CN113592173A - System and method for scheduling multiple disinfection robots applied to large public places - Google Patents

System and method for scheduling multiple disinfection robots applied to large public places Download PDF

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CN113592173A
CN113592173A CN202110854685.6A CN202110854685A CN113592173A CN 113592173 A CN113592173 A CN 113592173A CN 202110854685 A CN202110854685 A CN 202110854685A CN 113592173 A CN113592173 A CN 113592173A
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韩琪玥
李国丽
王群京
许家紫
刘国华
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Abstract

The invention discloses a scheduling system and a scheduling method for a plurality of disinfection robots applied to a large-scale public place, wherein the scheduling system comprises a disinfection robot workstation, a disinfection robot and a background scheduling system; the disinfection robot workstation comprises a plurality of charging piles and a disinfectant supplementing device, and realizes automatic charging and automatic liquid adding of the disinfection robot; the same workstation comprises a plurality of disinfection robots, each disinfection robot comprises an obstacle avoidance navigation system, a spraying system and a charging device, and autonomous obstacle avoidance, path planning and automatic liquid feeding of different scenes can be realized; and the background scheduling system counts the space area and the state information of the area to be disinfected, collects the state information of the disinfection robot, and schedules the optimal disinfection robot to execute the task according to the assigned task information. The invention can form high-efficiency scheduling among a plurality of disinfection robots, realize full-automatic disinfection in large-scale public places, reduce the workload of personnel and improve the disinfection efficiency.

