Sanitizing device

Abstract

A sanitizing device (1) comprising a control unit (2) and an air purifier (3), in signal communication with the control unit (2), configured to purify the air in an environment to be sanitized. The sanitizing device (1) comprises a mapping apparatus (5) in signal communication with the control unit (2) and configured to generate mapping signals relating to the detected environment to be sanitized, the control unit (2) is configured to generate a map (7) relating to the environment to be sanitized as a function of the mapping signals and a movement path (8) of the sanitizing device (1) in the map (7). The sanitizing device (1) comprises movement means (9) in signal communication with the control unit (2) and configured to move the sanitizing device (1) in the environment to be sanitized, according to the movement path (8).

Description

[0001] TITLE: "Sanitizing device"

[0002] DESCRIPTION

[0003] Technical field

[0004] The present invention relates to an air sanitizing device. More particularly, the present invention relates to a sanitizing device capable of moving in different areas of an environment to be sanitized in order to sanitize the polluted air thereof.

[0005] Description of the prior art

[0006] Fixed air purifiers are known in the state of the art. In detail, the air purifiers of the prior art are positioned at a point of an environment to be sanitized, for example an office.

[0007] Documents JP 2022034951 A and CN 106705260A describe mobile air purifiers. In particular, document JP 2022034951 A discloses a mobile sanitizing device comprising an air purifier and a control unit. The air purifier comprises an inlet and an outlet section, a ventilation system for the passage of air and a dedicated filter. The control unit receives data both from a sensor intended for detecting people and from an additional sensor for environmental air quality. The sanitizing device is also able to displace itself through movement means, to record the path made and to localize its position. In addition, document CN 106705260A shows a sanitizing device in which the control unit is in signal communication with external sensors adapted to detect air quality. The control unit causes the displacement of the device towards the sensor that detects that a certain threshold value relating to air quality has been exceeded.

[0008] Problem of the prior art

[0009] In fixed air purifiers of the prior art, it is not possible to guarantee a homogeneous sanitization of the air of an environment to be sanitized, since the air purifier of the prior art is fixed at one point. This means that the air purifier sanitizes an area of the environment to be sanitized around the purifier itself. Hence, a user must periodically displace the air purifier to different positions within the environment to be sanitized, in a discretionary manner, in order to sanitize multiple areas of the environment. In any case, in addition to being impractical, it is not possible to guarantee a homogeneous sanitation of the environment, since the air purifier is displaced manually.

[0010] In mobile air purifiers of the prior art, it is not possible to identify an environmental map in which to define a sanitization path that takes into account the air quality in certain positions, unless fixed external sensors are necessarily present.

[0011] In this regard, said sensors require installation in a specific area it is wished to be sanitized. In addition, the sanitizing path made by the mobile sanitizing device is limited, as the sanitizing positions are bound to the areas where the sensors have been installed.

[0012] SUMMARY OF THE INVENTION

[0013] In this context, the technical task underpinning the present invention is to propose a sanitizing device which obviates the drawbacks of the prior art as cited above.

[0014] In particular, it is an object of the present invention to provide an improved sanitizing device that guarantees a homogeneous sanitization of an environment to be sanitized.

[0015] The technical task set and the purposes specified are substantially attained by a sanitizing device comprising the technical features as set out in one or more of the accompanying claims.

[0016] The present invention permits to make available a sanitizing device capable of moving autonomously in an environment to be sanitized.

[0017] Advantageously, said sanitizing device solves the technical problem as it comprises movement means, controlled by a control unit, configured to move the sanitizing device within an environment to be sanitized.

[0018] Still advantageously, the sanitizing device comprises a mapping apparatus configured to generate a map of the environment to be sanitized in which a sanitization path is identified.

[0019] Still advantageously, the sanitizing device, according to one aspect of the present invention, is able to identify a plurality of sanitizing positions along the sanitizing path in relation to the air quality, with no need to install external sensors, and is able to displace itself to the next sanitizing position only after having purified the air in the initial position. The device of the invention therefore offers a system alternative to those described in the prior art.

