Claims:CLAIMS
We claim,
1. A robotic disinfection system (100), comprising:
a pair of disinfection arm (400), said each disinfection arm (400) having a UV lamp assembly (200) and an arm mounting assembly (300);
a pair of arm sliding assembly (500) for receiving corresponding said arm mounting assembly (300);
at least one central support structure (600) for vertically supporting said pair of arm sliding assembly (500);
a movable platform (700) to mount said central support structure (600) along with said pair of arm sliding assembly (500) on upper surface of said movable platform (700).
a plurality of sensors (800) disposed at predetermined locations of said system (100); and
a controller (705) in communication with said UV lamp assembly (200), said arm mounting assembly (300), said arm sliding assembly (500), said movable platform (700) and said sensors (800),
wherein,
said controller (705) is configured to selectively operate said arm mounting assembly (300) through a first drive member (301) to displace said pair of disinfection arm (400)from a folded position to unfolded position and vice-versa;
said controller (705) is adapted to displace said arm sliding assembly (500) from a lower position to upper position and vice-versa, when said pair of disinfection arm (400)are held at unfolded position, to disinfect said target area/surface; and
said controller (705) is configured to one of operate and turn off an operation of said system(100) based on input signals received from said plurality of sensors (800).
2. The robotic disinfection system (100) as claimed in claim 1, wherein said arm sliding assembly (500) is operated by a second drive member (501) to provide a translational motion to said pair of disinfection arm (400) so that said pair of disinfection arm (400) moves from said lower position to said upper position and vice-versa, to achieve rapid disinfection of said target space, when said pairs of arms are held at said unfolded position.
3. The robotic disinfection system (100) as claimed in claim 1, wherein said arm sliding assembly (500) includes
a second drive member (501) connected coaxially with a lead screw (502) to provide a sliding to said disinfection arm (400);
a linear shaft rod (503) placed parallelly one on each side of lead screw (502) to support said sliding movement of said disinfection arms (400);
a lead screw block (504) adapted to receive said lead screw (502), wherein said lead screw block (504) is mounted on an internal face of an arm base plate (304);
a bushing (505) for each linear shaft rod (503), wherein said bushings (505) are mounted on said internal face of said arm base plate (304);
a base plate (506) having a lead screw lower bearing (507) to hold said lead screw (502) such that said lead screw (502) acts as a supported beam,
said lead screw (502) is mounted with a rigid plate (603) using a lead screw upper bearing (509);
said lead screw lower bearing (507) and said lead screw upper bearing (509) are adapted to support the lead screw (502) from both ends and to prevent any vibration while rotating of said lead screw (502); and
said base plate (506) includes a linear shaft support (508) for holding corresponding linear shaft rod (503) in a vertical position.
4. The robotic disinfection system (100) as claimed in claim 1, wherein said arm mounting assembly (300) includes:
an arm motor bracket (303) to hold and mount said first drive member (301) on said arm base plate (304);
a rotor of arm motor (301) disposed inside a metal hub (302), said metal hub (302) is connected to one end of said arm plate (202);
a hinge (305) and a pin mount (306) to retain another end of an arm plate (202) on said arm base plate (304) and thereby assist rotational motion of said arm plate (202); and
a ring (307) to limit any translational motion of said pin (306),
wherein,
said arm motor (301), said arm motor bracket (303), said metal hub (302), said hinge (305) and said pin mount (306), and said arm plate (202) are coupled coaxially on said arm base plate (304); and
said arm motor 301, said arm motor bracket (303), said metal hub (302) are housed inside said c- shaped arm plate (202) and said hinge (305) and said pin mount (306) are connected outside said c- shaped arm plate (202) in a side-by-side manner.
5. The robotic disinfection system (100) as claimed in claim 1, wherein said first drive member (301) and said second drive member (501) is at least a motor.
6. The robotic disinfection system (100) as claimed in claim 1, wherein said arm plate (202) is at least a C- shaped structure, said plurality of UV light sources are mounted perpendicularly to a long axis of said arm plate (202).
7. The robotic disinfection system (100) as claimed in claim 2, wherein said central support structure (600) consists of hollow tube (601) which is mounted between said arm sliding assembly (500) for providing structural support to both arm sliding assemblies (500) and for vertically mounting said arm sliding assemblies (500) on said movable platform (700), said arm sliding assembly (500) is mounted on said hollow tube (601) using a first rigid plate (602) and a second rigid plate (603).
8. The robotic disinfection system (100) as claimed in claim 1, wherein said movable platform (700) includes a plurality of wheels (or rollers) (702) connected to a lower surface of said movable platform (700), said each wheel (702) is coupled to a drive motor (701) using a mounting bracket (703) which is connected to said movable platform (700), said movable platform (700) is adapted to move based on an input received from said controller (705), said wheels (702) of said platform (700) is driven with a predetermined speed and with/without disinfection operation, while moving from one location to other, said wheels are coupled with position sensors for determining an angular position of a rotating shaft of said drive motor (701).
