DE102021109717A1 - System, device and method for disinfection - Google Patents

Abstract

The invention comprises a system, an apparatus and a method for disinfection. The system has disinfection sources deeply attached to a mobile base. In the structure on the mobile base there are, for example, disinfection sources inclined from the horizontal and / or vertical, the emissions of which can be manipulated, for example, by means of panels. Furthermore, the system has, for example, at least one height-adjustable disinfection source. The system is protected by an external sensor unit. In one aspect, this is a companion robot. Furthermore, the system uses a method to efficiently disinfect surfaces to be disinfected and to adapt the disinfection intensity accordingly. In one aspect, the sources of disinfection are UV lamps.

Description

Field of invention

The invention comprises a system, an apparatus and a method for disinfection.

Background of the invention

Humans are carriers of disease. Whether in the clinic or in public spaces, they can leave pathogens behind on the one hand, and also become infected with them on the other. For this reason, various measures are taken to reduce the likelihood of infection through disinfection. In addition to manual disinfection carried out by humans, for example by means of disinfectants and cleaning devices, various machines are also used to carry out these activities more cheaply and efficiently, but also to protect the people performing the disinfection from infections. Stationary or mobile systems have been used here for a long time.

In the context of increasing automation, more and more tasks are being performed by robots. This applies to robots that are stationary installed on production lines, to mobile robots that move autonomously within buildings, be it for completing transport orders, for diagnosing or treating people, for inventory or for cleaning. Disinfection robots also fall into the last area. Compared to the mobile systems that have been available for a long time, they have their own drive and in some cases also have navigation capabilities, with which they can, for example, move autonomously in an area and thus better reach the surfaces to be disinfected.

In principle, a distinction can be made between chemical and physical disinfection processes that are used by machines such as robots. Chemical processes include disinfectants as sources of disinfection, in the simplest case alcohol, which kills pathogens through a chemical reaction or prevents them from multiplying. Physical disinfection processes primarily use energy for this step, which, however, also triggers a chemical reaction. In addition to heat, this includes above all ultraviolet (UV) radiation or UV light, in particular UV-C radiation (wavelength 280-100 nm), which is emitted by disinfection sources. The invention described below is based on the use of UV radiation for disinfection. The UV radiation is preferably emitted broadly into the room in order, for example, to disinfect more than just the floor. UV lamps, for example UV LEDs, mercury vapor lamps, amalgam lamps (made up of copper, tin, silver and mercury) and / or xenon gas discharge lamps, are used as disinfection sources. These can, in one aspect, be tubular UV lamps

State of the art

In the prior art, there are various approaches that implement disinfection by means of UV light. One part is mainly dedicated to disinfecting and cleaning the floor. CN109316612 , CN209286237 , US2005022844 and CN109276728 describe a mobile service robot that has UV lamps on the underside that irradiate the floor during operation. at KR20070066673 , KR20070075954 , CN105476555 and CN108514384 it is a vacuum cleaner robot that disinfects the integrated dust compartment inside the robot using UV or the air flowing through it. KR20110006422 , KR20050013866 , US2016221195 , US2008295271 , US2013270459 , US2013270459 , KR20140022202 , CN204972352 , CN206443654 , CN107252284 , CN108606732 , CN109700387 , CN209172199 , CN209286237 , CN110279355 and CN110353576 represent a vacuum cleaner or cleaning robot that irradiates and disinfects the floor by means of UV lamps directed towards the floor.

There are also a number of other systems that also disinfect other surfaces away from the floor and which consequently emit light not only in the direction of the floor. This also includes systems that also disinfect the ambient air, such as in EP2999488 , US2008056933 , US2019060505 described, which at the same time also emit UV light from the side. Other systems, on the other hand, have movable arms for the targeted positioning of the lamps, e.g. EP3313454 , EP3538162 and EP3094357 . US2013126760 has a movable base and several vertically arranged lamps, some of which have their own base integrated into the movable base and can be manually removed from it in order to distribute them in the room and to achieve a broad disinfection effect.

Some of these mobile systems move autonomously, some require movement by people, for example, and then disinfect from a fixed position.

The state of the art can be subdivided into several areas such as the arrangement of the lamps, dosage of the lighting, partly under navigation requirements and protection of people.

Arrangement of the lamps

In the area of the arrangement of the lamps, systems are described that have a height-adjustable lighting unit. CN105963730 discloses a mobile service robot that has a vertically aligned UV lamp, which is adjustable in height and which, in one aspect, can be sunk inside the housing of the robot, which protects the lamp against external influences and means that none when retracted Disinfection is possible. The robot has a controller to use the height of the lamp in a targeted manner to illuminate objects in the vicinity of the robot depending on their dimensions. Describe against it CN109498822 and CN209347682 a retractable UV lamp, without going into detail in this context. The situation is similar EP3316915 . This differs from these versions CN209060070 . This describes a robot that has a radially radiating, outer light unit. Inside this luminaire unit there is an internal, height-adjustable luminaire unit that can be lifted vertically over the outer luminaire unit in order to illuminate the surroundings from different heights, whereby a sensor detects the surroundings, e.g. the height of the objects to be disinfected, and above that the height the internal, height-adjustable lighting unit.

In the area of the arrangement of the lamps, systems are also described that define the height or direction of radiation. This includes a system without its own drive that can be used in EP2718961 is revealed. In one aspect, this not only has a height-adjustable lamp or a lamp that can be lowered into a platform. In a modified embodiment, the system emits light in a vertical direction at a height of 61-122 cm above the floor and has a conical reflector above the lamp.

In the area of the arrangement of the lamps, systems are also described which relate to the orientation of UV fluorescent tubes. EP2928506 refers to a mobile, non-autonomous base with lamps arranged vertically in a circle, which are located between an upper and lower base, the bases being twisted relative to one another so that the lamps are inclined perpendicular to the radial plane from a radial point of view. Such an arrangement has the advantage that surfaces can also be illuminated obliquely from above or from below. Against it points US2006284109 As a mobile, non-autonomous basis, an arrangement of individual lamps in a shade / cone shape, with which surfaces in the horizontal plane are illuminated from below compared to a vertical arrangement. JPS57164062, on the other hand, shows a vertical lamp arrangement in which the lamps can be tilted like an upside-down screen / cone, which in turn enables better illumination of surfaces located in the horizontal plane from above.

There are also a number of other protective rights in the area: US2015196674 mentions a spherical light source for disinfection purposes, LEDs being used here. WO2015012592 also uses LEDs. They are arranged on a cylinder with lateral radiation and emit light at different angles. EP3218017 refers to a mobile system with UV lamps that can be individually positioned.

Dosing of the lighting

The dosage or optimization of the lighting is a topic that is also recognized in the prior art. EP2696902 and EP3033115 show a system with a stationary or portable unit with a light source, in which the mobile unit has UV detectors. In addition, there is at least one further UV detector that is not located on the mobile unit, but in the area that is to be disinfected. The UV detectors are used to measure the emitted dose of light and thus to regulate it in a targeted manner.

In EP2174670 the area in the room with the lowest received radiation is determined via at least one sensor and, based on this minimum value, the room is illuminated until a threshold value for this smallest illuminated part of the room has been exceeded, the threshold value representing a pathogen-dependent illumination dose. EP1259266 is similar, here, based on measured UV light reflections, the emission of UV light is regulated.

EP2809358 describes a manually movable system in which the rotation speed of a reflector as well as the duration of illumination depend on the distance from the objects to be disinfected to the system, the distance being recorded by sensors and the sensor being evaluated via a remote control. The system is also able to identify shaded areas, although it was not disclosed how this is implemented.

EP3335573 describes the use of a UV light source pulsed with at least 20 Hz as a disinfection source, the power flow being 200-5000W / m ² . Is related to EP3193634 , where the energy of the pulsed light source is 20-1000J / m ² . Pulsed light sources are primarily xenon gas discharge lamps.

EP2718961 has a detector to measure the light intensity on surfaces and to regulate the light intensity accordingly. EP2950828 on the other hand, it refers to a pulsed system for room disinfection, in which the duration and intensity of the pulses depend on room parameters.

CN107875413 and CN208852057 regulate the light intensity of pulsed lamps via a light intensity detector and transmit environmental information to a user via a camera. CN108664030 CN108776473 , CN208705724 adjust the lighting intensity to the area to be disinfected without describing how this is implemented.

Sensors are used not only to evaluate the intensity on the surfaces to be disinfected, but also to control the emission of the lamps. These are mostly mercury vapor lamps or xenon gas discharge lamps that can show signs of aging, which means that optimal control of the intensity must be monitored by a sensor, also with a view to lamp failure. Such an implementation can be found in EP2509639 , US8791441 and GB2527077 .

Dosing of lighting and navigation

US2012223216 represents a disinfection robot that irradiates its surroundings using UV lamps and also varies the intensity of the irradiation by controlling the intensity, the distance between the surfaces to be illuminated and / or the driving speed. The robot also has a sensor for detecting pathogens that fluoresce under UV light. It can move autonomously to areas in which it identifies a high density of pathogens. Details are not described in detail.

EP3468623 describes the three-time measurement of a room for the purpose of UV disinfection, whereby distances are measured from the sensor in each case, the sensor height is repositioned for the second measurement and the sensor is reoriented for the third measurement. Then, on the basis of the distances, it is determined how long the lighting should last.

In KR101724447 A service robot with a UV lamp detects areas in the horizontal plane in which adequate disinfection cannot take place because it cannot drive into them, and marks them accordingly on a map. In addition, a user can receive such blind spots as an image in real time.

Protection of people

UV radiation is not only harmful to germs, but also to people. It is therefore important to protect them from the harmful effects of radiation. EP2696902 and EP3033115 describe a system which has a stationary or portable unit with a light source and which has a sensor on a door of the room that registers the opening of the door, in which case the system interrupts the UV light emission. EP2174670 refers to a mobile base on which UV lamps are arranged, which are deactivated in the presence of people, the presence being detected by motion sensors. A door sensor is also used here. EP2509639 also includes a motion sensor, when triggered, a mobile, non-autonomous disinfection unit is switched off. That also applies to US8791441 , US2012223216 , EP3193634 , KR101742489 , CN108664030 , CN108776473 , and CN208705724 .

Summary of the invention

The object of the invention is to develop a system that provides a sufficiently high disinfection performance per surface, disinfects as much potentially contaminated surface as possible, which for example in a reasonable time, and thereby for example bringing people into contact with the disinfecting agents such as UV radiation. In the prior art, evaluations are known which describe which radiation energy is necessary to kill different pathogens such as bacteria, viruses or fungi. Depending on the extent of the disinfection, the system must apply the appropriate energy to the respective surfaces in order to achieve the desired disinfection effect. UV radiation can also damage materials, e.g. plastics. The radiation energy can break chemical bonds and possibly also initiate new bonds, which can change the material properties and thus lead to the destruction of products. It is therefore important, for example, depending on the application environment, to minimize such a disruptive influence. UV radiation is also harmful to humans, in particular their eyes and skin, since it influences the DNA, which is desirable with regard to pathogens, but not in humans.

The invention comprises a system for disinfection with a mobile base, in one aspect with a self-propelled base, which also has navigation capabilities, and on which there is at least one source for disinfection, e.g. for physical disinfection, e.g. by means of UV Radiation. In the following, the mobile base is first described, followed by arrangements of several disinfection sources according to the invention.

The mobile base has a structure that essentially contains the at least one disinfection source, in one aspect a plurality of disinfection sources. The mobile base itself has a drive unit, an energy store and a navigation unit so that the disinfection system can move autonomously and carry out disinfection tasks. For this purpose, it also has a disinfection control module in which rules for disinfection are stored, for example various disinfection programs, which in turn can have an influence on the intensity of the disinfection. This intensity is controlled via the intensity of the disinfection sources (e.g. the emitted energy), the speed and / or the distance of the system to the disinfection, whereby in one aspect mechanisms can be used to switch on the lighting with constant lighting power by external devices influence.

If there is more than one source, the disinfection sources can be arranged in such a way that illumination is inclined downwards and upwards and, in one aspect, at least one disinfection source is height-adjustable. In one aspect, the mobile base itself also has at least one disinfection source which, viewed vertically, is attached lower than the structure in which there is at least one further disinfection source. UV lamps such as UV LEDs, mercury vapor lamps, amalgam lamps and / or xenon gas discharge lamps can be used as disinfection sources, for example. Tubular UV lamps with connections at one or two ends, including double tubes.

The disinfection system communicates, in one aspect, with an external sensor unit, which can, for example, monitor the closed state of a door and, if necessary, reduce the emission of the lighting when the closed state changes. In one aspect, the external sensor unit can be an accompanying robot that monitors the surroundings of the system for disinfection and notifies the system for disinfection when movements and / or people are detected, so that the emission of the lighting is reduced.

Figure list

• 1 System zur Desinfektion und verbundenes System;
• 2 Architektursicht des Systems zur Desinfektion
• 3 System zur Desinfektion mit Desinfektionsquellen in der mobilen Basis;
• 4 mögliche Anordnung der Desinfektionsquellen im Aufbau;
• 5 Alternative Anordnung von Desinfektionsquellen im Aufbau (Seitenansicht);
• 6 Alternative Anordnung von Desinfektionsquellen im Aufbau (Draufansicht);
• 7 Aufbau mit Lamellenanordnung;
• 8 Navigation und Lamelleneinsatz;
• 9 externe Sensoreinheit;
• 10 Desinfektionsquellen für die Räder;
• 11 Ablauf Einsatz Begleitroboter;
• 12 Navigation zur Anpassung der Desinfektion;
• 13 Variante der Anordnung der Desinfektionsquellen.
• 14 Erfassungsbereich der Desinfektionsquellen
• 15 Anordnung der Streben und Desinfektionsquellen
• 16 Anordnung der Lichtschranken
• 17 System zur Desinfektion und Begleitroboter
• 18 System zur Desinfektion und Zustandsüberwachung der Kommunikation mit einer externen Sensoreinheit

The invention will now be described in more detail with reference to the following drawings. Show it:

• 1 Disinfection system and connected system;
• 2 Architectural view of the disinfection system
• 3 System for disinfection with disinfection sources in the mobile base;
• 4th possible arrangement of the disinfection sources in the structure;
• 5 Alternative arrangement of disinfection sources in the structure (side view);
• 6th Alternative arrangement of disinfection sources in the structure (top view);
• 7th Structure with lamellar arrangement;
• 8th Navigation and slat insert;
• 9 external sensor unit;
• 10 Disinfection sources for the wheels;
• 11 Procedure for the use of an accompanying robot;
• 12th Navigation to adjust the disinfection;
• 13th Variant of the arrangement of the disinfection sources.
• 14th Detection area of the disinfection sources
• 15th Arrangement of struts and sources of disinfection
• 16 Arrangement of the light barriers
• 17th Disinfection system and accompanying robot
• 18th System for disinfection and status monitoring of communication with an external sensor unit

Detailed description of the invention:

Mobile platform and control

The claimed system (see 1 and 2 ) includes a mobile base 1 and a structure 5 . Under construction 5 there is primarily a unit with at least one source of disinfection 138 . In the mobile base 1 there are various components, e.g. for the autonomous control of the mobile base 1 and the operation of at least one source of disinfection 138 . A mobile base computer is also located there 20th and a memory of the mobile base 21 .

