CN113342078A

CN113342078A - Method and device for controlling robot, terminal equipment and storage medium

Info

Publication number: CN113342078A
Application number: CN202110542268.8A
Authority: CN
Inventors: 吴俊镐; 唐旋来; 万永辉
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-05-18
Filing date: 2021-05-18
Publication date: 2021-09-03

Abstract

The application provides a method, a device, terminal equipment and a storage medium for controlling a robot, relates to the technical field of disinfection, can guarantee an effective disinfection effect, and can save resources. The method comprises the following steps: acquiring disinfection record data corresponding to at least one target sensor in a target area; if the disinfection record data meet the first preset condition, generating a disinfection stopping instruction; and controlling the robot to stop disinfecting the target area according to the disinfection stopping instruction.

Description

Method and device for controlling robot, terminal equipment and storage medium

Technical Field

The present application belongs to the field of disinfection technologies, and in particular, to a method and an apparatus for controlling a robot, a terminal device, and a storage medium.

Background

In areas such as medical places and public health places, sterilization is often needed to ensure medical quality and public health. At present, when indoor space regions such as rooms are disinfected, fixed disinfection time is usually set for disinfection, if the disinfection time does not reach standard concentration, the disinfection effect cannot be guaranteed, and if the concentration of effective disinfection components is too high, resource waste is caused, and even biological health is influenced. Therefore, there is a need for a sterilization method that can secure an effective sterilization effect while saving resources.

Disclosure of Invention

The embodiment of the application provides a method, a device, a terminal device and a storage medium for controlling a robot, which can ensure an effective disinfection effect and save resources.

In a first aspect, an embodiment of the present application provides a method for controlling a robot, where the method includes:

acquiring disinfection record data corresponding to at least one target sensor in a target area;

if the disinfection record data meet the first preset condition, generating a disinfection stopping instruction;

and controlling the robot to stop disinfecting the target area according to the disinfection stopping instruction.

Optionally, the disinfection log data comprises a first disinfection active ingredient concentration value;

the acquiring disinfection record data corresponding to at least one target sensor in a target area comprises:

instructing at least one target sensor within the target area to begin recording the first disinfection active ingredient concentration value;

obtaining the concentration value of the first disinfection active ingredient.

Optionally, the instructing at least one target sensor within the target area to begin recording the first disinfection active ingredient concentration value comprises:

determining the type of a disinfection solvent corresponding to the target area;

instructing at least one target sensor within the target area to start recording the first disinfection active ingredient concentration value in accordance with the disinfection solvent type.

Optionally, if it is determined that the disinfection record data meets a first preset condition, generating a disinfection stop instruction, including:

and if the concentration value of the first effective disinfection component corresponding to each target sensor is greater than or equal to the preset concentration value of the effective disinfection component, generating a disinfection stopping instruction.

Optionally, after controlling the robot to stop disinfecting the target area according to the disinfection stop instruction, the method further includes:

acquiring a second disinfection effective component concentration value corresponding to at least one target sensor in the target area;

and if the second disinfection effective component concentration value meets a second preset condition, generating safety notification information, wherein the safety notification information is used for indicating that the disinfection effective component concentration in the target area meets the preset safety condition.

Optionally, the disinfection record data comprises disinfection light intensity and disinfection duration;

and acquiring the disinfection light intensity and the disinfection duration recorded by a target sensor corresponding to the target object in the target area.

Optionally, after acquiring the disinfection record data corresponding to at least one target sensor in the target area, the method further includes:

and deleting historical disinfection record data before a preset time node of the at least one target sensor according to a preset period.

In a second aspect, an embodiment of the present application provides an apparatus for controlling a robot, including:

the acquisition module is used for acquiring disinfection record data corresponding to at least one target sensor in a target area;

the instruction generating module is connected with the acquiring module and used for generating a disinfection stopping instruction if the disinfection record data meets a first preset condition;

and the control module is connected with the instruction generating module and used for controlling the robot to stop disinfecting the target area according to the disinfection stopping instruction.

