Mobile UV-C Disinfection Robots for Dose-Aware Path Planning
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Solution Overview
Problem
Existing mobile robotic apparatuses with UV-C radiation sources struggle to optimize the path trajectory and ensure an appropriate UV-C radiation dose on each contact surface within a space, particularly in dynamic environments.
Innovation Solution
A method and apparatus that utilize a data processing unit to determine a virtual potential of attraction for UV-C radiation sources based on contact surface criticality, distance, and orientation, generating an optimized path trajectory using artificial potential fields, genetic algorithms, and radiation physics to ensure uniform disinfection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a mobile robotic apparatus with UV-C radiation source is used to disinfect a space, then the ability to provide equivalent UV-C radiation dose at different distances is improved, but the complexity of optimizing the path trajectory and radiation delivery increases
Solution Approach 1:
The robotic apparatus employs dynamic path planning that adapts to the three-dimensional geometry of the space and positions of contact surfaces. The system dynamically adjusts the radiation delivery parameters and trajectory based on real-time spatial characteristics, enabling uniform UV-C dose distribution across surfaces at varying distances without requiring overly complex static configurations
Solution Approach 2:
The system optimizes multiple parameters including radiation intensity, exposure time, and robotic apparatus velocity to achieve the required UV-C dose. By dynamically adjusting these parameters based on distance and surface criticality, the system maintains dose uniformity while managing the complexity of path optimization
2Reliability
If the robotic apparatus optimizes the path to ensure appropriate UV-C radiation dose on each contact surface, then the disinfection effectiveness is improved, but the time required to complete the disinfection process increases
Solution Approach 1:
The system replaces trial-and-error mechanical path adjustments with computational algorithms including genetic algorithms and artificial potential fields. These computational methods efficiently calculate optimal trajectories that balance disinfection effectiveness with time constraints, avoiding the need for slow iterative mechanical optimization
Solution Approach 2:
The system performs preliminary mapping of the space and identification of contact surfaces before executing the disinfection path. By pre-calculating the optimal trajectory based on the three-dimensional map and surface criticality levels, the system avoids time-consuming adjustments during actual disinfection while maintaining high effectiveness
3Measurement precision
If the system maps the three-dimensional space and identifies contact surfaces with criticality levels, then the precision of radiation dose delivery is improved, but the complexity of data processing and path planning increases
Solution Approach 1:
The system segments the three-dimensional space into discrete contact surfaces and assigns criticality levels to each. This segmentation transforms the complex continuous spatial problem into manageable discrete units, allowing precise radiation dose delivery to each surface while simplifying the overall data processing through structured organization
Solution Approach 2:
The system introduces an intermediary data structure that stores the three-dimensional map, surface positions, and criticality levels. This intermediary representation facilitates efficient computation of optimal paths and radiation parameters without requiring complex real-time processing, acting as a buffer between spatial mapping and path planning
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method and apparatus achieve efficient disinfection by optimizing UV-C radiation delivery, reducing time and energy consumption while ensuring thorough coverage, and enabling remote control for enhanced safety.
Implementation Method 1
the use of C-type ultraviolet light radiation or simply UV-C radiation is very effective for inactivating viruses and disinfecting bacteria on surfaces
Data Source
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AI summary
A method (600) for controlling a mobile robotic apparatus for disinfecting a space, comprising steps of: acquiring (601), by a data processing unit of the mobile robotic apparatus, a map of a space to be disinfected; acquiring (602), by the data processing unit of the mobile robotic apparatus, information on a plurality of contact surfaces to be disinfected within the space to be disinfected, each contact surface being associated with a criticality level; determining (603), by the data processing unit of the mobile robotic apparatus, an amount of C-type ultraviolet light radiation energy to be deposited, by means of at least one ultraviolet-C, UV-C, radiation source mounted on the mobile robotic apparatus, on a contact surface, said amount of UV-C radiation energy being determined as a function of the criticality level of the contact surface, of a distance and an orientation of the contact surface with respect to the at least one UV-C radiation source, of set operating features of the at least one UV-C radiation source; determining (604) a respective virtual potential of attraction of the at least one UV-C radiation source towards each contact surface by modulating over time the virtual potential of attraction of the at least one UV-C radiation source towards each contact surface as a function of the amount of radiation energy determined for each contact surface to be disinfected and radiated at a previous time instant, generating (605) a path trajectory as a function of each determined virtual potential of attraction of the at least one UV-C radiation source towards each contact surface to be disinfected; controlling (606) the mobile robotic apparatus along the generated path trajectory.