Research On Navigation Control Of UV Disinfection Mobile Robot

The hospital,an institution for treatment and care of patients,receives a large number of patients every day.Such a densely crowded and closed space will lead to the accumulation of germs and cause hospital infections.Therefore,the disinfection and sterilization work of the hospital should be highly valued.Especially after the outbreak of COVID-19,local hospitals,including mobile cabin hospitals as the frontline of the pandemic,are extremely important in disinfection.In order to reduce the labor intensity of elimination work and protect medical staff,this paper takes the mobile cabin hospital as an example and designs an UV disinfection mobile robot for automatic disinfection of hospitals.This paper focuses on the research of its navigation control,including indoor positioning,motion control,path planning,so that it can meet the needs of the use of automatic disinfection.The research content of this article mainly includes the following aspects:According to the basic functional requirements of the UV disinfection mobile robot to carry out the overall design.In terms of mechanical structure,the chassis scheme consisting of 2 omnidirectional driving wheels and 2 omnidirectional free wheels is determined,and the2-stage lifting type disinfection mechanism is designed.In terms of navigation control scheme,the inertial navigation mode of laser +RFID and the obstacle avoidance scheme combining infrared obstacle avoidance and laser obstacle avoidance are determined.Finally,the navigation sensor is selected and the hardware structure is determined.The positioning process of UV disinfection mobile robot is divided into two steps: rough positioning and precise positioning.Based on the extended Kalman filter model,the RFID data and odometer information are fused to realize the rough positioning on the path.Based on the grid map,the Monte Carlo positioning algorithm is designed to fuse the lidar and odometer information to realize the precise positioning in the room.According to the kinematics model of the UV disinfection mobile robot,a trajectory tracking control law based on the Back-stepping control method is designed,and the constraint control is added to improve the practicability.The simulation verifies the effectiveness of the trajectory tracker.The S-type speed up and down curve is designed for the lifting mechanism of the disinfection device,and the speed control of the lifting mechanism is realized with the look-up table method,so as to reduce the impact motion impact during the movement.Based on the topology map of mobile cabin hospital environment,the Dijkstra algorithm is used to realize the shortest path planning.Dijkstra algorithm is improved to save all the shortest paths and select according to the performance indicators to realize the optimal path search.Set up a prototype and experimental environment for the UV disinfection mobile robot.Test the basic motion function,and compensate and correct the open-loop motion.Then the localization algorithm is tested to verify its effectiveness.Finally,the sterilizing function test shows that the sterilizing device runs well and can meet the requirements of the sterilizing function of the UV disinfection mobile robot.