基于ROS智能医疗运输机器人的设计

Design of intelligent medical transport robot based on ROS

新冠病毒肺炎(COVID-19)下医院因隔离措施不当导致被感染的情况屡见不鲜。针对能够迅速缓解医院处理感染病人和治疗病人所需医疗物资供应线的紧迫性,该文设计了基于ROS系统智能医疗运输机器人。该机器人下位机采用编码电机、陀螺仪、超声波阵列获取自身状态,反馈到上位机ROS系统,上位机通过摄像头获取二维码图像,并且机器视觉和多传感器融合确认自身位姿做出路径规划,实现了医疗物资自动运输和返航。实验测试表明,该机器人可以部署在医院实现高效、便捷、可靠、快速的医疗运输。

It is not uncommon for hospitals to be infected due to inadequate isolation measures under neocoronavirus pneumonia(COVID-19).For the urgency of being able to quickly relieve the supply line of medical supplies needed to handle infected patients and treat patients in hospitals,this paper designs an intelligent medical transport robot based on the ROS system.The robot uses coded motors,gyroscopes,and ultrasonic arrays to obtain its own state in the lower computer,and then feeds it to the upper computer ROS system.The upper computer obtains 2D code image recognition through a camera,and confirms its own position with machine vision and multi⁃sensor fusion to make path planning,and finally realizes automatic medical material transportation and return.Experimental tests show that the robot can be deployed in hospitals to achieve efficient,convenient,reliable and fast medical transportation.