CN111596661B

CN111596661B - Disinfection control method, device, electronic equipment and system

Info

Publication number: CN111596661B
Application number: CN202010454750.1A
Authority: CN
Inventors: 夏舸; 王宏
Original assignee: Uditech Co Ltd
Current assignee: Youdi Robot (Wuxi) Co.,Ltd.
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2023-09-08
Anticipated expiration: 2040-05-26
Also published as: CN111596661A

Abstract

The application is applicable to the technical field of service robots, and provides a disinfection control method, a disinfection control device, electronic equipment and a disinfection control system, wherein the disinfection control method comprises the following steps: acquiring current position information and state information of each disinfection robot, and acquiring area information of an area to be disinfected; determining operation robots according to the current position information, the state information and the area information, and planning an operation area corresponding to each operation robot; and sending the operation task of each operation robot to the corresponding operation robot, wherein the operation task comprises the operation area of the corresponding operation robot, and the operation task is used for indicating the corresponding operation robot to complete the disinfection task of the operation area. The application can solve the technical problem of low disinfection efficiency in the related art.

Description

Disinfection control method, device, electronic equipment and system

Technical Field

The application belongs to the technical field of service robots, and particularly relates to a disinfection control method, a disinfection control device, electronic equipment and a disinfection control system.

Background

The service robot is a semi-autonomous or fully autonomous robot that can perform service work beneficial to human health.

Service robots can be classified into professional field service robots and personal/home service robots. The service robot has wide application range and is mainly used for maintenance, repair, transportation, cleaning, security, rescue, monitoring and the like.

In recent years, the service robot market has maintained a relatively rapid growth rate. Under the condition of epidemic situation of infectious disease, in order to lighten the spread of epidemic situation and provide safety guarantee for people, a disinfection mode of adopting a robot for disinfection appears, and the disinfection mode is safer and more efficient than manual disinfection.

However, the existing disinfection process generally uses a single disinfection robot to disinfect according to a set route, and the efficiency is low; when the disinfection robot encounters an obstacle, partial areas possibly cannot reach the disinfection area, so that the disinfection area is incomplete, and the disinfection effect is greatly reduced.

Disclosure of Invention

The embodiment of the application provides a disinfection control method, a disinfection control device, electronic equipment and a disinfection control system, which can solve the problem of low disinfection efficiency of robots in related technologies.

In a first aspect, an embodiment of the present application provides a sterilization control method, including:

acquiring current position information and state information of each disinfection robot, and acquiring area information of an area to be disinfected;

Determining operation robots according to the current position information, the state information and the area information, and planning an operation area corresponding to each operation robot;

and sending the operation task of each operation robot to the corresponding operation robot, wherein the operation task comprises the operation area of the corresponding operation robot, and the operation task is used for indicating the corresponding operation robot to complete the disinfection task of the operation area.

In an embodiment of the first aspect, the sterilization of the sterilization area is completed by cooperation or cooperation of a plurality of sterilization robots, so that the sterilization efficiency is improved, and efficient sterilization is realized. In addition, the remote control disinfection robot disinfects without manual entry, thereby avoiding human harm and improving disinfection safety.

In a possible implementation manner of the first aspect, the determining a working robot according to the current location information, the state information, and the area information, and planning a working area corresponding to each working robot includes:

determining a working robot according to the current position information and the state information, or determining a working robot according to the current position information;

And determining a working area corresponding to each working robot according to the current position information, the state information and the area information.

In a possible implementation manner of the first aspect, a method of how to determine the working robots and how to determine the working areas of each working robot is provided, which combines various information, so that the planned area division is more reasonable and the disinfection process is more efficient.

In a possible implementation manner of the first aspect, the status information includes at least one of a current operation status, a remaining power, a duration of a cruising operation, and a mileage of a cruising operation.

In a possible implementation manner of the first aspect, the job task of each job robot includes a task point location of a corresponding job area, and the job task is used for instructing the job robot to perform path planning according to the task point location in combination with a map, and completing a disinfection task of the job area according to the planned path.

In a possible implementation manner of the first aspect, task point location data is sent to each operation robot, so that the operation robot can generate a task list including each task point location, the operation robot can report the data of each point location conveniently, and a user can review and process the tasks of each point location conveniently; in addition, the operation robot reaches the disinfection effect of covering the whole area on the basis of reasonably carrying out path planning, avoids disinfection dead angles, and ensures that the disinfection process is higher in quality and high in efficiency.

In a possible implementation manner of the first aspect, the disinfection control method further includes:

and if the blocking overtime information sent by any working robot during the execution of the disinfection task is received, marking the blocking position where the blocking overtime event occurs, redefining the working robots, and planning a working area corresponding to each redetermined working robot.

