Ultraviolet Light Disinfection Cart

Abstract

To provide autonomous or semi-autonomous mobile UV sanitizing equipment that can consistently and efficiently sanitize structures and areas while moving.SOLUTION: An ultraviolet (UV) light sanitizing cart includes a UV light array, a body, actuators, and a control unit. The UV light array includes UV lamps configured to emit UV light to sanitize a surface of a component. The body includes a mobile base and multiple interconnected rigid members supported by the base. The UV lamps are mounted on at least one of the rigid members. The actuators are mechanically connected to the body. One or more of the actuators are configured to move the rigid members relative to the base. The control unit is configured to generate control signals for controlling the actuators to move the UV light array along a sanitizing path that follows a contour of the surface.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS One or more embodiments of the subject disclosure relate generally to disinfection devices such as those used to disinfect structures or areas within vehicles such as commercial aircraft, and more specifically to mobile devices for autonomously or semi-autonomously disinfecting structures or areas using ultraviolet (UV) light. [Background technology]

[0002] Vehicles such as commercial aircraft are used to transport passengers between various locations. For example, systems are currently being developed that use UV light to disinfect or sterilize surfaces within aircraft. In known UV light sterilization methods, broad spectrum light is emitted onto a structure to disinfect the surface of the structure.

[0003] Portable disinfection systems have been developed that include a wand assembly for disinfecting components. The wand assembly of the portable disinfection system includes a UV lamp configured to emit UV light. Typically, an operator moves the wand assembly over the surface of the component to disinfect the surface. However, the operator typically does not know whether to move the wand assembly too quickly or too slowly to effectively and efficiently disinfect the surface. Generally, the manual process of disinfecting surfaces using handheld devices has varying degrees of consistency.

[0004] Mobile disinfection devices under development roll or move along a path (e.g., the interior cabin aisle of an aircraft) and irradiate the surfaces of a structure with UV light as they move. However, known mobile disinfection devices have limited sterilization effectiveness and consistency because, as the device moves along its path, the UV light remains at a fixed height relative to the structure being illuminated by the UV light. As a result, the UV light is positioned relatively far from the surface of the structure, and the distance between the UV light and the surface of the structure can vary. The amount of disinfection or sterilization at a target surface, referred to as dosage, is affected by the power of the UV light, the range or distance from the UV light source to the target surface, and the exposure time. The speed of the device relative to the target surface affects the exposure time. Variations in the distance of various surfaces from a fixed UV light source result in variations in the dose irradiated to such various surfaces, resulting in inconsistent disinfection. Additionally, the relative distance of some surfaces from the UV light source or the inability to direct the UV light onto the surface can result in an insufficient dose of UV light reaching the surface. One way to increase the dose to achieve the desired germicidal dose is to significantly slow down the speed of the mobile disinfection equipment, thereby increasing the exposure time, but doing so reduces the efficiency of the disinfection process. Summary of the Invention

[0005] There is a need for an autonomous or semi-autonomous mobile UV disinfection device that can consistently and efficiently disinfect a structure or area while moving. Further, there is a need for a mobile UV disinfection device to deliver a predetermined or specified dose of UV light along a surface as it moves to effectively disinfect the surface.

[0006] In consideration of these needs, certain embodiments of the present disclosure provide an ultraviolet (UV) light disinfection cart including a UV light array, a body, an actuator, and a control unit. The UV light array includes UV lamps configured to emit UV light to disinfect surfaces of components. The body includes a movable base and a plurality of interconnected rigid members supported by the base. The UV lamps are attached to at least one of the rigid members. An actuator is mechanically connected to the body, and one or more of the actuators are configured to move the at least one rigid member to which the UV lamps are attached relative to the base. The control unit is configured to generate control signals to control the actuators to move the UV light array along a disinfection path that follows the contour of the surface.

[0007] Certain embodiments of the present disclosure provide a method for automated disinfection of a surface. The method includes providing a cart including a body holding an ultraviolet (UV) light array. The UV light array includes UV lamps configured to emit UV light to disinfect a surface of a component. The cart further includes an actuator mechanically connected to the body and a control unit communicatively connected to the actuator. The method includes determining, via the control unit, a disinfection path for the UV light array that follows a contour of the surface, and generating, via the control unit, a control signal for controlling the actuator to move the body so that the UV light array follows the disinfection path.

[0008] Certain embodiments of the present disclosure provide an ultraviolet (UV) light disinfection cart, including a UV light array, a body, a sensor, one or more actuators, and a control unit. The UV light array includes a linear arrangement of multiple UV lamps extending along an array axis. The UV lamps are configured to emit UV light to disinfect surfaces of components. The body includes a movable base and a plurality of interconnected rigid members supported by the base. The UV lamps are attached to at least one of the rigid members. A sensor is attached to the body proximate to the UV lamps and configured to generate sensor data indicative of the proximity of the UV lamps to the surfaces of the components. The one or more actuators are mechanically connected to the body and configured to move the at least one rigid member to which the UV lamps are attached relative to the base. The one or more actuators and the body are configured to move the UV light array along two axes orthogonal to each other and orthogonal to the array axis, and to rotate the UV light array about the array axis. The control unit is configured to generate control signals to control the one or more actuators to move the UV light array along a disinfection path that follows the contour of the surface. The control unit is configured to generate the control signals based on the sensor data to maintain a specified proximity distance between the UV lamps and the surface of the component and deliver a specified dose of UV light to the surface as the UV light array moves along the disinfection path. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a rear or aft view of the interior cabin of a vehicle including a UV light disinfection cart, according to one embodiment of the subject matter of the present disclosure. [Figure 2] FIG. 1 is a side or wingtip view of the interior cabin of a vehicle containing a UV light disinfection cart. [Figure 3] FIG. 1 is a perspective view of a UV light disinfection cart within an interior cabin, according to one embodiment of the presently disclosed subject matter. [Figure 4]FIG. 1 is a side or wingtip view of two rows of seats in the interior cabin showing the travel path of the UV light arrays of a UV light disinfection cart over time, according to one embodiment of the subject matter of the present disclosure. [Figure 5] FIG. 1 is a schematic diagram of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 6] FIG. 1 is a rear view of a UV light disinfection cart with arms raised and extended, according to one embodiment of the presently disclosed subject matter. [Figure 7] FIG. 1 is a diagram of a UV light disinfection cart stored within a monument within an interior cabin, according to one embodiment of the subject matter of the present disclosure. [Figure 8] 1 illustrates a curved rack and pinion actuator for raising and lowering the arms, and thus the UV light array, of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 9] 1 illustrates a linear actuator for raising and lowering the arms, and thus the UV light array, of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 10] FIG. 1 is a top view of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 11] FIG. 1 is a cross-sectional view of an inner member and an outer member of one of the arms of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 12A] 1 shows the outer member of the arm extended relative to the inner member. [Figure 12B] 1 shows the outer member shortened relative to the inner member. [Figure 13] 1 shows a rack and pinion actuator or gear drive actuator for controlling the extension of the outer member relative to the inner member. [Figure 14A] 10A-10C illustrate various positions of the arms of a UV light disinfection cart relative to the body of the UV light disinfection cart, where the outer members of the arms can pivot relative to the inner members, according to another embodiment. [Figure 14B]10A-10C illustrate various positions of the arms of a UV light disinfection cart relative to the body of the UV light disinfection cart, where the outer members of the arms can pivot relative to the inner members, according to another embodiment. [Figure 14C] 10A-10C illustrate various positions of the arms of a UV light disinfection cart relative to the body of the UV light disinfection cart, where the outer members of the arms can pivot relative to the inner members, according to another embodiment. [Figure 14D] 10A-10C illustrate various positions of the arms of a UV light disinfection cart relative to the body of the UV light disinfection cart, where the outer members of the arms can pivot relative to the inner members, according to another embodiment. [Figure 14E] 10A-10C illustrate various positions of the arms of a UV light disinfection cart relative to the body of the UV light disinfection cart, where the outer members of the arms can pivot relative to the inner members, according to another embodiment. [Figure 15] 1 illustrates an outer array carrier attached to an inner member of an arm of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 16] 1 illustrates a steering mechanism for controlling the position of the wheels of a UV light disinfection cart, according to one embodiment of the presently disclosed subject matter. [Figure 17] 17 shows a wheel carrier assembly of the steering mechanism shown in FIG. 16. [Figure 18] FIG. 18 illustrates a rack and pinion mechanism for steering a UV light disinfection cart as an alternative to the steering mechanism shown in FIGS. 16 and 17. [Figure 19] 1 illustrates a carrier for a UV light disinfection cart tilted relative to the body, according to one embodiment of the presently disclosed subject matter. [Figure 20] 1 illustrates an actuator that can be used to rotate a carrier about a vertical axis, according to one embodiment of the presently disclosed subject matter. [Figure 21A] 1 shows a UV light disinfection cart at a first height. [Figure 21B] 1 illustrates a UV light disinfection cart at a second height, where the cart has an extended trunk portion that is taller than the first height. [Figure 21C]1A-1C show both a side view and a top view of a rack and pinion actuator for extending and retracting a fuselage, according to one embodiment of the presently disclosed subject matter. [Figure 22] 1 illustrates a base of a UV light disinfection cart according to an alternative embodiment of the presently disclosed subject matter. [Figure 23] 1 illustrates a body of a UV light disinfection cart according to an alternative embodiment of the presently disclosed subject matter. [Figure 24] 1 is a method for autonomously disinfecting an interior cabin using a UV light disinfection cart, according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The foregoing summary and the following detailed description of specific embodiments will be better understood when read in conjunction with the accompanying drawings. As used herein, the use of the terms "a" or "an" followed by a singular element or step should be understood as not necessarily excluding a plurality of elements or steps. Furthermore, references to "one example" are not intended to be interpreted as excluding the existence of additional embodiments that incorporate the recited features. Furthermore, examples such as "comprising" or "having" one or more elements having certain conditions may include additional elements that do not have such conditions, unless expressly stated to the contrary.

