机器人移动式远紫外线消毒
Far-UVC Disinfection with Robotic Mobile Manipulator
摘要：
COVID-19大流行表明需要更有效和高效的消毒方法来对抗传染病。紫外线杀菌辐照（UVGI）是一种经过验证的消毒和灭菌方法，已被集成到手持设备和自主移动机器人中。现有的UVGI机器人通常配备有发射强烈紫外线辐射的未覆盖的灯，其存在以下问题：无法在人类存在的情况下使用，物体的阴影，以及长的消毒时间。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对高接触表面（例如门和桌子）上的病原体（如病毒、细菌和真菌）进行消毒。该系统由一组带有末端执行器的5自由度移动机械手组成，末端执行器装有远紫外准分子灯。讨论了系统的设计，重点是路径规划，覆盖规划和场景理解。还包括使用模拟和辐照度模型的UVGI系统的评估。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