The mobile base 1 itself has a drive unit 6th , e.g. designed as a differential drive, as well as two drive wheels 7th . The mobile base 1 is via an energy store 8th supplied, for example an accumulator. This energy storage 8th is Can be connected to the energy store at least via an interface with a charging device 8th to reload. A charge controller is required for this 133 implemented. In one aspect it is the mobile base 1 around. The mentioned drive wheels 7th are arranged parallel to each other and on an axis, which is the center of the circle of the disinfection system 10 or the mobile base 1 cuts, provided it is round, for example. In addition, the mobile base has support wheels 9 In one aspect, for example, at least two, which for example are also arranged on an axis which is the center of the circle of the mobile base 1 intersects and which is arranged orthogonally to the first axis. With such an arrangement it is possible that the mobile base 1 turns on the spot, which is achieved by controlling the drive wheels in opposite directions 7th is possible and the navigation skills especially when it is necessary to navigate through narrow spaces, for example with many obstacles. The shape of the mobile base 1 and the arrangement of the drive wheels 7th may, in an alternative aspect, vary from this arrangement.

The mobile base 1 has a hardware-related motor control 137 as well as via a computer on the mobile base 20th and a memory of the mobile base 21 in which various instructions are stored. In addition, the mobile base has 1 via at least one radio interface, e.g. WLAN 130 to use another computer (e.g. 22nd ) to communicate which is outside the mobile base 1 and, for example, via a cloud connection 25th or can be reached directly.

The mobile base 1 has at least one sensor unit for navigation purposes. This is a LIDAR 124 and / or a 2D and / or 3D camera 125 , e.g. an RGB-D camera. The LIDAR 124 is arranged, for example, in such a way that it encompasses the surroundings of the mobile base 1 or the system for disinfection 10 recorded in the usual direction of travel. The data is stored locally in the computer of the mobile base, for example 20th evaluated, in one aspect there is a transfer to the cloud 25th for evaluation purposes. Further LIDAR 124 which are also oriented backwards, for example. In an alternative aspect, radar sensors or ultrasonic sensors are used here. Looking at the camera 125 Speckle cameras, stereo cameras or time-of-flight (ToF) cameras can be used, for example an Astra Orbbec or a Microsoft Kinect. Also is the use of more than one camera 125 possible, whereby these can, for example, be oriented in different directions.

Oriented in the direction of travel is located on the mobile base 1 In one aspect, at a distance of, for example, more than 10 millimeters above the ground, a pressure-sensitive bumper 122 (or combined rubber-buffered safety edges with impact protection). Alternatively and / or in addition, ToF sensors and / or so-called short-range LIDAR / radar / ultrasonic sensors can also be used as distance sensors. This is or are with the engine control 137 and, in one aspect, with the mobile base computer 20th connected and is used for collision detection. This is how the drive unit works in the event of a collision 7th stopped immediately.

The mobile base 1 is via an interface with another system 24 connected that from the mobile base 1 receives recorded data. These can be from this further system 24 be evaluated in one aspect, in another aspect made available to another system via an interface for further processing. In the further system 24 can also use the other computer 22nd and the further memory 23 be positioned. The transmitted data can be, for example, position information, maintenance information such as running time, charge status of the accumulator, operating hours, aging status, for example of a disinfection source 138 act etc. This data can be in the form of log files, for example. On the other computer 22nd and other storage 23 lying data can, for example, via a terminal 26th can be accessed. This can be a permanently installed device or a mobile device such as a cell phone or tablet. Via the terminal 26th can use the mobile base 1 instructions are also transmitted, such as, for example, taking up a position, for example going to a room, which is disinfected by the system 10 should be disinfected. You can also use the terminal 26th For example, an operating mode can be defined, for example the degree of disinfection (for example as the intensity of the disinfection sources 138 defined, e.g. depending on the pathogens to be killed). Start and stop commands can also be sent to the disinfection system 10 be transmitted.

2 represents an architecture view. There are two levels, the hardware level 120 and the software level 100 . At the hardware level 120 there is an odometry unit 121 , by means of which from the mobile base 1 Distance traveled by measuring the distance traveled by the drive wheels 7th traveled distance is determined. These are either in the differential drive 132 on the engine (and here, for example, the axle) and / or on the drive wheels 7th or a possibly existing transmission sensors for determining the angle of rotation are available. The odometry unit 121 is also configured so that the angle determination in connection with the diameter of the drive wheels 7th and any intermediate gear ratios, the distance covered can be determined. This can be, for example, Hall sensors, encoders, stroboscopic tachometers, tacho generators, Act as an induction transmitter and / or a Wiegand sensor, etc. In one example, the encoders (via light barrier) can read out more than 1024 steps per revolution, the Hall sensors 24 Steps.

Pressure sensitive bumpers 122 and (optional) infrared ToF sensors 123 (ToF = Time of flight) are hardware-related mechanisms for collision detection, such as a LIDAR 124 , which is also used for navigation, for which alternatively and / or additionally the camera 125 can be used. This can be a 2D or 3D camera, in one aspect an RGB-D camera. In an optional aspect, the system can be used for disinfection 10 via alarm lights 126 and / or via a tone generator / loudspeaker 134 have, whose acoustic signals can be used to warn people in their vicinity, e.g. during the operation of the disinfection sources 138 . An optional display 129 as well as controls 127 allow the disinfection system to be operated 10 , which also has an interface for a wireless network such as WLAN 130 or Bluetooth, etc. and optionally with a communication module in 2 Called ZigBee 131 for brevity. This can be used, for example, for communication between two disinfection systems 10 can be used and / or to communicate with external sensors, such as in 9a / b described in more detail. Via one of these wireless interfaces, information such as the position of the system for disinfection can, for example, in an optional aspect with a time reference (time stamp) 10 (preferably on a map), the current speed and the planned route are transmitted. Alternatively and / or in addition, the communication module 131 can also be used to control doors, gates, etc., as well as other, external systems such as warning devices, etc.

A differential drive 132 ensures the movement of the drive wheels 7th . A charging controller 133 is configured to charge the internal battery. An engine control 137 brings the sensor elements with the differential drive 132 together and ensures that in the event of an obstacle detection, the speed and the planned travel trajectory are adjusted. Depending on the configuration of the system for disinfection 10 he can use at least one sensor to determine the room height 135 have, for example, a laser rangefinder. In addition, it can be under construction 5 a height adjustment for the height-adjustable unit 136 are located. This can be done hydraulically, pneumatically, electrically, via a cable pull, gear drive, etc. The height-adjustable unit 136 is controlled by a height adjustment control unit 180 controlled. The system for disinfection 10 also has at least one source of disinfection 138 such as UV LEDs, mercury vapor lamps for the emission of UV-C radiation, xenon gas discharge lamps. Details are described elsewhere. The at least one source of disinfection 138 can by at least one sensor for the disinfection source monitoring 139 be monitored.

At the software level 100 there is a navigation module 110 , comprising a 2D and / or 3D environment detection module 111 , a module for path planning 112 , by means of which the system for disinfection 10 Can efficiently calculate your own path to be covered and evaluate it in terms of its effort with regard to certain criteria. The navigation module 110 is intended, among other things, for the position of the system for disinfection 10 to investigate. This can be done, for example, by means of the odometry unit 121 or by recognizing characteristic features from an environment recognition (based on the LIDAR 124 or a camera 125 ) and a comparison with cards stored in the card module 119 which also contain these features, for example taking into account the information provided by the camera 125 and the LIDAR 124 determined distances to these features take place. This can be done, for example, in the self-localization module 114 of the disinfection system 10 be implemented in his environment. The navigation module also includes 110 a module for movement planning 115 , which includes the results of the path planning from the path planning module 112 and calculates an optimal route for the disinfection system 10 taking into account or optimizing various cost functions. In addition to the data from path planning, data from obstacle avoidance, a preferred driving direction, etc. also act as cost functions. The dynamic window approach known in the prior art is used here. The system also has disinfection 10 via a mapping module 117 , ie the mapping of the environment, as well as the charging module 118 for automatic charging. The latter means that the system has to be disinfected 10 , for example. If the voltage of the accumulator falls below a defined threshold value, it automatically visits a charging station. The system for disinfection 10 also has a map module 119 in which maps of its surroundings have been stored, for example after they have been created by the mapping module 117 .

The system for disinfection 10 has a disinfection control module 140 . This includes, for example, disinfection program modules 141 deposited. These can, for example, describe the intensity with which disinfection should take place, for example based on the type of pathogens to be killed. While viruses, for example, can be rendered harmless quickly, a higher energy supply is necessary for bacteria, depending on the type. For mushrooms, this is sometimes significantly higher. Therefore, an appropriate disinfection program can be implemented in the Disinfection program module 141 can be selected if, for example, it is known that a certain fungus is to be killed. Furthermore, schedules can also be stored here, for example, when disinfection should take place. In a space planning module 142 Rules can be stored that describe which rooms are to be disinfected. This module is in exchange with the card module 119. In the emergency program module 143 rules are stored on how to prevent people from being harmed by the emitted UV radiation. This is available, for example, with the person recognition module described below 160 in connection with the sources of disinfection in the event of personal detection 138 to deactivate, or with other sensors, which are described in more detail below (see also 9a / b). Via an intensity module 144 rules are provided that are included in the module for movement planning 115 flow in. These can, for example, indicate that certain areas should be disinfected with less intensity, for example in order to protect UV-sensitive materials. Such information can flow into the card module 119, for example in the form of cards. The intensity itself can be implemented, for example, by dimming / controlling the ballasts with regard to power output in the case of UV lights and / or switching the disinfection sources on and off 138 .

In the person recognition module 160 is based, for example, on from with a camera 125 , e.g. an RGB-D camera or another sensor such as the LIDAR 124 (alternatively and / or in addition a motion sensor, e.g. pyroelectric / infrared, Doppler radar, etc.) used to disinfect people in the vicinity of the system 10 to recognize. The person recognition module 160 can be of different sizes. In one aspect, existing frameworks such as OpenPose or the Microsoft Kinect SDK are used in the prior art in order to carry out a skeleton recognition directly on the basis of recognized, moving objects and to recognize a recognized object as a person. Alternatively and / or in addition, a movement of a detected obstacle can also be classified directly as a person.

Arrangements of the disinfection sources

The system for disinfection 10 can have more than one source of disinfection 138 feature. These can be both under construction 5 as well as in the mobile base 1 are located and also be arranged differently. The sources of disinfection are in one variant 138 under construction 5 and are arranged there vertically in a tubular shape in a circle. This representation can also be found in 1 . There you can see that the structure 5 a lower base 3 and an upper base 4th comprises, the top base 4th by striving 2 connected to the lower base. Between the upper base 4th and lower base 3 are the sources of disinfection 138 , shown here as rod-shaped mercury vapor lamps and / or amalgam lamps. The lower base ( 3 ) and top base ( 4th ) form a support structure ( 37 ), which in one aspect are the struts ( 2 ) includes.

As the system for disinfection 10 If you want to move through narrow areas, e.g. in a room in a hospital between the bed and the side wall, it may be that there is not much space to the left and right of the system. The systems described in the introduction in the prior art are all characterized in that the disinfection sources 138 at a height of approx. 30 cm, in EP2718961 are only found from a height of 60 cm. This makes it more difficult, for example, to illuminate lower-lying areas, especially when these are shaded, for example by lower tables, chairs (typical height: approx. 40 cm) or cupboards that do not reach the floor, or equipment in the room , etc., at which the system is used for disinfection 10 for reasons of space only has to move past a short distance. The closer the system is to disinfection 10 to these objects, which is exacerbated by the said constrictions, the lower the disinfection effect. 14th illustrates this. Links in 14 a) is where the disinfection system is located 10 close to the chair 17th so that the detection range of the disinfection sources 18th on the right not the floor and the area under the chair 17th recorded. Only when there is a greater distance between the disinfection system 10 and chair 17th (please refer 14 b) is caused by the disinfection sources 18th also more from the area under the chair 17th recorded. Instead, the incoming energy on the surfaces is in the detection range of the disinfection sources 18th in 14 a) higher than in 14 b) . This can mean that the floors underneath are not illuminated sufficiently to achieve a disinfecting effect. These systems described in the prior art and presented in the introduction do not solve this problem satisfactorily.

The disinfection system disclosed in this document 10 therefore has, in one aspect, the mobile base 1 also about disinfection sources 138 . In one aspect, these are in a horizontal and / or vertical position in order to be able to illuminate, for example, under low cupboards, for example from a height of 4 cm above the floor, with their positioning facing their lowest point ( whether mounted vertically or horizontally) at a height of 4 to 30 cm above the floor, e.g. at a height of 4 to 12 cm above the floor. Several of these disinfection sources, for example horizontally and / or vertically arranged, can also be used 138 Be arranged one above the other, for example. At a distance of more than 5 cm. This is where these sources of disinfection are located 138 at least on one page, in one aspect on several pages. They are located, from the vertical central axis of the disinfection system 10 viewed from, for example on different tangential planes. For example, they can be arranged in such a way that they radiate on four sides. These sources of disinfection 138 can also be arranged offset, for example on one side, for example horizontally offset and / or vertically offset. The mobile base 1 round, square or some other shape. In one aspect, the sources of disinfection are 138 recessed, ie the housing of the mobile base 1 protrudes over the sources of disinfection 138 out. That leads to the disinfection sources 138 better in the event of a possible collision of the mobile base 1 are protected from damage. Alternatively and / or in addition, a grid and / or bracket can also be used for this protective function, which covers the disinfection sources 138 protrudes at least radially and / or partially covers it, especially when the disinfection sources 138 outside on the mobile base 1 be attached. The sources of disinfection 138 can also be equipped with at least one reflector. 3 a) shows an embodiment with a round mobile base 1 and three recessed, horizontally arranged disinfection sources 138 in the mobile base 1 , whereby 3 b) Disinfection sources arranged vertically in the base 138 shows.

Simulation calculations have shown that the vertical arrangement of rod-shaped disinfection sources 138 Surfaces at different heights and orientations are poorly illuminated than when the disinfection sources 138 are arranged obliquely. EP2928506 solves this problem in that rod-shaped disinfection sources are arranged on a circular path and are held by an upper and lower base, the bases being rotated relative to one another and the rod-shaped disinfection sources being inclined. This ensures, for example, that, viewed from one side, the front disinfection sources radiate obliquely downwards and the rear disinfection sources radiate obliquely upwards (or vice versa, depending on the direction of rotation of the bases to one another). Against it points US2006284109 an arrangement of individual disinfection sources in the shape of an umbrella / cone, which results in better lighting upwards, whereas in JPS57164062 an upside-down umbrella / cone shape results in better lighting downwards. One of the embodiments disclosed here now combines the approaches of the umbrella shapes with one another. This results in better illumination both downwards and upwards. The arrangement of the sources of disinfection 138 can be circular, triangular or polygonal from the top view. The sources of disinfection 138 are coupled to the lower and / or upper base. The inclination of the sources of disinfection 138 therefore deviates from 90 ° in the radial plane, but not by more than 30 °. For example, it can be described as essentially perpendicular. Here, in one aspect, the inclinations can be reciprocal, that is to say during a source of disinfection 138 is inclined outwards, is the neighboring source of disinfection 138 inclined inward. In one aspect, at least two adjacent disinfection sources can also be used 138 in the same direction and only the third source of disinfection 138 be inclined in the other direction. In other words: at least two neighboring disinfection sources 138 are arranged side by side at approximately the same acute angle, which deviates from the perpendicular in the radial plane in the same direction, and only a third disinfection source 138 shows the deviation from perpendicular to the opposite side. There are, for example, two sources of disinfection 138 obliquely downwards and a disinfection source adjacent to them 138 directed obliquely upwards. In other words: the two neighboring disinfection sources 138 are arranged with the deviation from the perpendicular in the same direction in the radial plane so that the coupling point 38 at the top base 4th is further removed from the center-centered axis of the device than the coupling point 38 at the lower base 3 . This is the case because upward-facing surfaces tend to be more contaminated than downward-facing surfaces and these can therefore be better disinfected. A corresponding version is in 4th illustrated, with two disinfection sources here 138 downwards and one upwards and the arrangement of the disinfection sources 138 exemplarily takes place in a circular manner. Such an arrangement can, for example, achieve a better disinfection effect than the twisted circular arrangement. Arrangements other than circular are also possible. 13th illustrates a view from the radial plane. Here are in 13a) the sources of disinfection 138 arranged so that the coupling points ( 38 ) in the upper and lower base, for example, lie on a radius. (The dashed line here represents an adjacent source of disinfection 138 dar). This is made clear by the thin, dashed lines, which are perpendicular to both disinfection sources 138 associate. The angles α and β shown are the same size. In 13b are the coupling points 38 at the two bases ( 3 , 4th ) in each case radially offset (specifically by the same radial distance, so that the angles α and β drawn are the same). In 13c ) there is a combination of 13a) and 13b), in which the coupling points 38 lie on a common track and the tracks are offset once. The angles α and β are therefore of different sizes. In one aspect, at least one reflector can be located in the interior of the embodiments outlined in these representations are located. Essentially perpendicular / vertical means that the angle between the perpendicular / vertical / plumb line and the disinfection source 138 is an acute angle. In one aspect, the sources of disinfection 138 in this arrangement only on one base ( 3 , 4th ) be coupled.