[0011] Certain embodiments of the presently disclosed subject matter provide an ultraviolet (UV) light disinfection cart that emits UV light as it moves through an area. The cart includes an array of UV light sources that emit UV light. The UV light sources (also referred to herein as lamps) can emit light at one or more wavelengths in the far-UV light spectrum that detoxify (e.g., disinfect) pathogens. Pathogens referred to herein can include viruses and bacteria. The wavelength of UV light emitted by the UV lamps (e.g., 222 nm) can be harmless to humans upon contact. The UV lamps can be excimer lamps.

[0012] UV light disinfection carts can be used within the interior cabin of a vehicle to decontaminate and sterilize surfaces, such as structures, walls, floors, and ceilings within the interior cabin. Structures can include seats, storage containers or shelves, tables, etc. Embodiments of the presently disclosed subject matter provide safer, more efficient, and effective disinfection compared to certain known UV systems (e.g., manual disinfection using a UV wand or pushing mobile equipment with a UV light source fixed in place).

[0013] The UV light disinfection cart autonomously moves the UV light array relative to other portions of the cart (e.g., the base of the cart) so that the UV light array follows the contours of the structure within the area, maintaining a specified proximity to the structure even along various surfaces of the structure. Such automated terrain following is achieved through sensors, a control unit including one or more processors, and various actuators mounted on the cart. Automated terrain following allows the disinfection cart to get close enough to the target surface to deliver a predetermined or specified dose of UV light without unduly slowing the cart's movement through the area, and further allows various surfaces, even surfaces of different heights and orientations, to receive a consistent dose of UV light. In this application, terrain refers to the surface of the structure to be disinfected and may include, but is not limited to, the surface over which the cart moves.

[0014] FIG. 1 is a rear or aft view of an interior cabin 102 of a vehicle 104 including a UV light disinfection cart 100, according to one embodiment. FIG. 2 is a side or wingtip view of the interior cabin 102 of a vehicle 104 including a UV light disinfection cart 100. The interior cabin 102 is oriented along a longitudinal axis or X-axis 110, a lateral axis or Y-axis 111, and a vertical (e.g., height) axis or Z-axis 112. Axes 110-112 are perpendicular to one another. The interior cabin 102 is defined by a floor 114, a ceiling 116, and sidewalls 118 of the vehicle 104. The interior cabin 102 includes a plurality of seats 120 for passengers. The seats 120 are arranged in two groups 122, 124 separated from each other by an aisle 126. The aisle 126 extends along the longitudinal axis 110. Each of the groups 122, 124 includes a plurality of seats 120 arranged in a plurality of rows 128 spaced along the length of the cabin 102. Each of the rows 128 is oriented parallel to the lateral axis 111. The cabin 102 also includes storage bins 130 mounted above the seats 120 for storing personal items (e.g., luggage, bags, coats, etc.). The storage bins 130 may be secured to the ceiling 116 and / or sidewalls 118. The UV light disinfection cart 100 is operable to efficiently, effectively, and consistently disinfect and sterilize surfaces within the interior cabin 102, including, for example, the seats 120, the storage bins 130, the floor 114, the sidewalls 118, and / or the ceiling 116.

[0015] In one non-limiting example, the vehicle 104 is an aircraft (e.g., a commercial passenger aircraft) and the interior cabin 102 is a passenger cabin. In another example, the vehicle 104 may be another type of vehicle (e.g., a rail-based passenger train car, a bus, etc.). The UV light disinfection cart 100 may also optionally be utilized to disinfect other enclosed areas outside of the vehicle (e.g., areas within a building). For example, the cart 100 may be used to disinfect office buildings, theaters, restaurants, places of worship, etc.

[0016] The UV light disinfection cart 100 includes a body 131 having a movable base 132 and a plurality of interconnected rigid members 133. The rigid members 133 are supported by the base 132. The rigid members 133 of the body 131 may include, for example, an upright member or body 134 connected to the base 132 and an arm 136 extending from the body 134. The rigid members 133 may also include additional components such as a handle 146 and a carrier 214 (described in more detail herein with reference to FIG. 6 ). The cart 100 includes a UV light array 138 defined by a plurality of UV lamps 140. At least a portion of the UV lamps 140 in the array 138 are attached to the arm 136. The arm 136 extends from the body 134 and is operable to retract toward the body 134. In FIGS. 1 and 2, the arm 136 is shown in an extended position. This extended position is utilized when operating to sterilize surfaces in the interior cabin 102. In the extended position, the arm 136 extends parallel to the lateral axis 111. The extension length of the arm 136 can be controlled based on the space within the cabin 104 and the surfaces that require sterilization. For example, each row 128 in the illustrated cabin 104 has a total of six seats, with three seats 120 adjacent to each other in each group 122, 124. The first arm 136A extends across the three seats 120 in the first group 122, and the second arm 136B extends across the three seats 120 in the second group 122. The UV lamp 140 located on the first arm 136A emits UV light onto the surfaces of the three seats 120 in the first group 122, and the UV lamp 140 located on the second arm 136B irradiates the surfaces of the three seats 120 in the second group 124. In this manner, the cart 100 simultaneously disinfects all six seats 120 in row 128 at the position of the cart 100 within the cabin 104 shown in Figures 1 and 2. The cart 100 moves along a cart path 141 (e.g., back and forth along the cart path) to move the UV light array 138 in a direction parallel to the cart path 141. In the illustrated embodiment, where the environment is the interior cabin 104, the cart path 141 is the aisle 126. The cart 100 moves along the length of the aisle 126 to disinfect each row 128, one row at a time.

[0017] In the illustrated embodiment, the base 132 includes a plurality of wheels 142. The plurality of wheels 142 provides mobility, allowing the cart 100 to roll along the length of a path (e.g., the aisle 126); in the illustrated embodiment, the base 132 has four wheels 142. Alternatively, the base 132 may include a continuous track having a set of treads that engage the floor 114 instead of the surface of the wheels 142. The base 132 may support additional components of the cart 100 (e.g., one or more battery packs 144).

[0018] The body 134 extends from the base 132 and is oriented along a vertical (or height) axis 112. A handle 146 is coupled to the body 134. The handle 146 provides an interface that allows an operator to physically grasp and control the movement of the cart 100, as shown in FIG. 2 . In the illustrated embodiment, the cart 100 is being pushed or pulled by the operator and is operating in a semi-autonomous mode. The semi-autonomous mode relies on the operator to propel the cart 100 along the aisle 126, as described in detail herein, but can provide various automated tasks (e.g., terrain following of the UV light array 138 and arm 136 to follow the contours of the seat 120, and control feedback to the operator indicating whether the operator should change the speed or direction of movement of the cart 100 along the aisle 126 to improve disinfection effectiveness). In the autonomous mode, all operations, including the movement of the cart 100 along the aisle 126, are automated. For example, as described herein, an operator uses an input device to selectively activate or turn on the cart 100, causing the cart 100 to disinfect the interior cabin 102, and then return to a stowed position. In one embodiment, the cart 100 can operate only in an autonomous mode, making the handle 146 optional.

[0019] FIG. 3 is a perspective view of a UV light disinfection cart 100 within the interior cabin 102, according to one embodiment. The cart 100 in FIG. 3 is positioned in the aisle 126, with a first arm 136A extending above three seats 120 in a first group 122 of seats 120 in a single (first) row 128A. The handle 146 is omitted from FIG. 3. FIG. 4 is a side or wingtip view of two rows 128 of seats 120, illustrating the travel path of the UV light array 138 of the UV light disinfection cart 100 over time, according to one embodiment. The two rows include the first row 128A of seats 120 shown in FIG. 3 and the row 128B of seats 120 in front of the first row 128A. FIGS. 3 and 4 illustrate the area-following capabilities of the UV light disinfection cart 100, achieving effective, efficient, and consistent disinfection of various surfaces within the cabin 102. In the position shown in FIG. 3, arm 136A is positioned above headrest 150 of seat 120, and UV lamp 140 (shown in FIG. 1) located on arm 136A emits UV light onto the top of headrest 150.

[0020] Referring to FIG. 3 , the UV light disinfection cart 100 can move and rotate the UV lamps 140 (shown in FIG. 1 ) of the UV light array 138 relative to the seats 120 and other structures within the interior cabin 102 to emit UV light within a specified proximity range of the surfaces of the structures. Such a specified proximity range may be a few inches (e.g., 2 inches, 4 inches, etc.). In the illustrated embodiment, as the cart 100 moves along the aisle 126, the cart 100 moves the UV lamps 140 along the longitudinal or X-axis 110. For example, in an autonomous mode, the wheels 142 are propelled to drive the cart 100. In a semi-autonomous mode, the cart 100 can instruct the operator on how to push or pull the cart 100, for example, by providing feedback on the speed and direction of movement along the longitudinal axis 110. The arm 136 can move along the vertical or Z-axis 112 to control the height of the UV light relative to the surfaces of the seats 120 and other structures. For example, the body 134 is telescopic to mechanically raise and lower the arm 136. The arm 136 can rotate about a lateral or Y-axis 111 to direct the UV light toward the surface of the seat 120 and other structures.

