A control system for a disinfection robot 1, wherein the disinfection robot 1 comprises: a mobility apparatus 102; a carriage 106; one or more manipulators 110 having more than one degree of freedom of articulation relative to the carriage 106, being operable to manipulate a plurality of tools including a disinfection tool, and wherein the manipulator 110 is further operable to move a manipulatable sensor (116, fig. 2A) configured to detect the external environment. The control system is configured to control one or more of the manipulators 110 autonomously to move the manipulatable sensor (116, fig. 2A), determine a model of the external environment in dependence on the data, predict shadowed areas within the model, and control the mobility apparatus 102 and manipulator 110 autonomously in dependence od the predicted shadowed areas. Preferably the disinfection tool is a germicidal light source (202, fig. 5A) such as ultraviolet light sources, and preferably UV-C light sources. There is also a system comprising a plurality of disinfection robots 1 configured to be networked and part of a collaborative navigation plan depending on sensor data.
Disinfection robot and control system
2023-03-15
Patent
Electronic Resource
English