In one aspect, it can be the arrangement of the at least one disinfection source 138 under construction 5 also about essentially horizontally arranged disinfection sources 138 act, ie they are sources of disinfection 138 , which, seen in the tangential plane, are arranged obliquely downwards and / or upwards. Essentially, this implies an angle of max. 30 °. 5a illustrates such an arrangement. Here are the sources of disinfection 138 , in this case rod-shaped, between two, for example, vertical struts 2 mounted inclined. The appearance of the arrangement of multiple sources of disinfection 138 , also viewed from several sides, is reminiscent of a spiral. Unless the sources of disinfection 138 For example, having an electrical connection on only one side, the arrangement can also as in FIG 5b take place, ie the sources of disinfection 138 are only attached to one side. Such an arrangement can also take place alternately, ie the disinfection sources 138 on one side are on the two border struts 2 attached and not just on the right strut shown 2 . From the top view, these disinfection sources, which are arranged essentially horizontally, can be seen 138 , as in 6a and 6b shown, be arranged in a polygon, for example square or triangular. 6c shows that an arrangement can also be made in a star shape, for example with a fastening of the disinfection sources 138 on a central strut. Sources of disinfection then come, for example 138 are used that only have a one-sided connection. In one aspect, the sources of disinfection 138 also be arranged at an angle of inclination of 45 °. Arranged essentially horizontally means that the angle between the disinfection source 138 and the horizontal is an acute angle.

The system for disinfection 10 can, for example, pass objects relatively closely, with only a small need for disinfection on one side and / or due to the proximity of the system for disinfection 10 to an object this receives the dose of UV radiation relatively quickly, while on the other side, for example because of a greater distance, longer lighting is necessary. An example is in 8 a) illustrated. There is a bed here 13th , the one with one long side next to a cupboard 14th stands and between bed 13th and closet 14th there is a corridor, for example, in the width, in which the system for disinfection is located 10 moved in the middle. Depending on the dimensioning of the disinfection system 10 can be the distance between the disinfection source 138 and closet 14th The length to the other long side of the bed is only 10-30 cm 13th On the other hand, up to where the illumination is to be carried out with sufficient intensity is more distant than Im. This discrepancy is illustrated by the arrows: the arrow A shows the greater distance between the system for disinfection 10 and the opposite edge of the bed 13th , while the arrow B indicates the shorter distance between the disinfection system 10 and the closet 14th represents. Although the system could disinfect 10 at this point move closer to the bed if it is narrower than Im, but this would not affect the distance discrepancy between the disinfection system 10 and change the cabinet surface or the edge of the bed surface on the opposite side, ie the arrows A and B would only adapt to one another in length to a limited extent. The lighting dose on the cabinet surface would be significantly higher, which, depending on the nature of the cabinet surface, could lead to faster material fatigue on the cabinet surface over time. Well, in one aspect, the sources of disinfection can 138 on the one on the closet 14th facing side in their intensity (as already described elsewhere) are throttled. Provided the structure 5 with the disinfection sources 138 in one of the versions, for example in 4-6 have been shown to have at least one reflector, for example arranged centrally, this would prevent the bed from being illuminated 13th facing side takes place. Has the structure 5 however, if there is no reflector, this would reduce the intensity of the disinfection sources 138 on the one on the closet 14th facing side only bring a limited reduction in the lighting intensity of the cabinet side with it.

Because of this, the system can be used for disinfection 10 , as in 7 a) and b) sketched as an example, have a lamella arrangement which, from the center of the structure 5 seen radially from the sources of disinfection 138 from seen. Among other things, these slats fulfill the function of screens. The sources of disinfection 138 are in this illustration as vertical disinfection sources 138 shown. In principle, they can also be arranged differently, for example in a form explained in more detail above. They can be arranged in a circle or square. The slats 11 are, for example, in the middle, on a lamella axis 12th movably mounted, e.g. rotatable. This lamellar axis 12th can, for example, by a stepper motor, positioned on one of the two bases 3 or 4th , are controlled, in one aspect also individually, with which the slats 11 are individually movable. The slats 11 can also have reflective surfaces on one or both sides. When viewed from above, they can be straight, curved or shaped differently. In the cross-section, the lamellae 11 rectangular, triangular or some other shape. The slats 11 can all be closed in one state of activation (see 7 a) , with which, for example, the light emission of the disinfection sources 138 can be prevented. In 7th are the slats 11 arranged vertically. In one aspect, they can also be arranged horizontally. The arrangement of the slats 11 is based, for example, on the arrangement of the disinfection sources 138 . Are the sources of disinfection 138 The lamellae are oriented essentially horizontally 11 also arranged essentially horizontally. With an essentially vertical arrangement of the disinfection sources 138 are the slats 11 also arranged essentially vertically. This can be used, for example, when a person joins the system for disinfection 10 approaches and despite switching off the disinfection sources 138 a slow afterglow takes place, during which UV radiation is still emitted. The slats are in one operating mode 11 of the disinfection system 10 open (see 7b) . The slats 11 can, in one aspect, also be controlled individually. For example, one or more slats 11 in the above example in 8b) are controlled in such a way that they at least greatly reduce light emissions towards the nearby wall unit. Unless the slats 11 have reflective properties, the light from the disinfection sources positioned on the bedside would at the same time 138 on the slats attached to the cabinet 11 towards the bed 13th be reflected. This increases the light intensity there and shortens the disinfection time. Irrespective of these reduction and / or amplification effects of the lighting, the slats protect 11 for example the sources of disinfection 138 in the event of a collision of the superstructure 5 For example, with a horizontal obstacle to prevent damage and thus prevent, in one aspect, the escape of toxic mercury.

Height-adjustable source for disinfection

In one aspect, the system has disinfection 10 within the construction 5 and surrounded by sources of disinfection 138 such as UV lamps a height-adjustable unit 16 (see also 3 ). This height-adjustable unit 16 can extend over the top of the top base 4th of the structure 5 to raise. For this purpose, for example, a height adjustment for the height-adjustable unit 136 be used. This can be a telescopic system that works with a cable, pneumatics or hydraulics, a tooth-based device, for example a gear drive, etc. The height adjustment for the height-adjustable unit 136 is, in one aspect, a height adjustment control unit 180 controlled. This height-adjustable unit 16 has at least one additional source of disinfection on the outside 138 . In one aspect, are sources of disinfection 138 outside around the height-adjustable unit 16 arranged. The sources of disinfection 138 can lie in troughs, so that in the event of a collision the height-adjustable unit 16 with an obstacle the sources of disinfection 138 are exposed to a reduced probability of colliding directly with the obstacle. These sources of disinfection 138 can have reflectors. In one aspect, the reflectors direct emitted light obliquely upwards and / or downwards. The sources of disinfection 138 can also be inclined vertically. The angle in the radial plane to the perpendicular can be positive or negative. So, in one aspect, the height-adjustable unit 16 can also be tilted / tilted when viewed from the perpendicular.

In one aspect, the system has disinfection 10 via at least one room height sensor 135 . This can be, for example, a laser range finder, an ultrasonic sensor, a 3D camera or a radar sensor. This can either be down on the mobile base 1 attached and directed upwards. He can also build on top of it 5 be attached, for example. On the upper base 4th and / or the height-adjustable unit 16 . The room height sensor 135 stands in one aspect with the height adjustment control unit 180 in connection. Before lifting the height-adjustable unit 16 a height measurement can be made. The height adjustment control unit compares 180 or another processing unit such as the computer of the mobile base 20th from at least one room height sensor 135 determined distance up to, for example, the ceiling and compares this value with at least one value stored in a memory (eg 21). This at least one value stored in the memory (eg 21) can be, for example, the maximum height over which the system can disinfect 10 with the height-adjustable unit extended 16 having. The height-adjustable unit 16 raised to a maximum height that the room height sensor 135 has determined (e.g. in the event that this sensor is on top of the height-adjustable unit 16 is positioned). However, other values can also be involved, for example those that indicate a door height. In this case, for example, a lifting height can also be achieved by the height adjustment control unit 180 can be specified at which the total height of the system for disinfection 10 when the height-adjustable unit is at least partially extended 16 is below a threshold value, e.g. the door height. The result is a maximum allowable height up to which the height-adjustable unit can be 16 may be raised.

In one aspect, at least one sensor of the system scans for disinfection 10 , for example a camera 125 , the environment of the disinfection system 10 to detect the height of objects in the room. For example, depth information is evaluated here. The aforementioned environment becomes vertically incremental in horizontal planes evaluated, ie for different vertical values (ie height positions, for example every 5 cm), distances to, for example, walls are determined and in a next step the size of the horizontal surface that is free of obstacles is calculated. This can be done from various horizontal positions of the disinfection system 10 take place. In the next step, these values can be compared with one another. If over several incremental values (the number of which is determined by a threshold value, e.g. 10) above a height threshold value (e.g. 1.80 m) no more enlargement of the horizontal surface is determined, the area to be disinfected will be disinfected vertically up to the height threshold plus. the incremental value from which the horizontal area no longer increases, defined as the upper limit for disinfection. This can in turn be corrected by means of defined surcharges or discounts.

The system for disinfection 10 has storage of the mobile base 21 via values that allow it, based on the radiation profile of the disinfection sources 138 , the distances to detect obstacles, a driving speed and a stored disinfection quality and / or the upper limit for the disinfection Height values for the height-adjustable unit 16 to pretend. This specified value is compared with that of the maximum permissible height. If the calculated height value is below the maximum allowable height, the height-adjustable unit becomes 16 raised to this height. Alternatively, it is only raised to the maximum height.

Path planning for the determination of surfaces to be disinfected

The system for disinfection 10 can through an environment evaluation and by means of in the memory 21 Adjust the stored rules for the disinfection process. A process for this is exemplified in 12th deposited. By means of the at least one camera 125 (e.g. an RGB-D camera) records the disinfection system 10 its surroundings (step 305) and, when driving through the area to be disinfected, builds a 3D map of the surroundings based on the captured 2D and 3D image data of the RGB-D camera (step 315), with both the 2D and Image recordings (step 312) (such as, for example, RGB images) and, for example, the 3D depth information (if this is not converted from a 2D image, for example) (step 310) are used. For example, RGB-D mapping frameworks can be used for this, e.g. the RTAP library for C ++. As an alternative to an RGB-D camera, a high-resolution 3D LIDAR could also be used. This card is stored in a memory of the mobile base 21 filed. In a next step, a 3D map from the map module 119, which is also present in this memory, for example, is used, which is the result of a simulation of the radiation directions and radiation intensities of the disinfection sources of the system for disinfection 10 is. This map, known as the radiation intensity map, shows, for example, in which direction and in which depth which energy would hit a surface. In other words, the radiation intensity map represents the spatial distribution of emitted energy. These maps are combined, for example in real time, with the 3D map of the surroundings (step 320). This is used to determine which energy is used by the current position of the system for disinfection ( 10 ) encounters objects, surfaces, etc. in the environment (step 325). In one aspect, the 3D map of the surroundings is combined with a map which stores which areas may only come into contact with a low radiation intensity (radiation limit map), ie maximum values for emitted radiation are stored here. This is described in step 322. The limitation is there, for example, to protect certain sensitive surfaces from damage. Based on at least one value stored in a memory (e.g. 21), which indicates which energy is to hit a surface (step 330), it is calculated whether the energies that strike match the stored energies, ie, for example, whether these energies can be reached from the current location. The value stored in the memory (eg 21) can be taken from the selected disinfection program, for example 141 originate that a user has selected and which, for example, indicates which type of pathogens should be made harmless, or how high the degree of disinfection should be, ie what percentage of the pathogens should be made harmless. At the same time, however, it is also determined whether the incoming energy comes below the limit values from the radiation limit map. In step 335 it is determined how great the detected difference from the threshold value is, and this threshold value difference is included in the path planning (ie the path planning module 112 or the movement planner 115 ) brought in. This is viewed as one of several cost functions. The system then adapts to disinfection 10 adjusts its driving style, ie it adjusts, for example, the distance to detected surfaces 340, its speed 345 or its radiated energy 350.

Securing the disinfection system

The mobile base moves during operation 1 e.g. without activated disinfection source (s) 138 into a contaminated area. This can be the case, for example, if the mobile base 1 drives into a room that is to be disinfected. Then disinfection begins. This also includes the surface such as the floor on which the mobile base is located 1 moved, disinfected. At that point, however, the wheels are off 7th , 9 the mobile base 1 already in contact with the contaminated surface come and there can be pathogens on these wheels 7th , 9 which can be distributed not only on the surfaces that have already been disinfected during operation, but also outside the disinfected area. In addition, these provide for maintenance of the mobile base 1 poses a danger to service technicians who, for example, damage the wheels 7th , 9 want to switch.

To prevent pathogens from getting through the wheels 7th , 9 are distributed or they can serve as a source of infection themselves, is the mobile basis 1 in one aspect with disinfection sources 138 for the wheels 7th , 9 fitted. In one aspect, this can be a chemical disinfection device such as a spray device ( 36 ), which is supplied by a tank for disinfectant. In an alternative and / or additional aspect, there are devices for the physical disinfection of the wheels 7th , 9 implemented, for example UV LEDs, the radiation of which is emitted in such a way that, in particular, the running surface of the wheels 7th , 9 , in one aspect also the edge areas of the wheels 7th , 9 be illuminated by at least one UV LED, such as 10 a) exemplarily illustrated. For this purpose, for example, per wheel 7th , 9 two LEDs arranged in such a way that they are at a distance of more than one wheel width and, for example, cover the wheel edges at an angle with their main radiation axis. The angle between the main radiation axis and the perpendicular to the tread of the wheel 7th , 9 is, in one aspect, less than 45 °. These UV LEDs can, for example, simultaneously with the at least one disinfection source 138 operated, which has already been described above. In 10 b) shows how a spray device ( 26th ) is used, the sprayed disinfectant of which the running surfaces of the wheels 7th , 9 wetted.

