Automatic Charging System for Disinfection Robots Based on Structure-Aware Semantic Mapping

ABSTRACT

Disinfection robots, which replace human efforts to disinfect the environment, are becoming popular due to the ongoing impact of COVID-19. To address the existing problems of imperfect and costly automatic charging systems for disinfection robots, this paper designs an automatic charging system for disinfection robots based on structure-Aware semantic mapping, which optimizes the automatic charging scheme for robots and integrates LIDAR and infrared modules to achieve the goal. Firstly, the data is associated with the charging pile's priori information through structure perception, and the identified semantic information is mapped into the local map of the robot SLAM. Then the infrared module is used to adjust the position of the charging port to align with the charging pile, and TOF laser distance measuring function is also added to avoid damage to the charging pile from the disinfection robot. In 50 times of simulation experiments, our proposed automatic charging system achieves an accurate alignment rate of 96%. © 2022 IEEE.