Disinfection device

Abstract

To provide a sterilization device which is effective for sterilization in a wide space and a control device of the sterilization device which is high in safety for a person.SOLUTION: A sterilization device comprises: a plurality of UV-C light sources; a plurality of imaging units; a power supply unit; a control unit; and an unmanned conveyance robot which is mounted with the UV-C light source, the imaging unit, the power supply unit and the control unit. The power supply unit supplies the power to at least the UV-C light source and the control unit. The UV-C light source is arranged so as to be able to emit UV-C light toward the periphery of the sterilization device in the turn-on state. The imaging unit is arranged so as to be able to image the periphery of the sterilization device. The control unit controls the UV-C light source into the turn-on state or turn-off state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a disinfection device and a control device. [Background technology]

[0002] Among ultraviolet light, UV-C light, which has a wavelength of 100nm to 280nm, is known to have disinfecting properties. UV-C light sources, such as UV-C lamps, are commercially available for water disinfection. In recent years, UV-C light sources have been installed in robots, making it possible to disinfect bacteria, mold, fungi, viruses, and other microorganisms in hospitals and public spaces. UV-C light is also thought to be effective against coronaviruses such as COVID-19. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-533810 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, one UV-C light source can reach 4m 2 Although UV-C light can be irradiated over an area of ​​100 meters, in order to effectively disinfect a large space such as a factory, multiple UV-C light sources must be installed. Also, UV-C light is harmful to human skin and eyes, so care must be taken when handling it.

[0005] The present invention has been made in view of the above, and aims to provide a disinfection device that is effective for disinfecting a large space and a control device for the disinfection device that is highly safe for people. [Means for solving the problem]

[0006] One aspect of the present invention is a disinfection device comprising a plurality of UV-C light sources, a plurality of image capturing units, a power supply unit, a control unit, and an unmanned transport robot equipped with the UV-C light sources, the image capturing units, the power supply unit, and the control unit, wherein the power supply unit supplies power to at least the UV-C light sources and the control unit, the UV-C light sources are positioned so that they can irradiate UV-C light toward the periphery of the disinfection device when turned on, the image capturing units are positioned so that they can capture images of the periphery of the disinfection device, and the control unit controls the UV-C light sources to be turned on or off.

[0007] The disinfection device may further include a warning unit that is visible from the outside.

[0008] The warning unit may be a warning light installed on the top of the disinfection device.

[0009] The UV-C light source may further include a changeover switch for switching whether or not power is supplied to the UV-C light source.

[0010] The device may further include an operation confirmation light that is visible from the outside and that is turned on under the control of the control unit in the operation confirmation mode.

[0011] The operation confirmation light may be arranged surrounded by the UV-C light source.

[0012] The UV-C light source may be installed above the power supply unit and the control unit mounted on the automatic guided robot.

[0013] The height from the ground surface of the sterilization device to the top of a case containing the power supply unit and the control unit may be 71.0 cm or less.

[0014] The imaging unit may include an infrared camera.

[0015] The imaging unit and the control unit may be configured to determine whether or not an image of a person at least 6 m away from the disinfection device is present in the image captured by the imaging unit.

[0016] The control unit and the automatic guided robot may be configured to be able to communicate wirelessly.

[0017] One aspect of the present invention is a control device for a disinfection apparatus that includes multiple UV-C light sources, multiple imaging units, a power supply unit, and an unmanned transport robot equipped with the UV-C light sources, the imaging units, and the power supply unit, and that includes a control unit that determines whether or not a human image is present in an image captured by the imaging unit, and controls the UV-C light sources to an off state when it determines that a human image is present in the image, and a communication unit that communicates with the unmanned transport robot, and is supplied with power from the power supply unit.

[0018] The control unit may determine the presence or absence using a trained model.

[0019] The disinfection device may be provided with a switch that switches whether or not power is supplied to the UV-C light source, and the control unit may determine whether or not power is supplied when the switch is in a state that allows power to be supplied.

[0020] The control unit may maintain the UV-C light source in an off state for a predetermined time when it determines that an image of a person is present in the image.

