CN112766723B - Disinfection robot scheduling method - Google Patents
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Abstract
The invention discloses a disinfection robot scheduling method, which comprises the following steps: s1, a laser radar acquires space volume information of each disinfection area and uploads the space volume information of each disinfection area to a scheduling management background; s2, selecting any one or more disinfection areas in the disinfection areas as target areas to be disinfected; s3, the scheduling management background acquires the state information of each disinfection robot; and S4, screening out the target disinfection robot meeting the conditions from the disinfection robots by the scheduling management background according to the space volume information of the target area to be disinfected and the state information of the disinfection robots, matching the target disinfection robot with the target area to be disinfected, and scheduling the target disinfection robot to the corresponding target area to be disinfected to execute a disinfection task. The invention can realize that a single or a plurality of disinfection robots are combined to execute disinfection tasks, thereby improving the disinfection efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a scheduling method of a disinfection robot.
Background
At present, the intelligent disinfection robot is adopted to disinfect public places more and more popular. However, when the existing disinfection robot executes the disinfection task, the task is issued manually, a single disinfection robot is allocated by the system to execute the disinfection task, and the robot to be disinfected recognizes the environmental information to disinfect after reaching the disinfection task area. The existing mode can not distinguish the number of the disinfection task areas, only one disinfection robot is allocated to execute the disinfection task, and if the disinfection solution is insufficient, another disinfection robot needs to be allocated to execute the disinfection, so that the disinfection efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a disinfection robot scheduling method which can determine the using amount of disinfectant in an area to be disinfected before a disinfection robot reaches the area to be disinfected, can simultaneously realize the combined execution of disinfection tasks by using one or more disinfection robots and improve the disinfection efficiency.
The invention is realized by the following technical scheme: the disinfection robot scheduling method comprises the following steps:
s1, a laser radar acquires space volume information of each disinfection area and uploads the space volume information of each disinfection area to a scheduling management background;
s2, selecting one or more optional disinfection areas in the disinfection areas as target areas to be disinfected;
s3, the scheduling management background acquires the state information of each disinfection robot;
and S4, screening out the target disinfection robot meeting the conditions from the disinfection robots by the scheduling management background according to the space volume information of the target area to be disinfected and the state information of the disinfection robots, matching the target disinfection robot with the target area to be disinfected, and scheduling the target disinfection robot to the corresponding target area to be disinfected to execute a disinfection task.
Further, the method comprises the following steps: the step S1 of acquiring the space volume information of the disinfection area by the laser radar comprises the following steps:
s11, presetting the height of a floor;
s11, scanning a floor environment outline with a preset floor height by using a laser radar to generate a map;
s12, presetting a disinfection area in a map, acquiring the length pixel number L, the width pixel number W and the single pixel length d of the disinfection area, and according to a calculation formula: the sterilization zone area = [ (L × d) × (W × d) ], the sterilization zone area is calculated;
and S13, calculating to obtain the space volume of the disinfection area according to the preset floor height and the disinfection area.
Further, the method comprises the following steps: when the target area to be disinfected is any one of the disinfection areas and a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, the method comprises the following steps:
s41, judging whether the space volume of the target area to be disinfected is smaller than a preset volume threshold value, if so, selecting one target disinfection robot closest to the target area to be disinfected from the multiple target disinfection robots, and scheduling the target disinfection robot to the target area to be disinfected to execute a disinfection task; if not, go to step S42;
and S42, when the space volume of the target area to be disinfected is increased by one volume threshold value, more target disinfection robots are dispatched to the target area to be disinfected to execute a disinfection task.
Further: and when the target area to be disinfected is any one of the disinfection areas and a single target disinfection robot which can independently meet the conditions cannot be screened out from the disinfection robots, the dispatching management background screens two combined disinfection robots which can meet the conditions from the disinfection robots and dispatches the two disinfection robots to the target area to be disinfected to execute a disinfection task.
Further: when the target areas to be disinfected are any plurality of the disinfection areas, a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, and the number of the target disinfection robots is greater than that of the target areas to be disinfected, one target disinfection robot is dispatched to each target area to be disinfected to execute a disinfection task, and meanwhile, for the target areas to be disinfected with the space volume greater than a preset volume threshold value, idle target disinfection robots meeting the conditions are dispatched according to the step S42.
Further, the method comprises the following steps: and when the target areas to be disinfected are any more than one of the disinfection areas, and a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, but the number of the target disinfection robots is less than that of the target areas to be disinfected, a single independent target disinfection robot meeting the conditions is dispatched to the corresponding target areas to be disinfected to execute disinfection tasks, meanwhile, for the remaining target areas to be disinfected, a plurality of target disinfection robots which are independent and not meeting the conditions are screened out from the single target disinfection robot to be combined, and the plurality of disinfection robots are dispatched to the remaining target areas to be disinfected to execute disinfection tasks.