[0020] Furthermore, according to a specific embodiment, this allows to the sanitizing device to develop a flexible sanitizing path, in which the positions to be sanitized are identified as a function of the evaluation of the air quality parameters by the environmental detector.

[0021] LIST OF FIGURES

[0022] Further features and advantages of the present invention will become more apparent from the indicative and thus non-limiting description of a preferred but nonexclusive embodiment of a sanitizing device, as illustrated in the appended drawings, in which:

[0023] Figure 1 is a front perspective view of a schematic representation of the sanitizing device, according to the present invention,

[0024] Figure 2 is a schematic sectional view of the sanitizing device according to the present invention,

[0025] - Figure 3 is a schematic view of a mapping apparatus of the sanitizing device,

[0026] - Figure 4 is a schematic view of a map that can be generated by a control unit of the sanitizing device.

[0027] DETAILED DESCRIPTION

[0028] With reference to the attached figures, a sanitizing device 1 is denoted with 1. The sanitizing device 1 comprises a control unit 2 and an air purifier 3, in signal communication with the control unit 2. The air purifier 3 is configured to purify the air in an environment to be sanitized. Preferably, the environment to be sanitized is a room, e.g. an office, or a portion / area of such an environment.

[0029] The sanitizing device 1 comprises an environmental parameter detector 10 configured to detect at least one physical quantity relating to a pollutant present in the environment to be sanitized. The environmental parameter detector 10 is configured to generate a measurement signal, as a function of the value of the detected physical quantity. Further, the environmental parameter detector 10 is configured to send the measurement signal to the control unit 2. Preferably, as a function of the physical quantity detected, the control unit 2 is configured to establish the level of sanitization. Preferably, the level of sanitization is chosen from: unsanitized, partially sanitized, sanitized.

[0030] The control unit 2 is configured to compare the measurement signal with a predefined threshold value.

[0031] The control unit 2 is configured to activate the air purifier 3 when the measurement signal is greater than the predefined threshold value. Preferably, the predefined threshold value is predefined by specialized users. It should be noted that the at least one physical quantity detected is relative to a CO2 value in the environment to be sanitized. Preferably, the predefined threshold value is equal to 1000 ppm.

[0032] Preferably, the control unit 2 is configured to deactivate the air purifier 3 when the measurement signal is lower than the predefined threshold value.

[0033] Preferably, the air purifier 3 comprises at least one inlet opening 31 and at least one outlet opening 32 for placing the air cleaner 3 in fluid communication with the environment to be sanitized. The air purifier 3 comprises air cleaning means 33 arranged between the at least one inlet opening 31 and the at least one outlet opening 32. The air purifier 3 comprises ventilation means 34 configured to generate an air flow between the at least one inlet opening 31 and the at least one outlet opening 32 forcing the passage thereof through the cleaning means 33.

[0034] Preferably, the cleaning means 33 comprise at least one filtering system 33a, configured to filter a polluted air flow. Still preferably, the cleaning means 33 comprise at least one UV lamp, preferably UVC, configured to sanitize the polluted air inflow.

[0035] The sanitizing device 1 comprises a mapping apparatus 5 in signal communication with the control unit 2 and configured to generate mapping signals relating to the detected environment to be sanitized. The mapping apparatus 5 is configured to send the generated mapping signals to the control unit 2. The control unit 2 is configured to generate a map 7 relating to the environment to be sanitized as a function of the mapping signals. Preferably, the control unit 2 is configured to generate a map 7 of the environment to be sanitized in real time.

[0036] The control unit 2 is configured to generate a localization signal as a function of the generated map 7, to localize the sanitizing device 1 in the environment to be sanitized. Preferably, the control unit 2 is configured to localize in real time the sanitizing device 1 in the environment to be sanitized. The control unit 2 is configured to generate a movement path 8 of the sanitizing device 1 in the map 7. Preferably, the control unit 2 is configured to generate the movement path 8 in real time. Preferably, the control unit 2 is configured to generate the movement path 8 as a function of the generated localization signal.