9. The robotic disinfection system (100) as claimed in claim 1, wherein said system (100) includes a power source (706) disposed at a predetermined location of said system (100) to supply power for said operation of said system (100).
10. The robotic disinfection system (100) as claimed in claim1, wherein said system (100) is adapted to be controlled by an external device using a wireless transceiver module, said wireless transceiver module includes a wireless access point being integrated into said system (100), a wireless network adapter to provide internet access, said controller (705) provided in communication with said wireless transceiver module for wirelessly transmitting signals and data to said external device, said external device is at least one of a smart phone, a tablet, a computer and the like.
11. The robotic disinfection system (100) as claimed in claim 1, wherein said system (100) includes:
at least one safety sensor configured to provide an input signal to said controller (705) when said safety sensor detects a movement of one of a human, an animal and door, whereby said controller (705) turns off said operation of said system (100) when said safety sensor detects a movement in disinfection area; and
at least one obstacle detection sensor configured to provide an input signal to said controller (705) when said system (100) moves towards an obstruction or barrier.
12. The robotic disinfection system (100) as claimed in claim 11, wherein said plurality of sensors (800) include at least one of laser range sensor, ultrasonic radar sensor, proximity sensor, a position sensor, Passive Infrared Sensor (PIR) sensors, IR sensor and high-precision camera.
13. The robotic disinfection system (100) as claimed in claim 1, wherein said robot includes at least one Wi-Fi camera configured to capture 360 degrees view of surrounding of said system (100).
14. A method (900) for disinfection of a room/surface, comprising:
unfolding, by a controller (705), a pair of disinfection arm (400) from a folded position to unfolded position, whereby said pair of disinfection arm (400) is held parallel to a ground surface, thereby said pair of disinfection arm(400) disinfect said ground surface between previous and a current row of an object placed inside an area;
sliding upwards, by said controller (705), said pair of disinfection arm(400) from a lower position to an upper position, thereby disinfecting a middle space between said previous and said current row;
moving, by said controller (705), a movable platform (700) in a predetermined direction to disinfect a horizontal surface of said object placed in said area;
sliding downwards, by said controller (705), said pair of disinfection arm(400) from said upper position to said lower position, thereby disinfecting a middle space and a ground surface between a current and a next row of object placed in said area; and
folding, by said controller (705), said pair of disinfection arm(400) after completion of a disinfection cycle.
Dated this 2nd November 2021

Signature :

Name of the Signatory: Nitin Mohan Nair
Patent Agent-2585
, Description:The following specification particularly describes the invention and the manner in which it is to be performed.

TECHNICAL FIELD
[001] The embodiments herein generally relate to disinfection and sterilization equipment, and more particularly, to a robotic disinfection system with arms that may access and disinfect all surfaces including complex surfaces/areas which are at different heights and/or hidden.
BACKGROUND

[002] Disinfection of spaces such as a hospital room, public transportation systems, airports, cinema halls, lecture halls, etc., which are the primary source of spreading diseases spread is becoming increasingly important as pathogenic microorganisms when present in these occupied spaces cause infections. This is especially important as antimicrobial resistant organisms are becoming more prevalent and increasingly difficult to treat. The pathogenic microorganisms like- viruses, bacteria, and fungi, etc. may have numerous adverse effects on human health. They have potential to cause- acute toxic effects, infectious diseases, allergies, and cancer. Some of these microorganisms have potential to cause pandemic, for example SARS-COV2 virus, it has affected millions of peoples worldwide and has caused numerous deaths, as per the WHO report, and still, it is ongoing. They have resulted in disease outbreaks in the past also, some of which are- Swine flu (H1N1) (2009–2010), Hong Kong flu (1968–1969), Asian flu (H2N2) (1957–1958), Spanish flu (H1N1) (1918–1920), Sixth cholera pandemic (1899–1923), The Black Death (1346–1350), Plague of Justinian (541– 542), etc. There must be provision for the control of life-threatening diseases spread caused by these pathogens. At present, various means of disinfection are being used such as dry heat sterilization, steam sterilization (autoclaves), chemical sterilization (alcohol, bleach, sodium hypochlorite), filtration, gas sterilization (ozone, hydrogen peroxide, etc.), sterilization via ionizing radiation (gamma ray, X-ray), sterilization via non-ionizing radiation (UV radiation).
