UltraBot: 非自明な形状の消毒ゾーンを持つ屋内UV-C消毒用自律移動ロボット
UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection with Non-trivial Shape of Disinfection Zone
有害な薬剤を使わずUV-Cランプで屋内を自律消毒する移動ロボットUltraBotを開発し、その機械・電気設計と消毒性能、非自明な消毒ゾーン形状の計測結果を示した論文。
著者: Nikita Mikhailovskiy, Alexander Sedunin, Stepan Perminov, Ivan Kalinov, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
The paper focuses on the development of an autonomous disinfection robot UltraBot to reduce COVID-19 transmission along with other harmful bacteria and viruses. The motivation behind the research is to develop such a robot that is capable of performing disinfection tasks without the use of harmful sprays and chemicals that can leave residues and require airing the room afterward for a long time. UltraBot technology has the potential to offer the most optimal autonomous disinfection performance along with taking care of people, keeping them from getting under the UV-C radiation. The paper highlights UltraBot's mechanical and electrical design as well as disinfection performance. The conducted experiments demonstrate the effectiveness of robot disinfection ability and actual disinfection area per each side with UV-C lamp array. The disinfection effectiveness results show actual performance for the multi-pass technique that provides 1-log reduction with combined direct UV-C exposure and ozone-based air purification after two robot passes at a speed of 0.14 m/s. This technique has the same performance as ten minutes static disinfection. Finally, we have calculated the non-trivial form of the robot disinfection zone by two consecutive experiment to produce optimal path planning and to provide full disinfection in selected areas.
