Apparatus and Method for Sanitizing an Area

The invention relates to an autonomous sanitation machine comprising a robot assembly and docking station. The robot assembly includes at least one mobility device, at least one optical device, a Comp, and at least one bulb. The at least one optical device is configured to capture data of a space. The Comp is configured to process the captured data and model it as an imprint. The user assigns a sector within said imprint and the at least one bulb is configured to sanitize the user assigned sector. The invention further relates to a method of disinfecting an area using an autonomous sanitation machine.

TECHNICAL FIELD

The present description relates to autonomous machines, and more specifically to autonomous machines that are configured to sanitize and sterilize a user defined area.

DESCRIPTION OF RELATED ART

The Covid-19 pandemic brought health and hygiene to the forefront. Using liquid based sanitary products is expensive, time intensive, and leaves a lot of room for human error. Therefore, a market need emerged that desired a low cost and efficient solution to sanitize an area of potential harmful bacteria and viruses wherein the sanitation is carried out in a manner to reduce or eliminate the potential for human error. Duke University has introduced a programmable and timer-based sanitation device called Tru-D® sanitizing systems in their hospitals. See “UV Light Helps Duke Hospitals Fight Transmission of Superbugs” Debbe Geiger, Updated Apr. 28, 2020, Duke Health Blog. https://www.dukehealth.org/blog/uv-light-helps-duke-hospitals-fight-transmission-of-superbugs. Last viewed Sep. 1, 2021. See also, Tru-D hompage. https://tru-d.com/.

The sanitation devices that are currently available on the market are similar to Tru-D®. In particular, the sanitation devices are intended for commercial use—they are bulky, use a type of ultraviolet light that is harmful to humans, lack a means to shut off the harmful UV rays that may be harmful to bystanders, and they must be physically wheeled between different rooms. Additionally, special equipment is needed to handle these devices such as special gloves.

Sanitation is important to hospitals, however there is a growing need to sanitize residential settings as well. Due to the exorbitant costs of medical care in the United States, it is now commonplace for US families to care for sick and elderly family members in the residential family home. Family homes are now outfitted with professional-grade medical equipment and the need to keep the space sanitized is essential. Therefore, a need exists to have a sanitation device capable of delivering the same results as a commercial sanitation device to a residential setting.

SUMMARY

A first aspect of the present disclosure relates to an autonomous sanitation machine comprising a robot assembly and docking station. The robot assembly includes at least one mobility device, at least one optical device, a Comp, and at least one bulb. The at least one optical device is configured to capture data from a space. The Comp is configured to process the captured data and model it as an imprint. The user assigns a sector within said imprint. The at least one bulb is configured to sanitize the user assigned sector.

In at least one aspect the autonomous sanitation machine, the at least one optical device is a 3D camera.

In at least one aspect the autonomous sanitation machine, the at least one bulb is configured to emit UV-C light.

In at least one aspect the autonomous sanitation machine, the robot assembly is configured to move between a first extended position and a second closed position.

In at least one aspect the autonomous sanitation machine, the at least one bulb is exposed when the robot assembly is in the first extended position and the at least one bulb is inside of the robot assembly when the robot assembly is in the second closed position.

In at least one aspect the autonomous sanitation machine, the robot assembly includes at least one reflector and at least one reflector mount.

In at least one aspect the autonomous sanitation machine, the at least one reflector is substantially curved.

In at least one aspect the autonomous sanitation machine, the at least one reflector is attached to the at least one reflector mount. The at least one reflector is configured to rotate relative to the at least one reflector mount.

Another aspect of the present disclosure relates to a method for sanitizing an area with an autonomous sanitation machine comprising using an autonomous sanitation machine to model a space, defining sectors in the space by a user, selecting the sector to be sanitized, launching a sanitization program causing the autonomous sanitation machine to go to the selected sector, and disinfecting the selected sector.

In at least one aspect of the method for sanitizing an area with an autonomous sanitation machine includes searching for an object by the autonomous sanitation machine, detecting an object, determining if the object is the sector, and terminating the sanitization program if the object is not the sector.

In at least one aspect of the method for sanitizing an area with an autonomous sanitation machine includes alerting the user of the terminated program if the sanitization program is terminated.

In at least one aspect of the method for sanitizing an area with an autonomous sanitation machine included stopping the at least one mobility device of the autonomous sanitation machine when the object is detected.

