CN112656986A - Robot-based sterilization method, apparatus, device, and medium - Google Patents
Robot-based sterilization method, apparatus, device, and medium Download PDFInfo
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Abstract
The invention discloses a robot-based disinfection method, a robot-based disinfection device, equipment and a medium. Wherein, the method comprises the following steps: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state. The embodiment of the invention detects the target object signal in the disinfection area to determine the running state of the disinfection robot, thereby effectively improving the disinfection efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot disinfection, in particular to a robot-based disinfection method, a robot-based disinfection device, equipment and a medium.
Background
In some specific life scenarios, there is a need to disinfect the life scenario, such as hospitals; the used equipment of disinfection at present mainly is ultraviolet ray disinfection robot, and the very big going on of disinfection work that has facilitated of the appearance of disinfection robot, its theory of operation mainly goes to the environmental disinfection of operation realization indoor region through the manual work, and manual operation disinfection robot realizes promptly.
The defects of the scheme are as follows: the wavelength of ultraviolet light is highly damaging to target cells, especially eyes, and the disinfection method needs to be carried out after people in a disinfection area are removed, so that the disinfection efficiency is greatly reduced.
Disclosure of Invention
The embodiment of the application provides a disinfection processing method, a disinfection processing device, equipment and a medium based on a robot, which can detect target object signals in a disinfection area to determine the running state of the disinfection robot, so that the disinfection efficiency is improved.
In a first aspect, an embodiment of the present invention provides a robot-based disinfection processing method, including:
responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area;
and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
In a second aspect, an embodiment of the present invention provides a robot-based disinfection method, including:
sending a sterilization instruction to a sterilization robot; wherein the indication of sterilization comprises a target sterilization zone;
receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state, and executing the control instruction; wherein the to-be-run state is determined by the sterilization robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
In a third aspect, an embodiment of the present invention provides a robot-based disinfection processing apparatus, including:
the signal belonging value acquisition module is used for responding to a disinfection instruction sent by the intelligent equipment and acquiring a signal belonging value of a target object in a target disinfection area;
and the state sending module is used for determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
In a fourth aspect, an embodiment of the present invention provides a robot-based disinfection processing apparatus, including:
the disinfection instruction sending module is used for sending a disinfection instruction to the disinfection robot; wherein the indication of sterilization comprises a target sterilization zone;
the control instruction generating module is used for receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state and executing the control instruction; wherein the to-be-run state is determined by the sterilization robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
In a fifth aspect, an embodiment of the present invention further provides a mobile device, where the mobile device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement any of the robot-based sterilization processes applied to mobile devices in accordance with embodiments of the present invention.
In a sixth aspect, an embodiment of the present invention further provides an intelligent device, where the intelligent device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement any of the robot-based disinfection methods of embodiments of the present invention as applied to smart devices.
In a seventh aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements any one of the robot-based sterilization methods applied to a mobile device or any one of the robot-based sterilization methods applied to an intelligent device.
The embodiment of the invention responds to the disinfection indication sent by the intelligent equipment to obtain the signal belonging value of the target object in the target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state. The embodiment of the invention detects the target object signal in the disinfection area to determine the running state of the disinfection robot, thereby effectively improving the disinfection efficiency.
Drawings
FIG. 1 is a schematic flow diagram of a robot-based sterilization process according to one embodiment of the present invention;
FIG. 2 is a schematic flow chart of a robot-based sterilization process according to a second embodiment of the present invention;
FIG. 3 is a schematic flow chart of a robot-based sterilization process according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of information transmission of a sterilization robot in the third embodiment of the present invention;
FIG. 5 is a schematic flow chart of a robot-based sterilization process according to a fourth embodiment of the present invention;
FIG. 6 is a schematic structural view of a robot-based sterilization apparatus according to a fifth embodiment of the present invention;
FIG. 7 is a schematic structural view of a robot-based sterilization apparatus according to a sixth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device in a seventh embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of a robot-based sterilization method according to an embodiment of the present invention. The embodiment may be applicable to the case of effectively determining the to-be-operated state of the disinfection robot, and the method of the embodiment may be executed by a robot-based disinfection processing apparatus, which may be implemented in a hardware/software manner and may be configured in an electronic device, where the electronic device includes a mobile device, such as a disinfection robot. The robot-based sterilization method of any of the embodiments of the present application may be implemented. As shown in fig. 1, the method specifically includes the following steps:
and S110, responding to the disinfection instruction sent by the intelligent equipment, and acquiring the signal belonging value of the target object in the target disinfection area.
In this embodiment, the smart device may be a type of electronic device with an information transmission function, such as a smart phone, a tablet computer, a personal computer, or the like, or a satellite device that transmits a satellite signal. The disinfection instruction that accessible disinfection robot received and handled the smart machine and sent in this embodiment can adopt wireless or wired mode to be connected between disinfection robot and the smart machine, for example adopts wireless network, bluetooth or data line to connect to carry out the effective transmission of information, can also carry out high-efficient supervision to the behavior of disinfection robot through the smart machine simultaneously.