[0021] The disinfection device may further include a warning unit that is visible from the outside, and the control unit may activate the warning unit when the UV-C light source is turned on.

[0022] The disinfection apparatus may further include an operation confirmation light visible from the outside, and the control unit may perform control to turn on the operation confirmation light in the operation confirmation mode. [Effects of the Invention]

[0023] According to the present invention, it is possible to realize a disinfection apparatus that is effective for disinfecting a large space and a control device for the disinfection apparatus that is highly safe for people. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a disinfection device according to an embodiment. [Figure 2] FIG. 2 is a plan view showing an example of a floor of a building in which a disinfection apparatus is used. [Figure 3] FIG. 3 is a diagram illustrating an example of the size of the disinfection device. [Figure 4] FIG. 4 is a block diagram of the disinfection device. [Figure 5] FIG. 5 is a flowchart showing the control flow in the disinfection apparatus. [Figure 6] FIG. 6 is a flowchart of the subroutine in FIG. [Figure 7] FIG. 7 is a flowchart of the subroutine in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding components are appropriately designated by the same reference numerals, and redundant description will be omitted.

[0026] 1 is a schematic diagram showing the configuration of a disinfection apparatus according to an embodiment. The disinfection apparatus 100 includes an automated guided vehicle 10, a case 20, a light source unit 30, a plurality of cameras 40 serving as imaging units, and a warning light 50 serving as a warning unit. The automated guided vehicle 10 is equipped with the case 20, the light source unit 30, the camera 40, and the warning light 50. The light source unit 30 is provided on the case 20, and the camera 40 and the warning light 50 are provided on the light source unit 30.

[0027] Fig. 2 is a plan view showing an example of a floor of a building where the sterilization apparatus 100 is used. This floor F is a workshop or office, and multiple tables T are arranged there. There are passages between the tables T that allow people and equipment to move around. The sterilization apparatus 100 is usually used at night when no one is present.

[0028] Fig. 3 is a diagram illustrating an example of the size of the sterilization apparatus. The sterilization apparatus 100 has a floor surface FL of the floor F as its ground surface, and the height from the floor surface FL to the top surface of the case 20 is height H1. The width of the light source unit 30 in a direction parallel to the floor surface FL is width W1, and the width of the case 20 is width W2. The widths W1 and W2 are the widths of the light source unit 30 and the case 20 in the narrowest direction in the direction parallel to the floor surface FL, respectively. As shown in Fig. 3, the width W1 of the light source unit 30 is narrower than the width W2 of the case 20.

[0029] The table T has a base T1 and legs T2, and is placed on a floor surface FL of the floor F. The height from the floor surface FL to the underside of the base T1 is height H2. Meanwhile, in the sterilization apparatus 100, the height from the floor surface FL to the upper surface of the case 20 is height H1.

[0030] In the sterilization apparatus 100, the height H1 is set to be equal to or less than the height H2. This makes it difficult for the sterilization apparatus 100 to come into contact with the base T1 of the table T when it moves between tables T on the floor F or when it rotates to change direction. One standard for the table T is that the height H2 is 71.5 cm. In this case, the height H1 is preferably 71.0 cm or less.

[0031] In addition, it is preferable that the light source unit 30 is installed as low as possible so that the area under low chairs and tables T can also be disinfected.

[0032] Next, the disinfection apparatus 100 will be specifically described with reference to Figures 1 and 4. Figure 4 is a block diagram of the disinfection apparatus.

[0033] <Automated guided vehicle> The automated guided vehicle 10 is an example of an automated guided robot, and is also called an AGV (Automatic Guided Vehicle). The automated guided vehicle 10 is an AMR (Autonomous Mobile Robot) and is capable of autonomous travel. The automated guided vehicle 10 includes a switch 11, a control unit 12, a memory unit 13, a traveling mechanism 14, and a communication unit 15, which are electrically connected to each other via a bus or the like.

