Patent Description:
Vehicles such as commercial aircraft are used to transport passengers between various locations. Systems are currently being developed to disinfect or otherwise sanitize surfaces within aircraft, for example, that use UV light. In order to sanitize a surface of a structure, a known UV light sterilization method emits a broad spectrum UVC light onto the structure.

Portable sanitizing systems having wand assemblies are being developed to sanitize components. A wand assembly of a portable sanitizing system includes a UV lamp that is configured to emit UV light. Typically, an operator moves the wand assembly over a surface of a component to sanitize the surface. However, the individual typically does not know if the wand assembly is being moved too fast or too slow to effectively and efficiently sanitize the surface. In general, manual processes for disinfecting surfaces using handheld devices have varying degrees of consistency.

Mobile sanitizing equipment is being developed that can roll or otherwise move along a path, such as an aisle of an internal cabin within an aircraft, and emit UV light onto structural surfaces as the equipment moves. However, known mobile sanitizing equipment has limited disinfecting effectiveness and consistency because the UV lights are suspended at a fixed height relative to the structures that are illuminated by the UV light as the equipment moves along the path. The result is that the UV lights may be located relatively far from the structural surfaces, and the distances between the UV lights and the structural surfaces can vary. The amount of disinfection or sanitization on a target surface is referred to as dosage, and is affected by the power of the UV light, the range or distance from the UV light source to the target surface, and the time of exposure. The speed of the equipment relative to the target surface affects the time of exposure. Due to the varying distances from the fixed UV light sources to different surfaces, the dosages applied to the different surfaces varies, resulting in inconsistent sanitization. Furthermore, the relatively far distances from the UV light sources to some of the surfaces and the lack of an ability to aim the UV light to surfaces may result in insufficient dosages of UV light applied to the surfaces. One method to increase the dosage for achieving a desirable amount of disinfection is to significantly slow the speed of the mobile sanitizing equipment to increase the time of exposure, but that makes the sanitizing process less efficient.

<CIT>, in accordance with its abstract, states sanitizing surfaces in a location related to aircraft. There are multiple rows of seats. A sanitization device includes a mobile body configured to travel along the aisle of the aircraft. An arm extends from the sanitization device laterally from the mobile body across the seats, and a source of UV radiation mounted on the sanitization device is directed across the seats exposing surfaces in the passenger area to UV radiation. There is a data collector to collect information in the aircraft. A passive RFID tag mounted on elements can be read by an RFID reader. The device can include one or more sniffer cells for scanning the aircraft for unwanted or dangerous devices or chemicals.

<CIT>, in accordance with its abstract, states a mobile body is configured to travel over a surface inside an aircraft cabin. A source of UV radiation is mounted to the mobile body and configured to direct UV radiation to the surface at a predetermined dosage. At least two articulated arms are mounted to the mobile body, and UV lamps mounted respectively on the arms. The mobile body is a trolley or cart for negotiating an aircraft aisle.

<CIT>, in accordance with its abstract, states a decontamination apparatus that includes a motorized base with a transport system that is operable to autonomously move the decontamination apparatus. A plurality of UVC bulbs, each of which emits UVC light, are supported at a vertical elevation above the motorized base. A controller controls operation of the transport system to move the decontamination apparatus along a desired route while the UVC bulbs are energized during a decontamination process.

<CIT>, in accordance with its abstract, states a decontamination apparatus and method involving a base, and a plurality of sources that each emit UVC light to render a target object pathogen reduced. A plurality of adjustable supports couple the sources to the base, and a controller is coupled to the base to be operatively connected to the sources to control emission of the UVC light. A housing is removably installed on the base to protect the plurality of sources. A remote control is provided to the housing and includes a user interface that receives a input from a user and transmits a control instruction to the controller based on the input received, resulting in desired operation of the sources by the controller.

A need exists for autonomous or semi-autonomous mobile UV sanitizing equipment that can consistently and efficiently disinfect structures and areas as the equipment moves. Further, a need exists for the mobile UV sanitizing equipment to provide a predetermined or designated dosage of UV light along the surfaces as the equipment moves to effectively sanitize the surfaces.

There is disclosed herein, according to claim <NUM>, a cart comprising: an ultraviolet (UV) light array including UV lamps configured to emit UV light to sanitize a surface of a component; a body that includes a mobile base and multiple interconnected rigid members supported by the mobile base, wherein the UV lamps are mounted to at least one of the rigid members; actuators mechanically connected to the body, one or more of the actuators configured to move the at least one of the rigid members on which the UV lamps are mounted relative to the mobile base; and a control unit configured to generate control signals for controlling the actuators to move the UV light array along a cleaning path that follows a contour of the surface; wherein the rigid members include arms and a trunk, the trunk mounted to the mobile base, the arms extending from the trunk in opposite directions and holding at least some of the UV lamps of the UV light array to provide a linear arrangement of the UV lamps; wherein each of the arms includes at least an inner member and an outer member, the inner member disposed between the outer member and the trunk, wherein the outer member is configured to retract to nest within the inner member and to linearly extend outward from the inner member to increase the length of the arm; and wherein the cart further comprises additional UV lamps disposed on end effectors mounted to the arms, the end effectors being configured to selectively project from the arms.

The body may include a retractable handle configured to be held by an operator that manually propels the cart along a cart path to translate the UV light array along an axis parallel to the cart path.

Certain examples of the subject disclosure provide an ultraviolet (UV) light sanitizing cart that emits UV light as the cart moves within an area. The cart includes an array of UV light sources that emit UV light. The UV light sources, or lamps as referred to herein, can emit light in a far UV light spectrum at one or more wavelengths that neutralize (e.g., kill) microbes. The microbes as referred to herein can include viruses and bacteria. The wavelengths of UV light emitted by the UV lamps may pose no risk to humans upon contact, such as <NUM>. The UV lamps may be excimer lamps.

The UV light sanitizing cart may be used within an internal cabin of a vehicle to decontaminate and disinfect the surfaces of structures, walls, floors, ceilings, and the like within the internal cabin. The structures can include seats, storage containers or bins, tables, and the like. Examples of the subject matter disclosed herein provide safer, more efficient, and more effective sanitation as compared to certain known UV systems, such as manual sanitizing using UV wands and pushing mobile equipment with fixed-in-place UV light sources.

The UV light sanitizing cart autonomously moves the UV light array relative to other parts of the cart, such as a base of the cart, to enable the UV light array to follow the contour of the structures within the area and maintain a designated proximity to the structures even along different surfaces of the structures. This automated terrain following is accomplished via sensors, a control unit including one or more processors, and various actuators onboard the cart. The automated terrain following enables the sanitizing cart to be close enough to the target surfaces to apply predetermined or designated dosages of UV light without unduly slowing the movement of the cart through the area, and also enables the various surfaces to receive consistent dosages of UV light, even for surfaces with different heights and orientations. Terrain in this application refers to the surfaces of the structures to be sanitized, and can include, but is not limited to, the surface on which the cart moves.

