# US 12,214,485 B2 · Robot for bio-surveillance and bio-surveillance system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,485 B2 - Document ID: US12214485B2 - Status: Granted - Kind: B2 - Application number: 17/585,866 - Filed: 2022-01-27 - Published: 2022-08-04 - Granted: 2025-02-04 - Earliest claimed: 2021-01-29 - Assignees: Battelle Memorial Institute - Applicants: Battelle Memorial Institute - Inventors: David Carl Glasbrenner - Web page: https://patentgrep.com/patent/US12214485B2 ## CPC - B25J 11/008: {Manipulators for service tasks} - B25J 5/007: {mounted on wheels} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - G01N 1/02: Devices for withdrawing samples {(sampling of foundation soil E02D1/04; collecting or conveying radioactive samples G01T7/00, e.g. G01T7/02, G01T7/08)} - G01N 35/00871: {Communications between instruments or with remote terminals} - G01N 35/0099: {comprising robots or similar manipulators (robots per se B25J)} - G05D 1/021: {specially adapted to land vehicles} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - G01N 2001/028: {Sampling from a surface, swabbing, vaporising} - G01N 2035/00524: {Mixing by agitating sample carrier} - G01N 2035/00881: {network configurations} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A mobile robot may include one or more driven wheels, one or more sensors, and a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder. ## Claims ### Claim 1 A mobile robot comprising: one or more driven wheels; one or more sensors configured to generate mapping data; and a sample collector including: a sample storage having a first sample receptacle and a second sample receptacle; a first identifier associated with the first sample receptacle; a second identifier associated with the second sample receptacle; a first collection medium and a second collection medium; and a collection medium applicator configured to: releasably couple to the first collection medium; contact the first collection medium with a location on a surface, wherein the location on the surface is determined using the mapping data and is associated with the first identifier; and deposit the first collection medium in the first sample receptacle. ### Claim 2 (depends on 1) The mobile robot of claim 1, wherein the first and second collection mediums each include a swab. ### Claim 3 (depends on 1) The mobile robot of claim 1, wherein the sample collector further includes a collection medium holder that includes a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. ### Claim 4 (depends on 3) The mobile robot of claim 3, wherein the cartridge is configured to be rotated. ### Claim 5 (depends on 1) The mobile robot of claim 1, wherein the collection medium applicator is configured to agitate the first collection medium along the surface. ### Claim 6 (depends on 5) The mobile robot of claim 5, wherein the one or more sensors include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the first collection medium based, at least in part, on the detected surface type. ### Claim 7 (depends on 1) The mobile robot of claim 1, wherein the collection medium applicator further includes one or more contact sensors configured to detect engagement of the first collection medium with the surface. ### Claim 8 (depends on 1) The mobile robot of claim 1, wherein the collection medium applicator is configured to rotate the first collection medium about an actuation axis. ### Claim 9 (depends on 1) The mobile robot of claim 1, wherein the collection medium applicator is configured to move the first collection medium along an actuation axis. ### Claim 10 A bio-surveillance system comprising: a mobile robot, the mobile robot including: one or more driven wheels; one or more sensors configured to generate mapping data; and a sample collector including: a collection medium holder; a sample storage having a first sample receptacle and a second sample receptacle; a first identifier associated with the first sample receptacle; a second identifier associated with the second sample receptacle; a first collection medium and a second plurality of collection medium disposed in the collection medium holder; and a collection medium applicator configured to: releasably couple to the first collection medium; remove the first collection medium from the collection medium holder; contact the first collection medium with a location on a surface, wherein the location on the surface is determined using the mapping data and is associated with the first identifier; and deposit the first collection medium in the first sample receptacle; and a docking station, the docking station configured to receive the first and second collection mediums. ### Claim 11 (depends on 10) The bio-surveillance system of claim 10, wherein each of the first and the second collection mediums include a swab. ### Claim 12 (depends on 10) The bio-surveillance system of claim 10, wherein the collection medium holder includes a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. ### Claim 13 (depends on 12) The bio-surveillance system of claim 12, wherein the cartridge is configured to be rotated. ### Claim 14 (depends on 10) The bio-surveillance system of claim 10, wherein the collection medium applicator is configured to agitate the first collection medium along the surface. ### Claim 15 (depends on 14) The bio-surveillance system of claim 14, wherein the one or more sensors include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the first collection medium based, at least in part, on the detected surface type. ### Claim 16 (depends on 10) The bio-surveillance system of claim 10, wherein the collection medium applicator further includes one or more contact sensors configured to detect engagement of the first collection medium with the surface. ### Claim 17 (depends on 10) The bio-surveillance system of claim 10, wherein the collection medium holder includes the sample storage. ### Claim 18 A robot comprising: one or more sensors configured to generate mapping data; and a sample collector including: a collection medium holder; a sample storage having a first sample receptacle and a second sample receptacle; a first identifier associated with the first sample receptacle; a second identifier associated with the second sample receptacle; a first collection medium and a second plurality of collection medium disposed in the collection medium holder; and a collection medium applicator configured to: releasably couple to the first collection medium; remove the first collection medium from the collection medium holder; contact the first collection medium with a location on a surface, wherein the location on the surface is determined using the mapping data and is associated with the first identifier; and deposit the first collection medium in the first sample receptacle. disposed within the collection medium holder. ### Claim 19 (depends on 18) The robot of claim 18, wherein the collection medium holder includes a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. ### Claim 20 (depends on 18) The robot of claim 18, wherein the collection medium holder includes the sample storage.