Vision-based Autonomous Disinfection of High-touch Surfaces in Indoor Environments

Sean Roelofs; Benoit Landry; Myra Kurosu Jalil; Adrian Martin; Saisneha Koppaka; Sindy K.Y. Tang; Marco Pavone

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자료유형: 학술대회자료

저자정보: Sean Roelofs (Stanford University) Benoit Landry (Stanford University) Myra Kurosu Jalil (Stanford University) Adrian Martin (Stanford University) Saisneha Koppaka (Stanford University) Sindy K.Y. Tang (Stanford University) Marco Pavone (Stanford University)

저널정보: 제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2021

발행연도: 2021.10

수록면: 263 - 270 (8page)

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Autonomous systems have played an important role in response to the Covid-19 pandemic. Notably, there have been multiple attempts to leverage Unmanned Aerial Vehicles (UAVs) to disinfect surfaces. Although recent research suggests that surface transmission is less significant than airborne transmission in the spread of Covid-19, surfaces and fomites can play, and have played, critical roles in the transmission of Covid-19 and many other viruses, especially in settings such as child daycares, schools, offices, and hospitals. Employing UAVs for mass spray disinfection offers several potential advantages, including high-throughput application of disinfectant, large scale deployment, and the minimization of health risks to sanitation workers. Despite these potential benefits and preliminary usage of UAVs for disinfection, there has been little research into their design and effectiveness. In this work, we present an autonomous UAV capable of effectively disinfecting indoor surfaces. We identify relevant parameters such as disinfectant type and concentration, and application time and distance required of the UAV to disinfect high-touch surfaces such as door handles. Finally, we develop a robotic system that enables the fully autonomous disinfection of door handles in an unstructured and previously unknown environment. To our knowledge, this is the smallest untethered UAV ever built with both full autonomy and spraying capabilities, allowing it to operate in confined indoor settings, and the first autonomous UAV to specifically target high-touch surfaces on an individual basis with spray disinfectant, resulting in more efficient use of disinfectant.

#UAV #Quadrotor #Autonomous #Disinfectant #Sanitation #Spray #Object Detection #Fomites

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