[0021] Referring now to FIG. 4, the current position of the first arm 136A in the position shown in FIG. 3 is indicated by a solid rectangle 152. This rectangle 152 shows UV light emitted by the UV lamp 140 of the illustrated arm 136A, which is positioned above the top 151 of the headrest 150 of the seat 120 in the first row 128A, illuminating the top 151 of the headrest 150. FIG. 4 illustrates a disinfection path 160 of the first arm 136A over time, according to one embodiment. A dashed rectangle 162 represents the position of the first arm 136A at subsequent times as the cart 100 moves the arm 136A along the disinfection path 160. For example, after disinfecting the top 151 of the headrest 150, the first arm 136A moves along the disinfection path 160 to a position 162A where UV light from the UV lamp 140 is emitted toward the front 155 of the headrest 150. Although only one seat 120 per row is shown in Figure 4, it is recognized that all three seats 120 in the block shown in Figure 3 would simultaneously receive UV light on the same surface of each seat 120. Additionally, although several dashed rectangles 162 are shown at separate locations, in one embodiment, UV light is emitted continuously from arm 136A along the entire length of disinfection path 160. The dashed rectangles 162 shown are not the only locations where UV light is emitted.

[0022] The disinfection path 160 of the first arm 136A (and its UV lamps 140) extends along the front surfaces 157 of the seat backs 158 (of each of the seats 120 in the block), up to the top surfaces 164 of the seat bottom surfaces 165, and then along the front surfaces 166 of the seat bottom surfaces 165. UV light is then emitted downwards of the seats 120 and then toward the floor 114 between the two rows 128A and 128B. The arm 136A then moves so that the UV lamps 140 emit UV light downwards of the seats 120 in the next row 128B, and then toward the rear surfaces 167 of the seat backs 158 (of each of the seats 120 in the block), from the seat bottom surfaces 168 of each seat 120 toward the tops 151 of the headrests 150.

[0023] Movement of arm 136A along disinfection path 160 is autonomous, or at least semi-autonomous. In one embodiment, the only motion that receives manual input in semi-autonomous mode is along longitudinal axis 110. Cart 100 is capable of complex motion (referring to simultaneous movement along multiple axes and / or nodes). For example, to achieve movement from position 152 to position 162A shown in FIG. 4, arm 136A carrying UV lamp 140 is moved in a forward direction 170 (see FIG. 3) along longitudinal axis 110, descends in a downward direction 172 (FIG. 3) along vertical axis 112, and rotates in a counterclockwise direction 174 (FIG. 3) about lateral axis 111. These motions can be performed simultaneously to allow arm 136A to sweep along the contour of headrest 151. In the illustrated embodiment, movement in the forward direction 170 can be accomplished by driving the entire cart 100 forward, but alternatively, movement can be accomplished by moving the body 134 and / or arm 136A relative to the base 132 so that the cart 100 remains in a fixed position in the aisle 126. To reach different positions along the disinfection path 160, the arm 136A can be moved in a rearward or aft direction 171 along the longitudinal axis 110, upward 173 along the vertical axis 112, or clockwise 175 about the lateral axis 111. Although not shown in FIG. 3 , the cart 100 may also be capable of moving the arm 136 along other planes and axes of rotation, as described herein.

[0024] The disinfection path 160 follows the contours of the seats 120 and other structures present within the cabin 102. In one embodiment, the disinfection path 160 is configured so that the UV lamps 140 are at a specified or predetermined proximity or range from the surface to deliver an effective and efficient dose of UV light. For example, controlling the UV lamps 140 to be within a few inches of the surface allows for a specified dose to be delivered without requiring a large amount of UV light output or exposure time. Limiting power requirements is energy efficient, while limiting exposure time is time efficient. For example, by emitting UV light closer to the target surface, the cart 100 can provide consistent and effective disinfection of the cabin 102 in a shorter time and with less power consumption than known systems. Furthermore, the UV dose delivered to the surface by the cart 100 may be greater than known systems that use approximately the same amount of power and / or time for cleaning, which may result in more effective detoxification of pathogens because the range from the UV lamps to the target surface is shorter.

[0025] Optionally, the disinfection path 160 shown in FIG. 4 may be a first path followed by the UV light disinfection cart 100 in one direction (e.g., forward direction 170) along the length of the aisle 126. The UV light disinfection cart 100 may then follow a second disinfection path 180 as the cart 100 moves in an opposite backward direction 171 along the aisle 126. The second disinfection path 180 follows the contours of the ceiling 116 and / or storage shelves 130 above the seats 120. The UV light is emitted upward relative to the ceiling 116 and / or storage shelves 130, rather than downward relative to the seats 120 and floor 114. In a non-limiting example, by simply moving the cart 100 the length of the aisle 126 and then returning to the starting position, the cart 100 can disinfect surfaces, walls, floors, etc. of a structure.

[0026] 5 is a schematic diagram of a UV light disinfection cart 100, according to one embodiment. The disinfection cart 100 includes UV lamps 140 (see FIG. 1) representing an array 138, a control unit 190, a power supply 192, sensors 194, actuators 196, and output devices 198. The actuators 196 refer to the mechanical actuators, motors, and drive systems that generate the automated movement of the cart 100 (e.g., rotation of the wheels 142, extension and retraction of the body (or support member) 134 and arms 136, and rotation of the arms 136 relative to the body 134).

[0027] The power supply 192 provides power to the UV lamps 140 to facilitate the generation of UV light. The power supply 192 also provides power to the actuators 196, the control unit 190, the sensors 194, and the output devices 198. Various conductive wires and / or cables can conduct power from the power supply 192 to the UV lamps 140, the actuators 196, the control unit 190, the sensors 194, and the output devices 198. The power supply 192 may include or represent any on-board energy storage device or power generation component, including, but not limited to, the battery 144 shown in FIGS. 1 and 2 . The power supply 192 may also include a capacitor, a photovoltaic cell, and / or the like. Optionally, the power supply 192 may be a power cable connected to a source located outside the cart 100 (e.g., the electrical system of the vehicle 104 (or building) including the interior cabin 102). This power cable can extend the entire length of the interior cabin 102, allowing the cart 100 to disinfect the entire cabin 102 without having to unplug and plug the cable into another outlet. In another embodiment, the power source 192 can be a generator or storage device that is external to the cart 100 but separate from the vehicle 104. For example, the power source 192 can be located in a backpack carried by the operator or on a side cart coupled to the UV Light Disinfection Cart 100.

[0028] The control unit 190 is operatively connected to the UV lamps 140, the actuators 196, the sensors 194, and the output devices 198 via wired and / or wireless communication paths. The control unit 190 generates control signals that control the operation (e.g., on / off state) of the UV lamps 140, the amplitude or power of the generated UV light, and optionally the wavelength of the UV light. The control unit 190 also generates control signals for controlling the actuators 196 and the output devices 198. Such control signals may be generated based on sensor signals received from the sensors 194. The control unit 190 refers to hardware circuitry that includes and / or is connected to one or more processors 197 (e.g., one or more microprocessors, integrated circuits, microcontrollers, field programmable gate arrays, etc.). The control unit 190 includes and / or is connected to a tangible, non-transitory computer-readable storage medium 199 (e.g., memory). For example, memory 199 may store programmed instructions (e.g., software) that are executed by one or more processors 197 to perform the operations of control unit 190 described herein.

[0029] The sensors 194 may include proximity sensors, visual sensors, etc. The sensors 194 may utilize ultrasound, cameras (e.g., in the visible and / or infrared wavelength ranges), optical ranging sensing (e.g., light detection and ranging (LIDAR)), and / or the like. The sensors 194 are used for object avoidance to prevent collisions between the cart 100 and objects and structures within the cabin 102. In certain embodiments, the sensors 194 are also utilized for spatial awareness to guide the arm 136 carrying the UV lamps 140 along the disinfection paths 160, 180 shown in FIG. 4 . For example, the sensors 194 may be utilized by the control unit 190 to determine the current position of the cart 100 and / or its components relative to the interior cabin 102.

[0030] In one non-limiting example, the memory 199 stores a map of the environment within the interior cabin 102. This map may be three-dimensional and may have a coordinate system. For example, every row 128 of seats 120 has known coordinates within the map. Furthermore, the disinfection paths 160, 180 may be pre-programmed routes in the map's coordinate system. In autonomous mode, the control unit 197 may move to or remain at a specified reference point within the cabin 102. The movement of the cart 100 may be tracked by the control unit 190 based on mechanical elements (e.g., gears, links, actuators 196, etc.). By starting from a reference point and tracking subsequent movement from the reference point, the control unit 190 may correlate or store movement in physical space with corresponding movement in the virtual space of the 3D map. For example, the control unit 190 can determine the current location of the cart 100 within the cabin 102 based on consulting a 3D map and tracking the movement of the cart 100 from a reference point. The movement of the cart 100 can be tracked, in part, by monitoring the positioning of the wheels 142, which indicate the direction of movement, and by monitoring the rotation of the wheels 142 (or related components). Similar tracking of the arm 136 via various actuators 196 and other mechanical elements that control the movement of the arm 136 can be utilized by the control unit 190 using the 3D map, thereby enabling the control unit 190 to control area following as shown and described in FIG. 4. In embodiments in which the cabin 102 controls the movement of the UV array 138 based on a stored map, the sensor 194 is used for object avoidance. For example, the sensor signal can indicate when a map correction should be implemented to avoid an object not shown on the map (e.g., a bag left on a seat, etc.).

