Patent ID: 12214485

DETAILED DESCRIPTION

The present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The examples described herein may be capable of other embodiments and of being practiced or being carried out in various ways. Also, it may be appreciated that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting as such may be understood by one of skill in the art. Throughout the present description, like reference characters may indicate like structure throughout the several views, and such structure need not be separately discussed. Furthermore, any particular feature(s) of a particular exemplary embodiment may be equally applied to any other exemplary embodiment(s) of this specification as suitable. In other words, features between the various exemplary embodiments described herein are interchangeable, and not exclusive.

The present disclosure is generally directed to a robot, a docking station, and a system for use in bio-surveillance. One example of a bio-surveillance system includes a mobile robot and a docking station. The mobile robot is configured to traverse a surface (e.g., an indoor surface such a floor or counter top and/or an outdoor surface such as a sidewalk) while collecting one or more samples from the surface. The samples may include one or more pathogens (e.g., one or more of a virus, bacteria, fungus, archaea, and/or any other zoonotic organism). Pathogens deposited on a surface, such as a floor, (e.g., as a result of people breathing, speaking, coughing, etc.) may leave DNA or RNA traces that can be detected for several days. The one or more samples may be collected using one or more collection mediums (e.g., one or more swabs, gauze, one or more sponge sticks, pads, and/or any other collection medium) stored within a cartridge disposed within the mobile robot. After collecting the one or more samples, the mobile robot returns to the docking station and deposits the one or more samples in the docking station. The docking station may be configured to analyze the one or more samples for one or more pathogens. Additionally, or alternatively, the mobile robot may be configured to analyze one or more of the collected samples. In this instance, the collected samples may be deposited in the docking station for later disposal and/or for additional analysis (e.g., to confirm the analysis determined on the mobile robot).

The bio-surveillance system disclosed herein may enable early identification of known and/or novel pathogens in advance of an outbreak. In the case of known seasonal pathogens, identification of the specific strains and the prevalence of those strains may assist in development of vaccines for that season.

FIG.1shows a schematic example of a bio-surveillance system100. As shown, the bio-surveillance system100includes a mobile robot102and a docking station104. The mobile robot102is configured to travel along a surface106(e.g., a floor) of an environment while collecting environmental samples from the surface106that potentially contain one or more pathogens. After collecting environmental samples, the mobile robot102returns to the docking station104and deposits the collected samples in the docking station104for a pathogen analysis. In other words, the docking station104may be configured to receive one or more collected environmental samples from the mobile robot102. The pathogen analysis is configured to detect a presence of one or more pathogens within the sample and attempt to identify any detected pathogen. The analysis may be performed by one or more systems of the docking station104and/or performed remotely from the docking station104. In some instances, the analysis may be performed by one or more systems of the mobile robot102and the mobile robot102may deposit the analyzed samples in the docking station104for later disposal and/or for additional analysis (e.g., to confirm the analysis determined on the mobile robot102).

As shown, the mobile robot102includes one or more driven wheels108configured to urge the mobile robot102over the surface106, one or more sensors110configured to detect one or more conditions of the environment, a sample collection system112configured to collect environmental samples, and a controller114communicatively coupled to the driven wheels108, the one or more sensors110, and the sample collection system112. The one or more sensors110may include obstacle detection sensors (e.g., ultrasonic, infrared, time of flight, stereo camera, monocular camera, and/or any other sensor) configured to detect non-traversable portions of the environment (e.g., walls, furniture, drop-offs, and/or any other obstacle). In some instances, the one or more sensors110may include a surface type detection sensor configured to detect a surface type (e.g., vinyl, steel, plastic, concrete, carpet, and/or any other surface type). Behaviors of the mobile robot102may be altered and/or selected based, at least in part, on outputs generated by the one or more sensors110. For example, a sample collection behavior may be based, at least in part, on a detected surface type. In some instances, the one or more sensors110may include one or more localization and/or mapping sensors configured to generate data capable of being used in map generation (e.g., one or more localization and/or mapping sensors may include one or more of an obstacle detection sensor, a surface type sensor, a triangulation sensor, and/or any other sensor). A generated map may include indications of obstacles and detected surface types. In some instances, the mobile robot102may further include a robot transmitter115configured to communicate with the docking station104and/or a remote device (e.g., a remote computer, mobile device, and/or any other remote device).

The sample collection system112may include a sample collector116and a sample storage118. The sample collector116is configured to cause an environmental sample to be collected from the surface106. Once collected, the sample collector116may deposit the collected sample in the sample storage118for storage. The sample storage118is configured to preserve the integrity of the collected sample until the collected sample can be analyzed (e.g., until the collected sample can be deposited and analyzed in the docking station104).

In some instances, there may be a plurality of mobile robots102disposed within an environment. The plurality of mobile robots102may be configured to cooperate to collect samples. For example, the plurality of mobile robots102may be configured to communicate with each other such that different regions within the environment are covered by each of the mobile robots102. The plurality of mobile robots102may share at least one common docking station104and/or may each have at least one dedicated docking station104that corresponds to a respective one of the plurality of mobile robots102.