<FIG> is a rear or aft-facing view of an internal cabin <NUM> of a vehicle <NUM> including a UV light sanitizing cart <NUM> according to an example. <FIG> is a side or outboard view of the internal cabin <NUM> of the vehicle <NUM> including the UV light sanitizing cart <NUM>. The internal cabin <NUM> is oriented along a longitudinal or X axis <NUM>, a lateral or Y axis <NUM>, and a vertical (e.g., height) or Z axis <NUM>. The axes <NUM>-<NUM> are mutually perpendicular. The internal cabin <NUM> is defined by a floor <NUM>, a ceiling <NUM>, and side walls <NUM> of the vehicle <NUM>. The internal cabin <NUM> has a plurality of seats <NUM> for passengers. The seats <NUM> are arranged in two groups <NUM>, <NUM> that are spaced apart from each other by an aisle <NUM>. The aisle <NUM> extends along the longitudinal axis <NUM>. Each of the groups <NUM>, <NUM> includes seats <NUM> disposed in multiple rows <NUM> spaced apart along the length of the cabin <NUM>. Each of the rows <NUM> is oriented parallel to the lateral axis <NUM>. The cabin <NUM> also includes storage bins <NUM> mounted above the seats <NUM> for storing personal items such as luggage, bags, jackets, and the like. The storage bins <NUM> can be secured to the ceiling <NUM> and/or the side walls <NUM>. The UV light sanitizing cart <NUM> is operable to efficiently, effectively, and consistently sanitize and disinfect surfaces within the internal cabin <NUM>, including for example the seats <NUM>, the storage bins <NUM>, the floor <NUM>, the side walls <NUM>, and/or the ceiling <NUM>.

In some non-limiting examples, the vehicle <NUM> is an aircraft, such as a commercial passenger aircraft, and the internal cabin <NUM> is a passenger cabin. In other examples, the vehicle <NUM> can be another type of vehicle, such as a rail-based passenger train car, a bus, or the like. The UV light sanitizing cart <NUM> optionally may be utilized to sanitize other enclosed areas outside of vehicles, such as in buildings. For example, the cart <NUM> can be used to sanitize office buildings, theatres, restaurants, places of worship, and the like.

The UV light sanitizing cart <NUM> includes a body <NUM> that has a mobile base <NUM> and multiple interconnected rigid members <NUM>. The rigid members <NUM> are supported on the base <NUM>. The rigid members <NUM> of the body <NUM> can include, for example, an upright member or trunk <NUM> coupled to the base <NUM> and arms <NUM> that extend from the trunk <NUM>. The rigid members <NUM> can also include additional components, such as a handle <NUM>, a carrier <NUM> (described in more detail herein with reference to <FIG>), and the like. The cart <NUM> includes a UV light array <NUM> defined by multiple UV lamps <NUM>. At least some of the UV lamps <NUM> in the array <NUM> are mounted to the arms <NUM>. The arms <NUM> are actuatable to extend from and retract towards the trunk <NUM>. The arms <NUM> are shown in an extended position in <FIG>, which is the position utilized when operating to disinfect the surfaces of the internal cabin <NUM>. The arms <NUM> in the extended position are elongated parallel to the lateral axis <NUM>. The extension length of the arms <NUM> may be controlled based on the space within the cabin <NUM> and the desired surfaces to disinfect. For example, there are six total seats <NUM> in each row <NUM> in the illustrated cabin <NUM>, with three adjacent seats <NUM> in each group <NUM>, <NUM>. A first arm 136A extends across the three seats <NUM> in the first group <NUM>, and a second arm 136B extends across the three seats <NUM> in the second group <NUM>. The UV lamps <NUM> disposed on the first arm 136A emit UV light on the surfaces of the three seats <NUM> in the first group <NUM>, and the UV lamps <NUM> disposed on the second arm 136B illuminate the surfaces of the three seats <NUM> in the second group <NUM>. As such, in the position of the cart <NUM> within the cabin <NUM> shown in <FIG>, the cart <NUM> concurrently sanitizes all six of the seats <NUM> in the row <NUM>. The cart <NUM> moves along a cart path <NUM>, such as forward and rearward along the cart path, to translate the UV light array <NUM> in directions parallel to the cart path <NUM>. In the illustrated and other examples in which the environment is the internal cabin <NUM>, the cart path <NUM> is represented by the aisle <NUM>. The cart <NUM> moves along the length of the aisle <NUM> to sanitize each of the rows <NUM> one at a time.

In the illustrated and other examples, the base <NUM> includes multiple wheels <NUM> that provide mobility and enable the cart <NUM> to roll along the length of a path, such as the aisle <NUM>. The base <NUM> has four wheels <NUM> in the illustrated and other examples. Alternatively, the base <NUM> may include continuous tracks with a band of treads that engages the floor <NUM> instead of the surfaces of the wheels <NUM>. The base <NUM> may support additional components of the cart <NUM>, such as one or more battery packs <NUM>.

The trunk <NUM> extends from the base <NUM> and is oriented along the vertical (or height) axis <NUM>. A handle <NUM> is coupled to the trunk <NUM>. The handle <NUM> provides an interface that enables an operator to physically grasp and control the movement of the cart <NUM>, as shown in <FIG>. The cart <NUM> is being pushed or pulled by an operator in the illustrated and other examples, such that the cart <NUM> is operating in a semi-autonomous mode. The semi-autonomous mode, as described herein in more detail, relies on an operator to propel the cart <NUM> along the aisle <NUM>, but may provide various automated tasks including, for example, terrain following of the UV light array <NUM> and the arms <NUM> along the contours of the seats <NUM> and control feedback to the operator indicating whether the operator should modify the speed or direction of the movement of the cart <NUM> along the aisle <NUM> to enhance the sanitizing effectiveness. In the autonomous mode, all operations are automated including the movement of the cart <NUM> along the aisle <NUM>. For example, an operator may use an input device to selectively wake or turn ON the cart <NUM> which triggers the cart <NUM> to perform the sanitization of the internal cabin <NUM> and then return to a stowed position, as described herein. The handle <NUM> is optional, as the cart <NUM> may only operate in the autonomous mode in some examples.

<FIG> is a perspective view of the UV light sanitizing cart <NUM> in the internal cabin <NUM> according to an example. The cart <NUM> in <FIG> is disposed in the aisle <NUM> and the first arm 136A is extended above three seats <NUM> of the first group <NUM> of seats <NUM> in a single (first) row 128A. The handle <NUM> is omitted in <FIG> illustrates a side or outboard view of two rows <NUM> of seats <NUM> and shows the movement path of the UV light array <NUM> of the UV light sanitizing cart <NUM> over time according to an example. The two rows include the first row 128A of seats <NUM> shown in <FIG> as well as the row 128B of seats <NUM> in front of the first row 128A. <FIG> show the terrain following capability of the UV light sanitizing cart <NUM> which achieves effective, efficient, and consistent disinfection of the various surfaces in the cabin <NUM>. At the position shown in <FIG>, the arm 136A is disposed above the headrests <NUM> of the seats <NUM> and the UV lamps <NUM> (shown in <FIG>) disposed on the arm 136A emit UV light onto the tops of the headrests <NUM>.

Referring to <FIG>, the UV light sanitizing cart <NUM> can translate and rotate the UV lamps <NUM> in the UV light array <NUM> (shown in <FIG>) relative to the seats <NUM> and other structures in the internal cabin <NUM> to emit the UV light within a designated proximity of the surfaces of the structures. The designated proximity may be a few inches, such as <NUM> inches (<NUM>), <NUM> inches (<NUM>), or the like. In the illustrated and other examples, the cart <NUM> moves the UV lamps <NUM> along the longitudinal or X axis <NUM> by moving the cart <NUM> along the aisle <NUM>. For example, in the autonomous mode, the wheels <NUM> are propelled to drive the cart <NUM>. In the semi-autonomous mode, the cart <NUM> may instruct the operator how to push or pull the cart <NUM>, such as by providing feedback on the speed of movement and direction along the longitudinal axis <NUM>. The arms <NUM> are translatable along the vertical or Z axis <NUM> to control the height of the UV lamps <NUM> relative to the surfaces of the seats <NUM> and other structures. For example, the trunk <NUM> may be telescopic to mechanically raise and lower the arms <NUM>. The arms <NUM> may be rotatable about the lateral or Y axis <NUM> to aim the UV light towards the surfaces of the seats <NUM> and other structures.