In at least one aspect of the method for sanitizing an area with an autonomous sanitation machine, includes turning off the at least one bulb of the autonomous sanitation machine when the object is detected.

The above summary is not intended to describe each and every implementation of the concept. In particular, selected features of any illustrative embodiment within this disclosure may be incorporated into additional embodiments unless clearly stated to the contrary.

While aspects of the disclosure are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit aspects of the disclosure to the particular embodiment described. On the contrary, the intention of this disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

DETAILED DESCRIPTION

The following detailed description should be read with reference to the drawings. The detailed description and the drawings, which are not necessarily to scale, depict illustrative aspects and are not intended to limit the scope of the invention. The illustrative aspects depicted are intended only as exemplary.

Aspects of the disclosure relate to the autonomous sanitation of an area using a robot assembly and docking station as shown inFIGS.1to9.

FIG.1is a perspective view of an autonomous sanitation machine1including a robot assembly10in a retracted position and docking station100. The robot assembly10comprises a housing13. In an exemplary embodiment, the housing is in a cylindrical shape, however the housing13may be any suitable shape. The cover12is secured to a first end13aof the housing13. The cover12is configured to fit snugly with and detach from the first end13aof the housing13, wherein the first end13abeing orientated as the top of the housing13. The housing13and the cover12may be aluminum or any suitable material that does not block the transmission of Wi-Fi, Bluetooth, or other wireless communication radio frequencies. The housing13includes a window13c. The window13cis an opening in the housing13and is configured to engage with an optical panel14.

The robot assembly10includes the optical panel14that is configured to align with the window13cand be removably attached to the housing13.

The robot assembly10includes at least one optical device16a-16c. The at least one optical device16a-16cis configured to securely attach to optical panel14. Each optical device16a-16cmay be any combination of LiDAR device, camera, an IR sensor, ultrasonic sensor or any other suitable means for capturing distance, dimensions, or other identifying characters of a given space. The optical panel14may be aluminum, a polymer, or any other suitable material that will not interfere with the transmission of radio frequencies.

The cover12includes an indicator90. In the exemplary embodiment, the indicator is a LED light that is capable of emitting multiple colors. In operation, the indicator90may emit a green light when the robot assembly10is operating, a yellow light when there is a warning or a red light when there is a problem. The indicator90may be configured to be continuously on or the indicator90may be configured to turn off and on to emit a blinking pattern. It is further contemplated that the indicator90may be an audible alarm or a screen. It is further contemplated that the screen may be a touch screen.

Turning toFIG.2, the docking station100comprises a plug106that is configured to insert into a power outlet to receive power from the outlet and convert it into a power supply that is capable of charging the robot assembly10. The docking station100further comprises a casing102and at least one connector pin104a-104d.

Turning toFIG.3, which is a bottom view of a second end13bof the robot assembly10and docking station100. Each connector pin104a-104dis configured to engage with at least one connector prong52a-52dlocated on the second end13bof the housing13of the robot assembly10. The second end13bbeing orientated as the bottom of the housing13. The exemplary embodiment includes four connector pins104a-104d, however any suitable number of pins may be used. The connector pins104a-104dmay be formed of gold, copper, or any other conductive material.

The robot assembly10includes at least one mobility device18a-18dfixedly attached to the second end13bof the housing13of the robot assembly10. Each of the at least one mobility device18a-18dmay extend from the housing13or be partially disposed therein. In the exemplary embodiment, each of the mobility devices18a-18dimplemented are omni wheels, however other types of mobility devices are contemplated, such as pneumatic legs or hover systems using air or magnetic force or any combination thereof. Additionally, the exemplary embodiment uses four mobility devices18a-18d, however any number of suitable mobility devices may be used. The mobility devices18a-18dare configured to move the housing13and attached components from the docking station100to an area defined by a sanitation device user. The docking station100is configured to fit underneath the robot assembly10.

Referring toFIGS.4and5which show a front view and a right-side view of the robot assembly10in an extended position, respectively. In this position, the cover12is released from the housing13. The robot assembly10includes a backing22. The backing22is fixedly attached to cover12. The backing22is rigid and may be composed of any suitable material such as a polymer or a metal that does not block wireless communication signals.