The docking station104includes one or more charging contacts119, at least one identifier120, and a sample receiver122. The one or more charging contacts119are configured to charge one or more batteries of the mobile robot102when the mobile robot102is engaging (or docked with) the docking station104. The at least one identifier120is configured to identify the docking station104to the mobile robot102. For example, the at least one identifier120may include one or more light emitting diodes (LEDs) configured to emit a signal into the environment, wherein the mobile robot102is configured to use the signal(s) to locate and dock with the docking station104.

The sample receiver122may be configured to cooperate with the sample collector116when the mobile robot102is docked with the docking station104. For example, the sample collector116and the sample receiver122may cooperate to transfer collected samples from the sample collector116to the sample receiver122. The sample receiver122may, in some instances, include an analysis system124. The analysis system124may be configured to analyze the sample(s) received by the sample receiver122. The results of the analysis may be transmitted to a remote device (e.g., a remote computer, mobile device, or another remote device) for review by a user using, for example, a dock transmitter126within the docking station104. Additionally, or alternatively, the analysis system124may be included in the mobile robot102. In some instances, sample receiver122may include a processing system125configured to process the received sample(s) (e.g., extract nucleic acid from the received sample(s)) such that the processed sample can be analyzed by an external analysis system (e.g., at an external lab or analysis facility). Additionally, or alternatively, the processing system125may be included in the mobile robot102.

In some instances, the docking station104may further include a supply replenisher128. The supply replenisher128is configured to replenish/replace physical resources that are expended by the mobile robot102while collecting environmental samples (e.g., one or more of the components used for sample collection).

FIG.2shows a schematic example of a sample collector200, which may be an example of the sample collector116ofFIG.1. As shown, the sample collector200includes a collection medium holder204having a plurality collection mediums202and a collection medium applicator206. The collection medium applicator206is configured to releasably couple to a respective collection medium202disposed within the collection medium holder204. Examples of the collection mediums202may include one or more of a swab, a pad (e.g., that is configured to be in sliding contact with the surface106while the mobile robot102traverses the surface106), a sponge stick, gauze, and/or any other collection medium.

Once the respective collection medium202is coupled to the collection medium applicator206, the collection medium applicator206urges the collection medium202into contact with a surface (e.g., the surface106). One or more contact sensors208(e.g., of the collection medium applicator206) may be configured to detect when the respective collection medium202contacts the surface106. Additionally, or alternatively, one or more distance sensors209may be configured to detect a proximity of the surface106and based, at least in part, on the detected proximity of the surface106determine a proximity of the respective collection medium202relative to the surface106. The collection medium applicator206may be configured to cause the collection medium202to maintain contact with the surface106for a predetermined time (e.g., while the mobile robot102moves across the surface106). The predetermined time may be based, at least in part, on an estimated minimum contact duration to collect a sample having a sufficient quantity of pathogen for analysis. In some instances, the collection medium applicator206may be configured to agitate the collection medium202along the surface106. For example, the collection medium applicator206may be configured to urge the collection medium202along the surface106according to a pattern (e.g., a zig-zag pattern, an S pattern, a circular pattern, a U pattern, and/or any other pattern). Additionally, or alternatively, the collection medium applicator206may be configured to rotate the collection medium202about a longitudinal axis of the collection medium202. Such a configuration may allow all sides of the collection medium202to face the surface106such that at least a portion of each side of the collection medium202contacts the surface106.

After contacting the surface106(e.g., for the predetermined time), the collection medium applicator206may be configured to urge the collection medium202out of engagement with the surface106. Once the collection medium202is out of engagement with the surface106, the collection medium applicator206may position the collection medium202such that it can be received within a sample storage (e.g., the sample storage118). When received within the sample storage118, the collection medium applicator206is configured to decouple from the collection medium202, depositing the collection medium202in the sample storage118. After depositing the collection medium202in the sample storage118, the collection medium applicator206may releasably couple to another collection medium202disposed within the collection medium holder204.

FIG.3shows a schematic example of a cartridge300configured to hold a plurality of swabs302, wherein the cartridge300may be an example of the collection medium holder204and the plurality of swabs302may be an example of the plurality of collection mediums202. The cartridge300includes a cartridge body304defining a cartridge cavity306having a plurality of swab receptacles308extending within the cartridge cavity306. The swab receptacles308are configured to receive a corresponding one of the swabs302. In some instances, open ends of the swab receptacles308may be enclosed (e.g., with a pierceable membrane or stopper) such that a sterility of the swabs302may be maintained. Each swab302includes a collection end310and a coupling end312. The collection end310includes a material capable of collecting one or more pathogens thereon when engaged with the surface106and the coupling end312is configured to releasably couple to a collection medium applicator (e.g., the collection medium applicator206). In some instances, the collection end310corresponding to a first swab302may include a first material and the collection end310corresponding to a second swab302may include a second material, the second material being different from the first material such that the collection ends310of the first and second swabs302have a different composition. Having the collection end310of at least one swab302have a composition different from that of the collection end310of at least one other swab302may allow the cartridge300to include swabs302tailored for specific sample collections and/or environments.