In one aspect, the wheels can 7th , 9 and / or the surface or parts of the surface of the system for disinfection 10 be provided with a pathogen-damaging coating, such as a coating based on silver nanoparticles, in order to extend the life of pathogens on the disinfection system 10 to minimize. For example, coatings that have long-term antibacterial effects come into question ISO 22196 / JIS Z 2801: 2010 , physiologically harmless (biocompatibility according to DIN EN ISO 10993-5 ), abrasion-resistant (according to DIN EN 60068-2-70 ), scratch-resistant (scratch hardness according to DIN EN ISO 1518 ), firmly adhered (cross-cut test according to DIN EN ISO 2409 ) and chemically resistant to conventional cleaning agents and disinfection measures. This can be a glass matrix into which silver ions are built. In one aspect, the surface and / or parts of the surface of the system can be used for disinfection 10 also made of stainless steel. If, for example, sources of disinfection 138 are attached to the surface, this is also associated with a reflective effect.

Maintenance aspects of the disinfection system

In one aspect, the sources of disinfection 138 each individually with a sensor for monitoring the source of disinfection 139 detected, e.g. a UV sensor that measures the radiation intensity. This sensor for disinfection source monitoring 139 is in turn with the processor of the mobile base 20th connected to the at least one source of disinfection 138 controls, and ensures that it operates with a predetermined intensity. In one aspect, the intensity values and also operating hours of the at least one disinfection source are used 138 in the memory of the mobile base 21 recorded and via an interface 130 or 131 to an external system 24 transfer. This is, for example, in the cloud 25th . The operating data received are compared there with stored threshold values and notifications are generated if threshold values are exceeded. These notifications can be requests to maintain the system for disinfection 10 and / or to exchange the disinfection sources 138 Act.

Safety aspects of the disinfection system

The system for disinfection 10 uses at least one sensor such as a LIDAR 124 , a camera 125 such as a 2D and / or 3D camera, a radar and / or ultrasonic sensor to detect obstacles. These are divided into static and dynamic obstacles. Above all, static obstacles are integrated into the created occupancy maps of the environment through SLAM (Simultaneous Localization and Mapping). Dynamic obstacles are understood to be those that move within the recorded area and that were detected as obstacles, for example, during the SLAM process. In so far as dynamic obstacles arise, the sources of disinfection become 138 deactivated.

In one aspect the system is for disinfection 10 or its mobile base 1 via a wireless interface 130 or 131 with an external sensor unit 30th (see e.g. 9 ) connected, which records movements. These movements are the movements of a door, in particular its opening. The external sensor unit 30th is designed to detect the opening of a door that leads into the room where disinfection is being performed. The triggering of the sensor of the external sensor unit 30th ensures that the at least one source of disinfection 138 switched off and / or the emission of UV radiation from this at least one disinfection source 138 is reduced and thus a person entering the room ideally does not come into contact with the UV radiation (where in the case of afterglow the at least a source of disinfection 138 cannot be completely ruled out after the energy supply has been switched off).

The external sensor unit 30th has an energy store 33 , for example a battery or an accumulator, in one aspect also via a unit for energy harvesting, as described, for example, in the prior art (in one aspect of enOcean). In the case of the energy store of the external sensor unit 33 connected wireless interface of the external sensor unit 32 it can be radio signals such as WLAN, Bluetooth, ZigBee, enOcean, etc., modulated light signals (e.g. in the infrared range or in the visible light range), sound, etc. These signals are used by the system for disinfection 10 receive. The sensor within the external sensor unit 31 an inertial sensor connected to the energy store of the external sensor unit can, for example, be used to detect the opening of a door 33 and / or the wireless interface of the external sensor unit 33 connected is. In one aspect, the external sensor unit 30th also have a device for generating tones and / or a light source.

In one aspect, the external sensor unit has 30th via a device for attaching the sensor unit to the handle of a door 35 . This is, in one aspect, designed in such a way that it clicks on the door handle 35 pushed (see 9a) and / or hooked in (see 9b) can be. The external sensor unit 30th is, for example, on a flat material 34 applied, for example a plastic film, fabric, metal, a plastic sheet, etc. The area is, for example, larger than 10 cm ² . The flat material 34 can, in one aspect, be turned over, so that the area in which the turn-over takes place is via a door handle 35 can be hung. In another aspect, the material is partially cut out (see 9b) . The surface of the sheet material 34 is located on the door handle after fastening 35 essentially parallel to the surface of the door. The surface is labeled, for example. The lettering is, for example, on the side facing away from the door. The flat material 35 and / or external sensor unit 30th can be provided with a pathogenphobic coating, such as a coating based on silver nanoparticles. In one aspect, the external sensor unit has 30th Via a suspension device such as a loop made of fabric, a hook made of metal, etc., to attach the external sensor unit to the door handle 35 to fix. In this case, for example, the external sensor unit 30th be labeled.

Companion robot use

In order to be able to disinfect large areas without human interaction, ie for example without having to shut off these areas in any way, the system can, in one aspect, be used for disinfection 10 from one or more companion robots 190 be accompanied (step 205) in 11 and the arrangement in 17th . This can have similar or identical software and hardware configurations as in 2 shown, which is not necessarily a disinfection system 10 must act and therefore the accompanying robot 190 does not have to have any components for disinfection. In an alternative and / or supplementary aspect, it is the companion robot 190 at least one drone that is at least partially autonomous. The companion robot 190 receives information about the operating zones from a system, e.g. wirelessly 191 of the disinfection system 10 (Step 210) where it is the operating zone 191 is an area in which the system for disinfection 10 disinfected, e.g. within a defined period. The system can be the disinfection system 10 or a cloud-based system 24 Act. Alternatively and / or in addition, the accompanying robot follows 190 the disinfection system 10 and monitors its movements 212. The accompanying robot 190 , in one aspect, about the determined movements of the disinfection system 10 , for example in his path planning module 112 , the movements of the disinfection system 10 forecast and above an operating zone 191 determine where the disinfection system is 10 mainly moved. In a next step 215, the accompanying robot 190 For example, at least one spatial or planar (2D) protection zone with one or more defined distances 192 create that to the operating zone 191 and / or the position of the disinfection system 10 borders. In one aspect, this can be a ring around the operating zone 191 be arranged. Alternatively and / or in addition, this can include the area around a door, a passage or a corridor. Provided several protection zones 192 are created, these are, for example, nested within one another. Such protection zones 192 can, for example, in the card module 119 of the accompanying robot 190 be deposited.

The companion robot 190 monitors an area outside the operating zone 191 of the disinfection system 10 (Step 220). The accompanying robot records 190 moving objects (step 225). In one aspect, it can use algorithms from the prior art that allow a moving object to be classified as a person (e.g. various libraries in the Open Source Framework OpenCV), for which e.g. the person recognition module 160 can be used. If a moving object has been detected, its position is evaluated 230. Alternatively and / or in addition, an evaluation of the direction of movement of the object and / or a prognosis of the further direction of movement or the path of the moving object can be carried out 235, for example with the Path planner 119 of the companion robot. Monitoring both the system for disinfection 10 as well as moving objects can be done via LIDAR 124 , a camera 125 and / or other devices for contactless object detection take place.

The companion robot 190 can compare 240 the detected position and / or the prognosis of the movement with a threshold value. This threshold value can, for example, be the boundary of a protection zone 192 or a distance to the system for disinfection 10 be. If, for example, a minimum distance is not reached or a protection zone 192 enter through the object, a warning is given by the accompanying robot 245. This can be light signals, a sound output, etc. In an optional aspect, further monitoring of the object takes place (step 220 following), with a notification of the system for disinfection based on further threshold value comparisons 10 takes place 250, for example via a wireless interface, this notification being an interruption of the disinfection activities of the system for disinfection 10 represents. The threshold value comparison can take place via a new position of the object, a time span, etc. However, in one aspect, step 250 can already take place when an obstacle is detected for the first time.

Example 1: possible configuration of the system for disinfection

As a mobile base 1 is used for the disinfection system 10 the Tory platform from MetraLabs (Ilmenau, Germany) was used. This is round, rotationally symmetrical, has a diameter of 50cm and has a battery with approx. 1000 Wh. The maximum speed is 1m / s. The structure 5 contains a circular arrangement of 15 UV mercury vapor lamps (length 80 cm, manufacturer Philips, power 40W) as in 4th shown. The height of the system is 150 cm. The UV LEDs to illuminate the wheels 7th , 9 have a wavelength of 275 nm at 8-12mW power (e.g. Dr Finsen UL-UVC-2751, SMD3535). In the mobile base, a total of four Philips TUV PL-S 9W / 4P 1CT / 6X10BO lamps are installed vertically on one side at a height of 8 cm above the floor.

Example 2: external sensor unit

In one aspect, the system is for disinfection 10 in communication with at least one external sensor unit 195 which is done wirelessly. The external sensor unit 195 (please refer 18th ) has at least one sensor for contactless detection 196 of movements and / or people. This can be a pyroelectric sensor (infrared sensor), radar sensor, ultrasonic sensor. LIDAR, a camera and / or an inertial sensor act. This at least one sensor for contactless detection 196 is used to disinfect the environment of the system 10 to monitor. The external sensor unit 195 also has a communication module 198 for communication with the disinfection system 10 . The system for disinfection 10 has condition monitoring and operates, for example, only in a safe condition. A communication control unit monitors for this purpose 197 communication with the external sensor unit 195 by, for example, exchanging data within defined time intervals. If the data exchange is interrupted and / or a movement and / or person is detected, this is done by the communication control unit 197 detected and this interrupts the disinfection. In this case, the process is documented, for example by changing a value in a memory (eg 21). In one aspect, there are at least two external sensor units 195 used, which, for example, can be identical. There are at least two external sensor units 195 with the disinfection system 10 in communication, for example. In such a way that the signals transmitted between external sensor unit 195 and disinfection system 10 are transmitted, are also transmitted in a redundant way, ie once on a direct route and once on the route via the at least second external sensor unit 195 . This can be implemented, for example, using an ad-hoc network. This reduces the transmission's susceptibility to errors. If from an external sensor unit 195 no signals with the system for disinfection 10 what can be exchanged by the control unit 197 is registered, the disinfection is interrupted. In one aspect, the communication between the at least one external sensor unit can be 195 on the direct route to the disinfection system 10 take place, in an alternative and / or complementary aspect, it runs via a cloud 25th . The external sensor unit 195 is, in one aspect, identical to the external sensor unit described above 30th that is attached to a door handle.

Example 3: sensory shielding of the disinfection source

The disinfection systems described in the introduction in the prior art are characterized in that the disinfection sources are arranged in such a way that a protruding object can strike them. If the disinfection sources are mercury vapor lamps or amalgam lamps and these are destroyed by an impact, not only is the function of the disinfection system disturbed, mercury also releases a substance that is harmful to health. The problem of impact occurs particularly in self-propelled disinfection systems. On the other hand, in the one described here Disinfection system 10 takes a different approach, which is the sources of disinfection 138 protects. In 1 , 3 , 4th and 16 is illustrated that the arrangement of the disinfection sources 138 by striving 2 , in this case vertical struts 2 , is framed. This, in one aspect, serves as a mechanical bumper. 4th and 15th illustrate that aspiration 2 the disinfection sources from the top view 138 enclose so that a collision with a straight edge that is at the same time on two struts 2 would come across the sources of disinfection 138 would not touch, because the disinfection sources are located within the area that is created in the plan view by the struts 2 connected to each other (the dashed lines in 15th represent these connections).

Nevertheless, it can be that, for example, a protruding corner of the table between two of the struts 2 with a lamp ( 138 ) collided. To prevent this, in one aspect the system is used for disinfection 10 with at least one obstacle sensor 128 the area where the lamps ( 138 ) are recorded and obstacles are detected. If an obstacle is detected, the movement of the system is used for disinfection 10 affects, for example, the disinfection system 10 be stopped and / or the direction of travel changed. The first can, for example, via the engine control 137 can be implemented, the latter via the movement planner 115 . In one aspect, the at least one obstacle sensor is involved 128 around a camera 125 , a LIDAR 124 , a radar, an ultrasonic, a ToF sensor 123 or at least one light barrier 176 with a light barrier transmitter 172 and a light barrier receiver 173 . This at least one light barrier 176 is arranged, for example, so that the light barrier transmitter 172 itself on the lower base 3 located and facing upwards, being in the upper base 4th the light barrier receiver 173 and there is a light beam in between in the activated state (which is also the light barrier 176 in 3 b) stylized). A reverse arrangement is also possible. In one aspect, photoelectric sensors can also be used 172 and light barrier receiver 173 in the same base ( 3 , 4th ), with (in the opposite base ( 3 , 4th ) a reflector is arranged, which the light of the light barrier transmitter 172 reflected. The course of the light rays is essentially vertical. The light beams and / or light barrier transmitters are here 172 and / or light barrier receiver 173 the at least one light barrier 176 the at least one source of disinfection 138 arranged around. This arrangement can be circular, elliptical or correspond to a polygon 4th between each strut 2 two vertical light barriers 176 be arranged, the light barrier transmitter 172 in the lower base 3 , the light barrier receiver 173 in the upper base 4th sit. In an alternative aspect, the light beams run essentially horizontally, for example by positioning the light barrier transmitters 172 and / or light barrier receiver 173 in the pursuit 2 . This essentially implies that the light falls at an acute angle onto the plane of the at least one base ( 3 , 4th ) or at least one strut 2 meets. In one aspect, combinations of these approaches can also be implemented, with light barrier transmitters 172 and / or light barrier receivers 173 in the pursuit 2 and / or at least one base ( 3 , 4th ).

In one aspect, a photocell is used 176 , such as 16 a) illustrated, dimensioned so that the light barrier transmitter 172 (e.g. commercially available infrared diodes with a wavelength of 940 nm) in the lower base 3 and the light barrier receiver 173 (e.g. phototransistors, photosensors) in the upper base 4th are positioned. This has the advantage that less stray light hits the light barrier receiver 173 meets. In one example, the light barrier receivers are 173 inside the upper base 4th positioned, e.g. more than 10mm behind the lower limit of the upper base 4th offset to further reduce the effect of stray light. The light barrier transmitter 172 in the lower base 3 are, in one aspect, also sunk (see 16 a) . Light barrier transmitter 172 and / or light barrier receiver 173 can, for example, with a light barrier cover 174 be provided that is transparent for example. Infrared light and non-transparent for the UV light used. With a view to mercury vapor lamps with approx. 254 nm UV light, a light barrier cover is suitable, for example 174 made of borosilicate glass. The light barrier cover 174 also serves as a dust cover, which enables easier cleaning. In one example, there is a signal modulation (such as, for example, a frequency modulation) of the light barrier transmitter 172 instead, the light barrier receiver 173 the modulated signals are detected and the detected signals are evaluated. This modulated transmission of light signals is used to reduce interference light effects and trigger the light barrier more precisely 176 to detect. As 16 b) represents, in one aspect, the light barriers 176 arranged so that a right-angled table corner 175 (in a horizontal position) is between two struts 2 in the direction of the disinfection source 138 moved (corner of the table before triggering light barrier 175-A ), before contact with a source of disinfection 138 a light barrier 176 triggers (see corner of the table after triggering light barrier 175-B ). Mathematically, this fact can be described as the distance between two light barriers 176 (or light barrier transmitter 172 and light barrier receiver 173 ) represents a circle diameter and the sources of disinfection 138 lie within a chain of the resulting envelope of circular paths. the Table corner 175 can only move on one of the circular paths without the light barrier 176 trigger. The shell of the so from the distances between the light barriers 176 or light rays between the light barrier transmitter 172 and light barrier receiver 173 The circular paths formed in turn have a minimum distance from the at least one disinfection source positioned within the circular path envelope 138 on. This minimum distance can be, for example, 5mm and is in turn dependent on the switching time with which the system for disinfection ( 10 ) is stopped and derived from this the speed with which the system for disinfection ( 10 ) emotional.

