Sweeping UV-C Disinfection: a Mathematical Approach

Mobile robots are used to disinfect surfaces with C-band ultraviolet light (UV-C). However, the coverage path planning strategy that delivers the right dose of energy, avoiding waste, is still a challenge. This article proposes a lighting sweep strategy for surfaces, based on robot speed, UV-C output power and distance from the surface, to ensure an adequate dose of UV-C light on the surface. In this work, the distance between the scan paths is mathematically defined and, through simulations, its effectiveness is demonstrated. The experimental results show that when using the ideal speed of sweeping, it is possible to disinfect a surface 2.9 times greater than the best case of the static lamp, in the same period of time. The proposed method in this paper is capable of performing surface coverage, delivering at least the target dose of UV-C while reducing energy and time waste.