The cartridge300may be configured to rotate. Rotation of the cartridge300may rotationally position one or more of the swabs302at location accessible to the collection medium applicator206. For example, the cartridge300may include a cartridge drive314configured to engage with a motor such that, when the motor is actuated, the cartridge300may be caused to rotate. In this example, the mobile robot102may include a cartridge drive motor configured to engage the cartridge drive314.

FIG.4shows a schematic example of a collection medium applicator400, which may be an example of the collection medium applicator206ofFIG.2, cooperating with the cartridge300ofFIG.3to releasably couple to a respective one of the swabs302. As shown, the collection medium applicator400may include a swab coupler402configured to be releasably coupled to a respective swab302. For example, the swab coupler402may be configured to apply a clamping force to the swab302(e.g., a chuck-style clamp or any other type of clamp) when the swab302is received within the swab coupler402.

In some instances, the swab coupler402may be extendible from a main body403of the collection medium applicator400such that the swab coupler402can extend at least partially within the swab receptacle308corresponding to a respective swab302and releasably couple to the swab302. Additionally, or alternatively, the cartridge300may cooperate with and/or include a swab pusher404configured to urge a respective swab302from a corresponding swab receptacle308and into the swab coupler402. The swab pusher404may, for example, be a mechanical actuator (e.g., including a piston and/or spring) that comes into engagement with a respective swab302and urges the swab302to slide out of a corresponding swab receptacle308and into the swab coupler402such that the swab coupler402is capable of releasably coupling to the swab302. Additionally, or alternatively, the swab pusher404may use pressurized gas (e.g., air) to urge a respective swab302to slide out of a corresponding swab receptacle308.

Once the swab coupler402releasably couples to a respective swab302, the collection medium applicator400may urge the swab302into engagement with the surface106. For example, in response to the swab302being releasably coupled to the swab coupler402, a swab actuator406may cause the collection medium applicator400to rotate about a swab actuation axis408, wherein rotation of the collection medium applicator400brings the swab302into contact with the surface106. In some instances, the swab actuation axis408may extend transverse to the surface106at a non-perpendicular angle. Such a configuration may cause a rotation plane of the swab302to intersect the surface106such that the swab302comes into engagement with the surface106. By way of further example, the swab actuator406may urge the collection medium applicator400along the swab actuation axis408in a direction of the surface106until the swab302comes into engagement with the surface106. The swab actuator406may include any one or more of pneumatics, hydraulics, motors, and/or any other mechanism capable of moving the collection medium applicator400.

In some instances, prior to engaging the surface106, a transport medium (e.g., a viral transport medium, a fungal transport medium, a bacterial transport medium, a phosphate-buffered saline (PBS) buffer, and/or the like) may be applied to at least a portion of the swab302(e.g., applied to at least portion of the collection end310). For example, one or more spray nozzles410fluidly coupled to one or more transport medium storage tanks412may apply the transport medium onto at least a portion of the collection end310of the swab302. In some instances, each spray nozzle410may correspond to a respective transport medium. The spray nozzle410and the transport medium storage tanks412may be, for example, included in the sample collector200. By way of further example, at least a portion of the collection end310of the swab302may be inserted into the transport medium storage tank412prior to engaging the surface106. In this example, the swab actuator406may be configured to lower at least a portion of the collection end310of the swab302into the transport medium. In examples having a plurality of transport medium storage tanks412, each having a corresponding transport medium, the swab actuator406may be configured to lower at least a portion of the collection end310of the swab302into the desired transport medium. By way of still further example, each of the swab receptacles308of the cartridge300may include a transport medium. In this example, at least one swab receptacle308may include a transport medium that is different from a transport medium in at least one other swab receptacle308. In this instance, the collection medium applicator400may be configured to determine the transport medium within a respective swab receptacle308before the swab302is removed therefrom. By way of still further example, a desired transport medium may be applied to at least a portion of the collection end310of a respective swab302prior to the swab302being deposited in a corresponding swab receptacle308of the cartridge300. In this example, the desired transport medium may be applied to at least a portion of the collection end310by a docking station (e.g., the docking station104ofFIG.1) prior to, for example, the cartridge300being deposited in the mobile robot102. In some instances, one or more of the swabs302may not have a transport medium applied thereto.

In some instances, the transport medium applied may be selected based, at least in part, on the pathogens sought to be collected. For example, viral transport media may be used for collection of viral pathogens, lysogeny broth (LB) may be used for collection of bacteria, and Sabourand dextrose or malt extract media for fungi. As such, in some instances, the sample collector200may include a plurality of transport medium storage tanks412, each corresponding to a respective transport medium.

