ROBOTIC SOLUTION FOR OPENING DOORS IN CONTAINED OR HIGH BIOLOGICAL RISK FACILITIES

Q3 Engineering

Dyna-Colombia Pub Date : 2023-09-01 DOI:10.6036/10745

Jose Luis Outón Méndez, Aitor IBARGUREN SOLDEVILLA, Ivan VILLAVERDE DE LA NAVA, Paul Daelman, D. Sallé, Jose Maria MARTINEZ OTZETA, I. Rodriguez, B. Sierra

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引用次数: 0

Abstract

In a context of a pandemic caused by the SARS-CoV-2 virus, there is a need to disinfect busy areas such as schools, hospitals, nursing homes, laboratories, public transport, etc. using techniques that pose a risk to health. In turn, the robotics industry is at a critical moment with great developments and applications in numerous applications. Therefore, the figure of robots is of great interest as they have the ability to perform these tasks autonomously. However, there are great challenges in current robotics that must be resolved in order to perform tasks correctly. This is the specific case of door opening. Something necessary since to achieve a complete disinfection the robot must go through all the rooms of the installation. In this work, a solution to the problem of opening doors is presented by means of a mobile robot to which artificial perception techniques are applied for detection, handling and autonomous navigation. Keywords: autonomous navigation, artificial perception, learning by demonstration, skills-based programming, door opening, AIMM, mobile robotics, sensor fusion

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用于密闭或高生物风险设施的机器人开门解决方案

在SARS-CoV-2病毒引起大流行的背景下，需要使用对健康构成风险的技术对学校、医院、养老院、实验室、公共交通等繁忙区域进行消毒。反过来，机器人工业也正处于一个关键时刻，在许多应用领域都有很大的发展和应用。因此，机器人的形象是非常有趣的，因为它们有能力自主执行这些任务。然而，为了正确执行任务，当前的机器人技术面临着巨大的挑战，必须加以解决。这是门打开的具体情况。这是必要的，因为要完成彻底的消毒，机器人必须遍历安装的所有房间。在这项工作中，通过移动机器人提出了一个解决开门问题的方法，该机器人将人工感知技术应用于检测，处理和自主导航。关键词:自主导航，人工感知，示范学习，技能编程，开门，AIMM，移动机器人，传感器融合

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来源期刊

Dyna-Colombia 工程技术-工程：综合

CiteScore

1.30

自引率

0.00%

发文量

审稿时长

4-8 weeks

期刊介绍： The DYNA journal, consistent with the aim of disseminating research in engineering, covers all disciplines within the large area of Engineering and Technology (OECD), through research articles, case studies and review articles resulting from work of national and international researchers.