[003] In general, the objective of a disinfection process is to reduce the number of pathogenic microorganisms on all the surfaces of the area/room. In order to limit or prevent exposure of germicides to occupants of the room or area, the disinfection for the room/area is typically performed by trained cleaning personnel or by an automated device which disperses a germicide into an ambient of a room or the space after the room has been vacated by the occupants. In order to maximize the number of surfaces treated but yet minimize the treatment time, the automated devices are generally configured to distribute a germicide in a spacious manner to an ambient of the room/area. For example, some automated area/room disinfection devices are configured to distribute a germicide 360 degrees around the device. In addition, many automated area/room disinfection devices are configured to distribute an effective amount of germicide to achieve between a 2-log and 4-log reduction in bacterial contamination on surfaces within the room/area that are greater than 1 meter or more from the device.
[004] Among all devices available, ultraviolet germicidal irradiation (UVGI) is a well- known way to inactivate the presence of pathogenic microorganisms. Wavelengths in the UVC band (200-280nm) are absorbed by the DNA, RNA, and protein of the cell and therefore cause damage to the cell. As DNA and RNA are primarily responsible for the replication of microorganisms and synthesis of protein, hence any damage to this nucleic acid leads to microbe inactivation or failure to replicate. To decrease the environmental bioburden and reduce the spread of microorganisms in public occupied spaces, the use of ultraviolet light disinfection technique has become popular recently since the outbreak of COVID-19 due to its comprehensive and effective disinfection strategy.
[005] Examples of automated UVC disinfection devices and systems which may be used in occupied areas and rooms are devices and systems which are configured to disinfect the room/area without exposing germicides exterior to the devices and systems are currently available. Drawback of some of existing UV disinfection equipments are that they are unable to definitively deliver a specific dosage to a surface because there is no measurement being taken at the location of interest. The primary challenges that directly impact the efficacy of disinfection are shadows and distance. First, an attempt to deliver UV-C radiation may not effectively eradicate microorganisms present in shadowed areas as maximum energy is targeted along line of sight only. Although the reflected UV-C light might contain some disinfecting ability, it does not ensure adequate disinfection of a shadowed area as the irradiance of reflected light further depends on the surface from which the light is reflected. Therefore, these shadowed areas must be eliminated such that UV-C radiation is delivered uniformly in every area. Also, the UV-C system itself may create some shadows. Second, introduced UV-C radiation in a space significantly follows the inverse square law, where the delivered UV energy decreases rapidly as the distance of the target surface increases. As specific energy dosages are required to eradicate specific microorganisms, failing which may dramatically impact the efficacy of disinfection. Third, the robotic UVGI disinfection systems currently available take larger disinfection time due to the configuration of their UV-C lamp(s). This problem may result in surfaces being over or undertreated. In the case of over-treating, excess treatment time, which slows down the facility's operations thus adding to operating costs and reducing throughput, and excess exposure to room surfaces, which causes faster breakdown of the materials the surfaces are made from, may occur. In the case of under-treating, disinfection or sterilization is not assured, which may result in reduced efficacy and increased exposure to liability lawsuits.

[006] Many static UV based disinfection devices are available in the market, however their efficacy is limited by the fact that they may not be moved around to reduce the distance between the UV lamps and microorganisms present on the surface. Moreover, their mobile operation cannot be remotely controlled. As such, there is a great need for a UVGI disinfection system that utilizes the advantages of UV radiation, while also addressing the aforementioned problems.
[007] Therefore, there exists a need for a robotic disinfection system with arms that may access and disinfect all surfaces including complex surfaces/areas which are at different heights and/or hidden. Further there exists a need for a robotic disinfection system, which obviates the aforementioned drawbacks.

OBJECTS
[008] The principal object of the embodiments herein is to provide a robotic disinfection system (also referred to as ultraviolet germicidal irradiation (UVGI) disinfection system in this description) with disinfection arms.
[009] Another object of the embodiments herein is to provide the robotic disinfection system which may access the complex surfaces and therefore target a germicidal radiation to all the surfaces/areas closely.
[0010] Another object of the embodiments herein is to provide the UVGI disinfection system equipped with UV lamps that may disinfect surfaces as well as the air between surfaces and the UV lamps while concentrating UV radiation at a larger area. In one of the embodiment, the robotic disinfection system comprises of at least two disinfection arms having multiple UV lamps capable of performing rotational and translational motion to achieve rapid disinfection. Moreover, said robotic disinfection system is configured to be moved and stationed in various areas such that almost every target surface is disinfected.
[0011] Another aspect of the present invention provides the UVGI disinfection system that maximizes the efficacy of the emitted UV radiations by allowing various degrees of rotational and translational motion of said disinfection arms having UV lamps. The advantage of these various movements of said disinfection arms is to facilitate close contact of the emitted UV radiations with the target surface. In one of the embodiments, the UVGI disinfection system comprises at least two disinfection arms having multiple UV lamps that may access and disinfect the complex surfaces which are at different heights or in shadow zones, therefore avoiding any missed surfaces during the process of disinfection. This ensures that emitted UV radiations reach almost every surface being treated and an effective microorganism inactivation dose is delivered to the target surface. Moreover, the degrees of rotational and translational motion of said disinfection arms may be controlled based on the dimensions of the target surface to be disinfected and distance.
