CN113384729B - Automatic positioning and timing disinfection monitoring method and system - Google Patents

Automatic positioning and timing disinfection monitoring method and system Download PDF

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CN113384729B
CN113384729B CN202110662107.2A CN202110662107A CN113384729B CN 113384729 B CN113384729 B CN 113384729B CN 202110662107 A CN202110662107 A CN 202110662107A CN 113384729 B CN113384729 B CN 113384729B
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disinfection
target
disinfectant
area
concentration
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CN113384729A (en
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张学亮
盖丽丽
巩汉志
李清慧
刘良
刘善标
崔飞飞
林朋
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Qingdao Wobers Intelligent Experimental Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • A61L2/28—Devices for testing the effectiveness or completeness of sterilisation, e.g. indicators which change colour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/20—Targets to be treated
    • A61L2202/25—Rooms in buildings, passenger compartments

Abstract

The invention discloses an automatic positioning and timing disinfection monitoring method and system, wherein the method comprises the following steps: the method comprises the steps of setting a disinfection cycle of the automatic disinfection robot, obtaining an electronic plane topographic map of a target public space, setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map, detecting disinfectant concentration of a disinfected area in real time in the process that the automatic disinfection robot disinfects according to the disinfection cycle with the target disinfection route, confirming whether disinfectant spraying amount needs to be increased or decreased according to the disinfectant concentration, and if so, automatically adjusting the current disinfectant spraying amount of the automatic disinfection robot. The automatic starting function of the automatic disinfection robot can be realized, manual switching is not needed each time, and harm to human bodies caused by the fact that workers enter a target public space is reduced. The automatic disinfection robot can realize all-round disinfection of a target public space while realizing accurate positioning, and the disinfection efficiency is improved.

Description

Automatic positioning and timing disinfection monitoring method and system
Technical Field
The invention relates to the technical field of disinfection monitoring, in particular to an automatic positioning and timing disinfection monitoring method and system.
Background
As the living standard of people is improved day by day, the public space is accessed more and more frequently, and the disinfection work of the public large space is more and more emphasized based on the sudden nature and universality of the public health safety problem, the traditional manual disinfection mode can not meet the increasing access requirement of people, so, experts propose to use an automatic intelligent disinfection robot to replace the manual disinfection mode to realize the disinfection work of the public area, but the method can only replace the staff to carry out the disinfection work, it also needs the staff to enter the public space to manually start the automatic intelligent disinfection robot switch, is easy to harm the staff, at the same time, in the disinfection process, workers cannot receive the disinfection liquid concentration feedback of the disinfected area, so that the disinfection effect is not expected, and the physical safety of people entering and exiting is threatened.
Disclosure of Invention
Aiming at the problems shown above, the invention provides an automatic positioning and timing disinfection monitoring method and system to solve the problems that only workers can be replaced to carry out disinfection work, and the workers are required to enter a public space to manually start a switch of an automatic intelligent disinfection robot, so that harm is easily caused to the bodies of the workers, and meanwhile, the workers cannot receive disinfection liquid concentration feedback of a disinfected area in a disinfection process, so that the disinfection effect is not expected, and the safety of the bodies of the workers in and out is threatened.
An automatic positioning and timing disinfection monitoring method is suitable for an automatic disinfection robot and comprises the following steps:
setting a disinfection cycle of the automatic disinfection robot;
acquiring an electronic plane topographic map of a target public space, and setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map;
detecting the concentration of disinfectant in a disinfected area in real time in the process that the automatic disinfection robot disinfects along the target disinfection route according to the disinfection cycle;
and determining whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjusting the current spraying amount of the disinfectant of the automatic disinfection robot.
Preferably, the setting of the sterilization cycle of the automatic sterilization robot includes:
acquiring the personnel flow condition in a target public space within a preset time length;
constructing a people flow density table in the target public space according to the personnel flow condition;
determining a plurality of first target time lengths with minimum pedestrian flow density in a target public space according to the pedestrian flow density table;
and screening the plurality of first target time lengths to obtain a target number of second target time lengths, and determining the target number of second target time lengths as the disinfection cycle of the automatic disinfection robot.
Preferably, the acquiring an electronic plan-form map of a target public space, and setting a target sterilization route of the automatic sterilization robot according to the electronic plan-form map, includes:
planning a first disinfection route of the automatic disinfection robot according to the electronic plane topographic map and a preset disinfection area of the automatic disinfection robot;
demonstrating the disinfection process of the automatic disinfection machine in a first disinfection route by using a preset model, and determining the disinfected area of the automatic disinfection robot in a target public space according to a demonstration result;
acquiring an unsterilized area in the target public space according to the disinfected area and the electronic plan topography of the target public space;
generating a second disinfection route for the unsterilized area;
acquiring coincidence degree of the second disinfection route and the first disinfection route, and performing route adjustment on the first disinfection route and the second disinfection route according to the coincidence degree to acquire a third disinfection route;
confirming the third sterilization route as a target sterilization route of the automatic sterilization robot.