In a possible implementation manner of the first aspect, the redefining the working robots and planning a working area corresponding to each redetermined working robot includes:

determining an incomplete disinfection area, re-determining a working robot, and dividing the incomplete disinfection area to the re-determined working robot.

In a possible implementation manner of the first aspect, the operation robot performs blocking detection and reports blocking information, so that the disinfection area can be divided again, the synergistic effect of multiple robots is fully exerted, the disinfection dead angle is avoided, and the disinfection process is higher in quality and efficiency.

In a second aspect, an embodiment of the present application provides a sterilization control method, including:

the electronic equipment acquires current position information and state information of each disinfection robot, and acquires area information of an area to be disinfected;

The electronic equipment determines the operation robots according to the current position information, the state information and the area information, and plans the operation area corresponding to each operation robot;

the electronic equipment sends the operation task of each operation robot to the corresponding operation robot, wherein the operation task comprises the operation area of the corresponding operation robot;

and the operation robot completes the disinfection task of the operation area according to the received operation task.

In a possible implementation manner of the second aspect, the disinfection control method further includes:

any one of the working robots detects blocking during the execution of the disinfection task and the blocking exceeds a preset duration, and sends blocking timeout information to the electronic equipment;

and the electronic equipment marks the blocking position where the blocking overtime event occurs according to the received blocking overtime information, redetermines the operation robots, and plans the operation area corresponding to each redetermined operation robot.

any one of the working robots detects blocking during the execution of the disinfection task and the blocking exceeds a preset time period, a path is re-planned, and if the re-planning of the path is successful, the disinfection task of the working area is completed according to the re-planned path; if the path re-planning fails, sending blocking overtime information to the electronic equipment;

In a possible implementation manner of the second aspect, the redefining the working robots and planning a working area corresponding to each redetermined working robot includes:

In a third aspect, an embodiment of the present application provides a sterilization control device, including:

the acquisition unit is used for acquiring the current position information and the state information of each disinfection robot and acquiring the area information of the area to be disinfected;

the planning unit is used for determining the operation robots according to the current position information, the state information and the area information and planning an operation area corresponding to each operation robot;

the operation device comprises an indication unit, an operation unit and a control unit, wherein the indication unit is used for sending operation tasks of each operation robot to the corresponding operation robot, the operation tasks comprise operation areas of the corresponding operation robots, and the operation tasks are used for indicating the corresponding operation robots to complete disinfection tasks of the operation areas.

In a possible implementation manner of the third aspect, the sterilization control device further includes: the unit is re-programmed and,

and the re-planning unit is used for marking the blocking position where the blocking overtime event occurs if the blocking overtime information sent by any one of the working robots during the disinfection task execution is received, re-determining the working robots and planning the working area corresponding to each re-determined working robot.

In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the disinfection control method according to the first aspect when executing the computer program.

In a fifth aspect, an embodiment of the present application provides a sterilization control system, including the electronic device according to the fourth aspect, and further including a plurality of sterilization robots, each of the sterilization robots being communicatively connected to the electronic device.

In a sixth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the disinfection control method described in the first aspect.

In a seventh aspect, embodiments of the present application provide a computer program product for causing an electronic device to execute the disinfection control method of the first aspect described above when the computer program product is run on the electronic device.

It will be appreciated that the advantages of the second to seventh aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an electronic device to which a disinfection control method according to an embodiment of the present application is applied;

FIG. 2 is a schematic diagram of a sterilization control system according to an embodiment of the present application;

FIG. 3 is a flow chart of a disinfection control method according to an embodiment of the present application;

FIG. 4A is a schematic diagram of an initial task point of a robot according to an embodiment of the present application;

Fig. 4B, fig. 4C, and fig. 4D are schematic views illustrating a process of assigning task points to an a-robot according to an embodiment of the present application;

fig. 4E, fig. 4F, and fig. 4G are schematic views illustrating a process of assigning task points to a b robot according to an embodiment of the present application;

FIG. 5A is a schematic view of a robot according to an embodiment of the present application encountering a barrier during a sterilization task;

FIG. 5B is a schematic illustration of a remaining unfinished sterilization area provided by an embodiment of the present application;

FIG. 6 is a schematic view of a robot according to another embodiment of the present application encountering a barrier during a sterilization task;

fig. 7 is a schematic structural view of a sterilization control device according to an embodiment of the present application;

fig. 8 is a schematic structural view of a sterilization control device according to another embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The disinfection control method provided by the embodiment of the application can be applied to electronic equipment, wherein the electronic equipment comprises a computer. The computer includes, but is not limited to: personal computers, supercomputers, network computers, industrial computers, cloud servers, stand-alone servers, server clusters, or distributed servers, and so forth. The embodiment of the application does not limit the specific type of the electronic equipment.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 1, the electronic apparatus 1 of this embodiment includes: at least one processor 10 (only one is shown in fig. 1), a memory 11 and a computer program 12 stored in the memory 11 and executable on the at least one processor 10, the processor 10 implementing the steps in the various sterilization control method embodiments provided by the embodiments of the present application when executing the computer program 12. Or to implement the functions of the various units in the various sterilization control device embodiments provided by the embodiments of the present application.

