METHOD AND A SYSTEM OF DISINFECTING A ROOM

Abstract

An apparatus and a method for disinfecting a room, where a 3D rendering of the room is used for determining a plurality of positions from which surfaces of the room may be irradiated and where the number of shadows is minimized. A report may be output describing which surfaces are irradiated and with what dose.

Claims

1. A method of disinfecting a room, the method comprising: moving an irradiating unit to a first position in the room, emitting radiation from the irradiating unit while determining an intensity of emitted radiation, outputting information relating to the position and the determined intensity.

2. The method according to claim 1, wherein the moving step comprises determining the first position.

3. The method according to claim 1, wherein the outputting step comprises also determining a period of time during which the intensity was emitted.

4. The method according to claim 1, wherein the outputting step comprises comparing the first position with a predetermined position and outputting any discrepancy between the first and predetermined positions.

5. The method according to claim 1, wherein the outputting step comprises comparing the determined intensity with a predetermined intensity and outputting any discrepancy between the determined and predetermined intensities.

6. A system for disinfecting a room, the system comprising a self-propelled unit comprising an irradiating unit, an intensity determining element and a position determining element and a controller configured to: determine an intensity of emitted radiation, and output information relating to the position and the determined intensity.

7. The system according to claim 6, wherein the intensity determining element is configured to also determine a period of time during which the intensity was emitted.

8. The system according to claim 6, wherein the controller is also configured to compare the first position with a predetermined position and output any discrepancy between the first and predetermined positions.

9. The system according to claim 6, wherein the controller is configured to compare the determined intensity with a predetermined intensity and output any discrepancy between the determined and predetermined intensities.

10. A method of disinfecting a room, the method comprising the steps of: providing a 3D rendering or map of the room, determining a plurality of positions from which radiation may disinfect predetermined surfaces of the room, controlling a self-propelled unit to sequentially move to the positions and emit disinfecting radiation.

11. The method according to claim 10, wherein the providing step is performed before the controlling step.

12. The method according to claim 10, wherein the step of emitting the radiation comprises emitting the radiation from an element movable vis-à-vis a base of the unit.

13. The method according to claim 10, further comprising the step of outputting information relating to surfaces irradiated.

14. The method according to claim 10, wherein the providing step comprises identifying one or more surfaces of the room, and wherein the controlling step comprises determining, for each identified surface, a dose interval, and wherein the step of emitting the radiation comprises emitting radiation toward each identified surface to obtain a radiation dose on each surface within the interval for that surface.

15. A system for disinfecting a room, the system comprising: a storage for holding a 3D rendering or map of the room, a self-propelled unit comprising a radiation emitter and a controller configured to: determine a plurality of positions from which radiation may disinfect predetermined surfaces of the room, control the self-propelled unit to sequentially move to the positions and emit disinfecting radiation.

16. The apparatus according to claim 15, wherein the controller is configured to operate the sensor to generate the 3D rendering or map and subsequently determine the positions and control the unit.

17. The apparatus according to claim 15, wherein the controller is further configured to output information relating to surfaces irradiated.

18. The apparatus according to claim 15, wherein the controller is configured to: identify one or more surfaces of the room, determine, for each identified surface, a dose interval, and control the radiation emitter to emit the radiation comprises emitting radiation toward each identified surface to obtain a radiation dose on each surface within the interval for that surface.

19. The apparatus according to claim 18, wherein the controller is configured to identify a surface by: provide 2D or 3D information of the surface, output the information to an operator and receive identifying information from the operator.

20. The apparatus according to claim 15, further comprising a sensor configured to generate the 3D rendering or map.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0104] In the following, preferred embodiments are described with reference to the drawing, wherein:

[0105] FIG. 1 illustrates a hospital room,

[0106] FIG. 2 illustrates a first embodiment of an irradiation robot,

[0107] FIG. 3 illustrates a second embodiment of an irradiation robot.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS

[0108] In FIG. 1, a hospital room 20 is illustrated with a bed 22, a table 24, a chair 26 and bedside equipment 28. It is desired to disinfect the room using disinfecting radiation, such as UV radiation.

[0109] FIG. 2 illustrates a first embodiment of a robot 30 suitable for disinfecting a room. The robot has an upstanding portion 32 comprising one or more outwardly directed radiation emitters 34 configured to emit disinfecting radiation from the emitters and toward the surroundings, i.e. surfaces of the room and its contents.

[0110] A problem encountered using a radiation emitting robot is that shadows may occur, i.e. surfaces exist which may not be irradiated and thus disinfected. In FIG. 1, a fat star marks a radiation emitting robot positioned at the star. It is seen that the equipment 28 receives the radiation and thus prevents the radiation from reaching the wall behind it. A shadow is generated as indicated by the double arrow.

[0111] The solution may be to move the robot subsequently (or before) to the position of the slender star, as the wall portion may be disinfected from this position.

[0112] A more autonomous robot is desired, so the robot 30 comprises a sensor 36 configured to generate a 3D map or rendering of the room and the contents. Thus, the robot is configured to realize that the equipment 28 will generate a shadow and thus determine a path to take while irradiating or different positions from which the irradiation may be performed to reduce or eliminate the shadows.