In a third aspect, an embodiment of the present application provides a terminal device, including: comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing said method when executing said computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.

According to the method for controlling the robot, the disinfection condition of the target area can be known by acquiring the disinfection record data corresponding to at least one target sensor in the target area, and when the disinfection record data corresponding to the at least one target sensor meets a first preset condition, namely the disinfection condition of the target area meets a disinfection standard, a disinfection stopping instruction is generated, and the robot stops disinfecting the target area according to the disinfection stopping instruction, so that the situation that the target area is excessively disinfected or the target area is insufficiently disinfected is effectively avoided, and the disinfection effect is effectively improved.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flowchart of a method for controlling a robot according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a target area provided by an embodiment of the present application.

Fig. 3 is a flowchart illustrating a specific implementation of step S11 of the method for controlling a robot according to an embodiment of the present application.

Fig. 4 is a flowchart illustrating a specific implementation of step S21 of the method for controlling a robot according to an embodiment of the present application.

Fig. 5 is a flowchart illustrating a method for controlling a robot according to another embodiment of the present disclosure.

Fig. 6 is a schematic structural diagram of an apparatus for controlling a robot according to another embodiment of the present disclosure.

Fig. 7 is a schematic structural diagram of a terminal device according to an 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 particular system structures, 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.

As used in this specification and the appended claims, the term "if" may be interpreted in context to mean "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

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

Reference throughout this 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 present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.

Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a method for controlling a robot according to an embodiment of the present disclosure. In this embodiment, the method for controlling the robot is used to control the robot in the process of executing the disinfection task, and the execution subject is the terminal device. The terminal device may be the robot itself or another device other than the robot. When the terminal device is other than a robot, the terminal device can perform data communication with the robot to realize data interaction between the terminal device and the robot and control and other operations of the robot. For example, the terminal device may be a server connected to the robot.

The following description of the embodiments is made by taking a terminal device as a server connected to a robot as an example:

as shown in fig. 1, a method for controlling a robot according to an embodiment of the present application includes the following steps:

s11: and acquiring disinfection record data corresponding to at least one target sensor in the target area.

In step S11, the target area is an area determined to need a sterilization operation by the robot. Such as areas of medical facilities and some public health facilities.

The target sensor is a sensor disposed in the target area for collecting disinfection data. For example, an ultraviolet sensor or a hydrogen peroxide concentration sensor, etc., provided in the target region.

The disinfection log data is used to describe the disinfection of the target area. The disinfection record data may include one or more of the concentration of the effective disinfection components, the intensity of the disinfection light, the disinfection duration, the identification number (ID) of the sensor, the position of the sensor in the target area, and the like.

In this embodiment, the target sensor in the target area is in communication connection with the server, so that the server can acquire the disinfection record data corresponding to the target sensor from the target sensor.

The following three scenarios may be included, but not limited to, when to acquire disinfection log data corresponding to at least one target sensor within a target area.

Scene 1: and when the robot runs to the target area and starts to disinfect, the server starts to acquire disinfection record data corresponding to at least one target sensor in the target area.

For example, when the robot reaches a target area according to the navigation path and starts a disinfection device in the robot to disinfect the target area, the server starts to continuously acquire disinfection record data corresponding to at least one target sensor in the target area according to the detected information that the robot starts disinfection, if the fact that the robot starts the disinfection device is detected.

Scene 2: and when the robot runs to the target area and the disinfection duration of the target area reaches a preset duration, the server starts to acquire disinfection record data corresponding to at least one target sensor in the target area.

For example, the robot reaches a target area according to the navigation path, and the time for starting a disinfection device in the robot to disinfect the target area is 3 minutes, that is, when the disinfection time reaches a preset time of 3 minutes, the server starts to acquire disinfection record data corresponding to at least one target sensor in the target area.

