移动式座便器机器人无轨导航系统设计与实现

Design and Implementation of Trackless Navigation System for Mobile Toilet Robot

针对依赖于护理床的失能患者在床上大小便困难和护理难度大的问题,设计一种移动式的座便器机器人。其具有无轨导航功能,可以在护理床与待命点间自主移动,从而分担护理人员工作,提高患者舒适度。机器人安装有激光雷达、惯性测量单元(IMU)、里程计以识别环境信息和确认位姿,采用cartographer算法建立环境地图,使用ros-navigation功能包进行轨迹规划。理论验证通过搭建实验样机,对真实的实验室环境进行建图与导航测试。实验结果表明:传感器数据偏差较小;建图效果准确;座便器机器人可以选择最优路径,能够规避障碍并精准导航至目标地点。

Aiming at the problems of difficulty in urination and difficulty in nursing on the bed of disabled patients who depend on the nursing bed,a mobile toilet robot is designed.It has trackless navigation function,and can move between nursing bed and standby point autonomously,so as to share the work of nursing staff and improve the comfort of patients.The robot is equipped with lidar,IMU and odometer to identify the environment information and confirm the position and attitude coordinates.The environment map is established by cartographer algorithm,and the trajectory planning is carried out by using the ROS navigation function package.For the theoretical verification,an experimental prototype was built,and the real laboratory environment was used for mapping and navigation tests.Experimental results show that the sensor data has a small deviation and the mapping effect is accurate,the toilet robot can choose the optimal path,avoid obstacles,and accurately navigate to the target location.