The target disinfection area can be a predefined global disinfection range or a local disinfection range in an indoor scene, and can be defined in a disinfection robot or can be realized by sending information to the disinfection robot through intelligent equipment; the signal value of the target object is the sum of the signal values of the infrared signals of the target object in the target disinfection area, and whether the target object exists in the target disinfection area can be effectively determined according to the value, so that the damage of ultraviolet rays generated by the disinfection robot in the disinfection process to the target object (such as human cells) is avoided.
It is noted that the target object in this embodiment may include, but is not limited to, human, animal, and space gases within the target sterilization zone.
And S120, determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
In the embodiment, the to-be-operated state of the disinfection robot can reflect whether the disinfection robot needs to continue to perform disinfection work; in the embodiment, after the disinfection robot receives the disinfection instruction sent by the intelligent equipment, the running state of the disinfection robot is working; wherein, the state to be operated of the disinfection robot can comprise working and idle states. The implementation can realize remote supervision on the disinfection robot through the intelligent equipment, and the disinfection robot needs to report the state of the disinfection robot to the intelligent equipment in real time so that the intelligent equipment generates an operation control instruction of the disinfection robot according to the report information; wherein, the operation control instruction can comprise continuing operation and suspending operation.
Wherein, determining the to-be-operated state of the sterilization robot according to the signal belonging value of the target object in the target sterilization area may include: determining whether the target object exists in the target disinfection area according to the signal belonging value of the target object in the target disinfection area, and obtaining the to-be-operated state of the disinfection robot according to the determination result; in particular, the signal may comprise an infrared sensing signal.
The embodiment of the invention responds to the disinfection indication sent by the intelligent equipment to obtain the signal belonging value of the target object in the target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state. The embodiment of the invention detects the target object signal in the disinfection area to determine the running state of the disinfection robot, thereby effectively improving the disinfection efficiency.
Example two
Fig. 2 is a schematic flow chart of a robot-based sterilization method according to a second embodiment of the present invention. The embodiment is further expanded and optimized on the basis of the embodiment, and can be combined with any optional alternative in the technical scheme. As shown in fig. 2, the method includes:
s210, responding to a disinfection instruction sent by the intelligent equipment, and controlling an infrared induction sensor on a shell of the disinfection robot to acquire an infrared signal in a target disinfection area.
The disinfection robot is a disinfection device with an exposed ultraviolet lamp tube, and can be fixed or movable, and because the wavelength of ultraviolet rays is harmful to a target object (such as human cells), the ultraviolet dose required for air disinfection is particularly obvious in injury to eyes of people, so that the disinfection is carried out in an unmanned environment under the supervision of a special person in a field. Under the restriction, the use scene of the disinfection equipment is harsh, the operation on people is strictly regulated, and the scene with high cost and needing to be cleared is obviously overcome, for example, the ultraviolet disinfection in a hospital ward is realized, and a patient needs to be removed from the ward and then specially-assigned people are guarded to prevent the patient from intruding.
The infrared sensor has the principle that people all have constant body temperature, generally at 37 ℃, so that the infrared sensor can emit infrared rays with specific wavelength of about 10UM, and the passive infrared probe works by detecting the emitted infrared rays with the wavelength of about 10 UM; infrared rays of about 10UM emitted by the infrared sensor are concentrated on an infrared induction source after being enhanced by a Feichell filter; the infrared induction source usually adopts a pyroelectric element, the pyroelectric element loses charge balance when receiving the change of the infrared radiation temperature of the pyroelectric element, charges are released outwards, and a subsequent circuit can generate an alarm signal after detection processing.
Therefore, in this embodiment, the peripheral areas of the upper end of the housing of the disinfection robot are respectively provided with the infrared induction sensors, that is, in this embodiment, the disinfection robot is provided with at least 4 infrared induction sensors; the coverage area of the infrared induction sensor is hemispherical, the infrared induction sensor can cover 360 degrees of the machine body in such distribution, and by adjusting the induction distance (such as 18 meters), the infrared induction sensor can collect all infrared induction signals with the radius of 18 meters and the body of the disinfection machine as the original point, so that the problem that a signal acquisition blind area exists in a target disinfection area can be avoided, and the complete acquisition of the signals in the target disinfection area is realized.
It should be noted that, on the basis of this embodiment, another inductive sensor installed at the upper end of the housing of the disinfection robot may be further included to obtain an inductive signal of the target object in the target disinfection area, so as to achieve effective detection of the target object in the target disinfection area.
And S220, determining the signal belonging value of the target object in the target disinfection area according to the infrared signal.
In this embodiment, the infrared signal in the target disinfection area can intuitively and accurately obtain the signal belonging value of the target object in the target disinfection area, so as to effectively determine whether the target object exists in the target disinfection area.
In this embodiment, optionally, determining the signal attribute value of the target object in the target disinfection area according to the infrared signal includes:
dividing the continuous preset number of infrared signals collected by the infrared induction sensor into one group to obtain a plurality of groups of signals;
performing median filtering on each group of signals respectively to obtain a plurality of effective signals;
and determining the signal belonging value of the target object in the target disinfection area according to the plurality of effective signals.
In this embodiment, the infrared signal of the continuous preset quantity that infrared induction sensor gathered is infrared signal in the same direction that infrared induction sensor gathered, groups it, can separate infrared signal in the not equidirectional to can effectively determine infrared signal in the not equidirectional.