The electronic device 1 may include, but is not limited to, a processor 10, a memory 11. It will be appreciated by those skilled in the art that fig. 1 is merely an example of an electronic device 1 and is not meant to be limiting as to the electronic device 1, and that an electronic device may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The processor 10 may be a central processing unit (Central Processing Unit, CPU), and the processor 10 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a hard disk or a memory of the electronic device 1. The memory 11 may in other embodiments also be an external storage device of the electronic device 1, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs etc., such as program codes of the computer program etc. The memory 11 may also be used for temporarily storing data that has been output or is to be output.

Referring to fig. 2, fig. 2 is a schematic diagram of a disinfection control system according to an embodiment of the application. The sterilization control system includes: a cloud server 201 and a plurality of disinfection robots 202. Each disinfection robot 202 communicates with cloud server 201 via a wired and/or wireless network.

It should be noted that, the cloud server is adopted at the service end shown in fig. 2, and two disinfection robots are shown in fig. 2. It will be appreciated by those skilled in the art that the example shown in fig. 2 is not intended to constitute a specific limitation on embodiments of the application.

In some embodiments of the present application, the cloud server obtains current location information and status information of each sterilization robot, and obtains a sterilization task. The status information includes at least one of a current job status (e.g., in-job, resting, remaining workload, or remaining work tasks, etc.), a remaining power, a duration of a journey, and a mileage of a journey. The sterilization task includes area information to be sterilized, and the like. The cloud server determines the operation robots according to the current position information, the state information and the area information, and plans an operation area corresponding to each operation robot; and sending the operation task of each operation robot to the corresponding operation robot. The job tasks include the job areas of the corresponding job robots, and the job tasks are used for indicating the corresponding job robots to complete disinfection tasks of the job areas.

In some embodiments of the present application, a map is created by scanning the entire area currently being disinfected and uploaded to a cloud server. That is, the cloud server prestores a map of the entire area with disinfection.

In some embodiments of the application, the cloud server may update the full map of the entire area with disinfection in real time, that is, update the map in real time.

In some embodiments of the present application, the area to be disinfected is calibrated, and the operation area corresponding to each operation robot is planned by combining the map, the current position information and the state information of the disinfection robot, and the area information to be disinfected, wherein the operation area comprises one or more operation points.

In some embodiments of the present application, a user (or administrator) of the cloud server may set a disinfection mode of a disinfection area at the cloud server, where the disinfection mode includes, but is not limited to, spot disinfection or walking-while disinfection, etc. The disinfection mode of using fixed point disinfection can be a mode of turning off the disinfection lamp, moving to a certain disinfection point at a preset speed, turning on the disinfection lamp after reaching the disinfection point, and staying for a preset time to disinfect. The sterilization mode of using the sterilization while walking can be a mode that the cloud server transmits the minimum speed to the sterilization robot and turns on a sterilization lamp of the sterilization robot, and the sterilization robot slowly runs at the minimum speed to perform sterilization.

In some embodiments of the present application, the disinfection robot scans and uploads the disinfection situation to the cloud server in real time, and a user (or manager) can view the progress of the current disinfection work on line at the cloud server or through a user terminal connected with the cloud server in real time.

In some embodiments of the present application, the disinfection robot uploads the current location information to the cloud server in real time, and the disinfection robot uploads the status information to the cloud server in real time.

In some embodiments of the present application, the sterilization robot performs a blocking detection during the task execution, and starts to count after the robot detects the blocking, and if the preset time period is not reached, the blocking object disappears, and the sterilization robot continues to advance to execute the sterilization task. If the preset time length is reached and the blocking object does not disappear, sending blocking overtime information to the cloud server, wherein the blocking overtime information comprises current position information so as to inform the cloud server that the current position detects blocking and the blocking overtime. And the cloud server performs blocking calibration according to the current position information, updates the disinfection task and re-plans the disinfection task, namely re-performs regional division on the updated disinfection task. Therefore, the dead angle of disinfection can be avoided, namely the existence of non-disinfected areas is avoided, the adaptability of the scheme is further improved, the method can be applied to more use scenes, and the disinfection can be performed more efficiently and with higher quality.