When transport medium is applied to the swab302, at least a portion of the transport medium may be deposited on the surface106(e.g., a result of the engagement between the swab302and the surface106). As such, in some instances, the mobile robot102may include a drying and/or cleaning element130(e.g., a cloth or an air blast) (see,FIG.1) positioned behind the swab302(relative to a forward direction of movement of the mobile robot102). The drying and/or cleaning element130may dry/collect at least a portion of any residual transport medium on the surface106as a result of the swab302engaging the surface106. Additionally, or alternatively, the mobile robot102may include a decontamination system132(see,FIG.1) configured to decontaminate the surface106. For example, the decontamination system132may be configured to apply a decontamination substance (e.g., isopropanol, quaternary ammonium compounds, and/or any other decontamination substance) to the surface106. By way of further example, the decontamination system132may include an ultraviolet emission source configured to emit ultraviolet light having a wavelength that is harmful to one or more microorganisms.

As shown, in some instances, the collection medium applicator400may include a contact sensor414, which may be an example of the contact sensor208ofFIG.2. The contact sensor414is configured to detect when the swab302comes into engagement with the surface106. For example, when engaging the surface106, the swab302may exert a force on the swab coupler402and the contact sensor414is configured to detect the exerted force. In some instances, when the contact sensor414detects the exerted force, rotation of the swab302(e.g., about the swab actuation axis408) may stop for a predetermined period of time (e.g., maintaining the swab302in contact with the surface106while the mobile robot102traverses the surface106). As such, movement of the mobile robot102across the surface106results in the swab302sliding over the surface106, collecting a sample at the collection end310of the swab302. In some instances, the swab302may be agitated (e.g., rotated multiple times in two different directions about swab actuation axis408) while engaging the surface106such that, for example, a contact force exerted by the swab302on the surface106is varied. Additionally, or alternatively, the agitation of the swab302may be based, at least in part, on a detected surface type corresponding to the surface106. For example, the swab302may be moved along the surface106according to swabbing methodologies known to those having ordinary skill in the art that correspond to a detected surface type. When the swab302is agitated along the surface106, the mobile robot102may not be moving along the surface106(e.g., the mobile robot102may stop at a position on the surface106for a predetermined period of time).

FIG.5shows a schematic example of a sample storage500, which may be an example of the sample storage118ofFIG.1. As shown, the sample storage500includes a storage body502defining a storage cavity504configured to receive the swabs302after the swabs302have engaged the surface106, wherein one or more of the swabs302may include a sample of a pathogen. When received within the storage cavity504, each swab302may be deposited within a respective sample receptacle506. Each sample receptacle506may be configured to receive a single swab302such that a plurality of swabs302can be received within the storage cavity504without cross-contamination occurring between swabs302. Each sample receptacle506may be removably coupled to a portion of the storage body502such that each sample receptacle506may be removed from the storage cavity504(e.g., when the mobile robot102docks with the docking station104).

In some instances, each sample receptacle506may include a unique identifier600(e.g., a bar code or radio frequency identification tag), wherein the unique identifier600is associated with a location within the environment, the location corresponding to a location where the swab302engaged the surface106. In other words, the unique identifier600can be used to identify a location within the environment at which a sample was taken. For example, the mobile robot102may include a localization and mapping system configured to identify the sample location within a map (e.g., a map generated by the mobile robot102) and associate the sample location with the corresponding unique identifier600.

As shown, each sample receptacle506can be configured to removably couple to a stopper508, wherein the stopper508encloses an open end510of the sample receptacle506. The open end510of each sample receptacle506is opposite a closed end and is configured to receive a corresponding swab302. Each stopper508can sealingly engage with at least a portion of a respective sample receptacle506. For example, the stopper508may form a press-fit with a respective sample receptacle506or threadably engage with a respective sample receptacle506(e.g., in some instances, the act of threading a respective stopper508onto a corresponding sample receptacle506may result in the compression of a seal). In some instances, each swab302may include a corresponding stopper508coupled thereto (e.g., at the coupling end312of a respective swab302). As such, the act of inserting a respective swab302in a corresponding sample receptacle506may cause the stopper508to sealingly engage with the sample receptacle506. In these instances, when the swabs302are within corresponding swab receptacles308of the cartridge300, the stopper508may also be configured to sealingly engage with the corresponding swab receptacle308and the stopper508may be further configured to releasably couple to the swab coupler402. Such a configuration may maintain the sterility of the swabs302while disposed within the cartridge300. In these instances, the cartridge300may also act as the sample storage500(e.g., each swab302may be returned to a corresponding swab receptacle308after use).

The sample storage500may, in some instances, be configured to cooperate with the collection medium applicator400such that a respective swab302can be transferred from the swab coupler402to a corresponding sample receptacle506. For example, the sample storage500may be configured to rotate such that a corresponding sample receptacle506aligns with a position of the collection medium applicator400. In this example, the sample storage500may include a storage drive512configured to cooperate with a drive motor to cause the sample storage500to rotate.

FIG.6shows a schematic example of the collection medium applicator400cooperating with the sample storage500to deposit a respective swab302in a corresponding sample receptacle506. For example, the collection medium applicator400may be configured to move relative to the swab actuator axis408(e.g., linearly and/or rotationally) to position the swab coupler402in an orientation that aligns a respective swab302with a corresponding sample receptacle506. In this example, the swab coupler402may be configured to extend from the collection medium applicator400and at least partially into the corresponding sample receptacle506, wherein the swab coupler402decouples from the respective swab302in response to the swab302being received within the sample receptacle506. In some instances, the collection medium applicator400may be configured to couple the stopper508to a corresponding sample receptacle506.

