Disinfecting Omnidirectional Mobile Robot with Vision Capabilities

Abstract

The disinfecting mobile robot with omnidirectional movement is a vision-capable robot that uses image processing to follow a dedicated path regardless of the change in direction required and uses Ultraviolet rays from the UV light tubes to disinfect everything in its path and disinfect the entire room. The basic premise of the project in this paper is the principle of designing a mobile robot that has high mobility and can move in every direction to follow a dedicated path that can be used to disinfect certain places that are not feasible for human beings. This proposed project is an omnidirectional mobile robot that will be designed such that it will use controllers, a camera for image processing to avoid any obstacle in its path, and actuators all communicating with one another to rotate the wheels of the robot individually to achieve the desired linear and rotatory motion to avoid any obstacles in the path of the robot and clean all the bacteria and germs in the room that might be harmful to humans. All of these components work through feedback which is being given through an encoder to achieve the desired output motion of the robot. The main benefit of this disinfecting mobile robot will be its increased mobility due to the combined effect of its rotatory and linear motion. This increased mobility combined with a set of ultraviolet light rays and a camera in the front which uses image processing to detect any object in its path and avoid it to disinfect an entire targeted area and allow it to access areas where conventional robots and humans can't go.

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

“…There are two types of force feedback methods for milling robots, direct feedback and perception substitution [17]. The direct feedback method is that the force sense information is directly fed back to the operator through the tactile device [18][19]. In short, we use the operation control unit with force feedback function to perform force perception, which can increase the immersion and realism of the doctor during the operation.…”