[0037] Preferably, a user can predefine in the control unit 2 no-access or restricted- access areas, i.e. areas to which the sanitizing device 1 cannot access. Preferably, the control unit 2 is configured to generate the movement path as a function of the map 7 and of the predefined no-access areas. In other words, the control unit 2 is configured to generate the movement path 8 so as to prevent the sanitizing device 1 from accessing the no-access areas.

[0038] Preferably, the control unit 2, as a function of the generated localization signal, is configured to calculate a number of sanitization attempts from the environment to be sanitized.

[0039] The sanitizing device 1 comprises movement means 9 in signal communication with the control unit 2. In detail, the control unit 2 is configured to activate the movement means 9. These movement means 9 are configured to move the sanitizing device 1 in the environment to be sanitized, according to the movement path 8. Preferably, the movement means 9 comprise at least one pair of wheels and driving members for their movement, more preferably two pairs of wheels. Preferably, the wheels of the at least one pair of wheels are omnidirectional. According to a preferred embodiment, movement means 9 comprise a triplet of wheels. According to an alternative embodiment, the movement means 9 comprise an articulated movement system. According to a further alternative embodiment, the movement means 9 comprise at least one pair of tracks.

[0040] In a preferred embodiment, the sanitizing device 1 comprises a support frame

[0041] 16 Preferably, the air purifier 3 is positioned on the support frame 16. Preferably, the movement means 9 are installed on the support frame 16. In general, the support frame

[0042] 16 acts as a support for the different components of the sanitizing device 1.

[0043] Preferably, the mapping apparatus 5 comprises a laser generator 51, configured to generate laser beams. The mapping apparatus 5 comprises a first distance sensor 52, in signal communication with the control unit 2 and configured to calculate travel times of generated laser beams. Furthermore, the first distance sensor 52 is configured to calculate mapping signals, as a function of the travel times of the generated laser beams. In other words, the mapping signals represent distances between the first distance sensor 52 and objects detected in the environment to be sanitized. In greater detail, the first distance sensor 52 is configured to send to the control unit 2 mapping signals, associated with the calculated travel times.

[0044] Preferably, said first distance sensor 52 is a Lidar sensor. Preferably, the generated laser beams are emitted at about 360° with respect to the laser generator 51. In this way it is possible to generate a 360° map 7 around the sanitizing device 1. According to one embodiment, it is possible to generate a 2D map, when the generated laser beams are emitted on a horizontal plane. According to an alternative embodiment, it is possible to generate a 3D map, when the generated laser beams are emitted in the horizontal plane and along a direction orthogonal to the horizontal plane. Advantageously, the 3D map takes into account the height of the objects in the environment to be sanitized.

[0045] Preferably, the mapping apparatus 5 comprises a photon generator 54, configured to generate photon beams. The mapping apparatus 5 comprises a second distance sensor 55 in signal communication with the control unit 2 and configured to calculate travel times of generated photon beams.

[0046] Furthermore, the second distance sensor 55 is configured to calculate mapping signals, as a function of the travel times of the generated photon beams. In other words, the mapping signals represent distances between the second distance sensor 55 and objects detected in the environment to be sanitized. In greater detail, the second distance sensor 55 is configured to send to the control unit 2 mapping signals, associated with the calculated travel times.

[0047] Preferably, the second distance sensor 55 is a TOF (Time-of-Flight)-type sensor. In greater detail, the second TOF-type distance sensor 55 is configured to generate an array of values, for example 4x4 or 8x8. Preferably, the generated array of values comprises information along the direction orthogonal to the horizontal plane. Note that the second TOF-type distance sensor 55 has a shorter range of action than the first Lidar-type distance sensor 52. It should be noted that the TOF-type distance sensor 55 is able to more accurately detect objects having, for example, reflective or glass surfaces.

[0048] The mapping signals generated by the first distance sensor 52 and by the second distance sensor 55 are for example relative to walls of an environment to be sanitized and to any obstacles. Advantageously, the control unit 2 is configured to change the movement path 8 as a function of the generated mapping signals. In other words, the control unit 2 is configured to change the movement path 8 as a function of the obstacles detected by the first distance sensor 52 and by the second distance sensor 55.