FIG.7shows a schematic example of a sample receiver700for a docking station and may be an example of the sample receiver122ofFIG.1. As shown, the sample receiver700includes a transfer section702configured to cooperate with a mobile robot (e.g., the mobile robot102) to transfer collected samples from the sample storage118of the mobile robot102. In some instances, the sample receiver700may further include a sample handler704. The sample handler704may cooperate with the transfer section702to prepare individual samples collected from the mobile robot102for analysis. For example, when the sample has been collected using the swab302and the swab302is enclosed within the sample receptacle506, the sample handler704may be configured to remove the swab302from the sample receptacle506. Once removed from the sample receptacle506, the sample handler704may deposit the swab302in the analysis system124for analysis. The analysis system124may be configured to perform a quantitative polymerase chain reaction (qPCR) analysis and/or massive parallel sequencing (or next generation sequencing) in order to detect and/or identify any pathogens collected by the swab302. The results of the analysis may be transmitted to a remote device using the dock transmitter126. In some instances, the results may be associated with a location in the environment corresponding to a location where the sample was collected. The remote device may be configured to display the collection location on a map of the environment.

FIG.8shows a schematic example of a transfer section800of a sample receiver, which may be an example of the transfer section702ofFIG.7. As shown, the transfer section800includes a transfer actuator802and a transfer storage804. The transfer actuator802may be configured to extend from the docking station (e.g., the docking station104) and in a direction of the mobile robot (e.g., the mobile robot102). In some instances, the transfer actuator802may extend into the mobile robot102and extract one or more collected samples. For example, the transfer actuator802may couple to and remove one or more sample receptacles506from the sample storage500ofFIG.5. The extracted samples may be deposited in the transfer storage804. Additionally, or alternatively, the mobile robot102may include a transfer actuator configured to urge one or more collected samples out of the mobile robot102and into the docking station104.

FIG.9shows a schematic example of a supply replenisher900for a docking station and may be an example of the supply replenisher128ofFIG.1. As shown, the supply replenisher900includes a supply source902and a supply distributor904. The supply source902is configured to store one or more of the components used for sample collection. For example, the supply source902may include a liquid supply source906and a dry supply source908. The liquid supply source906may include one or more tanks, each tank having a corresponding transport medium. The dry supply source908may include storage for one or more collection mediums202(e.g., one or more swabs302). The supply distributor904may be configured to cooperate with the supply source902to transfer one or more components used for sample collection to the mobile robot102. For example, the supply distributor904may include one or more fluid transfer couplings910configured to fluidly couple to the mobile robot102(e.g., one or more transport medium storage tanks412) for transferring transport medium to the mobile robot102. By way of further example, the supply distributor904may include one or more dry supply actuators912configured to transfer one or more swabs302(e.g., stored within a cartridge300) to the mobile robot102. In this example, the supply distributor904or the transfer section800may be configured to remove an expended cartridge300from the mobile robot102prior to transferring a replacement cartridge300having one or more swabs302.

FIG.10shows a schematic example of a stationary robot1000. The stationary robot1000includes a sample collection system1002. The sample collection system1002may include a sample collector1004and a sample storage1006. The sample collector1004is configured to collect an environmental sample from a surface1008proximate the stationary robot1000. Once collected, the sample collector1004may deposit the sample in the sample storage1006. Once deposited in the sample storage1006, the sample may be stored until it can be analyzed (e.g., locally or remotely). In some instances, the stationary robot1000may include an analysis system1010configured to analyze a collected sample for a presence of one or more pathogen(s).

An example of the analysis system1010may be the analysis system124ofFIG.1. An example of the sample collector1004may be the sample collector116ofFIG.1and an example of the sample storage1006may be the sample storage118ofFIG.1. As such, the stationary robot1000may generally be described as being a stationary version of the mobile robot102. Accordingly, one or more of the features discussed herein in relation to collecting environmental samples using the mobile robot102may also be included in the stationary robot1000.

The surface1008may be a high touch surface. For example, the surface1008may be a hand belt for an escalator or moving walkway. By way of further example, the surface1008may be a belt of a treadmill.

FIG.11shows a perspective view of a mobile robot1100configured to traverse a floor1102andFIG.12shows a top view of the mobile robot1100. The mobile robot1100may be an example of the mobile robot102ofFIG.1. As shown, the mobile robot1100includes a chassis1104and a plurality of omnidirectional wheels1106rotationally coupled to the chassis1104. The omnidirectional wheels1106are configured to enable the mobile robot1100to move in a forward direction, a backward direction, a left direction, a right direction, and/or a combination thereof (e.g., diagonally, rotationally, and/or any other combination). A sample collector1108is coupled to the chassis1104and is configured collect one or more samples from the floor1102. The mobile robot1100may include one or more sensors1201(FIG.12). For example, the one or more sensors1201may include odometry sensors (e.g., optical sensors to track movement of the mobile robot1100relative to the floor1102), obstacle sensors, and/or any other type of sensor.