Preferably, in the process that the automatic sterilization robot performs sterilization in the target sterilization route according to the sterilization cycle, the method further includes:
acquiring a real-time monitoring image corresponding to the target disinfection route;
estimating obstacles in a target disinfection route in the real-time monitoring image by using a preset obstacle estimation algorithm;
adjusting the target disinfection route based on the obstacle to obtain an adjusted disinfection route;
whether complete disinfection can be achieved for the target public space is determined according to the adjusted disinfection route and the preset disinfection area of the automatic disinfection robot, if yes, follow-up operation is not needed, and otherwise, the preset disinfection area of the automatic disinfection robot is increased.
Preferably, the detecting, in real time, the concentration of the sterilizing liquid in the sterilized area during the sterilizing process of the automatic sterilizing robot in the target sterilizing route according to the sterilizing cycle includes:
collecting the sterilizing gas in the sterilized area;
emitting optical detection signals with different frequencies and wavelengths into the sterilizing gas, and acquiring the absorbance intensity of the sterilizing gas to each optical detection signal;
determining the concentration of the toxic gas in the sterilizing gas according to the absorbance intensity of the sterilizing gas on each optical detection signal;
the concentration of the disinfecting liquid in the disinfected area is deduced back according to the concentration of the toxic gas in the disinfecting gas.
Preferably, the method further comprises:
calculating a third target time length required by the disinfectant in the disinfected area to be completely dissipated according to the concentration of the disinfectant in the disinfected area and the emission frequency of the disinfectant;
confirming the target people stream density of the disinfected area within a third target time length according to the current moment;
calculating a current safety index of the disinfected area for a third target length of time based on the target people stream density;
and comparing the current safety index with a preset safety index, when the current safety index is greater than or equal to the preset safety index, no subsequent operation is needed, and when the current safety index is smaller than the preset safety index, an alarm prompt is sent.
Preferably, the calculating a third target time period required for the disinfection liquid to be completely dissipated in the disinfected area according to the concentration of the disinfection liquid in the disinfected area and the emission frequency of the disinfection liquid includes:
acquiring the initial disinfectant concentration of the disinfected area;
acquiring a real-time temperature value and a real-time humidity value in the sterilized area;
obtaining a total volume of space within the sterilized area;
obtaining the current disinfectant concentrations of a preset number of disinfected areas according to a preset period;
calculating the attenuation coefficient of the emission frequency of the disinfectant based on the acquired current disinfectant concentration of the disinfected areas in the preset number:
Figure BDA0003115769610000041
in the formula, k is the attenuation coefficient of the emission frequency of the disinfectant, i is the corresponding ith sampling point when the ith current disinfectant concentration is obtained, n is the total amount of the obtained current disinfectant concentration, and t is the total amount of the obtained current disinfectant concentrationiIn order to obtain the time corresponding to the ith current concentration of the disinfectant,
Figure BDA0003115769610000042
for the obtained ith current concentration of the sterilizing liquid
Figure BDA0003115769610000043
In units of mg/L, t0A preset period duration C corresponding to the current concentration of the disinfectant in a preset number of the disinfected areas0Is the initial disinfecting liquid concentration and C of the disinfected area0The unit of (a) is mg/L;
calculating a third target time period required for the disinfection liquid in the disinfected area to be completely dissipated based on the initial disinfection liquid concentration, the real-time temperature value and the real-time humidity value of the disinfected area and the total volume of the space in the disinfected area:
Figure BDA0003115769610000044
in the formula, t3A third target time period and t required for the disinfection liquid in the disinfected area to be completely dissipated3Has the units of h, C0Is the initial disinfecting liquid concentration and C of the disinfected area0In mg/L, V is the total volume of the space in the sterilized area and in L, V is the emission frequency of the sterilizing liquid and in mg/h, T is the real-time temperature value in the sterilized area0Is a reference temperature value in said sterilized region, and T0The value is 25 ℃, rho is the real-time humidity value in the sterilized region, rho0Is a reference humidity value within the sterilized region, and p0The value is 25%, alpha is the permeability coefficient of the disinfectant in the air, and beta is the diffusion coefficient of the disinfectant in the air.
Preferably, said calculating a current safety index of the disinfected area for a third target length of time based on said target people stream density comprises:
acquiring the initial disinfectant concentration of the disinfected area;
obtaining a corresponding tightness index based on the target people stream density;
calculating a current safety index of the disinfected area within a third target time period based on the disinfectant concentration of the disinfected area and the third target time period and the target people stream density:
Figure BDA0003115769610000051
where ε is the current safety index of the disinfected area for a third target period of time, t3A third target time period and t required for the disinfection liquid in the disinfected area to be completely dissipated3Has the units of h, C0Is the initial disinfecting liquid concentration of the disinfected area andC0in units of mg/L, v1Is the respiratory rate and v of each person in the sterilized area1The unit of (a) is L/h, sigma is the corresponding tightness index obtained by the density of the target people stream, exp () is an exponential function of a natural constant with e as a base, the value of e is 2.72, alpha is the permeability coefficient of the disinfectant in the air, beta is the diffusion coefficient of the disinfectant in the air, k is the attenuation coefficient of the emission frequency of the disinfectant, v is the unit of mg/h, t is a time variable, m is the diffusion coefficient of the disinfectant in the air, and0m is the maximum amount of disinfectant which can be inhaled by a preset human body0In mg.
