Patent ID: 12239932

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of the present disclosure, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of this disclosure is thereby intended.

In the present disclosure, the term “about” can allow for a degree of variability in a value or range, for example, within 10%, within 5%, or within 1% of a stated value or of a stated limit of a range.

In the present disclosure, the term “substantially” can allow for a degree of variability in a value or range, for example, within 90%, within 95%, or within 99% of a stated value or of a stated limit of a range.

A novel approach to process air containing virus particles that is safe for both humans and other objects in an enclosed area is presented. Towards this end, a robot that is either remotely controlled or which is autonomous is described in the present disclosure. The robot of the present disclosure is also referred to herein as the Bernoulli's Robot, owing to an air intake apparatus that is designed to selectively maximize air intake into a manifold of the robot. Referring toFIG.1, a perspective view of the Bernoulli's Robot100is provided. The Bernoulli Robot100includes a base102which provide propulsion for the robot100via a set of propulsion wheels104as well as steering wheels106. The steering wheels106can also be propulsion type, and similarly the propulsion wheels104can also be the steering type. The robot100also includes a top108. The top108includes two moveable airfoils110that can selectively allow air to enter the top108. These two moveable airfoils110are designed to selectively enlarge the frontal area of the robot in order to admit more air through an intake manifold112. Each of the two moveable airfoils110are shaped similar to a wing of an airplane and can articulate each about a central axis to vary the frontal area of the intake manifold112. The airfoils according to one embodiment include smooth surfaces and according to another embodiment include perforation as discussed below for enhancement of air intake. Towards the back end of the intake manifold112is a perforated cylinder (also referred to herein as the center body or the collector or the perforated collector114) whereby intake air is processed for filtration. Together the two moveable airfoils form an air inlet116. Once air enters the inlet116, and is received by the perforated collector and processed as discussed below, air is allowed to exit via an outlet. The outlet in one embodiment as shown inFIG.1includes a turbo fan module120.

The two moveable airfoils110and the perforated collector114constitute a novel Bernoulli air intake module118. The Bernoulli air intake module118is designed to increase the efficiency of air filtration by the help of the movement of the Bernoulli air intake module118itself, in particular by way of articulation of the two moveable airfoils110. This Bernoulli air intake module118can be installed on top of a mobile cleaning-robot as shown inFIG.1to filter ambient air from contaminants present therein. The unique design of the Bernoulli air intake module118increases the air swept area as the air intake module moves through the air to trap the contaminants, thereby it is ideal for a robotic disinfection application.

Referring to inFIGS.2a,2b,2c,2d,2e,2f, and2gvarious views of the moveable airfoils110and the perforated collector114are provided. In particular, referring toFIG.2a, an exploded perspective view of one moveable airfoil110and the perforated collector114is provided. Shown inFIG.2aare also a top plate202which allows securement of the perforated collector114as well as proper directional flow of air into the air intake module. The perforated collector114is also shown in an exploded view inFIG.2a, depicting a center body with perforation210, an inner duct212adapted to allow flow of air into a manifold206disposed at the base of the perforated collector114, and the turbo fan module120containing a motor assembly214which includes a turbo fan, and optionally a muffler. The moveable airfoil110includes an airfoil204and may also optionally include a perforated foil208adapted to enhance air flow into the air intake module. Air movement within the air intake module is further described below.

Referring toFIG.2b, a perspective view of the perforated collector114is shown being mounted on the manifold206. Air enters through the center body with perforation210and is directed into the manifold206via an annulus216between the center body with perforation210and the inner duct212.

Referring toFIG.2c, an exploded view of the center body of the perforated collector114is shown, according to one embodiment, showing the associated air processing. The inner duct212is sealingly coupled to the manifold206such that all air that had moved into the manifold is forced to only come out of the inner duct212. Air on its way out of the manifold206is forced to enter a radial filter218as air travels through the annulus216which is formed between the inner duct212and the radial filter218. The radial filter218may be a passive or a smart filter similar to that described in the U.S. Pub. App. Nos. 20100313748 and 20190083917. The radial filter218retains particles of various sizes and thus filters the incoming air free from those particles. While in the filter, the air is subjected to an optional UV source220adapted to inactivate the infectious or adverse particles captured in the filter as well as the particles that are too small that may pass through the radial filter218. The UV source220may be a UV lamp that is cylindrically shaped and is adapted to fit inside the radial filter218. Thus, the airflow from the manifold206passes through the annulus216, then through the radial filter218and out the turbo fan module120.