The sample collector1108includes a positioning system1109and a swab applicator1110configured to releasably couple to a swab1200(FIG.12) that is stored within a swab holder1202(FIG.12). As shown inFIG.12, the swab holder1202includes a plurality of separate swab receptacles1204, each configured to receive a respective swab1200. The swab receptacles1204define a closed end1206and an open end1208opposite the closed end1206. The open end1208is configured to receive a stopper1210that is coupled at a non-collection end of the swab1200. The stopper1210may be configured to sealingly engage with a respective swab receptacle1204. As shown, the open end1208may be flared to encourage insertion of the swab1200and/or stopper1210into the swab receptacle1204.

FIG.13shows the sample collector1108transitioning from a collector stowed position towards a collector retrieval position.FIG.14shows the sample collector1108in the collector retrieval position. The swab applicator1110includes a pivoting arm1300that pivots about one or more pivot axes1301in response to the sample collector1108transitioning between the applicator stowed position and the applicator retrieval position.

As shown, when sample collector1108transitions between the collector stowed position the collector retrieval position, a position of the swab applicator1110is adjusted by the positioning system1109. The positioning system1109may adjust a vertical and/or horizontal position of the swab applicator1110such that the swab applicator1110can couple to a respective swab1200stored within the swab holder1202.

For example, the positioning system1109can be configured to align the pivoting arm1300with a respective swab1200disposed within the swab holder1202. In this example, and as shown, the positioning system1109is configured to cause the pivoting arm1300to move in a generally vertical direction (e.g., by moving the positioning system1109along positioning system vertical guides1304) and a generally horizontal direction (e.g., by moving the positioning system1109along positioning system horizontal guides1306). The positioning system1109may be configured to align the pivoting arm1300by, for example, positioning the pivoting arm1300in a predetermined aligned location. Additionally, or alternatively, the positioning system1109may include one or more sensors (e.g., optical sensors, such as a camera) configured to provide feedback relating to the alignment of the pivoting arm1300with the swab holder1202. Use of one or more sensors to align the pivoting arm1300may mitigate a risk of the swab1200contacting a respective swab receptacle1204during removal and/or insertion.

FIG.15shows the swab holder1202transitioning from a holder stowed position towards a holder retrieval position. As shown, the swab holder1202moves along holder guides1500in response to rotation of a screw1502when transitioning between the holder stowed and retrieval positions. When transitioning towards the holder retrieval position, a separation distance between the swab applicator1110and the swab holder1202decreases. When in the holder retrieval position, the swab applicator1110is configured to couple to the stopper1210of a respective swab1200. For example, as shown inFIG.15A, the pivoting arm1300may include a coupler1550configured to releasably couple to the stopper1210.

As shown inFIG.15A, the pivoting arm1300includes at least one linear actuator1552, wherein a first end1554of the linear actuator1552defines one of the one or more pivot axes1301and a second end1556of the linear actuator1552is coupled to a collar1558. The collar1558is configured to slidably engage the coupler1550. As shown, the collar1558is configured to slide linearly between a coupler first end1560and a coupler second end1562. Movement of the collar1558from the coupler first end1560towards the coupler second end1562causes a size (e.g., a diameter) of a receiving orifice1564of the coupler1550to decrease. Movement of the collar1558from the coupler second end1562towards the coupler first end1562causes the size of the receiving orifice1564to increase. When coupling to the stopper1210, the stopper1210is positioned within the receiving orifice1564and the collar1558is moved towards the coupler second1562such that an inner surface of the coupler1550engages the stopper1210. When releasing the stopper1210, the collar1558is moved towards the coupler first end1560(e.g., such that the coupler1550comes out of engagement with the stopper1210).

As also shown inFIG.15A, a motor1566may be configured to cause the coupler1550to rotate within the collar1558. Rotation of the coupler1550within the collar1558may enable the coupler1550to cooperate with threaded stoppers1210(e.g., by enabling the coupler to threadably couple and decouple the stopper1210from a respective swab receptacle1204). Additionally, or alternatively, rotation of the coupler1550may cause an adhesive coupling between the stopper1210and a respective swab receptacle1204to be broken. Rotation of the coupler1550may also be used to rotate the swab1200when the swab1200is engagement with the floor1102.

As shown inFIG.16, when the swab holder1202transitions from the holder retrieval position back towards the holder stowed position, the separation distance between the swab applicator1110and the swab holder1202increases. As a result, the swab1200is removed from the swab receptacle1204when the swab holder1202reaches the holder stowed position.

As shown inFIG.17, when the swab1200is removed from the swab receptacle1204, the sample collector1108transitions from the collector retrieval position towards a collector use position. When the sample collector1108transitions to the collector use position, the pivoting arm1300may pivot such that the swab1200extends in a direction of the floor1102and in a direction away from the chassis1104and the positioning system1109may urge the swab applicator1110along vertical and/or horizontal guides1304and1306until the swab1200engages the floor1102.