Referring now to <FIG>, the current position of the first arm 136A in the position shown in <FIG> is indicated by the solid-line rectangle <NUM> that is disposed above the top <NUM> of the headrest <NUM> of the seat <NUM> in the first row 128A. The UV light emitted by the illustrated UV lamp <NUM> on the arm 136A illuminates the top <NUM> of the headrest <NUM>. <FIG> shows a cleaning path <NUM> of the first arm 136A over time according to an example. The dashed rectangles <NUM> represent the positions of the first arm 136A at subsequent times as the cart <NUM> moves the arm 136A along the cleaning path <NUM>. For example, after sanitizing the top <NUM> of the headrest <NUM>, the first arm 136A moves along the cleaning path <NUM> to the position 162A at which the UV light is emitted from the UV lamp <NUM> onto a front <NUM> of the headrest <NUM>. Although only one seat <NUM> is shown per row in <FIG>, it is recognized that all three of the seats <NUM> in the block shown in <FIG> may be concurrently receiving the UV light at the same respective surfaces of the seats <NUM>. Furthermore, although several dashed rectangles <NUM> are shown at different positions, in some examples, the UV light is continuously emitted from the arm 136A along the entire length of the cleaning path <NUM>. The illustrated dashed rectangles <NUM> do not represent the only positions at which UV light is emitted.

The cleaning path <NUM> of the first arm 136A (and UV lamps <NUM> thereon) extends along a front <NUM> of the seat back <NUM> (of each of the seats <NUM> in the block) to a top <NUM> of the seat bottom <NUM>, then along a front <NUM> of the seat bottom <NUM>. The UV light is subsequently emitted underneath the seats <NUM> and then emitted towards the floor <NUM> between the two rows 128A, 128B. Then, the arm 136A moves to have the UV lamps <NUM> emit UV light underneath the seats <NUM> in the next row 128B before emitting the UV light onto a back <NUM> of the seat back <NUM> (of each of the seats <NUM> in the block) from a bottom <NUM> of each seat <NUM> towards the top <NUM> of the headrest <NUM>.

The movement of the arm 136A along the cleaning path <NUM> is autonomous or at least semi-autonomous. In some examples, the only movement that receives manual input in the semi-autonomous mode is movement along the longitudinal axis <NUM>. The cart <NUM> is able to provide compound movements, which refer to concurrent movements along multiple axes and/or articulation points. For example, to accomplish the transition from the position indicated <NUM> in <FIG> to the position 162A, the arm 136A holding the UV lamps <NUM> is moved in a forward direction <NUM> (shown in <FIG>) along the longitudinal axis <NUM>, is lowered in a downward direction <NUM> (<FIG>) along the vertical axis <NUM>, and is rotated in a counterclockwise direction <NUM> (<FIG>) about the lateral axis <NUM>. These movements may be performed concurrently to enable the arm 136A to sweep along the contour of the headrest <NUM>. In the illustrated and other examples, the movement in the forward direction <NUM> can be accomplished by driving the entire cart <NUM> forward, but alternatively can be provided by actuating the trunk <NUM> and/or the arm 136A relative to the base <NUM> such that the cart <NUM> remains in a fixed position on the aisle <NUM>. To achieve other positions of the arm 136A along the cleaning path <NUM>, the arm 136A can be moved in a rearward or aft direction <NUM> along the longitudinal axis <NUM>, in an upward direction <NUM> along the vertical axis <NUM>, and in a clockwise direction <NUM> about the lateral axis <NUM>. Although not shown in <FIG>, the cart <NUM> may be able to move the arms <NUM> along other planes and axes of rotation as well, as described herein.

The cleaning path <NUM> traces the contours of the seats <NUM> and other structures present in the cabin <NUM>. In some examples, the cleaning path <NUM> is designed to allow the UV lamps <NUM> to be within the designated or predetermine proximity or range of the surfaces for providing effective and efficient dosages of UV light. For example, by controlling the UV lamps <NUM> to be within a few inches of the surfaces, a designated dosage can be applied without requiring substantial amounts of power of the UV light or time of exposure. Limiting the power requirement is energy efficient, and limiting the time of exposure is efficient with respect to time. For example, by emitting the UV light closer to the target surfaces, the cart <NUM> can provide consistent and effective disinfection of the cabin <NUM> at less time and power consumption than known systems. Furthermore, the UV dosage applied to the surfaces by the cart <NUM> may be greater and therefore more effective at neutralizing microbes than known systems that use approximately the same amount of power and/or time to clean because the range from the UV lamp to the target surface is less.

Optionally, the cleaning path <NUM> shown in <FIG> may be a first path that is followed by the UV light sanitizing cart <NUM> along the length of the aisle <NUM> in one direction, such as in the forward direction <NUM>. The UV light sanitizing cart <NUM> may then follow a second cleaning path <NUM> as the cart <NUM> moves in the opposite, rearward direction <NUM> along the aisle <NUM>. The second cleaning path <NUM> follows the contours of the ceiling <NUM> and/or storage bins <NUM> above the seats <NUM>. The UV light is emitted upwards onto the ceiling <NUM> and/or storage bins <NUM> instead of downward onto the seats <NUM> and floor <NUM>. In some non-limiting examples, by simply moving the cart <NUM> down the length of the aisle <NUM> and then back to the starting position, the cart <NUM> can sanitize the surfaces of the structures, walls, floors, and the like.

<FIG> is a schematic diagram of the UV light sanitizing cart <NUM> according to an example. The sanitizing cart <NUM> includes the UV lamps <NUM> that represent the array <NUM> (shown in <FIG>), a control unit <NUM>, a power supply <NUM>, sensors <NUM>, actuators <NUM>, and an output device <NUM>. The actuators <NUM> refer to mechanical actuators, motors, and drive systems that produce the automated movements of the cart <NUM>, such as the rotation of the wheels <NUM>, the extension and retraction of the trunk (or support member) <NUM> and the arms <NUM>, the rotation of the arms <NUM> relative to the trunk <NUM>, and the like.

The power supply <NUM> provides electrical power to the UV lamps <NUM> to power the generation of the UV light. The power supply <NUM> also provides power to both the actuators <NUM>, the control unit <NUM>, the sensors <NUM>, and the output device <NUM>. Various electrically conductive wires and/or cables may conduct the power from the power supply <NUM> to the UV lamps <NUM>, actuators <NUM>, the control unit <NUM>, the sensors <NUM>, and the output device <NUM>. The power supply <NUM> may include or represent any onboard energy storage devices or power generation components, including but not limited to the batteries <NUM> shown in <FIG>. The power supply <NUM> can also include capacitors, photovoltaic cells, and/or the like. Optionally, the power supply <NUM> may be power cable that plugs into a source disposed offboard the cart <NUM>, such as an electrical system of the vehicle <NUM> (or building) that includes the internal cabin <NUM>. The power cable may be able to extend the entire length of the internal cabin <NUM> to enable the cart <NUM> to sanitize the entire cabin <NUM> without removing the cable from the outlet to plug into another outlet. In other examples, the power supply <NUM> may be a generator or electrical storage device that is off-board the cart <NUM> but discrete from the vehicle <NUM>. For example, the power supply <NUM> may be disposed in a backpack carried by an operator or may be disposed on a side cart that is tethered to the UV light sanitizing cart <NUM>.

The control unit <NUM> is operatively connected to the UV lamps <NUM>, the actuators <NUM>, the sensors <NUM>, and the output device <NUM> via wired and/or wireless communication pathways. The control unit <NUM> generates control signals that control the operations of the UV lamps <NUM>, such as On/Off states, the amplitude or power output of the UV light that is generated, and optionally also the wavelengths of the UV light. The control unit <NUM> also generates control signals for controlling the actuators <NUM> and the output device <NUM>. These control signals may be generated based on sensor signals received from the sensors <NUM>. The control unit <NUM> represents hardware circuitry that includes and/or is connected with one or more processors <NUM> (e.g., one or more microprocessors, integrated circuits, microcontrollers, field programmable gate arrays, etc.). The control unit <NUM> includes and/or is connected with a tangible and non-transitory computer-readable storage medium (e.g., memory) <NUM>. For example, the memory <NUM> may store programmed instructions (e.g., software) that is executed by the one or more processors <NUM> to perform the operations of the control unit <NUM> described herein.