Referring toFIG.2d, a schematic is shown depicting the airflow through the manifold206. As shown, the air is brought into the manifold206through perforations of the moveable airfoils110as shown by the arrows252. As air enters into the manifold206, it passes through an optional filter systems256that can be a passive filter or a smart filter, as discussed above with respect to the radial filter218. Air, as shown by air flow arrows254then enters the annulus216and is allowed to pass through the radial filter218being exposed to the optional UV source220and exits through the turbo fan module120, as described above.

Referring toFIG.2e, the same schematic as that shown inFIG.2dis shown but with a change in the turbo fan module120, according to another embodiment. In this embodiment, a turbo fan260is integrated into the perforated collector114.

Referring toFIG.2f, air intake through channels284(right side and left side) between the moveable airfoils110and the manifold206are shown. In one case, the airfoils include perforated foils208for improved air flow into said openings via a space between the perforated foils208and airfoil flaps282which is part of the moveable airfoils110. Specifically, the channels284at the manifold are at a negative pressure, thus actively drawing in air, owing to the air flow through the turbo fan module120.

Referring toFIG.2g, a perspective view of the moveable airfoils110(with the optional perforated foils208) is shown in addition to the perforated collector114including its perforations. Air passing by the moveable airfoils110(shown as arrows292) is pulled into the manifold206via channels284(as shown by arrows296) between the moveable airfoils110and the manifold206and then through the annulus (not shown) and then to the turbo fan module120(as shown by arrows294).

As discussed above, infectious bioaerosol droplet sizes range in order of microns, which can remain suspended in the ambient environment for several hours and can be inhaled and infect humans. Hospitals, public places and more crowded confined spaces need bioaerosol filtration systems to ensure safety of the people present, making air filtration systems more relevant than ever in the recent viral pandemic.

The novel Bernoulli robot100shown inFIG.1, increases the efficiency of the air filtration system, when the system is moving in space by leveraging the air movement relative to the system. Towards this end, two moveable airfoils110are placed at the sides of a perforated collector114(seeFIG.1or2) that draws the air inside the manifold206and through the perforated collector114and through the turbo fan module120. InFIGS.1and2, the perforated collector114is cylindrically shaped, however, as discussed with respect toFIG.4, the collector can be shaped differently, e.g., the shape of an airfoil. Named after Bernoulli's principle from fluid mechanics, the Bernoulli robot100creates a low-pressure region, which acts as an intake between the moveable airfoils110and the manifold206, effectively converting the energy in the moving air to create suction of the air toward the radial air filter218inside the perforated collector114of the robot100(SeeFIG.2). The angle of the moveable airfoils110can be independently changed via one or two servo motors or other actuators (not shown) connected to each moveable airfoil110. The motion of the moveable airfoils110can in some cases be dynamically adjusted as the robot base maneuvers, for example passing sharp corners, where asymmetric air intake may be needed by adjusting one moveable airfoil's110angle with respect to the other moveable airfoil's110angle.

The size and height of the moveable airfoils110can be chosen relative to the air filtration capacity that is required by the robot100depending on the use case in different environments or desired sweeping heights.

Since velocity of the robot100is relatively small (e.g., 0.2 m/s to 1 m/s) compared to normal operations of moveable airfoils110, the suction of the air over the airfoils204of the moveable airfoils110are designed to stabilize and enhance the performance (lift capabilities) of the moveable airfoils110through the boundary layer suction. The higher the lift that can be achieved on the airfoils204, the larger an area can be swept in each pass. This phenomenon is shown inFIGS.3aand3b, where air intake is shown without the airfoils inFIG.3a, as compared to with airfoils204inFIG.3b. The smaller number of arrows inFIG.3ashow a smaller amount of air intake as compared toFIG.3bwith shows a large amount of air intake. The more effective the airfoils are, the larger the area is swept. Contrast this novel arrangement to a body, such as a cylinder, sweeping an area smaller or equal to its cross section, which is shown inFIG.3a.

