面向重大疫情应急防控的智能机器人系统研究  

Research on intelligent robot systems for emergency prevention and control of major pandemics

作　　者：张辉 王耀南[1,2] 易俊飞 钟杭[2] 刘理 缪志强[2] 江一鸣[2] Hui ZHANG;Yaonan WANG;Junfei YI;Hang ZHONG;Li LIU;Zhiqiang MIAO;Yiming JIANG(School of Robotics,Hunan University,Changsha 410082,China;National Engineering Laboratory for Robot Visual Perception and Control Technology,Hunan University,Changsha 410082,China)

机构地区：[1]湖南大学机器人学院,长沙410082 [2]湖南大学机器人视觉感知与控制技术国家工程实验室,长沙410082

出　　处：《中国科学：信息科学》2020年第7期1069-1090,共22页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:61971071);国家重点研发计划(批准号:2018YFB1308200);湖南省自然科学基金(批准号:2018JJ3079);湖南省重点研发计划(批准号:2018GK2022);长沙市科技计划项目(批准号:kq1907087);湖南省创新型省份建设专项经费(批准号:2020SK3007)资助项目。

摘　　要：近年来,SARS病毒和MERS冠状病毒等全球传染性疫情频繁发生,2019年12月至2020年5月7日,新冠肺炎(COVID-19)疫情已造成世界范围内210多个国家的370多万人感染,其中超过26万人死亡.此次疫情严重影响了人民生命安全、社会正常秩序和经济稳定发展,因而探索和实施面向重大传染病的新型防控方案迫在眉睫.随着机器人和人工智能技术的发展,复杂场景下的多类型应急防控智能机器人应运而生,并在疾病防控、排查诊断及治疗护理中扮演着至关重要的角色.本文以重大疫情防控过程中面临的物资供给不足、消毒任务繁重等问题为切入点,研究了医用物资搬运机器人、多场景消毒机器人、医护辅助机器人、排查防控机器人、复工复产机器人等系统方案和应用情况,并对环境感知、自主导航、运动规划、5G通信技术等多项疫情应急防控机器人关键技术的现状进行了对比分析.最后,对面向重大疫情应急防控智能机器人系统的前景提出了技术展望.In recent years,SARS virus,MERS coronavirus,and other global pandemics have occurred frequently.The outbreak of COVID-19 has caused more than 3.7 million infected people and 260000 deaths over 210 countries around the world from December 2019 to May 7,2020,which has seriously affected the safety of people,the stability of social order,and the development of the economy.Therefore,it is urgent to explore and implement new prevention and control programs for such major pandemics.With the development of robots and artificial intelligence technologies,various intelligent robots for emergency prevention and control in complex conditions have emerged,and they have played paramount roles in disease prevention and control,diagnosis,treatment,and nursing.Based on the problems of insufficient supply of materials and heavy disinfection tasks during the prevention and control of major outbreaks,we study the systematic procedures and applications of medical material handling robots,multi-scene disinfection robots,medical assistant robots,prevention and control robots,and production resumption robots.Moreover,we comparatively analyze the current situation of key technologies of pandemic emergency prevention and control robots,such as environmental perception,autonomous navigation,motion planning,and 5G communication technology.In conclusion,we put forward a technical prospect of intelligent robot systems for emergency prevention and control of major pandemics.

关 键 词：疫情应急防控 疫情机器人 环境感知 自主导航 运动规划 5G通信技术 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]