• ASED1: Systems zur Desinfektion (10), umfassend mindestens eine Desinfektionsquelle (138) und mindestens eine untere Basis (3) und obere Basis (4) und mindestens einen Hindernissensor (128), der den Bereich zwischen der unteren Basis (3) und oberen Basis (4) mindestens anteilig auf Bewegungen hin überwacht.
• ASED2. Systems zur Desinfektion (10), wobei ein Bereich auf mindestens einer Seite der Desinfektionsquelle (138) über im Wesentlichen die Länge der Desinfektionsquelle (138) innerhalb eines definierten Abstands durch mindestens einen Hindernissensor (128) auf Bewegungen überwacht wird.
• ASED3: System nach ASED1 oder ASED2, wobei das System zur Desinfektion (10) über eine Motorsteuerung (137) verfügt, die bei Detektion einer Bewegung die Geschwindigkeit des Systems zur Desinfektion (10) anpasst.
• ASED4: System nach ASED1 oder ASED2, wobei das System zur Desinfektion (10) über einen Bewegungsplaner (115) verfügt, der bei Detektion einer Bewegung die Bewegungsrichtung des Systems zur Desinfektion (10) ändert.
• ASED5. System nach ASED1 oder ASED2, wobei es sich beim mindestens einen Hindernissensor (128) um jeweils mindestens eine Kamera (125), einen LIDAR (124), einen time-of-flight (ToF) (123), einen Ultraschalls-, einen Radarsensor und/oder mindestens eine Lichtschranke (176) handelt.
• ASED6. System nach ASED5, wobei die Lichtstrahlen der mindestens einen Lichtschranke (176) im Wesentlichen vertikal verlaufen.
• ASED7. System nach ASED5, wobei die Lichtstrahlen der mindestens einen Lichtschranke (176) im Wesentlichen horizontal verlaufen.
• ASED8. System nach ASED5, wobei die Lichtstrahlen der mindestens einen Lichtschranke (176) im spitzen oder im rechten Winkel auf mindestens eine Strebe (2) treffen.
• ASED9. System nach ASED5, wobei die Lichtstrahlen der mindestens einen Lichtschranke (176) im spitzen oder im rechten Winkel auf die Ebene mindestens einer Basis (3, 4) treffen.
• ASED10. System nach ASED5, wobei Lichtschrankensender (172) und/oder Lichtschrankenempfänger (173) in mindestens einer Basis (3, 4) positioniert sind.
• ASED 11. System nach ASED5, wobei Lichtschrankensender (172) und/oder Lichtschrankenempfänger (173) in mindestens einer Strebe (2) positioniert sind.
• ASED12. System nach ASED5, wobei die Lichtstrahlen der mindestens einen Lichtschranke (176) um die mindestens eine Desinfektionsquelle (138) herum angeordnet sind.
• ASED13. System nach ASED12, wobei die Lichtstrahlen in der Draufsicht in einer Kreisbahn, elliptisch und/oder vieleckig angeordnet sind.
• ASED 14. System nach ASED10 oder AED11, wobei Lichtschrankensender (172) und/oder Lichtschrankenempfänger (173) versenkt angeordnet sind.
• ASED 15. System nach ASED5, wobei der Lichtschrankenempfänger (173) in der oberen Basis (4) angeordnet ist.
• ASED 16. System nach ASED5, wobei Lichtschrankensender (172) und/oder Lichtschrankenempfänger (173) mit einer Lichtschrankenabdeckung (174) versehen sind, die für UV-Licht weitestgehend intransparent ist.
• ASED 17. System nach ASED5, wobei die zwischen Lichtschrankensender (172) und Lichtschrankenempfänger (173) übertragenden Lichtsignale moduliert werden.
• ASED 18. System nach ASED12, wobei die Distanz zwischen zwei benachbarten Lichtstrahlen der Lichtschranke (176) in der horizontalen Ebene so gestaltet ist, dass die Distanz zwischen den zwei benachbarten Lichtstrahlen jeweils einen Kreisdurchmesser darstellt und die Aneinanderreihung der für die weiteren Lichtschranken (176) analog gebildeten Kreisbahnen eine äußere Hülle um die mindestens eine Desinfektionsquelle (138) herum bilden, wobei diese äußere Hülle einen Mindestabstand zu der mindestens einen Desinfektionsquelle (138) aufweist.
• ASED19. System nach ASED1, wobei das System zur Desinfektion über eine mobile Basis (1), mindestens über einen Antrieb und über ein Navigationsmodul (110) zur selbständigen Navigation verfügt.

The sensory detection of the disinfection sources is characterized here by the following aspects ASED1 to ASED19:

• ASED1: systems for disinfection ( 10 ), comprising at least one disinfection source ( 138 ) and at least one lower base ( 3 ) and top base ( 4th ) and at least one obstacle sensor ( 128 ), which covers the area between the lower base ( 3 ) and top base ( 4th ) at least partially monitored for movements.
• ASED2. Disinfection systems ( 10 ), with an area on at least one side of the disinfection source ( 138 ) over essentially the length of the disinfection source ( 138 ) within a defined distance by at least one obstacle sensor ( 128 ) is monitored for movements.
• ASED3: System according to ASED1 or ASED2, whereby the system for disinfection ( 10 ) via a motor control ( 137 ) which, when a movement is detected, the speed of the disinfection system ( 10 ) adjusts.
• ASED4: System according to ASED1 or ASED2, whereby the system for disinfection ( 10 ) via a movement planner ( 115 ), which when a movement is detected, the direction of movement of the disinfection system ( 10 ) changes.
• ASED5. System according to ASED1 or ASED2, whereby at least one obstacle sensor ( 128 ) by at least one camera ( 125 ), a LIDAR ( 124 ), a time-of-flight (ToF) (123), an ultrasonic, a radar sensor and / or at least one light barrier ( 176 ) acts.
• ASED6. System according to ASED5, whereby the light beams of the at least one light barrier ( 176 ) are essentially vertical.
• ASED7. System according to ASED5, whereby the light beams of the at least one light barrier ( 176 ) are essentially horizontal.
• ASED8. System according to ASED5, whereby the light beams of the at least one light barrier ( 176 ) at an acute or at right angle to at least one strut ( 2 ) meet.
• ASED9. System according to ASED5, whereby the light beams of the at least one light barrier ( 176 ) at an acute or at right angle to the plane of at least one base ( 3 , 4th ) meet.
• ASED10. System according to ASED5, whereby light barrier transmitter ( 172 ) and / or light barrier receiver ( 173 ) in at least one base ( 3 , 4th ) are positioned.
• ASED 11 . System according to ASED5, whereby light barrier transmitter ( 172 ) and / or light barrier receiver ( 173 ) in at least one strut ( 2 ) are positioned.
• ASED12. System according to ASED5, whereby the light beams of the at least one light barrier ( 176 ) around the at least one disinfection source ( 138 ) are arranged around.
• ASED13. System according to ASED12, wherein the light beams are arranged in a circular path, elliptically and / or polygonally in plan view.
• ASED 14th . System according to ASED10 or AED11, whereby light barrier transmitter ( 172 ) and / or light barrier receiver ( 173 ) are sunk.
• ASED 15th . System according to ASED5, whereby the light barrier receiver ( 173 ) in the upper base ( 4th ) is arranged.
• ASED 16 . System according to ASED5, whereby light barrier transmitter ( 172 ) and / or light barrier receiver ( 173 ) with a light barrier cover ( 174 ), which is largely nontransparent for UV light.
• ASED 17th . System according to ASED5, whereby the light barrier transmitter ( 172 ) and light barrier receiver ( 173 ) transmitting light signals are modulated.
• ASED 18th . System according to ASED12, whereby the distance between two adjacent light beams of the light barrier ( 176 ) is designed in the horizontal plane in such a way that the distance between the two adjacent light beams each represents a circle diameter and the stringing together of the other light barriers ( 176 ) similarly formed circular paths an outer shell around the at least one disinfection source ( 138 ) around, with this outer shell a minimum distance to the at least one disinfection source ( 138 ) having.
• ASED19. System according to ASED1, whereby the system for disinfection has a mobile base ( 1 ), at least one drive and one navigation module ( 110 ) for independent navigation.

Example 4: safe state

In one aspect, the system has disinfection 10 via condition monitoring and operates, for example, only in a safe condition. A communication control unit monitors for this purpose 197 the communication of the disinfection system 10 with the companion robot 190 and / or the external sensor unit ( 30th , 195 ), for example by exchanging data within defined time intervals. Alternatively and / or in addition, there is communication between the disinfection system 10 and with the companion robot 190 and / or the external sensor unit ( 30th , 195 ) takes place in redundant ways, e.g. by means of two communication modules ( 130 , 131 ). If the data exchange is interrupted, for example on at least one path, this is done by the communication control unit 197 detected and this interrupts the disinfection.

Example 5: door opening control

• ATI: Sensoreinheit (30) zur Befestigung am Griff einer Tür (35), konfiguriert zur drahtlosen Kommunikation mit einer mobilen Basis (1) und/oder einem System zur Desinfektion (10), umfassend einen Energiespeicher (33), eine Drahtlosschnittstelle (32) und einen Sensor (31) zur Detektion des Öffnens der Tür sowie eine Oberfläche, die sich nach Befestigen am Griff einer Tür im Wesentlichen parallel zur Türoberfläche befindet.
• AT2. Sensoreinheit (30) nach AT1, wobei die Oberfläche beschriftet ist.
• AT3. Sensoreinheit (30) nach AT2, wobei die Beschriftung sich auf der der Tür abgewandten Seite befindet.
• AT4. Sensoreinheit (30) nach AT1, wobei die Sensoreinheit (30) ein flächiges Material umfasst.
• AT5. Sensoreinheit (30) nach AT1, wobei die Sensoreinheit (30) eine Schlaufe und/oder einen Haken umfasst.
• AT6. Sensoreinheit (30) nach AT1, wobei die Grundfläche der Oberfläche größer als 10 cm² ist.
• AT7. Sensoreinheit (30) nach AT6, wobei die Oberfläche durch ein flächiges Material (34) dargestellt wird.
• AT8. Sensoreinheit (30) nach AT4, wobei es sich beim flächigen Material (34) um Kunststoff, Stoff oder Metall oder Kombinationen daraus handelt.
• AT9. Sensoreinheit (30) nach AT8, wobei das flächige Material (34) flexibel ist.
• AT10. Sensoreinheit (30) nach AT1, wobei die äußere Oberfläche der Sensoreinheit (30) über eine Beschichtung verfügt, die pathogenschädigende Wirkung aufweist.
• AT11. Sensoreinheit (30) nach AT1, wobei die Befestigung am Türgriff (35) dadurch erfolgt, dass das flächige Material (34) in Form einer Wölbung, die mit dem Türgriff (35) in Eingriff steht.
• AT12. Sensoreinheit (30) nach AT1, wobei das flächige Material (34) durch eine Aussparung mit dem Türgriff (35) in Eingriff steht.
• AT13. Sensoreinheit (30) nach AT5, wobei die Sensoreinheit (30) über die Schlaufe oder den Haken mit dem Türgriff in Eingriff steht.
• AT14. Sensoreinheit (30) nach AT1, wobei das Detektieren des Öffnens der Tür Desinfektionsaktivitäten des Systems zur Desinfektion (10) unterbricht.
• AT15. Sensoreinheit (30) nach AT1, wobei es sich beim System zur Desinfektion (10) um einen Desinfektionsroboter handelt, der über mindestens eine Desinfektionsquelle (138) verfügt.
• AT16. Sensoreinheit (30) nach AT1, wobei das System zur Desinfektion (10) rotationssymmetrisch ist.
• AT17. Sensoreinheit (30) nach AT1, wobei sich Desinfektionsquellen (138) in der mobilen Basis (1) befinden, die in einer Höhe von weniger als 30 cm über dem Boden abstrahlen.
• AT18. Sensoreinheit (30) nach AT1, die mit dem System zur Desinfektion (10) in einem sicheren Zustand kommuniziert.
• AT19. Sensoreinheit (30) nach AT18, wobei die Kommunikation zwischen dem System zur Desinfektion (10) und der Sensoreinheit (30) durch eine Kommunikationssteuereinheit (197) überwacht wird.

The door opening control is characterized here by the following aspects AT1 to AT19:

• ATI: sensor unit ( 30th ) for attachment to the handle of a door ( 35 ), configured for wireless communication with a mobile base ( 1 ) and / or a system for disinfection ( 10 ), comprising an energy store ( 33 ), a wireless interface ( 32 ) and a sensor ( 31 ) for detecting the opening of the door as well as a surface which, after being attached to the handle of a door, is essentially parallel to the door surface.
• AT2. Sensor unit ( 30th ) according to AT1, whereby the surface is labeled.
• AT3. Sensor unit ( 30th ) according to AT2, with the lettering on the side facing away from the door.
• AT4. Sensor unit ( 30th ) to AT1, whereby the sensor unit ( 30th ) comprises a sheet material.
• AT5. Sensor unit ( 30th ) to AT1, whereby the sensor unit ( 30th ) comprises a loop and / or a hook.
• AT6. Sensor unit ( 30th ) according to AT1, the base area of the surface being larger than 10 cm ² .
• AT7. Sensor unit ( 30th ) according to AT6, whereby the surface is covered by a flat material ( 34 ) is pictured.
• AT8. Sensor unit ( 30th ) according to AT4, whereby the flat material ( 34 ) is plastic, fabric or metal or combinations thereof.
• AT9. Sensor unit ( 30th ) according to AT8, whereby the flat material ( 34 ) is flexible.
• AT10. Sensor unit ( 30th ) according to AT1, whereby the outer surface of the sensor unit ( 30th ) has a coating that is harmful to pathogens.
• AT11. Sensor unit ( 30th ) according to AT1, whereby the fastening on the door handle ( 35 ) takes place in that the flat material ( 34 ) in the form of a bulge that connects to the door handle ( 35 ) is engaged.
• AT12. Sensor unit ( 30th ) according to AT1, whereby the flat material ( 34 ) through a recess with the door handle ( 35 ) is engaged.
• AT13. Sensor unit ( 30th ) according to AT5, whereby the sensor unit ( 30th ) is in engagement with the door handle via the loop or hook.
• AT14. Sensor unit ( 30th ) according to AT1, whereby the detection of the opening of the door disinfection activities of the system for disinfection ( 10 ) interrupts.
• AT15. Sensor unit ( 30th ) according to AT1, whereby the disinfection system ( 10 ) is a disinfection robot that has at least one disinfection source ( 138 ) has.
• AT16. Sensor unit ( 30th ) according to AT1, whereby the system for disinfection ( 10 ) is rotationally symmetrical.
• AT17. Sensor unit ( 30th ) according to AT1, whereby disinfection sources ( 138 ) in the mobile base ( 1 ) that radiate at a height of less than 30 cm above the ground.
• AT18. Sensor unit ( 30th ) according to AT1, which is connected to the disinfection system ( 10 ) communicates in a safe state.
• AT19. Sensor unit ( 30th ) according to AT18, whereby the communication between the disinfection system ( 10 ) and the sensor unit ( 30th ) through a communication control unit ( 197 ) is monitored.