The robot assembly10includes at least one reflector40a-40c; at least one light attachment32a,32b;33a,33b;34a,34b; and at least one bulb30a-30c. The at least one light attachment32a,32b;33a,33b;34a,34bis attached to the backing22. Each of the at least one reflector40a-40chas a substantially curved shape. In the exemplary embodiment, each of the reflectors40a-40chas a concave shape. In the exemplary embodiment, there are three reflectors40a-40c, however any suitable number of reflectors may be used. Further, in the exemplary embodiment, each of the reflectors40a-40cis a unitary piece. Each of the reflectors40a-40cmay be formed as a mirror, polished metal, metal plated polymer, or any other material that is suitable for reflecting light. It is contemplated that each of the reflectors may not be unitary and may be modular. It is envisioned that the reflectors can be formed as a concave MEMs mirror array, wherein the array is electrically connected to a power source60and control center70(shown inFIGS.6and7) so that each of the mirrors in the array can be controlled independently.

In the exemplary embodiment, the bulbs30a-30care ultraviolet type C (“UV-C”) bulbs. However, any other suitable bulb capable of projecting anti-bacterial light is contemplated. Each of the curved reflectors40a-40chas the cross-section that forms an arc with two end points. The at least one bulb30a-30cis positioned at the midpoint, or approximate thereto, of the distance between the two endpoints of the arc formed by the corresponding curved reflector40a-40c. Each bulb30a-30cis configured to be secured to and electrically connected to a light attachment32a,32b;33a,33b;34a,34b. Each of the light attachments32a,32b;33a,33b;34a,34bis fixed to the backing22. Each of the light attachments32a,32b;33a,33b;34a,34bis electrically connected to the power source60and control system70(shown inFIGS.6and7). In the exemplary embodiment, one bulb30a-30cis used with one reflector40a-40c. However, it is also contemplated that more than one bulb30a-30cmay be paired with a single reflector40a-40c. Additionally, in this embodiment, two light attachments32a,32b;33a,33b;34a,34bare used with a single bulb30a-30c. However, it is contemplated that any suitable number of light attachments32a,32b;33a,33b;34a,34bmay be used with a single blub30a-30c.

The at least one reflector40a-40c; at least one light attachment32a,32b;33a,33b;34a,34b; and at least one bulb30a-30care arranged on the backing22in a manner such that when the robot assembly10is in the extended position, and at least one bulb30a-30cis illuminated, light is reflected from the respective reflectors40a-40cand directed away from the backing22of the robot assembly10.

Furthermore, the at least one reflector40a-40c; at least one light attachment32a,32b;33a,33b;34a,34b; and at least one bulb30a-30care arranged on the backing22in a manner such that each of the optical devices16a-16ccan capture information about whether light from the at least one bulb30a-30cis projected onto a surface. For example, in operation, once a sector to be disinfected is selected by a user, the at least one optical device16a-16cis configured to gather information to assess whether the at least one bulb30a-30cwas activated and how much light was projected onto the selected surface.

The robot assembly10includes at least one lift mechanism24a,24b. The at least one lift mechanism24ais fixedly attached to a first side22aof the backing22and a second lift mechanism24bis attached to a second side22bof the backing22. In the exemplary embodiment, the backing22is formed as a rectangular solid having four vertical faces and two horizontal faces, wherein two of the vertical faces have a small area and two vertical faces have a large area. Each of the lift mechanisms24a,24bis placed on a vertical face with a small area on the backing22. In an exemplary embodiment, there are two lift mechanisms24a,24b, wherein each lifting mechanism24a,24bincludes a threaded rod.

Referring now toFIGS.6and7, whereinFIG.6is a cross-section of the robot assembly10along plane B-B inFIG.4andFIG.7is a cross-section of the robot assembly along plane C-C inFIG.5. The at least one lift mechanism24a,24bof the robot assembly24a,24bfurther includes at least one driver80a,80b. The drivers80a,80bare disposed inside the housing13. In the exemplary embodiment, the robot assembly10includes two drivers80a,80b, wherein the drivers80a,80bare worm gears that are configured to drive the threaded rods. The at least one lift mechanism24a,24bis electrically connected to the power source60and communicates with control center70. It is contemplated, however, that the at least one lift mechanism24a,24bmay be any other suitable gear system, pneumatic system, actuator system, or a combination thereof that is capable of repeatedly separating and connecting the cover12and housing13of the robot assembly10.

The robot assembly10includes at least one reflector mount42a-42c. Each reflector mount42a-42cis configured to attach a reflector40a-40cto the backing22. Each reflector mount42a-42cmay fix the attached reflector40a-40cin a single orientation. However, it is also contemplated that each reflector mount42a-42cmay permit the attached reflector40a-40cto rotate between different orientations. It is further contemplated is that at least one reflector mount42a-42cis electrically connected to a power source60and control center70.