[0012] Another aspect of the present invention provides the UVGI disinfection system with an algorithm that adjusts the speed as well as the extent of rotational and translational movement of said disinfection arms having multiple UV lamps based on configurations of the target surface to be disinfected. This enables that desired UV dosage to be delivered on the target surface in the most time-efficient manner thus allowing maximum utility of UV radiation emitted from UV lamps.
[0013] Another aspect of the present invention provides the UVGI disinfection system with an algorithm that enables both of said disinfection arms to be operated synchronously/ asynchronously as per the configuration and dimensions of the target surface to be disinfected. This differential motion of said disinfection arms having UV lamps allows us to use the UVGI disinfection system as per the designated application to facilitate adequate exposure and disinfection for the targeted application.
[0014] Another aspect of the present invention provides the UVGI disinfection system with a safety feature which turns OFF power to all said UV lamps and pauses the movement of said disinfection arms as well as movable platform, whenever a person/ animal enters the area being treated to eliminate chances of accidental UV exposure. The safety feature incorporates a motion-detection capability to detect a movement in the area being disinfected.
[0015] Another aspect of the present invention provides the UVGI disinfection system that further eliminates UV exposure to the operator during disinfection. In a preferred embodiment, said UV lamps may be controlled remotely through any wireless channel, ensuring that while disinfecting, no one is present inside the room being treated. The wireless method is preferred for tethering as the embodiments herein are intended for use in areas with human/animal absence, as exposure of humans/animals to ultraviolet radiation may be harmful.
[0016] Another aspect of the present invention provides the UVGI disinfection system fitted with obstacle detecting devices that prevents collision in the event when an object comes in predefined proximity of the said disinfection arms or with the system or both. More preferably, said obstacle detecting devices include wide range detection capability, which ensures the shutdown response is automatic without any collision.
[0017] Another aspect of the present invention provides the UVGI disinfection system that incorporates one or multiple Wi-Fi cameras. In a preferred embodiment, the UVGI disinfection system is provided where the surrounding of said system may be seen remotely, such that during operation of the system, every activity of the room being treated is in the knowledge of the operator.
[0018] Another aspect of the present invention provides the UVGI disinfection with an algorithm that adjusts direction as well as the speed of motion of the entire disinfection robot which enables positioning of the entire system and adjustment of UV dose at any location. The speed of motion of the disinfection system may be chosen to achieve desired UV dosages on target surfaces.
[0019] Another aspect of the invention provides the UVGI disinfection system whereby all operations of the entire system may be controlled remotely through a wireless channel. In a preferred embodiment, the system may be controlled from nearby or far locations through a wireless channel, such that every operation of the system may be performed without the need for the physical presence of the operator. This feature further eliminates the chances of UV exposure to the operator during disinfection operation.
[0020] The UVGI disinfection system for disinfection comprises of: - a pair of disinfection arms wherein each said disinfection arm includes UV lamp assembly and an arm mounting assembly which enables the rotational motion of the disinfection arms;
- a pair of arms sliding assembly for mounting and enabling the translational movement of the disinfection arms;
- a support structure for providing structural support to said arm sliding assemblies; and
- a movable platform to mount all the above-said assemblies and enable their movement from one location to other.
[0021] According to one embodiment of the invention, each of said disinfection arm includes one or multiple UV lamps.
[0022] According to yet another embodiment of the invention, each of said arm mounting assembly consists of a motor configured to rotate said disinfection arm relative to said movable platform.
[0023] According to an embodiment of the invention, the extent and speed of rotation of each of said disinfection arm may be adjusted based on the shape and dimensions of the target surface to be disinfected.
[0024] According to one of the embodiments of the invention, each of said arms sliding assembly consists of a motor configured to slide said disinfection arms relative to said movable platform.
[0025] According to an embodiment of the invention, the extent and speed of motion of each of said disinfection arms can be adjusted based on the shape and dimensions of the target surfaces to be disinfected.
[0026] According to an embodiment of the invention, various degrees of rotational and translational motion of said disinfection arms having UV lamps are provided to facilitate better exposure of the emitted UV radiation on the target surface.
[0027] According to a further embodiment of the invention, both of said disinfection arms may be operated synchronously/ asynchronously as per the designated application to facilitate adequate exposure and disinfection of the target surface.
[0028] According to another embodiment of the invention, direction, as well as the speed of motion of movable platform may be adjusted which enables positioning of the entire system and adjustment of UV dose at any location.
[0029] According to yet another embodiment of the invention, said system comprises of safety mechanism, which turn OFF all UV lamps and pauses the movement of said disinfection arms as well as said movable platform, whenever a person/ animal enters the area being treated to eliminate accidental UV exposure.