[0113] It is noted that the position of shadows will depend also from which height the radiation is emitted. Thus, it may be desired to emit radiation from different heights of the robot so that radiation may be emitted below the bed or table and from a direction further below so that the radiation is directed upwardly to surfaces below the bed and table, for example.

[0114] Naturally, generating a 3D rendering or map may require obtaining data from different heights in the room. This may be obtained by using sensors provided at different heights on the robot 30. It is desired to generate the information at least for all angles of attack of the radiation. Alternatively, the sensor 36 may be translatable up and down along the portion 32 to provide the information needed to generate the map/rendering. Also, it may be desired that the sensor may then be moved away from the radiation emitter so as to not itself create shadows.

[0115] FIG. 3 illustrates another embodiment of a robot 40 configured to emit disinfecting radiation. The robot 40 comprises an arm 42 with a head portion comprising radiation emitter(s) 44. The arm may be moved in any desired manner to direct the radiation toward the surfaces, such as on the bed, below the bed, on the walls and the like. The use of the arm makes it easier to reduce the size of the shadows even when the robot is stationary. However, shadows may still exist, and the robot 40 also comprises the sensor 36 for generating the 3D map or rendering.

[0116] The sensor 36 may be based on stereo vision, laser scanning, sonar, radar, lidar, or any other desired rendering technology. The sensor 36 may also comprise a controller configured to interpret the sensed radiation, sound or the like to arrive at the 3D map or rendering. Alternatively, a more central controller 38/48 may be used which can also be used for controlling the robot, such as the movement thereof, the operation of the radiation emitter(s) as well as the arm if present.

[0117] In general, the mapping/rendering sensor 36 may be provided on a separate arm if desired so that its movement may be independent of the movement of the irradiating element.

[0118] The sensor 36 may be used for additional purposes. Having provided the 3D rendering/map, the surfaces of the room are determined. The sensor, controller or robot may now determine the dose of the disinfecting radiation received by each surface or portion of each surface. Thus, it may be ensured and even proved that each surface has received sufficient radiation to be disinfected. The dose received depends on the intensity emitted toward the surface portion, the distance to the surface portion as well as the period of time of the irradiation. Also, the angle between the general direction of the wall portion and that of the radiation should be taken into account. This information is available to the robot, so that the radiation intensity and/or the irradiation time may be controlled to arrive at the desired disinfection. Additionally, this information may be logged for later proof that the room was sufficiently disinfected.

[0119] In fact, information may be derived from the map/rendering as to what the surfaces may be formed by. For example from reflection or surface texture, it may be determined or assumed that a surface is steel, hard plastics, soft plastics/rubber, wood, glass, textile or the like. Alternatively, a standard 2D image may be used from which colours, surface texture and the like may be estimated. From this, the desired dose may be determined. Steel, glass and hard plastics may be assumed to have a hard and non-porous surface and thus need less radiation than wood or textile which may have a porosity in which bacteria and/or virus particles may settle. Such porous surfaces may require a higher dose to be disinfected. Thus, in addition to tracking the dose delivered to different surface parts, also the type of surface part may be tracked and logged to determine the dose required and in order to also use this information to prove that the room is disinfected.

[0120] The surface may also be identified from its shape, appearance and/or position. A TV may be mounted on the wall and a computer may be identified by its shape. From that information, it may be decided how to irradiate them. The controller may hold predetermined information as to how to irradiate such elements. For example a keyboard of a computer may be especially contaminated whereas it may be desired to irradiate a monitor less intensely. Also, elements such as keyboards may require irradiation from multiple sides due to porosity/grooves or the like therein.

[0121] If a surface cannot be identified by the controller, information, such as an image may be output to an operator, which may feedback information of the material of the surface and/or how to irradiate the surface, such as minimum dose, maximum intensity, multiple angles or the like.

[0122] Other parameters to take into account may be a maximum intensity which a material or surface may be able to withstand. It may be desired to deliver a dose to some materials or surfaces over a longer period of time. Some plastic materials, for example age faster at higher intensities.

[0123] Alternatively, an upper dose limit may be set for surface portions. This may also be based on the type or material forming the surface.

[0124] Then, the robot may then start by generating the 3D map/rendering or a part thereof and determine a position from which to start irradiating. Using the robot 40, the radiation may be controlled rather precisely. With the robot 30, multiple positions may be determined and used in order to not only avoid the shadows but also to control the distance to surface portions and thus the dose delivered.

[0125] Clearly, the robot(s) may be able to control the emission of radiation. Thus, the intensity may controlled as well as the angle of emission. The robot 30 may be able to emit radiation 360 around a vertical axis through the portion 32 but may be able to control the intensity emitted in some or all directions in order to tailor the dose delivered to different surface portions.

[0126] Having finished the radiation at one position, the robot may move to another position, which may be determined from the 3D map/rendering, where after irradiation is resumed. This may be repeated until a sufficient irradiation of all relevant surface portions of the room have taken place.

[0127] As mentioned, the irradiation may be logged so that information may be retrieved relating to the dose delivered to different surface portions. Also, this information may relate to the surface portion, such as an assumed material, porosity or the like.