Although medical sites have utilized UVC disinfection robots to sterilize operating rooms, floors under hospital beds, and public places, they are too expensive and infeasible for wide deployment. This work introduced an autonomous disinfection robot that could adapt to different handrail types and clean high-touch surfaces. Several functions are as follows:
1. Scheme of theory (Fig. 2 in the poster): In order to leverage the advantage of the four-wheel Mecanum system, we transform the kinematic motion model from plane to cylinder. The approach successfully ensured the robot move back and forth on cylinder handrails.
2. Scheme of control (Fig. 3 in the poster):
Using Hall sensors and accelerometer feedback control to realize the desired robot performance.
A Proportional-Integral (PI) dual-loop realized the control of robot location and velocity.
An angle proportional (P) control made the robot self-balancing while moving on handrails.
Integrating PI dual-loop control and angle P control command for the desired robot kinematic motion.
Establishing handrail map via ultrasonic sensor (Fig. 4 in the poster): the proposed robot has a sonar sensor that could measure the distance between obstacles. Due to the sonar sensor has 25 degrees field of view, we calculated the probability of obstacle detected with the occupancy grid map. We then updated the location of obstacles on handrails iteratively after the robot rotating and moving via Matlab.