Far-UVC Disinfection with Robotic Mobile Manipulator

TL;DR

This paper presents a cost-effective, robot-based far-UVC disinfection system using mobile manipulators with UV lamps, addressing limitations of existing UVGI robots in human presence, shadowing, and operational costs.

Contribution

It introduces a novel robotic disinfection system with far-UVC lamps, focusing on design, path planning, coverage, and scene understanding for effective pathogen sterilization.

Findings

System effectively disinfects high-contact surfaces.

Simulation results demonstrate adequate UV coverage.

Design reduces operational costs compared to existing robots.

Abstract

The COVID-19 pandemic has demonstrated the need for a more effective and efficient disinfection approach to combat infectious diseases. Ultraviolet germicidal irradiation (UVGI) is a proven mean for disinfection and sterilization and has been integrated into handheld devices and autonomous mobile robots. Existing UVGI robots which are commonly equipped with uncovered lamps that emit intense ultraviolet radiation suffer from: inability to be used in human presence, shadowing of objects, and long disinfection time. These robots also have a high operational cost. This paper introduces a cost-effective germicidal system that utilizes UVGI to disinfect pathogens, such as viruses, bacteria, and fungi, on high contact surfaces (e.g. doors and tables). This system is composed of a team of 5-DOF mobile manipulators with end-effectors that are equipped with far-UVC excimer lamps. The design of the system is discussed with emphasis on path planning, coverage planning, and scene understanding. Evaluations of the UVGI system using simulations and irradiance models are also included.