An Autonomous Mobile Robot Platform for Medical Purpose

2020 International Conference on Sustainable Energy Engineering and Application (ICSEEA) Pub Date : 2020-11-18 DOI:10.1109/ICSEEA50711.2020.9306161

C. H. A. Baskoro, H. Saputra, M. Mirdanies, Vita Susanti, Muhamad Fahrur Radzi, Rizal Imam Abdul Aziz

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引用次数: 3

Abstract

An autonomous mobile robot is a mobile robot that can execute a path-plan autonomously to perform certain behaviors or tasks. This paper presents the hardware overview consist of mechanical design, motion control system, and modular subsystem of ROM20. ROM20 is an autonomous mobile robot platform that is being developed at the Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI) for medical purpose. ROM20 uses four stepper motors connected to four mecanum wheels. The motion control system is based on UART serial communication on each pin TX and RX of two microcontroller and bluetooth module. On top of the ROM20 is the modular which can be replaced with several subsystems such as Ultraviolet type C (UVC) lamp irradiation, disinfectant mist sprayer, and food delivery warmer. ROM20 can be controlled via bluetooth communication with a distance up to 22 meters. The space used by ROM20 for maneuver in any directions is around 63 cm $\times63$ cm of square tile.

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一种医疗用自主移动机器人平台

自主移动机器人是一种能够自主执行路径规划来执行特定行为或任务的移动机器人。本文介绍了ROM20的硬件概述，包括机械设计、运动控制系统和模块化子系统。ROM20是一个自主移动机器人平台，由印度尼西亚科学研究所电力和机电一体化研究中心(RCEPM-LIPI)开发，用于医疗目的。ROM20使用四个步进电机连接到四个机械轮。该运动控制系统基于UART串行通信，分别在两个单片机的TX和RX引脚上与蓝牙模块通信。在ROM20的顶部是模块化，可以替换几个子系统，如紫外线C型(UVC)灯照射，消毒雾喷雾器和送餐加热器。ROM20可以通过蓝牙通信控制，距离可达22米。ROM20在任何方向上用于机动的空间约为63厘米× 63厘米的方砖。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 International Conference on Sustainable Energy Engineering and Application (ICSEEA)

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