[0049] Preferably, the mapping apparatus 5 comprises a camera 53 configured to record images of the environment to be sanitized and in signal communication with the control unit 2. The camera 53 is configured to send the recorded images to the control unit 2. This control unit 2 comprises a recognition algorithm configured to analyse the images sent by the camera 53 and to recognize obstacles. Furthermore, the control unit 2 is configured to adjust the movement means 9 when the recognition algorithm detects obstacles. Preferably, the mapping apparatus 5 comprises two cameras 53. Advantageously, the mapping apparatus 5 is configured to estimate the depth of objects in the recorded images.

[0050] Preferably, the control unit 2 is configured to generate a localization signal as a function of the analysed images received from the camera 53.

[0051] Preferably, the mapping apparatus 5 comprises a further camera, more preferably in colour, in signal communication with the control unit 2, configured to record colour images of the environment to be sanitized. Preferably, the further camera is configured to send the colour images to the control unit 2. Preferably, the recognition algorithm is configured to recognize people in the environment to be sanitized from the sent colour images. Preferably, the recognition algorithm is implemented with a recognition neural network.

[0052] Preferably, the control unit 2 is configured to adjust the movement means 9, when people are detected by the recognition algorithm. The control unit 2 is configured to adjust the movement means 9, as a function of the localization signal generated.

[0053] Preferably, the recognition algorithm is configured to determine parameters of detected people: position of people, speed, distance from the sanitizing device 1 and direction. In greater detail, the control unit 2 is configured to calculate a stop area in case of presence, when the recognition algorithm recognizes people. Preferably, the control unit 2 is configured to calculate a two-dimensional Gaussian. Preferably, the variances are proportional to the speed and direction of the detected people. Preferably, the control unit 2 is configured to change the movement path 8 as a function of the calculated two-dimensional Gaussian. In other words, the sanitizing device 1 is configured to be distanced from the detected people by at least the calculated two- dimensional Gaussian.

[0054] Preferably, the control unit 2 has a navigational algorithm, configured to move the sanitizing device 1 along the movement path 8, between the plurality of sanitizing positions 13. Still preferably, the navigational algorithm is configured to move the movement device 1 between the starting sanitizing position 14 and the arrival sanitizing position 15.

[0055] Preferably, when the sanitizing device 1 is active, the sanitizing device 1 is configured to be positioned in a first environment to be sanitized. In particular, the sanitizing device 1 is configured to be positioned in all sanitizing positions 13. When the sanitizing device 1 is positioned in all sanitizing positions 13, the sanitizing device 1 is configured to displace itself to a different environment to be sanitized. Preferably, the sanitizing device 1 is associated with an external charging station. In particular, when the sanitizing device 1 has sanitized all the planned environments to be sanitized, the sanitizing device 1 is configured to recharge the battery at a charging station.

[0056] The control unit 2 is configured to determine a plurality of sanitizing positions 13 in the movement path 8. The control unit 2 is configured to actuate the movement means 9 to move the sanitizing device 1 from a starting sanitizing position 14 to an arrival sanitizing position 15 in the movement path 8 when the measurement signal detected in the starting sanitizing position 14 is lower than the predefined threshold value.

[0057] Preferably, in choosing the environment to be sanitized from among a plurality of environments to be sanitized, the control unit 2 is configured to consider a plurality of sanitization variables. The sanitization variables include: the number of sanitization positions 13 in the environment to be sanitized, the level of sanitization of the environment to be sanitized, the number of sanitization attempts. Preferably, the control unit 2 is configured to exclude the environments to be sanitized in which no sanitizing positions 13 are present. Preferably, the control unit 2 is configured to discard the already sanitized environments. Preferably, the control unit 2 is configured to discard the environments to be sanitized in which a number of sanitization attempts higher than a predefined maximum value have been made. Still preferably, the control unit 2 is configured to generate an alert signal when a number of sanitization attempts higher than a predefined maximum value in a given environment to be sanitized have been made.

[0058] Preferably, the control unit 2 is configured to calculate an activation time interval of the air purifier 3 in each of the sanitizing positions 13 of the movement path 8, as a function of the measurement signal. Advantageously, after the aforesaid time interval has elapsed, the control unit 2 verifies that the measurement signal has dropped below the predetermined threshold value before the sanitizing device 1 can displace itself to the next sanitizing position 13.

