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

这项小企业创新研究（SBIR）第一阶段项目的更广泛影响/商业潜力是使医院、护理中心、商业单位、大学、学校和其他室内空间的频繁和定期消毒任务完全自动化。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，拟议中的机器人系统降低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他们的设备）以及人类的工作量（由于机器人系统的自主操作）。目前的紫外线C （UVC）消毒机器人使用集成灯泡，由于需要经常充电，操作间隔有限，所提出的解决方案能够操作各种各样的消毒设备，如UVC灯，高效微粒空气（HEPA）过滤器，过氧化氢气雾剂等，因此，为客户提供最大的多功能性，同时也允许利用客户现有的设备。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。这个小企业创新研究（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灯的功耗和自主机器人需要经常充电的电池操作单元。另一个原因是目前的机器人解决方案集成了UVC设备，这就阻止了现有设备或定制设备的使用。解决这两个挑战的方法是制造一个扁平的运载机器人，可以安装现有的或定制的设备，另一个机器人拴在运载机器人上，通过连接到墙上插座的专用对接站为设备供电。当设备打开时，两个机器人也可以给电池充电，从而连续工作。先进的导航策略是必要的，以确保两个机器人都能在室内环境中行驶到目标位置，而不会缠绕绳索。这两个机器人都将配备激光和摄像传感器，并利用通过它们的系绳传递的联合传感器信息来改进定位和导航。结果将是一个强大的自主多机器人系统，用于导航和消毒任务。该奖项反映了美国国家科学基金会的法定使命，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。

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.