Design Of Full Coverage Path Planning And Management System For Disinfection Robot

Since the outbreak of the COVID-19 at the end of 2019,the epidemic prevention work of local health systems has ushered in tremendous pressure,and the use of disinfection robots to replace manual disinfection work can improve the efficiency and effectiveness of disinfection and reduce the probability of cross-infection.Integrating the disinfection robot system with the management system,and developing a disinfection management system can further increase the degree of automation of disinfection,and realize the visualization,quantification,and traceability of epidemic prevention and disinfection.Therefore,this article takes the disinfection robot in the disinfection management system as the research point,focusing on the research on the full coverage path planning algorithm and dynamic obstacle avoidance of the disinfection robot,and implements the disinfection management system on this basis.Analyze the needs of the disinfection management system,and complete the design of the overall system structure and work flow based on the body of the disinfection robot of Jiangsu Jicui Company.Aiming at the complete coverage path planning of the disinfection robot,an improved Boustrophedon Cellular Decomposition method is proposed.Focusing on the poor global convergence ability and low robustness of the existing algorithms when solving the cellular traversal order,the differential evolution algorithm is used to solve the gravitational search.The search strategy of the algorithm is adjusted,and the individual is mutated in the iterative process to improve the probability of obtaining a better unit traversal order and improve the efficiency of disinfection.An improved dynamic window method is implemented.The particle swarm algorithm is used to perform a second optimization on the area near the optimal trajectory space obtained from the initial search.Discrete sampling is changed to continuous space search,which improves the search ability of the algorithm and shorten the obstacle avoidance time in the working process of disinfection robot.Completed the realization of the disinfection management host computer system,mainly including the development of the database and various system modules.Unit testing has been carried out to verify the accuracy,stability and safety of the system function;the speed index,obstacle avoidance performance and disinfection ability of the disinfection robot are tested,and the verification results show that it basically meets the actual disinfection needs.