[0030] According to an embodiment of the invention, sensor mechanisms that have obstacle detecting devices are used to prevent collision in the event when an object comes within a defined proximity of the disinfection arm or with the system itself or both.
[0031] According to a further embodiment of the invention, one or multiple Wi-Fi cameras are incorporated to capture the surrounding of the said system, such that during operation of the system, every activity of the area being treated is in the knowledge of the operator.
[0032] According to an embodiment of the invention, every operation of the system may be controlled from nearby or far locations through any wireless communication technology. A wireless method is preferred for tethering as the invention has to be operated in areas without humans/animals, as exposure of humans to UV radiation may be harmful.
[0033] These and other objects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.

BRIEF DESCRIPTION OF DRAWINGS
[0034] The embodiments herein are illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in the various figures. The embodiments herein will be better understood from the following description with reference to the drawings, in which:
[0035] FIG. 1a depicts a perspective view of a robotic disinfection system, according to an embodiment as disclosed herein;
[0036] FIGS. 1b depicts an extended view of the robotic disinfection system, according to an embodiment as disclosed herein;
[0037] FIGS. 1c depicts a side view of the robotic disinfection system, according to an embodiment as disclosed herein;
[0038] FIGS. 1d depicts an extended side view of the robotic disinfection system, according to an embodiment as disclosed herein;
[0039] FIG. 2a depicts an exploded view of one of the UV lamp assembly of the robotic disinfection system, according to an embodiment as disclosed herein;
[0040] FIG. 2b depicts an assembled view of the one of the UV lamp assembly of the robotic disinfection system, according to an embodiment as disclosed herein;
[0041] FIG. 3a depicts an exploded view of an arm mounting assembly, according to an embodiment as disclosed herein;
[0042] FIG. 3b depicts an assembled view of the arm mounting assembly, according to an embodiment as disclosed herein;
[0043] FIG. 4 depicts an assembled view of the disinfection arm, according to an embodiment as disclosed herein;
[0044] FIG. 5a depicts an exploded view of an arm sliding assembly, according to another embodiment as disclosed herein;
[0045] FIG. 5b depicts an assembled view of the arm sliding assembly, according to another embodiment as disclosed herein;
[0046] FIG. 6a depicts an exploded view of a central support structure, according to another embodiment as disclosed herein;
[0047] FIG. 6b depicts an assembled view of the central support structure, according to another embodiment as disclosed herein;
[0048] FIG. 7a depicts an exploded view of a movable platform, according to another embodiment as disclosed herein;
[0049] FIG. 7b depicts an assembled view of the movable platform, according to another embodiment as disclosed herein;
[0050] FIGS. 8a-8i depict steps of a commonly used disinfection cycle, according to another embodiment as disclosed herein;
[0051] FIG. 9 schematic showing controller and its communication with the robotic disinfection system, according to an embodiment as disclosed herein; and
[0052] FIG. 10 is a flowchart depicting a method of disinfecting a room/area/surface, according to an embodiment as disclosed herein.

DETAILED DESCRIPTION

[0053] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0054] Referring now to FIGS. 1 a-d, there are shown embodiments of a robotic disinfection system (100) (also referred to UVGI disinfection system). FIG. 1a is a front view and FIG. 1c is a side view of embodiments of the present invention whereas FIG. 1b is an extended front view and FIG. 1d is an extended side view of embodiments of the present invention. The robotic disinfection system (100) generally includes a pair of UV lamp assembly (200), an arm mounting assembly (300), an arm sliding assembly (500), a central support structure (600), and a movable platform (700) as shown in FIG. 1a. The system (100) is configured to use with a wireless interface. The user may control every operation of the invention either using a portable device such as a smartphone, tablet, etc., or laptop/desktop computer with wireless connectivity.
[0055] Referring now to FIG. 2, there are shown embodiments of a UV lamp assembly (200) of the invention. The system (100) includes one or multiple, preferably two such UV lamp assembly (200) installed preferably on the left and right side of the central support structure (600). FIG. 2a is the exploded view and FIG. 2b is the assembled view of the pair of UV lamp assembly (200) according an embodiment of the present invention. The system (100) includes one or multiple UV light source (201). In an embodiment, the UV light source is at least three UV lamps (201) arranged side-by-side preferably in a triangular configuration such that they are parallel to each other along their length. The number of UV lamps (201) may be determined as per the intended application and their availability. In one or more embodiments of the invention, the UV lamps (201) emit UV-C energy. Although the UV lamps (201) shown are based on existing low-pressure mercury technology, one skilled in the art will realize that advancements in UV lamps technology could result in a variety of lamps being used in the embodiments herein. The UV lamp assembly (200) further consists of an arm plate (202) having preferably a C- shaped structure as shown in FIG. 2a. The UV lamps (201) are collectively mounted at an outer surface of arm plate (202) such that UV lamps (201) are perpendicular to the long axis of arm plate (202).