[0031] In another embodiment, instead of using a map, sensors 194 can be used to guide the movement of the cart 100. For example, the control unit 190 can be a vision-based system. The sensors 194 can provide image data, range data, etc. to the control unit 190. One or more processors 197 can analyze the sensor data and perform object detection, for example, to identify seats 120 in the image data. Based on the identified seats and their distances based on the sensor data, the control unit 190 generates control signals to control the arm 136 to approach and move along the surfaces of the seats 120, as shown in the sanitization paths 160, 180 illustrated in FIG. 4.

[0032] The output device 198 may include or be a light, speaker, display screen, vibration pack, and / or the like to provide warnings and notifications to nearby personnel. For example, the output device 198 may flash lights and / or emit a beep when the cart 100 is operating in autonomous mode to alert personnel near the cart 100 that the cart 100 is moving. When personnel are present in semi-autonomous mode, the output device 198 may be used to direct or modify the operator's movements to improve the effectiveness, efficiency, and / or consistency of the sterilization process. For example, there may be a specified speed or range of speeds for the cart 100 to travel along the aisle 126 to achieve good or satisfactory sterilization performance (based in part on the time the target surface is exposed to UV light). The operator may be notified of the actual speed of the cart 100 relative to the specified speed using one or more of: a pacing light on the cart that glows in different colors or flashing rates depending on whether the speed is correct, too fast, or too slow; a handle 146 that vibrates at different frequencies and / or intensities depending on whether the speed is correct, too fast, or too slow; and / or an audio tone that changes sound and pulse rate depending on whether the speed is correct, too fast, or too slow.

[0033] 6 is a rear view of the UV light disinfection cart 100 with the arm 136 raised and extended, according to one embodiment. With the arm 136 extended, the UV light array 138 extends linearly along the array axis 201. The UV light array 138 emits UV light along the length of the array 138, essentially providing a wall or sheet of UV light. In one or more embodiments, the cart 100 is autonomously controlled to rotate the UV light array 138 about the array axis 201 when it is desired to enable the UV light array 138 to follow the contours of the surfaces of components in the environment to be disinfected, directing UV light at the surfaces of the components as the surfaces curve and intersect. The cart 100 is also autonomously controlled to move the UV light array 138 along two axes that are orthogonal to each other and to the array axis 201. For example, if the array axis 201 is parallel to the lateral axis 111 shown in Figures 1 and 3, the cart 100 can move the UV light array 138 vertically along the vertical or height axis 112 and longitudinally along the longitudinal axis 110 during the disinfection process.

[0034] Because the first arm 136A and the second arm 136B may simply be inverted versions of each other, only one arm 136 is described to represent both. The arm 136 includes multiple interconnected members, including at least an inner member 202 and an outer member 204. The inner member 202 is connected to the body 134, and the outer member 204 is connected to the body 134. The UV light array 138 includes at least one elongated UV lamp 140 attached to each of the inner member 202 and the outer member 204. The UV lamp 140 is elongated along at least a majority of the length of the arm 136 so as to emit a substantially wall of UV light. While the UV lamp 140 is positioned only along one side 206 of the members 202, 204 in the illustrated embodiment, in other embodiments, additional UV lamps 140 may be positioned at an end 208 of the outer member 204 and / or along the opposite side 210 of the members 202, 204. In the raised, extended position shown, arms 136A, 136B extend parallel to each other and parallel to the floor (eg, perpendicular to the axis of body 134).

[0035] The illustrated embodiment also illustrates various locations of sensors 194 on the cart 100. For example, the cart 100 may include sensors 194 on the wheels 142 or the base 132. These sensors are used to determine the proximity of the base 132 to nearby objects for object avoidance. Additional sensors 194 may be attached to the ends 208 of the arms 136A, 136B to determine proximity to nearby objects and / or structures. For example, the sensors 194 on the ends 208 may be used to determine the distance the arms 136A, 136B extend from the fuselage 134. Another sensor 194 may be attached to the top 212 of the fuselage 134 and used to determine the proximity of the arms 136A, 136B to a surface above the cart 100.

[0036] In one embodiment, cart 100 includes a carrier or head 214. Carrier 214 is attached to body 134 and can rotate relative to body 134 about vertical axis 112, shown in FIG. 3 . Carrier 214 can also rotate relative to body 134 about lateral axis 111. Arms 136A, 136B can be mechanically coupled to carrier 214 such that rotation of carrier 214 causes similar movement of arms 136A, 136B (and UV light array 138) relative to body 134. Arms 136A, 136B can pivot at hinges at their interfaces with carrier 214.

[0037] FIG. 7 is a diagram of the UV light disinfection cart 100 stored in an installation 220 within the interior cabin 102, according to one embodiment. In the illustrated cart 100, the arms 136 are in a retracted state relative to the body 134. In the retracted state, the arms 136 are shortened and extend parallel to the body 134, positioned adjacent to the body 134. In the retracted state, the arms 136 may physically abut (e.g., touch) the body 134. The arms 136 retract by pivoting on hinges in the carrier 214. The installation 220 in which the cart 100 is stored may be a storage shed, a vestibule, or other compartment. In an autonomous mode, the control unit 190 may retract the arms 136 and drive the cart 100 into a cavity 222 in the installation 220 upon completion of a disinfection task. Optionally, a beacon device may be located in the installation 220. The beacon device communicates with the cart 100 to enable the cart 100 to return to its home location (storage location).

[0038] In one embodiment, the control unit 190 self-monitors the activity of the UV light disinfection cart 100 by logging cleaning events in memory 199. For example, during the disinfection process or upon returning to a home location (storage location), one or more processors 197 may record a new record in a log or database. This record may provide the date and time of the most recent cleaning event and may optionally include additional details (e.g., the elapsed time of the entire cleaning event, the calculated dose of UV light applied to surfaces, the identity of the interior cabin 102 and / or vehicle 104 being disinfected, any errors or unexpected objects detected during the cleaning event, whether the cart 100 was in fully autonomous or semi-autonomous mode, etc.). The log of cleaning events can be used as evidence that the machine properly disinfected the cabin 104 without the risk of human error or negligence. The log can be copied and / or remotely transmitted from memory 199 as desired, such as for data collection and sharing.

[0039] Figures 8 and 9 show two different actuator mechanisms for raising and lowering the arms 136, and therefore the UV light array 138, relative to the body 134. The angle between each arm 136 and the body 134 is referred to as theta (Θ). Figure 8 shows a curved rack and pinion actuator 230, including a curved gear 232 and a circular drive gear 234. Figure 9 shows a linear actuator 240, including a piston 242 within a cylinder 244. Each actuator 230, 240 is powered by a power supply 192 and receives control signals from the control unit 190 to control the angle theta between its respective arm 136 and the body 134.

[0040] FIG. 10 is a top view of a UV light disinfection cart 100, according to one embodiment. FIG. 11 is a cross-sectional view of an inner member 202 and an outer member 204 of one of the arms 136 of the UV light disinfection cart 100, according to one embodiment. The cross-section is taken along line AA in FIG. 10 . In the illustrated embodiment, the outer member 204 of each arm 136 nests inside the inner member 202. For example, the inner member 202 defines a track 250 between two rails 252, and the outer member 204 slides on the track 250 to control the length or extension of the arm 136. In the illustrated embodiment, each arm 136 has two members 202, 204, but in other embodiments, the arm 136 may have only one member or at least three members. For example, another member may be coupled to the outer member 204 and controllable to extend beyond the end 208 of the outer member 204 to increase the extension length. Although not shown, UV lamps 140 of the array 138 are mounted to each member 202, 204 as described above.

[0041] 12A, 12B, and 13 illustrate two different actuator mechanisms for adjusting the extension length of the arm 136 (e.g., adjusting the lateral width of the UV light array 138). FIGS. 12A and 12B illustrate a linear actuator 260 attached to the inner member 202 and mechanically coupled to the outer member 204. For example, the end 262 of the translation piston 264 of the actuator 260 is coupled to the outer member 204 such that extending the piston 264 pushes the outer member 204 along the track 250 away from the body 234, and retracting the piston 264 pulls the outer member 204 toward the body 234. FIG. 12A illustrates the outer member 204 extended relative to the inner member 202, while FIG. 12B illustrates the outer member 204 retracted. FIG. 13 illustrates a rack-and-pinion or gear-driven actuator 270. 13 shows that a gear drive 272 can be attached to the inner member 202, and the outer member 204 can include a row of gear teeth 274 that engages the gear drive 272. Rotation of the gear drive 272, when powered, moves the outer member 204 along the track 250 relative to the inner member 202.

[0042] 14A-14E show the arms 136 and body 134 of the UV light disinfection cart 100 according to another embodiment, where the outer member 204 can pivot relative to the inner member 202. In FIG. 14A, the outer member 204 pivots downward relative to the inner member 202, defining a right angle between the inner member 202 and the outer member 204. In FIG. 14B, the outer member 204 extends upward, defining a right angle with the inner member 202. In FIG. 14C, both arms 136A, 136B extend upward from the body 134 and are generally parallel to each other and to the body 134. In FIG. 14C, the inner member 202 and the outer member 204 are coaxial. 14D and 14E, the outer member 204 extends horizontally, approximately perpendicular to the fuselage 134, while the inner member 202 extends at an oblique angle to the fuselage 134. The ability to independently control the angles at which the inner and outer members 202, 204 extend relative to the fuselage 134 and each other allows the control unit 190 to simultaneously direct UV light at a variety of different surfaces, such as illuminating both the seats 120 and the sidewalls 118 of the interior cabin 102.

