CPC A61L 2/10 (2013.01) [A61L 2/24 (2013.01); B25J 15/0019 (2013.01); G01C 21/343 (2013.01); G01C 21/383 (2020.08); G05D 1/0094 (2013.01); G05D 1/0219 (2013.01); G05D 1/0223 (2013.01); G05D 1/0274 (2013.01); A61L 2202/11 (2013.01); A61L 2202/14 (2013.01); A61L 2202/16 (2013.01); B25J 5/007 (2013.01); G05D 2201/0203 (2013.01)] | 18 Claims |
1. A method of disinfecting an interior space, comprising:
generating a map of the interior space using information collected by a sensor system comprising an autonomous, mobile, robotic (AMR) device, and determining from the collected sensor information an identity and location of one or more areas for disinfection;
using the map of the interior space, and the location of the one or more areas identified for disinfection, to determine a path for the AMR device to follow through the interior space in order to disinfect each of the one or more areas identified for disinfection, wherein the path comprises a plurality of nodes;
calculating a dosage of disinfectant to be applied by the AMR device to each of the one or more areas identified for disinfection along the path; and
controlling the AMR device to traverse the path while it applies the calculated dosage of disinfectant to each of the one or more areas, wherein a traversal speed corresponds to the disinfection dosage assigned to an edge, as a weight, that corresponds to the path between two adjacent nodes is determined, and wherein the weight comprises at least a speed of the AMR device and the dosage of disinfectant.
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