An automatic positioning and timing disinfection monitoring system, suitable for an automatic disinfection robot, the system comprising:
the first setting module is used for setting the disinfection period of the automatic disinfection robot;
the second setting module is used for acquiring an electronic plane topographic map of a target public space and setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map;
the detection module is used for detecting the concentration of disinfectant in a disinfected area in real time in the process that the automatic disinfection robot disinfects along the target disinfection route according to the disinfection cycle;
and the adjusting module is used for determining whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjusting the current spraying amount of the disinfectant of the automatic disinfection robot.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of an automatic positioning and timing disinfection monitoring method according to the present invention;
FIG. 2 is another flow chart of the automatic positioning and timing disinfection monitoring method provided by the present invention;
FIG. 3 is a flowchart illustrating a method for automatically locating and monitoring the disinfection timing according to the present invention;
FIG. 4 is a schematic structural diagram of an automatic positioning and timing disinfection monitoring system provided by the present invention;
FIG. 5 is a screenshot of an embodiment of an automatically positioned timed sterilization monitoring system provided in accordance with the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
As the living standard of people is improved day by day, the public space is accessed more and more frequently, and the disinfection work of the public large space is more and more emphasized based on the sudden nature and universality of the public health safety problem, the traditional manual disinfection mode can not meet the increasing access requirement of people, so, experts propose to use an automatic intelligent disinfection robot to replace the manual disinfection mode to realize the disinfection work of the public area, but the method can only replace the staff to carry out the disinfection work, it also needs the staff to enter the public space to manually start the automatic intelligent disinfection robot switch, is easy to harm the staff, at the same time, in the disinfection process, workers cannot receive the disinfection liquid concentration feedback of the disinfected area, so that the disinfection effect is not expected, and the physical safety of people entering and exiting is threatened. In order to solve the above problems, the present embodiment discloses an automatic positioning and timing disinfection monitoring method.
An automatic positioning and timing disinfection monitoring method is suitable for an automatic disinfection robot, and comprises the following steps as shown in figure 1:
step S101, setting a disinfection cycle of the automatic disinfection robot;
s102, acquiring an electronic plane topographic map of a target public space, and setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map;
step S103, detecting the concentration of disinfectant in a disinfected area in real time in the process that the automatic disinfection robot disinfects along the target disinfection route according to the disinfection cycle;
and S104, determining whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjusting the current spraying amount of the disinfectant of the automatic disinfection robot.
The working principle of the technical scheme is as follows: the method comprises the steps of setting a disinfection cycle of the automatic disinfection robot, obtaining an electronic plane topographic map of a target public space, setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map, detecting disinfectant concentration of a disinfected area in real time in the process that the automatic disinfection robot disinfects according to the disinfection cycle with the target disinfection route, confirming whether disinfectant spraying amount needs to be increased or decreased according to the disinfectant concentration, and if so, automatically adjusting the current disinfectant spraying amount of the automatic disinfection robot.
The beneficial effects of the above technical scheme are: the automatic disinfection robot can be automatically started by setting the disinfection cycle of the automatic disinfection robot, manual switching is not needed each time, the harm of workers to human bodies caused by entering a target public space is reduced, meanwhile, the automatic disinfection robot can be accurately positioned and comprehensively disinfected in the target public space by setting the target disinfection route of the automatic disinfection robot in the disinfection process of the automatic disinfection robot, the disinfection efficiency is improved, furthermore, the disinfection effect on the target public space can be ensured by detecting the concentration of disinfectant in a disinfected area in real time and selectively increasing or reducing the current disinfectant spraying amount of the automatic disinfection robot, the efficiency is further improved, the life safety threat of people entering and exiting the target public space is reduced, and the safety is improved, the problem of only can replace the staff to disinfect among the prior art, it still needs the staff to get into the switch of manually opening automatic intelligent disinfection robot in the public space, produces harm to staff's health easily, simultaneously, thereby in disinfection process staff can't receive disinfection regional antiseptic solution concentration feedback and lead to the disinfection effect not reach the expectation and cause the emergence of threatening the personnel's health safety condition of cominging in and going out is solved.
In one embodiment, as shown in fig. 2, the setting of the sterilization cycle of the automatic sterilization robot includes:
step S201, acquiring the personnel flow condition in the target public space within a preset time length;
step S202, constructing a people flow density table in the target public space according to the personnel flow condition;
step S203, determining a plurality of first target time lengths with minimum pedestrian flow density in a target public space according to the pedestrian flow density table;
and S204, screening the plurality of first target time lengths to obtain a target number of second target time lengths, and determining the target number of second target time lengths as a disinfection cycle of the automatic disinfection robot.
The beneficial effects of the above technical scheme are: the target time length with the minimum people stream density in the target public space is selected to be screened to be used as the disinfection period of the automatic disinfection robot, so that the time period with overlarge people flow can be avoided for disinfection, harm to the body of people coming in and going out is reduced to the maximum extent, furthermore, the automatic disinfection robot can be started more intelligently, and the labor cost is further saved.