[0043] 15 illustrates an outer array carrier 280 mounted on the inner member 202 of the arm 136 of the UV light disinfection car 100, according to one embodiment. The outer array carrier 280 is movable relative to the inner member 202 along a track 250. The outer array carrier 280 is coupled to the outer member 204 and configured to rotate the outer member 204 relative to the inner member 202. The ability to independently rotate the inner member 202 and the outer member 204 can enable the UV lamps 140 to perform an organic sweeping motion along the target surface being disinfected. This rotation can also mitigate uneven disinfection caused by shadow areas by reducing the presence of shadow areas.

[0044] 16 shows a steering mechanism 290 for controlling the position of the wheels 142 of the UV light disinfection cart 100, according to one embodiment. The actuator 290 includes a servo steering motor 292 coupled to a tie rod or articulator 294. The servo motor 292 is controlled by the control unit 190 to rotate a set amount in either a clockwise or counterclockwise direction, moving the tie rod 294. Each end of the tie rod 294 is connected to a corresponding wheel carrier assembly 296.

[0045] Reference is now made to Figure 17, where one of the wheel carrier assemblies 296 is shown in greater detail. The carrier assembly 296 includes a traction motor 300 that generates torque for the wheels 142. The carrier assembly 296 is pivotally or rotatably secured to the frame or base 132 of the cart 100. Movement of the tie rods 294 by the servo steering motor 292 causes the carrier assembly 296 to turn or pivot relative to the base 132. Because the carrier assembly 296 includes the wheels 142, as the carrier assembly 296 pivots, the cart 100 turns.

[0046] Figure 18 shows a rack and pinion mechanism 310 for steering the cart 100, as an alternative to the steering mechanism 290 shown in Figures 16 and 17. For example, the tie bar or articulator 294 may include a row of gear teeth 312 that engages with a drive gear 314 connected to a motor 316. As described above, rotation of the drive gear 314 by the motor 316 causes movement of the tie bar 294, changing the angle of the wheels 142. Figure 18 shows both a top view 318 and a side view 319 of the mechanism 310.

[0047] FIG. 19 shows the carrier 214 of the UV light disinfection cart 100 tilted relative to the body 134. The carrier 214 can rotate relative to the body 134 about the lateral axis 111, shown in FIG. 3, to provide a beta (β) angle range. The control unit 190 controls the actuator to set the beta angle. The arm 136 and UV light array 138 rotate with the carrier 214. In this manner, the control unit 190 can rotate the carrier 214 to change the orientation of the UV light array 138 relative to the interior cabin 102 to direct UV light toward surfaces. For example, various orientations of the arm 136 along the disinfection path 160 shown schematically in FIG. 4 can be achieved by rotating the carrier 214 to change the beta angle.

[0048] Figure 20 shows an actuator 320 that can be used to rotate the carrier 214 about the vertical axis 112 shown in Figure 3. Rotating the carrier 214 relative to the body 134 about an angle alpha (α) can spin the arm 136 and UV light array 138 relative to the body 134 and base 132.

[0049] Figures 21A-21C illustrate that a rack and pinion actuator 330 can be used to extend and retract the telescoping body 134 of a UV light disinfection cart 100. Figure 21A illustrates the cart 100 at a first height. Figure 21B illustrates the cart 100 at a second height, where the body 134 is extended to be taller than the first height. Figure 21C illustrates both a side view 332 and a top view 334 of the rack and pinion actuator 330.

[0050] FIG. 22 illustrates the base 132 of the UV light disinfection cart 100 according to one alternative example. In the embodiment described above in FIGS. 1-3 , the body 134 is fixed in place on the base 132, and the entire cart 100 is moved or driven back and forth along the pathway 126, thereby moving the arm 136 and UV light array 138 along the longitudinal axis 110. In FIG. 22 , the body 134 is movable relative to the base 132 along at least one axis. Optionally, the body 134 is movable both longitudinally and laterally relative to the base 132 while remaining attached to the base 132. For example, the body 134 may be coupled to the base 132 via a belt-pulley mechanism 340 or a track-type rack-and-pinion mechanism 342, which allows the body 134 to move along one axis. Either of mechanisms 340, 342 may be slidable along a vertical axis via carrier wheels 343 within a track 344 defined by the base 132. Having a movable body 134 allows the base 132 of the cart 100 to be positioned between two rows 128 and then, for example, remain stationary in that position while the body 134, carrier 214, and / or arm 136 move and / or rotate to provide area tracking of the UV light array 138. Once one segment of the disinfection path 160 is completed, the cart 100 may then proceed to another position between two rows 128 to repeat the process, disinfecting surfaces along another segment of the disinfection path 160.

[0051] FIG. 23 illustrates an alternative body 134 of a UV light disinfection cart 100. In the illustrated embodiment, the body 134 is segmented to provide multiple nodes 350 between body members 352. Actuators along the body 134 may enable the body members 352 to pivot relative to one another at each node 350, thereby enabling the carrier 214 to be selectively positioned at a variety of different locations in space. The embodiment illustrated in FIG. 23 can be used in combination with or in place of the base 132 illustrated in FIG. 22.

[0052] In one or more embodiments, the control unit 190 controls the movement of the UV light array 138 relative to the surface being disinfected to ensure a specified or predetermined dose of UV light is consistently applied to the surface along the disinfection path 160, 180. This dose is based on the power or amplitude of the UV light emitted by the UV lamps 140, the proximity or range from the UV lamps 140 to the disinfected surface, and the exposure or dwell time. Exposure time refers to the length of time a given area is illuminated by UV light as the UV light array 138 of the cart 100 sweeps across the disinfected surface. The specified dose may be preselected based on operator preference, regulatory requirements, etc. The power or amplitude of the UV light may be set based on the capacity limits of the UV lamps 140 and / or desired energy consumption limits. The proximity distance may be selected to be within a few inches (e.g., 2 inches, 3 inches, 4 inches, etc.). The above characteristics of the specified dose, power, and proximity may be stored in memory 199 and accessed by one or more processors 197. Optionally, some characteristics may vary based on the type of surface being disinfected. As such, memory 199 may store multiple values ​​of some such characteristics. In one example, based on the stored characteristics, the one or more processors may calculate a dwell time that represents the minimum amount of exposure time required to achieve a specified dose for a given area of ​​the disinfected surface. The one or more processors may use this dwell time to determine a pacing rate for the UV light array 138 relative to the disinfected surface to consistently achieve the specified dose without unduly delaying the completion of the disinfection task. The pacing rate indicates the correct rate for adequate disinfection of the surface at the detected proximity distance for a particular UV light and UV light emission power.

[0053] The pace rate may be stored in memory 199 and used by control unit 190 to control the movement of UV light array 138 as it moves along the contours of the surface. For example, as UV light array 138 moves along the surface, control unit 190 receives and analyzes feedback from sensors 194 and actuators 196. Control unit 190 may receive proximity data from sensors 194 located on arms 136 that measure the actual distance or range from UV lamps 140 to the disinfected surfaces within cabin 102. Based on this proximity data, control unit 190 may determine whether UV light array 138 is maintaining a specified proximity to the surface (e.g., whether array 138 is progressing along the corresponding disinfection path 160, 180). Additionally, control unit 190 may determine the actual speed of UV light array 138 relative to the surface and compare the actual speed to the pace rate stored in memory 199. The actual speed may be determined based on feedback from actuators 196. For example, the control unit 190 can convert the motion of the mechanical drive train and motors into physical motion of the UV light array 138 in space, which can be divided by time to calculate the actual velocity. In another example, one or more of the sensors 194 can be used to track the motion of the UV light array 138 over time to determine the actual velocity of the UV light array 138.

[0054] In one example, if the actual speed of the UV light array 138 differs from the paced speed by more than a specified tolerance (e.g., 2%, 5%, etc.), the control unit 190 can generate a control signal to modify the movement of the UV light array 138 relative to the surface to reduce the difference between the actual speed and the paced speed. This control signal can be communicated to one or more of the actuators 194, and the speed at which the actuators 194 operate can be adjusted based on the control signal. For example, if the actual speed is faster than the paced speed, the dose of UV light delivered may be insufficient to achieve the desired level or amount of disinfection. In response, the control unit 190 generates a control signal to slow the movement of the UV light array 138 and increase the dose. Conversely, if the actual speed is slower than the paced speed, the dose of UV light delivered to the surface may be excessive to achieve the desired level of disinfection, providing an opportunity to improve energy efficiency and reduce the total cleaning time of the disinfection task by accelerating the speed of the UV light array 138.

[0055] In semi-autonomous mode, the speed of the UV light array 138 may be controlled, in part, by the operator pushing or pulling the cart 100 along the pathway 126. When the control unit 190 determines the difference between the actual speed and the pace rate, it may generate a control signal to the output device 198. For example, if the actual speed is faster than the pace rate, the generated control signal causes the output device 198 to warn or notify the operator that the speed is too fast and suggest slowing down the movement of the cart 100. The warning may indicate an excessive speed through a corresponding lighting effect (e.g., emitting a red light, a flashing light, etc.), sound effect (e.g., frequent beeps, high-frequency beeps, and / or loud beeps), and / or haptic effect (e.g., vibration of the handle 146) output by one or more output devices 198. In another example, if the actual speed is slower than the pace speed, the control signal may cause the output device 198 to output another corresponding lighting effect and / or sound effect (e.g., a yellow light) to indicate to the operator that the speed of the cart 100 may increase. If the actual speed is within an acceptable error range of the pace speed, the control signal may cause the output device 198 to output another corresponding lighting effect and / or sound effect (e.g., a green light) or no lighting effect and / or sound effect at all.

