Research on autonomous navigation disinfection service robot based on ROS
With the development of modern society,people's attention to public health disinfection has been further improved,disinfection service robots have been sought after by the market under the promotion of scientific and technological development.Aiming at the problems of low efficiency,incomplete disinfection and high labor cost of manual disinfection,this paper designed a service robot with disinfection and autonomous navigation functions.The disinfection sprayer in the robot spray disinfection module can be automatically rotated up and down and left and right through the control of the two-degree-of-freedom robot arm,which could meet different spray requirements.The model of disinfection robot was built in SolidWorks software,and the movement mode and mode of disinfection robot were analyzed by kinematic modeling.Taking the school hospital as the application scenario,the simulation environment of disinfection transportation service robot was built with the help of rviz and gazebo software,and the autonomous path planning of the robot was used to verify whether the robot could achieve single and multi-point autonomous navigation.The experiment showed that the disinfection robot could independently complete the reasonable planning of the path,achieve the single point and multi-point autonomous navigation,and realize the comprehensive disinfection of the indoor environment.
disinfection service robotkinematics modelingautonomous navigationmultipoint autonomous navigationpath planningapplication scenario
万方数据
维普