In one embodiment, the acquiring an electronic plan-form map of a target public space, and setting a target sterilization route of the automatic sterilization robot according to the electronic plan-form map, includes:
planning a first disinfection route of the automatic disinfection robot according to the electronic plane topographic map and a preset disinfection area of the automatic disinfection robot;
demonstrating the disinfection process of the automatic disinfection machine in a first disinfection route by using a preset model, and determining the disinfected area of the automatic disinfection robot in a target public space according to a demonstration result;
acquiring an unsterilized area in the target public space according to the disinfected area and the electronic plan topography of the target public space;
generating a second disinfection route for the unsterilized area;
acquiring coincidence degree of the second disinfection route and the first disinfection route, and performing route adjustment on the first disinfection route and the second disinfection route according to the coincidence degree to acquire a third disinfection route;
confirming the third sterilization route as a target sterilization route of the automatic sterilization robot.
The beneficial effects of the above technical scheme are: the third disinfection route obtained by adjusting the first disinfection route and the second disinfection route can guarantee that the inside of the target public space is disinfected in an all-around manner, can avoid the waste of disinfectant, and saves the cost.
In one embodiment, as shown in fig. 3, in the process that the automatic sterilization robot performs sterilization in the target sterilization route according to the sterilization cycle, the method further includes:
s301, acquiring a real-time monitoring image corresponding to the target disinfection route;
step S302, estimating obstacles in a target disinfection route in the real-time monitoring image by using a preset obstacle estimation algorithm;
step S303, adjusting the target disinfection route based on the obstacle to obtain an adjusted disinfection route;
and S304, determining whether the target public space can be completely sterilized according to the adjusted sterilization route and the preset sterilization area of the automatic sterilization robot, if so, not needing subsequent operation, and otherwise, increasing the preset sterilization area of the automatic sterilization robot.
The beneficial effects of the above technical scheme are: the barrier in the target disinfection route is evaluated, and the target disinfection route is adjusted to ensure smooth proceeding of disinfection work, so that the problem that disinfection work cannot be effectively carried out on a target public space due to the influence of the barrier is avoided, the disinfection efficiency of the automatic disinfection robot is improved, and further, the disinfection effect on the inside of the target public space can be further ensured by selectively increasing the preset disinfection area of the automatic disinfection robot.
In one embodiment, the detecting a concentration of the sterilizing liquid in the sterilized area in real time during the sterilizing process of the automatic sterilizing robot in the target sterilizing route according to the sterilizing cycle includes:
collecting the sterilizing gas in the sterilized area;
emitting optical detection signals with different frequencies and wavelengths into the sterilizing gas, and acquiring the absorbance intensity of the sterilizing gas to each optical detection signal;
determining the concentration of the toxic gas in the sterilizing gas according to the absorbance intensity of the sterilizing gas on each optical detection signal;
the concentration of the disinfecting liquid in the disinfected area is deduced back according to the concentration of the toxic gas in the disinfecting gas.
The beneficial effects of the above technical scheme are: by reversely deducing the concentration of the disinfectant in the disinfected area by utilizing the concentration of the toxic gas, the safety factor in the disinfected area can be judged, and the concentration of the disinfectant in the disinfected area can be known by the staff for the first time, so that reasonable and effective follow-up measures can be made, and the practicability is improved.
In one embodiment, the method further comprises:
calculating a third target time length required by the disinfectant in the disinfected area to be completely dissipated according to the concentration of the disinfectant in the disinfected area and the emission frequency of the disinfectant;
confirming the target people stream density of the disinfected area within a third target time length according to the current moment;
calculating a current safety index of the disinfected area for a third target length of time based on the target people stream density;
and comparing the current safety index with a preset safety index, when the current safety index is greater than or equal to the preset safety index, no subsequent operation is needed, and when the current safety index is smaller than the preset safety index, an alarm prompt is sent.
The beneficial effects of the above technical scheme are: whether the disinfected area meets the condition of people entering and exiting in the third target time length or not can be effectively judged by calculating the current safety index of the disinfected area in the third target time length, so that the life safety of people entering and exiting in the target public space is further ensured, and the safety is improved.
In one embodiment, the calculating a third target time period required for the disinfection liquid to be completely dissipated in the disinfected area according to the concentration of the disinfection liquid in the disinfected area and the emission frequency of the disinfection liquid includes:
acquiring the initial disinfectant concentration of the disinfected area;
acquiring a real-time temperature value and a real-time humidity value in the sterilized area;
obtaining a total volume of space within the sterilized area;
obtaining the current disinfectant concentrations of a preset number of disinfected areas according to a preset period;
calculating the attenuation coefficient of the emission frequency of the disinfectant based on the acquired current disinfectant concentration of the disinfected areas in the preset number:
Figure BDA0003115769610000111
in the formula, k is the attenuation coefficient of the emission frequency of the disinfectant, and i is the corresponding ith sample when the ith current disinfectant concentration is obtainedSampling points, n is the total number of the acquired current disinfectant concentration, tiIn order to obtain the time corresponding to the ith current concentration of the disinfectant,
Figure BDA0003115769610000112
for the obtained ith current concentration of the sterilizing liquid
Figure BDA0003115769610000113
In units of mg/L, t0A preset period duration C corresponding to the current concentration of the disinfectant in a preset number of the disinfected areas0Is the initial disinfecting liquid concentration and C of the disinfected area0The unit of (a) is mg/L;
calculating a third target time period required for the disinfection liquid in the disinfected area to be completely dissipated based on the initial disinfection liquid concentration, the real-time temperature value and the real-time humidity value of the disinfected area and the total volume of the space in the disinfected area:
Figure BDA0003115769610000114
in the formula, t3A third target time period and t required for the disinfection liquid in the disinfected area to be completely dissipated3Has the units of h, C0Is the initial disinfecting liquid concentration and C of the disinfected area0In mg/L, V is the total volume of the space in the sterilized area and in L, V is the emission frequency of the sterilizing liquid and in mg/h, T is the real-time temperature value in the sterilized area0Is a reference temperature value in said sterilized region, and T0The value is 25 ℃, rho is the real-time humidity value in the sterilized region, rho0Is a reference humidity value within the sterilized region, and p0The value is 25%, alpha is the permeability coefficient of the disinfectant in the air, and beta is the diffusion coefficient of the disinfectant in the air.