Scene 3: and when the number of the robots passing through the sub-areas in the target area is larger than the preset number, the server starts to acquire disinfection record data corresponding to at least one target sensor in the target area.

For example, the target area is divided into 4 sub-areas, and when the number of sub-areas in the target area through which the robot travels is 3, that is, the number of sub-areas is greater than the preset number 2, the server starts to acquire the disinfection record data corresponding to at least one target sensor in the target area.

In some embodiments, at least one target sensor in the target area accesses the server as an internet of things device, and feeds back the detected disinfection record data to the server in real time.

In some embodiments, the target area is divided into at least one sub-area, and each sub-area corresponds to at least one target sensor.

Wherein acquiring disinfection record data corresponding to at least one target sensor in the target area comprises:

and acquiring disinfection record data corresponding to at least one target sensor corresponding to each sub-area in the target area.

In some embodiments, when the area corresponding to the sub-region is smaller than a preset area value, the number of the target sensors corresponding to the sub-region is smaller than or equal to a preset value.

In some embodiments, the disinfectant can be diffused after being atomized, and the concentration of the disinfectant is higher at the position closer to the robot, so that in order to better detect the concentration of the disinfectant effective component in the target area and ensure that the most edge of the target area can achieve the specified disinfection effect, a target sensor is arranged at the edge position in the target area.

Taking the target area as a room of the hospital as an example, for 50m³The disinfection point can be fixedly arranged at the center of the room and the two ends of one diagonal line of the room are respectively provided with clothA target sensor is positioned. If the room is large, the target area is divided into about 50m³In order to ensure the disinfection effect, a plurality of subareas are divided into one subarea. It will be appreciated that in other embodiments, the robot may move while disinfecting.

Preferably, the target sensor is located at a corner of the target area and a boundary between sub-areas.

For example, as shown in fig. 2, the target area is a room with a square top view, and the room is divided into 4 sub-areas, i.e., A, B, C and D. Wherein, a boundary between the sub-area A and the sub-area B, a boundary between the sub-area B and the sub-area C, a boundary between the sub-area C and the sub-area D, and a boundary between the sub-area D and the sub-area A are respectively provided with a target sensor 1, a target sensor 2, a target sensor 3, and a target sensor 4. In addition, the target sensors 5, 6, 7 and 8 are also provided at the four corners corresponding to the room, that is, the corner corresponding to the sub-area a, the corner corresponding to the sub-area B, the corner corresponding to the sub-area C and the corner corresponding to the sub-area D, respectively.

S12: and if the disinfection record data is determined to meet the first preset condition, generating a disinfection stopping instruction.

In step S12, the first preset condition describes a disinfection criterion that is preset for the disinfection requirement of the target area. For example, the concentration of the effective disinfecting ingredient in the space is 10mg/m³Or ultraviolet intensity of 30. mu.w/cm²The disinfection time is 30 min.

The stop sterilization instruction is used to describe that the target area has reached a sterilization standard, requiring the sterilization to be stopped.

It can be understood that, after each time the server obtains the disinfection record data corresponding to one target sensor, the server compares the disinfection record data corresponding to the target sensor with the first preset condition to determine whether the area detected by the target sensor meets the disinfection standard according to the comparison result, so as to know the disinfection condition of the target area in real time and avoid the situation that the target area is not disinfected sufficiently. In addition, a disinfection stopping instruction is generated when the disinfection record data corresponding to the at least one target sensor meets the first preset condition, and the disinfection stopping instruction is generated after the target area is sufficiently disinfected, so that the robot is controlled to stop disinfecting the target area through the disinfection stopping instruction, the target area is prevented from being excessively disinfected, and the disinfection target is achieved by automatically controlling the disinfection time.

S13: and controlling the robot to stop disinfecting the target area according to the disinfection stopping instruction.