[0034] The switches 11 include a main switch and a RUN switch. The main switch is a switch for starting the automated guided vehicle 10. When the main switch is turned on, power is supplied to each part from a battery (not shown) mounted on the automated guided vehicle 10. The RUN switch is a switch for executing an operation mission.

[0035] The control unit 12 performs various types of arithmetic processing for controlling each element of the automated guided vehicle 10, and is configured to include processors such as a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), and a DSP (Digital Signal Processor). The functions of the control unit 12 are realized as functional units by the control unit 12 reading out and executing various programs from the storage unit 13.

[0036] The storage unit 13 includes a portion configured, for example, by ROM (Read Only Memory) in which various programs, data, etc. used by the control unit 12 for arithmetic processing for control are stored, and a portion configured, for example, by RAM (Random Access Memory) that is used, for example, as a workspace when the control unit 12 performs arithmetic processing and for storing the results of the arithmetic processing of the control unit 12. The portion configured by ROM in the storage unit 13 may include a portion configured by a rewritable ROM such as an EEPROM (Electrically Erasable Programmable ROM). The storage unit 13 may include a storage medium such as a hard disk drive (HDD), a solid state disk (SSD), or removable media.

[0037] The data stored in the storage unit 13 includes a map of the passageways on the floor F and data on the designated travel route.

[0038] The travel mechanism 14 includes a motor that serves as a drive source for the automated guided vehicle 10, wheels for travel and rotation, and various sensors such as an acceleration sensor, a gyroscope, a LiDAR (Laser Imaging Detection And Ranging), an ultrasonic sensor, and a distance measurement sensor such as a 3D camera.

[0039] The communication unit 15 includes a communication module that can communicate wirelessly with the outside world using short-range wireless communication such as Bluetooth (registered trademark) or WiFi (registered trademark). The communication unit 15 may also include a communication module that can communicate via wired communication such as Ethernet (registered trademark).

[0040] The unmanned guided vehicle 10 can autonomously travel along the travel route by having the control unit 12 collect information from the sensors of the travel mechanism 14, detect its own position on the floor F by referring to the map and travel route data stored in the memory unit 13, and drive the motor.

[0041] Furthermore, the automated guided vehicle 10 can notify the outside of its own operation mode via the communication unit 15. The operation modes include, for example, an initial mode in which the automated guided vehicle 10 is located at the first position (standby position) after departing from the station, a normal mode in which the automated guided vehicle 10 travels along the travel route, and an end mode in which the automated guided vehicle 10 has finished traveling along the travel route and returned to the station. A station is a location where the battery of the automated guided vehicle 10 can be charged, and is the end position of the travel, but it may also function as a standby location for the automated guided vehicle 10.

[0042] <Light source part> The light source unit 30 includes a support unit 31 having a substantially cylindrical shape, multiple UV-C lamps 32 serving as UV-C light sources, and multiple fluorescent lamps 33 serving as operation confirmation lamps. The UV-C lamps 32 are, for example, four to eight in number, and are arranged at substantially equal angles around the outer periphery of the support unit 31. This allows the UV-C lamps 32 to irradiate UV-C light toward the periphery of the disinfection device 100 when turned on. UV-C light includes light with a wavelength of 254 nm, which is particularly effective for disinfection. The fluorescent lamps 33 may be, for example, one or more, and are arranged so as to be visible from the outside and surrounded by the UV-C lamps 32. This allows the fluorescent lamps 33 to not block the UV-C light from the UV-C lamps 32. Furthermore, the support unit 31 is provided with a power line for supplying power to the UV-C lamps 32 and the fluorescent lamps 33. The operation confirmation lamps are not limited to fluorescent lamps as long as they are visible from the outside, and may be, for example, LEDs.

