US 11,717,587 B2
Ultraviolet cleaning trajectory modeling
Alexander Jay Bruen Trevor, San Francisco, CA (US); Dylan Bourgeois, San Francisco, CA (US); Marina Kollmitz, Freiburg (DE); and Crystal Chao, San Francisco, CA (US)
Assigned to Robust AI, Inc., Palo Alto, CA (US)
Filed by Robust AI, Inc., Palo Alto, CA (US)
Filed on Mar. 19, 2021, as Appl. No. 17/207,195.
Claims priority of provisional application 63/022,349, filed on May 8, 2020.
Claims priority of provisional application 63/022,348, filed on May 8, 2020.
Prior Publication US 2021/0347048 A1, Nov. 11, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01); A61L 2/24 (2006.01); A61L 2/10 (2006.01); A47L 11/40 (2006.01); B25J 15/00 (2006.01); G02B 3/08 (2006.01); G02B 5/20 (2006.01); G02B 5/26 (2006.01); G02B 26/08 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); B25J 18/00 (2006.01); G01C 21/20 (2006.01)
CPC A61L 2/24 (2013.01) [A47L 11/405 (2013.01); A47L 11/4011 (2013.01); A61L 2/10 (2013.01); B25J 9/1664 (2013.01); B25J 9/1674 (2013.01); B25J 11/0085 (2013.01); B25J 15/0014 (2013.01); B25J 18/00 (2013.01); G01C 21/206 (2013.01); G02B 3/08 (2013.01); G02B 5/208 (2013.01); G02B 5/26 (2013.01); G02B 26/0875 (2013.01); G05D 1/0094 (2013.01); G05D 1/0214 (2013.01); G05D 1/0246 (2013.01); A47L 2201/04 (2013.01); A61L 2202/11 (2013.01); A61L 2202/14 (2013.01); A61L 2202/16 (2013.01); A61L 2202/17 (2013.01); A61L 2202/25 (2013.01); G05B 2219/50391 (2013.01); G05D 2201/0203 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
determining via a processor a model of a physical environment based at least in part on sensor data collected by one or more sensors at a robot, the model including a plurality of constraints including a field of view constraint indicating a field of view associated with an ultraviolet end effector coupled with the robot and including one or more ultraviolet light sources, the model further including a plurality of data values including a location of a human within the physical environment, the model further including a plurality of original uncertainty values expressing a statistical dispersion around a respective one of a subset of the data values including the location of the human;
determining, via the processor and based on the model, a trajectory through the physical environment for the ultraviolet end effector to clean one or more surfaces in the physical environment such that an estimated UV exposure level for the human is below a designated threshold, wherein determining the trajectory involves determining a plurality of updated data values corresponding with the subset of the data values and including a predicted location of the human, and wherein determining the trajectory involves determining the estimated UV exposure level for the human based on the predicted location, the uncertainty values, the field of view constraint, and the trajectory; and
causing the ultraviolet end effector to move along the trajectory.