[0059] Preferably, the shortest path determined by the navigational algorithm is modified as a function of the no-access areas. Preferably, the shortest path determined by the navigational algorithm is modified as a function of the obstacles and people detected by the recognition algorithm. Note that because of the limited field of view of the additional colour camera, during the movement of the sanitizing device 1, people might be no longer detected. Preferably, according to a first embodiment, the control unit 2 determines that the detected person is in a detection position in which he or she was detected, for a time interval.

[0060] Preferably, according to a further embodiment, the mapping apparatus 5 comprises a plurality of cameras 53, in order to obtain a wider field of view.

[0061] Preferably, when the sanitizing device 1 arrives near an entry or an exit of an environment to be sanitized, the control unit 2 is configured to start a control routine, to check whether the door is open or closed. Preferably, the control unit 2 is configured to compare a mapping signal generated by the first distance sensor 52 or by the second distance sensor 55, with a predefined opening value. More preferably, the control unit 2 is configured to compare a mapping signal generated by the second distance sensor 55. If the mapping signal is greater than the predefined opening value, the door is considered as open. If the mapping signal is lower than the predefined opening value, the control unit 2 is configured to calculate an arrival sanitizing position 15, for example a second inlet or outlet or a different environment to be sanitized.

[0062] Preferably, the sanitizing device 1 comprises at least one battery, more preferably rechargeable. The battery is configured to power the components of the sanitizing device, among which the control unit 2 and the movement members 9 can be mentioned by way of example. Preferably, the battery is in signal communication with the control unit 2. Preferably, the control unit is configured to detect an amount of residual energy, in real time, of the battery. Preferably, if the amount of residual energy is lower than a minimum amount of energy necessary to move the sanitizing device 1 from the starting sanitizing position 14 to the arrival sanitizing position 15 and to activate the air purifier 3, the control unit 2 is configured to adjust the movement means 9 to move the sanitizing device 1 towards the charging station.

[0063] A method for sanitizing the environment to be sanitized comprises a step of providing a sanitizing device 1. The method comprises a subsequent step of generating the map 7 of the environment to be sanitized.

[0064] Preferably, the step of generating the map 7 comprises a sub-step of generating laser beams. Preferably, the step of generating the map 7 comprises a further sub-step of calculating travel times of generated laser beams and of sending to the control unit 2 mapping signals, associated with the calculated travel times.

[0065] Subsequently, the method comprises a step of generating the movement path 8 on the map 7.

[0066] Preferably, the step of generating a movement path 8 comprises a first sub-step of recording images of the environment to be sanitized with a camera 53. Preferably, the step of generating a movement path 8 comprises a second sub -step of sending the recorded images to the control unit 2. Preferably, the step of generating a movement path 8 comprises a third step of analysing the sent images with a recognition algorithm. Preferably, the recognition algorithm is configured to recognize obstacles. Preferably, the control unit 2 is configured to modify the movement path 8 as a function of obstacles detected by the recognition algorithm. Preferably, the control unit 2 is configured to modify the movement path 8 as a function of the generated map 7.

[0067] In addition, the method has a step of purifying the air in the environment to be sanitized. The method comprises a subsequent step of actuating the movement means 9 to move the sanitizing device 1 in the environment to be sanitized, according to the movement path 8 generated. Preferably, the method comprises a further step of adjusting the movement means 9 when the recognition algorithm detects obstacles.

[0068] Preferably, the method comprises a step of moving the sanitizing device 1 from the starting sanitizing position 14 to the arrival sanitizing position 15.