As shown inFIG.6, the at least one optical device16a-16cand the at least one mobility device18a-18dare electrically connected to the power source60and control center70.

Referring toFIGS.7and3, the robot assembly10includes a power source60. In the exemplary embodiment, the power source60is a rechargeable battery. The power source60is configured to power all of the electrical components in the robot assembly10. The power source60includes a charging interface50. The charging interface50comprises the at least one connector prong52a-52d. The at least one connector prong52a-52dmay be formed of gold, copper, or any other conductive material. The at least one connector prong52a-52dis configured to receive the at least one connector pin104a-104d. In the exemplary embodiment, each connector prong52a-52dforms a V-shaped receiving pocket to receive the at least one connector pin104a-104dtherein. In operation, connecting the connector pins104a-104dto the connector prongs52a-52denables an electrical connection between the outlet and the power source60, thereby recharging the power source60. However, it is contemplated that the docking station100may be configured as an inductive charging station not requiring the need for the physical contact between the connector pins104a-104dand connector prongs52a-52d.

Now referring toFIG.8A. The docking station100includes a docking station circuit (hereinafter “DSC”)200. The DSC200is disposed inside of the casing102and is electrically connected to the plug106that is disposed outside of casing102. The DSC200includes a docking station (hereinafter “DS”) AC power plus202to receive power once the plug106is connected to an outlet. The anticipated power source is AC power. A DS AC filter210is electrically connected to the DS AC power plus202. The power output from the DS AC filter210is provided to a DS AC/DC converter212. The power from the DS AC/DC converter212is provided to a DS stabilizer214. The power from the DS stabilizer214is delivered to a DS DC/DC stepdown device220that is configured to step the voltage so that it is appropriate to power a MCU260, DS Bluetooth270, and DS Wi-Fi280. The DS Bluetooth270and DS Wi-Fi280are configured to communicate with the MCU260as well as send and receive wireless communication signals. It is contemplated, however, that other suitable communication means may be used in place of the DS Bluetooth270and/or DS Wi-Fi280components or any combination thereof, wherein the suitable communication means is configured to emit and receive a wireless signal used in IoT devices.

The DS stabilizer214is electrically connected to a DS charge manager216. The DS charge manager216is configured to operate as a charging safety protection to prevent overloading the DSC200. The DS charge manager216is configured to communicate with the MCU260. The DS charge manager216is configured to electrically connect with the at least one docking station connector pin104a-104d.

Now referring theFIG.8B. The robot assembly10includes a robot assembly circuit (hereinafter “RAC”)300. The RAC300includes the control center70, the at least one connector prong52a-52d, the indicator90, the at least one optical device16a-16c, the power source60, the at least one mobility device18a-18d, the at least one light attachment32a,32b;33a,33b;34a,34b, and the plug306. The control center70includes the same components as RAC300except the at least one connector prong52a-52d, the indicator90, the at least one optical device16a-16c, the power source60, the at least one mobility device18a-18d, the at least one light attachment32a,32b;33a,33b;34a,34b, and the plug306. The control center70is disposed inside the housing13of the robot assembly10.

The RAC300includes a removable RA plug306that is configured to attach to a domestic power source, such as an outlet. The RAC300includes a robot assembly (hereinafter “RA”) AC power plus302to receive power once the RA plug306is connected to the outlet. The anticipated power source is AC power. An RA AC filter310is electrically connected to the RA AC power plus302. The power output from the RA AC filter310is provided to an RA AC/DC converter312. The power from the RA AC/DC converter312is provided to a RA stabilizer314. The RA stabilizer314is electrically connected to a RA charge manager316. The RA charge manager316is electrically connected to the at least one connector prong51a-51dand power source60. The RA charge manager316is configured to operate as a switch that can power the power source60via the at least one connector prong51a-51dor via the plug306. Additionally, the charge manager316is configured to operate as a charging safety protection to prevent overloading of the RAC300and the power source60. As previously mentioned, in the exemplary embodiment, the power source60is a rechargeable battery.

The RA charge manager316is electrically connected to a RA DC/DC stepdown device320that is configured to step the voltage so that it is appropriate to power the indicator90, an I/O Control350, a RA Bluetooth370, a RA Wi-Fi380, a RA Comp360, and the at least one optical device16a-16c.