In step S13, when the robot receives a sterilization stop instruction, which indicates that the target area has reached the sterilization standard, it is necessary to stop the sterilization operation. For example, the robot is controlled to stop the operation of a spray sterilizer or an ultraviolet irradiation device mounted on the robot.

In this embodiment, the disinfection condition of the target area is known by acquiring the disinfection record data corresponding to at least one target sensor in the target area, and when it is determined that the disinfection record data corresponding to the at least one target sensor meets the first preset condition, that is, it is determined that the disinfection condition of the target area meets the disinfection standard, a disinfection stop instruction is generated, and the robot is instructed to stop disinfecting the target area according to the disinfection stop instruction, so that the situations that the target area is excessively disinfected or the target area is insufficiently disinfected are effectively avoided, and the disinfection effect is effectively improved.

In an embodiment, after the robot is controlled to stop sterilizing the target area according to the sterilization stop instruction, the server sends an instruction for sterilizing the next target area to the robot, so that automatic sterilization of the multiple target areas is realized, the overall sterilization efficiency is improved, and the labor cost is reduced.

In some embodiments, a fumigation device is disposed on the robot for disinfecting the target area, and after the robot reaches the target area, a fumigation valve of the fumigation device may be opened, so as to spray a disinfectant to the target area to disinfect the target area.

In some embodiments, the robot for sterilizing the target area is provided with an air purifier with ultraviolet irradiation and a filter screen, so that whether the sterilization is effective or not is judged based on whether the air exhaust amount per hour of the air purifier is greater than a preset multiple of the volume of the target area or not.

As a possible implementation manner of this embodiment, the sterilization record data includes a first sterilization active ingredient concentration value;

s21: instructing at least one target sensor within the target area to begin recording the first disinfection active ingredient concentration value;

s22: obtaining the concentration value of the first disinfection active ingredient.

In this embodiment, the first disinfection active ingredient concentration value is used to describe the concentration of the active disinfection ingredient in the disinfection solution within the predetermined area detected by one target sensor.

For example, in one possible implementation, the disinfecting liquid is hydrogen peroxide disinfecting liquid, the effective disinfecting component is hydrogen peroxide, the target sensors are hydrogen peroxide sensors, and one target sensor detects 3m³Has a hydrogen peroxide concentration value of 10mg/m³. It will be appreciated that in other implementations, the target sensor may be other types of sensors and may include multiple types of sensors.

Preferably, when the robot reaches the target area and starts disinfection, at least one target sensor within the target area is instructed to start recording the first disinfection active ingredient concentration value.

It can be understood that, when knowing that the robot reaches the target area and starts to disinfect, the server starts to instruct at least one target sensor in the target area to start recording a first disinfection effective component concentration value, and obtains the first disinfection effective component concentration value corresponding to the at least one target sensor, it is considered that firstly, the server can quickly know the disinfectant concentration condition in the air of the target area, so that the disinfection effect can be subsequently evaluated according to the disinfectant concentration condition; secondly, when the robot disinfects the target area, the concentration value of the first effective disinfection component is recorded, so that unnecessary energy consumption caused by the fact that the target sensor arranged in the target area is in a continuous operation state in non-disinfection time can be avoided.

As a possible implementation of this embodiment, the instructing at least one target sensor within the target area to start recording the first disinfection active ingredient concentration value comprises:

s31: determining the type of a disinfection solvent corresponding to the target area;

s32: instructing at least one target sensor within the target area to start recording the first disinfection active ingredient concentration value in accordance with the disinfection solvent type.

In the present embodiment, the type of the disinfecting solvent describes a disinfecting solvent to be contained in a disinfecting liquid when a target area is disinfected. Such as hydrogen peroxide included in a hydrogen peroxide disinfectant.

It can be understood that one or more types of disinfection solutions may be loaded in the robot, so that the type of the disinfection solvent corresponding to the disinfection solution to be used by the robot for disinfecting the target area is determined, so that the server can send information to the sensor in the target area, which can be used for detecting the disinfection solvent, according to the type of the disinfection solvent, so that the sensor receiving the information starts to record the concentration value of the first disinfection active ingredient, and the robot can select the corresponding disinfection solution from the disinfection solutions loaded by the robot for disinfecting the target area according to the determined type of the disinfection solvent, so that the robot can be suitable for different application scenarios, and meet diversified disinfection requirements.

In practical application, one or more types of detection sensors may be disposed in the target area, so that the server can accurately indicate the target sensor to operate to record the first disinfection effective component concentration value, and also obtain the disinfection solvent type corresponding to the disinfection solution to be used when the robot disinfects the target area, so as to generate a concentration value recording starting instruction according to the disinfection solvent type, and send the concentration value recording starting instruction to the target sensor capable of detecting the corresponding disinfection solvent in the target area, so that the subsequent target sensor feeds back the detected first disinfection effective component concentration value to the server.

Preferably, when the robot reaches the target area and starts disinfection, the type of the disinfection solvent corresponding to the target area is determined.

In one embodiment, after the robot reaches the target area, a target disinfection solution is determined from a plurality of disinfection solutions according to the disinfection requirement of the target area, and the target area is disinfected by the target disinfection solution. When the target disinfection solution is determined, the type of the disinfection solvent corresponding to the target disinfection solution is fed back to the server.

In one embodiment, in order to sterilize a target area better and more quickly, after a robot reaches the target area, a server acquires environment information of the target area and determines a target sterilization scheme from a plurality of robot sterilization schemes according to the environment information, wherein the target sterilization scheme is used for instructing the robot to sterilize the target area according to a preset path, a robot moving speed, a preset sterilization direction and a preset sterilization rate.

In this embodiment, the environmental information includes the air flow speed and the position condition of the object distribution in the target area.

The disinfection scheme comprises at least one of information of spraying speed, walking track, spraying direction, moving speed of the robot and the like. The spraying speed and the spraying direction are parameter information of a disinfection and atomization device in the robot, and the walking track and the moving speed of the robot are parameter information used for controlling the robot to move in the target area for disinfection.

In an embodiment, the target region comprises at least two sub-regions.

And when the robot reaches a target area, the server acquires the environment information of each subarea of the target area, and determines a target disinfection scheme corresponding to each subarea from a plurality of robot disinfection schemes according to the environment information of each subarea.

It will be appreciated that the target sterilization protocol for each respective sub-area may or may not be the same.

For example, the sub-area a and the sub-area B respectively correspond to different environmental information, and in order to better sterilize the two sub-areas, the set traveling paths may be different, and the corresponding spraying directions and spraying rates are different.

As a possible implementation manner of this embodiment, the generating a sterilization stop instruction if it is determined that the sterilization record data satisfies a first preset condition includes:

In this embodiment, the preset concentration value of the effective disinfecting component refers to the concentration of the effective disinfecting component in the corresponding target area when the disinfection requirement of the target area is met.

It can be understood that, when the first disinfection active ingredient concentration value corresponding to one target sensor is greater than or equal to the preset disinfection active ingredient concentration value, it indicates that the area monitored by the target sensor meets the preset disinfection standard, and meets the preset disinfection effect. Therefore, when the concentration value of the first effective disinfection component corresponding to each target sensor is greater than or equal to the preset concentration value of the effective disinfection component, it indicates that the target area has reached the preset disinfection effect, and at this time, the continuous disinfection operation on the target area can be stopped.

As a possible implementation manner of this embodiment, after controlling the robot to stop disinfecting the target area according to the disinfection stop instruction, the method further includes:

s41: acquiring a second disinfection effective component concentration value corresponding to at least one target sensor in the target area;

s42: and if the second disinfection effective component concentration value meets a second preset condition, generating safety notification information, wherein the safety notification information is used for indicating that the disinfection effective component concentration in the target area meets the preset safety condition.