Because the infrared signal that infrared induction sensor gathered can receive external environment's influence and make to contain certain noise signal in the infrared signal, consequently need filter the noise signal to guarantee the validity of the infrared signal who gathers. The effective information is a set of infrared effective signals of the disinfection robot in different directions, and the signal belonging value of the target object in the target disinfection area can be accurately identified according to the infrared effective signals of the disinfection robot in different directions, so that the identification accuracy of the target object signal of the disinfection robot is improved.
S230, detecting whether the signal belonging value of the target object in the target disinfection area is larger than a belonging value threshold value; if yes, go to S240; if not, go to S250.
S240, determining that the to-be-operated state of the disinfection robot is idle, and sending the to-be-operated state to the intelligent device.
In this embodiment, if the signal belonging value of the target object in the target disinfection area is greater than the belonging value threshold, it indicates that the target object exists in the target disinfection area, and at this time, the disinfection operation is not suitable, and the target object (for example, human body cells or disinfection environment) may be damaged to some extent, and the disinfection operation needs to be stopped; the disinfection robot aims to solve the problem of harm of target objects (such as human body cells or disinfection environment) brought by the disinfection robot during disinfection, so that an automatic and intelligent disinfection mechanism is realized.
Specifically, after determining that the to-be-operated state of the disinfection robot is idle, the method of this embodiment further includes: an alarm signal is generated. The evacuation reminding device is used for evacuating the movable objects in the target disinfection area to remind people of the evacuation, so that the safety hazard in the target disinfection area is effectively guaranteed.
And S250, determining the to-be-operated state of the disinfection robot as working, and sending the to-be-operated state to the intelligent equipment.
In this embodiment, if the value of the signal of the target object in the target sterilization area is not greater than the threshold value, it indicates that no movable object exists in the target sterilization area, and at this time, the sterilization operation can be started, the signal is transmitted to the intelligent device, and the intelligent device instructs the operation of the sterilization robot, so that the intelligent device supervises the sterilization robot in real time.
In this embodiment, optionally, after determining that the to-be-operated state of the disinfecting robot is idle, the method of this embodiment further includes:
determining the moving direction of a target object in the target disinfection area, and re-determining the signal belonging value of the target object in the target disinfection area according to the moving direction of the target object;
and if the signal belonging value of the target object in the target disinfection area is smaller than the belonging value threshold value, determining that the to-be-operated state of the disinfection robot is working.
In the embodiment, the to-be-operated state of the disinfection robot is determined to be idle, namely, the target object in the target disinfection area is determined; at the moment, the infrared sensor can continuously acquire the infrared signal of the target object so as to identify the moving direction of the target object. The purpose of re-determining the value to which the signal of the target object in the target sterilization zone belongs according to the moving direction of the target object is to monitor whether the target object leaves the target sterilization zone, so as to ensure the normal operation of the sterilization robot.
Determining that the to-be-operated state of the disinfection robot is working, namely determining that the target object leaves a target disinfection area and no other target object signals exist in the target disinfection area; after that, if the robot needs to continue working, the operating state needs to be sent to the intelligent device, so that the intelligent device generates a corresponding operating control instruction according to the to-be-operated state, and executes the instruction to control the robot to continue working.
On the basis of the foregoing embodiment, optionally, performing median filtering on each group of signals respectively to obtain a plurality of effective signals, including:
converting a preset number of infrared signals contained in each group of signals into binary values; sequencing the binary values of a preset number;
extracting the binary values at the preset positions after sorting as effective values of the group of signals;
and determining the infrared signal corresponding to the effective value as an effective signal.
In the embodiment, whether the disinfection robot alarms or not is determined according to the infrared signals; whether the disinfection robot alarms or not can be determined according to the effective value of the signal, so that the effective signal of the infrared signal acquired by the infrared induction sensor is determined, and the value of the signal of the target object is accurately determined.
Illustratively, N times (for example, 11 times, since 1s data acquisition is 20 times, and 11 times is about 0.5s) are continuously sampled, the sampled values of 1-11 times are arranged according to the size, the median value, namely the 6 th data is the effective value of the 11 groups of data, if 1, the alarm is present, and 0 represents no alarm; the sampling values are arranged according to the size by 2-12 times for the next time, the intermediate value is taken, and the like; 5 groups of continuous alarms of the obtained effective data are task alarms, and according to an algorithm, the effective alarms are generated in an extreme case, namely after 6+4 groups of continuous alarms, and the time is 0.5 s; the filtering method can effectively eliminate the interference caused by the fluctuation of accidental factors, and meanwhile, the response speed is 0.5s, and the filtered alarm signal can be rapidly given.
On the basis of the foregoing embodiment, optionally, determining the moving direction of the target object in the target disinfection area includes:
controlling the disinfection robot to rotate in situ, and acquiring an alarm switching speed and a rotation angular speed of the disinfection robot;
determining a difference value between the alarm switching speed and the rotation angular speed;
and determining the moving direction of the target object according to the difference value between the alarm switching speed and the rotation angular speed.