While a cylindrically shaped object is shown in the perforated collector114, no such limitation is intended. Another example of a perforated body to receive air from the manifold206is shown inFIG.4. Curved lines indicate contours of pressure, while arrowed lines indicate streamlines. The arrows indicate the boundary layer suction and air intake for both the two moveable airfoils110and the center body being another airfoil (the alternate shape of the perforated collector114). In this embodiment, the perforated collector having either a cylindrical shape or other shapes primarily prevents airflow on the centerline between the two airfoils to escape filtration. The center body can be a cylinder shape similar to the discussion above with respect to the perforated collector114, which simplifies construction and makes it practical to insert cylindrical filtration system in the internals of the tube. However, the center could also be airfoil shaped, as shown inFIG.4. This arrangement is more complex to manufacturer, however benefits in further efficiency gains and reduction of the wake disturbance the robot makes as it moves through the air.

A fan (not shown) may be added to the perforated collector114to assist in drawing the air by creating an active suction at the manifold206. The speed of the fan may be adjusted as the Bernoulli robot100requires more or less air intake depending on the situation. For example, as the Bernoulli robot100is maneuvering around a corner, the speed of the fan and the angle of the moveable airfoils110need to be adjusted in concert with one-another to avoid turbulence at the channels284. These variables can also be controlled in concert with the speed and directionality of the robot100. Towards this end, the Bernoulli robot100can be equipped with i) a vision system (not shown); and/or ii) a sonar system (not shown) that can interrogate surrounding of the robot to determine location of the robot in a room. Speed and directionality of the robot100can be modified to effectuate proper air intake as well as proper sweeping around an enclosed area.

While not shown, each of the perforations of the perforated foil208of the two moveable airfoils110or the perforation of the center body with perforation210of the perforated collector114can be equipped with a passive or a smart filter (as discussed with respect to the radial filter218) to further remove particles of predetermined size from incoming air.

A Bernoulli controller1000is adapted to control the actuators of the moveable airfoils110, the optional UV source220, the vision system (not shown), and/or the sonar system (not shown). Referring toFIG.5, an example of the controller1000is provided that can interface with the above-discussed elements of the robot100. Referring toFIG.5, a high-level diagram showing the components of an exemplary data-processing system1000(also referred herein as Bernoulli controller) for analyzing data and performing other analyses described herein, and related components. The system includes a processor1086, a peripheral system1020, a user interface system1030, and a data storage system1040. The peripheral system1020, the user interface system1030and the data storage system1040are communicatively connected to the processor1086. Processor1086can be communicatively connected to network1050(shown in phantom), e.g., the Internet or a leased line, as discussed below. The imaging described in the present disclosure may be obtained using imaging sensors1021and/or displayed using display units (included in user interface system1030) which can each include one or more of systems1086,1020,1030,1040, and can each connect to one or more network(s)1050. Processor1086, and other processing devices described herein, can each include one or more microprocessors, microcontrollers, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), programmable logic devices (PLDs), programmable logic arrays (PLAs), programmable array logic devices (PALs), or digital signal processors (DSPs).

Processor1086can implement processes of various aspects described herein. Processor1086can be or include one or more device(s) for automatically operating on data, e.g., a central processing unit (CPU), microcontroller (MCU), desktop computer, laptop computer, mainframe computer, personal digital assistant, digital camera, cellular phone, smartphone, or any other device for processing data, managing data, or handling data, whether implemented with electrical, magnetic, optical, biological components, or otherwise. Processor1086can include Harvard-architecture components, modified-Harvard-architecture components, or Von-Neumann-architecture components.

The phrase “communicatively connected” includes any type of connection, wired or wireless, for communicating data between devices or processors. These devices or processors can be located in physical proximity or not. For example, subsystems such as peripheral system1020, user interface system1030, and data storage system1040are shown separately from the data processing system1086but can be stored completely or partially within the data processing system1086.