Example 6: companion robot

• AB1. Computer-implementiertes Verfahren zur Überwachung eines Desinfektionsvorgangs, umfassend
  • • Erhalt oder Ermittlung von Informationen über die Betriebszone (191) des Desinfektionsvorgangs;
  • • Erstellen mindestens einer Schutzzone (192), die mindestens anteilig an die Betriebszone (191) grenzt;
  • • Überwachung der mindestens einen Schutzzone (192);
  • • Erfassung beweglicher Objekte innerhalb der mindestens einen Schutzzone (192);
  • • Auswertung der Position mindestens eines der erfassten beweglichen Objekte;
  • • Vergleich einer Position des mindestens einen erfassten beweglichen Objekts mit einem Schwellwert;
  • • Ausgabe eines Warnhinweises bei Abweichung vom Schwellwert sowie
  • • Unterbrechung des Desinfektionsvorgangs.
• AB2. Computer-implementiertes Verfahren nach AB1, wobei die Informationen über die Betriebszone (191) des Desinfektionsvorgangs Koordinaten für Zonen enthalten und/oder Zeiten, wann in diesen Zonen Desinfektionsvorgänge durchgeführt werden.
• AB3. Computer-implementiertes Verfahren nach AB1, wobei der Erhalt von Informationen über die Betriebszone (191) des Desinfektionsvorgangs einen Desinfektionsplan umfasst.
• AB4. Computer-implementiertes Verfahren nach AB1, wobei der Erhalt von Informationen über die Betriebszone (191) des Desinfektionsvorgangs auf der zeitlichen und/oder räumlichen, berührungslosen Überwachung eines Desinfektionsvorgangs basiert.
• AB5. Computer-implementiertes Verfahren nach AB3, weiter umfassend die Ermittlung einer Betriebszone (191) für den Desinfektionsvorgangs und die Erstellung einer Prognose über die künftige Bewegung des Systems zur Desinfektion (10) auf Basis ermittelter Bewegungen eines Systems zur Desinfektion (10).
• AB6. Computer-implementiertes Verfahren nach AB1, wobei die Schutzzone (192) sich im Umfeld einer Tür, eines Durchgangs oder eines Gangs befindet.
• AB7. Computer-implementiertes Verfahren nach AB1, wobei im Falle mehrerer Schutzzonen (192) diese ineinander geschachtelt sind.
• AB8. Computer-implementiertes Verfahren nach AB1, wobei die Überwachung der mindestens einen Schutzzone (192) die Erfassung beweglicher Objekte umfasst.
• AB9. Computer-implementiertes Verfahren nach AB8, wobei bewegliche Objekte dahingehend klassifiziert werden, ob es sich um Personen handelt.
• AB10. Computer-implementiertes Verfahren nach AB1, wobei auf Basis erfasster Bewegungen des mindestens einen beweglichen Objekts erwartete Positionen des mindestens einen beweglichen Objekts geschätzt werden.
• AB11. Computer-implementiertes Verfahren nach AB1, wobei die geschätzten Positionen des mindestens einen beweglichen Objekts mit einem Schwellwert verglichen werden.
• AB12. Computer-implementiertes Verfahren nach AB1, wobei es sich beim Schwellwert um eine Grenze einer Schutzzone (192) oder einen Abstand zu einem System zur Desinfektion (10) handelt.
• AB13. Computer-implementiertes Verfahren nach AB1, wobei es sich beim Warnhinweis um ein akustisches oder optisches Signal handelt.
• AB 14. Computer-implementiertes Verfahren nach AB1, weiter umfassend eine weitere Überwachung des mindestens einen erfassten beweglichen Objekts nach Ausgabe des Warnhinweises.
• AB15. Computer-implementiertes Verfahren nach AB14, wobei bei Abweichung von einem zweiten Schwellwert eine Benachrichtigung des Systems zur Desinfektion (10) erfolgt, welches den Desinfektionsvorgang unterbricht.
• AB16. Computer-implementiertes Verfahren nach AB15, wobei der zweite Schwellwert sich um eine Grenze einer Schutzzone (192), einen Abstand zu einem System zur Desinfektion (10) oder einen zeitlich definierten Wert handelt.
• AB17. Computer-implementiertes Verfahren nach AB15, weiter umfassend eine Dokumentation der Unterbrechung des Desinfektionsvorgangs.
• AB 18. Vorrichtung nach AB 1-17.

The use of an accompanying robot is characterized by the following aspects AB1 to AB19:

• AB1. A computer-implemented method for monitoring a disinfection process, comprising
  • • Receipt or determination of information about the operating zone ( 191 ) the disinfection process;
  • • Create at least one protection zone ( 192 ), which at least proportionally to the operating zone ( 191 ) borders;
  • • Monitoring of at least one protection zone ( 192 );
  • • Detection of moving objects within the at least one protection zone ( 192 );
  • • Evaluation of the position of at least one of the detected moving objects;
  • • Comparison of a position of the at least one detected moving object with a threshold value;
  • • Output of a warning in the event of a deviation from the threshold value and
  • • Interruption of the disinfection process.
• STARTING AT 2. Computer-implemented method according to AB1, whereby the information about the operating zone ( 191 ) of the disinfection process contain coordinates for zones and / or times when disinfection processes are carried out in these zones.
• FROM 3. Computer-implemented method according to AB1, whereby the receipt of information about the operating zone ( 191 ) of the disinfection process includes a disinfection plan.
• FROM 4. Computer-implemented method according to AB1, whereby the receipt of information about the operating zone ( 191 ) of the disinfection process is based on the temporal and / or spatial, contactless monitoring of a disinfection process.
• FROM 5. Computer-implemented method according to AB3, further comprising the determination of an operating zone ( 191 ) for the disinfection process and the creation of a forecast of the future movement of the system for disinfection ( 10 ) on the basis of determined movements of a system for disinfection ( 10 ).
• FROM 6. Computer-implemented method according to AB1, whereby the protection zone ( 192 ) is in the vicinity of a door, a passage or a corridor.
• AB7. Computer-implemented procedure according to AB1, whereby in the case of several protection zones ( 192 ) these are nested inside each other.
• AB8. Computer-implemented method according to AB1, whereby the monitoring of the at least one protection zone ( 192 ) includes the detection of moving objects.
• AB9. Computer-implemented method according to AB8, whereby moving objects are classified according to whether they are people.
• FROM 10. Computer-implemented method according to AB1, wherein expected positions of the at least one movable object are estimated on the basis of detected movements of the at least one movable object.
• FROM 11. Computer-implemented method according to AB1, wherein the estimated positions of the at least one movable object are compared with a threshold value.
• FROM 12. Computer-implemented method according to AB1, whereby the threshold value is a boundary of a protection zone ( 192 ) or a distance to a disinfection system ( 10 ) acts.
• AB13. Computer-implemented method according to AB1, the warning being an acoustic or optical signal.
• AWAY 14th . Computer-implemented method according to AB1, further comprising further monitoring of the at least one detected moving object after the warning notice has been output.
• FROM 15. Computer-implemented method according to AB14, whereby a notification of the system for disinfection ( 10 ) takes place, which interrupts the disinfection process.
• AB16. Computer-implemented method according to AB15, whereby the second threshold value is around a boundary of a protection zone ( 192 ), a distance to a disinfection system ( 10 ) or a time-defined value.
• AB17. Computer-implemented method according to AB15, further comprising documentation of the interruption of the disinfection process.
• AB 18. Device according to AB 1-17.

Example 7: wheel disinfection

• AR1. System zur Desinfektion (10), umfassend eine mobile Basis (1), einen Aufbau (5), mindestens eine Desinfektionsquelle (138), einen Rechner (20), einen Speicher (21), wobei mindestens eine Desinfektionsquelle (138) so angeordnet ist, dass sie mindestens ein Rad (7, 9) desinfiziert.
• AR2. System zur Desinfektion (10) nach AR1, wobei die mobile Basis (1) über eine Antriebseinheit (6) und ein Navigationsmodul (110) zur autonomen Navigation verfügt.
• AR3. System zur Desinfektion (10) nach AR1, wobei es sich bei der Desinfektionsquelle (138), die mindestens ein Rad (7, 9) desinfiziert, um eine Versprühvorrichtung (36) zum Versprühen einer Flüssigkeit handelt.
• AR4. System zur Desinfektion (10) nach AR1, wobei es sich bei der mindestens einen Desinfektionsquelle (138), die mindestens ein Rad (7, 9) desinfiziert, um mindestens eine UV-Lampe handelt.
• AR5. System zur Desinfektion (10) nach AR4, wobei die UV-Lampe eine UV-LED ist.
• AR6. System zur Desinfektion (10) nach AR4, wobei je Rad (7, 9) mindestens zwei UV-LEDs eingesetzt werden, die derart angeordnet sind, dass die UV-LEDs die Lauffläche und den Rand des Rades (7, 9) beleuchten.
• AR7. System zur Desinfektion (10) nach AR6, wobei die Hauptabstrahlrichtung der UV-LEDs so angeordnet ist, dass der Winkel zwischen Hauptabstrahlrichtung und dem Lot, das senkrecht auf der Lauffläche des Rades (7, 9) steht, kleiner als 45° ist.
• AR8. System zur Desinfektion (10) nach AR1, wobei Desinfektionsquellen (138) sowohl im Aufbau (5) als auch seitlich an der mobilen Basis (1) angebracht sind.
• AR9. System zur Desinfektion (10) nach AR8, wobei es sich bei der mindestens einen Desinfektionsquelle (138) um eine röhrenförmige UV-Lampe handelt.

The use of wheel disinfection is characterized by the following aspects AR1 to AR13:

• AR1. Disinfection system ( 10 ), comprising a mobile base ( 1 ), a structure ( 5 ), at least one source of disinfection ( 138 ), a calculator ( 20th ), a memory ( 21 ), with at least one disinfection source ( 138 ) so is arranged to have at least one wheel ( 7th , 9 ) disinfected.
• AR2. Disinfection system ( 10 ) according to AR1, where the mobile base ( 1 ) via a drive unit ( 6th ) and a navigation module ( 110 ) for autonomous navigation.
• AR3. Disinfection system ( 10 ) according to AR1, whereby the disinfection source is ( 138 ) that have at least one wheel ( 7th , 9 ) disinfected to a spray device ( 36 ) is used to spray a liquid.
• AR4. Disinfection system ( 10 ) according to AR1, whereby the at least one disinfection source ( 138 ) that have at least one wheel ( 7th , 9 ) disinfected, at least one UV lamp is involved.
• AR5. Disinfection system ( 10 ) according to AR4, whereby the UV lamp is a UV LED.
• AR6. Disinfection system ( 10 ) according to AR4, where per wheel ( 7th , 9 ) at least two UV-LEDs are used, which are arranged in such a way that the UV-LEDs cover the running surface and the edge of the wheel ( 7th , 9 ) illuminate.
• AR7. Disinfection system ( 10 ) according to AR6, whereby the main direction of radiation of the UV-LEDs is arranged in such a way that the angle between the main direction of radiation and the perpendicular, which is perpendicular to the running surface of the wheel ( 7th , 9 ) is smaller than 45 °.
• AR8. Disinfection system ( 10 ) according to AR1, whereby disinfection sources ( 138 ) both under construction ( 5 ) as well as on the side of the mobile base ( 1 ) are attached.
• AR9. Disinfection system ( 10 ) according to AR8, whereby the at least one disinfection source ( 138 ) is a tubular UV lamp.

Example 8: Navigation

• AN1. Computer-implementiertes Verfahren zur Steuerung eines Systems zur Desinfektion (10), umfassend
  • • berührungslose Erfassung des Umfelds des Systems zur Desinfektion (10);
  • • Extraktion von Tiefeninformationen aus den erfassten Daten;
  • • Erstellen einer dreidimensionalen Karte des Umfelds aus den erfassten Daten;
  • • Kombination dieser dreidimensionalen Karte des Umfelds mit einer dreidimensionalen Karte, die mindestens ein Strahlungsprofil des Systems zur Desinfektion (10) beinhaltet;
  • • Ermittlung der Energie, die auf Oberflächen des Umfelds trifft, auf Basis des Strahlungsprofils des Systems zur Desinfektion (10);
  • • Vergleich der ermittelten Energie, die auf die Oberfläche des Umfelds trifft, mit hinterlegten Schwellwerten.
• AN2. Computer-implementiertes Verfahren nach AN1, weiter umfassend eine Anpassung einer Kostenfunktion der Pfadplanung auf Basis des Schwellwertvergleichs.
• AN3. Computer-implementiertes Verfahren nach AN1, umfassend ferner die Extraktion von 2D-Bilddaten.
• AN4. Computer-implementiertes Verfahren nach AN1, wobei die dreidimensionale Karte, die das Strahlungsprofil des Systems zur Desinfektion (10) darstellt, die räumliche Verteilung emittierter Energie darstellt.
• AN5. Computer-implementiertes Verfahren nach AN4, wobei die emittierte Energie durch UV-Strahlung emittiert wird.
• AN6. Computer-implementiertes Verfahren nach AN1, wobei die Umfelderfassung während eines Desinfektionsvorgangs erfolgt.
• AN7. Computer-implementiertes Verfahren nach AN1, wobei die Energie, die auf die Oberflächen des Umfeld trifft, basierend auf der dreidimensionalen Karte des Umfelds und der Karte des Strahlungsprofils ermittelt wird.
• AN8. Computer-implementiertes Verfahren nach AN1, wobei in der dreidimensionalen Karte Oberflächen dargestellt werden.
• AN9. Computer-implementiertes Verfahren nach AN1, wobei die hinterlegten Schwellwerte aus einem Desinfektionsprogramm (141) stammen.
• AN10. Computer-implementiertes Verfahren nach AN1, wobei die Schwellwerte aus einer Strahlungsbegrenzungskarte stammen, die bspw. Obergrenzen für Strahlungsintensitäten abbildet.
• AN11. Computer-implementiertes Verfahren nach AN2, wobei die Pfadplanung eine Anpassung der Distanzen des Systems zur Desinfektion (10) zu erfassten Oberflächen vornimmt.
• AN12. Computer-implementiertes Verfahren nach AN2, wobei die Pfadplanung eine Anpassung der Geschwindigkeit des Systems zur Desinfektion (10) vornimmt.
• AN13. Computer-implementiertes Verfahren nach AN2, wobei die Pfadplanung eine Anpassung der abgestrahlten Energie triggert.
• AN14. Computer-implementiertes Verfahren nach AN13, wobei die Anpassung der abgestrahlten Energie eine Anpassung der Beleuchtungsintensität der Desinfektionsquellen (138) umfasst.
• AN15. Computer-implementiertes Verfahren nach AN13, wobei die Anpassung der abgestrahlten Energie eine Steuerung von Lamellen (11) oder Blenden umfasst.
• AN16. Computer-implementiertes Verfahren nach AN1, wobei eine weitere Karte mit der Karte des Umfelds kombiniert und/oder in die Kostenfunktion integriert wird, welche Areale beinhaltet, die nur mit einer geringen Intensität beleuchtet werden sollen.
• AN 17. Vorrichtung nach AN1-AN16.
• AN18. Vorrichtung nach AN17, wobei Desinfektionsquellen (138) sowohl im Aufbau (5) als auch seitlich an der mobilen Basis (1) des Systems zur Desinfektion (1) angebracht sind.
• AN19. Vorrichtung nach AN17-AN18, wobei es sich bei der mindestens einen Desinfektionsquelle (138) um eine röhrenförmige UV-Lampe handelt.