In the embodiment, when it is determined that the target object exists in the target disinfection area, the disinfection robot does not need to move any more, otherwise, an error occurs in the moving direction of the target object; therefore, the present embodiment adopts the in-situ rotation of the disinfection robot to ensure the disinfection robot is positioned unchanged. The difference value between the alarm switching speed change and the rotation angular velocity can reflect the position change of the target object, so that the position movement of the target object in the target disinfection area can be accurately positioned.
On the basis of the foregoing embodiment, optionally, determining the moving direction of the target object according to the difference between the alarm switching speed and the rotation angular speed includes:
if the difference value between the alarm switching speed and the rotation angular speed is within a first preset difference value range, determining that the target object is static or the target object moves along the direct direction of the disinfection robot;
if the difference value between the alarm switching speed and the rotation angular speed is within a second preset difference value range, determining that the target object moves along the rotation direction of the disinfection robot;
and if the difference value between the alarm switching speed and the rotation angular speed is within a third preset difference value range, the target object moves along the direction opposite to the rotation direction of the disinfection robot.
In this embodiment, the first preset difference range is a value range in which the difference between the alarm switching speed and the rotation angular speed remains unchanged or the transformation error is small; the second preset difference range alarms the value range of the difference between the switching speed and the rotation angular speed, for example, the value range can take a positive value; the third preset difference range alarms for a value range in which the difference between the switching speed and the rotation angular velocity becomes small, and for example, a negative value can be taken. In the embodiment, the moving direction of the target object in the target disinfection area can be accurately identified by comparing the difference value between the alarm switching speed and the rotation angular speed with the preset difference value range.
EXAMPLE III
Fig. 3 is a schematic flow chart of a robot-based sterilization method according to a third embodiment of the present invention. The embodiment is further expanded and optimized on the basis of the embodiment, and can be combined with any optional alternative in the technical scheme. As shown in fig. 3, the method includes:
s310, responding to the disinfection indication sent by the intelligent equipment, and controlling an infrared induction sensor on a shell of the disinfection robot to collect infrared signals in a target disinfection area.
And S320, determining the signal belonging value of the target object in the target disinfection area according to the infrared signal.
S330, determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
And S340, determining the sensitivity of the infrared induction sensor.
In the embodiment, the sensitivity of the disinfection robot can be determined through the alarm switching sequence of each infrared induction sensor in the in-situ rotation of the disinfection robot; specifically, the switching of the infrared sensor alarm is changed in a non-sequential manner, which indicates that the infrared sensor which alarms for a long time may not operate normally, and the sensitivity value is low.
And S350, if the sensitivity of the infrared induction sensor is lower than the sensitivity threshold, generating early warning prompt information, and sending the early warning prompt information to the intelligent equipment.
In this embodiment, when it is detected that the sensitivity of the infrared sensor is lower than the sensitivity threshold, the infrared sensor mounted on the disinfection robot needs to be maintained in time to avoid the problem of large error of the subsequently acquired target signal. The embodiment can also carry out real-time detection on the sensitivity of the infrared induction sensor periodically or in a fixed scene, and adjust the sensitivity of the sensor to allow false triggering and not allow missing.
On the basis of the above embodiment, optionally, in response to the information processing instruction sent by the intelligent device, obtaining an information processing result, and sending the information processing result to the intelligent device;
wherein the information processing instruction comprises at least one of: the method comprises the following steps of device state viewing indication, configuration killing path indication, current task ending indication, historical task viewing indication and target client loading.
In the embodiment, the disinfection robot can be used for information transmission with the intelligent equipment through the client with a specific function; the equipment state viewing indication and the historical task viewing indication can be displayed and viewed through a client installed on the disinfection robot; feeding back an information processing result to the intelligent equipment, so that the intelligent equipment is displayed for a user to watch; the real-time information interaction with the intelligent equipment is effectively realized, and therefore the information monitoring of the intelligent equipment on the disinfection robot is improved.
In the embodiment, the intelligent device is an electronic device provided with cloud software, and can realize the functions of information analysis, task scheduling, user setting, information display and transmission of the internet of things on the disinfection robot; the disinfection robot is provided with a navigation module, a detection module, an ultraviolet lamp, an indicator light and an internet of things transmission module so as to realize information transmission between disinfection work and intelligent equipment.
The infrared induction sensor is connected with the 5G conversion module according to an agreed protocol to exchange information and communicate with the Internet, so that a network for intelligent identification, positioning, tracking, monitoring and management is realized. The infrared induction sensor collects various required information such as the disinfection area, the disinfection duration, the real-time position and the like of the robot, and transmits the information to the Internet of things platform for data analysis, processing and processing to obtain meaningful data so as to adapt to different requirements of different users. The internet of things gateway integrates information of information acquired by each infrared induction sensor, uploads the information to a central platform of the internet of things system according to a specified protocol, and forwards a control instruction issued by the central service platform to an execution mechanism of the intelligent device. The method comprises a data acquisition and transmission terminal based on an embedded host, a mobile GPRS (General Packet Radio Service) network, a public network fixed IP (server) and a client, wherein the design process of the Internet of things is that all information needs to be transmitted to a Web Service (application Service) to be displayed because a plurality of endpoint information is needed, and the design process of the Internet of things is the design process of the Internet of things; in order to realize the aim, the system design of the disinfection robot is that a sensor and an embedded system are adopted to form a host, and collected data information is sent to a GPRS public network by a GPRS module through a TCP/IP protocol; a socket programming technology is adopted to establish a TCP/IP server, receive data information sent by an embedded host and upload data to the Internet; the novel Internet of things is well established through the wireless network on the basis of the Internet.