The sensors <NUM> can include proximity sensors, vision sensors, and the like. The sensors <NUM> can utilize ultrasound, cameras (e.g., in the visual and/or infrared wavelength ranges), optical range sensing (e.g., light detection and ranging (LIDAR)), and/or the like. The sensors <NUM> are used for object avoidance to prevent collisions between the cart <NUM> and objects and structures in the cabin <NUM>. In certain examples, the sensors <NUM> are also utilized for spatial recognition to guide the arms <NUM> with the UV lamps <NUM> along the cleaning paths <NUM>, <NUM> shown in <FIG>. For example, the sensors <NUM> can be utilized by the control unit <NUM> to determine the current position of the cart <NUM> and/or components thereof relative to the internal cabin <NUM>.

In some non-limiting examples, the memory <NUM> stores a map of the environment within the internal cabin <NUM>. The map may be three-dimensional, and may have a coordinate system. For example, all of the rows <NUM> of seats <NUM> have known coordinates within the map. Furthermore, the cleaning paths <NUM>, <NUM> can be pre-programmed routes within the coordinate system of the map. The control unit <NUM> in the autonomous mode can move to or remain in a designated reference location within the cabin <NUM>. The movement of the cart <NUM> can be tracked by the control unit <NUM> based on mechanical elements, such as gears, linkages, actuators <NUM>, and the like. By starting at the reference location and then tracking the subsequent movement from the reference location, the control unit <NUM> can correlate or register the movements in the physical space with corresponding movement in the virtual space of the 3D map. For example, the control unit <NUM> can determine that present location of the cart <NUM> in the cabin <NUM> based on consulting the 3D map and tracking the movement of the cart <NUM> from the reference location. The movement of the cart <NUM> may be tracked, in part, by monitoring the positioning of the wheels <NUM> which indicate direction of movement and monitoring the rotations of the wheels <NUM> (or associated components). Similar tracking of the arms <NUM> via the various actuators <NUM> and other mechanical elements that control the movement of the arms <NUM> can be utilized by the control unit <NUM> with the 3D map to enable the control unit <NUM> to control the terrain following shown and described in <FIG>. In this and other examples in which the movement of the UV array <NUM> is controlled based on a stored map of the cabin <NUM>, the sensors <NUM> are used for object avoidance. For example, the sensor signals can indicate when modifications to the map should be performed to avoid objects that are not accounted for in the map, such as a bag left on a seat, or the like.

In other examples, the sensors <NUM> can be used to guide the movement of the cart <NUM> instead of using the map. For example, the control unit <NUM> may be a vision-based system. The sensors <NUM> may provide the control unit <NUM> with image data, range data, and the like. The processor(s) <NUM> can analyze the sensor data and perform object detection, such as to identify a seat <NUM> in the image data. Based on the identified seat and the distance to the seat based on the sensor data, the control unit <NUM> generates control signals to control the arms <NUM> to approach the surfaces of the seat <NUM> and move along the surfaces as shown in the cleaning paths <NUM>, <NUM> shown in <FIG>.

The output device <NUM> can include or represent lights, speakers, a display screen, vibration packs, and/or the like for providing alerts and notifications to nearby persons. For example, the output device <NUM> can have flashing lights and/or emit beeping sounds when the cart <NUM> is operating in the autonomous mode to alert persons in the vicinity of the cart <NUM> that the cart <NUM> is moving. When in the semi-autonomous mode with a human operator present, the output device <NUM> can be used to instruct or modify the movement of the operator for the purpose of improving the effectiveness, efficiency, and/or consistency of the disinfection process. For example, there may be a designated speed or range of speeds that the cart <NUM> is moved along the aisle <NUM> to yield favorable or satisfactory disinfection performance, which is based in part on the time of exposure of the UV light on the target surfaces. The operator can be informed of the actual speed of the cart <NUM> relative to the designated speed using one or more of the following: a pacing light on the cart <NUM> that illuminates in different colors and blinking rates depending on whether or not the speed is correct, too fast, or too slow; the handle <NUM> vibrates at different frequencies and/or intensities depending on whether or not the speed is correct, too fast, or too slow; and/or an audio tone that changes sound and pulse rates depending up whether or not the speed is correct, too fast, or too slow.

<FIG> is a rear view of the UV light sanitizing cart <NUM> with the arms <NUM> raised and extended according to an example. With the arms <NUM> extended, the UV light array <NUM> is linearly elongated along an array axis <NUM>. The UV light array <NUM> emits UV light along the length of the array <NUM> to essentially provide a wall or sheet of UV light. In one or more examples, the cart <NUM> is autonomously controlled to rotate the UV light array <NUM> about the array axis <NUM> when desired to enable the UV light array <NUM> to follow the contours of the component surfaces within the sanitizing environment and aim the UV light towards the component surfaces as the surface curve and intersect. The cart <NUM> is also autonomously controlled to translate the UV light array <NUM> along two axes that are perpendicular to each other and to the array axis <NUM>. For example, when the array axis <NUM> is parallel to the lateral axis <NUM> shown in <FIG> and <FIG>, the cart <NUM> can translate the UV light array <NUM> vertically along the vertical or height axis <NUM> and longitudinally along the longitudinal axis <NUM> during the sanitization process.

The first and second arms 136A, 136B may be mirror replicas of each other, so only one arm <NUM> is described to represent both. The arm <NUM> includes multiple interconnected members including at least an inner member <NUM> and an outer member <NUM>. The inner member <NUM> is connected to the trunk <NUM> and connects the outer member <NUM> to the trunk <NUM>. The UV light array <NUM> includes at least one elongated UV lamp <NUM> mounted to each of the inner member <NUM> and the outer member <NUM>. The UV lamps <NUM> are elongated along at least a majority of the length of the arm <NUM> to emit essentially a wall of UV light. The UV lamps <NUM> are only disposed along one side <NUM> of the members <NUM>, <NUM> in the illustrated example, but in other examples additional UV lamps <NUM> may be disposed at the end <NUM> of the outer member <NUM> and/or along the opposite side <NUM> of the members <NUM>, <NUM> as well. In the raised and extended position as shown, the arms 136A, 136B extend parallel to each other and parallel to the floor (e.g., perpendicular to the axis of the trunk <NUM>).

The illustrated example also shows various locations of sensors <NUM> onboard the cart <NUM>. For example, the cart <NUM> can include sensors <NUM> on the wheels <NUM> or the base <NUM> that are used to determine the proximity of the base <NUM> to nearby objects for object avoidance. Additional sensors <NUM> can be mounted at the ends <NUM> of the arms 136A, 136B to determine the proximity to nearby objects and/or structures. For example, the sensors <NUM> on the ends <NUM> can be used to determine a distance that the arms 136A, 136B extend from the trunk <NUM>. Another sensor <NUM> can be mounted at a top <NUM> of the trunk <NUM> which can be used to determine the proximity of the arms 136A, <NUM> to surfaces above the cart <NUM>.

In some examples, the cart <NUM> includes a carrier or head <NUM>. The carrier <NUM> is mounted to the trunk <NUM> and can rotated relative to the trunk <NUM> about the vertical axis <NUM> shown in <FIG>. The carrier <NUM> may also be rotatable relative to the trunk <NUM> about the lateral axis <NUM>. The arms 136A, 136B may be mechanically coupled to the carrier <NUM>, such that rotation of the carrier <NUM> causes similar movement of the arms 136A, 136B (and the UV light array <NUM>) relative to the trunk <NUM>. The arms 136A, 136B can pivot on hinges at the interface with the carrier <NUM>.