The beneficial effects of the above technical scheme are: the method comprises the steps of obtaining the current disinfectant concentrations of a preset number of disinfected areas according to a preset period, calculating the attenuation coefficient of the emission frequency of the disinfectant based on the obtained current disinfectant concentrations of the preset number of disinfected areas, calculating the third target time length required by the complete dissipation of the disinfectant in the disinfected areas based on the disinfectant concentrations, the real-time temperature values and the real-time humidity values of the disinfected areas and the total volume of the space in the disinfected areas in consideration of the fact that the emission frequency of the disinfectant is likely to be attenuated by the disinfectant concentrations and other environments, and calculating the third target time length required by the complete dissipation of the disinfectant in the disinfected areas in consideration of the fact that the dissipation speed is affected by the temperature and the humidity in the disinfectant dissipation process, so that the third target time length required by the complete dissipation of the disinfectant in the disinfected areas is accurately calculated according to the calculation results.
In one embodiment, said calculating a current safety index for the disinfected area for a third target length of time based on said target people stream density comprises:
acquiring the initial disinfectant concentration of the disinfected area;
obtaining a corresponding tightness index based on the target people stream density;
calculating a current safety index of the disinfected area within a third target time period based on the disinfectant concentration of the disinfected area and the third target time period and the target people stream density:
Figure BDA0003115769610000121
where ε is the current safety index of the disinfected area for a third target period of time, t3A third target time period and t required for the disinfection liquid in the disinfected area to be completely dissipated3Has the units of h, C0Is the initial disinfecting liquid concentration and C of the disinfected area0In units of mg/L, v1Is the respiratory rate and v of each person in the sterilized area1The unit of (a) is L/h, sigma is the corresponding tightness index obtained by the density of the target people stream, exp () is an exponential function of a natural constant with e as a base, the value of e is 2.72, alpha is the permeability coefficient of the disinfectant in the air, and beta is the permeability coefficient of the disinfectantDiffusion coefficient in air, k is attenuation coefficient of emission frequency of the disinfectant, v is emission frequency of the disinfectant and unit of v is mg/h, t is time variable, m0M is the maximum amount of disinfectant which can be inhaled by a preset human body0In mg.
The beneficial effects of the above technical scheme are: the total amount of the disinfection gas inhaled by each person in the disinfected area in the third target time period can be calculated based on the concentration of the disinfection liquid in the disinfected area, the third target time period and the target people flow density, the current safety index of the disinfected area in the third target time period can be calculated, and the current safety index of the disinfected area in the third target time period can be accurately obtained according to the safety standard that the maximum quantity of the disinfection liquid can be inhaled by the human body.
The embodiment also discloses an automatic positioning and timing disinfection monitoring system, which is suitable for an automatic disinfection robot, and as shown in fig. 4, the system comprises:
a first setting module 401 for setting a sterilization cycle of the automatic sterilization robot;
a second setting module 402, configured to obtain an electronic topographic plan of a target public space, and set a target disinfection route of the automatic disinfection robot according to the electronic topographic plan;
a detection module 403, configured to detect, in real time, a concentration of a disinfectant in a disinfected area during a disinfection process of the automatic disinfection robot in the target disinfection route according to the disinfection cycle;
and an adjusting module 404, configured to determine whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjust the current spraying amount of the disinfectant of the automatic disinfection robot.
The working principle and the advantageous effects of the above technical solution have been explained in the method claims, and are not described herein again.
In one embodiment, as shown in fig. 5, includes:
the system comprises a movable chassis, a chassis control system, an upper computer, a spraying device, an acquisition system and a monitoring system.
The movable chassis is used for moving;
the chassis control system is connected with the upper computer and used for planning a chassis walking route, positioning the chassis and detecting obstacles to avoid;
the upper computer is used for sending a chassis movement instruction, controlling the spraying device and storing data acquired by the acquisition system;
the spraying device is arranged on the chassis and connected with the upper computer for spraying disinfectant;
the acquisition system is connected with the upper computer and is used for acquiring the concentration of the environmental disinfectant;
the monitoring system is communicated with the upper computer through a wireless network or the internet and is used for monitoring and controlling the upper computer.
The beneficial effects of the above technical scheme are: the positioning precision is high, the automatic navigation of the planned route is realized, the barrier is avoided, the timing starting is realized, the disinfection work can be carried out in an unmanned period, further, the disinfection concentration can be fed back in real time, the waste is reduced, and the disinfection effect is improved.