Fig. 4 is a schematic structural diagram of information transmission of the sterilization robot. The application software program design of the disinfection robot mainly comprises the following two parts of receiving commands and acquiring and sending data by GPRS; the application software is based on an embedded real-time operating system. The application defines four main time-flag bits: GPRS on-line zone bit, data acquisition zone bit, acquisition completion zone bit and command receiving zone bit; the four zone bits coordinate tasks of the system, such as data acquisition, data transmission, command receiving and the like; after the initialization is completed, the GPRS online zone bit is obtained, and command receiving and command analysis can be performed after the server is successfully connected. The system is mainly provided with three commands, namely a command for acquiring and sending data, a command for setting sampling frequency and a command for acquiring data volume; setting a corresponding zone bit when each command is obtained, and determining the next execution of the program by judging whether the zone bit is set; the acquisition and transmission time interval (default is 15 minutes) can be set in system software, namely every 15 minutes, the acquisition and transmission terminal transmits the acquired data packet to the client through the general TCP server software; meanwhile, the size of the acquired data packet (default is 1024 bytes) can be changed, namely the size of the data acquisition dynamic buffer area is changed, and data can be sent when the data buffer area is full.
The sensing module is communicated with the control module through the RS232 serial port, and when the control module receives data of the sensing module, the data are encrypted, pass through a specific communication protocol and are uploaded to the Internet of things platform center through the 4G/5G module. And after receiving the data, the platform center of the Internet of things decrypts the data and verifies the validity of the data. The verified data is stored in the data center of the Internet of things
The system analyst extracts effective data through the data center of the Internet of things for summarizing and analyzing, and the effective data is used for reference of decision makers; the system management personnel can control the equipment through the intelligent Internet of things platform to realize remote operation; after the data acquisition is finished, setting an acquisition finishing flag bit, and transmitting the data; the maximum data packet written into GPRS each time is 1024 bytes, data exceeding the 1024 bytes is sent to the next packet, and finally a data packet smaller than the 1024 bytes is sent.
The server software is implemented using Socket programming, which is a multi-threaded TCP server, considering that the system server program must be able to handle multiple client connections at any time. The establishment of a TCP connection begins with the TCP client creating a socket and then invoking the connect function to initiate a three-way handshake operation to establish a connection with the remote server. On the server side, the common method is to create a socket, call the bind function to bind the recognized port number of the socket, call the listen function to prepare for receiving the client request, and call the accept function to complete information transfer. Specifically, two tasks are established: one task is used for completing the monitoring acceptance and processing of data; when the monitoring server monitors the port and finds that the acquisition terminal sends a connection request to the server, the connection request of the remote acquisition terminal is received, and the received data is stored in a Json format; because each GPRS module has a unique ID (Identity document) number, the specific position detected by the system is identified according to the ID number, and is marked in a Json file, and three attribute values of current time, temperature and humidity are contained, if a new GPRS ID number is received, a new terminal mark is started; and the other task is used for monitoring the keyboard, editing legal related commands input by a user into command character strings and sending the command character strings to the data acquisition terminal. And discarding and outputting relevant prompt information for illegal commands.
A client: developing a Web page by adopting FLEX technology based on RIA (Rich Internet Applications) model; a client calls a Web page through a Web browser by an HTTP (Hypertext Transfer Protocol); the interface can display the system state, issue configuration parameters and display data acquired on site; the WEB page communicates with the WEB Service component and passes the user's parameters to the WEB Service. The Flex technology can be used for constructing a client program with rich experience, and meanwhile, the Flex also has a Push technology and can display the information of the server to the client timely. The Web Service design of the system adopts a Service-Oriented Architecture (SOA) design to improve the response speed of the system and facilitate the maintenance of the system in the future; for a software architecture of software design which generally conforms to a facade pattern, an upper layer directly calls a lower layer interface instead of specific implementation, thereby being beneficial to the extension and maintenance of software.
Example four
Fig. 5 is a schematic flow chart of a robot-based sterilization method according to a fourth embodiment of the present invention. The embodiment is applicable to the case of generating the operation control instruction according to the to-be-operated state. The method of the embodiment can be executed by a robot-based disinfection processing device, which can be implemented by means of hardware and/or software and can be configured in electronic equipment; the electronic device includes a smart device, such as a smart phone. The robot-based sterilization method of any of the embodiments of the present application may be implemented. As shown in fig. 1, the method specifically includes the following steps:
s510, sending a disinfection instruction to a disinfection robot; wherein the indication of sterilization includes a target sterilization zone.
In this embodiment, the intelligent device sends the control instruction to the disinfection robot, so that the disinfection robot can work according to the instruction, and effective supervision of the intelligent device on the disinfection robot is effectively realized.
S520, receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state, and executing the control instruction; wherein the state to be operated is determined by the disinfection robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
In this embodiment, the intelligent device may generate a corresponding operation control instruction for the disinfection robot according to the to-be-operated state of the disinfection robot, so as to execute the instruction, thereby implementing the action monitoring of the disinfection robot.