[0056] The speed of the cart 100 along the aisle 126 will vary as the arms 136 and other movable components of the UV light disinfection cart 100 are actuated to control the UV light array 138 to follow disinfection paths 160, 180 that follow the contours of surfaces within the cabin 102, as shown in FIG. 4 . In one or more embodiments in which rolling motion of the base 132 along the aisle 126 is used to move the UV light array 138 along its longitudinal axis, the control unit 190 may automatically control the direction and speed of motion of the base 132 and wheels 142 depending on the surface to be disinfected. For example, as the UV light array 138 disinfects the floor 114 or ceiling 116 between rows of seats 120, the base 132 may move at a relatively constant speed based on a predetermined dwell time. However, when the UV light array 138 is moved substantially vertically to disinfect the rear of the seat back 120, for example, the base 132 is controlled to remain stationary until longitudinal movement of the UV light array 138 is again desired. Based on the surface contour, the base 132 may also move, at least temporarily, in a reverse direction opposite to the general direction of the disinfection path, allowing the UV light array 138 to stay close to the contour and avoid direct contact with any objects within the cabin 102.

[0057] In the embodiments shown in FIGS. 22 and 23 , where the UV light array 138 can be moved longitudinally relative to the base 132, the base 132 can be controlled via the control unit 190 and / or an operator to move sequentially and then stop at various points along the length of the walkway 126. For example, the cart 100 can be moved or driven to a position aligned with one row 128 or between two rows 128. The base 132 of the cart 100 then remains stationary, while the body 134, carrier 214, and / or arm 136 manipulate the UV light array 138 to follow the contours of the surface along the row or rows. The longitudinal movement of the UV light array 138 can be achieved by moving the body 134, as shown in FIGS. 22 and / or 23 , so that the base 132 can remain stationary. Once disinfection of one or two rows is complete, the base 132 is then controlled to advance along the path 126 to another location and repeat the process.

[0058] In one alternative, the UV light disinfection cart 100 may include additional UV lamps 140 selectively extendable from the arms 136. The additional UV lamps 140 may be disposed on an end effector that is attached to and selectively protrudes from the arms 136. For example, the end effector may be selectively pivoted out of the plane of the arms 136 to position the corresponding UV lamps 140 in front of or behind the arms 136 (e.g., along the longitudinal axis). The UV lamps 140 on the end effector may be oriented at angles of up to 90 degrees relative to the UV lamps 140 on the arms 136, thereby providing an L- or T-shaped UV array at the end effector. The UV lamps 140 on the end effector may be used to disinfect the interior of a cavity and beneath objects (e.g., beneath the seat 120). For example, an arm 136 extending laterally across multiple seats 120 may not be able to adequately access the area beneath the seats, but the end effector can extend from the arm 136 into the space directly beneath the seat cushion to disinfect the floor 114 beneath the seats 120 and / or the underside of the seat cushion. The UV lamps 140 on the end effector may also be used to disinfect armrests, storage compartments, walls, and / or the like. The multiple axes of movement and rotation provided by the cart 100 allow the UV lamps 140 to be positioned and directed, substantially replicating the capabilities of a human holding a UV light wand, without the inherent non-uniformity in speed, coverage area, and proximity associated with manual disinfection.

[0059] Optionally, the UV light disinfection cart 100 may include a portable UV wand removably coupled to the cart 100. This available UV wand may be utilized in conjunction with automated disinfection by the cart 100 to provide personnel with the option of disinfecting areas difficult for the cart 100 to access or providing additional UV doses to specific high-use areas. The wand may be coupled to the cart 100 by at least a power cable to power the UV lamps on the wand. Alternatively, the wand may be battery-powered. Optionally, the wand may include a light sensor that indicates to an operator whether the UV lamps are positioned within a desired proximity (or range) from the surface being disinfected. Light sensors that indicate the wand's range from the surface are disclosed in U.S. Provisional Patent Application No. 63 / 027869.

[0060] In one or more examples, an ultraviolet (UV) light disinfection cart is provided. The ultraviolet (UV) light disinfection cart includes a UV light array, a body, an actuator, and a control unit. The UV light array includes UV lamps configured to emit UV light to disinfect surfaces of components. The body includes a movable base and a plurality of interconnected rigid members supported by the base. The UV lamps are attached to at least one of the rigid members. The actuators are mechanically connected to the body. At least some of the actuators are configured to control movement of the rigid members relative to each other and relative to the base. The control unit is configured to generate control signals to control the actuators to move the UV light array along a disinfection path that follows the contour of the surface.

[0061] Optionally, the rigid member includes an arm and a body. The body is attached to the movable base. The arms extend in both directions from the body and hold at least some of the UV lamps to provide a linear arrangement of the UV lamps. Each arm may include at least an inner member and an outer member. The inner member is disposed between the outer member and the body. The outer member is configured to contract to nest within the inner member and extend linearly outward from the inner member to increase the length of the arm. Optionally, at least some actuators are connected to the arms and are controllable by the control unit to pivot the arms to a contracted state in which the arms are parallel to and adjacent to the body.

[0062] Optionally, the UV light array includes a linear arrangement of a plurality of UV lamps extending along an array axis, and the actuator and body are configured to move the UV light array along two axes that are orthogonal to each other and to the array axis, and to rotate the UV light array about the array axis.

[0063] Optionally, the movable base includes a plurality of wheels that contact the floor and support the cart. The actuator includes a motor mounted on the movable base for rotationally driving and orienting the wheels. The control signals generated by the control unit to move the UV light array along the disinfection path may include control signals to a motor mounted on the movable base to drive the movable base along the cart path to move the UV light array along an axis parallel to the cart path.

[0064] Optionally, the body includes a retractable handle configured to be held by an operator to manually propel the cart along the cart path to move the UV light array along an axis parallel to the cart path.

[0065] Optionally, the cart further includes a sensor mounted on the body configured to generate sensor data indicative of a proximity of the cart to a surface of the component or a surface of another component, and the control unit configured to generate a control signal based on the sensor data to avoid a collision between the cart and the surface of the component or a surface of another component.

[0066] Optionally, the control unit includes a memory device that stores a three-dimensional map of the environment the component is located in. The control unit is configured to determine a reference position of the UV light array relative to the three-dimensional map, and to generate control signals for moving the UV light array along a disinfection path within the environment based on the three-dimensional map and the reference position of the UV light array.

[0067] Optionally, the cart further includes a sensor mounted on the rigid member of the body proximate the UV lamp, the sensor configured to generate sensor data indicative of a proximity of the UV lamp to the surface of the component, and the control unit configured to generate a control signal based on the sensor data to maintain the UV lamp at a specified proximity distance from the surface to ensure that the surface is irradiated with a specified dose of UV light.

[0068] Optionally, the control unit includes a memory device that stores a pace rate for the UV light array. The pace rate is based on an output of the UV lamp and a specified proximity distance between the UV lamp and the surface of the component for delivering a specified dose of UV light to the surface. The control unit is configured to generate a control signal to control the actuator to move the UV light array along the disinfection path at a speed based on the pace rate. The control unit may be configured to determine an actual speed of the UV light array relative to the surface of the component and compare the actual speed with the pace rate. In response to the actual speed exceeding the pace rate, the control unit may be configured to generate a control signal to control the actuator to slow the movement of the UV light array along the disinfection path.

[0069] Optionally, the control unit includes a memory device, the control unit being configured to store in the memory device a record of sterilization tasks performed by the cart over time.

[0070] Optionally, the control unit is configured to generate control signals for at least two of the actuators to effect a combined movement of the UV light array such that the UV light array performs one or more of: (i) rotating about two different axes simultaneously; (ii) moving along two different axes simultaneously; or (iii) rotating about one axis while simultaneously moving about one axis or a different axis.

[0071] In one or more embodiments, a method is provided that includes providing a cart including a body that holds an ultraviolet (UV) light array. The UV light array includes UV lamps configured to emit UV light to disinfect a surface of a component. The cart further includes an actuator mechanically connected to the body and a control unit communicatively connected to the actuator. The method includes determining, via the control unit, a disinfection path for the UV light array that follows a contour of the surface, and generating, via the control unit, a control signal for controlling the actuator to move the body such that the UV light array follows the disinfection path.

[0072] Optionally, the UV light array includes a linear arrangement of multiple UV lamps extending along an array axis. Control signals may be generated to control the actuator and the body to move the UV light array along two axes that are orthogonal to each other and to the array axis, and to rotate the UV light array about the array axis as it follows the disinfection path.

[0073] Optionally, the body includes a movable base having and supported by a plurality of wheels, and the actuator includes one or more motors mounted on the base for rotationally driving and orienting the wheels. Generating the control signal may include generating a control signal to drive the movable base along the cart path to move the UV light array along an axis parallel to the cart path.

[0074] Optionally, the method further includes receiving sensor data indicative of a proximity of the UV light array to the surface of the component, and the control signal is generated based on the sensor data to do one or more of: (i) avoid a collision between the cart and the surface of the component, or (ii) maintain a specified proximity distance between the UV lamps and the surface to deliver a specified dose of UV light to the surface of the component.

[0075] Optionally, the method further includes storing in the memory device a pace rate for the UV light array. The pace rate may be based on an output of the UV lamp and a specified proximity distance between the UV lamp and the surface of the component for delivering a specified dose of UV light to the surface. The method may further include determining, via the control unit, an actual speed of the UV light array relative to the surface of the component, and generating a control signal for controlling an actuator to modify the actual speed of the UV light array along the disinfection path in response to the actual speed differing from the pace rate by more than a specified tolerance.

