FIG. 1 .

[0148] In other respects, the alternative embodiment of FIG. 4 may be functionally identical to that of FIG. 1 , unless stated otherwise.

[0149] In summary, the disinfection robot 1 of either FIG. 1 or 4 comprises robot arms (manipulators 110) with multiple degrees of freedom to enable complete (e.g., Log 4 reduction) disinfection of any surface by manoeuvring the disinfection tool 200, 300, 400 to the required position in multiple planes. The degrees of freedom may be sufficient to enable all three-dimensional planes to be accessible to the disinfection tool or tools 200, 300, 400, without having to control the mobility apparatus 102 to move or steer the carriage 106 of the disinfection robot 1. The arrangement of dual arms (manipulators 110) will enable the volumetric treatment of designated hotspots by positioning the manipulators 110 with the required disinfection tools 200, 300, 400 to cover the designated hotspots. A designated hotspot may be a particular type of object 3 such as a hospital bed, or may be an area having detected biological deposits.

[0150] Turning now to FIG. 2A, a functional block diagram is shown which illustrates a control system 120, and input devices and output devices operably coupled to the control system 120. The control system 120, the input devices, and the output devices, can be onboard the disinfection robot 1 or can comprise a combination of onboard and offboard components.

[0151] FIG. 2A illustrates the control system 120 being configured to receive inputs from a sensor apparatus 112. The sensor apparatus 112 is configured to obtain sensor data indicative of the external environment 2 around the disinfection robot 1. The sensor apparatus 112 comprises depth sensors such as stereo cameras or time-of-flight cameras. The cameras can comprise charge coupled devices (CCDs) to produce pixelated images for processing by the control system 120, for example.

[0152] The sensor apparatus 112 can comprise one or more carriage-mounted sensors 114 such as depth sensors. The carriage-mounted sensors 114 can be mounted to one or more of the following: a front of the carriage 106, a right of the carriage 106, a left of the carriage 106, a right of the carriage 106. The carriagemounted sensors 114 may collectively provide a 360-degree horizontal field of view around the disinfection robot 1 , or if not 360 degrees at least 170 degrees. The carriage-mounted sensors 114 may have a vertical field of view of at least 60 vertical degrees.

[0153] The sensor apparatus 112 can comprise one or more manipulatable sensors 116 such as depth sensors of a type described above. A manipulatable sensor 116 may be mounted to a manipulator 110 of the disinfection robot 1 rather than to a tool. This is to avoid having to replicate the manipulatable sensor 116 across a plurality of interchangeable tools in embodiments where tools can be switched. However, in other examples, any one or more of the tools described herein can comprise a manipulatable sensor 116.

[0154] FIG. 2A further illustrates the control system 120 being configured to receive inputs from, and transmit output signals to, a communication module 118. The communication module 118 can comprise a wireless communication module such as a radio receiver, transmitter, or transceiver.

[0155] FIG. 2A further illustrates the control system 120 being configured to send control signals to output devices based on the inputs. The output devices can include the prime mover 130, the actuators 128 of the manipulators 110, actuators 134 built into adjustable disinfection tools 200 (if provided), germicidal light sources 202 of the disinfection tools 200, 300, 400, and other light sources such as an ultraviolet torch 132 for fluorescence detection. Output devices for positional control include the prime mover 130 of the mobility apparatus 102, a steering actuator of the mobility apparatus 102, actuators 128 of the manipulators 110, actuators of the lifters 144 (if present), and any actuators 134 built into the tools (if present).

[0156] Turning to FIG. 1 and FIGS. 3A-3F, an adjustable disinfection tool 200 is now described. The adjustable disinfection tool 200 may be used with the disinfection robot 1 A of FIG. 1 , and in some examples may be used with the disinfection robot 1 B of FIG. 4. Each manipulator 110 supports the same type or size of adjustable disinfection tool. Alternatively, each manipulator 110 can support a different type or size of adjustable disinfection tool.

[0157] The adjustable disinfection tool 200 comprises a germicidal light source 202 comprising a plurality of ultraviolet lamps 204. In FIGS. 3A-3F, but not necessarily in all examples, the adjustable disinfection tool 200 comprises eight ultraviolet lamps 204A, 204B, 204C, 204D, 204E, 204F, 204G, 204H.

[0158] Each ultraviolet lamp 204 represents a portion of the germicidal light source 202. Each ultraviolet lamp 204 is a device comprising a body or substrate to which an array of ultraviolet emitters 206 is secured. Each ultraviolet emitter 206 comprises a light emitting diode (UV-C LED). Each UV-C LED is configured to emit the ultraviolet light in the UV-C band. The UV-C band is from the range 200 nanometres to 280 nanometres. Each array can comprise more than five ultraviolet emitters 206 in a series, such as twelve as shown.

[0159] UV-C LEDs are advantageously small, lightweight, and have lower power consumption than other emitters. However, in other examples, a different type of UV-C emitter can be used such as a mercury lamp or an excimer lamp. In some examples, an ultraviolet lamp 204 can comprise a single ultraviolet emitter 206.

[0160] The adjustable disinfection tool 200 is adjustable to move the ultraviolet lamps 204 of the adjustable disinfection tool 200 relative to each other, to change the effective irradiation range of the adjustable disinfection tool 200.

[0161] FIGS. 3A-3B illustrate the adjustable disinfection tool 200 in a relatively compact configuration, for focused disinfection. FIGS. 3C-3E illustrate the adjustable disinfection tool 200 in axially relatively expanded configurations, for large-area disinfection. FIG. 3F illustrates the adjustable disinfection tool 200 in a multi- planar expanded configuration, to disinfect in an additional plane. The FIG. 3F configuration is useful for simultaneous disinfection of the top and sides of an object 3 such as a bed.

[0162] In FIG. 1 , one of the adjustable disinfection tools 200 is in the FIG. 3D configuration, whereas the other is in the FIG. 3F configuration. This demonstrates that the control system 120 can be configured to autonomously adjust the adjustable disinfection tools 200 separately from each other. Each may be in a different configuration at a given time. This allows different-shaped objects 3 or areas to be disinfected simultaneously. The features of an adjustable disinfection tool 200 are now described in more detail, with reference to FIGS.

[0163] 3A-3F.

[0164] The adjustable disinfection tool 200 comprises a holder 212 to which carrier arrangements 208 are slidably connected. Left and right carrier arrangements 208A-208B and 208C-208D are shown, relative to the holder 212 which is central. The left carrier arrangement 208A, 208B comprises a first set of ultraviolet lamps 204A, 204B, 204C, 204D. The right carrier arrangement 208C, 208C comprises a second set of ultraviolet lamps 204E, 204F, 204G, 204H.

[0165] The holder 212 comprises an elongate holding structure 213, and a connector 216 to connect the holder 212 to the tool interface 160 of the manipulator 110. The connection may be permanent or may be detachable manually or autonomously during execution of a disinfection plan.

[0166] The holder 212 can also comprise an electrical connector (not shown) to couple actuators 134 (FIG. 2A) of the adjustable disinfection tool 200 to the control system 120 and / or to the onboard electrical energy storage means.

[0167] The holder 212 comprises a left slider 218 for the left carrier arrangement 208A, 208B and a right slider 218 for the right carrier arrangement 208C, 208D. The left slider 218 can slide the left carrier arrangement 208A, 208B relative to the elongate holding structure 213 in a first direction along an axis. The right slider 218 can slide the right carrier arrangement 208C, 208D relative to the elongate holding structure 213 in a second, opposite direction along the axis.

[0168] Therefore, the germicidal light source 202 is extendable and retractable in a dimension (the axis) because the ultraviolet lamps 204 supported by different carrier arrangements 208 can move towards and away from each other.

[0169] The control system 120 may be configured to autonomously control the sliders 218 via any appropriate actuators 134 (FIG. 2A). Each slider 218 therefore has an extended state enabling, at least in part, the axially expanded configurations (FIGS. 3C-3F) of the adjustable disinfection tool 200. Each slider 218 also has a retracted state enabling the relative compact configuration (FIG. 3A).

[0170] Each carrier arrangement 208 can comprise one or more carriers 208A-208B, 208C-208D. As illustrated, at least one of the carrier arrangements 208 can be an adjustable carrier arrangement, comprising a pair of carriers 208A-208B or 208C-208D that are movable relative to each other.

[0171] Each pair of carriers 208A-208B, 208C-208D comprises a slidable carrier 208A, 208C and a pivotable carrier 208B, 208D, each supporting one or more ultraviolet lamps 204. The slidable carrier 208A, 208C is mounted to the slider 218 and the pivotable carrier 208B, 208D is mounted to the slidable carrier 208A, 208C. The slidable and pivotable carriers 208A-208B, 208C-208D enable the top and sides of an object 3 to be disinfected simultaneously. The slidable and pivotable carriers 208A-208D may each be elongate, with ultraviolet emitters 206 provided along the majority of its length. This enables large objects 3 to be disinfected efficiently.

[0172] The pivotable carrier 208B, 208D is pivotally connected to an end of the slidable carrier 208A, 208C by a hinge 210. The hinge 210 is located towards the end of the slidable carrier 208A, 208C which is furthest from the holder 212 when the adjustable disinfection tool 200 is in an axially expanded configuration (e.g., FIGS. 3C-3F).

[0173] The pivotable carrier 208B, 208D can be unfolded from a retracted orientation (parallel folded orientation of FIGS. 3A-3C) at which the pivotable carrier 208B, 208D is parallel to and stacked with the slidable carrier 208A, 208C, to a hanging orientation (FIG. 3F) at which the pivotable carrier 208B, 208D extends downwardly relative to the slidable carrier 208A, 208C. At the hanging orientation, the pivotable carrier 208B, 208D may be approximately perpendicular to the slidable carrier 208A, 208C.

[0174] Therefore, FIG. 3F demonstrates that portions (ultraviolet lamps 204C, 204D, 204G, 204H) of the germicidal light source 202 can be actuated to face additional directions in FIG. 3F, relative to the other configurations (FIGS. 3A-3E). This enables disinfection in a controllable number of directions, such top and / or side disinfection.

[0175] The control system 120 can be configured to autonomously control an actuator 134 (FIG. 2A) to unfold the pivotable carrier 208B, 208D, and fold it back to the retracted orientation.

[0176] Depending on the tool orientation of the adjustable disinfection tool 200 (upright or upside down), the pivotable carrier 208B, 208D can be rotatable through either a reflex angle or a non-reflex angle between the retracted orientation and the hanging orientation. If the hanging orientation is perpendicular to the retracted orientation, the reflex angle may be 270 degrees and the non-reflex angle may be 90 degrees.

[0177] In a use case, the adjustable disinfection tool 200 is positioned over an object 3 such as a bed, and then the pivotable carriers 208B, 208D are rotated through the reflex angle to avoid hitting the upper side edges of the bed during the rotation.

[0178] In some examples, the control system 120 is configured to determine whether to rotate a pivotable carrier 208B, 208D by the reflex angle from a first tool orientation of the adjustable disinfection tool 200, or by the non-reflex angle from a second opposite tool orientation of the adjustable disinfection tool 200, to avoid collisions with sensed objects 3 in the external environment 2.

[0179] In some examples, the pivotable carrier 208B, 208D can be unfolded to an intermediate unfolded orientation, between the retracted orientation and the hanging orientation. An intermediate orientation is shown in FIG. 3D, where each pivotable carrier 208B, 208D has been unfolded by 180 degrees to a parallel unfolded orientation, to extend the length of the adjustable disinfection tool 200. In FIG. 3D, the parallel unfolded orientation of a pivotable carrier 208B, 208D is opposite the retracted orientation, while being parallel to the supporting slidable carrier 208A, 208C. The pivotable carrier 208B, 208D extends away from the slidable carrier 208A, 208C, to increase the overall length of the adjustable disinfection tool 200. FIG. 3D represents a widest expanded configuration which is useful for disinfecting wide flat surfaces.

[0180] As illustrated, the slidable carrier 208A, 208C can be longer than the pivotable carrier 208B, 208D. This increases the total width of the adjustable disinfection tool 200, enabling disinfection of a whole object that is wider than it is tall, such as a double bed, in the configuration of FIG. 3F. The slidable carrier 208A, 208C can comprise a longer series of ultraviolet emitters 206 such as a pair of the ultraviolet lamps 204A-204B, 204E-204F in series, as best shown in FIG. 3B.

[0181] To disinfect smaller objects 3 quickly, the relatively compact configuration of FIGS. 3A and 3B corresponds to the sliders 218 being in their retracted states, and the pivotable carriers 208B, 208D being in their retracted orientations. Therefore, the ultraviolet lamps 204A, 204B, 204E, 204F emitting in a common direction are close together to increase irradiation intensity. They form parallel and adjacent rows. The effect is increased local intensity of UV-C light to minimise disinfection time, at the expense of a smaller irradiation range.

[0182] By contrast, in an axially expanded configuration (FIGS. 3C-3F), the rows of ultraviolet lamps 204A, 204B, 204E, 204F are misaligned in the axis, increasing the irradiation range at the expense of irradiation intensity.

[0183] In some examples, the pivotable carrier 208B, 208D can comprise opposite ultraviolet lamps 204C-204D, 204G-204H at opposite parallel elongate sides of the pivotable carrier 208B, 208D, facing opposite directions. This enables simultaneous disinfection in opposite directions relative to the pivotable carrier 208B, 208D. By contrast, only a single elongate side of the slidable carrier 208A, 208C may comprise any ultraviolet lamps 204.

[0184] In some examples, the control system 120 is configured to autonomously control the actuators 134 (FIG. 2A) of each carrier arrangement 208A-208B, 208C-208D separately. This enables configurations such as that shown in FIG. 3E, where one carrier arrangement 208A-208B has been extended while the other carrier arrangement 208C-208D has not been extended.