Further: and when the target areas to be disinfected are any more than one of the disinfection areas, screening a plurality of target disinfection robots meeting the conditions from the disinfection robots, and when the number of the target disinfection robots is equal to that of the target areas to be disinfected, dispatching each target disinfection robot to the corresponding target area to be disinfected according to the matching result to execute a disinfection task.
Further, the method comprises the following steps: in the step S4, the dispatching management background screens out the target disinfection robots meeting the conditions in each disinfection robot according to the space volume information of the target to-be-disinfected area and the state information of the disinfection robots, and the method comprises the following steps:
s43, judging whether the disinfection robot is in an idle state, and if so, turning to the step S44;
s44, judging whether the electric quantity value of the disinfection robot is larger than a preset electric quantity threshold value, if so, turning to the step S45;
s45, calculating the disinfection liquid amount required for disinfecting the target area to be disinfected according to the space volume information of the target area to be disinfected;
s46, judging whether the residual amount of the disinfectant of the disinfection robot is larger than or equal to the required disinfectant amount of the target to-be-disinfected area, if so, screening the disinfection robot as the target disinfection robot.
The invention has the beneficial effects that:
compared with the prior art, the space volume of each disinfection area is obtained through the laser radar, the space volume of each disinfection area is reported to the scheduling management background, any one or more disinfection areas are selected from each disinfection area to serve as the target to-be-disinfected area, then the scheduling management background screens out the target disinfection robots meeting the conditions from the disinfection robots according to the space volume and the number of the target to-be-disinfected areas, the target disinfection robots are matched with the target to-be-disinfected areas, and the target disinfection robots are scheduled to the corresponding target to-be-disinfected areas to execute tasks, so that the disinfectant consumption of the to-be-disinfected areas can be determined before the disinfection robots move to the to-be-disinfected areas, meanwhile, the disinfection tasks can be executed by using a single or multiple disinfection robots in a combined mode, and the disinfection efficiency is improved.
Drawings
FIG. 1 is a flow chart of a sterilization robot scheduling method of the present invention;
fig. 2 is a flow chart of the disinfection robot for screening objects of the present invention.
Detailed Description
Referring to fig. 1 and 2, the sterilization robot scheduling method of the present invention includes the steps of:
s1, the laser radar acquires the space volume information of each disinfection area and uploads the space volume information of each disinfection area to a scheduling management background.
Specifically, the laser radar acquiring the space volume information of the disinfection area comprises the following steps:
s11, presetting the height of a floor.
S11, scanning the floor environment outline with the preset floor height by the laser radar to generate a map.
S12, a disinfection area is preset in a map, the length pixel number L, the width pixel number W and the single pixel length d of the disinfection area are obtained, and according to a calculation formula: the sterilization zone area = [ (L × d) × (W × d) ], which is calculated.
And S13, calculating to obtain the space volume of the disinfection area according to the preset floor height and the disinfection area.
S2, selecting any one or more disinfection areas in the disinfection areas as target areas to be disinfected.
And S3, the scheduling management background acquires the state information of each disinfection robot.
And S4, screening out the target disinfection robot meeting the conditions from the disinfection robots by the scheduling management background according to the space volume information of the target area to be disinfected and the state information of the disinfection robots, matching the target disinfection robot with the target area to be disinfected, and scheduling the target disinfection robot to the corresponding target area to be disinfected to execute a disinfection task.
When the target area to be disinfected is any one of the disinfection areas and a plurality of target disinfection robots which can meet the conditions can be screened out from the disinfection robots, the method comprises the following steps:
s41, judging whether the space volume of the target area to be disinfected is smaller than a preset volume threshold value or not, if so, selecting one target disinfection robot closest to the target area to be disinfected from the plurality of target disinfection robots, and scheduling the target disinfection robot to the target area to be disinfected to execute a disinfection task; if not, go to step S42.
Specifically, the preset volume threshold is 150m 3 . Selecting a distance to the targetWhen the target disinfection robot closest to the area to be disinfected is used, the target disinfection robots on the same floor as the target area to be disinfected are preferentially selected, and then the target disinfection robot with the shortest distance to the target area to be disinfected is selected from the target disinfection robots on the same floor. The distance between the target disinfection robot and the target area to be disinfected is obtained from a map established by laser radar scanning carried by the target disinfection robot, and only the distance between the target disinfection robot and the target area to be disinfected on the same floor is calculated.