<FIG> is a view of the UV light sanitizing cart <NUM> stowed within a monument <NUM> within the internal cabin <NUM> according to an example. The cart <NUM> is shown with the arms <NUM> in a collapsed state relative to the trunk <NUM>. In the collapsed state, the arms <NUM> are retracted to extend parallel to the trunk <NUM> and are disposed adjacent the trunk <NUM>. The arms <NUM> may physically abut (e.g., contact) the trunk <NUM> in the collapsed state. The arms <NUM> retract by pivoting at the hinges of the carrier <NUM>. The monument <NUM> in which the cart <NUM> is stowed may be a closet, vestibule, or another compartment. In the autonomous mode, the control unit <NUM> may retract the arms <NUM> and drive the cart <NUM> into a cavity <NUM> within the monument <NUM> upon completion of a sanitizing task. Optionally, a beacon device may be disposed within the monument <NUM> that communicates with the cart <NUM> to enable the cart <NUM> to return to the home, stowed position.

In some examples, the control unit <NUM> self-monitors the activities of the UV light sanitizing cart <NUM> by logging cleaning events in the memory <NUM>. For example, during the sanitizing process or upon returning to the home, stowed position, the processor(s) <NUM> may record a new record in a log or database. The record may provide the day and time of the most recent cleaning event, and optionally may include additional details, such as the elapsed time for the entire cleaning event, a calculated dosage of UV light applied to the surfaces, an identity of the internal cabin <NUM> and/or the vehicle <NUM> that is sanitized, any errors or unanticipated objects detected during the cleaning event, whether the cart <NUM> was in full autonomous mode or semi-autonomous mode, and the like. The log of cleaning events can be used as evidence that the cabin <NUM> was properly sanitized by a machine, without the risk of human error or negligence. The log can be copied and/or transmitted remotely from the memory <NUM> as desired for data collection, sharing, and the like.

<FIG> show two different actuator mechanisms for raising and lowering the arms <NUM>, and therefore the UV light array <NUM>, relative to the trunk <NUM>. The angle between each arm <NUM> and the trunk <NUM> is referred to as theta (O). <FIG> shows a curved rack and pinion actuator <NUM> that includes a curved gear <NUM> and a circular drive gear <NUM>. <FIG> shows a linear actuator <NUM> that includes a piston <NUM> within a cylinder <NUM>. Each actuator <NUM>, <NUM> receives power from the power supply <NUM> and control signals from the control unit <NUM> to control the angle theta between the respective arm <NUM> and the trunk <NUM>.

<FIG> is a top-down view of the UV light sanitizing cart <NUM> in accordance with the present claims. <FIG> is a cross-section view of the inner member <NUM> and the outer member <NUM> of one of the arms <NUM> of the UV light sanitizing cart <NUM> in accordance with the present claims. The cross-section is taken along line A-A in <FIG>. In the illustrated and other examples, the outer member <NUM> of each arm <NUM> nests into the inner member <NUM>. For example, the inner member <NUM> defines a track <NUM> between two rails <NUM>, and the outer member <NUM> slides within the track <NUM> to control the length or extension of the arm <NUM>. Although each arm <NUM> has two members <NUM>, <NUM> in the illustrated example, in other examples the arms <NUM> may have only one member or at least three members. For example, another member may be coupled to the outer member <NUM> and controllable to extend beyond the end <NUM> of the outer member <NUM> to increase the extension length. Although not shown, the UV lamps <NUM> of the array <NUM> are mounted to each of the members <NUM>, <NUM> as described above.

<FIG> illustrate two different actuator mechanisms for adjusting the extension length of the arms <NUM> (e.g., adjusting the lateral width of the UV light array <NUM>). <FIG> show a linear actuator <NUM> that is mounted to the inner member <NUM> and mechanically coupled to the outer member <NUM>. For example, the end <NUM> of the translating piston <NUM> of the actuator <NUM> is coupled to the outer member <NUM> such that extension of the piston <NUM> pushes the outer member <NUM> along the track <NUM> in a direction away from the trunk <NUM> and retraction of the piston <NUM> pulls the outer member <NUM> towards the trunk <NUM>. <FIG> shows the outer member <NUM> extended relative to the inner member <NUM>, and <FIG> shows the outer member <NUM> retracted. <FIG> shows a rack and pinion or gear driven actuator <NUM>. The enlarged inset portion A in <FIG> shows that a gear drive <NUM> may be mounted to the inner member <NUM> and the outer member <NUM> may include a row <NUM> of gear teeth that engages the gear drive <NUM>. Powered rotation of the gear drive <NUM> causes translation of the outer member <NUM> relative to the inner member <NUM> along the track <NUM>.

<FIG> depict the arms <NUM> and the trunk <NUM> of the UV light sanitizing cart <NUM> according to other examples, not encompassed by the wording of the present claims, in which theouter members <NUM> can pivot relative to the inner members <NUM>. In <FIG>, the outer members <NUM> are pivoted downward relative to the inner members <NUM> to define a right angle between the inner and outer members <NUM>, <NUM>. In <FIG>, the outer members <NUM> extend upward to define right angles with the inner members <NUM>. In <FIG>, both arms 136A, 136B extend upward from the trunk <NUM> and are parallel or approximately parallel to each other and to the trunk <NUM>. The inner and outer members <NUM>, <NUM> are coaxial in <FIG>. In <FIG>, the outer members <NUM> extend horizontally at right angles or approximately right angles relative to the trunk <NUM>, but the inner members <NUM> extend at oblique angles relative to the trunk <NUM>. The ability to independently control the extension angles of the inner and outer members <NUM>, <NUM> relative to the trunk <NUM> and relative to each other can enable the control unit <NUM> to aim the UV light at various different surfaces at the same time, such as to illuminate both the seats <NUM> and the side walls <NUM> of the inner cabin <NUM>.

<FIG> depicts an outer array carrier <NUM> that is mounted to the inner member <NUM> of an arm <NUM> of the UV light sanitizing cart <NUM> according to an example. The outer array carrier <NUM> is translatable relative to the inner member <NUM> along the track <NUM>. The outer array carrier <NUM> is coupled to the outer member <NUM> and is configured to rotate the outer member <NUM> relative to the inner member <NUM>. The ability to independently rotate the inner member <NUM> and the outer member <NUM> can enable the UV lamps <NUM> to provide an organic sweeping motion along the target surfaces that are being sanitized. The rotation may also alleviate inconsistent sanitization attributable to shadows by reducing the presence of shadows.

<FIG> depicts a steering mechanism <NUM> for controlling the position of the wheels <NUM> of the UV light sanitizing cart <NUM> according to an example. The actuator <NUM> includes a servo steering motor <NUM> that is coupled to a tie rod or linkage <NUM>. The servo motor <NUM> is controlled by the control unit <NUM> to rotate a set amount either clockwise or counterclockwise, which moves the tie rod <NUM>. The tie rod <NUM> is connected at each end to a corresponding wheel carrier assembly <NUM>.

Reference is now made to <FIG>, which shows one of the wheel carrier assemblies <NUM> in more detail. The carrier assembly <NUM> includes a traction motor <NUM> that generates torque for the wheel <NUM>. The carrier assembly <NUM> is pivotably or rotatably secured to the frame or base <NUM> of the cart <NUM>. The movement of the tie rod <NUM> by the servo steering motor <NUM> causes the carrier assembly <NUM> to turn or pivot relative to the base <NUM>. Because the carrier assembly <NUM> includes the wheel <NUM>, as the carrier assembly <NUM> pivots the cart <NUM> turns.