[0185] The configuration of FIG. 3E is asymmetric, so it would be even more advantageous to minimise a weight of the adjustable disinfection tool 200 to minimise torque on the joints 146, 150, 154, 158 of the manipulator 110.

[0186] To minimise weight and permit airflow for heat dissipation, the body of each carrier comprises apertures

[0187] 220. For example, the body of each carrier may comprise one or more frames such as trusses. Since ultraviolet lamps 204 generate considerable thermal energy, the adjustable disinfection tool 200 can comprise an active cooling device such as one or more fans 222. Additionally, or alternatively, the adjustable disinfection tool 200 can comprise a passive cooling device such as a heatsink 224.

[0188] As shown, the adjustable disinfection tool 200 can comprise a heatsink 224 and / or a fan 222 configured to dissipate thermal energy from the ultraviolet emitters 206. The heatsink 224 is thermally coupled to the rear of an ultraviolet lamp 204. The fan 222 is either mounted to the heatsink 224 or to another part of the carrier.

[0189] To further reduce weight, the adjustable disinfection tool 200 can comprise a composite material. In some examples, the adjustable disinfection tool 200 comprises an antimicrobial surface, such as a surface coating comprising an antimicrobial agent such as silver or copper.

[0190] FIGS. 5A-6 illustrate alternative disinfection tools 300, 400.

[0191] The description of FIGS. 3A-3F applies here except where stated otherwise. The alternative disinfection tools 300, 400 of FIGS. 5A-6 are different from the adjustable disinfection tool 200 because they are non- adjustable disinfection tools 300, 400.

[0192] FIGS. 5A-5B show two views of a large disinfection tool 300, and FIG. 6 illustrates a small disinfection tool 400. The terms ‘large’ and ‘small’ refer to the relative volume dimensions of the disinfection tools 300, 400 of FIGS. 5A-6. The relative dimensions affect the sizes of spaces into which the disinfection tools 300, 400 can fit.

[0193] The large disinfection tool 300 provides a different germicidal capability than the small disinfection tool 400. As shown in the use case illustrations of FIGS. 9-10, the large disinfection tool 300 can disinfect a large area at a given time whereas the small disinfection tool 400 can disinfect a small area at a given time such as toilet undersides or door handles.

[0194] As shown, the large disinfection tool 300 can have a larger germicidal light source 202 than the small disinfection tool 400. In the illustrated example, having a larger germicidal light source 202 means having more ultraviolet emitters 206. In the illustrated example, the small disinfection tool 400 has one ultraviolet lamp 204 whereas the large disinfection tool 300 has twelve ultraviolet lamps 204. The exact numbers of ultraviolet lamps 204 is implementation-specific.

[0195] In some examples, the large disinfection tool 300 has more ultraviolet emitters 206 facing a given direction, than the small disinfection tool 400, such as at least twice as many, or at least three times as many as shown. The illustrated large disinfection tool 300 has three ultraviolet lamps 204 facing a given direction whereas the small disinfection tool 400 only has one.

[0196] As shown, the large disinfection tool 300 can have a greater irradiation range than the small disinfection tool 400. Having a greater irradiation range can mean the large disinfection tool 300 being longer than the small disinfection tool 400, distributing the germicidal light source 202 over a longer length. The length of a series of ultraviolet emitters 206 of a given side of the large disinfection tool 300 can be at least double or at least triple the length of the series of ultraviolet emitters 206 of the small disinfection tool 400. In a non-limiting example, the length over which ultraviolet emitters 206 are distributed along the large disinfection tool 300 can be at least as long as 0.6 metres whereas for the small disinfection tool 400 the length is no longer than 0.4 meters.

[0197] The illustrated large disinfection tool 300 has three ultraviolet lamps 204 per side, each ultraviolet lamp 204 comprising a plurality of ultraviolet emitters 206. The ultraviolet lamps 204 may be serially aligned end-to- end. Therefore, the irradiation range of the large disinfection tool 300 covers a larger volume area than the small disinfection tool 400.

[0198] Having a greater irradiation range can mean the large disinfection tool 300 having ultraviolet lamps 204 facing in more directions than the ultraviolet lamp 204 or lamps of the small disinfection tool 400. As shown, the large disinfection tool 300 can have ultraviolet lamps 204 on more than one of its sides 304, 306, 308, 310. The large disinfection tool 300 can have ultraviolet lamps 204 facing in two or more directions, such as four perpendicular directions as shown.

[0199] By contrast, the small disinfection tool 400 has an ultraviolet lamp 204 on fewer of its sides, such as an ultraviolet lamp 204 on only one of its sides 306. The irradiation range of the large disinfection tool 300 therefore covers a larger area around the disinfection tool 300.

[0200] The body 302 of the illustrated large disinfection tool 300 has a polygonal cross section with separate faces for different sides 304, 306, 308, 310. Most or all of the sides 304, 306, 308, 310 have a series of ultraviolet emitters 206 / lamps 204. A quadrilateral cross section is shown. Alternatively, the large disinfection tool 300 can have a rounded cylindrical cross section as shown in FIGS. 9-10.

[0201] The illustrated small disinfection tool 400 has a polygonal cross section with separate faces for different sides 304, 306, 308, 310. A quadrilateral cross section is shown. The cross section of the small disinfection tool 400 is thinnerthan that of the large disinfection tool 300, in addition to the length of the small disinfection tool 400 being shorter.

[0202] The large and small disinfection tools 300, 400 can each have apertures 220 for heat dissipation, similarly to the adjustable disinfection tool 200 of FIGS. 3A-3F. Although not visible, the large and small disinfection tools 300, 400 can each comprise active and / or passive cooling devices as described earlier, such as one or more fans 222 and / or heatsinks 224.

[0203] Although the illustrated small disinfection tool 400 does not have a greater irradiation intensity than the large disinfection tool 300, in other examples an additional ultraviolet lamp 204 may be provided to increase the irradiation intensity of the small disinfection tool 400 relative to the large disinfection tool 300. For example, the additional ultraviolet lamp 204 may be located parallel to the illustrated ultraviolet lamp 204, and facing substantially the same direction.

[0204] An advantage of the large disinfection tool 300 is that less manipulation is required to disinfect a large volume. Therefore, lower power consumption is required despite the heavier weight of the large disinfection tool 300. An advantage of the small disinfection tool 400 is that more spaces can be reached.

[0205] Although not illustrated in the FIGs, a further type of small disinfection tool 400 can comprise a spherical disinfection tool. The spherical disinfection tool can comprise ultraviolet emitters 206 around its circumference in more than one plane. The spherical disinfection tool can be useful for disinfecting hollow spaces inside objects 3 or in the environment, with minimal manipulation required.

[0206] The provision of large and small disinfection tools 300, 400 is useful in embodiments where the disinfection robot 1 has an attachment-detachment mechanism 136 at the end of at least one of its manipulators 110, as shown in FIG. 4. This enables a tool switching operation.

[0207] The attachment-detachment mechanism 136 can be part of plug-socket system, where one of the manipulator 110 or the tool has a plug 138 and the other has a socket 338 (FIG. 5B).

[0208] FIG. 4 illustrates an end of the manipulator 110 comprising a plug 138. FIG. 5B illustrates an end view of a face 312 of one of the tools, in this case the large disinfection tool 300. The face 312 comprises a socket 338 compatible with the plug 138. Alternatively, the plug 138 and socket 338 may be switched such that the manipulator 110 has the socket 338 and the disinfection tool 300 has the plug 138.

[0209] The control system 120 may be operable to initiate autonomous tool switching operations. The disinfection tools 300, 400, and / or 200, can be switched autonomously during normal use (during disinfection), to suit the type of objects 3 being cleaned. To enable autonomous switching, the attachment-detachment mechanism 136 can be controlled via at least one of the degrees of freedom of the manipulator 110. For example, the plug-socket system of the attachment-detachment mechanism 136 can be operable as a twist fitting such as a bayonet fitting or screw fitting. The manipulator 110 may be operable to rotate its plug 138 in the socket 338 to control the twist fitting.

[0210] In some examples, additional non-disinfection tools 500, 600 can be attachable to a manipulator 110. For example, FIG. 7 illustrates an attachable shielding tool 500, which can be manipulated to block a line of sight between the germicidal light source 202 and any objects 3 that should not be exposed to ultraviolet light, such as humans. The shielding tool 500 can comprise a shield 504 such as a plate or other protection cover. Although a flat plate is shown, the shield 504 may alternatively have a non-flat shape. The shield 504 may be substantially opaque to ultraviolet light in the UV-C band. The shield 504 may have a smaller aspect ratio and / or a larger area than any of the disinfection tools 200, 300, 400. This protection cover ensures that human proximity does not limit the disinfection robot’s capability to disinfect hotspots, as the disinfection robot 1 can cover the UV-C radiation via the shielding tool 500.

[0211] As shown in FIG. 8, the disinfection robot 1 can further comprise an ultraviolet torch 132, for illuminating disinfection hotpots captured by the sensor apparatus 112. The ultraviolet torch 132 can comprise an ultraviolet emitter 206 configured to emit ultraviolet light in the UV-A and / or UV-B range (>280 nanometres), to cause certain biological deposits to fluoresce in the field of view of the sensor apparatus 112. The frequency of ultraviolet light is for causing fluorescence but is not for disinfection, because UV-C frequencies are more suited to disinfection.

[0212] The control system 120 can be configured to obtain sensor data from the sensor apparatus 112, indicative of biological deposits. At least one sensor of the sensor apparatus 1 12 has a sensitivity range capable of detecting fluorescence and / or reflectance of material within a beam of the ultraviolet torch 132.

[0213] The ultraviolet torch 132 can be an additional tool 600 or alternatively can be mounted to the manipulator 110 upstream of the attachment-detachment mechanism 136, similarly to the manipulatable sensor 116. The ultraviolet torch 132 and the manipulatable sensor 116 may together define a pathogen and / or dirt detection probe. In some examples, a single tool or a single manipulator 1 10 supports both the ultraviolet torch 132 and the manipulatable sensor 116.

[0214] The pathogen / dirt detection probe enables fluorescence detection to detect sensed biological data such as dirt or pathogens. The pathogen / dirt detection probe will provide sensor data to the control system 120 to detect designated hotspots and / or to detect the concentration of biological data on surfaces.

[0215] In some examples, the attachment-detachment mechanism 136 of each manipulator 110 is compatible with a plurality of interchangeable tools 200, 300, 400, 500, 600. The set of tools may include at least two of the following tool types, at least one of which is a disinfection tool: the large disinfection tool 300, the small disinfection tool 400, the adjustable disinfection tool 200, the shielding tool 500, the ultraviolet torch tool 600, the manipulatable sensor 116.

[0216] Each tool 200, 300, 400, 500, 600 may be compatible with any arbitrary one of the manipulators 110. Compatibility refers to the ability to replace / switch one tool with another during normal use. In some examples, a tool switching operation may be autonomous. This is described later.

[0217] By providing each of the left and right manipulators 110 with the same capabilities such as movement freedom, reach, and tool-switching capabilities, the disinfection robot 1 is ambidextrous and is not sensitive to its relative positioning to the object 3 to be cleaned. This minimizes the manoeuvring requirements for the mobility apparatus 102 and enables improved disinfection coverage.

[0218] However, in other examples, one of the manipulators 110 may be compatible with fewer tools than the other manipulator 110. For example, one manipulator 110 may be compatible with only one tool 200, 300, 400, 500, or 600. The one tool may be permanently attached which means that the tool is not removable during normal use (ignoring repair).

[0219] When a tool is not in use, it may usefully be stowed on the disinfection robot 1. As shown in FIGS. 9-10, the disinfection robot 1 can comprise a tool carrier 140, 142 for at least one of each type of tool. FIGS. 9- 10 illustrate the disinfection robot 1 being configured to hold first to fourth disinfection tools 300, 300, 400, 400.

[0220] FIGS. 9-10 illustrate the disinfection robot 1 comprising first tool carriers 140 each configured to hold a first type of tool, in this case the large disinfection tool 300. FIGS. 9-10 further illustrate the disinfection robot 1 comprising second tool carriers 142 each configured to hold a second type of tool, in this case the small disinfection tool 400. Each tool carrier 140, 142 can be in the form of a pocket or a mount, for example.

[0221] Different ones of the tool carriers 140, 142 may be reachable by different ones of the plurality of manipulators 110. One of the first tool carriers 140 and one of the second tool carriers 142 may be reachable by a first one of the manipulators 110 but not the other. The other of the first tool carriers 140 and the other of the second tool carriers 142 may be reachable by the other of the manipulators 110 but not the first manipulator 110. For example, the first tool carriers 140 can be located to left and right sides of the carriage 106 respectively, and the second tool carriers 142 can be located to left and right sides of the carriage 106 respectively.

[0222] The control system 120 can be configured to control a manipulator 110 and its corresponding attachmentdetachment mechanism 136 to autonomously attach a stored tool (e.g., 400) located in a tool carrier (e.g., 140) to the attachment-detachment mechanism 136, and pick the attached tool 400 out of the tool carrier 140. When the tool 400 is no longer needed, the control system 120 can be configured to control the manipulator 110 and its corresponding attachment-detachment mechanism 136 to autonomously place the tool 400 back in the tool carrier 140 and detach the tool 400 from the attachment-detachment mechanism 136.

[0223] The example disinfection robot 1 shown in FIGS. 9-10 can simultaneously stow two large disinfection tools 300 and two small disinfection tools 400.