In this embodiment, the second preset condition describes a concentration value of the effective disinfecting component corresponding to the target area when the predetermined effective disinfecting component in the air does not harm human body.

The preset safety condition describes that the concentration of the effective disinfection components in the air of the target area is reduced to a safe value, and no safety risk is caused to human bodies.

In this embodiment, after the target area is disinfected by the robot, the concentration of the effective disinfecting component in the air of the target area is kept at a higher level for a certain period of time, and the concentration of the effective disinfecting component at the higher level often causes harm to a human body, so after the robot is controlled to stop disinfecting the target area, the server further continues to acquire the concentration value of the second effective disinfecting component in the air detected by the at least one target sensor in the target area, and determines whether the concentration value of the second effective disinfecting component corresponding to the at least one target sensor meets a second preset condition. When the second disinfection effective component concentration value corresponding to the at least one target sensor meets the second preset condition, that is, the concentration of the disinfection solution in the target area is reduced to a safety value or below the safety value, and safety notification information is generated to indicate that the concentration of the disinfection effective component in the target area meets the preset safety condition, that is, the risk that a person enters the target area under the conditions that the air circulation in the target area is not smooth, the disinfection effective component is not sufficiently dissipated and degraded and the like is reduced.

In an embodiment, the security notification information is sent to a preset user terminal, so that the user can conveniently view the security notification information.

In one embodiment, according to the safety notification information, a prompter corresponding to the target area is started, so that a user can know that the concentration value of the disinfection effective component in the target area is reduced to a safety value or below the safety value.

As a possible implementation manner of this embodiment, the disinfection record data includes disinfection light intensity and disinfection duration;

and acquiring the disinfection light intensity and the disinfection duration recorded by the target sensor corresponding to each target object in the target area.

In the present embodiment, the intensity of the sterilizing light describes the intensity of the sterilizing light used when the robot sterilizes the target object.

The sterilized time length describes the time length from the time node when the robot starts sterilizing the target object to the time node when the data is collected.

It is understood that the sterilization of the target object, such as whether the sterilization is sufficient, can be understood from the intensity of the sterilization light and the length of time the sterilization has been performed. And when the intensity of the disinfection light and the disinfection duration meet a first preset condition, the disinfection is qualified.

Preferably, when the robot reaches the target area and starts disinfection, the disinfection light intensity and the disinfected time length recorded by the target sensor corresponding to each target object in the target area are acquired.

In practical application, in order to detect whether the disinfection of the target object meets the standard, at least one disinfection light detection sensor is arranged on the surface of the target object or in a preset distance away from the target object.

In an embodiment, when the first disinfection active ingredient concentration value corresponding to at least one disinfection active ingredient concentration detection sensor in the target area is obtained to meet a preset disinfection active ingredient concentration, the disinfection light intensity and the disinfection time recorded by the disinfection light detection sensor corresponding to each target object in the target area are continuously obtained. That is, the first preset condition includes the concentration of the effective sterilization component, the intensity of the sterilization light and the sterilization duration, so that it can be ensured that the environment and the target object in the target area are sufficiently sterilized.

As a possible implementation manner of this embodiment, after acquiring the disinfection record data corresponding to at least one target sensor in the target area, the method further includes:

In this embodiment, the preset period is a time period preset to delete the historical sterilization record data before the preset time node of the target sensor. For example, the historical sterilization record data for the target sensor is deleted once every 30 days.

The preset time node is a historical time node corresponding to the time node when the current robot disinfects the target area and the target sensor records the disinfection record data. For example, the history date 2021 year 3 month 14 day corresponding to the current date 2021 year 4 month 14 day, wherein the history date 2021 year 3 month 14 day may be one of the preset time nodes.

It can be understood that, in order to verify the sterilization record of the target area, the historical sterilization record data of the target sensor is stored for a certain time, and after the certain time, when the historical sterilization record data of the target sensor is not referential, the historical sterilization record data of the target sensor can be deleted, so that the storage space is saved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 6 shows a block diagram of a device for controlling a robot according to an embodiment of the present application, which corresponds to the method for controlling a robot according to the above embodiment, and only shows portions related to the embodiment of the present application for convenience of description.