<FIG> shows a rack and pinion mechanism <NUM> for steering the cart <NUM> as an alternative to the steering mechanism <NUM> shown in <FIG> and <FIG>. For example, the tie bar or linkage <NUM> may include a row <NUM> of gear teeth that engage a drive gear <NUM> coupled to a motor <NUM>. The rotation of the drive gear <NUM> by the motor <NUM> causes the movement of the tie bar <NUM> that changes the angle of the wheels <NUM> as described above. <FIG> shows both a top-down view <NUM> and a side view <NUM> of the mechanism <NUM>.

<FIG> shows the carrier <NUM> of the UV light sanitizing cart <NUM> angled relative to the trunk <NUM>. The carrier <NUM> can rotate relative to the trunk <NUM> about the lateral axis <NUM> shown in <FIG> to provide a range of beta (β) angles. The control unit <NUM> controls an actuator to set the beta angle. The arms <NUM> and the UV light array <NUM> rotate with the carrier <NUM>. As such, the control unit <NUM> may rotate the carrier <NUM> to change the orientation of the UV light array <NUM> relative to the internal cabin <NUM> for aiming the UV light towards the surfaces. For example, the different orientations of the arm <NUM> along the cleaning path <NUM>, as schematically depicted in <FIG>, may be accomplished by rotating the carrier <NUM> to change the beta angle.

<FIG> depicts an actuator <NUM> that can be used to rotate the carrier <NUM> about the vertical axis <NUM> shown in <FIG>. Rotating the carrier <NUM> relative to the trunk <NUM> about angle alpha (α) can spin the arms <NUM> and the UV light array <NUM> relative to the trunk <NUM> and the base <NUM>.

<FIG> show that a rack and pinion actuator <NUM> can be used to extend and retract the telescopic trunk <NUM> of the UV light sanitizing cart <NUM>. <FIG> shows the cart <NUM> at a first height. <FIG> shows the cart <NUM> at a second height that is taller than the first height due to extension of the trunk <NUM>. <FIG> depicts the rack and pinion actuator <NUM> in both a side view <NUM> and a top-down view <NUM>.

<FIG> depicts the base <NUM> of the UV light sanitizing cart <NUM> according to an alternative example. In the example described above in <FIG>, the trunk <NUM> is fixed in place on the base <NUM> and the entire cart <NUM> is moved or driven forward or backward along the aisle <NUM> to move the arms <NUM> and the UV light array <NUM> along the longitudinal axis <NUM>. In <FIG>, the trunk <NUM> is translatable relative to the base <NUM> along at least one axis. Optionally, the trunk <NUM> is able to translate both longitudinally and laterally relative to the base <NUM> while remaining mounted on the base <NUM>. For example, the trunk <NUM> may be coupled to the base <NUM> via a belt and pulley mechanism <NUM> or a tracked rack and pinion mechanism <NUM> that enables the trunk <NUM> to move along one axis. Either mechanism <NUM>, <NUM> may be able to slide along the perpendicular axis via carrier wheels <NUM> within a track <NUM> defined by the base <NUM>. Having a translatable trunk <NUM> enables the base <NUM> of the cart <NUM> to pull into position between two rows <NUM>, for example, and then remain stationary in that position while the trunk <NUM>, the carrier <NUM>, and/or the arms <NUM> translate and/or rotate to provide the terrain following of the UV light array <NUM>. Once a segment of the cleaning path <NUM> is completed, then the cart <NUM> may advance to another position between two rows <NUM> to repeat the process and sanitize the surfaces along another segment of the cleaning path <NUM>.

<FIG> depicts the trunk <NUM> of the UV light sanitizing cart <NUM> according to an alternative example. In the illustrated and other examples, the trunk <NUM> is segmented to provide multiple articulation points <NUM> between trunk members <NUM>. Actuators along the trunk <NUM> can enable pivoting of the trunk members <NUM> relative to each other at the articulation points <NUM>, which can selectively position the carrier <NUM> at various different positions in space. The example shown in <FIG> can be used in conjunction with, or instead of, the base <NUM> shown in <FIG>.

In one or more examples, the control unit <NUM> controls the movement of the UV light array <NUM> relative to the surfaces being sanitized to ensure that a designated or predetermined dosage of UV light is consistently administered to the surfaces along the cleaning paths <NUM>, <NUM>. The dosage is based on the power output or amplitude of the UV light that is emitted by the UV lamps <NUM>, the proximity or range from the UV lamps <NUM> to the sanitizing surfaces, and the exposure or dwell time. The exposure time represents the length of time at which a given area is illuminated by the UV light as the UV light array <NUM> of the cart <NUM> sweeps the sanitizing surfaces. The designated dosage may be pre-selected based on operator preference, regulatory requirements, or the like. The power output or amplitude of the UV light may be set based on capability limits of the UV lamps <NUM> and/or desired energy consumption limits. The proximity distance may be selected to be within a few inches, such as <NUM> inches (<NUM>), <NUM> inches (<NUM>), <NUM> inches (<NUM>), or the like. These properties for the designated dosage, power, and proximity may be stored in the memory <NUM> and accessed by the one or more processors <NUM>. Optionally, some of the properties may vary based on the type of surface being sanitized, so the memory <NUM> may store multiple values of some of the properties. In some examples, based on the stored properties, the processor(s) can calculate a dwell time that represents the least amount of exposure time necessary to achieve the designated dosage on a given area of the sanitizing surfaces. The processor(s) can use the dwell time to determine a pacing speed of the UV light array <NUM> relative to the sanitizing surfaces for consistently achieving the designated dosage without unduly slowing the completion of the sanitizing task. The pacing speed indicates the correct speed for proper sanitization of the surfaces at the detected proximity distance, for the particular UV light and emitted power output of UV light.

The pacing speed can be stored in the memory <NUM> and used by the control unit <NUM> to control the movement of the UV light array <NUM> when tracing the contours of the surfaces. For example, as the UV light array <NUM> traces the surfaces, the control unit <NUM> receives and analyzes feedback from the sensors <NUM> and the actuators <NUM>. The control unit <NUM> can receive proximity data from sensors <NUM> disposed on the arms <NUM> that measure the actual distance or range from the UV lamps <NUM> to the sanitizing surfaces in the cabin <NUM>. Based on the proximity data, the control unit <NUM> can determine whether the UV light array <NUM> is maintaining the designated proximity to the surfaces (e.g., whether the array <NUM> is on course along the respective cleaning path <NUM>, <NUM>). Furthermore, the control unit <NUM> can determine the actual speed of the UV light array <NUM> relative to the surfaces and can compare the actual speed to the pacing speed stored in the memory <NUM>. The actual speed may be determined based on feedback from the actuators <NUM>. For example, the motion of the mechanical drive trains and motors may be converted by the control unit <NUM> to physical movement of the UV light array <NUM> in space, which when divided by time provides the actual speed. In other examples, one or more of the sensors <NUM> may be used to track the movement of the UV light array <NUM> over time to determine the actual speed of the UV light array <NUM>.

In an example, if the actual speed of the UV light array <NUM> differs from the pacing speed by more than a designated tolerance range (e.g., <NUM>%, <NUM>% or the like), then the control unit <NUM> can generate a control signal to modify the movement of the UV light array <NUM> relative to the surfaces to reduce the disparity between the actual speed and the pacing speed. The control signal can be communicated to one or more of the actuators <NUM> that can adjust the speed at which the actuators <NUM> operate based on the control signal. For example, if the actual speed is faster than the pacing speed, the dosage of UV light that is supplied may be insufficient to provide the desired level or amount of sanitization. In response, the control unit <NUM> generates a control signal to slow the movement of the UV light array <NUM> to increase the dosage. Conversely, if the actual speed is slower than the pacing speed, the dosage of UV light supplied to the surfaces may be more than sufficient to provide the desired level of sanitization, such that there is an opportunity to increase the energy efficiency and decrease the total cleaning time of the sanitization task by increasing the speed of the UV light array <NUM>.