In some embodiments of the present application, after the disinfection task of any point or any area is completed, the disinfection robot reports to the cloud server, the cloud server updates the map calibration in real time, the point or the area where the disinfection of the robot is completed is marked and distinguished, the point or the area where the disinfection is not completed is marked and blocked from being marked in the original plan, the disinfection failure is marked, and after the point or the area where the disinfection of other robots is not completed is tried to be disinfected again and is successful, the original failure marking is cancelled, and the disinfection calibration is changed into the disinfection calibration.

In some embodiments of the present application, when the disinfection robot detects that no disinfection task needs to be executed, reporting a disinfection completion status to the cloud server, and the cloud server combines the current point or area to be disinfected and the status of the robot itself to determine whether other robots which do not execute the disinfection task need to be assisted, if so, re-planning the operation area, and issuing the operation task corresponding to the operation area; if not, informing the robot, and after the robot is informed, taking the current position as a starting point, and returning the planned path to the charging point for charging.

In some embodiments of the application, the disinfection control system further comprises a user terminal, the user terminal being in communication with the cloud server. The user terminal is deployed with a client, such as an application or applet that provides local services for the user. The user terminal can realize convenient remote control of the user, so that on one hand, harm to human bodies in the disinfection process is avoided, the user safety is improved, and on the other hand, the user is convenient to control the disinfection process, the operation efficiency is improved, and convenience and quickness are realized.

The communication mode of the client and the server is established, and various data on the cloud server, such as task data and paths of the disinfection robot, a cloud map, current task progress and the like, can be obtained through the user terminal. The user terminal can also send a task instruction to the cloud server, so that the disinfection robot is controlled by the cloud server.

For example, a task instruction to terminate a disinfection task: when the disinfection robot receives the termination task, stopping the disinfection task, returning to the charging point, generating a task result report according to the task progress displayed by the current path map by the cloud server, and pushing the task result report to the user terminal for display.

As another example, a task instruction to set a disinfection task: the cloud server can display all areas of the map at the client, a user can randomly select a task area to be sterilized, namely an area to be sterilized, and the sterilization property of the task area can be set to be disposable sterilization or permanent sterilization. After the user selects and determines the client, the cloud server receives feedback and synchronously transmits the feedback to all disinfection robots, and updates the received tasks according to disinfection properties.

For another example, the disinfection execution time is modified: the user can randomly modify the setting of the disinfection start-stop time of each disinfection robot at the client of the user terminal, and after the time modification, the cloud server issues the disinfection start-stop time to each disinfection robot, so that the disinfection robots can synchronize the start-stop time.

The embodiment of the application provides a disinfection control method and a disinfection control system, which finish the disinfection of a disinfection area through the cooperation or the coordination of a plurality of disinfection robots, improve the disinfection efficiency and realize the efficient disinfection. In addition, the cloud server can update the map in real time, can query the disinfection schedule in real time, has a plurality of disinfection modes, and can cope with application requirements of multiple scenes, such as hospitals, office buildings, two buildings and the like. The disinfection task can be controlled remotely, a task report is generated for reference after the disinfection is finished, and the user can conveniently and rapidly control the whole disinfection task.

A disinfection control method provided by an embodiment of the present application is described in detail below.

Fig. 3 shows a schematic flow chart of a disinfection control method provided by the application. The method is performed by a sterilization control device, which is configured in an electronic apparatus, and which may be implemented in software and/or hardware. By way of example and not limitation, the method may be applied to the electronic device shown in fig. 1 described above. And may also be applied to the cloud server shown in fig. 2. As shown in fig. 3, the method includes steps S310 to S330, and the implementation process and principle of each step are as follows.

S310, current position information and state information of each disinfection robot are acquired, and area information of an area to be disinfected is acquired.

In the embodiment of the application, the cloud server acquires the current position information and the state information of each disinfection robot, and acquires the area information to be disinfected.

The cloud server can adopt a disinfection area set by default of the system as area information to be disinfected; the user can select regional information to be disinfected in the cloud server; the user can upload the regional information to be disinfected to the cloud server after the user terminal selects the regional information to be disinfected. So that the cloud server can acquire the regional information to be disinfected. As one possible implementation manner of the present application, the cloud server may query the task list, defaults that all points (or areas) need to be disinfected, or receives a user-defined disinfection area, for example, the points (or areas) that need to be disinfected are defined by a client of the cloud server or the user terminal.

In the embodiment of the application, the cloud server presets a map of all areas which are sterilized. That is, before performing the disinfection task, the disinfection robot performs full map scan mapping of the area currently using disinfection, and uploads to the cloud server.

In some embodiments of the present application, the cloud server may set a disinfection mode for all disinfection areas, for example, a preset character may be used to identify a disinfection mode of any disinfection area. For example, when configured, the fields area and area are defined to indicate the disinfection mode of walking-while-disinfection or fixed-point disinfection, respectively. As an example, area single represents spot disinfection. As another example, area A, represents a disinfection mode in which all points under area A are disinfected while walking.