And S42, when the space volume of the target area to be disinfected is increased by one volume threshold value, more target disinfection robots are dispatched to the target area to be disinfected to execute a disinfection task.
In particular, the volume threshold is equal to 150m 3 For each interval, increase by 150m 3 (e.g., 300 m) 3 Volume of space of area to be disinfected of target>150m 3 ) Dispatching one more target disinfection robot to a target area to be disinfected, simultaneously disinfecting the target area to be disinfected by using two target disinfection robots, and the like, for example, 450m 3 Volume of space of area to be disinfected of target>150m 3 And dispatching three target disinfection robots to jointly disinfect the target area to be disinfected.
In the step S4, the step of screening out the target disinfection robot meeting the conditions from the disinfection robots by the scheduling management background according to the space volume information of the target area to be disinfected and the state information of the disinfection robots comprises the following steps:
s43, judging whether the disinfection robot is in an idle state, if so, turning to the step S44.
And S44, judging whether the electric quantity value of the disinfection robot is larger than a preset electric quantity threshold value, if so, turning to the step S45.
S45, calculating the amount of the disinfectant needed for disinfecting the target area to be disinfected according to the space volume information of the target area to be disinfected.
Specifically, if 10ml of sterilizing liquid is consumed per cubic meter of the target area to be sterilized, the amount of the sterilizing liquid required for the target area to be sterilized is 10ml/m 3 X volume of space.
S46, judging whether the residual amount of the disinfectant of the disinfection robot is larger than or equal to the amount of the disinfectant needed by the target to-be-disinfected area, and if so, screening the disinfection robot into the target disinfection robot.
And when the target area to be disinfected is any one of the disinfection areas and a single independent target disinfection robot which can meet the conditions cannot be screened out from the disinfection robots, the dispatching management background screens two combined disinfection robots which can meet the conditions from each disinfection robot and dispatches the two disinfection robots to the target area to be disinfected to execute a disinfection task.
Specifically, if the space volume of the target area to be disinfected is equal to or less than the space threshold value of 150m 3 At most, two disinfection robots can be dispatched to combine to execute disinfection tasks at the same time.
When the target areas to be disinfected are any plurality of the disinfection areas, a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, and the number of the target disinfection robots is greater than that of the target areas to be disinfected, one target disinfection robot is dispatched to each target area to be disinfected to execute a disinfection task, and meanwhile, for the target areas to be disinfected with the space volume greater than a preset volume threshold value, idle target disinfection robots meeting the conditions are dispatched according to the step S42.
And when the target areas to be disinfected are any more than one of the disinfection areas, and a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, but the number of the target disinfection robots is less than that of the target areas to be disinfected, a single independent target disinfection robot meeting the conditions is dispatched to the corresponding target areas to be disinfected to execute disinfection tasks, meanwhile, for the remaining target areas to be disinfected, a plurality of target disinfection robots are screened out from the single independent target disinfection robot not meeting the conditions to be combined, the plurality of target disinfection robots are dispatched to the remaining target areas to be disinfected to execute the disinfection tasks, and if the target disinfection robots are still not dispatched to the target areas to be disinfected, the target disinfection robots are dispatched again after other target disinfection robots finish the disinfection tasks.
And when the target areas to be disinfected are any more than one of the disinfection areas, screening a plurality of target disinfection robots meeting the conditions from the disinfection robots, and when the number of the target disinfection robots is equal to that of the target areas to be disinfected, dispatching each target disinfection robot to the corresponding target area to be disinfected according to the matching result to execute a disinfection task.
According to the invention, the space volume of each disinfection area is obtained through the laser radar, the space volume of each disinfection area is reported to the scheduling management background, any one or more disinfection areas are selected from each disinfection area as target areas to be disinfected, then the scheduling management background screens out target disinfection robots meeting conditions from the disinfection robots according to the space volume and the number of the target areas to be disinfected, the target disinfection robots are matched with the target areas to be disinfected, and the target disinfection robots are scheduled to the corresponding target areas to be disinfected to execute tasks, so that the disinfectant consumption of the areas to be disinfected can be determined before the disinfection robots go to the areas to be disinfected, meanwhile, the disinfection tasks can be executed by using a single or a plurality of disinfection robots in a combined manner, and the disinfection efficiency is improved.
The above detailed description is directed to a specific example of a possible embodiment of the present invention, which is not intended to limit the scope of the invention, but rather the scope of the invention is intended to include all equivalent implementations or modifications without departing from the scope of the invention.
