Semi-autonomous Mobile Robot for Environmental Surfaces Disinfections Against SARS-CoV-2

Abstract

In recent years, semi-autonomous and teleoperated mobile robots have been designed and implemented to perform various disinfection tasks in different environments. Since the end of 2019 new mobile robots have been created or modified to contribute to the needs of disinfection tasks caused by the COVID-19 pandemic. Most of these mobile platforms currently in use are based on disinfection by means of either UVC rays or approved chemical products. In this paper, the description of a new disinfection robot against SARS-CoV-2 is presented, with the idea of making a new contribution to this cause. This is a semi-autonomous mobile robot that carries a fogging system whose nozzle is guided by means of a small two-degree-of-freedom robotic arm designed and implemented for this purpose. In addition, this disinfection mobile robot can also be tele operated. The robot has an on-board computer for high-level control and microcontroller boards for low-level control. It also has an on-board sensory system consisting of depth and tracking cameras. Communication with the remote operator is done via the Internet by implementing a Wi-Fi module in the robot.