[0076] As used herein, terms such as "control unit," "central processing unit," "CPU," "computer," and the like may include any processor-based or microprocessor-based system, including systems that use microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASIC), logic circuits, and any other circuitry or processor (including hardware, software, or a combination thereof capable of performing the functions described herein). These are examples only, and thus are not intended to limit in any way the definition and / or meaning of such terms.

[0077] The control unit 190 is configured to execute sets of instructions stored in one or more data storage units or elements (e.g., one or more memories 199) to process data. The data storage units may also store data or other information as desired or needed. The data storage units may be in the form of information sources or physical memory elements within a processing machine.

[0078] The set of instructions may include various commands that instruct the control unit 190 as a processing machine to perform particular operations (e.g., methods and processes of various embodiments of the subject matter described herein). The set of instructions may be in the form of a software program. The software may be in various forms, such as system software or application software. Furthermore, the software may be in the form of a collection of separate programs, a program subset within a larger program, or a portion of a program. The software may also include modular programming in the form of object-oriented programming. The processing of input data by the processing machine may be in response to user commands, in response to results of previous processing, or in response to a request made by another processing machine.

[0079] Diagrams of the embodiments described herein may depict one or more control or processing units (e.g., control unit 190). It should be understood that this processing or control unit may refer to a circuit, circuitry, or portions thereof, that may be implemented as hardware associated with instructions (e.g., software stored on a tangible, non-transitory computer-readable storage medium such as a computer hard drive, ROM, RAM, etc.) that perform the operations described herein. The hardware may include state machine circuitry hardwired to perform the functions described herein. Optionally, the hardware may include electronic circuitry that includes and / or is connected to one or more logic-based devices, such as a microprocessor, processor, controller, etc. Optionally, the verification control unit 206 may represent processing circuitry such as one or more of a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), one or more microprocessors, and / or the like. The circuitry in various embodiments may be configured to execute one or more algorithms to perform the functions described herein. One or more algorithms, whether or not explicitly identified in a flow diagram or method, may include aspects of the embodiments disclosed herein.

[0080] As used herein, the terms "software" and "firmware" are used interchangeably and include any computer program executed by a computer that is stored in a data storage unit (e.g., one or more memories), including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM (NVRAM) memory. The types of data storage units listed above are exemplary only and are therefore not intended to be limiting as to the types of memory that may be used to store computer programs.

[0081] Certain embodiments of the presently disclosed subject matter provide systems and methods for autonomously controlling UV lamps to follow the contours of a surface to achieve consistent, efficient, and effective disinfection of surfaces. The automated control of the UV lamps ensures that a precise dose of UV light is delivered to the surface to efficiently disinfect the surface. The UV light disinfection carts described herein are retractable and storable onboard a vehicle, allowing the cart to be operated when desired and then stowed when not needed (e.g., while the vehicle is in flight).

[0082] Furthermore, the present disclosure includes embodiments according to the following clauses:

[0083] Clause 1 1. A cart comprising: an ultraviolet (UV) light array including a UV lamp configured to emit UV light to disinfect a surface of a component; a body including a movable base and a plurality of interconnected rigid members supported by the movable base, the UV lamp being attached to at least one of the rigid members; actuators mechanically connected to the body, one or more of the actuators configured to move the at least one rigid member to which the UV lamp is attached relative to the movable base; and a control unit configured to generate control signals to control the actuator to move the UV light array along a disinfection path that follows the contour of the surface.

[0084] Clause 2 The cart described in clause 1, wherein the rigid member includes an arm and a body portion, the body portion being attached to the movable base, and the arms extending in both directions from the body portion and holding at least some of the UV lamps to provide a linear arrangement of the plurality of UV lamps.

[0085] Clause 3 The cart described in clause 2, wherein each of the arms includes at least an inner member and an outer member, the inner member being positioned between the outer member and the body portion, and the outer member being configured to contract to nest within the inner member and extend linearly outward from the inner member to increase the length of the arm.

[0086] Clause 4 A cart as described in clause 2 or 3, wherein one or more of the actuators are connected to the arms and are controllable by the control unit to pivot the arms to a contracted state in which the arms are parallel to and adjacent to the body portion.

[0087] Clause 5 A cart described in any one of clauses 1 to 4, wherein the UV light array includes a linear arrangement of multiple UV lamps extending along an array axis, and the actuator and the body are configured to move the UV light array along two axes that are perpendicular to each other and perpendicular to the array axis, and to rotate the UV light array around the array axis.

[0088] Clause 6 A cart described in any one of clauses 1 to 5, wherein the movable base includes a plurality of wheels that contact the floor and support the cart, and the actuator includes a motor mounted on the movable base for driving the wheels to rotate and for orienting the wheels.

[0089] Clause 7 The cart described in clause 6, wherein the control signal generated by the control unit to move the UV light array along the disinfection path includes a control signal to the motor mounted on the movable base to drive the movable base along the cart path and move the UV light array along an axis parallel to the cart path.

[0090] Article 8 A cart described in any one of clauses 1 to 7, wherein the body includes a retractable handle configured to be held by an operator to manually propel the cart along a cart path and move the UV light array along an axis parallel to the cart path.

[0091] Article 9 A cart described in any one of clauses 1 to 8, further comprising a sensor attached to the body, the sensor configured to generate sensor data indicating the proximity of the cart to the surface of the component or the surface of another component, and the control unit configured to generate the control signal based on the sensor data to avoid a collision of the cart with the surface of the component or the surface of the other component.

[0092] Article 10 A cart described in any one of clauses 1 to 9, wherein the control unit includes a memory device that stores a three-dimensional map of the environment in which the component is located, and the control unit is configured to determine a reference position of the UV light array relative to the three-dimensional map and generate the control signal for moving the UV light array along the disinfection path within the environment based on the three-dimensional map and the reference position of the UV light array.

[0093] Article 11 A cart described in any one of clauses 1 to 10, further comprising a sensor attached to the rigid member of the body in close proximity to the UV lamp, the sensor configured to generate sensor data indicating the proximity of the UV lamp to the surface of the component, and the control unit configured to generate the control signal based on the sensor data to maintain the UV lamp at a specified proximity distance from the surface to ensure that a specified dose of UV light is irradiated onto the surface.

[0094] Article 12 A cart described in any one of clauses 1 to 11, wherein the control unit includes a memory device that stores a pace rate for the UV light array, the pace rate being based on the output of the UV lamp and a specified proximity distance between the UV lamp and the surface of the component to deliver a specified dose of UV light to the surface, and the control unit is configured to generate the control signal to control the actuator to move the UV light array along the disinfection path at a speed based on the pace rate.

[0095] Article 13 The cart described in clause 12, wherein the control unit is configured to determine an actual speed of the UV light array relative to the surface of the component and compare the actual speed with the pace speed, and the control unit is configured to generate a control signal for controlling the actuator to slow movement of the UV light array along the disinfection path in response to the actual speed exceeding the pace speed.

[0096] Article 14 A cart described in any one of clauses 1 to 13, wherein the control unit includes a memory device and the control unit is configured to store in the memory device a record of disinfection tasks performed by the cart over time.

[0097] Article 15 A cart described in any one of clauses 1 to 14, wherein the control unit is configured to generate the control signals for at least two of the actuators to cause a combined movement of the UV light array so that the UV light array performs one or more of the following: (i) rotating around two different axes simultaneously; (ii) moving along two different axes simultaneously; or (iii) rotating around one axis while simultaneously moving around the one axis or a different axis.

[0098] Article 16 1. A method comprising: providing a cart including a body that holds an ultraviolet (UV) light array, the UV light array including UV lamps configured to emit UV light to disinfect a surface of a component, the cart further including an actuator mechanically connected to the body and a control unit communicatively connected to the actuator; determining, via the control unit, a disinfection path for the UV light array that follows the contour of the surface; and generating, via the control unit, a control signal for controlling the actuator to move the body so that the UV light array follows the disinfection path.

[0099] Article 17 The method of claim 16, wherein the UV light array comprises a linear arrangement of multiple UV lamps extending along an array axis, and the control signal is generated to control the actuator and the body to move the UV light array along two axes that are perpendicular to each other and perpendicular to the array axis, and to rotate the UV light array about the array axis as the UV light array follows the disinfection path.

[0100] Article 18 The method of claim 16 or 17, wherein the body includes a movable base having a plurality of wheels and supported by the plurality of wheels, the actuator includes one or more motors mounted on the base for driving rotation of the wheels and orienting the wheels, and generating the control signal includes generating a control signal for driving the movable base along a cart path to move the UV light array along an axis parallel to the cart path.

[0101] Article 19 19. The method of any one of clauses 16 to 18, further comprising receiving sensor data indicating the proximity of the UV light array to the surface of the component, wherein the control signal is generated based on the sensor data to do one or more of: (i) avoid a collision between the cart and the surface of the component; or (ii) maintain a specified proximity distance between the UV lamp and the surface of the component to supply a specified dose of UV light to the surface of the component.

[0102] Article 20 20. The method of any one of clauses 16 to 19, further comprising: storing a pace rate for the UV light array in a memory device, the pace rate being based on an output of the UV lamp and a specified proximity distance between the UV lamp and the surface of the component for delivering a specified dose of UV light to the surface; determining via the control unit an actual speed of the UV light array relative to the surface of the component; and generating a control signal for controlling the actuator to change the actual speed of the UV light array along the disinfection path in response to the actual speed differing from the pace rate by more than a specified tolerance range.