[0224] In the use case of FIG. 9, one manipulator 110 holds a large disinfection tool 300 while the other manipulator 110 holds a small disinfection tool 400, wherein the disinfection tools 300, 400 are emitting ultraviolet light towards an object 3 in the form of a toilet. The large disinfection tool 300 disinfects the top of the object 3, while the small disinfection tool 400 disinfections the underside of the object 3 which is a more confined space ideal more accessible to the small disinfection tool 400. In the meantime, a second large disinfection tool 300 and a second small disinfection tool 400 are stowed.

[0225] In the use case of FIG. 10, the disinfection robot 1 is positioned in a corridor between two rows of objects 3, in the form of partitioned office desks. Both small disinfection tools 400 are stowed while each manipulator 110 holds a respective one of the large disinfection tools 300. This arrangement is used for large area disinfection.

[0226] It would be appreciated that the use cases are not limited to those shown in FIGS. 9-10. The objects 3 may differ. Further, the disinfection robot 1 may be configured to switch to holding both small disinfection tools 400 while both large disinfection tools 300 are stowed. It would also be appreciated that the number of tools, the type of tools, the number of manipulators 110, and the number of attachment-detachment mechanisms 136, are dependent on the implementation.

[0227] FIGS. 11 to 15 are flowcharts illustrating computer-implemented methods 1100, 1200, 1300, 1400, 1410, 1500 of controlling the disinfection robot 1. The methods may be caused by the control system 120. Optionally, some blocks of the methods may be outsourced to a server or distributed between control systems, such as computationally expensive steps.

[0228] The flowcharts can be taken independently of each other unless explicitly stated otherwise. Synergistic effects may be produced when combinations of flowcharts are executed.

[0229] FIG. 11 illustrates an example method 1100 of determining and executing a disinfection plan, based on exploration of an external environment 2, such as a room, by the disinfection robot 1. The exploration is performed if the control system 120 lacks an a priori model of the external environment 2, or needs to increase a granularity of an a priori model of the external environment 2.

[0230] The method 1 100 may start with the control system 120 autonomously driving the disinfection robot 1 into a new external environment 2 to be disinfected, such as a room. Alternatively, the disinfection robot 1 may be moved into the new external environment 2 under at least partial manual control of a human operator. The external environment 2 may be unfamiliar and may need exploring prior to disinfection.

[0231] At block 1102 of FIG. 11 , the method 1100 comprises controlling at least the mobility apparatus 102 autonomously to move the disinfection robot 1 within the external environment 2. This has the effect of moving the sensor apparatus 112 within the external environment 2.

[0232] At block 1 104 of FIG. 1 1 , the method 1 100 comprises obtaining the sensor data indicative of the external environment 2 around the disinfection robot 1. The sensor data is obtained during the autonomous movement of block 1102.

[0233] If the disinfection robot 1 has a manipulatable sensor 116, block 1102 can comprise autonomously controlling a manipulator 110 that supports the manipulatable sensor 116, to move the manipulatable sensor 1 16 within the external environment 2, relative to the carriage 106. This has the effect of enabling exploration of hard-to-reach locations. At least part of the sensor data obtained at block 1104 can be from the manipulatable sensor 116. If each manipulator 110 supports a separate manipulatable sensor 116, then each manipulator 110 may be controlled. Each manipulator 110 may be controlled separately. Each manipulator 110 may even be controlled simultaneously.

[0234] In some examples, the external environment 2 can be explored collaboratively, by a plurality of disinfection robots 1 , the model of the external environment 2 being shared between the disinfection robots 1. This is described later in relation to FIG. 16.

[0235] At block 1106 of FIG. 1 1 , the method 1100 comprises determining the model of the external environment 2 in dependence on the sensor data. The model is a computational model. The computational model may be a three-dimensional model. The model can be based on a point cloud or any other appropriate data structure.

[0236] Therefore, on entering the new space (external environment 2), the depth sensors will capture images that are input into an algorithm by the control system 120, to build the computational model of the external environment 2.

[0237] The algorithm can comprise a machine learning algorithm trained for object recognition to recognise specific objects 3 such as furniture, laptops, machines, etc. By combining the machine learning algorithm with the sensor data from the sensor apparatus 112, the geometries of one or more recognised objects 3 are represented in the model.

[0238] At decision block 1108 of FIG. 1 1 , the method 1 100 comprises determining whether a coverage condition is satisfied. Satisfaction of the coverage condition can cause a transition from an exploration phase, during which the germicidal light source(s) 202 are not activated, to a disinfection phase in which they are activated. Exploration may or may not continue during the disinfection phase. In other examples, the coverage condition is omitted, such that exploration and disinfection are initiated simultaneously.

[0239] The coverage condition of decision block 1108 is associated with the level of completeness of the model. The completeness of the model can be algorithmically defined in any appropriate manner. As will be described later in relation to FIG. 13, a shadow detection algorithm can be used to assess whether the coverage condition is satisfied.

[0240] If the coverage condition is not satisfied, the method 1100 proceeds to block 1110 which comprises moving the sensor apparatus 112 to a new sensing position in the external environment 2, and looping back to block 1104 to obtain new sensor data for the new sensing position. The description of block 1102 applies to block 1110. The positions of the manipulatable sensor 116 and / or the carriage-mounted sensors 114 may be moved to new sensing positions.

[0241] If the coverage condition is satisfied, the method 1100 proceeds to block 1112 which determines the disinfection plan in dependence on the model. The disinfection plan comprises computer-readable instructions in any appropriate form, controlling how to disinfect an individual recognised object 3 or group of recognised objects 3 in the model.

[0242] At block 1114 of FIG. 11 , the method 1100 comprises performing autonomous execution of the disinfection plan. Autonomous execution of the disinfection plan comprises the control system 120 sending control signals to any one or more of the respective actuators 128, 130, 134 and germicidal light sources 202 described earlier.

[0243] As will be described, the disinfection plan is a set of instructions that, when executed by the control system 120, control at least some of the following variables: mobility apparatus movement; manipulator movement; disinfection tool adjustment; disinfection tool selection; and / or ultraviolet light exposure time.

[0244] The disinfection plan can depend on several variables, associated with information from the sensor apparatus 112.

[0245] For example, the disinfection plan can depend on acontextual geometric data in the model, such as a point cloud or other three-dimensional geometric map.

[0246] Additionally, or alternatively, the disinfection plan can depend on contextual data. Contextual data can comprise a recognised class (e.g., object type) that a recognised object 3 belongs to, based on object recognition. Contextual data can comprise a recognised class (e.g., room type) that the external environment 2 belongs to. Examples of contextual data will be described in relation to FIG. 15.

[0247] In some examples, the disinfection plan can depend on sensed biological deposits, as will be described in relation to FIG. 14B.

[0248] Depending on the implementation, preparation of the disinfection plan can be initiated earlier, while the model is determined, and then finalised at block 1112. Alternatively, preparation of the disinfection plan can be both initiated and finalised at block 1112. Finalising the disinfection plan can comprise performing a final iteration of the disinfection plan prior to initiating execution of the disinfection plan.

[0249] The disinfection plan can include a mobility apparatus motion plan. Execution of the mobility apparatus motion plan causes autonomous movement of the mobility apparatus 102. The mobility apparatus motion plan may enable longitudinal and lateral control of the mobility apparatus 102, to control driving and steering.

[0250] The disinfection plan can include a manipulator motion plan to control movement of one or more of the manipulators 110. Execution of the manipulator motion plan can cause autonomous movement of the manipulators 110 to which tools 200, 300, 400, 500, 600 are attached. The attached tools may be the same as each other or different. In some examples, one of the attached tools may be a non-disinfection tool 500, 600 such as a shielding tool 500. The movement of the manipulators 110 may be simultaneous or consecutive, depending on how much instant electrical power is required and available.

[0251] Most or all degrees of freedom of the manipulators 110 and of the mobility apparatus 102 can be controlled by the manipulator motion plan.

[0252] The mobility apparatus motion plan and the manipulator motion plan collectively control movement of the disinfection tools 200, 300, and / or 400 within the external environment 2 to the required positions to perform disinfection.

[0253] The mobility apparatus motion plan and the manipulator motion plan can collectively control a position of an ultraviolet lamp 204 (or lamps) in three dimensions (longitudinal, lateral, vertical axes). The mobility apparatus motion plan and the manipulator motion plan can collectively control an orientation (rotation) of the ultraviolet lamp 204 in three dimensions (roll, pitch, yaw).

[0254] In some examples, the manipulator motion plan can control the position and / or angle of an ultraviolet lamp 204 (or lamps) supported by one manipulator 110 independently of the position and / or angle of an ultraviolet lamp 204 (or lamps) supported by the other manipulator 110. Different degrees of freedom of each manipulator 110 and / or adjustable disinfection tool 200 may be simultaneously autonomously controlled.

[0255] The disinfection plan can further include a tool plan to determine which tool size is to be used to disinfect which locations in the external environment 2.

[0256] If an adjustable disinfection tool 200 is attached, the tool plan can control the tool size of the adjustable disinfection tool 200, for example by controlling extension and retraction of the adjustable disinfection tool 200. The extension and retraction can be enabled by sliding as described in relation to FIG. 3C. Additionally, or alternatively, the extension and retraction can be enabled by pivoting as described in relation to FIGS. 3D-3F.

[0257] In some examples, the tool plan can control the number of directions faced by the ultraviolet lamps 204 of the adjustable disinfection tool 200, for example by controlling pivoting as described in relation to FIG. 3F.

[0258] Consider the example in which the disinfection plan determines to disinfect a recognised object 3 with accessible sides and a top, such as a bed with space to both sides. The mobility apparatus motion plan and manipulator motion plan may position the adjustable disinfection tool 200 over the bed. The tool plan may actuate the adjustable disinfection tool 200 into the state shown in FIG. 3F, such that a subset of ultraviolet lamps 204 disinfect the top of the bed while other subsets of ultraviolet lamps 204 disinfect the sides of the bed. If the disinfection tools 200, 300, 400 can be attached and detached autonomously via the attachmentdetachment mechanism 136, the tool plan can schedule autonomous tool picking operations and / or autonomous tool switching operations.

[0259] An autonomous tool switching operation comprises an autonomous tool release operation to detach a tool currently held by the attachment-detachment mechanism 136, followed by an autonomous tool picking operation to attach a new tool to the attachment-detachment mechanism 136.

[0260] If the disinfection robot 1 has tool carriers 140, 142, the manipulator motion plan may ensure that the currently held tool is placed into a tool carrier 140, 142 able to hold that tool, and may ensure that the new tool is picked from a tool carrier 140, 142 where the new tool is held. If the disinfection robot 1 does not have tool carriers, the tools may be picked up and dropped off at a predetermined location in the external environment 2.

[0261] Determining the tool plan can comprise the control system 120 executing one or more algorithms to determine the tool plan based on any one or more of the several variables mentioned earlier. The one or more algorithms can each comprise a machine learning algorithm. Groupings such as classifiers or clusters may be employed to associate different classes with different tool sizes.

[0262] Different objects 3 may belong to different groups. If different disinfection tool sizes are appropriate for different levels of pathogens, at least one of the algorithms may discriminate between different likelihoods of pathogens. For example, laptops and door handles may belong to a first group indicating a relatively higher likelihood of pathogens, whereas chairs and bedside tables may belong to a second group indicating a relatively lower likelihood of pathogens.

[0263] If different disinfection tool sizes are appropriate for different object dimensions, at least one of the algorithms may group objects based on their sizes and / or shapes.

[0264] In some examples, the tool plan is dependent on both types of groupings, so that both the object dimensions and the likelihood of pathogens are taken into account.

[0265] In some examples, the tool plan can be dependent on portions of objects 3 such as surfaces or sides of the object 3. Smaller tool sizes may be selected for reaching surfaces or sides that cannot be accessed by larger tool sizes.

[0266] In further examples, multiple machine learning algorithms are used, to take into account multiple ones of the variables. Object types, object geometry, and / orthe likelihood of pathogens, may be taken into account. In some examples, sensed biological deposits (e.g., from fluorescence detection) may be taken into account. In examples, the manipulator motion plan and the tool plan can depend on each other, to take into account the shapes and sizes of tools to prevent collisions between tools and the external environment 2 represented in the model. This is useful where tool size may vary due to tool adjustment or tool switching.

[0267] In an example use case, the disinfection plan can be configured to cause the disinfection robot 1 to perform large volume disinfection prior to performing small volume disinfection. This may be a default strategy. A large disinfection tool or tools 300 may be selected, then an autonomous tool switching operation may be scheduled to swap to a small disinfection tool or tools 400 to disinfect areas that the control system 120 determines have not be covered by the large disinfection tool or tools 300. For instance, the large disinfection tools 300 may not be manoeuvrable to create a line of sight between their ultraviolet lamps 204 and some parts of the external environment 2, whereas those parts may be disinfectable with the small disinfection tool 400. Monitoring of coverage may be as later described in relation to FIG. 13.

[0268] In a further example use case, an object 3 to be disinfected is a door handle, and the tool plan may select the small disinfection tool 400 (FIG. 6) for this task, or a compact configuration of the adjustable disinfection tool 200 (FIG. 3A). If an object 3 to be disinfected is the underside of a table, the tool plan may select the large disinfection tool 300 (FIGS. 5A-5B), or an extended state of the adjustable disinfection tool 200 (FIG. 3C or 3D). If an object 3 is a bed, see FIG. 3F as described earlier, or FIGS. 5A-5B.

[0269] For a sequence of objects 3 such as a door handle, a table, and a bed, a sequence of tool sizes may be selected.

[0270] For sequences of objects 3, a known optimisation algorithm for minimising power consumption and / or task completion time may be adapted. The order ofthe sequence of objects 3 may be determined in dependence on one or more of: the mobility apparatus motion plan, the manipulator motion plan, or the tool plan. Once the sequence has been determined, one or more of the plans may be further optimised based on the sequence.