The RA charge manager316is electrically connected to at least one bulb driver330a-330c. Each bulb driver330a-330cis configured to operate as an interface between the RA charge manager316and the connected light attachment32a,32b;33a,33b;34a,34b. Each bulb driver330a-330cis configured to regulate the power supplied to the connected light attachment32a,32b;33a,33b;34a,34bthereby controlling the intensity of lumens output from the at least one bulb30a-30c.

The RA charge manager316is electrically connected to at least one mobility device driver318a-318d. Each mobility device driver318a-318cis configured to operate as an interface between the RA charge manager316and the at least one connected mobility device18a-18d. The mobility device driver318a-318dis configured to regulate the power supplied to the connected mobility device18a-18d.

The RA DC/DC step down is electrically connected to indicator90.

The RA DC/DC step down is electrically connected to the I/O Control350. The I/O control350is configured to communicate with Comp360and control the peripheral devices including the indicator90, the at least one bulb driver330a-330c, and the at least one mobility device driver318a-318d. Additionally, the I/O control350is configured to receive data from the RA charge manager316. Data that the I/O control350may receive from the RA charge manager316is the capacity and charge amount in power source60.

Comp360is capable of storing, executing, and/or processing data. In the exemplary embodiment, Comp360is computer. For example, Comp360may be configured to store a docking station ID for docking station200. Comp360is configured to communicate with the I/O control350to cause the peripheral devices to operate in accordance with a stored program. The Comp360is configured to communicate with the RA Bluetooth370and RA Wi-Fi380. The RA Bluetooth370and RA Wi-Fi380are configured to send and receive wireless communication signals. It is contemplated, however, that other suitable communication means may be used in place of the RA Bluetooth370and/or RA Wi-Fi380components or any combination thereof, wherein the suitable communication means is configured to emit and receive a wireless signal used in IoT devices. The RA Bluetooth370and/or RA Wi-Fi380is configured to communicate with the DS Bluetooth270and/or DS Wi-Fi280.

Comp360is configured to communicate with the at least one optical device16a-16c. The at least one optical device16a-16cis capable of obtaining data and provide said data to Comp360for processing.

Now referring toFIG.9, which is a flowchart400for sanitizing an area. The autonomous sanitation machine1including the robot assembly10and docking station100is configured to execute the sanitation method detailed inFIG.9. In step401, a user initializes the autonomous sanitation machine1. The autonomous machine1will turn on and run a test to see if all auxiliary devices are connected and operable. Once step401is completed, the user can command the autonomous sanitation machine1to execute step402, which is model a space. In this step, the autonomous sanitation machine1will use the auxiliary devices to capture an imprint of the space. For example, if the user executes step402in a one bedroom apartment, the autonomous sanitation machine1is configured to use the at least one mobility device18a-18dand at least one optical device16a-16cto capture data and model the one bedroom apartment. The captured and processed data will be stored in the memory of comp360. It is further contemplated that the captured and processed data will be backed up in cloud-based storage that is accessible to the user. After the autonomous sanitation machine1has completed modeling the space in step402, the user can proceed to step403. In step403, the user takes the modeled space and defines it into sectors, assigning sector values to sections of the modeled space. For example, in the modeled one bedroom apartment, the user can define the bedroom as sector1, the kitchen as sector2, the living room as sector3, and so on. After the user confirms the sector values in the space, the user can execute step404. In step404, the user commands the autonomous sanitation machine1to sanitize a user defined sector. Is it contemplated that this command may be made on a mobile device with a connected app via Wi-Fi, Bluetooth, or another means of wireless communication, and/or on a computer that is capable of wireless communication. In the exemplary embodiment, the command may be made directly to autonomous sanitation machine1. It is further contemplated that the command may be made through a cloud based online application. Once the user initiates step404, the autonomous sanitation machine1will proceed to step405.

In step405, the autonomous sanitation machine1advances toward the sector selected by the user using the at least one mobility device18a-18d. While the autonomous sanitation machine1is advancing toward the selected sector, the device will use the at least one optical device16a-16cto look for foreign objects. This process will be done by comparing the data collected from the modeled space captured in step402and the newly captured space while travelling to the user selected sector. If an object is not detected, then the autonomous sanitation machine1continues to step406, which is to proceed to the sector and look for an object. If an object is detected, then the autonomous sanitation machine1proceeds to step407and assesses whether or not the detected object is the selected sector. If the object is not the selected sector, the autonomous sanitation machine1moves to step408and stops moving toward the selected sector. For example, if an animal, person, or baby gate is detected as an object, then the autonomous sanitation machine1will stop moving. After the autonomous sanitation machine1stops moving in step408, it proceeds to step409to see if the object is still detected. If the object is not detected anymore, then the autonomous sanitation machine1proceeds to step410and continues to the sector and returns to step405.

