Journal of Digital Convergence (디지털융복합연구)

The Society of Digital Policy and Management (한국디지털정책학회)
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Self-driving quarantine robot with chlorine dioxide system

이산화염소 시스템을 적용한 자율주행 방역 로봇

  • Bang, Gul-Won (Furture Automotive Engineering, Gwangju University)
  • 방걸원 (광주대학교 미래자동차공학과)
  • Received : 2021.11.05
  • Accepted : 2021.12.20
  • Published : 2021.12.28
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Abstract

In order to continuously perform quarantine in public places, it is not easy to secure manpower, but using self-driving-based robots can solve problems caused by manpower. Self-driving-based quarantine robots can continuously prevent the spread of harmful viruses and diseases in public institutions and hospitals without additional manpower. The location of the autonomous driving function was estimated by applying the Pinnacle filter algorithm, and the UV sterilization system and chlorine dioxide injection system were applied for quarantine. The driving time is more than 3 hours and the position error is 0.5m.Soon, the stop-avoidance function was operated at 95% and the obstacle detection distance was 1.5 m, and the automatic charge recovery was charged by moving to the charging cradle at the remaining 10% of the battery capacity. As a result of quarantine with an unmanned quarantine system, UV sterilization is 99% and chlorine dioxide is sterilized more than 95%, which can contribute to reducing enormous social costs.

공공장소에서 지속적으로 방역을 수행하기 위해서는 인력확보가 쉽지 않은데 자율주행 기반 로봇을 활용하면 인력으로 인한 문제를 해결할 수 있다. 자율주행 기반 방역로봇은 별도의 인력 투입 없이 공공기관과 병원 등의 유해 바이러스 확산 및 질병을 지속적으로 예방 가능하다. 자율주행 기능은 피나클 필터 알고리즘을 적용하여 위치를 추정하고, 방역은 UV살균시스템 및 이산화염소 분사시스템을 적용하였다. 주행시간은 3시간 이상, 위치 오차는 0.5m.이내, 정지 회피하는 기능은 95%, 장애물 감지 거리는 1.5m에서 동작하였다, 자동충전 복구는 배터리 잔량 10%에서 충전거치대로 이동하여 충전이 되었다. 무인방역시스템으로 방역한 결과 인력배치 없이 UV살균은 99%, 이산화염소는 95% 이상 살균되어 막대한 사회적 비용을 절감하는데 자율주행 방역로봇이 기여할 수 있다.

Keywords

Acknowledgement

This Study was conducted by research funds from Gwangju University in 2021.

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