In some embodiments of the present application, the cloud server may set each point and/or area in the map in a distinguishing manner. As an example, when a building and a building B are encountered by riding on a ladder, the configuration points of the two buildings are distinguished, for example, all points in the building a are identified by fields of building A and area 100, and all points in the building B are identified by fields of building B and area 200. As another example, all points (or areas) of a first layer in a building are identified by a field Build A and area 101, and all points (or areas) of a second layer in a building are identified by a field Build A and area 102. And the point positions and/or the areas are identified by combining with the actual environment, so that the target floor can be conveniently identified, and the operation areas of the disinfection robots can be conveniently planned. And when the map is switched, the map can be switched to a floor map of a building in which the sterilizing robot is positioned.

In some embodiments of the application, all gates within a building, such as elevators, doors, and corridors, are pre-coded. The coded identification can be realized by infrared or source coding and the like. The robot recognizes the identity (Identity document, ID) of the gate after receiving the gate signal, so that the robot can automatically enter the target area through the gate to perform disinfection operation.

After each point (or area) in the map is configured, in some embodiments, the robot may perform the task according to different disinfection modes of each point (or area), that is, all points (or areas) in the disinfection mode of fixed point disinfection are generated to a task list, and all points (or areas) in the disinfection mode of walking and disinfection are generated to a task list. It should be noted that in other embodiments, the task lists of different disinfection modes may be combined into one overall task list.

As a possible implementation manner of the present application, when a control command of the cloud server is received or a preset disinfection time is reached, the disinfection robot starts and starts positioning, and current position information, such as current positioning coordinates, is uploaded to the cloud server. And enabling the map by the cloud server at the same time, and calibrating the current coordinates of each disinfection robot. And (3) calibrating the point positions on the map, so that a user can know the starting positions of all the disinfection robots conveniently.

As a possible implementation manner of the application, the disinfection robot actively reports the current position information and the state information in real time. As a possible implementation manner of the application, the cloud server issues a robot state acquisition instruction to each disinfection robot, and the disinfection robots report respective state information after receiving the state information. The status information includes, but is not limited to, at least one of a current operation status, a remaining power, a duration of a journey, and a mileage of a journey.

S320, determining the working robots according to the current position information, the state information and the area information, and planning a working area corresponding to each working robot.

S330, sending the operation task of each operation robot to the corresponding operation robot, wherein the operation task comprises the operation area of the corresponding operation robot, and the operation task is used for indicating the corresponding operation robot to complete the disinfection task of the operation area.

In the embodiment of the present application, after the cloud server obtains the current position information and the state information of each disinfection robot and the area information to be disinfected, in step S320, the operation robots are determined, and the operation area corresponding to each operation robot is planned. Then, in step S330, the job task is transmitted to each of the job robots to instruct each of the job robots to complete the sterilization task of the corresponding job area.

The work robot refers to a robot that can be used to perform a current sterilization task (or a current sterilization task) among sterilization robots. In some embodiments of the present application, the work robot is determined based on the current position information and the state information of each sterilization robot, or the work robot is determined based on the current position information of each sterilization robot.

As a non-limiting example, if the current location information shows that the sterilization robot is in the charging stake position, then it may be determined that the sterilization robot is charging, and the sterilization task is not scheduled to be performed this time, i.e., not as a work robot. If the current position information shows that the sterilization robot is in the area to be sterilized and is in a rest state, the sterilization robot can be used as a working robot. If the current position information shows that the distance between the sterilizing robot and the area to be sterilized is larger than the preset distance threshold, the sterilizing task is not scheduled to be executed at this time, namely the sterilizing robot is not used as the operation robot. If the sterilization robot is in a rest state, the sterilization robot can be used as a working robot. It should be understood that the description is merely exemplary in nature and that the embodiments of the present application are not limited in their implementation.

After the working robots are determined, the working area corresponding to each working robot can be determined according to the current position information and the state information of each working robot and the area information of the area to be disinfected and by combining with a map. And then sending the operation tasks to each operation robot to instruct each operation robot to complete the disinfection tasks of the corresponding operation areas.

As a possible implementation manner of the present application, after the cloud server obtains the area information to be disinfected, the task point location may be determined. The points on the map may be regularly distributed or irregularly distributed. The cloud server loads the read task point positions on the map, and issues a robot state acquisition instruction, and the robot reports state information of the robot after receiving the task point positions. After receiving the state information of each machine, the cloud server determines the working robots according to the current position information and/or the state information of each robot, sets the current position information, the state information and the like of each working robot as variables, divides the areas to be disinfected according to the variables, namely, divides the areas to be disinfected into each working robot, and determines the working areas corresponding to each working robot. And then, sending the operation task of each operation robot to the corresponding operation robot, wherein the operation task is used for indicating each operation robot to complete the disinfection task of the corresponding operation area.