As shown inFIG.18, when the sample collector1108is in the collector use position, a collection end1800of the swab1200engages the floor1102. While the collection end1800of the swab1200engages the floor1102, the mobile robot1100may be caused to move about the floor according to a predetermined pattern. The predetermined pattern may be, for example, a rectangular (e.g., square) pattern, a spiral pattern, a circular pattern, and/or any other pattern. For example, the mobile robot1100may configured to first move backward then leftward then forward then rightward then backward (e.g., at a reduced, such as half, speed) then leftward and then forward (e.g., at a reduced, such as half, speed). In this example, before changing motional direction, the swab1200may be rotated about a longitudinal axis of the swab1200such that a different portion of the swab1200engages the floor1102. Changes in speed may be carried out based on rotational data received from a gyroscope. The mobile robot1100may move in each direction for a predetermined period of time (e.g., 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds, and/or any other predetermined period of time).

In addition to, or in the alternative to, causing the mobile robot1100to move according to a predetermined pattern in order to move swab1200along the floor1102, the positioning system1109and/or the pivoting arm1300(e.g., the linear actuator1552of the pivoting arm1300) may be configured to move the swab1200in a predetermined pattern. Such a configuration may allow the swab1200move within a smaller area on the floor1102.

In some instances, the omnidirectional wheels1106may include and/or be coupled to shock absorbers. The shock absorbers may be configured to mitigate vertical movement of the mobile robot1100in response to the omnidirectional wheels1106encountering, for example, traversable discontinuities in the floor1102. Such a configuration may encourage consistent engagement between the swab1200and the floor1102.

With reference toFIG.19, after a sample has been collected, the sample collector1108transitions back to the collector retrieval position. In response to the sample collector1108returning to the collector retrieval position, the swab holder1202is caused to transition from the holder stowed position towards the holder retrieval position. As the swab holder1202approaches the holder retrieval position, the swab1200is inserted back into the swab receptacle1204from which the swab1200was originally retrieved.

As shown inFIG.20, when the swab1200is fully inserted into the swab receptacle1204, the stopper1210sealingly engages the open end1208of the swab receptacle1204and the swab applicator1110releases the stopper1210. When the swab applicator1110releases the stopper1210, the swab holder1202transitions back to the holder stowed position. In some instances, prior to the swab holder1202transitioning back to the holder stowed position, the positioning system1109may move the swab applicator1110such that swab applicator1110is positioned to couple to another stopper1210corresponding to another swab1200that is disposed within another swab receptacle1204. In these instances, the mobile robot1100may proceed to collect another sample after the swab holder1202returns to the holder stowed position. As such, the mobile robot1100can be configured to track the number of swabs1200used relative to the number of swab holder receptacles1204. When the number of swabs1200equals the number of swab holder receptacles1204, the mobile robot1100generate an alert to a user and/or obtain new swabs1200and/or swab receptacles1204.

FIG.21shows a schematic example of a mobile robot2100configured to fly within an environment, which may allow the mobile robot2100to traverse an environment more quickly and/or traverse additional regions within the environment when compared to a ground based mobile robot. As shown, the mobile robot2100includes a body2102and at least one rotor2104configured to generate lift. The lift generated in response to a rotation of the at least one rotor2104is sufficient to cause the mobile robot2100to become airborne.

The body2102of the mobile robot2100may include a sample collection system2106. The sample collection system2106is configured such that air passes into the sample collection system2106while the mobile robot2100is traversing the environment. As air passes into the sample collection system2106, the air is incident on (e.g., passes through) one or more collection mediums2108of the sample collection system2106. The one or more collection mediums2108are configured to collect one or more pathogens that are suspended within the air. One example of a collection medium2108includes an air filter having a pore size and/or properties (e.g., electrostatic properties) that encourage collection of one or more pathogens. In this example, the pore size and/or filter properties may be adjusted to target specific pathogens. Another example of a collection medium2108may be a liquid buffer collection medium configured to collect pathogens through condensation. In this example, condensation of aerosolized pathogens into liquid may reduce a number of steps between collection and extraction of DNA and/or RNA when compared to collection of pathogens in a solid material.

As shown, in some instances, the sample collection system2106may include an analysis system2110configured to analyze at least one of the one or more collection mediums2108in order to determine whether a pathogen has been captured by the one or more collection mediums2108. The analysis system2110can be configured to extract one or more of DNA and/or RNA from collected pathogens such that the collected pathogens can be identified. Extraction of the DNA and/or RNA may be performed by a non-centrifugation system.

A first example of the analysis system2110may be a system that is configured to urge a liquid solution containing the collected sample through a filter membrane to clean the collected sample. The filter membrane is configured to bind with the nucleic acid and allows non-desired cellular components to flow through and be discarded. For example, with reference toFIG.21A, the liquid solution can be urged through a filter membrane2150by urging a piston2152along a barrel2154. In this example, the liquid solution may be disposed within the barrel2154such that urging the piston2152along the barrel2154urges the liquid solution through the filter membrane2150.

