SBIR Phase I: COVID-19: Robots for Automating Indoor Disinfection Tasks with Existing Non-Autonomous Devices

SBIR 第一阶段：COVID-19：使用现有非自主设备自动执行室内消毒任务的机器人

• 批准号: 2033909
• 负责人: Bradley Oosterveld
• 金额: $ 25.38万
• 依托单位: Thinking Robots Inc.
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2033909&HistoricalAwards=false
• 关键词: SBIR; Phase; COVID; 19; Robots

The broader impact/commercial potential of this Small Business Innovation Research (SBIR) Phase I project is to fully automate frequent and regular disinfection tasks in hospitals, care centers, commercial units, universities, schools, and other indoor spaces. This task has become critically important in light of the rapid spread of SARS-CoV-2. By being fully automated, the proposed robotic system reduces human risk and required protective gear (as humans do not need to enter a contaminated zone to move in and position their devices) as well as human workload (due to autonomous operation of the robot system). Current Ultra-Violet C (UVC) disinfection robots utilize integrated bulbs and have limited operation intervals due to the need to frequently recharge, the proposed solution is able to operate a wide variety of disinfection devices like UVC lamps, High-Efficiency Particulate Air (HEPA) filters, hydrogen peroxide aerosols, and others, and thus, offers maximum versatility to the customer while also allowing for the utilization of the customer’s existing devices. In addition, the assistive system can be instructed in natural language by non-experts and can thus be operated without prior training.This Small Business Innovation Research (SBIR) Phase I project will develop two autonomous robots that, together, can carry out room disinfection tasks with existing equipment. One challenge with automating disinfection, especially UVC disinfection, is the power consumption of UVC lights and the need for frequent recharging of battery-operated units on autonomous robots. Another is that current robotic solutions have UVC devices integrated, which prevents the use of existing or custom devices. The solution to both challenges is to build a flat carrier robot where existing or custom devices can be mounted and a second robot, tethered to the carrier robot, that can power the device by docking at a purpose-made docking station connected to a wall outlet. While the device is on, both robots will also be able to recharge their batteries and thus operate continuously. Advanced navigation strategies are necessary to ensure that both robots can drive through indoor environments to their target locations without tangling the tether. Both robots will be equipped with laser and camera sensors and utilize joint sensor information communicated via their tether for improving localization and navigation. The result will be a robust autonomous multi-robot system for navigation and disinfection tasks.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该小型企业创新研究（SBIR）第一阶段项目的更广泛影响/商业潜力是在医院，护理中心，商业单位，大学，学校和其他室内空间中实现频繁和定期消毒任务的完全自动化。 鉴于SARS-CoV-2的迅速传播，这项任务变得至关重要。 通过完全自动化，所提出的机器人系统减少了人类风险和所需的防护装备（因为人类不需要进入污染区来移动和定位其设备）以及人类工作量（由于机器人系统的自主操作）。 当前的紫外线C（UVC）消毒机器人利用集成灯泡，并且由于需要频繁充电而具有有限的操作间隔，所提出的解决方案能够操作各种各样的消毒设备，如UVC灯、高效颗粒空气（HEPA）过滤器、过氧化氢气溶胶等，因此，为客户提供最大的通用性，同时还允许利用客户的现有设备。 此外，辅助系统可以由非专家用自然语言进行指导，因此无需事先培训即可操作。该小型企业创新研究（SBIR）第一阶段项目将开发两个自主机器人，它们可以一起使用现有设备执行房间消毒任务。 自动化消毒的一个挑战，特别是UVC消毒，是UVC灯的功耗以及自动机器人上电池供电单元的频繁充电需求。 另一个原因是，目前的机器人解决方案集成了UVC设备，这阻止了现有或定制设备的使用。这两个挑战的解决方案是建立一个平面搬运机器人，其中现有的或定制的设备可以安装和第二个机器人，拴在搬运机器人，可以通过对接在连接到墙上插座的专用对接站为设备供电。 当设备打开时，两个机器人也将能够为电池充电，从而连续运行。 先进的导航策略是必要的，以确保这两个机器人可以通过室内环境驱动到他们的目标位置，而不会纠缠系绳。 这两个机器人都将配备激光和摄像头传感器，并利用通过系绳传输的联合传感器信息来改善定位和导航。 该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。