[0056] Referring now to FIG. 3, there are shown embodiments of an arm mounting assembly (300) of the invention. The system (100) includes one or multiple, preferably two such arm mounting assembly (300) installed preferably on left and right side of the central support structure (600). FIG. 3a is an exploded view and FIG. 3b is an assembled view of the arm mounting assembly (300) of an embodiment of the present invention. The arm mounting assembly (300) is preferably used to accommodate and to provide a rotating mechanism to the pair of UV lamp assembly (200). The arm mounting assembly (300) consists of a first drive member (301) to provide the rotating movement, preferably folding and unfolding of the UV lamp assembly (200). In an embodiment, the first drive member (301) is an arm motor (301). A rotor of the arm motor (301) is fixed inside a suitable structure, preferably like a metal hub (302) to couple mechanical movement as shown in FIG. 3a. The metal hub (302) is further connected with one end of an arm plate (202), such that the rotational movement of the arm motor (301) is coupled with the UV lamp assembly (200). An arm motor bracket (303) is used to hold and mount the arm motor (301) on the arm base plate (304). A hinge (305) and a pin mount (306) is used to retain another end of the arm plate (202) on the arm base plate (304) and assist the rotational motion of the arm plate (202) and hence the UV lamp assembly (200). Preferably, one end of the hinge (305) is fixed on the arm base plate (304) and another end of the hinge (305) relates to arm plate (202) through the pin mount (306). A ring (307) is used to limit any translational motion of the pin (306). In a preferred embodiment, the arm motor (301), the arm motor bracket (303), the metal hub (302), the hinge (305) and the pin mount (306), and the arm plate (202) are coupled coaxially on the arm base plate (304).Further, the arm motor (301), the arm motor bracket (303), and the metal hub (302) are housed inside c- shaped arm plate (202) and the hinge (305) and the pin mount (306) is connected outside c- shaped arm plate (202) in a side-by-side manner.
[0057] Referring now to FIG. 4, there is shown an embodiment of the disinfection arms (400) of the invention. The system (100) includes one or multiple, preferably two such disinfection arms (400) installed preferably on the left and right side of the central support structure (600). FIG. 4 is a perspective view of the disinfection arms (400) of an embodiment of the present invention where the UV lamp assembly (200) and the arm mounting assembly (300) are merged.
[0058] Referring now to FIG. 5, there are shown embodiments of an arm sliding assembly (500) of the invention. The system (100) includes one or multiple, preferably two such arm sliding assemblies (500) installed preferably on the left and right side of the central support structure (600). FIG. 5a is an exploded view and FIG. 5b is an assembled view of the arm sliding assembly (500) of an embodiment of the present invention. The arm sliding assembly (500) is used to provide the linear preferably upward and downward movement of the disinfection arms (400) i.e. the arm sliding assembly (500) is operated by the controller (705) to move the disinfection arms (400) from a lower position to an upper position and vice-versa.
[0059] According to one embodiment of the invention, arm sliding assembly (500) consists of a second drive member (501) connected coaxially with a lead screw (502) to provide sliding movement to the disinfection arm (400) as shown in FIG. 5a. In an embodiment, the second drive member is at least a sliding motor (501). A linear shaft rod (503), preferably two, are placed one on each side of the lead screw (502) in parallel fashion to support the sliding movement of the disinfection arm (400).The lead screw (502) is inserted in a lead screw block (504) where the lead screw block (504) is further mounted on the internal face of arm base plate (304). Similarly, the linear shaft rod (503) is inserted in a bushing (505), preferably two bushings per linear shaft rod (503), where bushings (505) are further mounted on the internal face of the arm base plate (304). Further, the arm sliding assembly (500) consists of a base plate (506) having a lead screw lower bearing (507) to hold the lead screw (502) such that the lead screw (502) acts as a simply supported beam. The lead screw (502) is further mounted with a second rigid plate (603) using lead screw upper bearing (509). The function of the lead screw lower bearing (507) and lead screw upper bearing (509) is to support the lead screw (502) from both ends and to prevent any vibration while rotating. The base plate (506) also has linear shaft support (508) for holding the corresponding linear shaft rod (503) vertically in place. With this type of arrangement, the rotational motion of the sliding motor (501) is converted into translational of the disinfection arms (400). Alternate strategies may be used with the embodiments herein to provide a sliding mechanism of disinfection arm (400). In an alternate embodiment, the arm sliding assembly (500) may be selected from one of pneumatic actuator, hydraulic actuator, electro-magnetic actuator and the like.