As a non-limiting example, after the cloud server obtains the area information of the area to be disinfected, the point location of the disinfection task is counted. Assuming that the area to be disinfected comprises 90 points, determining which robots can execute the disinfection task through the acquired current position information and/or state information of each robot and the like. Assuming that three robots can perform the present disinfection task, this means that the working robot is three, a robot, b robot and c robot. The 90 points are trisected, and one robot can execute 30 points. And then judging the residual electric quantity of each robot. In this example, the maximum power consumption, for example, fixed point sterilization, is set so that the ultraviolet sterilization is performed by staying at one place for half an hour, and thus the judgment is performed on the basis that 1% of the electric quantity is consumed at one point. If the electric quantity of the working robot is 30% greater than the average point position required to be executed, the working robots are sorted according to the electric quantity, and then the next step of judgment can be carried out, otherwise, for example, the residual electric quantity of an a robot is 20%, the residual electric quantity of a b robot and the residual electric quantity of a c robot are both greater than 50%, the three robots are compared with the average power consumption of 30%, the difference of the a robot is 10%, at least 10 points are executed, the b robot and the c robot are both greater than 20%, the two robots can execute 20 points more, the difference of the b robot and the c robot is greater than the difference of the a robot, so when the difference of the c robot is large, the difference is 20-10=10, 10 is divided by 2, the a robot can execute 5 points less, more electric quantity is reserved for the a robot, and the a robot executes a disinfection task of 15 points. And judging the electric quantity of the robot b and the electric quantity of the robot c, and dividing more than 15 points by the same judgment. After the point number is divided, the position of each operation robot dividing point is judged. Based on the current positions of the three working robots, the working robots in the ordered sequence are firstly distributed with the working robot in the first position of the ordered sequence according to the distance until the points are full, then distributed with the rest points of the area to be disinfected according to the working robots in the ordered sequence, and the like until all the points to be distributed are distributed. It should be noted that, the sorting of the disinfection robots may be a default sorting of the system, or may be a sorting customized by the user, which is not specifically limited in the present application.

An illustrative description of how each work robot allocates points is continued by way of a non-limiting example.

With each working robot as an origin, the point closest to the straight line of each origin is regarded as the task initial point of the working robot, and as shown in fig. 4A, points a, B, and C are regarded as initial task points of the a robot, the B robot, and the C robot in this order.

The sequence of the robots is assumed to be as follows from front to back: the disinfection task comprises a robot a, a robot b and a robot c, wherein the total point positions of the disinfection task are 28 point positions, the robot a is allocated with 7 point positions, the robot b is allocated with 10 point positions, and the robot c is allocated with 11 point positions.

The first 7 points of the robot a of the row are distributed firstly, the batch distribution is carried out on the basis of the point A, each distribution is distributed by taking the adjacent straight line points as the reference, and the distribution is not counted. The first point of allocation of the robot is shown in fig. 4B, 2 points are allocated for the first time, and 3 points are allocated in total. Fig. 4C shows that the robot allocates the points a for the second time, allocates 3 points for the second time, and allocates 6 points in total. Fig. 4D shows a third allocation of the robot, wherein the third allocation is 1 positioning, and a total of 7 points are allocated in a cumulative way. So far, the distribution of 7 points of the robot a is finished.

and after the distribution of the robot a is finished, the robot b distributes points, and the robot b distributes 10 points in total. As shown in fig. 4E, on the basis of the point B, the robot B allocates 3 points for the first time, and 4 points are allocated in total in an accumulated manner; as shown in fig. 4F, the robot b allocates 5 points for the second time, and allocates 9 points in total in a cumulative way; as shown in fig. 4G, the robot b allocates 1 dot position for the third time, and 10 dots are cumulatively allocated, so that the allocation of 10 dots of the robot b is completed.

And after the point positions of the robot a and the robot b are distributed, the rest point positions of the area to be disinfected are distributed to the robot c.

After the cloud server divides the operation area of each operation robot, each task point in the operation area is issued to the corresponding operation robot, each operation robot receives the task point data and generates a task list, the map is subjected to path planning by using the point position in the task list, the path planning is performed by using the current position (such as the current coordinates and the like), the current floor and the current building are used as starting points, the optimal path of disinfection work is planned through each task point position, the disinfection mode of the disinfection area where the disinfection task is currently required to be executed is determined, and the disinfection work is executed after the disinfection mode is switched. According to the distribution planning disinfection route of the point positions, repeated disinfection work can be reduced while disinfection dead angles are avoided, disinfection quality is guaranteed, and efficiency is improved.

