论文标题
使用机器人移动操纵器的Far-UVC消毒
Far-UVC Disinfection with Robotic Mobile Manipulator
论文作者
论文摘要
COVID-19大流行表明，需要采取更有效，更有效的消毒方法来对抗传染病。紫外线辐照（UVGI）是对消毒和灭菌的经过证明的平均值，并且已整合到手持设备和自动移动机器人中。现有的UVGI机器人通常配备了散发出强烈的紫外线辐射的未覆盖灯，遭受：无法在人类存在，遮蔽物体和长时间的消毒时间中使用。这些机器人的运营成本也很高。本文介绍了一种具有成本效益的杀菌系统，该系统利用UVGI在高接触表面（例如门和表）上利用UVGI来消毒病原体，例如病毒，细菌和真菌。该系统由一个由5多道移动操纵器组成的团队，这些操作器配备了远处UVC准分子灯。讨论了系统的设计，重点是路径计划，覆盖范围计划和场景理解。还包括使用模拟和辐照度模型对UVGI系统的评估。
The COVID-19 pandemic has demonstrated the need for a more effective and efficient disinfection approach to combat infectious diseases. Ultraviolet germicidal irradiation (UVGI) is a proven mean for disinfection and sterilization and has been integrated into handheld devices and autonomous mobile robots. Existing UVGI robots which are commonly equipped with uncovered lamps that emit intense ultraviolet radiation suffer from: inability to be used in human presence, shadowing of objects, and long disinfection time. These robots also have a high operational cost. This paper introduces a cost-effective germicidal system that utilizes UVGI to disinfect pathogens, such as viruses, bacteria, and fungi, on high contact surfaces (e.g. doors and tables). This system is composed of a team of 5-DOF mobile manipulators with end-effectors that are equipped with far-UVC excimer lamps. The design of the system is discussed with emphasis on path planning, coverage planning, and scene understanding. Evaluations of the UVGI system using simulations and irradiance models are also included.