It will be understood by those skilled in the art that the first and second terms of the present invention refer to different stages of application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (6)

1. An automatic positioning and timing disinfection monitoring method is suitable for an automatic disinfection robot and is characterized by comprising the following steps:
setting a disinfection cycle of the automatic disinfection robot;
acquiring an electronic plane topographic map of a target public space, and setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map;
detecting the concentration of disinfectant in a disinfected area in real time in the process that the automatic disinfection robot disinfects along the target disinfection route according to the disinfection cycle;
confirming whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjusting the current spraying amount of the disinfectant of the automatic disinfection robot;
the set disinfection cycle of the automatic disinfection robot comprises:
acquiring the personnel flow condition in a target public space within a preset time length;
constructing a people flow density table in the target public space according to the personnel flow condition;
determining a plurality of first target time lengths with minimum pedestrian flow density in a target public space according to the pedestrian flow density table;
screening the plurality of first target time lengths to obtain a target number of second target time lengths, and determining the target number of second target time lengths as a disinfection cycle of the automatic disinfection robot;
the method further comprises the following steps:
calculating a third target time length required by the disinfectant in the disinfected area to be completely dissipated according to the concentration of the disinfectant in the disinfected area and the emission frequency of the disinfectant;
confirming the target people stream density of the disinfected area within a third target time length according to the current moment;
calculating a current safety index of the disinfected area for a third target length of time based on the target people stream density;
comparing the current safety index with a preset safety index, when the current safety index is greater than or equal to the preset safety index, no subsequent operation is needed, and when the current safety index is smaller than the preset safety index, an alarm prompt is sent;
the calculating a third target time length required by the disinfection liquid in the disinfected area to be completely dissipated according to the concentration of the disinfection liquid in the disinfected area and the emission frequency of the disinfection liquid comprises the following steps:
acquiring the initial disinfectant concentration of the disinfected area;
acquiring a real-time temperature value and a real-time humidity value in the sterilized area;
obtaining a total volume of space within the sterilized area;
obtaining the current disinfectant concentrations of a preset number of disinfected areas according to a preset period;
calculating the attenuation coefficient of the emission frequency of the disinfectant based on the acquired current disinfectant concentration of the disinfected areas in the preset number:
Figure DEST_PATH_IMAGE001
in the formula (I), the compound is shown in the specification,
Figure 713696DEST_PATH_IMAGE002
is the attenuation coefficient of the emission frequency of the disinfectant,
Figure 302940DEST_PATH_IMAGE003
to obtain the first
Figure 613836DEST_PATH_IMAGE003
The current concentration of the disinfection solution corresponds to
Figure 415570DEST_PATH_IMAGE003
A number of sample points are sampled at the time of sampling,
Figure 761100DEST_PATH_IMAGE004
in order to obtain the total amount of the current disinfectant concentration,
Figure 990087DEST_PATH_IMAGE005
to obtain the first
Figure 788279DEST_PATH_IMAGE003
At the moment corresponding to the concentration of the current disinfectant,
Figure 721600DEST_PATH_IMAGE006
to obtain
Figure 794074DEST_PATH_IMAGE003
The current concentration of the disinfection solution is
Figure 318596DEST_PATH_IMAGE006
The unit of (a) is mg/L,
Figure 479450DEST_PATH_IMAGE007
in order to obtain the preset period time corresponding to the current disinfectant concentration of the disinfected areas in the preset number,
Figure 747620DEST_PATH_IMAGE008
is the initial disinfecting liquid concentration of the disinfected area and
Figure 943109DEST_PATH_IMAGE008
the unit of (a) is mg/L;
calculating a third target time period required for the disinfection liquid in the disinfected area to be completely dissipated based on the initial disinfection liquid concentration, the real-time temperature value and the real-time humidity value of the disinfected area and the total volume of the space in the disinfected area:
Figure 904112DEST_PATH_IMAGE009
in the formula (I), the compound is shown in the specification,
Figure 552262DEST_PATH_IMAGE010
for said sterilized zoneA third target time period required for the disinfection solution in the area to be completely dissipated
Figure 92965DEST_PATH_IMAGE010
The unit of (a) is h,
Figure 142961DEST_PATH_IMAGE008
is the initial disinfecting liquid concentration of the disinfected area and
Figure 274865DEST_PATH_IMAGE008
the unit of (a) is mg/L,
Figure 410311DEST_PATH_IMAGE011
is the total volume of space in the sterilized region and
Figure 20284DEST_PATH_IMAGE011
the unit of (a) is L,
Figure 924786DEST_PATH_IMAGE012
is the emission frequency of the disinfectant
Figure 227591DEST_PATH_IMAGE012
The unit of (a) is mg/h,
Figure 912651DEST_PATH_IMAGE013
for real-time temperature values within said sterilized region,
Figure 201681DEST_PATH_IMAGE014
is a reference temperature value in said sterilized region, and
Figure 350902DEST_PATH_IMAGE014
the value is 25 ℃,
Figure 702905DEST_PATH_IMAGE015
for real-time humidity values within the sterilized region,
Figure 671998DEST_PATH_IMAGE016
is a reference humidity value in the sterilized area, and
Figure 827036DEST_PATH_IMAGE017
take a value of
Figure 706130DEST_PATH_IMAGE018
，
Figure 350738DEST_PATH_IMAGE019
Is the permeability coefficient of the disinfectant in the air,
Figure 948072DEST_PATH_IMAGE020
the diffusion coefficient of the disinfectant in the air.