According to the embodiment of the application, the sterilization of the sterilization area is finished through the cooperation or the cooperation of the plurality of sterilization robots, so that the sterilization efficiency is improved, and the efficient sterilization is realized.

Another embodiment of the present application provides a sterilization control method based on the embodiment shown in fig. 3, which further includes the following steps based on the embodiment shown in fig. 3:

In some embodiments of the present application, during the process of executing the disinfection task by the operation robot, that is, when the operation robot executes the disinfection task, if blocking is caused by temporary change of the environment, the robot starts timing after detecting the blocking, if the preset duration is not reached and the blocking object disappears, the operation robot normally continues to execute the disinfection task, that is, continues to execute the disinfection task according to the original path planning; if the preset time period still is blocked, the blocking timeout information is reported to the cloud server so as to inform the cloud server that the current position detects blocking and the blocking timeout is performed. The blocking timeout information includes a blocking position at which a blocking timeout event occurs, which may be a current position of the robot, such as a current coordinate, or a position of an obstacle detected by the robot, such as an obstacle coordinate, or the like.

And the cloud server receives the blocking timeout information and marks the blocking position of the blocking timeout event on the map. In addition, the cloud server determines the remaining disinfection areas, redetermines the working robots, and plans a working area corresponding to each redetermined working robot.

In some embodiments of the present application, the disinfection robot reports the point location that has been disinfected to the cloud server, so that the cloud server can update and calibrate in real time, and perform calibration differentiation on the area where the robot completes disinfection, and perform calibration on the area where the disinfection is planned to be stopped.

After the cloud server receives the blocking overtime information and marks the blocking position of the blocking overtime event, the cloud server can update a task list of the area to be disinfected, remove the disinfected task point positions, and re-determine the operation robot and re-program the task area for the updated operation robot by combining the map marked with the blocking position and the current position information and the state information of each robot. And each newly determined operation robot receives the updated task data, updates the task list, and executes the disinfection task after carrying out path planning again. If the disinfection is completed or succeeded by the point or the area which is blocked and failed before after the path is re-planned, the disinfection is completed, namely the map is updated by the cloud server.

In other embodiments of the present application, when the operation robot executes the disinfection task, if the operation robot encounters a blockage and overtime, the operation robot may re-execute the path planning according to the remaining operation area, i.e. the task point where the disinfection is not completed, in combination with the map after the blockage mark, and execute the disinfection task according to the re-planned path. If the path cannot be re-planned or the path which can be traveled does not exist, namely the path re-planning fails, the blocking overtime information is reported to the cloud server, the cloud server updates the task list, and the working robots and the working areas of the working robots are re-determined. The cloud server can coordinate other disinfection robots to complete disinfection tasks, fully plays the cooperative work of multiple robots, and realizes high-quality and high-efficiency disinfection.

As a non-limiting example of the present application, as shown in fig. 5A, the area to be sterilized is divided into three work areas, and the sterilization tasks of the three work areas are performed by the three work robots, respectively. The robot a is responsible for 12 points, the robot b is responsible for 12 points, and the robot c is responsible for 4 points. And 4 points distributed by the robot c are a straight line, the robot c has already disinfected the X point and is going to the Y point to execute disinfection tasks, blocking is detected and overtime is detected, the Y point position is reported to the cloud server, the cloud server performs blocking position calibration on the Y point, and the remaining non-disinfection points (3 points) of the area in charge of the robot c are calibrated for disinfection failure.

When the cloud server receives the blocking timeout information reported by the robot c, the point position calibration distinction is shown in fig. 5, the point position marked with the black point in fig. 5A is the point position which is disinfected, at this time, the cloud server updates the task list, removes the disinfected point position, and needs to repartition the rest of the non-disinfected point positions, and the rest of the non-disinfected point positions are the point positions outlined by the dotted line boxes shown in fig. 5B. And (3) according to the current position information and the state information of all robots, combining the map calibrated by the blocking position, re-determining the operation robots, dividing the rest non-disinfection points, and determining the operation area of each re-determined operation robot.