[0271] The ultraviolet light exposure time (germicidal light dosage exposure) may be a further variable within the disinfection plan. A consistent target reduction (e.g., log 4) in pathogens may require the ultraviolet light exposure time to be a variable to achieve the required light dosage time.

[0272] It is useful for the disinfection robot 1 to spend time on objects 3 which have a greater need disinfection. For instance, there may be no point in spending a long time disinfecting the rear of a desk which is close to a wall, where the possibility of human contact is remote and hence the possibility of high pathogen loading is low.

[0273] Determining the ultraviolet light exposure time can comprise the control system 120 executing one or more algorithms to determine the ultraviolet light exposure time based on any one or more ofthe several variables mentioned earlier. The one or more algorithms can each comprise a machine learning algorithm. Groupings such as classifiers or clusters may be employed to associate different classes with different ultraviolet light exposure times.

[0274] Different objects 3 may belong to different groups. Since different ultraviolet light exposure times are likely to be appropriate for different levels of pathogens, at least one of the algorithms may discriminate between different likelihoods of pathogens. For example, laptops and door handles may belong to a first group indicating a relatively higher likelihood of pathogens, whereas chairs and bedside tables may belong to a second group indicating a relatively lower likelihood of pathogens.

[0275] If different ultraviolet light exposure times are appropriate for different object dimensions, at least one of the algorithms may group objects 3 based on their sizes and / or shapes.

[0276] In some examples, the ultraviolet light exposure time is dependent on both types of groupings, so that both the object dimensions and the likelihood of pathogens are taken into account. If the algorithms are unsupervised machine learning algorithms, clusters may be used rather than classes to achieve an equivalent result.

[0277] In some examples, the ultraviolet light exposure time can be dependent on portions of objects 3 such as surfaces or sides of the object 3. As will be described in relation to FIG. 13, the ultraviolet light exposure time can depend on predicted shadowed areas in the model.

[0278] The ultraviolet light exposure time of a given ultraviolet lamp 204 can depend on factors such as whether the ultraviolet lamp 204 is to be moved relative to the object during disinfection or the object 3, and / or a controlled intensity of the ultraviolet lamp 204.

[0279] At decision block 1116 of FIG. 11 , the method 1100 comprises determining whether a condition is satisfied, indicating that execution of the disinfection plan is complete. The condition may be satisfied in dependence on a final instruction of the disinfection plan being executed. The method 1 100 of FIG. 11 terminates here. The disinfection robot 1 may then travel to another environment, such as a different room, and repeat the method 1 100 of FIG. 11 .

[0280] If the final instruction of the disinfection plan has not been executed, the method 1100 repeatedly loops back to block 1114 to continue autonomous execution of the disinfection plan, until the condition is satisfied.

[0281] Execution of the disinfection plan can be represented as a flowchart as shown in the method 1200 of FIG. 12, which is now described. It would be appreciated that the order of the blocks are tied to a particular use case and may vary. It would also be appreciated that some blocks do not have to be performed, depending on the use case.

[0282] Many of the features represented in FIG. 12 have already been described in detail in relation to FIG. 11 and so will not be repeated, for conciseness. At block 1202 of FIG. 12, the method 1200 comprises controlling the mobility apparatus 102 based on the mobility apparatus motion plan of the disinfection plan. In an example, this controls the prime mover 130 and steering actuator of the mobility apparatus 102. The disinfection robot 1 may be moved towards an object 3 to be disinfected.

[0283] At block 1204 of FIG. 12, the method 1200 comprises controlling a manipulator 110 holding a first disinfection tool 200, 300, 400, based on the manipulator motion plan of the disinfection plan. In an example, this controls the respective actuators 128 at the joints 146, 150, 154 and wrist arrangement 158 of the manipulator 110. This may be performed while the mobility apparatus 102 is static or while the mobility apparatus 102 is moving. As a result, the manipulator 110 is moved into a disinfecting position relative to the object 3 to be disinfected.

[0284] If the disinfection robot 1 has a second manipulator 110 holding a second disinfection tool 200, 300, 400, block 1204 can further comprise controlling the second manipulator 110 holding the second disinfection tool 200, 300, 400, based on the manipulator motion plan of the disinfection plan. In an example, this controls the respective actuators 128 at the joints and wrist arrangement 158 of the second manipulator 110. This may be simultaneous to movement of the first manipulator 110. As a result, the second manipulator 110 is moved into a disinfecting position relative to an object 3 to be disinfected, which may be the same object or a different object as described above.

[0285] At block 1206 of FIG. 12, the method 1200 comprises controlling the germicidal light source 202 of the first disinfection tool 200, 300, 400, based on the ultraviolet light exposure time of the disinfection plan. For example, the control system 120 may activate an ultraviolet lamp 204 or lamps of the first disinfection tool 200, 300, 400, to disinfect the object 3. The ultraviolet light exposure time may be in the order of tens of seconds, the exact time depending on implementation.

[0286] The ultraviolet light exposure time may differ between the first and second disinfection tools 200, 300, 400. Their respective ultraviolet light sources may be active at the same time, for at least some of the time. At other times, one may be active while the other is inactive.

[0287] At block 1208 of FIG. 12, the method 1200 comprises causing an autonomous change of tool size. This can be the result of completing the disinfection of a particular object 3 or surface. The different tool size can be selected for disinfecting the next object 3, or another surface of the same object 3.

[0288] As described previously, a change of tool size can comprise a tool-switching operation, or extension / retraction of the adjustable disinfection tool 200.

[0289] In the example of tool switching, the control system 120 can be configured to determine which tool 200, 300, 400, 500, 600 a manipulator 110 should use. In other words, the determination may be which one of the plurality of tools to autonomously attach to the first attachment-detachment mechanism 136 of a manipulator 110. The control system 120 can be configured to perform this determination for each manipulator 110 that has an attachment-detachment mechanism 136.

[0290] The determination of which tool size to use can be dependent on the sensor data from the sensor apparatus 112, by virtue of being dependent on the disinfection plan. The tool size may depend on one or more of the variables that affect the disinfection plan.

[0291] In the example of extending or retracting an adjustable disinfection tool 200 to change the tool size, the determination may depend on the same or similar factors.

[0292] The control system 120 can be configured to initiate autonomous tool switching operations in dependence on the sensor data. For example, an autonomous tool switching operation can be planned when transitioning from large area disinfection of an object 3 or external environment 2 to small area disinfection of the object 3 or external environment 2. An autonomous tool switching operation can be planned when transitioning from disinfecting one object 3 to disinfecting another object 3.

[0293] The disinfection robot 1 may then need to move in order to align the new-sized disinfection tool 200, 300, 400 with the next object 3 or surface to be disinfected. If so, then block 1210 of FIG. 12 comprises controlling the mobility apparatus 102 based on the mobility apparatus motion plan of the disinfection plan. Block 1212 of FIG. 12 comprises controlling a manipulator 110 holding the new-sized disinfection tool 200, 300, 400, based on the manipulator motion plan of the disinfection plan. Block 1216 of FIG. 12 comprises controlling the germicidal light source 202 of the new-sized disinfection tool 200, 300, 400, based on the ultraviolet light exposure time. Blocks 1210 and 1212 may be similar to blocks 1202 and 1204

[0294] In an example, this controls the prime mover 130 and steering actuator of the mobility apparatus 102. The disinfection robot 1 may be moved towards an object 3 to be disinfected.

[0295] FIG. 13 illustrates an example method 1300 of exploring an external environment 2 for determining the disinfection plan. In some examples, the method 1300 of FIG. 13 is a subroutine of the blocks 1106, 1108, and 11 12 of FIG. 11.

[0296] In summary, FIG. 13 relies upon one or more exploration algorithms for minimising a number of shadowed areas in the model of the external environment 2. Shadowed areas refer to areas of the external environment 2 that ultraviolet light cannot reach, such as spaces behind furniture. A more accurate model enables the control system 120 to discover as many possible lines of sight as possible, to minimise noncovered ‘shadowed’ areas.

[0297] In some, but not necessarily all examples, FIG. 13 adopts a hybrid approach using ray tracing and machine learning to accurately predict shadowed areas where light has not yet reached. In order to minimise shadowed areas, the flowchart includes operations of predicting objects 3 and determining whether the manipulatable sensor 116 can be moved over the top of the object 3. Moving the manipulatable sensor 116 over the top of the object 3 enables a line of sight to a top plane of the object 3, to minimise shadowed areas. Moving the manipulatable sensor 116 over the top of the object 3 can be achieved via an ‘over the top’ manipulator motion via whichever actuator controls the vertical degree of freedom of the manipulator 110.

[0298] At block 1302 of FIG. 13, the method 1300 comprises determining one or more obstructions within the model. The term ‘obstruction’ corresponds to a boundary surface in the model, obstructing a light’s path. Block 1302 of FIG. 13 may be part of determining the model as defined in relation to block 1106 of FIG. 11 . The disinfection robot 1 may map the external environment 2 on an ongoing basis to iterate the three- dimensional model, as the disinfection robot 1 navigates (e.g., blocks 1202, 1204 of FIG. 12). As the disinfection robot 1 navigates, the sensor apparatus 112 moves relative to obstructions (boundary surfaces) to improve the accuracy of the representations of the obstructions in the model.

[0299] The depth-detecting capabilities of the sensor apparatus 112 will provide an accurate geometry of the external environment 2 to be disinfected, including different objects 3 in space.

[0300] At block 1304 of FIG. 13, the method 1300 comprises recognising an object 3 corresponding to one or more obstructions (boundary surfaces). Recognising an object 3 can comprise recognising an object 3 via an object recognition algorithm applied to the model or other sensor data. Machine learning could be used, among other possibilities.

[0301] A table may have obstructions in the form of table legs and a table top, for example. Block 1304 may therefore recognise a table in the model. Multiple objects 3 may be recognised for a given model, if several objects 3 are physically present.

[0302] Object recognition can be used to assist the decision of whether it is possible to move the manipulatable sensor 1 16 over the top of the object 3. The decision is represented in decision block 1306 of the method 1300 of FIG. 13. Decision block 1306 determines whether to control the manipulator 110 to move the manipulatable sensor 1 16 over the top of the detected object, in dependence on the predicted shadowed areas and on the recognised object.

[0303] The optional step of recognising objects 3 first helps to make decision block 1306 computationally efficient. This is because the control system 120 may associate different object classes with an ability to perform an ‘over the top’ motion, before further geometric analysis of the object 3 is executed. Some object classes may be associated with tall objects 3 for which ‘over the top’ motions are not possible. For tall objects 3, further geometric analysis may not be executed. If an ‘over the top’ motion is possible for the object class, the control system 120 may execute further geometric analysis of the object 3 to determine whether an ‘over the top’ motion is possible. If the outcome of decision block 1306 is positive (can move manipulatable sensor 116 over object 3), the method 1300 progresses to block 1308. At block 1308 of FIG. 13, the method 1300 comprises planning a manipulator motion trajectory for sensing the object 3 from above the object 3. The planned manipulator motion trajectory may be configured to avoid collisions with the object 3 or any further items on the object 3.

[0304] At block 1310 of FIG. 13, the method 1300 comprises executing the planned manipulator motion trajectory by controlling the manipulator 110 to move the manipulatable sensor 116 over the top of the object 3.

[0305] During execution of block 1310, the manipulator 110 to which the manipulatable sensor 116 is attached may not have a disinfection tool attached, to minimise the chance of a collision with the object 3. Alternatively, a small tool size may be used such as the small disinfection tool 400, or the compact configuration of the adjustable disinfection tool 200.

[0306] At block 1312 of FIG. 13, the method 1300 comprises obtaining further data from the manipulatable sensor 116, indicative of a top plane of the detected object 3, and updating the model based on the further data. At this time, the manipulatable sensor 116 may be positioned directly overthe top plane (e.g., upper surface or main upper surface) of the object 3.

[0307] At block 1314 of FIG. 13, the method 1300 comprises predicting shadowed areas within the model, in dependence on the sensor data. In some examples, the shadowed areas may be predicted earlier, and block 1314 may comprises updating the predicted shadowed areas. Updating the predicted shadowed areas may be executed repeatedly or substantially continuously from a beginning of the exploration phase to an end of the exploration phase.

[0308] In some examples, predicting the shadowed areas within the model is dependent on a raytracing algorithm. This represents the paths of rays from the ultraviolet lamps 204 during the disinfection phase. The ray tracing algorithm may model reflections to predict areas that will be illuminated via reflections.

[0309] Decision block 1108 of FIG. 13 is similar to the corresponding block in FIG. 11 , comprising determining whether the coverage condition is satisfied. If shadow detection is used, determining whether the coverage condition is satisfied may depend on the predicted shadowed areas. The coverage condition may be satisfied in dependence on the predicted shadowed areas reaching a minimum. For example, a monitored rate of reduction of the predicted shadowed areas may decrease to the point where the coverage condition is satisfied.

[0310] If the coverage condition is satisfied, FIG. 13 proceeds to block 1112 (FIG. 11) which comprises determining the disinfection plan based on the model. The disinfection plan is then executed.

[0311] If the coverage condition is not yet satisfied, the method 1300 proceeds to block 1316. At block 1316 of

[0312] FIG. 13, the method 1300 comprises repeating the steps of blocks 1306-1314, except for the rear plane of the object 3 rather than the top plane. If it is determined that the rear plane (e.g., rear surface) of the object 3 is possible to image by the manipulatable sensor 116, a further manipulator motion trajectory may be planned and executed while obtaining more sensor data from the manipulatable sensor 116, indicating of the rear plane of the object 3. For example, the manipulatable sensor 116 may be moved in at least a horizontal direction towards the rear plane of the object 3. The method 1300 of FIG. 13 may then loop back to block 1314 to update the predicted shadowed areas and again determine if the coverage condition is satisfied. If the coverage condition is not yet satisfied, the method 1300 may proceed in relation to another object 3. In other words, the method 1300 of FIG. 13 will continue on iteration until as many shadowed areas are covered as possible.