Claims (7)
1. The scheduling method of the disinfection robot is characterized in that: the method comprises the following steps:
s1, a laser radar acquires space volume information of each disinfection area and uploads the space volume information of each disinfection area to a scheduling management background;
s2, selecting any one or more disinfection areas in the disinfection areas as target areas to be disinfected;
s3, the scheduling management background acquires the state information of each disinfection robot;
s4, screening out a target disinfection robot meeting conditions from the disinfection robots by the scheduling management background according to the space volume information of the target area to be disinfected and the state information of the disinfection robots, matching the target disinfection robot with the target area to be disinfected, and scheduling the target disinfection robot to the corresponding target area to be disinfected to execute a disinfection task;
and when the target areas to be disinfected are any more than one of the disinfection areas, and a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, but the number of the target disinfection robots is less than that of the target areas to be disinfected, a single independent target disinfection robot meeting the conditions is dispatched to the corresponding target areas to be disinfected to execute disinfection tasks, meanwhile, for the remaining target areas to be disinfected, a plurality of target disinfection robots independently not meeting the conditions are screened out from the single target disinfection robot to be combined, and the plurality of target disinfection robots are dispatched to the remaining target areas to be disinfected to execute disinfection tasks.
2. The sterilization robot scheduling method of claim 1, wherein: the step S1 of acquiring the space volume information of the disinfection area by the laser radar comprises the following steps:
s11, presetting the height of a floor;
s11, scanning a floor environment outline with a preset floor height by using a laser radar to generate a map;
s12, presetting a disinfection area in a map, acquiring the length pixel number L, the width pixel number W and the single pixel length d of the disinfection area, and according to a calculation formula: the area of the disinfection area = [ (L × d) × (W × d) ], and the area of the disinfection area is calculated;
and S13, calculating to obtain the space volume of the disinfection area according to the preset floor height and the disinfection area.
3. The sterilization robot scheduling method of claim 2, wherein: when the target area to be disinfected is any one of the disinfection areas and a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, the method comprises the following steps:
s41, judging whether the space volume of the target area to be disinfected is smaller than a preset volume threshold value, if so, selecting one target disinfection robot closest to the target area to be disinfected from the multiple target disinfection robots, and scheduling the target disinfection robot to the target area to be disinfected to execute a disinfection task; if not, go to step S42;
and S42, when the space volume of the target area to be disinfected is increased by one volume threshold, one more target disinfection robot is dispatched to the target area to be disinfected to execute a disinfection task.
4. The sterilization robot scheduling method according to claim 2, wherein: and when the target area to be disinfected is any one of the disinfection areas and a single target disinfection robot which can independently meet the conditions cannot be screened out from the disinfection robots, the dispatching management background screens two combined disinfection robots which can meet the conditions from the disinfection robots and dispatches the two disinfection robots to the target area to be disinfected to execute a disinfection task.
5. The sterilization robot scheduling method according to claim 3, wherein: when the target areas to be disinfected are any plurality of the disinfection areas, a plurality of target disinfection robots meeting the conditions are screened out from the disinfection robots, and the number of the target disinfection robots is greater than that of the target areas to be disinfected, one target disinfection robot is dispatched to each target area to be disinfected to execute a disinfection task, and meanwhile, for the target areas to be disinfected with the space volume greater than a preset volume threshold value, idle target disinfection robots meeting the conditions are dispatched according to the step S42.
6. The sterilization robot scheduling method of claim 5, wherein: and when the target areas to be disinfected are any more than one of the disinfection areas, screening a plurality of target disinfection robots meeting the conditions from the disinfection robots, and when the number of the target disinfection robots is equal to that of the target areas to be disinfected, dispatching each target disinfection robot to the corresponding target area to be disinfected according to the matching result to execute a disinfection task.
7. The sterilization robot scheduling method of claim 6, wherein: in the step S4, the scheduling management background screens out the target disinfection robots meeting the conditions from among the disinfection robots according to the space volume information of the target area to be disinfected and the state information of the disinfection robots, and includes the following steps:
s43, judging whether the disinfection robot is in an idle state, if so, turning to the step S44;
s44, judging whether the electric quantity value of the disinfection robot is larger than a preset electric quantity threshold value or not, and if so, turning to the step S45;
s45, calculating the disinfection liquid amount required for disinfecting the target area to be disinfected according to the space volume information of the target area to be disinfected;
s46, judging whether the residual amount of the disinfectant of the disinfection robot is larger than or equal to the amount of the disinfectant needed by the target to-be-disinfected area, and if so, screening the disinfection robot into the target disinfection robot.
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| CN114116182B (en) * | 2022-01-28 | 2022-07-08 | 南昌协达科技发展有限公司 | Disinfection task allocation method and device, storage medium and equipment |
| CN115640924B (en) * | 2022-09-16 | 2023-10-27 | 贵阳沙克智能科技有限公司 | Intelligent dispatching management method and system for inspection robot |
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