The navigation is characterized here by the following aspects AN1 to AN22:

• AN1. Computer-implemented method for controlling a system for disinfection ( 10 ), full
  • • Contactless detection of the environment of the system for disinfection ( 10 );
  • • Extraction of depth information from the acquired data;
  • • Creation of a three-dimensional map of the surroundings from the recorded data;
  • • Combination of this three-dimensional map of the surroundings with a three-dimensional map that contains at least one radiation profile of the disinfection system ( 10 ) contains;
  • • Determination of the energy that hits the surfaces of the environment on the basis of the radiation profile of the disinfection system ( 10 );
  • • Comparison of the determined energy that hits the surface of the environment with stored threshold values.
• AN2. Computer-implemented method according to AN1, further comprising an adaptation of a cost function of the path planning on the basis of the threshold value comparison.
• AN3. Computer-implemented method according to AN1, further comprising the extraction of 2D image data.
• AN4. Computer-implemented method according to AN1, whereby the three-dimensional map showing the radiation profile of the system for disinfection ( 10 ) represents the spatial distribution of emitted energy.
• AN5. Computer-implemented method according to AN4, whereby the emitted energy is emitted by UV radiation.
• AN6. Computer-implemented method according to AN1, whereby the surroundings are recorded during a disinfection process.
• AN7. Computer-implemented method according to AN1, wherein the energy that hits the surfaces of the environment is determined based on the three-dimensional map of the environment and the map of the radiation profile.
• AN8. Computer-implemented method according to AN1, whereby surfaces are represented in the three-dimensional map.
• AN9. Computer-implemented method according to AN1, with the stored threshold values from a disinfection program ( 141 ) come.
• AN10. Computer-implemented method according to AN1, the threshold values originating from a radiation limit map which, for example, depicts upper limits for radiation intensities.
• AN11. Computer-implemented method according to AN2, whereby the path planning includes an adjustment of the distances of the system for disinfection ( 10 ) to recorded surfaces.
• AN12. Computer-implemented method according to AN2, whereby the path planning is an adjustment of the speed of the system for disinfection ( 10 ) makes.
• AN13. Computer-implemented method according to AN2, whereby the path planning triggers an adjustment of the emitted energy.
• AN14. Computer-implemented method according to AN13, whereby the adaptation of the emitted energy is an adaptation of the lighting intensity of the disinfection sources ( 138 ) includes.
• AN15. Computer-implemented method according to AN13, whereby the adjustment of the radiated energy is controlled by slats ( 11 ) or covers.
• AN16. Computer-implemented method according to AN1, wherein a further map is combined with the map of the surroundings and / or integrated into the cost function, which includes areas that are only to be illuminated with a low intensity.
• AT 17th . Device according to AN1-AN16.
• AN18. Device according to AN17, whereby disinfection sources ( 138 ) both under construction ( 5 ) as well as on the side of the mobile base ( 1 ) of the disinfection system ( 1 ) are attached.
• AN19. Device according to AN17-AN18, whereby the at least one disinfection source ( 138 ) is a tubular UV lamp.

Example 9: Lamp arrangement, double screen structure

• ALAD1. Eine Vorrichtung, die Folgendes beinhaltet:
  • • eine Stützstruktur, die eine obere Basis (4) und eine untere Basis (3), die vertikal voneinander beabstandet sind, beinhaltet; und
  • • mindestens zwei Desinfektionsquellen (138), deren gegenüberliegende Enden jeweils mit der oberen und/oder der unteren Basis (4, 3) gekoppelt sind, wobei:
  • • die Längsachsen der Desinfektionsquellen (138) in einem spitzen Winkel, der größer als 0° ist, relativ zu mindestens einer der Basen (3, 4) in der Radialebene liegen, und wobei die Abweichungen aus dem Lot zu wechselnden Seiten erfolgt.
• ALAD2. Vorrichtung nach ALAD1, wobei mindestens zwei benachbarte Desinfektionsquellen (138) in etwa im gleichen spitzen Winkel, der eine Abweichung aus dem Lot in der Radialebene in die gleiche Richtung aufweist, nebeneinander angeordnet sind und eine weitere, mit mindestens einer der vorgenannten beiden Desinfektionsquellen (138) benachbarten Desinfektionsquelle (138) eine Abweichung aus dem Lot zur gegenüberliegenden Seite aufweist.
• ALAD3. Vorrichtung nach ALAD2, wobei die zwei benachbarten Desinfektionsquellen (138) mit der Abweichung aus dem Lot in die gleiche Richtung in der Radialebene so angeordnet sind, dass sich der Kopplungspunkt (38) an der oberen Basis (4) von der mittelzentrierten Achse der Vorrichtung aus gesehen weiter entfernt befindet als der Kopplungspunkt (38) an der unteren Basis (3).
• ALAD4. Vorrichtung nach ALAD1, wobei die Kopplungspunkte (38) der Desinfektionsquellen (138) in der unteren und oberen Basis (3, 4) jeweils auf zwei Kreisbahnen liegen.
• ALAD5. Vorrichtung nach ALAD1, wobei die Kopplungspunkte (38) der Desinfektionsquellen (138) in der unteren und oberen Basis (3, 4) jeweils auf zwei Vielecken liegen.
• ALAD6. Vorrichtung nach ALAD3-ALAD5, wobei im Fall, dass die Desinfektionsquellen (138) nur an einer Seite mit einer Basis (3, 4) gekoppelt sind, die in ALAD3-ALAD5 genannten Kopplungspunkte (38) der anderen Basis (4, 3) lediglich projizierte Kopplungspunkte (38) sind.
• ALAD7. Vorrichtung nach ALAD1, wobei der spitze Winkel zwischen einer Desinfektionsquelle (138) und einer Basis (3, 4) gleich groß ist wie der Komplementärwinkel einer benachbarten Desinfektionsquelle (138) und einer Basis (3, 4).
• ALAD8. Vorrichtung nach ALAD1, wobei der spitze Winkel zwischen einer Desinfektionsquelle (138) und einer Basis (3, 4) ungleich dem Komplementärwinkel einer benachbarten Desinfektionsquelle (138) und einer Basis (3, 4) ist.
• ALAD9. Vorrichtung nach ALAD1, wobei es sich bei der mindestens einen Desinfektionsquelle (138) um eine röhrenförmige UV-Lampe handelt.

The lamp arrangement is characterized here by the following aspects ALAD1 to ALAD9:

• ALAD1. A device that includes:
  • • a support structure that has an upper base ( 4th ) and a lower base ( 3 ) vertically spaced from one another includes; and
  • • at least two disinfection sources ( 138 ), the opposite ends of which are connected to the upper and / or lower base ( 4th , 3 ) are coupled, where:
  • • the longitudinal axes of the disinfection sources ( 138 ) at an acute angle greater than 0 ° relative to at least one of the bases ( 3 , 4th ) lie in the radial plane, and the deviations from the perpendicular take place on alternating sides.
• ALAD2. Device according to ALAD1, whereby at least two adjacent disinfection sources ( 138 ) are arranged side by side at approximately the same acute angle, which deviates from the perpendicular in the radial plane in the same direction, and another, with at least one of the aforementioned two disinfection sources ( 138 ) neighboring disinfection source ( 138 ) shows a deviation from the perpendicular to the opposite side.
• ALAD3. Device according to ALAD2, whereby the two adjacent disinfection sources ( 138 ) are arranged with the deviation from the perpendicular in the same direction in the radial plane in such a way that the coupling point ( 38 ) at the top base ( 4th ) is further away from the center-centered axis of the device than the coupling point ( 38 ) at the lower base ( 3 ).
• ALAD4. Device according to ALAD1, whereby the coupling points ( 38 ) the sources of disinfection ( 138 ) in the lower and upper base ( 3 , 4th ) each lie on two circular paths.
• ALAD5. Device according to ALAD1, whereby the coupling points ( 38 ) the sources of disinfection ( 138 ) in the lower and upper base ( 3 , 4th ) each lie on two polygons.
• ALAD6. Device according to ALAD3-ALAD5, whereby in the event that the disinfection sources ( 138 ) only on one side with a base ( 3 , 4th ) are coupled, the coupling points named in ALAD3-ALAD5 ( 38 ) the other base ( 4th , 3 ) only projected coupling points ( 38 ) are.
• ALAD7. Device according to ALAD1, whereby the acute angle between a disinfection source ( 138 ) and a base ( 3 , 4th ) is the same as the complementary angle of a neighboring disinfection source ( 138 ) and a base ( 3 , 4th ).
• ALAD8. Device according to ALAD1, whereby the acute angle between a disinfection source ( 138 ) and a base ( 3 , 4th ) unequal to the complementary angle of a neighboring disinfection source ( 138 ) and a base ( 3 , 4th ) is.
• ALAD9. Device according to ALAD1, wherein the at least one disinfection source ( 138 ) is a tubular UV lamp.

Example 10: Base lamp arrangement

• ALB1. System zur Desinfektion (10), umfassend eine mobile Basis (1), einen Aufbau (5), mindestens eine Desinfektionsquelle (138), einen Rechner (20) und einen Speicher (21), wobei mindestens eine Desinfektionsquelle (138) sich seitlich in oder an der mobilen Basis (1) befindet.
• ALB2. System zur Desinfektion (10) nach ALB1, wobei die mobile Basis (1) über eine Antriebseinheit (6) und ein Navigationsmodul (110) zur autonomen Navigation verfügt.
• ALB3. System zur Desinfektion (10) nach ALB1, wobei sich die mindestens eine Desinfektionsquelle (138) in oder an der mobilen Basis (1) in einer horizontalen Position befindet.
• ALB4. System zur Desinfektion (10) nach ALB1, wobei sich der unterste Punkt einer Desinfektionsquelle (138) in oder an der mobilen Basis (1) in einer Höhe im Bereich 4 bis 20 cm, bevorzugt 4 bis 12 cm über dem Boden befindet.
• ALB5. System zur Desinfektion (10) nach ALB3, wobei sich mindestens zwei horizontal angeordnete Desinfektionsquellen (138) in oder an der mobilen Basis (1) befinden, die übereinander angeordnet sind.
• ALB6. System zur Desinfektion (10) nach ALB1, wobei mindestens zwei Desinfektionsquellen (138) auf mindestens zwei Seiten der mobilen Basis (1) angeordnet sind.
• ALB7. System zur Desinfektion (10) nach ALB1, wobei mindestens zwei Desinfektionsquellen (138) in oder an der mobilen Basis (1) so angeordnet sind, dass sie, von der vertikalen Mittelachse des Systems zur Desinfektion (10) aus gesehen, sich auf unterschiedlichen tangentialen Ebenen befinden.
• ALB8. System zur Desinfektion (10) nach ALB1, wobei mindestens zwei Desinfektionsquellen (138) in oder an der mobilen Basis (1) horizontal versetzt angeordnet sind.
• ALB9. System zur Desinfektion (10) nach ALB1, wobei mindestens zwei Desinfektionsquellen (138) in oder an der mobilen Basis (1) vertikal versetzt angeordnet sind.
• ALB10. System zur Desinfektion (10) nach ALB1, wobei die mindestens eine Desinfektionsquelle (138) in oder an der mobilen Basis (1) versenkt ist.
• ALB1 1. System zur Desinfektion (10) nach ALB1, wobei die mindestens eine Desinfektionsquellen (138) in oder an der mobilen Basis (1) über einen Reflektor verfügt.
• ALB12. System zur Desinfektion (10) nach ALB1, wobei es sich bei der mindestens einen Desinfektionsquelle (138) um eine röhrenförmige UV-Lampe handelt.
• ALB13. System zur Desinfektion (10) nach ALB1, wobei sich die Desinfektionsquellen in ALB11-ALB12 im Aufbau (5) befinden.

The lamp arrangement is here by the following aspects ALB1 to ALB 15th characterizes:

• ALB1. Disinfection system ( 10 ), comprising a mobile base ( 1 ), a structure ( 5 ), at least one source of disinfection ( 138 ), a calculator ( 20th ) and a memory ( 21 ), with at least one disinfection source ( 138 ) laterally in or on the mobile base ( 1 ) is located.
• ALB2. Disinfection system ( 10 ) according to ALB1, whereby the mobile base ( 1 ) via a drive unit ( 6th ) and a navigation module ( 110 ) for autonomous navigation.
• ALB3. Disinfection system ( 10 ) according to ALB1, whereby the at least one disinfection source ( 138 ) in or on the mobile base ( 1 ) is in a horizontal position.
• ALB4. Disinfection system ( 10 ) according to ALB1, whereby the lowest point of a disinfection source ( 138 ) in or on the mobile base ( 1 ) at a height in the area 4th until 20th cm, preferably 4 to 12 cm above the ground.
• ALB5. Disinfection system ( 10 ) according to ALB3, whereby at least two horizontally arranged disinfection sources ( 138 ) in or on the mobile base ( 1 ), which are arranged one above the other.
• ALB6. Disinfection system ( 10 ) according to ALB1, whereby at least two disinfection sources ( 138 ) on at least two sides of the mobile base ( 1 ) are arranged.
• ALB7. Disinfection system ( 10 ) according to ALB1, whereby at least two disinfection sources ( 138 ) in or on the mobile base ( 1 ) are arranged in such a way that they, from the vertical central axis of the disinfection system ( 10 ) are on different tangential planes.
• ALB8. Disinfection system ( 10 ) according to ALB1, whereby at least two disinfection sources ( 138 ) in or on the mobile base ( 1 ) are arranged horizontally offset.
• ALB9. Disinfection system ( 10 ) according to ALB1, whereby at least two disinfection sources ( 138 ) in or on the mobile base ( 1 ) are arranged vertically offset.
• ALB10. Disinfection system ( 10 ) according to ALB1, whereby the at least one disinfection source ( 138 ) in or on the mobile base ( 1 ) is sunk.
• ALB1 1st system for disinfection ( 10 ) according to ALB1, whereby the at least one disinfection source ( 138 ) in or on the mobile base ( 1 ) has a reflector.
• ALB12. Disinfection system ( 10 ) according to ALB1, whereby the at least one disinfection source ( 138 ) is a tubular UV lamp.
• ALB13. Disinfection system ( 10 ) according to ALB1, whereby the disinfection sources in ALB11-ALB12 are under construction ( 5 ) are located.

Example 11: striving

• AST1. System zur Desinfektion (10), umfassend eine mobile Basis (1), einen Aufbau (5), mindestens eine Desinfektionsquelle (138), einen Rechner (20) und einen Speicher (21), eine untere Basis (3) und eine obere Basis (4), wobei mindestens eine Desinfektionsquelle (138) sich im Aufbau (5) befindet.
• AST2. System zur Desinfektion (10) nach AST1, wobei die mobile Basis (1) über eine Antriebseinheit (6) und ein Navigationsmodul (110) zur autonomen Navigation verfügt.
• AST3. System zur Desinfektion (10) nach AST1, weiter umfassend Streben (2) zwischen der unteren Basis (3) und oberen Basis (4), wobei die Desinfektionsquellen (138) aus der Draufsicht innerhalb einer Fläche liegen, die durch die Verbindung der Streben (2) mit geraden Linien und den Streben (2) selbst äußerlich begrenzt ist.
• AST4. Eine Vorrichtung, die Folgendes beinhaltet:
  • • eine Stützstruktur (37), die eine obere Basis (4) und eine untere Basis (3), die vertikal voneinander beabstandet sind, beinhaltet; und
  • • mindestens zwei Streben (2), die mit der unteren Basis (3) und oberen Basis (4) gekoppelt sind;
  • • mindestens eine Desinfektionsquellen (138), die mit der unteren Basis (3) und oberen Basis (4) gekoppelt ist;
  • • eine Strebenanordnung mit beabstandeten Streben (2), die in der Draufsicht um die Desinfektionsquellen (138) herum angeordnet sind.
• AST3. System zur Desinfektion (10) nach AST1 und AST4, weiter umfassend mindestens einen Hindernissensor (128), der den Zwischenraum zwischen mindestens zwei Streben (2) mindestens anteilig überwacht.