[0313] When determining the disinfection plan, the ultraviolet light exposure time may further depend on the predicted shadowed areas. The ultraviolet light exposure time of an ultraviolet lamp 204 may be increased when the ultraviolet lamp 204 is pointing towards a predicted shadowed area, in some circumstances. Therefore, although the predicted shadowed area may not be in a direct line of sight to an ultraviolet lamp 204, some disinfection may occur for example as a result of reflections.

[0314] FIG. 14A illustrates a method 1400 of determining the ultraviolet light exposure time (‘dosage exposures’) for the disinfection plan, based on the predicted shadowed areas. In some examples, the method 1400 of FIG. 14A is subroutine of an earlier method or is a standalone method.

[0315] The method 1400 of FIG. 14A starts with block 1314 (FIG. 13), to predict the shadowed areas in the model. As discussed, ray tracing may be used.

[0316] Block 1402 then comprises predicting a likelihood of pathogens within the predicted shadowed areas, in dependence on object recognition. An algorithm, such as a machine learning algorithm, may be executed to predict the possibility of pathogens in the predicted shadowed areas, and the appropriate ultraviolet light exposure time will be predicted. The decision may be based on object recognition.

[0317] The control system 120 may associate individual predicted shadowed areas in the model of the external environment 2 with individual recognised objects 3. The ultraviolet light exposure time may depend on this association. This step will ensure that the disinfection robot 1 spends time disinfecting shadowed regions of objects 3 that need disinfection (e.g., beds, handles), rather than shadowed objects 3 that do not need disinfection (e.g., rear of a desk).

[0318] Block 1404 then comprises determining the ultraviolet light exposure time for the disinfection plan, based on block 1402.

[0319] When determining the disinfection plan, the ultraviolet light exposure time may further depend on actual biological deposits. FIG. 14B illustrates a method 1410 of determining the ultraviolet light exposure time (‘dosage exposures’) for the disinfection plan, based on sensed biological deposits detected by the pathogen / dirt detection probe. As described earlier, the pathogen / dirt detection probe may comprise a combination of an ultraviolet torch 132 and the sensor apparatus 112 (e.g., manipulatable sensor 116). In some examples, the method 1410 of FIG. 14B is a subroutine of an earlier method or is a standalone method.

[0320] Block 1412 of FIG. 14B comprises moving the pathogen / dirt detection probe. For example, this can comprise causing the mobility apparatus 102 and / or a manipulator 110 to move.

[0321] Block 1414 comprises obtaining the sensed biological data indicative of biological deposits, from the pathogen / dirt detection probe. For example, some patches may fluoresce in a light beam of the ultraviolet torch 132.

[0322] Block 1416 comprises determining the ultraviolet light exposure time of the disinfection plan, in dependence on the sensed biological data. More time can be spent disinfecting parts of the external environment 2 where evidence of pathogens / dirt was detected.

[0323] FIG. 15 illustrates an example method 1500 of using object recognition for determining the disinfection plan based on the type of external environment 2 in which the disinfection robot 1 is located, such as a type of room.

[0324] Knowing the type of room can help with either or both of the exploration phase and the disinfection phase. In summary, the method 1500 of FIG. 15 identifies a grouping (e.g., class) that recognised objects 3 belong to. The classes may discriminate between different types of room such as bedrooms or wards, or bathrooms. Therefore, the detection of beds may indicate a bedroom and the detection of a toilet may indicate a bathroom.

[0325] In the exploration phase, the disinfection robot 1 can then look for expected objects 3 based on the class of room. For instance, if a toilet has been detected then the disinfection robot 1 may look for a bathroom sink. This approach will speed up the disinfection process and improve efficiency overall by proactively looking for potentially contaminated areas.

[0326] The method 1500 starts with blocks 1104 and 1106 (see FIG. 11), to recognise one or more objects 3 in the external environment 2 based on obtained sensor data from the sensor apparatus 112.

[0327] At block 1502 of FIG. 15, the method 1500 comprises determining determine which one of a plurality of groups the recognised objects 3 belong to, each group being indicative of a different external environment 2. The groups may be classes in a classification algorithm. The classification algorithm may comprise a machine learning algorithm, for example. If unsupervised learning is used, the groups may be associated with clusters rather than classes.

[0328] In some examples, block 1502 includes a confidence condition to determine a confidence of the determination of the group. The confidence condition may be satisfied in dependence on the detected object or objects 3 being associated with a specific group (e.g., toilet -> bathroom). The confidence condition may not be satisfied in dependence on the detected objects 3 being associated with conflicting groups (e.g., bed + toilet = uncertainty over whether the room is a bedroom or bathroom).

[0329] If the confidence condition remains unsatisfied, the disinfection plan may treat each recognised object individually, and not as a group. If the confidence condition is satisfied, the disinfection plan may treat each recognised object 3 in dependence on the group membership of the object 3.

[0330] If a group (room type) has been determined, the method 1500 proceeds to block 1504. At block 1504 of FIG. 15, the method 1500 comprises predicting one or more expected objects in the external environment 2 in dependence on the determined group. For example, if the group comprises a ward bedroom, the expected object 3 may comprise bed rails, patient trays, etc. The prediction may utilise a machine learning algorithm, for example.

[0331] At block 1506 of FIG. 15, the method 1500 comprises controlling a sensor position of the sensor apparatus 112 (e.g., the manipulatable sensor 116) to search for the expected object in the external environment 2. In other words, the disinfection robot 1 may move to look for any expected objects.

[0332] At block 1508 of FIG. 15, the method 1500 comprises obtaining further sensor data from the sensor apparatus 112, based on the search of block 1506. Data acquisition may be performed continuously during the search process, in some examples.

[0333] At block 1510 of FIG. 15, the method 1500 comprises processing the further sensor data to recognise the expected object or objects, in the external environment 2.

[0334] At block 1112 of FIG. 15 (see also FIG. 11), the method 1500 comprises determining the disinfection plan. In this example, the disinfection plan is further dependent on the recognised expected objects 3, to ensure that they are disinfected if required. Therefore, according to FIG. 15 the disinfection plan can depend on the type of room (grouping of objects). Any of the previously-described aspects of the disinfection plan may depend on the grouping.

[0335] FIG. 16 schematically illustrates a room in which a plurality of disinfection robots 1 are located, and executing a collaborative disinfection plan. The disinfection robots 1 together form a system 1600 in which communication between disinfection robots 1 is possible via their respective communication modules 118.

[0336] The long-dashed lines labelled 1608 represent communication channels between the disinfection robots 1. The communication may be wireless, such as over radio signals.

[0337] The short-dashed lines labelled 1602 represent different paths followed by the mobility apparatus 102’ of the disinfection robots 1. The paths are determined collaboratively, as a ‘collaborative navigation plan’, to ensure that the disinfection robots 1 do not disinfect objects 3A, 3B, 3C that have already been disinfected by other disinfection robots 1 , and may further be determined via a path-length minimization algorithm.

[0338] An effect of determining a collaborative navigation plan is that the exploration phase is apportioned between disinfection robots 1 to take less time. Further, the disinfection phase is apportioned between disinfection robots 1 to take less time.

[0339] FIG. 2A illustrates an example of a control system 120 suitable for use in an apparatus 10. Implementation of a control system 120 may be as controller circuitry. The control system 120 may be implemented in hardware alone, have certain aspects in software including firmware alone or can be a combination of hardware and software (including firmware).

[0340] As illustrated in FIG. 2A the control system 120 may be implemented using instructions that enable hardware functionality, for example, by using executable instructions of a computer program 126 in a general-purpose or special-purpose processor 122 that may be stored on a computer readable storage medium (disk, memory etc.) to be executed by such a processor 122.

[0341] The processor 122 is configured to read from and write to the memory 124. The processor 122 may also comprise an output interface via which data and / or commands are output by the processor 122 and an input interface via which data and / or commands are input to the processor 122.

[0342] The memory 124 stores a computer program 126 comprising computer program instructions (computer program code) that controls the operation of the apparatus 10 when loaded into the processor 122. The computer program instructions, of the computer program 126, provide the logic and routines that enables the apparatus 10 to perform the methods 1100, 1200, 1300, 1400, 1410, 1500 illustrated in the accompanying FIGs. The processor 122 by reading the memory 124 is able to load and execute the computer program 126.

[0343] The apparatus 10 comprises: at least one processor 122; and at least one memory 124 including computer program code, the at least one memory 124 and the computer program code configured to, with the at least one processor 122, cause the apparatus 10 at least to perform any one or more of the methods 1100, 1200, 1300, 1400, 1410, 1500 described herein.

[0344] The apparatus 10 comprises: at least one processor 122; and at least one memory 124 including computer program code, the at least one memory storing instructions that, when executed by the at least one processor 122, cause the apparatus 10 at least to perform any one or more of the methods 1100, 1200, 1300, 1400, 1410, 1500 described herein.

[0345] As illustrated in FIG. 2B, the computer program 126 may arrive at the apparatus 10 via any suitable delivery mechanism 127. The delivery mechanism 127 may be, for example, a machine-readable medium, a computer-readable medium, a non-transitory computer-readable storage medium, a computer program product, a memory device, a record medium such as a Compact Disc Read-Only Memory (CD-ROM) or a Digital Versatile Disc (DVD) or a solid-state memory, an article of manufacture that comprises or tangibly embodies the computer program 126. The delivery mechanism may be a signal configured to reliably transfer the computer program 126. The apparatus 10 may propagate or transmit the computer program 126 as a computer data signal.

[0346] The computer program instructions may be comprised in a computer program, a non-transitory computer readable medium, a computer program product, a machine-readable medium. In some but not necessarily all examples, the computer program instructions may be distributed over more than one computer program.

[0347] Although the memory 124 is illustrated as a single component / circuitry it may be implemented as one or more separate components / circuitry some or all of which may be integrated / removable and / or may provide permanent / semi-permanent / dynamic / cached storage.

[0348] Although the processor 122 is illustrated as a single component / circuitry it may be implemented as one or more separate components / circuitry some or all of which may be integrated / removable. The processor 122 may be a single core or multi-core processor.

[0349] References to ‘computer-readable storage medium’, ‘computer program product’, ‘tangibly embodied computer program’ etc. or a ‘controller’, ‘computer’, ‘processor’ etc. should be understood to encompass not only computers having different architectures such as single / multi- processor architectures and sequential (Von Neumann) / parallel architectures but also specialized circuits such as field-programmable gate arrays (FPGA), application specific circuits (ASIC), signal processing devices and other processing circuitry. References to computer program, instructions, code etc. should be understood to encompass software for a programmable processor or firmware such as, for example, the programmable content of a hardware device whether instructions for a processor, or configuration settings for a fixed-function device, gate array or programmable logic device etc.

[0350] The blocks illustrated in the accompanying Figs may represent steps in a method and / or sections of code in the computer program 126. The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some blocks to be omitted.

[0351] Where a structural feature has been described, it may be replaced by means for performing one or more of the functions of the structural feature whether that function or those functions are explicitly or implicitly described.

[0352] In some but not necessarily all examples, the apparatus 10 is configured to communicate data from the apparatus 10 with or without local storage of the data in a memory 124 at the apparatus 10 and with or without local processing of the data by circuitry or processors at the apparatus 10. The data may, for example, be sensor data from the sensor apparatus 112.

[0353] The data may be stored in processed or unprocessed format remotely at one or more devices. The data may be stored in the Cloud.

[0354] The data may be processed remotely at one or more devices. The data may be partially processed locally and partially processed remotely at one or more devices.

[0355] The data may be communicated to the remote devices wirelessly via short range radio communications such as Wi-Fi or Bluetooth, for example, or over long-range cellular radio links. The apparatus 10 may comprise a communication module 118 such as, for example, a radio transceiver for communication of data.

[0356] The apparatus 10 may be part of the Internet of Things forming part of a larger, distributed network.

[0357] The processing of the data, whether local or remote, may involve artificial intelligence or machine learning algorithms. The data may, for example, be used as learning input to train a machine learning network or may be used as a query input to a machine learning network, which provides a response. The machine learning network may for example use linear regression, logistic regression, vector support machines or an acyclic machine learning network such as a single or multi hidden layer neural network.

[0358] The processing of the data, whether local or remote, may produce an output. The output may be communicated to the apparatus 10 where it may produce an output sensible to the subject such as an audio output, visual output or haptic output.

[0359] The systems, apparatus, methods and computer programs may use machine learning which can include statistical learning. Machine learning is a field of computer science that gives computers the ability to learn without being explicitly programmed. The computer learns from experience E with respect to some class of tasks T and performance measure P if its performance at tasks in T, as measured by P, improves with experience E. The computer can often learn from prior training data to make predictions on future data. Machine learning includes wholly or partially supervised learning and wholly or partially unsupervised learning. It may enable discrete outputs (for example classification, clustering) and continuous outputs (for example regression). Machine learning may for example be implemented using different approaches such as cost function minimization, artificial neural networks, support vector machines and Bayesian networks for example. Cost function minimization may, for example, be used in linear and polynomial regression and K-means clustering. Artificial neural networks, for example with one or more hidden layers, model complex relationship between input vectors and output vectors. Support vector machines may be used for supervised learning. A Bayesian network is a directed acyclic graph that represents the conditional independence of a number of random variables. The term ‘comprise’ is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising Y indicates that X may comprise only one Y or may comprise more than one Y. If it is intended to use ‘comprise’ with an exclusive meaning then it will be made clear in the context by referring to “comprising only one...” or by using “consisting”.