Claims

CLAIMS1. Sanitizing device (1) comprising:- a control unit (2),- an air purifier (3), in signal communication with the control unit (2), configured to purify the air in an environment to be sanitized,- a mapping apparatus (5) in signal communication with the control unit (2) and configured to generate mapping signals relating to the detected sanitizing environment, the control unit (2) being configured to generate a map (7) relating to the sanitizing environment as a function of the mapping signals, the control unit (2) being configured to generate a localization signal, as a function of the generated map (7), and a movement path (8) of the sanitizing device (1) in the map (7),- movement means (9) in signal communication with the control unit (2) and configured to move the sanitizing device (1) in the environment to be sanitized, according to the movement path (8),- an environmental parameter detector (10) configured to detect at least one physical quantity relating to a pollutant present in the environment to be sanitized by generating a measurement signal as a function of the value of the detected physical quantity, the environmental parameter detector (10) being configured to send the measurement signal to the control unit (2), the control unit (2) being configured to activate the air purifier (3) when the measurement signal is greater than a predefined threshold value, characterized in that the control unit (2) is configured to determine a plurality of sanitizing positions (13) in the movement path (8), the control unit (2) being configured to operate the movement means (9) to move the sanitizing device (1) from a starting sanitizing position (14) to an arrival sanitizing position (15) in the movement path (8) when the measurement signal detected in the starting sanitizing position (14)is lower than the predefined threshold value.

2. Sanitizing device (1) according to claim 1, wherein, in choosing the environment to be sanitized from among a plurality of environments to be sanitized, the control unit(2) is configured to consider a plurality of sanitization variables among the number of sanitization positions 13 in the environment to be sanitized, the level of sanitization of the environment to be sanitized, the number of sanitization attempts.

3. Sanitizing device (1) according to claim 2, wherein the control unit (2) is configured to discard the environments to be sanitized in which a number of sanitization attempts higher than a predefined maximum value have been made.

4. Sanitizing device (1) according to any one of the preceding claims, wherein the control unit (2) is configured to calculate an activation time interval of the air purifier(3) in each of the sanitizing positions (13) of the movement path (8), as a function of the measurement signal.

5. Sanitizing device (1) according to any one of claims 1 to 4, wherein the mapping apparatus (5) comprises:- a laser generator (51), configured to generate laser beams,- a first distance sensor (52), in signal communication with the control unit (2) and configured to calculate travel times of generated laser beams, the first distance sensor (52) being configured to send to the control unit (2) mapping signals, associated with the calculated travel times.

6. Sanitizing device (1) according to any one of claims 1 to 5, wherein the mappingapparatus (5) comprises:- a photon generator (54), configured to generate photon beams,- a second distance sensor (55), in signal communication with the control unit (2) and configured to calculate travel times of generated photon beams, the second distance sensor (55) being configured to send to the control unit (2) mapping signals, associated with the calculated travel times.

7. Sanitizing device (1) according to any one of the preceding claims, wherein the mapping apparatus (5) comprises a camera (53) configured to record images of the environment to be sanitized and in signal communication with the control unit (2), the camera (53) being configured to send the recorded images to the control unit (2), the control unit (2) comprising a recognition algorithm configured to analyse the images sent by the camera (53) and to recognize obstacles, the control unit (2) being configured to adjust the movement means (9) when the recognition algorithm detects obstacles.

8. Sanitizing device (1) according to any one of the preceding claims, wherein the at least one detected physical quantity is relative to a CO2 value in the environment to be sanitized.

9. Sanitizing device (1) according to any one of the preceding claims 2 to 8, wherein the air purifier (3) comprises:- at least one inlet opening (31) and at least one outlet opening (32) for placing the air cleaner (3) in fluid communication with the environment to be sanitized,- air cleaning means (33) arranged between the at least one inlet opening (31) and the at least one outlet opening (32),- ventilation means (34) configured to generate an air flow between the at least one inlet opening (31) and the at least one outlet opening (32) forcing the passage thereof through the cleaning means (33).

10. Sanitizing device (1) according to claim 9, wherein the cleaning means (33) comprise at least one filtering system (33a), configured to filter the polluted air flow.

11. Method for sanitizing an environment to be sanitized comprising the steps of- providing a sanitizing device (1), according to any one of claims 1 to 10, - generating the map (7) of the environment to be sanitized,- generating a localization signal of the sanitizing device (1),- generating the movement path (8) on the map (7),- purifying the air of the environment to be sanitized,- operating the movement means (9) to move the sanitizing device (1) in the environment to be sanitized, according to the movement path (8) generated.

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