多传感融合测量的移动机器人高效消杀控制  

Efficient Disinfection Control of Mobile Robots Driven By Multi-sensor Measurement

作　　者：徐建萍 陈泽健 文科 任明妍 张俊辉 李光 XU Jianping;CHEN Zejian;WEN Ke;REN Mingyan;ZHANG Junhui;LI Guang(Beijing Spacecraft Co.,Ltd.,Beijing 100094,China)

机构地区：[1]北京卫星制造厂有限公司,北京100094

出　　处：《机床与液压》2023年第9期1-8,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年基金项目(62003346);国家自然科学基金面上基金项目(52075533);国防基础科研计划项目(JCKY2021203B035)。

摘　　要：疫情形势下,为解决狭窄空间、复杂曲面、无接触、安全自动消杀作业需求,设计一种多传感器融合测量的基于双车拼接的可移动自动消杀机械控制系统。设计可快速拆分组装的双车拼接全向可移动平台车,解决狭窄空间的转运难题,同时采用激光导航传感器构建场景坐标系,精确定位设备位置,使设备运行过程中定位精度达到±5 mm以内。设计激光测距传感器、避障传感器、消杀装置多传感器融合测量的扫描消杀装置,并基于KUKA机器人传感器接口RSI设计修正算法,实现复杂曲面消杀过程中末端姿态在线调整及安全防护。最后,针对消杀过程中现场无人工干预需求,采用远程控制方式,建立远程终端-可移动平台控制系统-机器人控制系统的控制网络,操作者在远程终端下达杀菌指令,可移动自动消杀机械控制系统根据杀菌范围构建杀菌路径并智能化自主完成杀菌任务。进一步地,搭建立式壁面以及弧顶消杀场景,消杀过程中位置偏差±3 mm,角度偏差±1.5°,控制策略对实际对象拟合精度较高,增大了有效杀菌作用面积。Under the epidemic situation,in order to solve the requirements of narrow space,complex curved surface,non-contact and safe automatic disinfecting operation,a mobile automatic disinfecting mechanical control system based on double-vehicle splicing based on multi-sensor measurement was designed.A dual-vehicle splicing omnidirectional auto guided vehicle(AGV)that could be quickly disassembled and assembled was designed to solve the problem of transportation in narrow spaces.At the same time,a laser navigation sensor was used to build a scene coordinate system to precisely locate the equipment position,so that the positioning accuracy during equipment operation could reach±5 mm.A scanning and disinfecting machinery with laser ranging sensor,obstacle avoidance sensor,and disinfecting device was designed,and a correction algorithm was designed based on the KUKA robot sensor interface(RSI)to realize online pose adjustment and safety protection of the machinery during the disinfecting process.Finally,for the need of unmanned operation on site during the disinfecting process,a remote control network consisting of remote terminal-AGV-robot system was build.Once the disinfection instructions were issued on the remote terminal,the optimal path according to the scene parameters was calculated to autonomously complete the task.Furthermore,a vertical wall and arc top scene were built.During the disinfection process,the position deviation is±3 mm,and the angle deviation is±1.5°.The control results has a high fitting accuracy with the actual object,which increases the effective disinfection area.

关 键 词：移动机器人 复杂曲面消杀 远程控制 双车拼接 多传感器融合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]