室内环境自主消毒防疫机器人系统设计  

Design of autonomous disinfection and epidemic prevention robot system for indoor environment

作　　者：鞠庆 刘飞飞[1,2] 李光昌 姚志博 JU Qing;LIU Feifei;LI Guangchang;YAO Zhibo(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China;Jiangxi Key Laboratory of Machine Vision and Intelligent Systems,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000 [2]江西理工大学江西省机器视觉及智能系统重点实验室,江西赣州341000

出　　处：《传感器与微系统》2023年第12期103-106,110,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61364014);江西省重点研发计划资助项目(20192BBE50010);江西省重点创新研发平台计划资助项目(20181BCD40009)。

摘　　要：为了通过服务机器人的工作减少人类接触高度传染性病毒的风险,设计并开发了一种基于机器人操作系统(ROS)的室内环境自主消毒防疫机器人,通过集成轮式自主移动机器人平台和过氧化氢(H2O2)雾化装置,可在复杂室内环境中进行自动循环消毒工作;基于无迹卡尔曼滤波(UKF)方法,融合多传感器里程计信息,与二维激光雷达(LiDAR)进行即时定位与建图(SLAM),有效降低里程计误差和提高地图的质量;通过App可远程控制消毒机器人的路径规划、消毒、充电等功能。通过制作样机与实地场景测试,验证了自主消毒防疫机器人系统的可行性,可实现室内场景全方位消毒,降低病毒感染的风险。The service robot can reduce the risk of human exposure to highly contagious viruses.Design and development of an indoor environment autonomous disinfection and epidemic prevention robot based on robot operating system(ROS)is introduced.By integrating a wheeled autonomous mobile robot platform and a hydrogen peroxide atomization device,automatic circulating disinfection can be carried out in complex indoor environment.Based on unscented Kalman filtering(UKF)method,fusing multi-sensor odometer information and simultaneous localization and mapping(SLAM)is carried out with two-dimensional LiDAR,which can effectively reduce the error of odometer and improve the quality of map.The path planning,disinfection,charging and other functions of the disinfection robot can be remotely controlled through App.The feasibility of the autonomous disinfection and epidemic prevention robot system is verified through the production of prototype and the field scene test,which can realize the all-round disinfection of indoor scenes and reduce the risk of virus infection.

关 键 词：机器人操作系统 自主消毒机器人 多传感器 即时定位与建图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]