[0360] In this description, the wording ‘connect’, ‘couple’ and ‘communication’ and their derivatives mean operationally connected / coupled / in communication. It should be appreciated that any number or combination of intervening components can exist (including no intervening components), i.e., so as to provide direct or indirect connection / coupling / communication. Any such intervening components can include hardware and / or software components.

[0361] As used herein, the term "determine / determining" (and grammatical variants thereof) can include, not least: calculating, computing, processing, deriving, measuring, investigating, identifying, looking up (for example, looking up in a table, a database or another data structure), ascertaining and the like. Also, "determining" can include receiving (for example, receiving information), accessing (for example, accessing data in a memory), obtaining and the like. Also, " determine / determining" can include resolving, selecting, choosing, establishing, and the like.

[0362] In this description, reference has been made to various examples. The description of features or functions in relation to an example indicates that those features or functions are present in that example. The use of the term ‘example’ or ‘for example’ or ‘can’ or ‘may’ in the text denotes, whether explicitly stated or not, that such features or functions are present in at least the described example, whether described as an example or not, and that they can be, but are not necessarily, present in some of or all other examples. Thus ‘example’, ‘for example’, ‘can’ or ‘may’ refers to a particular instance in a class of examples. A property of the instance can be a property of only that instance or a property of the class or a property of a sub-class of the class that includes some but not all of the instances in the class. It is therefore implicitly disclosed that a feature described with reference to one example but not with reference to another example, can where possible be used in that other example as part of a working combination but does not necessarily have to be used in that other example.

[0363] Although examples have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the claims.

[0364] Features described in the preceding description may be used in combinations other than the combinations explicitly described above.

[0365] Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not. Although features have been described with reference to certain examples, those features may also be present in other examples whether described or not.

[0366] The term ‘a’, ‘an’ or ‘the’ is used in this document with an inclusive not an exclusive meaning. That is any reference to X comprising a / an / the Y indicates that X may comprise only one Y or may comprise more than one Y unless the context clearly indicates the contrary. If it is intended to use ‘a’, ‘an’ or ‘the’ with an exclusive meaning then it will be made clear in the context. In some circumstances the use of ‘at least one’ or ‘one or more’ may be used to emphasis an inclusive meaning but the absence of these terms should not be taken to infer any exclusive meaning.

[0367] The presence of a feature (or combination of features) in a claim is a reference to that feature or (combination of features) itself and also to features that achieve substantially the same technical effect (equivalent features). The equivalent features include, for example, features that are variants and achieve substantially the same result in substantially the same way. The equivalent features include, for example, features that perform substantially the same function, in substantially the same way to achieve substantially the same result.

[0368] In this description, reference has been made to various examples using adjectives or adjectival phrases to describe characteristics of the examples. Such a description of a characteristic in relation to an example indicates that the characteristic is present in some examples exactly as described and is present in other examples substantially as described.

[0369] The above description describes some examples of the present disclosure however those of ordinary skill in the art will be aware of possible alternative structures and method features which offer equivalent functionality to the specific examples of such structures and features described herein above and which for the sake of brevity and clarity have been omitted from the above description. Nonetheless, the above description should be read as implicitly including reference to such alternative structures and method features which provide equivalent functionality unless such alternative structures or method features are explicitly excluded in the above description of the examples of the present disclosure.

[0370] Whilst endeavoring in the foregoing specification to draw attention to those features believed to be of importance it should be understood that the Applicant may seek protection via the claims in respect of any patentable feature or combination of features hereinbefore referred to and / or shown in the drawings whether or not emphasis has been placed thereon.

[0371] FIGS. 17-18 illustrate a further example implementation of a disinfection robot 1.

[0372] As with FIG. 1 , the carriage 106 comprises an upright column arrangement 108. A maximum width of the carriage 106 may be less than 50cm or less than 30cm, suitable for moving along a narrow space. Each side of the carriage 106 supports a first and second track 1702, 1704, a first and second manipulator 110’, 1 10”, and a first and second disinfection tool 200’, 200”.

[0373] The disinfection robot 1 may be for moving along an aisle and disinfecting rows of seats via ultraviolet lamps 204 on the first disinfection tools 200’. The second disinfection tools 200” may be for disinfecting overhead structures. The control system 120 may cause the carriage 106 to move between rows of seats while the ultraviolet lamps 204 are not illuminated, and may stop at each row of seats then activate the ultraviolet lamps 204.

[0374] In this example, each manipulator 110’, 110” is mounted to a track 1702 or 1704 and comprises a deployment hinge 1706, 1708 slidable up and down the track 1702 or 1704.

[0375] Each disinfection tool is hingedly mounted to the respective manipulator 110’, 1 10”. The mounting may be permanent except for servicing or maintenance, without an attachment-detachment mechanism.

[0376] Each deployment hinge 1706, 1708 is restricted to a single degree of rotational freedom for manipulating the respective disinfection tool 200’, 200” between stowed and operating positions. FIG. 17 shows the stowed positions, and FIG. 18 shows the operating positions.

[0377] In the stowed positions, the disinfection tools 200’, 200” are stowed at least partially inside the carriage 106. The carriage 106 may have openings in its sides for the disinfection tools 200’, 200”. In the stowed positions, the disinfection tools 200’, 200” may be stowed in an upright orientation (up or down facing), at least partially parallel to the upright column arrangement 108. In the operating positions, the disinfection tool 200’, 200” extends in an outboard direction away from the carriage 106.

[0378] The above-described arrangement provides the advantage of a compact disinfection robot 1 . The relatively small manipulators 110’, 1 10” with one or few degrees of freedom provides the advantage of few moving parts and improved management of stresses.

[0379] Each first disinfection tool 200’ is a lower disinfection tool moved by a first manipulator 110’. In the operating position, the first disinfection tool 200’ extends horizontally or mostly horizontally away from the carriage 106.

[0380] The first disinfection tool 200’ comprises first and second carriers 208E, 208F cantilevered from the first manipulator 110’ and slidably connected to each other by a slider 218 of the first disinfection tool 200’. A proximal end portion of the first carrier 208E is connected to the first manipulator 110’. There is no requirement for a holder of the type shown in FIGS. 3A-3F.

[0381] Each carrier 208E, 208F of the first disinfection tool 200’ comprises one or more ultraviolet lamps 204 along each of three of its elongate sides. In this example, the ultraviolet lamps 204 simultaneously face forward, rearward, and downward when the first disinfection tool 200’ is in the operating position. This is suitable for simultaneously disinfecting a seat base of a seat, a front face of a seat back of the seat, and a rear face of a seat back of another seat in another row of seats.

[0382] Moving the first disinfection tool 200’ to the operating position may comprise actuating the first deployment hinge 1706 to rotate the first disinfection tool 200’ from the upright orientation to a horizontal orientation, and controlling the slider 218 to its extended state enabling, at least in part, an axially expanded configuration where the second carrier 208F is cantilevered from the first carrier 208E, the rows of ultraviolet lamps 204 on the carriers 208E, 208F being relatively misaligned. This increases the irradiation range of the first disinfection tool 200’ relative to the retracted state of the slider 218. The rows of ultraviolet lamps 204 of the first and second carriers 208E, 208F are misaligned in a direction corresponding to the axis of the slider 218, increasing the irradiation range of the first disinfection tool 200’. This is useful for reaching a distant seat, e.g., window seat, in a row of seats. Moving the first disinfection tool 200’ to the operating position may further comprise sliding the first manipulator 110’ up or down along the first track 1702.

[0383] During disinfection, while the ultraviolet lamps 204 are illuminated, the control system 120 may slide the first manipulator 1 10’ up and down the first track 1702 to vary a vertical position of the first disinfection tool 200’. The slider 218 may also be controlled to vary the length of the first disinfection tool 200’.

[0384] Moving the first disinfection tool 200’ to the stowed position may comprise actuating the slider 218 to its retracted state so that the first and second carriers 208E, 208F form adjacent rows, and actuating the first deployment hinge 1706 to rotate the first disinfection tool 200’ to the upright orientation. This minimises the length of the first disinfection tool 200’ in the upright orientation for stowage. Moving the first disinfection tool 200’ to the stowed position may further comprise sliding the first manipulator 110’ up or down along the first track 1702 to provide space for the first and second carriers 208E, 208F.

[0385] In another implementation, the slider 218 is replaced with a hinge. However, an advantage of a slider 218 is that less clearance around the first disinfection tool 200’ is required, which is ideal for confined spaces. Further, a slider 218 may be able to support more weight than a hinge.

[0386] Each second disinfection tool 200” is an upper disinfection tool moved by a second manipulator 110”. In the operating position, the second disinfection tool 200” extends horizontally or mostly horizontally, and / or upwardly or mostly upwardly, away from the carriage 106. The second disinfection tool 200” is located above the first disinfection tool 200’, while both are in their operating positions.

[0387] The second disinfection tool 200” comprises first and second carriers 208G, 208H each comprising one or more rows of ultraviolet lamps 204. Instead of being slidable relative to each other, the second carrier 208H of the second disinfection tool 200” is rotatable relative to the first carrier 208G about a hinge 210 to rotate one of the carriers 208H transverse, e.g., perpendicular, to the other. The first carrier 208G extends horizontally and the second carrier 208H extends upwardly. The hinge 210 is located towards the end of the first carrier 208G which is closest to the second manipulator

[0388] 1107carriage 106. There is no requirement for a separate holder of the type shown in FIGS. 3A-3F.

[0389] Each carrier 208G, 208H of the second disinfection tool 200” comprises one or more ultraviolet lamps 204 along at least one of its elongate sides. In this example, the first carrier 208G comprises ultraviolet lamps 204 that face upwardly when the second disinfection tool 200” is in the operating position. The second carrier 208H comprises ultraviolet lamps 204 that face laterally outboard on the upwardly-extending second carrier, when the second disinfection tool 200” is in the operating position. This allows simultaneous disinfection of the underside and a lateral side of an overhead structure such as a luggage storage compartment above a row of seats, while the first disinfection tool 200’ is disinfecting the row of seats.

[0390] Moving the second disinfection tool 200” to the operating position may comprise actuating the second deployment hinge 1708 and the hinge 210 so that the first carrier 208G extends horizontally or mostly horizontally from the carriage 106, and the second carrier 208H extends upwardly as described above. Moving the second disinfection tool 200” to the operating position may further comprise sliding the second manipulator 1 10” up or down along the second track 1704.

[0391] During disinfection, while the ultraviolet lamps 204 are illuminated, the control system 120 may slide the second manipulator 110” up and down the second track 1704 to vary a vertical position of the second disinfection tool 200”.

[0392] Moving the second disinfection tool 200” to the stowed position may comprise actuating the hinge so that the first and second carriers 208G, 208H of the second disinfection tool 200” form parallel rows in a retracted state, and actuating the second deployment hinge 1708 to rotate the second disinfection tool 200” to the upright orientation, for stowage. Therefore, both carriers 208G, 208H of the second disinfection tool 200” are upright for stowage. When stowed, the first and second disinfection tools 200’, 200” of each side of the carriage 106 may be alongside each other. Moving the second disinfection tool 200” to the stowed position may further comprise sliding the second manipulator 110” up or down along the second track 1704 to provide space for the carriers 208G, 208H in the retracted state.

[0393] Features from FIGS. 17-18 may be taken independently of each other. For example, the first or second disinfection tools 200’, 200” may be omitted. The number of disinfection tools 200’, 200” per side of the carriage 106 may vary. l / we claim:

Claims

CLAIMS1 . A robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a plurality of manipulators supported by the carriage, at least one of which has more than one degree of freedom of articulation relative to the carriage, wherein each manipulator is operable to manipulate a respective tool of a plurality of tools; a control system configured to control the mobility apparatus and the manipulators autonomously in dependence on the sensor data, wherein the control system is configured to control the manipulators separately from each other; a first disinfection tool of the plurality of tools, connected or connectable to one of the plurality of manipulators, the first disinfection tool comprising a first germicidal light source; and a second disinfection tool of the plurality of tools, connected or connectable to another of the plurality of manipulators, the second disinfection tool comprising a second germicidal light source.

2. The robotic disinfection apparatus of claim 1 , wherein the first germicidal light source and / or the second germicidal light source comprises an ultraviolet light source operable to perform ultraviolet germicidal irradiation of the external environment.

3. The robotic disinfection apparatus of claim 1 or 2, wherein one of the germicidal light sources has a different germicidal capability relative to the other of the germicidal light sources.

4. The robotic disinfection apparatus of claim 1 , 2 or 3, wherein one of or each of the first and second germicidal light sources has an adjustable germicidal capability.

5. The robotic disinfection apparatus of any preceding claim, wherein each manipulator has more than one degree of freedom of articulation relative to the carriage.

6. The robotic disinfection apparatus of claim 5, wherein the control system is configured to control the manipulators to move the first and second disinfection tools in different planes and / or to rotate at least one of the first and second disinfection tools relative to the other.

7. The robotic disinfection apparatus of claim 5 or 6, wherein at least one, or both, of the plurality of manipulators is operable to control at least rotation, and horizontal translation of the respective tool.

8. The robotic disinfection apparatus of any preceding claim, wherein a number of the plurality of tools is greater than a number of the plurality of manipulators, and wherein a first one of the plurality of manipulators comprises an attachment-detachment mechanism to enable a tool switching operation.

9. The robotic disinfection apparatus of claim 8, wherein the attachment-detachment mechanism is controllable by the control system to enable an autonomous tool switching operation, and wherein the control system is configured to initiate the autonomous tool switching operation in dependence on the sensor data.