The lamp arrangement is characterized here by the following aspects AST1 to AST4:

• AST1. Disinfection system ( 10 ), comprising a mobile base ( 1 ), a structure ( 5 ), at least one source of disinfection ( 138 ), a calculator ( 20th ) and a memory ( 21 ), a lower base ( 3 ) and a top base ( 4th ), with at least one disinfection source ( 138 ) under construction ( 5 ) is located.
• AST2. Disinfection system ( 10 ) according to AST1, whereby the mobile base ( 1 ) via a drive unit ( 6th ) and a navigation module ( 110 ) for autonomous navigation.
• AST3. Disinfection system ( 10 ) according to AST1, further comprehensive striving ( 2 ) between the lower base ( 3 ) and top base ( 4th ), whereby the disinfection sources ( 138 ) from the top view lie within an area that is created by the connection of the struts ( 2 ) with straight lines and the struts ( 2 ) itself is externally limited.
• AST4. A device that includes:
  • • a support structure ( 37 ) that have an upper base ( 4th ) and a lower base ( 3 ) vertically spaced from one another includes; and
  • • at least two struts ( 2 ) connected to the lower base ( 3 ) and top base ( 4th ) are coupled;
  • • at least one disinfection source ( 138 ) connected to the lower base ( 3 ) and top base ( 4th ) is coupled;
  • • a strut arrangement with spaced struts ( 2 ), which in the top view around the disinfection sources ( 138 ) are arranged around.
• AST3. Disinfection system ( 10 ) according to AST1 and AST4, further comprising at least one obstacle sensor ( 128 ), which is the space between at least two struts ( 2 ) at least partially monitored.

Example 12: lighting arrangement

• ADQ1. System zur Desinfektion (10), umfassend eine mobile Basis (1), einen Aufbau (5), mindestens eine Desinfektionsquelle (138), einen Rechner (20) und einen Speicher (21), wobei sich mindestens eine Desinfektionsquelle (138) im Aufbau (5) befindet.
• ADQ2. System zur Desinfektion (10) nach ADQ2, wobei die mobile Basis (1) über eine Antriebseinheit (6) und ein Navigationsmodul (110) zur autonomen Navigation verfügt.
• ADQ3. System zur Desinfektion (10) nach ADQ1, wobei die Desinfektionsquellen (138) in der Radialebene abwechselnd aus dem Lot gesehen schräg nach unten und schräg nach oben geneigt sind.
• ADQ4. System zur Desinfektion (10) nach ADQ1, wobei mindestens zwei benachbarte Desinfektionsquellen (138) aus dem Lot betrachtet in die gleiche Richtung geneigt sind.
• ADQ5. System zur Desinfektion (10) nach ADQ4, wobei abwechselnd in der Radialebene zwei benachbarte Desinfektionsquellen (138) aus der Vertikalen gesehen schräg nach unten und eine Desinfektionsquelle (138) schräg nach oben geneigt sind.
• ADQ6. System zur Desinfektion (10) nach ADQ3, wobei die Desinfektionsquellen (138) zwischen einer unteren Basis (3) und einer oberen Basis (4) positioniert und mit den Basen (3, 4) gekoppelt sind.
• ADQ7. System zur Desinfektion (10) nach ADQ6, wobei die Kopplungspunkte (38) der Desinfektionsquellen (138) in der unteren und oberen Basis (3, 4) jeweils auf zwei Kreisbahnen liegen.
• ADQ8. System zur Desinfektion (10) nach ADQ6, wobei die Kopplungspunkte (38) der Desinfektionsquellen (138) in der unteren und oberen Basis (3, 4) jeweils auf zwei Vielecken liegen.
• ADQ9. System zur Desinfektion (10) nach ADQ3, wobei die Winkel oder die Komplementärwinkel zweier benachbarter Desinfektionsquellen (138), die sich aus der Desinfektionsquelle (138) und einer Basis (3, 4) in der radialen Ebene ergeben, gleich groß sind.
• ADQ10. System zur Desinfektion (10) nach ADQ3, wobei die Winkel oder die Komplementärwinkel zweier benachbarter Desinfektionsquellen (138), die sich aus der Desinfektionsquelle (138) und einer Basis (3, 4) in der radialen Ebene ergeben, ungleich groß sind.
• ADQ11. System zur Desinfektion (10) nach ADQ1, wobei die Desinfektionsquellen (138) in der Tangentialebene gesehen aus der Horizontalen schräg nach unten und/oder nach oben geneigt sind.
• ADQ12. System zur Desinfektion (10) nach ADQ11, wobei die Desinfektionsquellen (138) an mindestens einer Strebe (2) befestigt sind.
• ADQ13. System zur Desinfektion (10) nach ADQ11, wobei die Anordnung der Desinfektionsquellen (138) aus der Draufsicht in einem Vieleck angeordnet ist.
• ADQ14. System zur Desinfektion (10) nach ADQ13, wobei es sich beim Vieleck und ein Dreieck oder ein Viereck handelt.
• ADQ15. System zur Desinfektion (10) nach ADQ11, wobei die Anordnung der Desinfektionsquellen (138) aus der Draufsicht sternförmig erfolgt.
• ADQ16. System zur Desinfektion (10) nach ADQ3-5 und ADQ9-11, wobei die beschriebenen Neigungen aus dem Lot oder der Horizontalen im Wesentlichen spitze Winkel sind.
• ADQ17. System zur Desinfektion (10) nach ADQ1, wobei die mindestens eine Desinfektionsquelle (138) durch bewegliche Lamellen (11) umfasst ist.
• ADQ18. System zur Desinfektion (10) nach ADQ17, wobei Lamellen (11) über eine Lamellenachse (12) beweglich gelagert sind.
• ADQ19. System zur Desinfektion (10) nach ADQ17, wobei Lamellen (11) über eine Lamellenachse (12) einzeln bewegt werden können.
• ADQ20. System zur Desinfektion (10) nach ADQ17, wobei Lamellen (11) horizontal oder vertikal gelagert sind.
• ADQ21. System zur Desinfektion (10) nach ADQ17, wobei die Lamellen (11) gewölbt sind.
• ADQ22. System zur Desinfektion (10) nach ADQ17, wobei Lamellen (11) über mindestens eine reflektierende Fläche verfügen.
• ADQ23. System zur Desinfektion (10) nach ADQ1, wobei es sich bei der mindestens einen Desinfektionsquelle (138) um eine röhrenförmige UV-Lampe handelt.

The lighting arrangement is characterized here by the following aspects ADQ1-ADQ23:

• ADQ1. Disinfection system ( 10 ), comprising a mobile base ( 1 ), a structure ( 5 ), at least one source of disinfection ( 138 ), a calculator ( 20th ) and a memory ( 21 ), with at least one disinfection source ( 138 ) under construction ( 5 ) is located.
• ADQ2. Disinfection system ( 10 ) according to ADQ2, whereby the mobile base ( 1 ) via a drive unit ( 6th ) and a navigation module ( 110 ) for autonomous navigation.
• ADQ3. Disinfection system ( 10 ) according to ADQ1, whereby the disinfection sources ( 138 ) alternately out of perpendicular in the radial plane seen obliquely downwards and obliquely upwards.
• ADQ4. Disinfection system ( 10 ) according to ADQ1, whereby at least two neighboring disinfection sources ( 138 ) are inclined in the same direction when viewed from perpendicular.
• ADQ5. Disinfection system ( 10 ) according to ADQ4, whereby two adjacent disinfection sources ( 138 ) seen from the vertical diagonally downwards and a source of disinfection ( 138 ) are inclined upwards.
• ADQ6. Disinfection system ( 10 ) according to ADQ3, whereby the disinfection sources ( 138 ) between a lower base ( 3 ) and an upper base ( 4th ) positioned and with the bases ( 3 , 4th ) are coupled.
• ADQ7. Disinfection system ( 10 ) according to ADQ6, whereby the coupling points ( 38 ) the sources of disinfection ( 138 ) in the lower and upper base ( 3 , 4th ) each lie on two circular paths.
• ADQ8. Disinfection system ( 10 ) according to ADQ6, whereby the coupling points ( 38 ) the sources of disinfection ( 138 ) in the lower and upper base ( 3 , 4th ) each lie on two polygons.
• ADQ9. Disinfection system ( 10 ) according to ADQ3, whereby the angles or the complementary angles of two neighboring disinfection sources ( 138 ) resulting from the disinfection source ( 138 ) and a base ( 3 , 4th ) in the radial plane are of the same size.
• ADQ10. Disinfection system ( 10 ) according to ADQ3, whereby the angles or the complementary angles of two neighboring disinfection sources ( 138 ) resulting from the disinfection source ( 138 ) and a base ( 3 , 4th ) result in the radial plane, are of unequal size.
• ADQ11. Disinfection system ( 10 ) according to ADQ1, whereby the disinfection sources ( 138 ) are inclined obliquely downwards and / or upwards as seen in the tangential plane from the horizontal.
• ADQ12. Disinfection system ( 10 ) according to ADQ11, whereby the disinfection sources ( 138 ) on at least one strut ( 2 ) are attached.
• ADQ13. Disinfection system ( 10 ) according to ADQ11, whereby the arrangement of the disinfection sources ( 138 ) is arranged in a polygon from the top view.
• ADQ14. Disinfection system ( 10 ) according to ADQ13, which is a polygon and a triangle or a square.
• ADQ15. Disinfection system ( 10 ) according to ADQ11, whereby the arrangement of the disinfection sources ( 138 ) is made in a star shape from the top view.
• ADQ16. Disinfection system ( 10 ) according to ADQ3-5 and ADQ9-11, whereby the described inclinations from the perpendicular or the horizontal are essentially acute angles.
• ADQ17. Disinfection system ( 10 ) according to ADQ1, whereby the at least one disinfection source ( 138 ) through movable slats ( 11 ) is included.
• ADQ18. Disinfection system ( 10 ) according to ADQ17, whereby lamellas ( 11 ) via a lamella axis ( 12th ) are movably mounted.
• ADQ19. Disinfection system ( 10 ) according to ADQ17, whereby lamellas ( 11 ) via a lamella axis ( 12th ) can be moved individually.
• ADQ20. Disinfection system ( 10 ) according to ADQ17, whereby lamellas ( 11 ) are stored horizontally or vertically.
• ADQ21. Disinfection system ( 10 ) according to ADQ17, whereby the lamellas ( 11 ) are arched.
• ADQ22. Disinfection system ( 10 ) according to ADQ17, whereby lamellas ( 11 ) have at least one reflective surface.
• ADQ23. Disinfection system ( 10 ) according to ADQ1, whereby the at least one disinfection source ( 138 ) is a tubular UV lamp.

List of reference symbols

1

mobile base

2

Striving

3

lower base

4th

upper base

5

construction

6th

Drive unit

7th

Drive wheels

8th

Energy storage of the mobile base

9

Training wheels

10

Disinfection system

11

Lamella

12th

Support axis of the lamella

13th

bed

14th

cabinet

15th

UV LED

16

height adjustable unit

17th

chair

18th

Detection area of the disinfection sources

20th

Mobile base computer

21

Mobile base storage

22nd

another calculator

23

further memory

24

external system

25th

Cloud

26th

terminal

30th

external sensor unit

31

Sensor within the external sensor unit

32

Wireless interface of the external sensor unit

33

Energy storage of the external sensor unit

34

flat material

35

Door handle

36

Spray device

37

Support structure

38

Coupling point

100

Software level

110

Navigation module

111

2D / 3D environment detection module

112

Path planning

114

Self-localization module

115

Movement planner

117

Mapping module

118

Loading module

120

Hardware level

121

Odometry unit

122

Pressure sensitive bumpers

123

Infrared ToF sensors

124

LIDAR

125

camera

126

Alarm lights

127

Controls

128

Obstacle sensor

129

Display

130

WIRELESS INTERNET ACCESS

131

Zigbee

132

Differential drive

133

Charge control

134

Sounder / loudspeaker

135

Room height sensor

136

Height adjustment for height adjustable unit

137

Engine control

138

Source of disinfection

139

Disinfection source monitoring sensor

140

Disinfection control module

141

Disinfection programs

142

Spatial planning

143

Emergency program

144

Intensity optimization

160

Person recognition module

171

Motion monitoring sensor

172

Light barrier transmitter

173

Light barrier receiver

174

Light barrier cover

175-A

Corner of the table before triggering light barrier

175-B

Table corner after triggering light barrier

176

Photoelectric barrier

180

Height adjustment control unit

190

Companion robot

191

Operating zone

192

Protection zone

195

external sensor unit

196

Sensor for contactless detection

197

Communication control unit

198

Communication module

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

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Claims (13)

System for disinfection (10), comprising a mobile base (1), a structure (5), at least one disinfection source (138), a computer (20) and a memory (21), with at least one disinfection source (138) in the structure (5) is located. Disinfection system (10) Claim 1 comprising the following arrangement: disinfectant sources (138) positioned between a lower base (3) and an upper base (4); • struts (2) that couple the bases together; • wherein the disinfection sources (138) from the top view lie within an area which is externally limited by the connection of the struts (2) with virtual straight lines and the struts (2) themselves. Disinfection system (10) Claim 1 , wherein at least one disinfection source (138) is a UV-LED which illuminates at least one wheel (7, 9) of the system for disinfection (10). Disinfection system (10) Claim 3 , wherein the at least one UV LED illuminates both the tread and the side edge of a wheel (7, 9). Disinfection system (10) Claim 1 , which is connected to at least one accompanying robot (190) or an external sensor (195), which has means for contactless monitoring of the environment of the system for disinfection (10), the system for disinfection (10) having a memory ( 21) has stored rules for switching off the at least one disinfection source (138) when moving obstacles are detected by the accompanying robot (190) or an external sensor (195) if the detected obstacles fall below distance threshold values. Disinfection system (10) Claim 1 , which is connected to an external sensor unit (30), comprising means for fastening the external sensor unit to the handle of a door (35), an energy storage device (33), a wireless interface (32) and a sensor (31) for detecting the opening of the Door and a surface which, after being attached to the handle of a door, is essentially parallel to the door surface, the system for disinfection (10) having rules in its memory (21), a disinfection process when a signal from the external sensor unit (30) is detected to interrupt. Disinfection system (10) Claim 1 with a navigation system (110) or a map in the navigation system (110), the map showing areas that should only be illuminated with low intensity. Disinfection system (10) Claim 1 , wherein a communication control unit (197) monitors the communication between the disinfection system (10) and at least one external sensor unit (30, 195) or an accompanying robot (190), and if communication is interrupted, the at least one disinfection source (138) is deactivated. Disinfection system (10) Claim 1 , wherein an area of at least one disinfecting lamp on at least one side of the disinfecting lamp is monitored for movements over essentially the length of the disinfecting lamp within a defined distance by at least one obstacle sensor (128) and, when a movement is detected, the disinfection system (10) is stopped. Disinfection system (10) Claim 9 , the monitoring being carried out by means of a light barrier (176). Disinfection system (10) Claim 10 , the at least one light barrier (176) being located closer to the edge of the system for disinfection (10) than the at least one disinfection source (138) when viewed radially. Disinfection system (10) Claim 2 and Claim 10 , wherein the light barrier receiver (173) of the light barrier (176) is arranged in the upper base (4). Disinfection system (10) Claim 10 wherein the light barrier transmitter (172) and / or light barrier receiver (173) of the at least one light barrier (176) is provided with a light barrier cover (174) which is largely nontransparent for UV light.

Images