[0103] Various spatial and directional terms may be used to describe the embodiments of the present disclosure, such as top, bottom, lower, mid, lateral, horizontal, vertical, front, etc., with it being understood that such terms are used solely with reference to the orientation shown in the drawings. These orientations may be flipped, rotated, or otherwise changed, e.g., top becomes bottom, bottom becomes top, horizontal becomes vertical, etc.

[0104] As used herein, a structure, constraint, or element that is "configured to" perform a task or operation is specifically structurally shaped, constructed, or adapted to correspond to that task or operation. For clarity and to avoid doubt, objects that are merely modifiable to perform those tasks or operations are not "configured" to perform those tasks or operations as that term is used herein.

[0105] It should be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and / or aspects thereof) can be used in combination with each other. Additionally, many modifications can be made to adapt the teachings of the various embodiments of the present disclosure to particular situations or materials without departing from the scope of the present disclosure. While the dimensions and types of materials described herein are intended to define the parameters of the various embodiments of the present disclosure, these embodiments are by no means limiting and are exemplary. Many other embodiments will be apparent to those skilled in the art upon reviewing the above description. The scope of the various embodiments of the present disclosure should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the accompanying claims and the Detailed Description herein, the words "including" and "in which" are used as plain English equivalents of the words "comprising" and "wherein," respectively. Furthermore, the terms "first," "second," "third," etc. are used merely as labels and are not intended to impose numerical requirements on their objects. Moreover, the following claim limitations are not written in means-plus-function format, and are not intended to be construed under 35 U.S.C. §112(f) unless and until such claim limitations expressly use the phrase "means for" followed by a recitation of function lacking further structure.

[0106] The description herein uses examples to disclose various embodiments of the present disclosure, including the best mode, and also to enable any person skilled in the art to practice various embodiments of the present disclosure, including making and using any device or system, and practicing any methods incorporating the same. The patentable scope of the various embodiments of the present disclosure is defined by the claims, and may include other embodiments that occur to those skilled in the art. Such other embodiments are intended to be within the scope of the claims if the embodiment has structural elements that do not differ from the literal language of the claims, or if the embodiment includes equivalent structural elements that differ only insignificantly from the literal language of the claims.

Claims

1. A cart, an ultraviolet (UV) light array including UV lamps configured to emit UV light to disinfect the surface of the component; a body including a movable base and a plurality of interconnected rigid members supported by the movable base, the UV lamp being mounted to at least one of the rigid members; actuators mechanically connected to the body, one or more of the actuators configured to move the at least one rigid member to which the UV lamp is attached relative to the movable base; and a control unit configured to generate control signals for controlling the actuator to move the UV light array along a disinfection path that follows the contour of the surface. Equipped with the UV light array includes a linear arrangement of multiple UV lamps extending along an array axis, and the actuator and the body are configured to move the UV light array along two axes that are orthogonal to each other and to the array axis, and to rotate the UV light array about the array axis; the control signals for controlling the actuators to move the UV light array along a disinfection path that follows the contour of the surface include control signals for positioning the array axis substantially orthogonal to the disinfection path so that UV light emitted from the UV lamps of the UV light array disinfects the surface of the component.

2. 2. The cart of claim 1, wherein the rigid member includes an arm and a body portion, the body portion attached to the movable base, and the arms extending in both directions from the body portion and holding at least some of the UV lamps of the UV light array to provide a linear arrangement of the UV lamps.

3. 3. The cart of claim 2, wherein each of the arms includes at least an inner member and an outer member, the inner member being disposed between the outer member and the body portion, the outer member being configured to contract to nest within the inner member and extend linearly outward from the inner member to increase the length of the arm.

4. 4. The cart of claim 2 or 3, wherein one or more of the actuators are connected to the arms and are controllable by the control unit to pivot the arms to a retracted state in which the arms are parallel to and adjacent to the body portion.

5. 5. The cart of claim 1, wherein the movable base includes a plurality of wheels that contact a floor and support the cart, and the actuator includes a motor mounted on the movable base for driving the wheels to rotate and for orienting the wheels.

6. 6. The cart of claim 5, wherein the control signals generated by the control unit to move the UV light array along the disinfection path include control signals to the motor mounted on the movable base to drive the movable base along a cart path to move the UV light array along an axis parallel to the cart path.

7. 7. A cart as described in any one of claims 1 to 6, further comprising a sensor attached to the body, the sensor configured to generate sensor data indicating the proximity of the cart to the surface of the component or the surface of another component, and the control unit configured to generate the control signal for avoiding a collision between the cart and the surface of the component or the surface of the other component based on the sensor data.

8. 8. The cart of claim 1, wherein the control unit includes a memory device that stores a three-dimensional map of an environment in which the component is located, and the control unit is configured to determine a reference position of the UV light array relative to the three-dimensional map and generate the control signals for moving the UV light array along the disinfection path within the environment based on the three-dimensional map and the reference position of the UV light array.

9. 9. A cart as described in any one of claims 1 to 8, further comprising a sensor attached to the rigid member of the body in proximity to the UV lamp, the sensor configured to generate sensor data indicating the proximity of the UV lamp to the surface of the component, and the control unit configured to generate the control signal based on the sensor data to maintain the UV lamp at a specified proximity distance from the surface to ensure that a specified dose of UV light is irradiated onto the surface.

10. the control unit includes a memory device that stores a pace rate for the UV light array, the pace rate being based on an output of the UV lamp and a specified proximity distance between the UV lamp and the surface of the component to deliver a specified dose of UV light to the surface; 10. The cart of claim 1, wherein the control unit is configured to generate the control signal to control the actuator to move the UV light array along the disinfection path at a speed based on the pace speed.

11. 11. The cart of claim 10, wherein the control unit is configured to determine an actual speed of the UV light array relative to the surface of the component and compare the actual speed with the pace speed, and wherein the control unit is configured to generate a control signal for controlling the actuator to slow movement of the UV light array along the disinfection path in response to the actual speed exceeding the pace speed.

12. 12. The cart of claim 1, wherein the control unit includes a memory device, the control unit configured to store in the memory device a record of sterilization tasks performed by the cart over time.

13. 13. The cart of any one of claims 1 to 12, wherein the control unit is configured to generate the control signals for at least two of the actuators to effect a combined motion of the UV light array such that the UV light array does one or more of: (i) rotates about two different axes simultaneously; (ii) moves along two different axes simultaneously; or (iii) rotates about an axis while simultaneously moving about the axis or a different axis.

14. providing a cart including a body holding an ultraviolet (UV) light array, the UV light array including UV lamps configured to emit UV light to disinfect surfaces of components, the cart further including an actuator mechanically connected to the body and a control unit communicatively connected to the actuator; determining, via the control unit, a disinfection path for the UV light array that follows the contour of the surface; generating, via the control unit, a control signal for controlling the actuator to move the body so that the UV light array follows the disinfection path; Including, the UV light array includes a linear arrangement of multiple UV lamps extending along an array axis, and the control signals are generated to control the actuator and the body to move the UV light array along two axes that are orthogonal to each other and to the array axis, and to rotate the UV light array about the array axis as the UV light array follows the disinfection path; wherein the control signal for controlling the actuator to move the body so that the UV light array follows the disinfection path comprises a control signal for positioning the array axis substantially orthogonal to the disinfection path so that UV light emitted from the UV lamps of the UV light array disinfects a surface of a component.

15. 15. The method of claim 14, wherein the body includes a movable base having a plurality of wheels and supported by the plurality of wheels, the actuator includes one or more motors mounted on the movable base for rotationally driving and orienting the wheels, and generating the control signals includes generating control signals to drive the movable base along a cart path to move the UV light array along an axis parallel to the cart path.

16. 16. The method of claim 14 or 15, further comprising receiving sensor data indicative of a proximity of the UV light array to the surface of the component, and wherein the control signal is generated based on the sensor data to maintain a specified proximity distance between the UV lamp and the surface to deliver a specified dose of UV light to the surface of the component.

17. storing a pace rate for the UV light array in a memory device, the pace rate being based on an output of the UV lamp to deliver a specified dose of UV light to the surface of the component and a specified proximity distance between the UV lamp and the surface; determining, via the control unit, an actual velocity of the UV light array relative to the surface of the component; generating a control signal for controlling the actuator to modify the actual speed of the UV light array along the disinfection path in response to the actual speed differing from the paced speed by more than a specified tolerance; 17. The method of any one of claims 14 to 16, further comprising:

18. A cart, an ultraviolet (UV) light array including a linear arrangement of multiple UV lamps extending along an array axis, the UV lamps configured to emit UV light to disinfect a surface of a component; a body including a movable base and a plurality of interconnected rigid members supported by the movable base, the UV lamp being mounted to at least one of the rigid members; a sensor mounted on the body proximate the UV lamp, the sensor configured to generate sensor data indicative of the proximity of the UV lamp to the surface of the component; one or more actuators mechanically connected to the body and configured to move at least one rigid member to which the UV lamps are attached relative to the movable base, the one or more actuators and the body configured to move the UV light array along two axes that are orthogonal to each other and to the array axis, and to rotate the UV light array about the array axis; and a control unit configured to generate control signals for controlling the one or more actuators to move the UV light array along a disinfection path that follows the contour of the surface, the control unit being configured to generate the control signals based on the sensor data to maintain a specified proximity distance between the UV lamp and the surface of the component and to deliver a specified dose of UV light to the surface as the UV light array moves along the disinfection path. wherein the control signals for controlling the one or more actuators to move the UV light array along the disinfection path include control signals for positioning the array axis substantially orthogonal to the disinfection path such that UV light emitted from the UV lamps of the UV light array disinfects surfaces of components.

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