2. The automatic positioning and timing disinfection monitoring method according to claim 1, wherein said obtaining an electronic topographic plan of a target public space, and setting a target disinfection route of the automatic disinfection robot according to the electronic topographic plan, comprises:
planning a first disinfection route of the automatic disinfection robot according to the electronic plane topographic map and a preset disinfection area of the automatic disinfection robot;
demonstrating the disinfection process of the automatic disinfection machine in a first disinfection route by using a preset model, and determining the disinfected area of the automatic disinfection robot in a target public space according to a demonstration result;
acquiring an unsterilized area in the target public space according to the disinfected area and the electronic plan topography of the target public space;
generating a second disinfection route for the unsterilized area;
acquiring coincidence degree of the second disinfection route and the first disinfection route, and performing route adjustment on the first disinfection route and the second disinfection route according to the coincidence degree to acquire a third disinfection route;
confirming the third sterilization route as a target sterilization route of the automatic sterilization robot.
3. The automatic positioning and timing sterilization monitoring method according to claim 1, wherein during the sterilization of the automatic sterilization robot in the target sterilization route according to the sterilization cycle, further comprising:
acquiring a real-time monitoring image corresponding to the target disinfection route;
estimating obstacles in a target disinfection route in the real-time monitoring image by using a preset obstacle estimation algorithm;
adjusting the target disinfection route based on the obstacle to obtain an adjusted disinfection route;
whether complete disinfection can be achieved for the target public space is determined according to the adjusted disinfection route and the preset disinfection area of the automatic disinfection robot, if yes, follow-up operation is not needed, and otherwise, the preset disinfection area of the automatic disinfection robot is increased.
4. The automatic positioning and timing disinfection monitoring method as claimed in claim 1, wherein said detecting the concentration of disinfection solution in the disinfected area in real time during the disinfection of the automatic disinfection robot in said target disinfection route according to said disinfection cycle comprises:
collecting the sterilizing gas in the sterilized area;
emitting optical detection signals with different frequencies and wavelengths into the sterilizing gas, and acquiring the absorbance intensity of the sterilizing gas to each optical detection signal;
determining the concentration of the toxic gas in the sterilizing gas according to the absorbance intensity of the sterilizing gas on each optical detection signal;
the concentration of the disinfecting liquid in the disinfected area is deduced back according to the concentration of the toxic gas in the disinfecting gas.
5. The method according to claim 1, wherein said calculating a current safety index of the disinfected area for a third target length of time based on said target traffic density comprises:
acquiring the initial disinfectant concentration of the disinfected area;
obtaining a corresponding tightness index based on the target people stream density;
calculating a current safety index of the disinfected area within a third target time period based on the disinfectant concentration of the disinfected area and the third target time period and the target people stream density:
Figure 703539DEST_PATH_IMAGE021
in the formula (I), the compound is shown in the specification,
Figure 171560DEST_PATH_IMAGE022
is the current safety index of the disinfected area for a third target length of time,
Figure 987070DEST_PATH_IMAGE010
a third target period of time required for the disinfecting liquid within the disinfected area to completely dissipate
Figure 134017DEST_PATH_IMAGE010
The unit of (a) is h,
Figure 568541DEST_PATH_IMAGE008
is the initial disinfecting liquid concentration of the disinfected area and
Figure 281282DEST_PATH_IMAGE008
the unit of (a) is mg/L,
Figure 877479DEST_PATH_IMAGE023
is the respiratory rate of each person in the sterilized area and
Figure 308461DEST_PATH_IMAGE023
is not only a sheetThe bit is L/h, and the bit is,
Figure 281096DEST_PATH_IMAGE024
obtaining a corresponding tightness index for the target people stream density,
Figure 113923DEST_PATH_IMAGE019
is the permeability coefficient of the disinfectant in the air,
Figure 146601DEST_PATH_IMAGE020
k is the diffusion coefficient of the disinfectant in the air, k is the attenuation coefficient of the emission frequency of the disinfectant,
Figure 64878DEST_PATH_IMAGE012
is the emission frequency of the disinfectant
Figure 838275DEST_PATH_IMAGE012
The unit of (a) is mg/h, t is a time variable,
Figure 260029DEST_PATH_IMAGE025
can inhale the maximum amount of disinfectant for the preset human body, and
Figure 791504DEST_PATH_IMAGE025
in mg.