[0060] Referring now to FIG. 6, there are shown embodiments of the central support structure (600) of the invention. FIG. 6a is an exploded view and FIG. 6b is an assembled view of central support structure (600) of an embodiment of the present invention. The central support structure (600) consists of preferably two hollow tubes (601), with a first rigid plate (602) and a second rigid plate (603) attached to each said hollow tube is installed between left and right arm sliding assembly (500) for providing structural support to both arm sliding assemblies(500) and for vertically mounting them on the movable platform(700). Each of the arm sliding assembly (500) is mounted on the hollow tube (601) using two rigid plates best shown in FIG. 6a. A first rigid plate (602) is used to mount the sliding motor (501) over the hollow tube (601) as shown in FIG. 6a. A second rigid plate (603) is used to mount the lead screw (502) and the linear shaft rod (503) with the hollow tube (601) as shown in FIG. 6a. Alternate strategies may be used with the embodiments herein for proving structural support to both arm sliding assembly (500) and for vertically mounting them on the movable platform (700).
[0061] Referring now to FIG. 7, there is shown an embodiment of the movable platform (700) of the invention. FIG. 7a is an exploded view and FIG. 7b is an assembled view of the movable platform (700) of an embodiment of the present invention. The movable platform (700) is used to mount the central support structure (600), the disinfection arm (400) having the UV lamp assembly (200) and arm mounting assembly (300), and the arm sliding assemblies (500) and enable their movement from one location to other.
[0062] Beginning at the bottom of the movable platform(700), the system(100) includes multiple, preferably four drive motor (701) paired with the corresponding drive wheel (702) installed near each vertex of base (704) of the movable platform (700) using a bracket (703) as shown in FIG. 7a. The drive motor (701) is powered and directed by the respective drive unit (not shown here). A controller (705) comprising an electronic control circuit board (not shown here) is used to control and direct the drive unit which in turn controls the motion of drive motor (701) and hence drive wheel (702). The movable platform (700) may be driven in any direction like left, right, forward, backward, etc., and may rotate 360 degrees smoothly. Moreover, the movable platform (700) may be driven with desirable speed as per the requirement with/ without disinfection operation while moving from one location to other. This adjustable direction as well as the speed of motion of the system (100) enables positioning of the entire system and adjustment of UV dose at any location. Moreover, every operation of movable platform (700) may be controlled either remotely by an operator using any wireless interface or locally which allows the system (100) to move around the designated area smoothly. Although the drive wheel (702) shown are cylindrical wheels, one skilled in the art will realize that a variety of drive wheels may be used in the invention such that omni wheels, mecanum wheels etc., which provide flexibility to move movable platform(700) in any direction without rotating the platform(700).
[0063] The movable platform (700) additionally comprises of essential electronic circuitry and drivers (not shown here) to control motors of both arm sliding assemblies (sliding motor 501) and motors of both said arm mounting assemblies (arm motor 301). The controller (705) comprising of electronic control circuit board (not shown here) controls and directs the arm motor (301) (both left and right) and sliding motor (501) (both left and right). Both the disinfection arms (400) may be rotated synchronously/ asynchronously by controlling the respective arm motor (301) of the system (100), as per the shape and dimensions of the target surface to be disinfected. Also, the speed and extent of rotation of both disinfection arms (400) may be varied as per the target surface during the disinfection process. Both the left and right disinfection arms (400) may slide upward and downward synchronously/ asynchronously by controlling respective sliding motor (501) of the system (100), as per the dimensions of the target area to be disinfected. In an embodiment, the controller (705) stores an algorithm that enables both of said disinfection arms (400) to be operated synchronously/ asynchronously as per the configuration and dimensions of the target surface to be disinfected. Also, the speed and extent of sliding motion of both the disinfection arms (400) may be varied as per the target surface during the disinfection process. Each operation of the disinfection arms (400) may be controlled either remotely by an operator using any wireless interface or locally which allows the invention 100 to move around the designated area. Further, the controller (705) comprising of electronic control circuit board (not shown here) controls switching ON/ OFF of all the UV lamps (201) using a relay module (not shown here) as shown in FIG. 9.
[0064] The system (100) further includes safety features, preferably sensor mechanisms (not shown here) connected with the electronic control circuit board of the controller (705). One such sensor mechanism consists of a safety feature that turns OFF power to all said UV lamp(s) and pauses the movement of said disinfection arms (400) as well as the movable platform (700), whenever a person/ animal enters the area being treated to eliminate chances of accidental UV exposure. Ideally, the said safety feature incorporates the motion-detection capability to achieve this. The sensor mechanism in the system (100) includes one, preferably multiple such sensors (800). In an embodiment, the motion detection sensor mechanism includes at least a Passive Infrared Sensor (PIR) sensor. Moreover, the sensors (800) may incorporate any type of sensing modality. According to one embodiment of the invention, the system (100) is also outfitted with another sensor mechanism which has obstacle detecting devices that prevent collision in the event when an object comes in predefined proximity of the system (100) or the disinfection arms (400) or with both. More preferably, said obstacle detecting devices include wide range detection capability, which ensures the shutdown response is automatic without any collision. In an embodiment, the obstacle detecting sensor is at least an IR sensor. In another embodiment, the safety features include at least one of laser range sensor, ultrasonic radar sensor, a proximity sensor, a position sensor, and high-precision camera.