[0043] <Camera, warning light> The number of cameras 40 is, for example, four, and they are arranged on the light source unit 30 at approximately equal angles toward the outer periphery of the support unit 31. This allows the cameras 40 to capture images of the area around the sterilization apparatus 100. The cameras 40 are supplied with power from the control device 60 and can communicate with the control device 60 via wired or wireless communication. The cameras 40 transmit captured image data to the control device 60 at a predetermined frame rate. The cameras 40 may include a visible light camera and an infrared camera. The visible light camera and the infrared camera are switched so that at least one is active by an instruction signal from the control device 60. However, the switching may be performed by a sensor attached to the camera 40 itself. The infrared camera is particularly suitable for capturing images at night. The camera 40 may also include an infrared light source that operates in conjunction with the infrared camera. The angle of view of the camera 40 is, for example, 90 degrees or more, and the four cameras 40 can achieve an angle of view of 360 degrees or more.

[0044] Here, the four cameras 40 are arranged to capture images in four directions, namely, the forward direction, the backward direction, and the left and right directions relative to the forward direction, as an example of omnidirectional views of the automated guided vehicle 10. As shown in Fig. 4, the two cameras F and L capturing images in the forward direction and the left direction are designated as cameras 41, and the two cameras B and R capturing images in the backward direction and the right direction are designated as cameras 42.

[0045] The warning light 50 is installed at the center of the upper part of the light source unit 30 so as to be visible from outside the disinfection apparatus 100. The warning light 50 is, for example, a red rotating light. Note that instead of the warning light 50, a display that displays letters and symbols may be installed as the warning unit.

[0046] <Case, control unit, power supply unit> The case 20 accommodates the control device 60, a battery 71, a switch 72, a power converter 73, and switches 74, 75, 76, and 77. The battery 71, the switch 72, the power converter 73, and the switches 74, 75, 76, and 77 constitute a power supply unit.

[0047] The battery 71 generates, for example, DC 12V power and outputs it to the power converter 73. The battery 71 may be configured to be rechargeable from an external source. The switch 72 is a changeover switch that switches between conduction and cut-off between the battery 71 and the power converter 73. The switch 72 is, for example, a toggle switch.

[0048] When the switch 72 is turned on and 12 V DC power is supplied from the battery 71, the power converter 73 generates AC power and DC power. The AC power is, for example, 220 V, and the DC power is, for example, 5 V. The DC power may be generated from the AC power. The switch 74 is a changeover switch that switches between conduction and interruption between the power converter 73 and the control device 60 and the switches 75 and 76. The switch 74 is, for example, a toggle switch. When the switch 74 is turned on, DC power is supplied to the control device 60, and AC power and DC power are supplied to the switches 75 and 76.

[0049] The switch 75 is a changeover switch that switches between conduction and interruption between the switch 74 and the warning light 50. The switch 76 is a changeover switch that switches between conduction and interruption between the switch 74 and the UV-C lamp 32 and the fluorescent lamp 33. The switching operations of the switches 75 and 76 can be controlled by the control device 60. The switches 75 and 76 are, for example, relay switches. The switch 77 is provided on the power line between the switch 76 and the UV-C lamp 32, and is a changeover switch that switches between supplying and disabling power to the UV-C lamp 32. A signal indicating whether the switch 77 is in an on state or an off state is transmitted to the control device 60. The switch 77 is, for example, a toggle switch.

[0050] <Specific configuration of the control device> The control device 60 includes a master control device 61, a slave control device 62, and a switch 63, which are electrically connected to each other via a bus or the like. The master control device 61 includes a control unit 61a, a storage unit 61b, and a communication unit 61c, which are connected to each other via a bus or the like so that they can communicate with each other. The slave control device 62 includes a control unit 62a, a storage unit 62b, and a communication unit 62c, which are connected to each other via a bus or the like so that they can communicate with each other. The switch 63 serves as a trigger that starts control by the control device 60, which will be described later. For example, until the switch 63 is turned on, timers, image recognition, and reading of the operating mode of the automatic guided vehicle 10 are not executed.

[0051] Like the control unit 12 of the automatic guided vehicle 10, the control units 61a and 62a perform various arithmetic processing for controlling each element of each control device, and are configured to include, for example, a processor. Furthermore, the control unit 61a, as a master control unit, can also control the slave control unit 62, cameras 41 and 42, and switches 75 and 77. The functions of the control units 61a and 62a are realized as functional units by the control units 61a and 62a reading and executing various programs from the storage units 61b and 62b.