A second example of the analysis system2110may be system configured to use sonication and/or heating to break open the cells of collected pathogens thereby releasing the DNA and/or RNA within the cells. Use of sonication and/or heating may allow the DNA and/or RNA to be extracted without the use of chemicals and/or enzymes.

A third example of the analysis system2110may include sheering the membranes of the pathogens (e.g., using a needle edge). Sheering the membranes releases the DNA and/or RNA for further purification.

Once the analysis system2110extracts the RNA and/or DNA, the analysis system2110may analyze the RNA and/or DNA to determine the pathogen(s) collected by the collection medium2108. The results of the determination may be transmitted to a remote device (e.g., a remote computer) for review by an operator. As such, inclusion of the analysis system2110with the mobile robot2100may improve the speed at which pathogens are detected (when compared to analyzing collected pathogens on an analysis system that is separate from the mobile robot2100).

In some instances, a plurality of mobile robots2100may be deployed within an environment. In these instances, multiple samples may be collected at different locations and/or heights. Such a configuration may allow for multiple locations to be monitored simultaneously. In some instances, the plurality of mobile robots2100may be configured to communicate with each other.

FIG.22shows a schematic example of a docking station2200configured to cooperate with the mobile robot2100. The docking station2200may be configured to include similar features as those discussed in relation to the docking station104ofFIG.1. The docking station2200may include a supply replenisher2202and/or one or more charging contacts2204to recharge one or more batteries of the mobile robot2100. The supply replenisher2202may configured to replace and/or replenish the one or more collection mediums2108. In some instances, the docking station2200may include a sample receiver2206configured to remove the collected samples (e.g., the one or more collection mediums2108from the mobile robot2100). The sample receiver2206may include an analysis system2208configured to analyze at least one of the one or more collection mediums2108in order to determine whether a pathogen has been captured by the one or more collection mediums2108.

The analysis system2208may function similarly to the analysis system2110ofFIG.21. As such, when the docking station2200includes the analysis system2208the mobile robot2100may not include the analysis system2110. This may reduce weight and/or reduce energy consumption of the mobile robot2100.

An example of a mobile robot, consistent with the present disclosure, may include one or more driven wheels, one or more sensors, and a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder.

In some instances, the plurality of collection mediums may include a plurality of swabs. In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. In some instances, the cartridge may be configured to be rotated. In some instances, the collection medium applicator may be configured to urge the respective collection medium into engagement with a surface. In some instances, the collection medium applicator may be configured to agitate the respective collection medium along the surface. In some instances, the one or more sensors may include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the respective collection medium based, at least in part, on the detected surface type. In some instances, the collection medium applicator may further include one or more contact sensors configured to detect engagement of the respective collection medium with the surface. In some instances, the collection medium applicator may be configured to rotate the respective collection medium about an actuation axis. In some instances, the collection medium applicator may be configured to urge the respective collection medium along an actuation axis.

An example of a bio-surveillance system, consistent with the present disclosure, may include a mobile robot and a docking station. The mobile robot may include one or more driven wheels, one or more sensors, and a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder. The docking station may be configured to receive one or more collected environmental samples.

In some instances, the plurality of collection mediums may include a plurality of swabs. In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. In some instances, the cartridge may be configured to be rotated. In some instances, the collection medium applicator may be configured to urge the respective collection medium into engagement with a surface. In some instances, the collection medium applicator may be configured to agitate the respective collection medium along the surface. In some instances, the one or more sensors may include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the respective collection medium based, at least in part, on the detected surface type. In some instances, the collection medium applicator may further include one or more contact sensors configured to detect engagement of the respective collection medium with the surface.

Another example of a robot, consistent with the present disclosure, may include a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder.

In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium.

While the present disclosure generally discloses detection of pathogens, the disclosed robot, docking station, and system for bio-surveillance may also be used to detect non-pathogenic microorganisms. Detection of non-pathogenic (and/or pathogenic) microorganisms may allow changes in a microbial community (e.g., resulting from climate change) to be monitored. Additionally, or alternatively, the disclosed robot, docking station, and system for bio-surveillance may be configured to detect substances (e.g., chemical substances) harmful to humans and/or animals.

The foregoing description of example embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the present disclosure be limited not by this detailed description, but rather by the claims appended hereto.

Unless otherwise stated, use of the word “substantially” may be construed to include a precise relationship, condition, arrangement, orientation, and/or other characteristic, and deviations thereof as understood by one of ordinary skill in the art, to the extent that such deviations do not materially affect the disclosed methods and systems. The terms “connected” or “coupled” as used herein is a relative term and does not require a direct physical connection, unless otherwise stated.

Throughout the entirety of the present disclosure, use of the articles “a” and/or “an” and/or “the” to modify a noun may be understood to be used for convenience and to include one, or more than one, of the modified noun, unless otherwise specifically stated. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.

Although the methods and systems have been described relative to a specific embodiment thereof, they are not so limited. Obviously, many modifications and variations may become apparent in light of the above teachings. Many additional changes in the details, materials, and arrangement of parts, herein described and illustrated, may be made by those skilled in the art.