Design and Implementation of Intelligent Medical Spray Sterilization Robot Based on ROS and YOLOv8

This paper designs and implements an intelligent medical spray disinfection robot based on ROS (Robot Operating System) and YOLOv8 target detection algorithm, aiming at solving the automated disinfection problem in closed medical isolation scenarios. The robot adopts STM32 as the lower computer controller, and combines Raspberry Pi and ROS to realize the upper computer path planning and multi-module cooperative control. It realizes high-precision motion through the rudder wheel chassis, combines LIDAR SLAM mapping and A* algorithm to complete autonomous navigation, and uses YOLOv8 algorithm and multi-sensor fusion technology to realize dynamic obstacle avoidance. The telescopic spray mechanism supports all-round disinfection, covering the bottom of the hospital bed and high areas. The experimental results show that the robot navigation accuracy reaches <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\pm 2\mathrm{cm}$</tex>, the success rate of obstacle avoidance is 98%, and the single disinfection coverage rate is more than 95%. This design is innovative in terms of mechanical structure, motion control and vision algorithm, and provides an efficient solution for intelligent medical scenarios.