[0052] Similar to the memory unit 13 of the automated guided vehicle 10, the memory units 61b and 62b include a section in which various programs and data used by the control units 61a and 62a for calculation processing for control are stored, and a section used as a workspace when the control units 61a and 62a perform calculation processing, and for storing the results of the calculation processing of the control units 61a and 62a, etc.

[0053] The communication units 61c and 62c are configured to include a communication module capable of wireless communication or wired communication, similar to the communication unit 15 of the automatic guided vehicle 10. This allows communication between the control units 61a and 62a and the automatic guided vehicle 10.

[0054] Furthermore, the control units 61a and 62a include, as functional units, a determination unit that determines whether or not a human image is present in the images captured by the cameras 41 and 42. The control units 61a and 62a may determine whether or not a human image is present using a known pattern recognition method in image processing. The control units 61a and 62a may also determine whether or not a human image is present using a trained model generated by machine learning such as deep learning.

[0055] Furthermore, when the switch 77 is in the on state, the control unit 61a controls the switch 76 to turn on or off the UV-C lamp 32. Furthermore, the control unit 61a determines whether or not the switch 77 is in a state in which power can be applied, i.e., a state in which the UV-C lamp 32 can be turned on.

[0056] <Control flow> Next, the control flow in the disinfection apparatus will be explained with reference to the flowchart shown in Figure 5. This control flow is executed after the main switch and switches 72, 74, and 77 are turned on. Note that "Controller" refers to the control flow in the control device 60, and "AGV" refers to the control flow in the automatic guided vehicle 10.

[0057] First, the control unit 12 of the automatic guided vehicle 10 initializes the register. Next, when the RUN button is operated to turn it on, the control unit 12 starts an operation mission. Here, in the operation mission, several irradiation positions spaced apart from each other are set on the travel route. In this example, the irradiation positions are a standby position in the initial mode and positions 1 to K (K is an integer equal to or greater than 3) in the normal mode. 1 to K are position numbers. When the operation mission starts, the control unit 12 moves the automatic guided vehicle 10 to the standby position and stores that its own position is the standby position. Furthermore, the control unit 12 sets the operation mode to the initial mode and notifies the control unit 61a of the main control device 61 that the initial mode is set.

[0058] After executing software startup, when the control unit 61a of the main control device 61 receives a notification, it stores the operation mode, sets a count value, and enters a standby state. The count value is set to 0 when the operation mode is in the initial state. When switch 75 is operated and turned on, and then switch 63 is operated and turned on, the control unit 61a executes a control operation. First, the control unit 61a reads the operation mode of the automatic guided vehicle 10. If the operation mode is the initial mode or normal mode, the control unit 61a starts a timer and executes a human detection subroutine.

[0059] Fig. 6 is a flowchart of the human detection subroutine in Fig. 5. First, the control unit 61a of the main control device 61 receives image data transmitted from the camera 41 at a predetermined frame rate and performs classification processing on the image using a trained model of artificial intelligence (AI). Next, the control unit 61a determines whether the image contains an image of a person.

[0060] If the control unit 61a determines that no human image is present (No), the flow proceeds to the next step. The control unit 62a of the slave control device 62 receives image data transmitted from the camera 42 at a predetermined frame rate and performs classification processing on the image using an AI trained model. Next, the control unit 62a determines whether the image contains a human image and transmits data on the determination result to the control unit 61a. Since the control unit 62a transmits only data on the determination result to the control unit 61a, the amount of data transmitted is small. If the control unit 62a determines that no human image is present (No), the control unit 61a ends the human detection subroutine.

[0061] On the other hand, if the control unit 61a determines that an image of a person is present (Yes) or if the control unit 62a determines that an image of a person is present (Yes), the control unit 61a controls the switches 75 and 76 to turn them off. As a result, the control unit 61a controls the UV-C lamp 32, the warning lamp 50, and the fluorescent lamp 33 to be all turned off. This off state continues for, for example, five seconds. Subsequently, the control unit 61a does not add the time during which the lights were off (5 seconds in this example) to the predetermined time counted by the timer (described later). The flow then returns to the point before the control unit 61a receives and classifies image data from the camera 41.