If the object detected is still present, then the autonomous sanitation machine1proceeds to step411and determines whether the detected object is in the sector. If the object is not the sector, the autonomous sanitation machine1proceeds to step412and asks whether it has detected an object that is not the sector ten (10) times. If it has detected the non-sector object less than ten times, then the autonomous machine1returns to step408. If the autonomous sanitation machine1has detected the non-sector object ten times, then it proceeds to step413and terminates the sanitation request. Thereafter, it goes to step420which is to travel to the next sector to be sanitized or return to the docking station100if there are no further sectors to sanitize. If a sanitization request is terminated without sanitizing the user selected sector, the autonomous sanitation machine1sends an alert to the user to notify them of the mission termination.

If the object detected by autonomous sanitation machine1in step411is in the sector, then the autonomous sanitation machine1proceeds to step414and launches a UV disinfection program. Once the UV disinfection program is launched, the robot assembly10transitions from the first, closed position (shown inFIG.1) to the second, deployed position (shown inFIG.4). The at least one bulb30a-30cis illuminated to sanitize and disinfect the sector. During this process, the autonomous sanitation machine1proceeds to step417and uses the at least one optical device16a-16cto see if an object is detected when the at least one bulb40a-40cis illuminated. If no object is detected, the autonomous sanitation machine1proceeds to step416to see if the program is complete. If the program is not complete, the program continues while periodically checking to see if an object is detected. If the program is complete, the autonomous sanitation machine1proceeds to step420and travels to the next sector to be sanitized or returns to the docking station100if there are no further sectors to sanitize.

If an object is detected while the at least one bulb40a-40care illuminated and the UV disinfection program is being executed, then the autonomous sanitation machine1proceeds to step417and to see if the object is the sector. If the object is not the sector, then the autonomous sanitation machine1proceeds to step418and checks to see if the program is complete. If the program is not complete, then the autonomous sanitation machine1proceeds to step419and terminates disinfecting the section by turning off the at least one bulb40a-40c. For example, in operation, if the at least one bulb uses a UV-C bulb, it can be harmful to humans and animals. If the autonomous sanitation machine1detects that an object has entered its field of vision, the bulbs will shut off, thereby preventing unnecessary harm to a potential human or animal. After the sector UV disinfection is terminated, the autonomous sanitation machine1will send an alert to the user to notify them that the disinfecting operation was interrupted. After the UV disinfection operation is terminated, the autonomous machine1proceeds to step420and travels to the next sector to be sanitized or returns to the docking station100if there are no further sectors to sanitize.

If at step418, the autonomous sanitation machine1determines that the program was complete although an object was detected, the autonomous sanitation machine1will proceed to step420and travel to the next sector to be sanitized or return to the docking station100if there are no further sectors to sanitize.

If at step417the autonomous sanitation machine1determines that the object detected is in the sector, then it will proceed to step421and check to see if the program is complete. If the disinfecting program cycle is complete then the autonomous sanitation machine1will proceed to step420and travel to the next sector to be sanitized or return to the docking station100if there are no further sectors to sanitize.

If at step421the autonomous sanitation machine1determines that the program is not complete, it will proceed to step422and continue running the program and will proceed to step417to periodically check to find an object.

The flowchart inFIG.9is exemplary and not exhaustive. It is further contemplated that the user can terminate, pause, or otherwise interrupt the program on demand. It is also contemplated that the autonomous sanitation machine1will begin at step404once a user selects a new sector to be sanitized.

Throughout the description, including the claims, the term “comprising a” should be understood as being synonymous with “comprising at least one” unless otherwise stated. In addition, any range set forth in the description, including the claims should be understood as including its end value(s) unless otherwise stated. Specific values for described elements should be understood to be within accepted manufacturing or industry tolerances known to one of skill in the art, and any use of the terms “substantially” and/or “approximately” and/or “generally” should be understood to mean falling within such accepted tolerances.

Although the present disclosure herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present disclosure.

It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims.