CN111438699A - Robot-based disinfection method, device, equipment and medium - Google Patents
Robot-based disinfection method, device, equipment and medium Download PDFInfo
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- CN111438699A CN111438699A CN202010274826.2A CN202010274826A CN111438699A CN 111438699 A CN111438699 A CN 111438699A CN 202010274826 A CN202010274826 A CN 202010274826A CN 111438699 A CN111438699 A CN 111438699A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 534
- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000001954 sterilising effect Effects 0.000 claims abstract description 120
- 230000001960 triggered effect Effects 0.000 claims abstract description 13
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 claims description 16
- QWPPOHNGKGFGJK-UHFFFAOYSA-N hypochlorous acid Chemical compound ClO QWPPOHNGKGFGJK-UHFFFAOYSA-N 0.000 claims description 9
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- 239000000463 material Substances 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
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- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
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- Apparatus For Disinfection Or Sterilisation (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a robot-based disinfection method, a robot-based disinfection device, a robot-based disinfection apparatus and a robot-based disinfection medium. The method comprises the following steps: determining a target sterilization zone of the robot when a sterilization operation is triggered; determining the region attribute characteristic information of the target disinfection region according to the region identification information of the target disinfection region; and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information. Adopt this application scheme, can carry out intelligent disinfection to the region that needs the disinfection through control robot, not only can save manpower and materials, but also can match the disinfection according to the regional characteristic of every disinfection above all, guarantee that the disinfection region can reach suitable disinfection effect, avoid disinfecting the defect that the region disinfection is not in place as far as possible.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to a robot-based disinfection method, a robot-based disinfection device, equipment and a medium.
Background
The personnel in public places are dense and have high mobility, which provides a medium for spreading pathogenic factors, and particularly for medical places such as hospitals and health hospitals, disinfection and sterilization are required to be carried out all the time so as to avoid causing huge harm.
At present, the disinfection mode mainly uses the manual work to spray the antiseptic solution and goes on, but the manual work sprays the antiseptic solution and leans on the experience basically, and not only waste time and energy, hardly guarantee moreover that each regional disinfection effect all reaches the requirement to and can cause certain occupational injury when the manual work sprays the antiseptic solution.
Disclosure of Invention
The embodiment of the invention provides a robot-based disinfection method, a robot-based disinfection device, a robot-based disinfection apparatus and a robot-based disinfection medium, so as to realize safe disinfection and accurate disinfection of each area.
In a first aspect, an embodiment of the present invention provides a robot-based disinfection method, including:
determining a target sterilization zone of the robot when a sterilization operation is triggered;
determining the region attribute characteristic information of the target disinfection region according to the region identification information of the target disinfection region;
and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
In a second aspect, an embodiment of the present invention further provides a robot-based disinfection apparatus, including:
the area determination module is used for determining a target disinfection area of the robot when the disinfection operation is triggered;
the attribute determining module is used for determining the area attribute characteristic information of the target disinfection area according to the area identification information of the target disinfection area;
and the disinfection control module is used for controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processing devices;
storage means for storing one or more programs;
when executed by the one or more processing devices, cause the one or more processing devices to implement the robot-based sterilization method as provided in any of the embodiments of the invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processing apparatus, implements the robot-based disinfection method as provided in any of the embodiments of the present invention.
The embodiment of the invention provides a robot-based disinfection method, which comprises the steps of determining a target disinfection area of a robot when a disinfection operation is triggered, determining area attribute characteristic information of the target disinfection area according to area identification information of the target disinfection area, and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information and a proper disinfection mode. Adopt this application scheme, can carry out intelligent disinfection to the region that needs the disinfection through control robot, not only can save manpower and materials, but also can match the disinfection according to the regional characteristic of every disinfection above all, guarantee that the disinfection region can reach suitable disinfection effect, avoid disinfecting the defect that the region disinfection is not in place as far as possible.
The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a robot-based sterilization method provided in an embodiment of the present invention;
FIG. 2 is a flow chart of another robot-based sterilization method provided in an embodiment of the present invention;
FIG. 3 is a block diagram of a robot-based disinfection apparatus provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations (or steps) can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flow chart of a robot-based sterilization method provided in an embodiment of the present invention. The embodiment of the invention can be suitable for the situation of controlling the robot to disinfect, in particular to the situation of controlling the robot to disinfect one or more areas in a public place. The method may be performed by a robot-based disinfection apparatus, which may be implemented in software and/or hardware, and integrated on any electronic device having network communication capabilities. The electronic device may be a robot or a server. As shown in fig. 1, the robot-based sterilization method provided in the present embodiment may include the following steps:
and S110, determining a target disinfection area of the robot when the disinfection operation is triggered.
In the present embodiment, in order to better understand the robot-based sterilization method of the present application, the practical working scenario of the robot-based sterilization method is described in detail below. In an alternative example, the robot-based method of the present application may be applied on a robot, i.e. the electronic device may be a robot, the robot itself performing the operations associated with the robot-based disinfection method of the present application. For example, the robot may be various types of robots and automatic guided vehicles AGVs, etc. In another alternative example, the robot-based method of the present application may be applied to a server connected to the robot in a wireless communication manner, that is, the electronic device may be a server, the server performs operations related to the robot-based sterilization method of the present application, and then the robot and the AGV are indirectly controlled to perform sterilization by sending control instructions to the robot based on the robot-based sterilization method performed as described above.
In this embodiment, the target sterilization zone is one or more zones in a public place that require a robot to perform sterilization, which may be determined by the robot or the server when the sterilization operation is triggered. For example, taking a public place as a hospital as an example, the disinfection area may specifically be: reception room, examination room, treatment room, waiting area, CT room and isolation ward.
In an alternative of this embodiment, determining the target sterilization zone of the robot may include the following steps a1-a 2:
step A1, determining the target disinfection scene where the robot is when executing the disinfection task.
In the present embodiment, in practical applications, the disinfection scene may be divided into a plurality of scenes, for example, in public places such as hospitals, the disinfection scene may include a plurality of scenes such as a fever clinic, an isolated disease area, a CT (computed tomography) area and a clinical laboratory. Different disinfection scenes are provided, so that when the disinfection operation is triggered, the robot or the server can determine a target disinfection scene where the robot executes a disinfection task at the next moment, and a proper disinfection region can be selected according to the disinfection scene.
In an alternative example, the operation of determining a target sterilization scenario in which the robot performs the sterilization task may include: and receiving a disinfection request sent by the client, and taking a disinfection scene indicated by the disinfection request as a target disinfection scene.
In this optional example, the disinfection scene indicated by the disinfection request is selected according to the disinfection scene displayed by the client terminal by the user. For example, before determining to control the robot to disinfect, one or more disinfection scenes may be displayed on the client, and the user may select at least one disinfection scene from the displayed one or more disinfection scenes and trigger, and then send a disinfection request containing scene information of the at least one disinfection scene selected by the user to the electronic device (e.g., the robot or the server) through the client. Therefore, after the electronic equipment receives the disinfection request sent by the client, the disinfection scene selected by the user can be directly extracted from the disinfection request, and the disinfection scene selected by the user is used as the target disinfection scene.
In another alternative example, the operation of determining a target sterilization scenario in which the robot performs the sterilization task may include: receiving a disinfection request sent by a client, and acquiring ambient environment information collected by a robot at a position indicated by the disinfection request; and identifying a target disinfection scene where the robot is located when the robot executes a disinfection task according to the surrounding environment information.
In this optional example, the user may also trigger the disinfection request through the client, but unlike the foregoing example, the disinfection request of this example does not include the scene information of the disinfection scene selected by the user, and may include the position information related to the disinfection scene that requires the robot to disinfect. In this way, when the electronic device receives the sterilization request sent from the client, the indicated position information can be obtained from the sterilization request, and then the robot is controlled to move to the indicated position. Optionally, before controlling the robot to move, the electronic device may select one robot from the plurality of robots according to the position indicated by the disinfection request, and plan a moving path of the robot from the current position of the robot to the position indicated by the disinfection request, so that the robot may be controlled to move to the position indicated by the disinfection request according to the planned moving path.
In this optional example, during the control of the robot to move, the ambient environment information of the robot during the movement may be collected. Wherein, the ambient environment information may include: including at least one of image information of the surrounding environment and tag information set in the surrounding environment. For example, a robot is provided with a rear vision camera, and in the process of controlling the robot to move, an environment image around the robot can be acquired through the preset vision camera and recorded as image information of the surrounding environment. In addition, label information set in the surrounding environment of the robot can be collected through a preset visual camera and recorded as the label information set in the surrounding environment.
In this optional example, the disinfection scene recognition model may be trained in advance, and the acquired ambient environment information is input into the disinfection scene recognition model, so that the disinfection scene where the robot is located in the moving process may be recognized, the ambient environment information may be acquired at the position indicated by the disinfection request according to the robot, and the target disinfection scene where the robot is located when executing the disinfection task may be determined through scene recognition.
In yet another alternative example, the operation of determining a target sterilization scenario in which the robot is located when performing the sterilization task may include: detecting disinfection records related to all positions in a public place in real time, and if the disinfection records determine that the distance between any position and the last disinfection time exceeds a preset time length, automatically triggering a disinfection request comprising any position; acquiring ambient environment information acquired by the robot at a position indicated by the disinfection request; and identifying a target disinfection scene where the robot is located when the robot executes a disinfection task according to the surrounding environment information.
Step A2, determining a target disinfection area according to the scene identification information of the target disinfection scene and preset scene configuration information; at least one disinfection zone is associated with a disinfection scene in the scene configuration information.
In the present embodiment, for each disinfection scenario, one or more disinfection zones may be involved under each disinfection scenario. For example, taking a disinfection scene as an fever clinic, the clinic procedure of the fever clinic is as follows: a reception room, a clinic and a treatment room, so that a plurality of disinfection areas such as the reception room, the clinic and the treatment room can be determined in the disinfection scene of the fever clinic. For another example, taking a disinfection scene as CT, taking CT as an example, a plurality of disinfection areas such as waiting areas, CT rooms, and isolation wards may be involved in the disinfection scene of taking CT. Also, the disinfection scenario of an isolation zone may involve multiple isolation wards, while the disinfection scenario of a clinical laboratory may involve multiple disinfection zones, such as detection zones and healthcare worker office zones.
In this embodiment, for each disinfection scene, the disinfection area involved in each disinfection scene may be predetermined, and then the disinfection scene and the disinfection area involved may be associated to obtain scene configuration information. The disinfection area configuration information comprises scene configuration information, wherein one disinfection scene is associated with at least one disinfection area, and the disinfection areas associated with different disinfection scenes can be partially identical. Furthermore, after the target disinfection scene of the robot is determined, the scene identification of the target disinfection scene can be matched with preset scene configuration information, and a target disinfection area associated with the target disinfection scene is determined.
And S120, determining the area attribute characteristic information of the target disinfection area according to the area identification information of the target disinfection area.
In an optional manner of this embodiment, determining the area attribute feature information of the target disinfection area according to the area identification information of the target disinfection area includes:
and matching the area identification information of the target disinfection area with preset area attribute configuration information, and determining area attribute characteristic information associated with the target disinfection area.
In this embodiment, the area attribute configuration information may include an association relationship between each of the area identification information and each of the area attribute feature information, that is, a mapping relationship between the sterilization area and the area attribute of the sterilization area may be obtained by querying the area attribute configuration information. Optionally, the zone attribute characteristics of the sterilization zone may include zone type information, zone layout information, zone area information, and the like.
In this embodiment, the zone attribute feature information associated with the target sterilization zone may include one or more combinations of the above-described zone type information, zone layout information, and zone area information. For example, in a disinfection scene of taking a CT, a plurality of disinfection areas such as a waiting area, a CT room, an isolation ward and the like are involved, and different disinfection areas may have different area attribute characteristics. The disinfection strategies adopted by different disinfection areas are different, and in order to realize accurate disinfection of the target disinfection area, the area attribute characteristic information related to the target disinfection area needs to be determined, so that the appropriate disinfection strategy is matched for the target disinfection area according to the area attribute characteristic information, and accurate disinfection of the disinfection area is realized.
And S130, controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information of the target disinfection area.
In this embodiment, the sterilization strategies employed by the different sterilization zones are related to zone property profile information of the sterilization zones. Therefore, an appropriate disinfection strategy can be determined according to the area attribute characteristic information of the target disinfection area, and the robot is controlled to disinfect the target disinfection area according to the appropriate disinfection strategy.
The embodiment of the invention provides a robot-based disinfection method, and by adopting the scheme, the robot can be controlled to intelligently disinfect the areas needing disinfection, so that not only can manpower and material resources be saved, but also the matched disinfection can be performed according to the area characteristics of each disinfection area, the disinfection areas can achieve the proper disinfection effect, and the defect that the disinfection areas are not disinfected in place can be avoided as far as possible.
Fig. 2 is a flow chart of another robot-based sterilization method provided in an embodiment of the present invention, which is further optimized from the previous embodiment, and which may be combined with various alternatives in one or more of the embodiments described above. As shown in fig. 2, the robot-based sterilization method provided in the present embodiment may include the following steps:
s210, when the disinfection operation is triggered, determining a target disinfection area of the robot.
S220, determining the area attribute characteristic information of the target disinfection area according to the area identification information of the target disinfection area.
And S230, determining at least one of a disinfection mode, a disinfection dose, a disinfection position point and disinfection time adopted by the target disinfection area according to the area attribute characteristic information.
In an optional manner of this embodiment, determining the sterilization mode adopted by the target sterilization area according to the area attribute feature information may include the following steps:
if the area attribute characteristics comprise area type information, determining a disinfection mode adopted by the target disinfection area according to the area type information; wherein the sterilization mode includes at least one of a hypochlorous acid mode, a hydrogen peroxide mode, and an ultraviolet ray mode.
In the present embodiment, when the robot sterilizes the sterilization area, the robot may perform sterilization in a sterilization mode such as hypochlorous acid, hydrogen peroxide, or ultraviolet rays. The adopted disinfection modes of the different disinfection areas can be the same or different. For this reason, after the zone attribute characteristic information of the target sterilization zone is acquired, it is possible to detect whether or not zone type information is contained therein. If the area attribute characteristic information contains the area type information, acquiring a disinfection mode matched with the area type of the target disinfection area according to the area type of the target disinfection area; if the zone type information is not contained, any sterilization mode can be selected from all sterilization modes as the sterilization mode adopted by the target sterilization zone.
In the present embodiment, when the sterilization mode adopted by the target sterilization area is determined according to the area type information, it may be determined whether the target sterilization area is a preset sterilization area and whether human and machine coexistence is allowed for sterilization according to the area type information. If the target disinfection area allows human and machine coexistence for disinfection and belongs to a preset disinfection area, for example, a reception room in a fever clinic, hypochlorous acid can be used as a disinfection mode of the target disinfection area. If the target disinfection area does not allow human and machine coexistence for disinfection and belongs to a preset disinfection area, for example, an isolation ward under an isolation area, and the like, whether a person is in the target disinfection area is further detected. If the target disinfection area is occupied, hypochlorous acid can be used as a disinfection mode adopted by the target disinfection area; if the target sterilization area is unoccupied, a combination of hydrogen peroxide and ultraviolet rays is used as the sterilization mode to be adopted for the target sterilization area. If the target disinfection area allows human and machine coexistence for disinfection and does not belong to a preset disinfection area, for example, the disinfection area can be specifically a medical staff office area, then the ultraviolet rays can be used as a disinfection mode adopted by the target disinfection area. The preset disinfection area refers to an area which needs to be disinfected in a focused manner, for example, an area where a large amount of residual viruses easily exist, such as an operating room, a reception room of a fever clinic, and the like.
In an alternative manner of this embodiment, determining the sterilization dose, the sterilization location point and the sterilization time to be used in the target sterilization area according to the area attribute feature information may include the following steps B1-B2:
and step B1, if the zone attribute characteristics comprise zone type information and zone area information, determining the disinfection dose and disinfection time adopted by the target disinfection zone according to the zone type information and the zone area information.
In the present embodiment, it is determined whether or not the target sterilization area belongs to an area to be sterilized with hypochlorous acid or hydrogen peroxide based on the area type information. If it is determined that the target sterilization area needs to be sterilized with hypochlorous acid or hydrogen peroxide, the amount of disinfectant to be sprayed can be determined based on the area type information and the area information when the target sterilization area is sterilized with hypochlorous acid or hydrogen peroxide. For example, for disinfection areas such as isolation wards and operating rooms, the spraying amount of the disinfectant can be increased, and accurate disinfection is realized; for the area with larger area of the target disinfection area, the spraying amount of the disinfectant can be properly increased, and the complete spraying of the disinfection area is realized. In addition, the disinfection time can be properly adjusted according to the area size of the target disinfection area. For example, the larger the area of the sterilization zone can be set, the longer the sterilization time; the smaller the area of the sterilization zone, the shorter the sterilization time.
And step B2, if the region attribute characteristics comprise region layout information and region area information, determining a disinfection position point adopted by the target disinfection region according to the region layout information and the region area information.
In this embodiment, optionally, if the area layout information indicates that the target disinfection area does not include the preset disinfection object, and the preset disinfection object is an object that needs to be disinfected in a focused manner, for example, the preset disinfection object may be a hospital bed or an operating table, and the like, it is detected whether the area indicated by the area information is larger than the preset area. And if the detected area is larger than the preset area, selecting at least two first-class disinfection position points from the target disinfection area. And the area difference between the disinfection coverage area generated at all the first-type disinfection position points and the target disinfection area is smaller than a preset difference value. The first type of disinfection sites is the sites where non-central disinfection is performed, where non-central is a relatively "central" type, and it is not intended that sites of this type do not need to be central disinfection, but rather that the disinfection is somewhat less central than sites of the second type. The advantage of selecting the first type of disinfection location point is that the disinfection range of the subsequent robot in the first type of disinfection location point can be ensured to cover the whole target disinfection area as much as possible, and the disinfection coverage rate of the target disinfection area is realized.
In this embodiment, optionally, if the area layout information indicates that the target disinfection area includes the preset disinfection object, a plurality of second-type disinfection location points are selected around the preset disinfection object. Furthermore, at least two first-type disinfection position points can be selected from the residual area of the target disinfection area except for the preset disinfection object; wherein the difference in area between the sterilization coverage generated at all the first type sterilization sites and the remaining area is less than a preset difference. The first type of disinfection position points are selected, so that the disinfection range of the subsequent robot in the disinfection position points can be ensured to cover the whole target disinfection area as much as possible, and the disinfection coverage rate of the target disinfection area is realized; and moreover, the preset disinfection objects needing to be disinfected in a key mode are distinguished from the first class of disinfection objects, so that second class of disinfection position points are obtained, the robot can be disinfected in the second class of disinfection position points in a key mode according to requirements, and further the standardized disinfection of a disinfection area is improved. Alternatively, if the area of the remaining area other than the preset sterilization object is still smaller than the preset area, at least one first-type sterilization position point may be selected from the remaining area.
S240, controlling the robot to disinfect the target disinfection area according to at least one item of information of disinfection products, disinfection dose, disinfection position points and disinfection time of the target disinfection area.
In this embodiment, for the sterilization product, the robot may be controlled to sterilize the target sterilization zone with the sterilization product of the target sterilization zone. And for the disinfection dose, the robot can be controlled to disinfect the target disinfection area according to the disinfection dose of the target disinfection area. To disinfection position point, steerable robot carries out the fixed point at first class disinfection position point and sprays disinfection product to around to and control robot walks according to the route that second class disinfection position point instructed, and disinfects predetermineeing disinfection object at the walking in-process, for example, when disinfecting to the sick bed is emphatically, can control the robot and disinfect along the sick bed round of turning round.
The embodiment of the invention provides a robot-based disinfection method, and by adopting the scheme, the robot can be controlled to intelligently disinfect the areas needing disinfection, so that not only can manpower and material resources be saved, but also the matched disinfection can be performed according to the area characteristics of each disinfection area, the disinfection areas can achieve the proper disinfection effect, and the defect that the disinfection areas are not disinfected in place can be avoided as far as possible.
Fig. 3 is a block diagram of a robot-based disinfection apparatus according to an embodiment of the present invention. The embodiment of the invention can be suitable for the situation of controlling the robot to disinfect, in particular to the situation of controlling the robot to disinfect one or more areas in a public place. The device can be implemented in software and/or hardware and integrated on any electronic equipment with network communication function. The electronic device may be a robot or a server. As shown in fig. 3, the robot-based sterilization apparatus provided in the present embodiment may include the following: an area determination module 310, an attribute determination module 320, and a sterilization control module 330. Wherein:
an area determination module 310 for determining a target sterilization area of the robot when a sterilization operation is triggered;
an attribute determining module 320, configured to determine, according to the area identification information of the target disinfection area, area attribute feature information of the target disinfection area;
and the disinfection control module 330 is configured to control the robot to disinfect the target disinfection area according to the area attribute feature information.
On the basis of the foregoing embodiment, optionally, the area determining module 310 includes:
the disinfection scene determining unit is used for determining a target disinfection scene where the robot is located when the robot executes a disinfection task;
the disinfection area determining unit is used for determining the target disinfection area according to the scene identification information of the target disinfection scene and preset scene configuration information; at least one disinfection zone is associated with a disinfection scene in the scene configuration information.
On the basis of the above embodiment, optionally, the sterilization scenario determination unit includes:
receiving a disinfection request sent by a client, and taking a disinfection scene indicated by the disinfection request as the target disinfection scene; and the disinfection scene indicated by the disinfection request is determined by selecting the disinfection scene displayed by the client side by the user.
On the basis of the above embodiment, optionally, the sterilization scenario determination unit includes:
receiving a disinfection request sent by a client, and acquiring ambient environment information collected by a robot at a position indicated by the disinfection request; wherein the ambient environment information includes: including at least one of image information of a surrounding environment and tag information set in the surrounding environment;
and identifying a target disinfection scene where the robot is located when the robot executes a disinfection task according to the surrounding environment information.
On the basis of the foregoing embodiment, optionally, the attribute determining module 320 includes:
matching the area identification information of the target disinfection area with preset area attribute configuration information, and determining area attribute characteristic information associated with the target disinfection area; wherein the region attribute feature includes at least one of region type information, region layout information, and region area information.
On the basis of the above embodiment, optionally, the sterilization control module 330 includes:
the disinfection processing unit is used for determining at least one of a disinfection mode, a disinfection dose, a disinfection position point and disinfection time adopted by the target disinfection area according to the area attribute characteristic information;
and the area disinfection control unit is used for controlling the robot to disinfect the target disinfection area according to at least one item of information of disinfection products, disinfection dose, disinfection position points and disinfection time of the target disinfection area.
On the basis of the above embodiment, optionally, the sterilization processing unit includes:
if the area attribute characteristics comprise area type information, determining a disinfection mode adopted by the target disinfection area according to the area type information; the sterilization mode includes at least one of a hypochlorous acid mode, a hydrogen peroxide mode, and an ultraviolet ray mode.
On the basis of the above embodiment, optionally, the sterilization processing unit includes:
if the region attribute characteristics comprise region type information and region area information, determining the disinfection dose and disinfection time adopted by the target disinfection region according to the region type information and the region area information;
and if the region attribute characteristics comprise region layout information and region area information, determining a disinfection position point adopted by the target disinfection region according to the region layout information and the region area information.
On the basis of the foregoing embodiment, optionally, the sterilization processing unit specifically includes:
if the region layout information indicates that the target disinfection region does not include a preset disinfection object, detecting whether the region area indicated by the region area information is larger than a preset region area;
if the area of the target disinfection area is larger than the preset area, selecting at least two first-class disinfection position points from the target disinfection area; and the area difference between the disinfection coverage area generated at all the first-type disinfection position points and the target disinfection area is smaller than a preset difference value.
On the basis of the foregoing embodiment, optionally, the sterilization processing unit specifically includes:
if the area layout information indicates that the target disinfection area comprises a preset disinfection object, selecting a plurality of second type disinfection position points at preset distances around the preset disinfection object;
selecting at least one first-type disinfection position point from the rest area except for the preset disinfection object in the target disinfection area; wherein the difference in area between the sterilization coverage area generated at all the first type sterilization location points and the remaining area is less than a preset difference.
The robot-based disinfection apparatus provided in the embodiment of the present invention may perform the robot-based disinfection method provided in any embodiment of the present invention, and has the corresponding functions and advantages of performing the robot-based disinfection method, and the detailed procedures are as described in the related operations of the robot-based disinfection method in the foregoing embodiments.
Fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. As shown in fig. 4, the electronic device provided in the embodiment of the present invention includes: one or more processors 410 and storage 420; the processor 410 in the electronic device may be one or more, and one processor 410 is taken as an example in fig. 4; storage 420 is used to store one or more programs; the one or more programs are executed by the one or more processors 410 such that the one or more processors 410 implement the robot-based sterilization method as described in any of the embodiments of the present invention.
The electronic device may further include: an input device 430 and an output device 440.
The processor 410, the storage device 420, the input device 430 and the output device 340 in the electronic apparatus may be connected by a bus or other means, and fig. 4 illustrates an example of connection by a bus.
The storage device 420 in the electronic device, as a computer-readable storage medium, may be used to store one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the robot-based sterilization method provided in the embodiments of the present invention. The processor 410 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the storage device 420, namely, the robot-based sterilization method in the above-described method embodiment.
The storage device 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. Further, the storage 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 420 may further include memory located remotely from the processor 410, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 is used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus. The output device 440 includes a display device such as a display screen.
And, when one or more programs included in the above-mentioned electronic device are executed by the one or more processors 410, the programs perform the following operations:
determining a target sterilization zone of the robot when a sterilization operation is triggered;
determining the region attribute characteristic information of the target disinfection region according to the region identification information of the target disinfection region;
and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
Of course, it will be understood by those skilled in the art that when the electronic device includes one or more programs that are executed by the one or more processors 410, the programs may also perform the operations associated with the robot-based sterilization method provided in any of the embodiments of the present invention.
An embodiment of the invention provides a computer readable medium having stored thereon a computer program for performing a robot-based disinfection method when executed by a processor, the method comprising:
determining a target sterilization zone of the robot when a sterilization operation is triggered;
determining the region attribute characteristic information of the target disinfection region according to the region identification information of the target disinfection region;
and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
Optionally, the program, when executed by the processor, may be further adapted to perform a robot-based disinfection method as provided in any of the embodiments of the invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including AN object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (13)
1. A robot-based disinfection method, comprising:
determining a target sterilization zone of the robot when a sterilization operation is triggered;
determining the region attribute characteristic information of the target disinfection region according to the region identification information of the target disinfection region;
and controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
2. The method of claim 1, wherein determining a target sterilization zone for the robot comprises:
determining a target disinfection scene where the robot is located when executing a disinfection task;
determining the target disinfection area according to the scene identification information of the target disinfection scene and preset scene configuration information; at least one disinfection zone is associated with a disinfection scene in the scene configuration information.
3. The method of claim 2, wherein determining a target sterilization scenario in which the robot is performing the sterilization task comprises:
receiving a disinfection request sent by a client, and taking a disinfection scene indicated by the disinfection request as the target disinfection scene; and the disinfection scene indicated by the disinfection request is determined by selecting the disinfection scene displayed by the client side by the user.
4. The method of claim 2, wherein determining a target sterilization scenario in which the robot is performing the sterilization task comprises:
receiving a disinfection request sent by a client, and acquiring ambient environment information collected by a robot at a position indicated by the disinfection request; wherein the ambient environment information includes: including at least one of image information of a surrounding environment and tag information set in the surrounding environment;
and identifying a target disinfection scene where the robot is located when the robot executes a disinfection task according to the surrounding environment information.
5. The method of claim 1, wherein determining zone attribute feature information of the target sterilization zone based on zone identification information of the target sterilization zone comprises:
matching the area identification information of the target disinfection area with preset area attribute configuration information, and determining area attribute characteristic information associated with the target disinfection area;
wherein the region attribute feature includes at least one of region type information, region layout information, and region area information.
6. The method of claim 1, wherein controlling a robot to disinfect the target disinfection area in accordance with the area attribute feature information comprises:
determining at least one of a disinfection mode, a disinfection dose, a disinfection position point and disinfection time adopted by the target disinfection area according to the area attribute characteristic information;
and controlling the robot to disinfect the target disinfection area according to at least one item of information of disinfection products, disinfection dose, disinfection position points and disinfection time of the target disinfection area.
7. The method of claim 6, wherein determining the sterilization mode to be used by the target sterilization zone based on the zone attribute feature information comprises:
if the area attribute characteristics comprise area type information, determining a disinfection mode adopted by the target disinfection area according to the area type information; the sterilization mode includes at least one of a hypochlorous acid mode, a hydrogen peroxide mode, and an ultraviolet ray mode.
8. The method of claim 6, wherein determining the sterilization dose, the sterilization site and the sterilization time to be applied to the target sterilization area based on the area attribute feature information comprises:
if the region attribute characteristics comprise region type information and region area information, determining the disinfection dose and disinfection time adopted by the target disinfection region according to the region type information and the region area information;
and if the region attribute characteristics comprise region layout information and region area information, determining a disinfection position point adopted by the target disinfection region according to the region layout information and the region area information.
9. The method of claim 8, wherein determining a sterilization site to be used by the target sterilization zone based on the zone layout information and the zone area information comprises:
if the region layout information indicates that the target disinfection region does not include a preset disinfection object, detecting whether the region area indicated by the region area information is larger than a preset region area;
if the area of the target disinfection area is larger than the preset area, selecting at least two first-class disinfection position points from the target disinfection area; and the area difference between the disinfection coverage area generated at all the first-type disinfection position points and the target disinfection area is smaller than a preset difference value.
10. The method of claim 8, wherein determining a sterilization site to be used by the target sterilization zone based on the zone layout information and the zone area information comprises:
if the area layout information indicates that the target disinfection area comprises a preset disinfection object, selecting a plurality of second type disinfection position points at preset distances around the preset disinfection object;
selecting at least one first-type disinfection position point from the rest area except for the preset disinfection object in the target disinfection area; wherein the difference in area between the sterilization coverage area generated at all the first type sterilization location points and the remaining area is less than a preset difference.
11. A robot-based disinfection device, comprising:
the area determination module is used for determining a target disinfection area of the robot when the disinfection operation is triggered;
the attribute determining module is used for determining the area attribute characteristic information of the target disinfection area according to the area identification information of the target disinfection area;
and the disinfection control module is used for controlling the robot to disinfect the target disinfection area according to the area attribute characteristic information.
12. An electronic device, comprising:
one or more processing devices;
storage means for storing one or more programs;
when executed by the one or more processing devices, cause the one or more processing devices to implement the robot-based sterilization method of any of claims 1-10.
13. A computer-readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processing device, carries out the robot-based sterilization method according to any one of claims 1-10.
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| PCT/CN2021/098140 WO2021204303A1 (en) | 2020-04-09 | 2021-06-03 | Robot-based disinfection method and apparatus, device and medium |
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| CN202010274826.2A CN111438699A (en) | 2020-04-09 | 2020-04-09 | Robot-based disinfection method, device, equipment and medium |
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| CN115177770B (en) * | 2022-07-07 | 2024-02-09 | 北京云迹科技股份有限公司 | Disinfection control method, apparatus, electronic device, and computer-readable medium |
| CN114917391B (en) * | 2022-07-13 | 2023-08-11 | 中国人民解放军联勤保障部队第九八八医院 | Indoor airtight environment composite automatic disinfection system |
| CN114917391A (en) * | 2022-07-13 | 2022-08-19 | 中国人民解放军联勤保障部队第九八八医院 | Compound automatic disinfection system of indoor airtight environment |
| CN115381976A (en) * | 2022-08-31 | 2022-11-25 | 江苏容正医药科技有限公司 | Method and device for sterilizing and disinfecting precision instruments and consumables by using cold plasma |
| CN115381976B (en) * | 2022-08-31 | 2023-11-24 | 江苏容正医药科技有限公司 | Method and device for sterilizing and disinfecting precision instruments and consumable materials by using cold plasma |
| CN115854506B (en) * | 2022-12-28 | 2023-06-23 | 耀昶嵘相变材料科技(广东)有限公司 | Central air conditioner control method and storage medium for intelligent hospital |
| CN115854506A (en) * | 2022-12-28 | 2023-03-28 | 佳达利环保材料(广东)有限公司 | Central air-conditioning control method and storage medium for intelligent hospital |
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