Abstract
medical service robot, human-robot interaction, COVID-19, sensor fusion The cabin hospitals used for COVID-19 victims have an infectious environment and thus require highly autonomous systems to provide various services. This article presents a multirobot architecture designed for cabin hospitals with special focus on the sensors used by service robots. The robots' functions include autonomous disinfection, delivery, cleaning, temperature measurement, physical interaction, and conversation assistance. The robots collaborate with each other by using multiple sensors in large and complicated scenes and evolve together. The robots are controlled by cloud controllers considering a human-centered multi-robot collaboration mechanism. This article presents the details of these robots, including the hardware and software architecture of the robots with sensors, the communication modules, and the cloudbased central controllers. It also presents several applications of the robots and discusses open problems. © 2021 M Y U Scientific Publishing Division. All rights reserved.
Highlights
The cabin hospitals in Wuhan were special hospitals built to accept COVID-19-infected patients with mild symptoms[1,2] to avoid pre-symptomatic, symptomatic, or asymptomatic transmission.[3]
To quickly deploy and respond to the epidemic, the cabin hospitals require a contact-free environment, and there is a strong need for robotic assistance to reduce crossinfection.[4,5] Under this background, we developed a cloud robotic architecture for cabin hospitals
Different from the current single-robot simultaneous localization and mapping (SLAM) process,(19,20) which establishes a map through the autonomous movement of the robot, realizes its position, plans a reasonable path according to the established task, and executes the movement, the cloud-based architecture coordinates the robots and results through a remote server as follows: [1] Structured maps of cabin hospitals are prepared in the cloud in advance to save time and labor
Summary
The cabin hospitals in Wuhan were special hospitals built to accept COVID-19-infected patients with mild symptoms[1,2] to avoid pre-symptomatic, symptomatic, or asymptomatic transmission.[3]. Disinfection robots are widely used to spray antiseptic disinfectants over large areas These robots are usually remotely controlled to avoid hazardous contact between the disinfectant and humans. Using a series of mobile service robots with multiple sensors under central cloud control[14] to work with many humans satisfies the above requirements. This article presents the details of these robots with sensors, including the hardware and software architecture, the communication modules, the cloud-based central controllers, and so forth. It presents several useful applications with robots and discusses open problems
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