10. The robotic disinfection apparatus of claim 9, comprising a first tool carrier supported by the carriage, to hold a stored tool of the plurality of tools, and wherein the control system is configured to control the first manipulator and the attachment-detachment mechanism to autonomously attach the stored tool from the first tool carrier.

11. The robotic disinfection apparatus of claim 10, comprising a plurality of tool carriers including the first tool carrier, wherein different ones of the plurality of tool carriers are reachable by different ones of the plurality of manipulators.

12. The robotic disinfection apparatus of any one of claims 8 to 11 , wherein each of the manipulators comprises an attachment-detachment mechanism enabling tool switching.

13. The robotic disinfection apparatus of claim 12, wherein one or more of the plurality of tools is compatible with each of the attachment-detachment mechanisms.

14. The robotic disinfection apparatus of any preceding claim, wherein the plurality of tools include a third disinfection tool having a third germicidal light source having a different germicidal capability than one of the first and second germicidal light sources.

15. The robotic disinfection apparatus of any preceding claim, wherein the plurality of tools include a shielding tool comprising a shield to block part of a disinfection tool’s irradiation range.

16. The robotic disinfection apparatus of any preceding claim, the sensor apparatus comprising a manipulatable sensor supported by or attachable to one of the plurality of manipulators, to detect the external environment and provide at least part of the sensor data.

17. The robotic disinfection apparatus of claim 16, comprising an ultraviolet torch, and wherein the manipulatable sensor has a sensitivity range capable of detecting fluorescence and / or reflectance of material within a beam of the ultraviolet torch.

18. The robotic disinfection apparatus of claim 16 or 17, wherein the control system is configured to: control the mobility apparatus and the one of the manipulators autonomously to move the manipulatable sensor within the external environment while obtaining the at least part of the sensor data from the manipulatable sensor; determine a model of the external environment in dependence on the sensor data; andcontrol the mobility apparatus and the plurality of manipulators autonomously, in dependence on the model, to move within the external environment while at least one of the plurality of manipulators is operable to manipulate a respective disinfection tool of the plurality of tools.

19. The robotic disinfection apparatus of claim 18, wherein controlling the plurality of manipulators autonomously in dependence on the model causes manipulation of the first and second disinfection tools.

20. The robotic disinfection apparatus of claim 18 or 19, wherein the respective disinfection tool has an adjustable irradiation range, and wherein controlling the plurality of manipulators autonomously in dependence on the model comprises changing the adjustable irradiation range of the respective disinfection tool.21 . A disinfection robot comprising the robotic disinfection apparatus of any one of claims 1 to 20.

22. A system comprising a plurality of disinfection robots each as claimed in claim 21 , wherein each disinfection robot comprises a communication module, wherein the disinfection robots are configured to be networked via the communication modules, wherein the control system of at least one of the plurality of disinfection robots is configured to prepare a collaborative navigation plan in dependence on the sensor data, wherein the sensor data includes information from sensors of different ones of the plurality of disinfection robots.

23. A robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a plurality of manipulators supported by the carriage, each operable to manipulate a respective tool of a plurality of tools, the plurality of tools including a disinfection tool, wherein the disinfection tool comprises a germicidal light source; and a control system configured to control the mobility apparatus and the manipulators autonomously in dependence on the sensor data, wherein a first one of the manipulators has more than one degree of freedom of articulation relative to the carriage and comprises a first attachment-detachment mechanism enabling a tool switching operation.

24. The robotic disinfection apparatus of claim 23, wherein a second one of the manipulators has more than one degree of freedom of articulation relative to the carriage and comprises a second attachmentdetachment mechanism enabling a tool switching operation.

25. The robotic disinfection apparatus of claim 24, wherein one or more of the plurality of tools is compatible with each of the first and second attachment-detachment mechanisms.

26. The robotic disinfection apparatus of claim 23, 24 or 25, comprising a first tool carrier supported by the carriage, to hold a stored tool of the plurality of tools, and wherein the control system is configured to control the first attachment-detachment mechanism to autonomously attach the stored tool from the first tool carrier.

27. The robotic disinfection apparatus of claim 26, comprising a plurality of tool carriers including the first tool carrier, wherein different ones of the plurality of tool carriers are reachable by different ones of the plurality of manipulators.

28. The robotic disinfection apparatus of any one of claims 23 to 27, wherein the control system is configured to control the plurality of manipulators to move the respective tools in different planes and / or rotate at least one of the respective tools relative to the other of the respective tools.

29. The robotic disinfection apparatus of any one of claims 23 to 28, wherein at least one, or both, of the plurality of manipulators is operable to control at least rotation, and horizontal translation of the respective tool.

30. The robotic disinfection apparatus of any one of claims 23 to 29, wherein the first attachmentdetachment mechanism is controllable by the control system to enable the tool switching operation to be an autonomous tool switching operation, and wherein the control system is configured to initiate the autonomous tool switching operation in dependence on the sensor data.31 . The robotic disinfection apparatus of any one of claims 23 to 30, wherein the plurality of tools include tools having different capabilities than each other.

32. The robotic disinfection apparatus of any one of claims 23 to 31 , wherein the plurality of tools include a plurality of disinfection tools including the disinfection tool.

33. The robotic disinfection apparatus of claim 32, wherein the plurality of disinfection tools include a first disinfection tool comprising a first germicidal light source, and a second disinfection tool comprising a second germicidal light source.

34. The robotic disinfection apparatus of claim 33, wherein one of or each of the first and second germicidal light sources has an adjustable germicidal capability, or wherein one of the germicidal light sources has a different germicidal capability relative to the other of the germicidal light sources.

35. The robotic disinfection apparatus of claim 34, wherein one of the germicidal light sources has a different germicidal capability relative to the other of the germicidal light sources, and wherein the control system is configured to determine which one of the plurality of disinfection tools to attach to the first attachment-detachment mechanism of the first manipulator, in dependence on the sensor data.

36. The robotic disinfection apparatus of claim 34 or 35, wherein the different or adjustable germicidal capability comprises an irradiation range.

37. The robotic disinfection apparatus of claim 36, wherein the different irradiation range comprises one of the germicidal light sources being different in area relative to the other of the germicidal light sources.

38. The robotic disinfection apparatus of any one of claims 34 to 35, wherein one of the disinfection tools is different in size, by volume, than the other of the disinfection tools.

39. The robotic disinfection apparatus of any one of claims 34 to 38, wherein the different or adjustable irradiation range comprises a number of directions faced by ultraviolet lamps of one of the germicidal light sources relative to a number of directions faced by ultraviolet lamps of the other of the germicidal light sources.

40. The robotic disinfection apparatus of claim 39, wherein the different or adjustable number of directions enables simultaneous disinfection of a top and a side of an object.41 . The robotic disinfection apparatus of any one of claims 23 to 40, wherein the plurality of tools include a third disinfection tool having a third germicidal light source having a different germicidal capability than one of the first and second germicidal light sources, and / or wherein the plurality of tools include a shielding tool comprising a shield to block part of a disinfection tool’s irradiation range.

42. The robotic disinfection apparatus of any one of claims 23 to 41 , the sensor apparatus comprising a manipulatable sensor supported by or attachable to one of the plurality of manipulators, to detect the external environment and provide at least part of the sensor data.

43. The robotic disinfection apparatus of claim 42, comprising an ultraviolet torch, and wherein the manipulatable sensor has a sensitivity range capable of detecting fluorescence and / or reflectance of material within a beam of the ultraviolet torch.

44. The robotic disinfection apparatus of claim 42 or 43, wherein the control system is configured to: control the mobility apparatus and the one of the manipulators autonomously to move the manipulatable sensor within the external environment while obtaining the at least part of the sensor data from the manipulatable sensor; determine a model of the external environment in dependence on the sensor data; and control the mobility apparatus and the plurality of manipulators autonomously, in dependence on the model, to move within the external environment while at least one of the plurality of manipulators is operable to manipulate a respective disinfection tool of the plurality of tools.

45. The robotic disinfection apparatus of claim 44, wherein controlling the plurality of manipulators autonomously in dependence on the model causes manipulation of separate disinfection tools of the plurality of tools.

46. A disinfection robot comprising the robotic disinfection apparatus of any one of claims 23 to 45.

47. A system comprising a plurality of disinfection robots each as claimed in claim 46, wherein each disinfection robot comprises a communication module, wherein the disinfection robots are configured to be networked via the communication modules, wherein the control system of at least one of the plurality of disinfection robots is configured to prepare a collaborative navigation plan in dependence on the sensor data, wherein the sensor data includes information from sensors of different ones of the plurality of disinfection robots.

48. A control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the control system is configured to: control a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determine a model of the external environment in dependence on the data; predict shadowed areas within the model, in dependence on the data; and control the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment.

49. The control system of claim 48, further configured to: determine whether a coverage condition is satisfied, in dependence on the predicted shadowed areas; in dependence on satisfaction of the coverage condition, initiate execution of a disinfection plan based on the data, to control movement of the mobility apparatus and of at least one of the manipulators to which the first disinfection tool is attached; and in dependence on non-satisfaction of the coverage condition, control the first manipulator to move the manipulatable sensor to a new position in the external environment.

50. The control system of claim 48 or 49, wherein predicting shadowed areas within the model is dependent on a ray tracing method.51 . The control system of claim 48, 49 or 50, configured to determine and execute a required germicidal light dosage exposure, in dependence on the predicted shadowed areas of the model.

52. The control system of any one of claims 48 to 51 , configured to predict a likelihood of pathogens within the predicted shadowed areas, wherein the required dosage exposure is dependent on the predicted likelihood of pathogens within the predicted shadowed areas, wherein predicting the likelihood of pathogens is dependent on object recognition.

53. The control system of any one of claims 48 to 52, configured to: determine an obstruction within the model; and determine whether to control the first manipulator to move the manipulatable sensor over a top of the detected obstruction, in dependence on the predicted shadowed areas and on the detected obstruction.

54. The control system of claim 53, configured to: control the first manipulator to move the manipulatable sensor over a top of the detected obstruction to position the manipulatable sensor directly above the detected obstruction, and obtain further data from the manipulatable sensor indicative of a top plane of the detected obstruction.

55. The control system of claim 54, configured to: additionally determine whether to control the first manipulator to move the manipulatable sensor to the rear of the detected obstruction, in dependence on the further data indicative of the top plane of the detected obstruction.

56. The control system of claim 55, configured to: in dependence on the additional determination, control the first manipulator to move the manipulatable sensor over the detected obstruction to the rear of the detected obstruction, and obtain additional data from the manipulatable sensor indicative of a rear plane of the detected obstruction.

57. The control system of any one of claims 48 to 56, wherein the first disinfection tool comprises a germicidal light source having an adjustable germicidal capability.

58. The control system of claim 57, wherein the adjustable germicidal capability comprises an adjustable irradiation range.

59. The control system of claim 58, wherein the adjustable irradiation range comprises the germicidal light source being extendable in a dimension.

60. The control system of claim 58 or 59, wherein the adjustable irradiation range comprises the first disinfection tool being controllable to relatively move subsets of ultraviolet lamps of the germicidal light source between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second different number of directions.

61. The control system of claim 60, wherein the second different number of directions enables simultaneous disinfection of a top and a side of an object.

62. The control system of any one of claims 48 to 61 , wherein the one or more manipulators of the disinfection robot further comprise a second manipulator, wherein the disinfection robot further comprises a second disinfection tool, and wherein the control system is configured to control the mobility apparatus and the first and second manipulators autonomously, in dependence on the model, to move the first and second disinfection tools within the external environment.

63. The control system of claim 62, wherein one of the first and second disinfection tools has a different germicidal capability than the other of the first and second disinfection tools.

64. The control system of claim 63, wherein the different germicidal capability comprises a different irradiation range of a germicidal light source of the respective disinfection tool.

65. The control system of claim 64, wherein the different irradiation range comprises one of the germicidal light sources being different in area relative to the other of the germicidal light sources.

66. The control system of claim 65, wherein one of the disinfection tools is different in size, by volume, than the other of the disinfection tools.

67. The control system of claim 64, 65 or 66, wherein the different irradiation range comprises ultraviolet lamps of one of the germicidal light sources simultaneously facing in a different number of directions relative to a number of directions faced by ultraviolet lamps of the other of the germicidal light sources.

68. The control system of any one of claims 48 to 67, wherein the control system is configured to control disinfection tool selection in dependence on the data.

69. A disinfection robot comprising the control system as defined in any one of claims 48 to 68.

70. A method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the method comprises: controlling a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage;determining a model of the external environment in dependence on the data; predicting shadowed areas within the model, in dependence on the data; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment.71 . A computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within an external environment, a carriage transportable by the mobility apparatus, and one or more manipulators supported by the carriage, the one or more manipulators operable to manipulate a plurality of tools, the plurality of tools including a first disinfection tool, the one or more manipulators further being operable to move a manipulatable sensor configured to detect the external environment, wherein the computer program, when run on a computer, performs: controlling a first one of the one or more manipulators autonomously to move the manipulatable sensor, while obtaining data from the manipulatable sensor, wherein the first manipulator has more than one degree of freedom of articulation relative to the carriage; determining a model of the external environment in dependence on the data; predicting shadowed areas within the model, in dependence on the data; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the model and on the predicted shadowed areas, to move the first disinfection tool within the external environment.

72. A control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the control system is configured to: obtain sensor data indicative of an external environment; determine a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motion plan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and control the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan.

73. The control system of claim 72, configured to process the sensor data to recognise objects in the external environment, and wherein the tool plan is dependent on the recognised objects, to cause different tool sizes to be determined to disinfect different recognised objects in the external environment.