6. An automatic positioning and timing disinfection monitoring system, which is suitable for an automatic disinfection robot, and is characterized in that the system comprises:
the first setting module is used for setting the disinfection period of the automatic disinfection robot;
the second setting module is used for acquiring an electronic plane topographic map of a target public space and setting a target disinfection route of the automatic disinfection robot according to the electronic plane topographic map;
the detection module is used for detecting the concentration of disinfectant in a disinfected area in real time in the process that the automatic disinfection robot disinfects along the target disinfection route according to the disinfection cycle;
the adjusting module is used for determining whether the spraying amount of the disinfectant needs to be increased or decreased according to the concentration of the disinfectant, and if so, automatically adjusting the current spraying amount of the disinfectant of the automatic disinfection robot;
the step of setting the sterilization cycle of the automatic sterilization robot by the first setting module includes:
acquiring the personnel flow condition in a target public space within a preset time length;
constructing a people flow density table in the target public space according to the personnel flow condition;
determining a plurality of first target time lengths with minimum pedestrian flow density in a target public space according to the pedestrian flow density table;
screening the plurality of first target time lengths to obtain a target number of second target time lengths, and determining the target number of second target time lengths as a disinfection cycle of the automatic disinfection robot;
the system is further configured to:
calculating a third target time length required by the disinfectant in the disinfected area to be completely dissipated according to the concentration of the disinfectant in the disinfected area and the emission frequency of the disinfectant;
confirming the target people stream density of the disinfected area within a third target time length according to the current moment;
calculating a current safety index of the disinfected area for a third target length of time based on the target people stream density;
comparing the current safety index with a preset safety index, when the current safety index is greater than or equal to the preset safety index, no subsequent operation is needed, and when the current safety index is smaller than the preset safety index, an alarm prompt is sent;
the calculating a third target time length required by the disinfection liquid in the disinfected area to be completely dissipated according to the concentration of the disinfection liquid in the disinfected area and the emission frequency of the disinfection liquid comprises the following steps:
acquiring the initial disinfectant concentration of the disinfected area;
acquiring a real-time temperature value and a real-time humidity value in the sterilized area;
obtaining a total volume of space within the sterilized area;
obtaining the current disinfectant concentrations of a preset number of disinfected areas according to a preset period;
calculating the attenuation coefficient of the emission frequency of the disinfectant based on the acquired current disinfectant concentration of the disinfected areas in the preset number:
Figure 806865DEST_PATH_IMAGE001
in the formula (I), the compound is shown in the specification,
Figure 511516DEST_PATH_IMAGE002
is the attenuation coefficient of the emission frequency of the disinfectant,
Figure 928722DEST_PATH_IMAGE003
for obtaining the corresponding ith current concentration of the disinfection solution
Figure 427836DEST_PATH_IMAGE003
A number of sample points are sampled at the time of sampling,
Figure 196072DEST_PATH_IMAGE004
in order to obtain the total amount of the current disinfectant concentration,
Figure 438834DEST_PATH_IMAGE005
to obtain the first
Figure 710547DEST_PATH_IMAGE003
At the moment corresponding to the concentration of the current disinfectant,
Figure 380563DEST_PATH_IMAGE006
to obtain
Figure 370515DEST_PATH_IMAGE003
The current concentration of the disinfection solution is
Figure 151390DEST_PATH_IMAGE006
The unit of (a) is mg/L,
Figure 871084DEST_PATH_IMAGE007
in order to obtain the preset period time corresponding to the current disinfectant concentration of the disinfected areas in the preset number,
Figure 587367DEST_PATH_IMAGE008
is the initial disinfecting liquid concentration of the disinfected area and
Figure 189250DEST_PATH_IMAGE008
the unit of (a) is mg/L;
calculating a third target time period required for the disinfection liquid in the disinfected area to be completely dissipated based on the initial disinfection liquid concentration, the real-time temperature value and the real-time humidity value of the disinfected area and the total volume of the space in the disinfected area:
Figure 914760DEST_PATH_IMAGE026
；
in the formula (I), the compound is shown in the specification,
Figure 20120DEST_PATH_IMAGE010
a third target period of time required for the disinfecting liquid within the disinfected area to completely dissipate
Figure 898515DEST_PATH_IMAGE010
The unit of (a) is h,
Figure 987694DEST_PATH_IMAGE008
is the initial disinfecting liquid concentration of the disinfected area and
Figure 251316DEST_PATH_IMAGE008
the unit of (a) is mg/L,
Figure 476761DEST_PATH_IMAGE011
is the total volume of space in the sterilized region and
Figure 862743DEST_PATH_IMAGE011
the unit of (a) is L,
Figure 314584DEST_PATH_IMAGE012
is the emission frequency of the disinfectant
Figure 240952DEST_PATH_IMAGE012
The unit of (a) is mg/h,
Figure 993007DEST_PATH_IMAGE013
for real-time temperature values within said sterilized region,
Figure 815470DEST_PATH_IMAGE014
is a reference temperature value in said sterilized region, and
Figure 489028DEST_PATH_IMAGE014
the value is 25 ℃,
Figure 219086DEST_PATH_IMAGE015
for real-time humidity values within the sterilized region,
Figure 294490DEST_PATH_IMAGE027
is a reference humidity value in the sterilized area, and
Figure 819012DEST_PATH_IMAGE028
take a value of
Figure 245445DEST_PATH_IMAGE018
，
Figure 513615DEST_PATH_IMAGE019
Is the permeability coefficient of the disinfectant in the air,
Figure 443525DEST_PATH_IMAGE020
the diffusion coefficient of the disinfectant in the air.
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WO2009138430A1 (en) * 2008-05-13 2009-11-19 Infection Control B.V. Method and device for disinfecting a space
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