Design And Implementation Of A Multifunctional Composite Epidemic Prevention Robo

Anti-epidemic robots can reduce the risk of infection and improve work efficiency.The current anti-epidemic robots are mostly products with single function and high equipment cost,such as disinfection robots and temperature-measurement robots.Therefore,the study of an anti-epidemic robot that integrates multiple types of robots,and has multi-function,good expansibility,high-cost performance has very important theoretical and practical value.The multifunctional compound anti-epidemic robot designed and developed in this paper integrates a mobile robot and a cooperative manipulator.The anti-epidemic robot has two epidemic prevention functions of temperature measurement and disinfection.In addition,this paper develops a remote monitoring system that integrates 5G communication to control the robot.Aiming at the shortcomings of the existing anti-epidemic robots with single function,this paper proposes a composite robot system that integrates a cooperative manipulator and a mobile robot,builds a robot software and hardware system,and forms an experimental prototype of a multifunctional compound epidemic prevention robot.Existing temperature measurement schemes mostly use fixed infrared thermometers,which will cause temperature measurement errors when facing people with large height differences,such as adults and children.In response to this problem,this article proposes a temperature measurement method that combines visual calibration,facial recognition based on Haar features,and digital recognition of the needle-piercing method.The proposed temperature measurement method can compensate for the decrease in temperature measurement accuracy caused by height and distance through the flexibility of the manipulator.Existing disinfection schemes mostly adopt the method of spraying disinfectant on a large scale.When facing objects such as tables and chairs,the disinfection will be incomplete due to the obscuration of the contours.To solve this problem,this paper proposes a disinfection method that combines mobile robot SLAM,autonomous obstacle avoidance navigation algorithm and RRT-based robot arm obstacle avoidance trajectory planning algorithm.The proposed disinfection method combines the mobility of the mobile robot and the flexibility of the manipulator,and can perform high-coverage disinfection of the objects to be disinfected.Aiming at the shortcomings of existing anti-epidemic robot data only stored on the device side,this article integrates 5G modules to build a robot remote monitoring system.The remote monitoring system can remotely control the epidemic prevention robot and receive real-time display of epidemic prevention work data.Finally,the temperature measurement and disinfection functions proposed in this article are experimentally verified.