On the basis of the foregoing embodiment, optionally, generating the operation control instruction according to the to-be-operated state includes:
searching a target control instruction associated with the state to be operated from the candidate control instructions in the control instruction look-up table;
and determining an operation control instruction in a to-be-operated state according to the target control instruction.
In the embodiment, the intelligent device can realize the quick and effective generation of the operation control instruction through the control instruction lookup table loaded in advance, so that the information waiting time of the intelligent device and the disinfection robot is reduced, and the information interaction efficiency is improved.
The embodiment of the invention sends a disinfection instruction to the disinfection robot; wherein the indication of sterilization comprises a target sterilization zone; receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state, and executing the control instruction; wherein the state to be operated is determined by the disinfection robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area. The intelligent equipment can effectively supervise the disinfection robot through information interaction between the intelligent equipment and the disinfection robot.
On the basis of the foregoing embodiment, optionally, the method of this embodiment further includes:
sending an information processing instruction to the disinfection robot; wherein the information processing instruction comprises at least one of: the method comprises the following steps of indicating equipment state viewing, indicating configuration killing path, indicating current task ending, indicating historical task viewing and loading a target client;
and receiving the information processing result sent by the disinfection robot.
In the embodiment, the disinfection robot can be used for information transmission with the intelligent equipment through the client with a specific function; the equipment state viewing indication and the historical task viewing indication can be displayed and viewed through a client installed on the disinfection robot; feeding back an information processing result to the intelligent equipment, so that the intelligent equipment is displayed for a user to watch; the real-time information interaction with the intelligent equipment is effectively realized, and therefore the information monitoring of the intelligent equipment on the disinfection robot is improved.
EXAMPLE five
Fig. 6 is a schematic structural diagram of a robot-based sterilization apparatus according to a fifth embodiment of the present invention, which is applicable to a case where the to-be-operated state of the sterilization robot is effectively determined. The device is configured in the electronic equipment, and can realize the disinfection treatment method based on the robot in any embodiment of the application. The device specifically comprises the following steps:
the signal belonging value acquiring module 610 is used for responding to a disinfection instruction sent by the intelligent equipment and acquiring a signal belonging value of a target object in a target disinfection area;
and a state sending module 620, configured to determine a to-be-operated state of the robot according to a value to which a signal of the target object in the target sterilization area belongs, send the to-be-operated state to the intelligent device, and generate an operation control instruction by the intelligent device according to the to-be-operated state.
On the basis of the foregoing embodiment, optionally, the signal belonging value obtaining module 610 includes: the device comprises a signal acquisition unit and a belonging value determination unit;
the signal acquisition unit is used for controlling an infrared induction sensor on the shell of the disinfection robot to acquire infrared signals in a target disinfection area;
and the belonging value determining unit is used for determining the signal belonging value of the target object in the target disinfection area according to the infrared signal.
On the basis of the foregoing embodiment, optionally, the belonging value determining unit includes: the device comprises a signal dividing component, a signal determining component and a belonging value determining component;
the signal dividing assembly is used for dividing the infrared signals of the continuous preset number collected by the infrared induction sensor into one group to obtain a plurality of groups of signals;
the signal determining component is used for performing median filtering on each group of signals respectively to obtain a plurality of effective signals;
and the belonging value determining component is used for determining the signal belonging value of the target object in the target disinfection area according to the plurality of effective signals.
On the basis of the foregoing embodiment, optionally, the status sending module 620 is specifically configured to:
if the signal belonging value of the target object in the target disinfection area is larger than the belonging value threshold, determining that the to-be-operated state of the disinfection robot is idle;
and if the signal belonging value of the target object in the target disinfection area is smaller than the belonging value threshold, determining that the to-be-operated state of the disinfection robot is working.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
the direction determining module is used for determining the moving direction of a target object in a target disinfection area and re-determining the signal value of the target object in the target disinfection area according to the moving direction of the target object;
and the state determination module is used for determining that the to-be-operated state of the disinfection robot is working if the signal belonging value of the target object in the target disinfection area is smaller than the belonging value threshold value.
On the basis of the foregoing embodiment, optionally, the signal determining component is specifically configured to:
converting a preset number of infrared signals contained in each group of signals into binary values; and sorting the binary values of the preset number;
extracting the binary values at the preset positions after sorting as effective values of the group of signals;
and determining the infrared signal corresponding to the effective value as an effective signal.
On the basis of the foregoing embodiment, optionally, the direction determining module includes: an angular velocity obtaining unit, a difference value determining unit and a direction determining unit;
an angular velocity obtaining unit for controlling the sterilization robot to rotate in situ and obtaining an alarm switching speed and a rotational angular velocity of the sterilization robot;
a difference value determination unit for determining a difference value between the alarm switching speed and the rotation angular speed;
and the direction determining unit is used for determining the moving direction of the target object according to the difference value between the alarm switching speed and the rotation angular speed.