In the semi-autonomous mode, the speed of the UV light array <NUM> may be controlled in part by the operator pushing or pulling the cart <NUM> along the aisle <NUM>. Upon determining the disparity between the actual speed and the pacing speed, the control unit <NUM> may generate a control signal to the output device <NUM>. For example, if the actual speed is faster than the pacing speed, the control signal that is generated causes the output device <NUM> to alert or notify the operator that the speed is too fast and suggest slowing the movement of the cart <NUM>. The alert may indicate the excessive speed through corresponding lighting effects (e.g., emitting red light, blinking lights, or the like), audio effects (e.g., frequent, high frequency, and/or loud beeps), and/or tactile effects (e.g., vibration of the handle <NUM>) provided by the output device(s) <NUM>. In other examples, if the actual speed is slower than the pacing speed, the control signal may cause the output device <NUM> to provide different corresponding lighting and/or audio effects, such as a yellow light, to indicate to the operator that the operator could increase the speed of the cart <NUM>. If the actual speed is within the tolerance range of the pacing speed, the control signal may cause the output device <NUM> to provide another corresponding lighting and/or audio effect, such as a green light, or may not provide any lighting and/or audio effect.

As the arms <NUM> and other movable components of the UV light sanitizing cart <NUM> are actuated to control the UV light array <NUM> to follow the cleaning paths <NUM>, <NUM> along the contours of the surfaces in the cabin <NUM> as shown in <FIG>, the speed of the cart <NUM> along the aisle <NUM> will vary. In one or more examples in which the rolling movement of the base <NUM> along the aisle <NUM> is used to move the UV light array <NUM> along the longitudinal axis, the control unit <NUM> may automatically control the direction and speed of movement of the base <NUM> and wheels <NUM> according to the surface being sanitized. For example, as the UV light array <NUM> sanitizes the floor <NUM> between rows of seats <NUM> or the ceiling <NUM>, the base <NUM> may move as a relatively constant speed based on the determined dwell time. But, as the UV light array <NUM> is moved essentially vertically to sanitize the back of the seat back of a seat <NUM>, for example, the base <NUM> is controlled to remain stationary until longitudinal movement of the UV light array <NUM> is again desired. Based on the contours of the surfaces the base <NUM> may even move in the reverse direction that is opposite the general direction of the cleaning path, at least temporarily to enable the UV light array <NUM> to keep hugging the contours and avoid making direct contact with any objects in the cabin <NUM>.

In the examples shown in <FIG> and <FIG> in which the UV light array <NUM> can be moved longitudinally relative to the base <NUM>, the base <NUM> may be controlled via the control unit <NUM> and/or an operator to sequentially move and then pause at various locations along the length of the aisle <NUM>. For example, the cart <NUM> may be moved or driven to a position that aligns with a row <NUM> or between two rows <NUM>. Then, the base <NUM> of the cart <NUM> remains stationary while the trunk <NUM>, carrier <NUM>, and/or arms <NUM> manipulate the UV light array <NUM> to follow the contours of the surface along the row or the two rows. The base <NUM> can remain stationary because the longitudinal movements of the UV light array <NUM> can be accomplished by moving the trunk <NUM> as shown in <FIG> and/or <FIG>. Upon completion of the sanitizing of the row or the two rows, the base <NUM> is then controlled to advance to another position along the aisle <NUM> to repeat the process.

In alternative examples, the UV light sanitizing cart <NUM> may include additional UV lamps <NUM> that are selective extendable from the arms <NUM>. The additional UV lamps <NUM> may be disposed on end effectors that are mounted to the arms <NUM> and selectively project from the arms <NUM>. For example, the end effectors may selectively pivot out of the plane of the arms <NUM> to position the respective UV lamp <NUM> in front of or rearward of the arms <NUM> (e.g., along the longitudinal axis). The UV lamps <NUM> on the end effectors can be oriented at angles up to <NUM> degrees relative to the UV lamps <NUM> on the arms <NUM>, thereby providing an L or T-shaped UV array at the end effectors. The UV lamps <NUM> on the end effectors can be used to sanitize within cavities and underneath objects, such as underneath the passenger seats <NUM>. For example, although the arms <NUM> that extend laterally across the seats <NUM> may not be able to get close enough to the area underneath the seats, the end effector can project from the arms <NUM> into the space that is immediately under the seat bottoms to sanitize the floor <NUM> under the seats <NUM> and/or the bottom surfaces of the seat bottoms. The UV lamps <NUM> on the end effectors can also be used to sanitize armrests, portions of the storage bins, walls, and/or the like. The numerous axes of translation and rotation provided by the cart <NUM> enables positioning and aiming the UV lamps <NUM> to essentially duplicate the capabilities of a person holding a UV light wand, without the inherent inconsistencies in speed, coverage area, and proximity associated with manual sanitization.

Optionally, the UV light sanitizing cart <NUM> can include a handheld UV wand that is detachably coupled to the cart <NUM>. The available UV wand provides the option for a person to utilize the wand in conjunction with the automated sanitization by the cart <NUM> to either sanitize areas that are difficult for the cart <NUM> to access or to provide additional UV dosage to certain high traffic areas. The wand may be tethered to the cart <NUM> by at least a power cable to power the UV lamp on the wand. Alternatively, the wand may be battery powered. Optionally, the wand can include light sensors that indicate to the operator whether the UV lamp is disposed at a desired proximity distance (or range) from the surface being sanitized. The light sensors that indicate the range of the wand from the surface are disclosed in <CIT>.

In one or more examples, an ultraviolet (UV) light sanitizing cart is provided that includes a UV light array, a body, actuators, and a control unit. The UV light array includes UV lamps configured to emit UV light to sanitize a surface of a component. The body includes a mobile base and multiple interconnected rigid members supported by the base. The UV lamps are mounted to at least one of the rigid members. The actuators are mechanically connected to the body. At least some of the actuators are configured to control movement of the rigid members relative to one another and to the base. The control unit is configured to generate control signals for controlling the actuators to cause the UV light array to move along a cleaning path that follows a contour of the surface.

Optionally, the rigid members include arms and a trunk. The trunk is mounted to the mobile base. The arms extend from the trunk in opposite directions and hold at least some of the UV lamps to provide a linear arrangement of the UV lamps. Each of the arms may include at least an inner member and an outer member. The inner member is disposed between the outer member and the trunk. The outer member is configured to retract to nest within the inner member and to linearly extend outward from the inner member to increase the length of the arm. Optionally, at least some of the actuators are connected to the arms and are controllable by the control unit to pivot the arms to a collapsed state in which the arms are parallel to and adjacent the trunk.

Optionally, the UV light array includes a linear arrangement of multiple UV lamps that extends along an array axis. The actuators and the body are configured to translate the UV light array along two axes perpendicular to each other and to the array axis, and are configured to rotate the UV light array about the array axis.

Optionally, the mobile base includes multiple wheels that interface with a floor and support the cart. The actuators include motors onboard the mobile base for driving rotation of the wheels and steering the wheels. The control signals that are generated by the control unit to cause the UV light array to move along the cleaning path may include control signals to the motors onboard the mobile base for driving the mobile base along a cart path to translate the UV light array along an axis parallel to the cart path.

Optionally, the body includes a retractable handle configured to be held by an operator that manually propels the cart along a cart path to translate the UV light array along an axis parallel to the cart path.

Optionally, the cart further includes sensors mounted on the body and configured to generate sensor data indicative of a proximity of the cart to the surface of the component or to a surface of another component. The control unit is configured to generate the control signals based on the sensor data to avoid a collision between the cart and the surface of the component or the surface of the other component.