[0065] The controller (705) comprising electronic control circuit board is provided with Wi-Fi technology to communicate with a portable external devices such as a smartphone, tablet, laptop, etc., or a desktop computer for utilizing the control application remotely. The system (100) is adapted to be controlled by an external device using a wireless transceiver module. The wireless transceiver module includes a wireless access point being integrated into the system (100) and a wireless network adapter to provide internet access. The controller (705) is provided in communication with said wireless transceiver module for wirelessly transmitting signals and data to the external devices. Further, the system (100) may be configured to support any other wireless communication technology like IR, radio waves, WLAN, or Bluetooth. Wireless method is preferred for tethering while operating as exposure of humans to UV radiation may be harmful.
[0066] According to one embodiment of the invention, the system (100) incorporates one or the multiple Wi-Fi cameras (not shown here) to capture 360 degrees surrounding such that surrounding of the said system (100)may be seen remotely. This helps to ensure that every activity of the room being treated is in the knowledge of the operator during the operation of the system (100).
[0067] The system (100) further includes a power source mounted on movable platform (700) to deliver required power to every electronic and electrical component of the invention (100).
[0068] Referring now to FIGS. 8 a-i, there are shown embodiments of the robotic disinfection system (100) of the present invention while disinfecting seats of a room/ seminar hall/ cinema hall/ airplane seats etc. for a disinfection cycle. In such applications, a typical sequence of operations of present invention for effective disinfection is shown in FIGS 8a to 8i to ensure a close access to the target surfaces. For example, a typical sequence of operations in the UVGI disinfection system (100) are:
• At the start of the representative disinfection cycle, both left and right disinfection arm (400) remain in folded position as shown in FIG. 8a
• First, both left and right disinfection arm (400) is rotated outwards to unfold the corresponding UV lamp assembly (200) by 90 degree such that both left and right UV lamps (201) become parallel to ground surface as shown in FIG. 8b. This step helps in the disinfection of the ground between previous and a current row of chairs (801).
• Then, both left and right arm sliding assembly (500) provide upward motion of corresponding disinfection arm (400). FIG. 8 c and d show positions of both left and right-side UV lamps (201), which are parallel to ground, while moving upward. This step helps in the disinfection of middle space between previous and current row of chairs (801).
• Next, drive motor (701) installed at base platform (704) rotates to drive the UVGI disinfection system (100) forward as shown in FIG. 8e and f. This step makes the UV lamps (201) to move over the chairs (801) while disinfecting the horizontal surfaces of them.
• Once the UVGI disinfection system (100) covers the predefined distance, both left and right arm sliding assembly (500) moves downward thereby moving corresponding disinfection arm (400) downwards. FIG. 8 g and h show positions of both left and right-side UV lamps (201), which are parallel to ground, while moving downward. This step helps in the disinfection of middle space as well as ground between current and next row of chairs (801).
• Once the representative disinfection cycle is complete, the both left and right disinfection arm (400) folds and UV lamps (201) become vertical as shown in FIG. 8i.
[0069] FIG. 10 is a flowchart depicting a method of disinfecting a room/area/surface, according to an embodiment as disclosed herein. A method (900) for disinfection of a room/surface is disclosed. The method (900) includes unfolding, by a controller (705), a pair of disinfection arms (400) from a folded position to unfolded position, whereby said pair of disinfection arms (400) is held parallel to a ground surface, thereby said pair of disinfection arms (400) disinfect said ground surface between previous and a current row of an object placed inside an area (At step 902). Further, the method (900) includes sliding upwards, by said controller (705), said pair of disinfection arms (400) from a lower position to an upper position, thereby disinfecting a middle space between said previous and said current row (At step 904). Furthermore, the method (900) includes moving, by said controller (705), a movable platform (700) in a predetermined direction to disinfect a horizontal surface of said object placed in said area (At step 906). Additionally, the method (900) includes sliding downwards, by said controller (705), said pair of disinfection arms(400) from said upper position to said lower position, thereby disinfecting a middle space and a ground surface between a current and a next row of object placed in said area (At step 908). Also, the method (900) includes folding, by said controller (705), said pair of disinfection arms (400) after completion of a disinfection cycle (At step 910).
[0070] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others may, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of embodiments, those skilled in the art will recognize that the embodiments herein may be practiced with modification within the spirit and scope of the embodiments as described herein.