On the basis of the foregoing embodiment, optionally, the direction determining unit is specifically configured to:
if the difference value between the alarm switching speed and the rotation angular speed is within a first preset difference value range, determining that the target object is static or the target object moves along the direct direction of the disinfection robot;
if the difference value between the alarm switching speed and the rotation angular speed is within a second preset difference value range, determining that the target object moves along the rotation direction of the disinfection robot;
and if the difference value between the alarm switching speed and the rotation angular speed is within a third preset difference value range, the target object moves along the direction opposite to the rotation direction of the disinfection robot.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
the sensitivity determining module is used for determining the sensitivity of the infrared induction sensor;
and the prompt information sending module is used for generating early warning prompt information if the sensitivity of the infrared induction sensor is lower than a sensitivity threshold value, and sending the early warning prompt information to the intelligent equipment.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
the processing result sending module is used for responding to an information processing instruction sent by the intelligent equipment to obtain an information processing result and sending the information processing result to the intelligent equipment;
wherein the information processing instruction comprises at least one of: the method comprises the following steps of device state viewing indication, configuration killing path indication, current task ending indication, historical task viewing indication and target client loading.
Through the robot-based disinfection processing device in the fifth embodiment of the invention, the target object signal in the disinfection area is detected to determine the running state of the disinfection robot, so that the disinfection efficiency is effectively improved.
The robot-based disinfection processing device provided by the embodiment of the invention can execute the robot-based disinfection processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 7 is a schematic structural view of a robot-based sterilization apparatus according to a sixth embodiment of the present invention, which is applicable to a case where an operation control command is generated in accordance with a state to be operated. The device is configured in the electronic equipment, and can realize the disinfection treatment method based on the robot in any embodiment of the application. The device specifically comprises the following steps:
a sterilization instruction transmitting module 710 for transmitting a sterilization instruction to the sterilization robot; wherein the indication of sterilization comprises a target sterilization zone;
a control instruction generating module 720, configured to receive a to-be-operated state sent by the disinfection robot, generate an operation control instruction according to the to-be-operated state, and execute the control instruction; wherein the to-be-run state is determined by the sterilization robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
On the basis of the foregoing embodiment, optionally, the control instruction generating module 720 is specifically configured to:
searching a target control instruction associated with the to-be-run state from candidate control instructions in a control instruction look-up table;
and determining the operation control instruction of the state to be operated according to the target control instruction.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes: a processing instruction sending module and a processing result receiving module;
a processing instruction transmitting module for transmitting an information processing instruction to the disinfection robot; wherein the information processing instruction comprises at least one of: the method comprises the following steps of indicating equipment state viewing, indicating configuration killing path, indicating current task ending, indicating historical task viewing and loading a target client;
and the processing result receiving module is used for receiving the information processing result sent by the disinfection robot.
Through the robot-based disinfection processing device in the sixth embodiment of the invention, the intelligent device can effectively supervise the disinfection robot through information interaction between the intelligent device and the disinfection robot.
The robot-based disinfection processing device provided by the embodiment of the invention can execute the robot-based disinfection processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE seven
Fig. 8 is a schematic structural diagram of an electronic device in a seventh embodiment of the invention; the electronic equipment can comprise mobile equipment and intelligent equipment; as shown in fig. 8, the electronic device includes a processor 810, a memory 820, an input device 830, and an output device 840; the number of the processors 810 in the electronic device may be one or more, and one processor 810 is taken as an example in fig. 8; the processor 810, the memory 820, the input device 830 and the output device 840 in the electronic apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 8.
The memory 820 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the robot-based sterilization method according to the embodiment of the present invention. The processor 810 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the memory 820, that is, implements the robot-based sterilization method provided by the embodiment of the present invention.
The memory 820 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 820 may further include memory located remotely from the processor 810, which may be connected to an electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 830 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus, and may include a keyboard, a mouse, and the like. The output device 840 may include a display device such as a display screen.
Example eight
The present embodiments provide a storage medium containing computer-executable instructions for implementing a robot-based disinfection process as provided by embodiments of the present invention when executed by a computer processor.
Of course, the embodiments of the present invention provide a storage medium containing computer-executable instructions, which are not limited to the operations of the method described above, but can also perform related operations in the robot-based sterilization method provided by any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (17)
1. A robot-based sterilization process, the process comprising:
responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area;
and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
2. The method of claim 1, wherein obtaining a value indicative of a signal associated with a target object within the target sterilization zone comprises:
controlling an infrared induction sensor on a shell of the disinfection robot to acquire an infrared signal in a target disinfection area;
and determining the signal belonging value of the target object in the target disinfection area according to the infrared signal.
3. The method of claim 2, wherein determining from the infrared signal a value to which a signal of a target object within the target disinfection area belongs comprises:
dividing the continuous preset number of infrared signals acquired by the infrared induction sensor into one group to obtain a plurality of groups of signals;
performing median filtering on each group of signals respectively to obtain a plurality of effective signals;
and determining the signal belonging value of the target object in the target disinfection area according to the plurality of effective signals.
4. The method of claim 1, wherein determining the state of the disinfection robot to be operated based on the value to which the signal of the target object in the target disinfection zone belongs comprises:
if the signal belonging value of the target object in the target disinfection area is larger than the belonging value threshold, determining that the to-be-operated state of the disinfection robot is idle;
and if the signal belonging value of the target object in the target disinfection area is smaller than the belonging value threshold, determining that the to-be-operated state of the disinfection robot is working.