The peripheral system1020can include one or more devices configured to provide digital content records to the processor1086. For example, the peripheral system1020can include digital still cameras, digital video cameras, cellular phones, or other data processors. The processor1086, upon receipt of digital content records from a device in the peripheral system1020, can store such digital content records in the data storage system1040.

The user interface system1030can include a mouse, a keyboard, another computer (connected, e.g., via a network or a null-modem cable), or any device or combination of devices from which data is input to the processor1086. The user interface system1030also can include a display device, a processor-accessible memory, or any device or combination of devices to which data is output by the processor1086. The user interface system1030and the data storage system1040can share a processor-accessible memory.

In various aspects, processor1086includes or is connected to communication interface1015that is coupled via network link1016(shown in phantom) to network1050. For example, communication interface1015can include an integrated services digital network (ISDN) terminal adapter or a modem to communicate data via a telephone line; a network interface to communicate data via a local-area network (LAN), e.g., an Ethernet LAN, or wide-area network (WAN); or a radio to communicate data via a wireless link, e.g., WiFi or GSM. Communication interface1015sends and receives electrical, electromagnetic or optical signals that carry digital or analog data streams representing various types of information across network link1016to network1050. Network link1016can be connected to network1050via a switch, gateway, hub, router, or other networking device.

Processor1086can send messages and receive data, including program code, through network1050, network link1016and communication interface1015. For example, a server can store requested code for an application program (e.g., a JAVA applet) on a tangible non-volatile computer-readable storage medium to which it is connected. The server can retrieve the code from the medium and transmit it through network1050to communication interface1015. The received code can be executed by processor1086as it is received, or stored in data storage system1040for later execution.

Data storage system1040can include or be communicatively connected with one or more processor-accessible memories configured to store information. The memories can be, e.g., within a chassis or as parts of a distributed system. The phrase “processor-accessible memory” is intended to include any data storage device to or from which processor1086can transfer data (using appropriate components of peripheral system1020), whether volatile or nonvolatile; removable or fixed; electronic, magnetic, optical, chemical, mechanical, or otherwise. Exemplary processor-accessible memories include but are not limited to: registers, floppy disks, hard disks, tapes, bar codes, Compact Discs, DVDs, read-only memories (ROM), erasable programmable read-only memories (EPROM, EEPROM, or Flash), and random-access memories (RAMs). One of the processor-accessible memories in the data storage system1040can be a tangible non-transitory computer-readable storage medium, i.e., a non-transitory device or article of manufacture that participates in storing instructions that can be provided to processor1086for execution.

In an example, data storage system1040includes code memory1041, e.g., a RAM, and disk1043, e.g., a tangible computer-readable rotational storage device such as a hard drive. Computer program instructions are read into code memory1041from disk1043. Processor1086then executes one or more sequences of the computer program instructions loaded into code memory1041, as a result performing process steps described herein. In this way, processor1086carries out a computer implemented process. For example, steps of methods described herein, blocks of the flowchart illustrations or block diagrams herein, and combinations of those, can be implemented by computer program instructions. Code memory1041can also store data, or can store only code.

Various aspects described herein may be embodied as systems or methods. Accordingly, various aspects herein may take the form of an entirely hardware aspect, an entirely software aspect (including firmware, resident software, micro-code, etc.), or an aspect combining software and hardware aspects. These aspects can all generally be referred to herein as a “service,” “circuit,” “circuitry,” “module,” or “system.”

Furthermore, various aspects herein may be embodied as computer program products including computer readable program code stored on a tangible non-transitory computer readable medium. Such a medium can be manufactured as is conventional for such articles, e.g., by pressing a CD-ROM. The program code includes computer program instructions that can be loaded into processor1086(and possibly also other processors), to cause functions, acts, or operational steps of various aspects herein to be performed by the processor1086(or other processors). Computer program code for carrying out operations for various aspects described herein may be written in any combination of one or more programming language(s), and can be loaded from disk1043into code memory1041for execution. The program code may execute, e.g., entirely on processor1086, partly on processor1086and partly on a remote computer connected to network1050, or entirely on the remote computer.

Those having ordinary skill in the art will recognize that numerous modifications can be made to the specific implementations described above. The implementations should not be limited to the particular limitations described. Other implementations may be possible.