[0062] For example, when the control units 61a and 62a determine that a human image is present if it is determined that a human image is included in two consecutive frame images, they determine that a human image is not present if it is not. By determining that a human image is present when it is determined that a certain number of consecutive frame images contain a human image in this way, erroneous recognition is reduced.

[0063] Returning to FIG. 5, after the human detection subroutine is completed, the control unit 61a executes a UV operation subroutine.

[0064] FIG. 7 is a flowchart of the UV operation subroutine in FIG. 5. First, the control unit 61a controls the switch 75 to the ON state. As a result, the control unit 61a performs control so that the warning light 50 is turned on. Next, the control unit 61a reads the operation mode of the automatic guided vehicle 10. If the operation mode is the initial mode, the subroutine ends. If the operation mode is the normal mode, the control unit 61a controls the switch 76 to the ON state. As a result, the control unit 61a performs control so that the UV-C lamp 32 and the fluorescent lamp 33 are turned on. Disinfection is performed when the UV-C lamp 32 is turned on.

[0065] Returning to FIG. 5, after completing the UV operation subroutine, the control unit 61a determines whether the timer has counted a predetermined time. The predetermined time is, for example, two minutes. If the predetermined time has not been counted (No), the flow returns to the point before the human detection subroutine. If the predetermined time has been counted (Yes), the flow proceeds to a series of determination steps to determine the current count value. In the series of determination steps, a determination signal is sent to the automated guided vehicle 10 according to the current count value (C). In the initial mode, a determination signal indicating C=0 is sent.

[0066] When the automatic guided vehicle 10 receives a determination signal indicating C=0, the control unit 12 moves the automatic guided vehicle 10 to the next irradiation position and stores its own position as position 1. Furthermore, the control unit 12 sets the operation mode to normal mode and notifies the control unit 61a of the main control device 61 that the operation mode is normal mode.

[0067] The control unit 61a of the main control device 61 stores the notified operation mode and counts up the count value to 1 corresponding to the position number of position 1. Next, the control unit 61a executes control operations, such as reading the operation mode of the automatic guided vehicle 10.

[0068] Thereafter, the control unit 61a determines whether the timer has counted a predetermined time, and if it has counted the predetermined time (Yes), the flow proceeds to a series of determination steps to determine the current count value. In the series of determination steps, a determination signal is sent to the automatic guided vehicle 10 according to the current count value (C). If the automatic guided vehicle 10 is at position 1 in normal mode, a determination signal indicating C=1 is sent.

[0069] When the automatic guided vehicle 10 receives a determination signal indicating C=1, the control unit 12 moves the automatic guided vehicle 10 to the next irradiation position and stores its own position as position 2. Furthermore, the control unit 12 sets the operation mode to normal mode and notifies the control unit 61a of the main control device 61 that the operation mode is normal mode.

[0070] The control unit 61a of the main control device 61 stores the notified operation mode and counts up the count value to 2, which corresponds to the position number of position 2. Thereafter, the control unit 61a executes control operations, such as reading the operation mode of the automatic guided vehicle 10.

[0071] The automatic guided vehicle 10 stores the position, sets and notifies the operation mode, stores the operation mode in the control unit 61a of the main control device 61, counts up the count value, and performs control operations until the count value reaches K.

[0072] When the automatic guided vehicle 10 receives a determination signal indicating C=K, the control unit 12 moves the automatic guided vehicle 10 to the end position and stores that its own position is the end position. Furthermore, the control unit 12 sets the operation mode to the end mode, notifies the control unit 61a of the main control device 61 that the operation mode is the end mode, and ends the operation mission.

[0073] The control unit 61a of the main control unit 61 stores the notified operation mode but does not count up the count value. After that, if the operation mode is the end mode, the control unit 61a of the main control unit 61 goes into a standby state.