Optionally, the control unit includes a memory device that stores a three-dimensional map of an environment in which the component is located. The control unit is configured to determine a reference location of the UV light array relative to the three-dimensional map and to generate the control signals to cause the UV light array to move along the cleaning path in the environment based on the three-dimensional map and the reference location of the UV light array.

Optionally, the cart further includes sensors mounted on the rigid members of the body proximate to the UV lamps. The sensors are configured to generate sensor data indicative of a proximity of the UV lamps to the surface of the component. The control unit is configured to generate the control signals based on the sensor data to maintain the UV lamps at a designated proximity distance from the surface to ensure that a designated dosage of UV light is applied to the surface.

Optionally, the control unit includes a memory device that stores a pacing speed for the UV light array. The pacing speed is based on a power output of the UV lamps and a designated proximity distance between the UV lamps and the surface of the component to provide a designated dosage of UV light to the surface. The control unit is configured to generate the control signals to control the actuators to cause the UV light array to move along the cleaning path at a rate based on the pacing speed. The control unit may be configured to determine an actual speed of the UV light array relative to the surface of the component and to compare the actual speed to the pacing speed. Responsive to the actual speed being greater than the pacing speed, the control unit may be configured to generate control signals to control the actuators to slow the movement of the UV light array along the cleaning path.

Optionally, the control unit includes a memory device and the control unit is configured to store in the memory device a record of sanitization tasks performed by the cart over time.

Optionally, the control unit is configured to generate the control signals for at least two actuators of the actuators to provide compound movements of the UV light array such that the UV light array one or more of (i) concurrently rotates about two different axes, (ii) concurrently translates along two different axes, or (iii) concurrently rotates about one axis and translates about the one axis or a different axis.

Also described herein is a method that includes providing a cart including a body that holds an ultraviolet (UV) light array. The UV light array includes UV lamps configured to emit UV light to sanitize a surface of a component. The cart further includes actuators mechanically connected to the body and a control unit communicatively connected to the actuators. The method includes determining, via the control unit, a cleaning path for the UV light array that follows a contour of the surface and generating control signals, via the control unit, to control the actuators to move the body such that the UV light array follows the cleaning path.

Optionally, the UV light array includes a linear arrangement of multiple UV lamps that extends along an array axis. The control signals may be generated to control the actuators and the body to translate the UV light array along two axes perpendicular to each other and to the array axis, and to rotate the UV light array about the array axis as the UV light array follows the cleaning path.

Optionally, the body includes a mobile base having multiple wheels that support the base and the actuators include one or more motors onboard the base for driving rotation of the wheels and steering the wheels. Generating the control signals may include generating control signals for driving the mobile base along a cart path to translate the UV light array along an axis parallel to the cart path.

Optionally, the method further includes receiving sensor data indicative of a proximity of the UV light array to the surface of the component. The control signals are generated based on the sensor data to one or more of (i) avoid a collision between the cart and the surface of the component or (ii) maintain a designated proximity distance between the UV lamps and the surface of the component to provide a designated dosage of UV light to the surface.

Optionally, the method further includes storing a pacing speed for the UV light array in a memory device. The pacing speed may be based on a power output of the UV lamps and a designated proximity distance between the UV lamps and the surface of the component to provide a designated dosage of UV light to the surface. The method may also include determining, via the control unit, an actual speed of the UV light array relative to the surface of the component, and generating control signals to control the actuators to change the actual speed of the UV light array along the cleaning path responsive to the actual speed differing from the pacing speed by more than a designated tolerance range.

As used herein, the term "control unit," "central processing unit," "CPU," "computer," or the like may include any processor-based or microprocessor-based system including systems using microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuit or processor including hardware, software, or a combination thereof capable of executing the functions described herein. Such are exemplary only, and are thus not intended to limit in any way the definition and/or meaning of such terms.

The control unit <NUM> is configured to execute a set of instructions that are stored in one or more data storage units or elements (such as one or more memories <NUM>), in order to process data. The data storage units may also store data or other information as desired or needed. The data storage units may be in the form of an information source or a physical memory element within a processing machine.

The set of instructions may include various commands that instruct the control unit <NUM> as a processing machine to perform specific operations such as the methods and processes of the various examples of the subject matter described herein. The set of instructions may be in the form of a software program. The software may be in various forms such as system software or application software. Further, the software may be in the form of a collection of separate programs, a program subset within a larger program, or a portion of a program. The software may also include modular programming in the form of object-oriented programming. The processing of input data by the processing machine may be in response to user commands, or in response to results of previous processing, or in response to a request made by another processing machine.

The diagrams of examples herein may illustrate one or more control or processing units, such as the control unit <NUM>. It is to be understood that the processing or control units may represent circuits, circuitry, or portions thereof that may be implemented as hardware with associated instructions (e.g., software stored on a tangible and non-transitory computer readable storage medium, such as a computer hard drive, ROM, RAM, or the like) that perform the operations described herein. The hardware may include state machine circuitry hardwired to perform the functions described herein. Optionally, the hardware may include electronic circuits that include and/or are connected to one or more logic-based devices, such as microprocessors, processors, controllers, or the like. Optionally, the verification control unit <NUM> may represent processing circuitry such as one or more of a field programmable gate array (FPGA), application specific integrated circuit (ASIC), microprocessor(s), and/or the like. The circuits in various examples may be configured to execute one or more algorithms to perform functions described herein. The one or more algorithms may include features of examples disclosed herein, whether or not expressly identified in a flowchart or a method.

Certain examples of the subject disclosure provide systems and methods to autonomously control UV lamps to follow contours of surfaces to provide consistent, efficient, and effective sanitization of the surfaces. The automated control of the UV lamps ensure that a correct dosage of UV light is delivered to the surfaces to effectively sanitize the surface. The UV light sanitizing cart described herein is collapsible and stowable onboard a vehicle, such that the cart can be operated when desired and then stowed away when not desired, such as during a trip of the vehicle.

While various spatial and directional terms, such as top, bottom, lower, mid, lateral, horizontal, vertical, front and the like can be used to describe examples of the subject disclosure, it is understood that such terms are merely used with respect to the orientations shown in the drawings.

Claim 1:
A cart (<NUM>) comprising:
an ultraviolet (UV) light array (<NUM>) including UV lamps (<NUM>) configured to emit UV light to sanitize a surface of a component;
a body (<NUM>) that includes a mobile base (<NUM>) and multiple interconnected rigid members (<NUM>) supported by the mobile base (<NUM>), wherein the UV lamps (<NUM>) are mounted to at least one of the rigid members (<NUM>);
actuators (<NUM>) mechanically connected to the body (<NUM>), one or more of the actuators (<NUM>) configured to move the at least one of the rigid members (<NUM>) on which the UV lamps (<NUM>) are mounted relative to the mobile base (<NUM>); and
a control unit (<NUM>) configured to generate control signals for controlling the actuators (<NUM>) to move the UV light array (<NUM>) along a cleaning path (<NUM>) that follows a contour of the surface;
wherein the rigid members (<NUM>) include arms (<NUM>) and a trunk (<NUM>), the trunk (<NUM>) mounted to the mobile base (<NUM>), the arms (<NUM>) extending from the trunk (<NUM>) in opposite directions and holding at least some of the UV lamps (<NUM>) of the UV light array (<NUM>) to provide a linear arrangement of the UV lamps (<NUM>);
wherein each of the arms (<NUM>) includes at least an inner member (<NUM>) and an outer member (<NUM>), the inner member (<NUM>) disposed between the outer member (<NUM>) and the trunk (<NUM>), wherein the outer member (<NUM>) is configured to retract to nest within the inner member (<NUM>) and to linearly extend outward from the inner member (<NUM>) to increase the length of the arm (<NUM>); and
wherein the cart (<NUM>) further comprises additional UV lamps disposed on end effectors mounted to the arms (<NUM>), the end effectors being configured to selectively project from the arms (<NUM>).