5. The method of claim 4, wherein after determining that the to-be-run state of the sanitizing robot is idle, the method further comprises:
determining the moving direction of a target object in a target disinfection area, and re-determining the signal value of the target object in the target disinfection area according to the moving direction of the target object;
and if the signal belonging value of the target object in the target disinfection area is smaller than the belonging value threshold value, determining that the to-be-operated state of the disinfection robot is working.
6. The method of claim 3, wherein median filtering each group of signals to obtain a plurality of effective signals comprises:
converting a preset number of infrared signals contained in each group of signals into binary values; and sorting the binary values of the preset number;
extracting the binary values at the preset positions after sorting as effective values of the group of signals;
and determining the infrared signal corresponding to the effective value as an effective signal.
7. The method of claim 5, wherein determining a direction of movement of the target object within the target disinfection zone comprises:
controlling the disinfection robot to rotate in situ, and acquiring an alarm switching speed and a rotation angular speed of the disinfection robot;
determining a difference between the alarm switching speed and the rotation angular speed;
and determining the moving direction of the target object according to the difference value between the alarm switching speed and the rotation angular speed.
8. The method of claim 7, wherein determining the direction of movement of the target object based on the difference between the alarm switching speed and the rotational angular velocity comprises:
if the difference value between the alarm switching speed and the rotation angular speed is within a first preset difference value range, determining that the target object is static or the target object moves along the direct direction of the disinfection robot;
if the difference value between the alarm switching speed and the rotation angular speed is within a second preset difference value range, determining that the target object moves along the rotation direction of the disinfection robot;
and if the difference value between the alarm switching speed and the rotation angular speed is within a third preset difference value range, the target object moves along the direction opposite to the rotation direction of the disinfection robot.
9. The method of claim 2, further comprising:
determining the sensitivity of the infrared induction sensor;
and if the sensitivity of the infrared induction sensor is lower than a sensitivity threshold, generating early warning prompt information and sending the early warning prompt information to the intelligent equipment.
10. The method of claim 1, further comprising:
responding to an information processing instruction sent by intelligent equipment to obtain an information processing result, and sending the information processing result to the intelligent equipment;
wherein the information processing instruction comprises at least one of: the method comprises the following steps of device state viewing indication, configuration killing path indication, current task ending indication, historical task viewing indication and target client loading.
11. A robot-based sterilization process, the process comprising:
sending a sterilization instruction to a sterilization robot; wherein the indication of sterilization comprises a target sterilization zone;
receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state, and executing the control instruction; wherein the to-be-run state is determined by the sterilization robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
12. The method of claim 11, wherein generating the operation control command according to the to-be-operated state comprises:
searching a target control instruction associated with the to-be-run state from candidate control instructions in a control instruction look-up table;
and determining the operation control instruction of the state to be operated according to the target control instruction.
13. The method of claim 11, further comprising:
sending an information processing instruction to the disinfection robot; wherein the information processing instruction comprises at least one of: the method comprises the following steps of indicating equipment state viewing, indicating configuration killing path, indicating current task ending, indicating historical task viewing and loading a target client;
and receiving an information processing result sent by the disinfection robot.
14. A robot-based sterilization apparatus, comprising:
the signal belonging value acquisition module is used for responding to a disinfection instruction sent by the intelligent equipment and acquiring a signal belonging value of a target object in a target disinfection area;
and the state sending module is used for determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area, sending the to-be-operated state to the intelligent equipment, and generating an operation control instruction by the intelligent equipment according to the to-be-operated state.
15. A robot-based sterilization apparatus, comprising:
the disinfection instruction sending module is used for sending a disinfection instruction to the disinfection robot; wherein the indication of sterilization comprises a target sterilization zone;
the control instruction generating module is used for receiving a to-be-operated state sent by the disinfection robot, generating an operation control instruction according to the to-be-operated state and executing the control instruction; wherein the to-be-run state is determined by the sterilization robot according to the following operations: responding to a disinfection instruction sent by the intelligent equipment, and acquiring a signal belonging value of a target object in a target disinfection area; and determining the to-be-operated state of the disinfection robot according to the signal belonging value of the target object in the target disinfection area.
16. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the robot-based sterilization process of any of claims 1-10 or the robot-based sterilization process of any of claims 11-13.
17. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a robot-based sterilization method according to any one of claims 1 to 10, or is adapted to carry out a robot-based sterilization method according to any one of claims 11 to 13.
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| 李志谦: "精通FANUC机器人编程维护与外围集成", 机械工业出版社, pages: 170 - 172 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113608525A (en) * | 2021-06-23 | 2021-11-05 | 北京迈格威科技有限公司 | Robot motion state indicating method and device, electronic equipment and storage medium |
| CN113900834A (en) * | 2021-09-24 | 2022-01-07 | 天津同阳科技发展有限公司 | Data processing method, device, equipment and storage medium based on Internet of things technology |
| CN115854506A (en) * | 2022-12-28 | 2023-03-28 | 佳达利环保材料(广东)有限公司 | Central air-conditioning control method and storage medium for intelligent hospital |
| CN115854506B (en) * | 2022-12-28 | 2023-06-23 | 耀昶嵘相变材料科技(广东)有限公司 | Central air conditioner control method and storage medium for intelligent hospital |
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