As another non-limiting example of the present application, as shown in fig. 6, the area to be sterilized is divided into three work areas, and the sterilization tasks of the three work areas are performed by the three work robots, respectively. The robot a is responsible for 10 points, the robot b is responsible for 10 points, and the robot c is responsible for 8 points. c, 8 points distributed by the robot are not a straight line, c, the robot performs disinfection tasks when going to the Y point after disinfecting the X point, detects blocking and overtime, updates a map, and marks the blocking position. In this example, the robot c may re-route planning, avoid the barrier, and continue the disinfection of the work area. If the c robot only leaves Y points to be disinfected, executing a disinfection task to the Y points, and still detecting blocking, reporting the Y point position to a cloud server, calibrating the blocking position of the Y points by the cloud server, and calibrating the residual non-disinfection point positions (point positions Y) of the area in charge of the c robot in failure of disinfection. At this time, the cloud server needs to guide other robots to kill the Y point, calculate the distances from the current positions of the a robot and the b robot to the Y point, respectively, and based on a preset distance length (for example, 100 units), if the distances are smaller than the preset distance length, which is closer to the robot, as shown in fig. 6, the a robot goes from the W point to the Z point, and the a robot is closest to the Y point, so that the Y point is reassigned to the a robot; if the distance from the current position of the robot a and the robot b to the Y point is larger than the preset distance length, the distance from the current position of the robot a and the distance from the current position of the robot b to the Y point is close to the assigned work area.

In the embodiment of the application, the blocking position is calibrated, the operation robot and the operation area are redetermined, the condition that some areas are not disinfected due to the existence of barriers is avoided, the integrity of disinfection is realized, and the quality of disinfection operation is further improved.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Fig. 7 shows a block diagram of a disinfection control device according to an embodiment of the present application, corresponding to the disinfection control method described in the above embodiments, and only the parts related to the embodiments of the present application are shown for convenience of explanation.

Referring to fig. 7, the sterilization control device includes:

an acquisition unit 71 for acquiring current position information and status information of each sterilization robot, and acquiring area information of an area to be sterilized;

a planning unit 72 configured to determine a working robot according to the current position information, the state information, and the area information, and plan a working area corresponding to each working robot;

an instruction unit 73, configured to send a job task of each of the job robots to the corresponding job robot, where the job task includes the job area of the corresponding job robot, and the job task is configured to instruct the corresponding job robot to complete a disinfection task of the job area.

Optionally, on the basis of the embodiment shown in fig. 7, as shown in fig. 8, the sterilization control device further includes:

and the re-planning unit 74 is configured to, if receiving the blocking timeout information sent by any one of the working robots during the disinfection task, mark a blocking position where a blocking timeout event occurs, re-determine the working robots, and plan a working area corresponding to each re-determined working robot.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product which, when run on an electronic device, causes the electronic device to perform steps that may be carried out in the various method embodiments described above.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a camera device/electronic apparatus, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A sterilization control method, comprising:

Transmitting a job task of each of the job robots to the corresponding job robot, the job task including the job area of the corresponding job robot, the job area including one or more task points; the job tasks are used for indicating the corresponding job robots to generate a task list according to the task point data, and planning a path of a map according to the point positions in the task list to complete the disinfection task of the job area.

2. The sterilization control method according to claim 1, wherein the determining a work robot based on the current position information, the state information, and the area information, and planning a work area corresponding to each of the work robots, comprises:

3. The sterilization control method of claim 2, wherein the status information includes at least one of a current operation status, a remaining power, a duration of a journey, and a mileage.

4. A disinfection control method according to any one of claims 1 to 3, wherein said job task of each of said job robots comprises a task point of a corresponding job area, said job task being for instructing said job robot to perform a path planning according to said task point in combination with a map, and to complete a disinfection task of said job area according to the planned path.

5. A sterilization control method as set forth in any one of claims 1 to 3, further comprising:

6. A sterilization control method, comprising:

The electronic equipment sends the operation task of each operation robot to the corresponding operation robot, wherein the operation task comprises the operation area of the corresponding operation robot; the job area includes one or more task points;

the operation robot completes the disinfection task of the operation area according to the received operation task;

the job robot completes the disinfection task of the job area according to the received job task, and the job robot comprises:

the operation robot generates a task list according to the data of each task point in the operation area, and performs path planning on a map by using the point positions in the task list; the path planning comprises the steps of taking the current position as a starting point, passing through each point position and planning an optimal path;

and determining a disinfection mode of a disinfection task of the operation area according to the operation task, and completing the disinfection task of the operation area after switching the disinfection mode.

7. A sterilization control device, characterized by comprising:

an instruction unit, configured to send a job task of each of the job robots to the corresponding job robot, where the job task includes the job area of the corresponding job robot, and the job area includes one or more task points; the job tasks are used for indicating the corresponding job robots to generate a task list according to the task point data, and planning a path of a map according to the point positions in the task list to complete the disinfection task of the job area.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the disinfection control method of any one of claims 1-5 when the computer program is executed.

9. A sterilization control system comprising the electronic device of claim 8, further comprising a plurality of sterilization robots, each of the sterilization robots being communicatively coupled to the electronic device.

10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the disinfection control method as claimed in any one of claims 1 to 5.