Design And Development Of Epidemic Prevention And Disinfection Robot

At the end of 2019,the new crown epidemic broke out and quickly swept the world The epidemic prevention facilities were unprecedentedly tight,and the work pressure and risks of medical staff remained high.The traditional disinfection method not only has a large workload,but also has the risk of cross-infection..The development of intelligent Epidemic Prevention and Disinfection Robots is of great significance to the cause of epidemic prevention.In this paper,a Epidemic Prevention and Disinfection Robot with a two-dimensional code visual navigation method is developed,and an in-depth analysis is made on the functional requirements of the robot,mechanical structure,component selection,control strategy and algorithm,etc.The specific research content is as follows:ln this paper,a Epidemic Prevention and Disinfection Robot with a two-dimensional code visual navigation method is developed,and an in-depth analysis is made on the functional requirements of the robot,mechanical structure,component selection,control strategy and algorithm,etc.The detailed research content and methods are as followsThrough the analysis and summary of the research status of domestic and foreign Epidemic Prevention and Disinfection Robots,the actual functional requirements of the robots are summarized according to the characteristics of the epidemic prevention site environment and the requirements of the operators;based on the modular design concept,the key component models,sizes and performances are determined,and the AMR and robotic arms are integrated,Constructed a three-dimensional model of the Epidemic Prevention and Disinfection Robot,and completed the design and layout of the robot structure.Based on the principle of STM32 automation control,using embedded system design ideas,build the software and hardware system platform of the Epidemic Prevention and Disinfection Robot,and establish the robot kinematics model;design the control system hardware circuit,select the STM32F103VET6 series chip as the main control MCU of the system,and determine the data collection and element The device control logic completes the robot’s navigation and disinfection control;develops human-computer interaction functions such as voice recognition and voice synthesis,implements voice issuing instructions and voice broadcast of working status;completes autonomous navigation,calibration,positioning,and return of the robot With other actions,the robot’s battery life can reach 10 hours,the hydrogen peroxide atomization efficiency can reach 36L/day,and the alcohol solution can sterilize 200 door handles each time.On the basis of studying the principle of PID control algorithm,fuzzy control is introduced,combined with the requirements of the robot on-site work,and an improved fuzzy PID algorithm is proposed for the problems of the robot on-site testing.Through the optimization of PID integral items,the performance of robot navigation deviation correction is effectively improved.The simulation of robot deviation correction is realized based on MATLAB programming.The results show that the improved algorithm can shorten the robot deviation correction time to 1.2s,the reduction range reaches 52%,the lateral deviation is within±20mm,and the angle deviation is within±3°,Which effectively improves the overall working performance of the Epidemic Prevention and Disinfection Robot.A two-dimensional code matrix was arranged in the indoor field,and the robot was tested.The results showed that the improved algorithm can make the lateral deviation of the robot within ±25mm,the angular deviation within±2°,and the angular velocity within[-0.11 rad/s,0.06rad/s],control within±0.15rad/s,the improved algorithm can effectively improve the robot’s deviation correction ability;the robot can identify start spraying,stop spraying,raise,lower,turn on the UV lamp,turn off the UV lamp,and move forward,Retreat and other voice commands and complete the corresponding actions.When someone is detected,the UV lamp can be turned off.The effective disinfection radius of the UV lamp is 2.5m,the end structure of the robotic arm can sterilize the door handle.