[0074] The sterilization device 100 is equipped with a UV-C lamp 32 mounted on the automated guided vehicle 10, which is capable of irradiating the surrounding area with UV-C light when lit. This effectively sterilizes a large space without the need for multiple UV-C lamps 32. Furthermore, the control unit 61a determines whether a human image is present in the image captured by the camera 40 and controls the UV-C lamp 32 to be lit or off, thereby ensuring high safety for people. Furthermore, the control unit 61a controls the UV-C lamp 32 to be off when it determines that a human image is present in the image, thereby ensuring high safety for people. Furthermore, the control unit 61a maintains the UV-C lamp 32 in an off state for a predetermined period of time when it determines that a human image is present in the image, thereby ensuring high safety for people. Furthermore, the sterilization device 100 automatically resumes irradiation when people leave the area. Furthermore, the sterilization device 100 can exclude the time when the lamp is off from the irradiation time, thereby ensuring high disinfection efficiency.

[0075] Furthermore, sterilization apparatus 100 includes warning light 50, which is a warning unit visible from the outside, making it easy to check the operating state. In particular, warning light 50 is installed on the top of sterilization apparatus 100, making it easier to check from a distance. Furthermore, control unit 61a activates, i.e., turns on, warning light 50 when UV-C lamp 32 is on, making it easy to check that UV-C lamp 32 is on.

[0076] Furthermore, since the sterilization apparatus 100 includes a switch 77 that switches whether or not power is supplied to the UV-C lamp 32, for example, in an operation check mode described later, the UV-C lamp 32 can be turned off to check the operation of the sterilization apparatus 100. In addition, in the control flow of Figure 5, the human detection subroutine and subsequent steps are not executed until the switch 63 is turned on, so that the work environment can be prepared before the switch 63 is operated.

[0077] Furthermore, in the sterilization apparatus 100, it is preferable that the camera 40 and the control device 60 are configured to be able to determine whether or not an image of a person at least 6 m away from the sterilization apparatus 100 is present in the captured image. This allows the UV-C lamp 32 to emit light with an illuminance of 3 μW / cm at a position 3 m away from the sterilization apparatus 100, for example. 2 In this case, it is highly safe for humans.

[0078] Regarding the permissible limit value (TLV) of harmful ultraviolet radiation, JIS Z 8812 and ISO15858 standards state that it is 60J / m for up to 8 hours per day. 2 or less, but the 2006 / 25 / EC Directive requires 30J / m 2 In order to comply with the strict EU directives and ensure safety by limiting the daily exposure time to 15 minutes (guideline), the effective UV irradiance of people must be 3 μW / cm 2 For example, if the UV-C lamp has a power of 30 W, the illuminance will be 3 μW / cm at a distance of 3 m. 2 Therefore, if the safety factor is doubled, a distance of 6m becomes the standard for human detection. Therefore, the distance of 6m can be changed as appropriate depending on the lamp specifications, reference standards, safety factor, etc.

[0079] <Operation check mode> In the sterilization apparatus 100, the control device 60 can also execute an operation check mode. The operation check mode can be executed when the switch 77 is in the OFF state and power is not supplied to the UV-C lamp 32. In the operation check mode, the control device 60 executes the same control flow as that shown in FIG. 5 . However, because power is not supplied to the UV-C lamp 32, the UV-C lamp 32 is not turned on in the UV operation subroutine, and only the warning lamp 50 and the fluorescent lamp 33, which serves as an operation check lamp, are turned on. By executing this operation check mode, the sterilization apparatus 100 can be safely test-run without turning on the UV-C lamp 32.

[0080] The control device 60 may also have a function of storing images captured by the camera 40, performing machine learning based on these images, and updating a trained model for determining the presence of a human image.