Referring to fig. 6, the apparatus 100 includes:

the acquisition module 101 is used for acquiring disinfection record data corresponding to at least one target sensor in a target area;

the instruction generating module 102 is connected to the acquiring module and configured to generate a sterilization stopping instruction if it is determined that the sterilization record data meets a first preset condition;

and the control module 103 is connected with the instruction generating module and is used for controlling the robot to stop disinfecting the target area according to the disinfection stopping instruction.

In an embodiment, the disinfection log data comprises a first disinfection active ingredient concentration value.

An acquisition module 101, further configured to instruct at least one target sensor within the target area to start recording the first disinfection active ingredient concentration value; obtaining the concentration value of the first disinfection active ingredient.

In an embodiment, the obtaining module 101 is further configured to determine a type of a disinfection solvent corresponding to the target area; instructing at least one target sensor within the target area to start recording the first disinfection active ingredient concentration value in accordance with the disinfection solvent type.

In an embodiment, the instruction generating module 102 is further configured to generate a sterilization stop instruction if the first sterilization active ingredient concentration value corresponding to each target sensor is greater than or equal to a preset sterilization active ingredient concentration value.

In an embodiment, the obtaining module 101 is further configured to obtain a second disinfection active ingredient concentration value corresponding to at least one target sensor in the target area.

The instruction generating module 102 is further configured to generate safety notification information if it is determined that the second disinfection effective component concentration value meets a second preset condition, where the safety notification information is used to indicate that the disinfection effective component concentration in the target area meets a preset safety condition.

In one embodiment, the disinfection log data includes disinfection light intensity and disinfection duration.

The obtaining module 101 is further configured to obtain the disinfection light intensity and the disinfection duration recorded by the target sensor corresponding to each target object in the target area.

In one embodiment, the apparatus 100 further comprises a deletion module.

And the deleting module is used for deleting the historical disinfection record data of the at least one target sensor before the preset time node according to a preset period.

The apparatus for controlling a robot according to this embodiment is used to implement the method for controlling a robot according to the method embodiment, where the functions of each module may refer to corresponding descriptions in the method embodiment, and the implementation principle and technical effect are similar, and are not described herein again.

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the steps of any of the various method embodiments described above being implemented when the computer program 72 is executed by the processor 70.

The terminal device 7 may be a computing device such as a robot, a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of the terminal device 7, and does not constitute a limitation to the terminal device 7, and may include more or less components than those shown, or combine some components, or different components, for example, and may further include input/output devices, network access devices, and the like.

The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may in some embodiments be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/modules, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and reference may be made to the part of the embodiment of the method specifically, and details are not described here.

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

An embodiment of the present application further provides a terminal device, where the terminal device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments may be implemented.

The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an 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 an apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

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 implementation. 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/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed 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 can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method of controlling a robot, the method comprising:

2. The method of claim 1, wherein the sterilization record data includes a first sterilization active ingredient concentration value;

obtaining the concentration value of the first disinfection active ingredient.

3. The method of claim 2, wherein the instructing at least one target sensor within the target area to begin recording the first disinfection active ingredient concentration value comprises:

4. The method of claim 2, wherein generating a stop sterilization instruction if it is determined that the sterilization record data satisfies a first preset condition comprises:

5. The method of claim 2, wherein after controlling the robot to stop disinfecting the target area according to the stop disinfecting command, further comprising:

6. The method of claim 1, wherein the disinfection log data includes disinfection light intensity and disinfection duration;

7. The method of any of claims 1-6, wherein after acquiring the disinfection record data corresponding to the at least one target sensor within the target area, further comprising:

8. An apparatus for controlling a robot, comprising:

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of any one of claims 1 to 7.