US 11,957,807 B2
Cleaning robot
Rodney Allen Brooks, San Francisco, CA (US); Dylan Bourgeois, San Francisco, CA (US); Crystal Chao, San Francisco, CA (US); Alexander Jay Bruen Trevor, San Francisco, CA (US); Mohamed Rabie Amer, San Francisco, CA (US); Anthony Sean Jules, Hillsborough, CA (US); and Gary Fred Marcus, Vancouver (CA)
Assigned to Robust AI, Inc., San Carlos, CA (US)
Filed by Robust AI, Inc., San Carlos, CA (US)
Filed on Mar. 22, 2021, as Appl. No. 17/208,672.
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 2021/0346543 A1, Nov. 11, 2021
Int. Cl. A61L 2/24 (2006.01); A47L 11/40 (2006.01); A61L 2/10 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B25J 18/00 (2006.01); G01C 21/20 (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)
CPC A61L 2/24 (2013.01) [A47L 11/4011 (2013.01); A47L 11/405 (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)] 13 Claims
OG exemplary drawing
 
1. A robot comprising:
a sensor module operable to collect sensor data characterizing a physical environment around the robot;
a processor operable to determine a three-dimensional model of the physical environment based at least in part on the sensor data and to identifying a designated surface to clean within the physical environment based at least in part on the three-dimensional model;
a mobility apparatus operable to navigate the physical environment, wherein the processor is operable to cause the robot to autonomously navigate to a designated location proximate to the designated surface via the mobility apparatus;
an ultraviolet light source operable to emit electromagnetic radiation in a range capable of cleaning the designated surface, wherein the processor is further operable to clean the designated surface by autonomously activating the ultraviolet light source for a designated period of time; and
a robotic arm capable of movement with respect to the robot in one or more dimensions, the ultraviolet light source being coupled with the robotic arm, wherein the processor is further operable to autonomously move the robotic arm to bring the ultraviolet light source in proximity with the designated surface, wherein the processor is further operable to determine a path through space for the robotic arm that will expose the designated surface to a level of electromagnetic radiation that exceeds a designated threshold, and wherein autonomously moving the robotic arm involves moving the robotic arm along the path through space, wherein the processor is further operable to identify a presence and a corresponding location of a human being within the physical environment, wherein the processor is further operable to calculate a predicted UV exposure dosage estimate for the human from activating the ultraviolet light source, and wherein the processor is further operable to activate the ultraviolet light source only when the predicted UV exposure dosage estimate does not exceed a designated threshold.