74. The control system of claim 72 or 73, configured to determine an obstruction in dependence on the sensor data, and wherein the tool plan is configured to determine the tool size in dependence on the determined obstruction.

75. The control system of any one of claims 72 to 74, wherein the adjustable tool size comprises a germicidal light source being extendable and retractable in a dimension in dependence on the determined tool size.

76. The control system of any one of claims 72 to 75, wherein a disinfection tool having the adjustable tool size is controllable to relatively move subsets of ultraviolet lamps between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second different number of directions, and wherein the tool plan is further configured to plan relative movement of the subsets of ultraviolet lamps to disinfect different locations in the external environment.

77. The control system of any one of claims 72 to 76, wherein at least one of the one or more manipulators comprises an attachment-detachment mechanism controllable by the control system to enable an autonomous tool switching operation enabling switching between different-sized tools, and wherein the tool plan schedules the autonomous tool switching operation.

78. The control system of claim 77, wherein the tool plan is configured to select a larger-sized one of the disinfection tools, having a greater germicidal capability, prior to the autonomous tool switching operation.

79. The control system of claim 78, wherein the greater germicidal capability comprises a greater irradiation range of a germicidal light source.

80. The control system of any one of claims 72 to 79, configured to determine a required germicidal light dosage exposure associated with the determined tool size, in dependence on the sensor data.81 . The control system of any one of claims 72 to 80, configured to predict a likelihood of pathogens in the external environment, wherein the disinfection plan is dependent on the predicted likelihood of pathogens, and wherein predicting the likelihood of pathogens is dependent on at least one of: sensed biological data indicative of biological deposits in the external environment; or object recognition.

82. The control system of any one of claims 72 to 81 , wherein the one or more manipulators each has a plurality of degrees of freedom of articulation relative to the carriage, and wherein the manipulator motion plan is configured to utilize the plurality of degrees of freedom.

83. The control system of any one of claims 72 to 82, wherein the one or more manipulators of the disinfection robot is in the form of a plurality of manipulators, a first of which is operable to manipulate oneof the disinfection tools, and a second of which is operable to manipulate another of the disinfection tools, wherein the manipulator motion plan is configured to control movement of the first and second manipulators, and wherein the tool plan is configured to select which ones of the disinfection tools manipulated by the first and second manipulators are to be used to disinfect which locations in the external environment.

84. The control system of claim 83, wherein each of the plurality of manipulators comprises a separate attachment-detachment mechanism separately controllable by the control system to enable a separate autonomous tool switching operation, and wherein the tool plan schedules the separate autonomous tool switching operations.

85. The control system of any one of claims 72 to 84, the disinfection tools including more than two disinfection tools defining a plurality of different tool sizes, wherein the tool plan is configured to select which one or a subset of the more than two disinfection tools is to be used, via tool-switching, to disinfect which locations in the external environment.

86. A disinfection robot comprising the control system as defined in any one of claims 72 to 85.

87. A method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the method comprises: obtaining sensor data indicative of an external environment; determining a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motion plan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan.

88. A computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, and one or more manipulators, supported by the carriage, operable to manipulate disinfection tools having a different tool size than each other or having an adjustable tool size, the tool size associated with a germicidal capability, wherein the computer program, when run on a computer, performs: obtaining sensor data indicative of an external environment; determining a disinfection plan in dependence on the sensor data, wherein the disinfection plan includes a mobility apparatus motion plan to control the mobility apparatus, a tool plan to determine which tool size is to be used to disinfect which locations in the external environment, and a manipulator motionplan to control movement of the one or more manipulators, wherein one of the manipulator motion plan and the tool plan is dependent on the other of the manipulator motion plan and the tool plan; and controlling the mobility apparatus and the one or more manipulators autonomously, in dependence on the disinfection plan.

89. A control system for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the control system is configured to: obtain sensor data indicative of an external environment; process the sensor data to recognise one or more objects in the external environment; determine which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and control the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

90. The control system of claim 89, configured to disinfect at least a first one of the recognised objects differently, using the disinfection tool, depending on the determined group.91 . The control system of claim 90, wherein disinfecting the first recognised object differently comprises controlling a required germicidal light dosage exposure of the disinfection tool.

92. The control system of claim 89, 90 or 91 , configured to: predict an expected object in the external environment in dependence on the determined group; control a sensor position to search for the expected object in the external environment; obtain further sensor data indicative of the external environment, based on the search; process the further sensor data to recognise the expected object in the external environment; and control at least one of the mobility apparatus or the manipulator autonomously to disinfect the recognised expected object.

93. The control system of any one of claims 89 to 92, wherein the disinfection robot comprises a sensor configured to detect biological data indicative of biological deposits in the external environment, and wherein the control system is configured to control a position of the sensor autonomously, in dependence on the determined group.

94. The control system of any one of claims 89 to 93, wherein the disinfection robot comprises a plurality of the manipulators each supported by the carriage, each operable to manipulate a respective tool of a plurality of tools, the plurality of tools including the disinfection tool, and wherein the control system is configured to control the manipulators autonomously, in dependence on the determined group.

95. The control system of claim 94, wherein at least one of the manipulators has more than one degree of freedom of articulation relative to the carriage.

96. The control system of claim 94 or 95, configured to control one of the manipulators autonomously to manipulate the disinfection tool, in dependence on the determined group and / or in dependence on the recognised objects, while the control system is further configured to control another of the manipulators autonomously to manipulate another disinfection tool of the plurality of tools, in dependence on the determined group and / or in dependence on the recognised objects.

97. The control system of claim 94, 95, or 96, configured to control one of the manipulators autonomously to move a manipulatable sensor, in dependence on the determined group and / or in dependence on the recognised objects.

98. The control system of any one of claims 94 to 97, configured to control an attachment-detachment mechanism of one of the manipulators to initiate an autonomous tool switching operation, in dependence on the determined group and / or in dependence on the recognised objects.

99. The control system of claim 98, wherein the autonomous tool switching operation enables switching between disinfection tools having different germicidal capabilities than each other.

100. The control system of claim 99, wherein the different germicidal capabilities comprise different irradiation ranges of germicidal light sources of the respective disinfection tools.

101. The control system of claim 100, wherein the different irradiation ranges comprise one of the germicidal light sources being different in area relative to another of the germicidal light sources.

102. The control system of claim 100 or 101 , wherein the different irradiation ranges comprise ultraviolet lamps of one of the germicidal light sources simultaneously facing in a different number of directions relative to ultraviolet lamps of another of the germicidal light sources.

103. The control system of any one of claims 89 to 102, wherein the disinfection tool has an adjustable germicidal capability, and wherein the control system is configured to control the adjustable germicidal capability in dependence on the determined group and / or in dependence on the recognised objects.

104. The control system of claim 103, wherein the adjustable germicidal capability comprises an adjustable irradiation range of a germicidal light source of the disinfection tool.

105. The control system of claim 104, wherein the adjustable irradiation range comprises the disinfection tool being extendable in a dimension to extend the germicidal light source in the dimension.

106. The control system of claim 104 or 105, wherein the adjustable irradiation range comprises the disinfection tool being controllable to relatively move subsets of ultraviolet lamps between a first state in which the subsets simultaneously face a first number of directions and a second state in which the subsets simultaneously face a second greater number of directions.

107. The control system of any one of claims 89 to 106, wherein if the determining which one of the plurality of groups the recognised objects belong to indicates that a confidence condition is not satisfied, the control system is configured to control at least one of the mobility apparatus or the disinfection tool autonomously, in dependence on the recognised objects individually, and not in dependence on the determining which one of the plurality of groups the recognised objects belong to.

108. A disinfection robot comprising the control system as defined in any one of claims 89 to 107.

109. A method of controlling a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the method comprises: obtaining sensor data indicative of an external environment; processing the sensor data to recognise one or more objects in the external environment; determining which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and controlling the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

110. A computer program for a disinfection robot, the disinfection robot comprising a mobility apparatus operable to travel within the external environment, a carriage transportable by the mobility apparatus, a manipulator supported by the carriage, and a disinfection tool supported by the manipulator, wherein the computer program, when run on a computer, performs: obtaining sensor data indicative of an external environment; processing the sensor data to recognise one or more objects in the external environment; determining which one of a plurality of groups the recognised objects belong to, each group being indicative of a different external environment; and controlling the mobility apparatus and the manipulator autonomously based on the sensor data and on the determined group.

111. A robotic disinfection apparatus comprising: a sensor apparatus configured to obtain sensor data indicative of an external environment; a mobility apparatus operable to travel within the external environment; a carriage transportable by the mobility apparatus; a manipulator supported by the carriage, wherein the manipulator is operable to manipulate a disinfection tool; anda control system configured to control the mobility apparatus and the manipulator autonomously in dependence on the sensor data; the disinfection tool comprising a germicidal light source having an adjustable irradiation range.

112. The robotic disinfection apparatus of claim 111 , wherein the adjustable irradiation range comprises the germicidal light source being extendable in a dimension.

113. The robotic disinfection apparatus of claim 111 or 112, wherein the germicidal light source comprises a plurality of ultraviolet emitter arrays each extending in the dimension, wherein in a retracted state the plurality of ultraviolet emitter arrays form adjacent rows, and wherein adjusting the irradiation range comprises causing relative misalignment of the adjacent rows in the dimension.

114. The robotic disinfection apparatus of claim 111 , 112 or 113, wherein the disinfection tool comprises a holder to be supported by the manipulator and to support the germicidal light source, wherein one part of the germicidal light source is extendable away from the holder in a first direction along the dimension, and wherein another part of the germicidal light source is extendable away from the holder in a second opposite direction along the dimension.

115. The robotic disinfection apparatus of any one of claims 111 to 114, wherein the adjustable irradiation range comprises the disinfection tool being controllable to relatively move portions of the germicidal light source of the disinfection tool between a first state in which the portions simultaneously face a first number of directions and a second state in which the portions simultaneously face a second different number of directions.

116. The robotic disinfection apparatus of claim 115, wherein the second number of directions enables simultaneous irradiation of a top and a side of an object.

117. The robotic disinfection apparatus of claim 116, wherein the second number of directions enables simultaneous irradiation of a top and a pair of opposing sides of an object.

118. The robotic disinfection apparatus of claim 115, 116 or 117, wherein the disinfection tool comprises a first carrier arrangement supporting a first of the portions and a second of the portions, wherein the first portion is unfoldable relative to the second portion.

119. The robotic disinfection apparatus of claim 118, wherein the first portion is unfoldable by a reflex angle to extend downwardly to enable irradiation of a side of an object while the second portion irradiates a top of the object.

120. The robotic disinfection apparatus of claim 118 or 119, wherein the first carrier arrangement is movable to move the first and second portions away from other portions of the germicidal light source of the disinfection tool.

121. The robotic disinfection apparatus of claim 118, 119 or 120, wherein the disinfection tool comprises a second carrier arrangement, movable in a different direction than the first carrier arrangement to increase a size of the disinfection tool, wherein the second carrier arrangement supports third and fourth portions of the germicidal light source of the disinfection tool, wherein the fourth portion is unfoldable relative to the third portion.

122. The robotic disinfection apparatus of claim 121 , wherein the first and fourth portions are each unfoldable by a reflex angle to each extend downwardly to enable simultaneous irradiation of a pair of sides of an object while the second and third portions irradiate a top of the object.

123. The robotic disinfection apparatus of any one of claims 111 to 122, the manipulator having more than one degree of freedom of articulation relative to the carriage.

124. The robotic disinfection apparatus of claim 123, wherein the manipulator is operable to control at least rotation, and horizontal translation of the disinfection tool.

125. The robotic disinfection apparatus of any one of claims 111 to 124, comprising means for controlling vertical translation of the respective tool.

126. The robotic disinfection apparatus of any one of claims 111 to 125, comprising a second one of the manipulator, supported by the carriage, and a second disinfection tool to be manipulated by the second manipulator.

127. The robotic disinfection apparatus of claim 126, wherein the second manipulator has more than one degree of freedom of articulation relative to the carriage, wherein the control system is configured to control the manipulator and second manipulator separately from each other.

128. The robotic disinfection apparatus of claim 126 or 127, wherein the second disinfection tool is another one of the disinfection tool.

129. The robotic disinfection apparatus of any one of claims 111 to 128, wherein the germicidal light source comprises an ultraviolet light source operable to perform ultraviolet germicidal irradiation of the external environment.

130. The robotic disinfection apparatus of any one of claims 111 to 129, wherein the carriage comprises an upright column arrangement comprising a track along the upright column arrangement, along which an actuator can slide the manipulator up and down.

131. The robotic disinfection apparatus of any one of claims 111 to 130, wherein the disinfection tool comprises a slider having an extended state enabling, at least in part, an axially expanded configuration of the disinfection tool.

132. The robotic disinfection apparatus of any one of claims 111 to 131 , comprising a second manipulator supported by the carriage to a same side of the carriage as the disinfection tool, wherein the second manipulator is operable to manipulate a second disinfection tool, the second disinfection tool comprising a germicidal light source having a separately adjustable irradiation range than the germicidal light source of the disinfection tool.

133. The robotic disinfection apparatus of claim 132, wherein the second manipulator is operable to actuate the second disinfection tool between stowed and operating positions, wherein in the stowed position the second disinfection tool is stowed at least partially inside the carriage, and in the operating position the second disinfection tool extends in an outboard direction away from the carriage.

134. The robotic disinfection apparatus of claim 132 or 133, wherein the second disinfection tool comprises a hinge to rotate one of first and second carriers of the second disinfection tool transverse to the other, the first and second carriers each comprising a germicidal light source.

135. A disinfection robot comprising the robotic disinfection apparatus of any one of claims 111 to 134.

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