[0081] Furthermore, the present invention is not limited to the above-described embodiments. The present invention also includes configurations in which the above-described components are appropriately combined. Furthermore, further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the above-described embodiments, and various modifications are possible. [Explanation of symbols]

[0082] 10:Automated guided vehicle 11, 63, 72, 74, 75, 76, 77: Switches 12, 61a, 62a: control section 13, 61b, 62b: Storage section 14: Traveling mechanism 15, 61c, 62c: Communications Department 20: Case 30: Light source section 31: Support part 32: UV-C lamp 33: Fluorescent lamp 40, 41, 42: Camera 50: Warning light 60: Control device 61: Main control unit 62: Slave control device 71: Battery 73: Power converter 100:Disinfection equipment F: Floor FL: Floor surface T1: Base T2: Legs

Claims

1. 1. A disinfection device comprising: a plurality of UV-C light sources; A plurality of imaging units; a power supply; A control unit; an unmanned transport robot equipped with the UV-C light source, the imaging unit, the power supply unit, and the control unit; Equipped with the power supply unit supplies power to at least the UV-C light source and the control unit; The UV-C light source is arranged so that, when turned on, it can irradiate UV-C light toward the periphery of the disinfection device, the imaging unit includes at least two cameras; The imaging unit is arranged to be able to capture an image of the periphery of the sterilization device, The control unit controls the UV-C light source to be in an on state or an off state, the control unit includes a determination unit that determines whether or not an image of a person is present in the image captured by the imaging unit, the control unit includes a master control unit and a slave control unit, each of which includes the determination unit; A disinfection device in which a judgment unit of the main control unit judges whether or not a human image exists based on image data transmitted from one of the cameras, and a judgment unit of the subordinate control unit judges whether or not a human image exists based on image data transmitted from another of the cameras, and if no human image exists in both the judgment unit of the main control unit and the judgment unit of the subordinate control unit, it judges that no human image exists.

2. The imaging unit is a visible light camera. The disinfection device according to claim 1.

3. The unmanned transport robot further includes a memory unit in which a map of the passageways on the floor of the building in which the sterilization device is used and data on the designated travel route are stored, and the unmanned transport robot can travel autonomously along the travel route.

3. A disinfection device according to claim 1 or 2.

4. A warning light that is installed on the top of the sterilization device and is visible from outside the sterilization device; A selector switch for switching whether or not power is supplied to the UV-C light source; an operation confirmation light that is arranged around the UV-C light source, is visible from the outside, and is turned on under the control of the control unit in an operation confirmation mode; Furthermore, The imaging unit and the control unit are configured to be able to determine whether or not an image of a person at least 6 m away from the disinfection device is present in the image captured by the imaging unit. The disinfection device according to any one of claims 1 to 3.

5. The UV-C light source is installed above the power supply unit and the control unit mounted on the automatic guided robot. A disinfection device according to any one of claims 1 to 4.

6. The height from the ground surface of the sterilization device to the top of the case containing the power supply unit and the control unit is 71.0 cm or less. A disinfection device according to any one of claims 1 to 5.

7. The imaging unit includes an infrared camera. A disinfection device according to any one of claims 1 to 6.

8. The control unit and the unmanned transport robot are configured to be able to communicate wirelessly. A disinfection device according to any one of claims 1 to 7.

9. The control unit controls the UV-C light source to an off state when the determination unit determines that an image of a person is present in the image. A disinfection device according to any one of claims 1 to 8.

10. The determination unit determines the presence or absence using a trained model. A disinfection device according to any one of claims 1 to 9.

11. a selector switch for switching whether or not power is supplied to the UV-C light source; The control unit determines the presence or absence when the changeover switch is in a state in which power can be applied. A disinfection device according to any one of claims 1 to 10.

12. The control unit maintains the UV-C light source in an off state for a predetermined time when it determines that an image of a person is present in the image. A disinfection device according to any one of claims 1 to 11.

13. Further provided with a warning section that is visible from the outside, The control unit operates the warning unit when the UV-C light source is turned on. A disinfection device according to any one of claims 1 to 12.

14. Further provided with an operation confirmation light visible from the outside, The control unit controls to turn on the operation confirmation light in the operation confirmation mode. A disinfection device according to any one of claims 1 to 13.

Images