Description

System and method for scheduling multiple disinfection robots applied to large public places
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a system and a method for scheduling a plurality of disinfection robots.
Background
In recent two years, the pandemic of new coronary pneumonia causes heavy striking to all countries, the situation of the new coronary pneumonia at home and abroad is still severe at present, and various measures of 'external prevention input and internal rebound prevention' need to be further strengthened; in particular, large public places, especially high-speed rail stations, airports and subway stations, have intensive personnel at home and abroad, and should be the key target of epidemic prevention and control. At present, the disinfection mode of large-scale public places mainly adopts manpower as main part and machines as auxiliary parts, so that the efficiency is low, the incomplete disinfection is easy to cause, and hidden troubles are left.
At present, a plurality of full-automatic disinfection robots appear in the market, and can replace manual disinfection and epidemic prevention. Chinese patent document CN112604012A discloses a full-automatic disinfection robot, which depends on an AGV chassis, carries various intelligent devices, and can realize autonomous obstacle detouring and autonomous moving disinfection.
The defects of the prior art are as follows: when the disinfection robot executes the disinfection task, the grade of the disinfection task cannot be distinguished, the disinfection robot needs to be preset, the moving range, the walking path and the like every time, and the completion time and the complexity of the disinfection task are increased; meanwhile, when the disinfection robot executes a disinfection task, only one disinfection robot is generally distributed, so that high requirements are put on the electric quantity and disinfectant storage of the disinfection robot, and the disinfection efficiency is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system and the method can be used for grading disinfection tasks, carrying out global disinfection and local disinfection and not needing to repeatedly plan paths; meanwhile, the optimal disinfection task of a single or multiple disinfection robots is dispatched, and the disinfection efficiency is improved.
The technical scheme adopted by the invention is as follows: a plurality of disinfection robot dispatching systems applied to large public places comprise disinfection robot workstations, disinfection robots and background dispatching systems; the disinfection robot workstation is provided with M disinfection robot stopping points, the M disinfection robots are in one-to-one correspondence with the stopping points, the scheduling time and queuing time of the disinfection robot in charging and liquid adding are reduced, and each stopping point is provided with a charging pile and a disinfectant supplementing device, so that the automatic charging and automatic liquid adding of the disinfection robots can be realized;
the disinfection robot comprises a mobile chassis, an obstacle avoidance navigation system, a spraying system and a charging device; the movable chassis adopts a wheel type chassis and is used for running and advancing of the disinfection robot; the obstacle avoidance navigation system consists of a laser radar and a plurality of ultrasonic sensors, and realizes three-dimensional image construction and obstacle detection in a 360-degree range outside a vehicle body; the spraying system consists of a liquid storage barrel and an atomizing nozzle, wherein a plurality of liquid level sensors are arranged in the liquid storage barrel, so that the surplus of the disinfectant can be monitored in real time, and the multidirectional atomizing nozzle can realize the spraying disinfection of targets at different positions and areas; charging device fills electric pile with the workstation and is connected and can realize automatic charging.
The background scheduling system is connected with all the disinfection robots through the WIFI module and collects state information of all the disinfection robots, the state information of the disinfection robots comprises electric quantity, disinfectant surplus and positions, when the background scheduling system detects that the electric quantity or the disinfectant surplus of the disinfection robots reaches an electric quantity warning value or a disinfectant warning value, a charging task or a liquid adding task is automatically started, the disinfection robots automatically return to corresponding stop points of a workstation to automatically charge or automatically add liquid, and the state information of the disinfection robots on the background scheduling system is updated in real time; after the staff selects the disinfection task by one key, the background scheduling system counts the state information of the area to be disinfected according to the assigned disinfection task information, the state information of the disinfection area comprises the space area and the personnel gathering degree, and a single optimal disinfection robot or a plurality of disinfection robots are scheduled to perform the task in combination with the state information of the disinfection robots, so that the disinfection task is automatically completed.
The disinfection tasks are classified according to the actual conditions of large public places (namely high-speed rail stations, airports and subway stations), and comprise global timing disinfection tasks (suitable for sparse personnel in the large public places at night), global emergency disinfection tasks (suitable for temporary crowd evacuation), and local emergency disinfection tasks (suitable for temporary disinfection with personnel gathering), wherein the priority of the disinfection tasks is that the local emergency disinfection tasks are higher than the global emergency disinfection tasks and higher than the global timing disinfection tasks; other non-disinfection tasks include a charging task, a liquid adding task, and a global area task.
The invention relates to a scheduling method for executing disinfection tasks by a plurality of disinfection robots applied to a large public place, which comprises the following implementation processes:
s1: starting a disinfection robot to acquire a global area task, scanning a global space by using an obstacle avoidance navigation system of a single disinfection robot, recording all fixed obstacles including a rest seat, a garbage can, security inspection equipment and the like, and generating a global map (only needing to be set for the first time or a disinfection area is changed);
s2: uploading the global map to a background scheduling system, dividing the global map into N area blocks, setting the N area block according to the minimum area of a rotatable winding of the disinfection robot, planning a disinfection path of each area block based on the actual global map, and ensuring that a connection point is arranged between each area block;
s3: selecting a disinfection task to be issued, if the selected disinfection task is a local emergency disinfection task, selecting a local area on a map, namely a plurality of regional blocks to be disinfected, wherein the regional blocks are adjacent and have no gap, and calculating the target electric quantity and the target disinfection liquid quantity of the disinfection robot required by completing the disinfection task;
s4: the background scheduling system checks the state information of the disinfection robot, excludes the disinfection robot which is carrying out a charging task or a liquid adding task, and selects a single optimal or multiple combined disinfection robot from the standby disinfection robots to receive a task instruction according to the target electric quantity and the target disinfection liquid amount;
s5: the method comprises the following steps that a disinfection robot receiving a disinfection task opens an obstacle avoidance navigation system, disinfects according to a planned disinfection path, automatically decelerates when detecting that the obstacle is not on a global map, closes an atomizing nozzle on one side of the obstacle to avoid damage to pedestrians, immediately selects a minimum path to avoid, returns to the planned path when detecting that no obstacle exists, and opens the closed atomizing nozzle;
s6: and returning the disinfection robot completing the disinfection task to a corresponding stop point of the workstation, closing all the carried equipment and waiting for other task instructions.
The scheduling method for selecting the optimal or multiple disinfection robots to execute the disinfection tasks in the step S4 adopts a weighting algorithm, and the implementation process is as follows:
s11: setting parameters including a target electric quantity X and a target disinfection liquid quantity Y of a disinfection robot required for completing a disinfection task, an electric quantity Xn of a disinfection robot to be disinfected, a residual quantity Yn of disinfection liquid, a distance Dn between a current position and a target position, a total mileage Tn of executing the disinfection task, a weight alpha of an electric quantity factor, a weight beta of a residual quantity factor of the disinfection liquid, a weight gamma of a distance factor and a weight theta of a total mileage factor, wherein n represents the number of the disinfection robots to be disinfected, n is less than or equal to M, the weight of each factor satisfies the conditions that alpha + beta + gamma + theta is 1, and alpha-beta is greater than gamma theta;
s12: when j is equal to 1, j represents the number of the required disinfection robots, and whether any disinfection robot electric quantity X exists or not is judged1，X2，…，XnNot less than the target electric quantity X of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the disinfection robot1，Y2，…，YnNot less than the target amount of disinfectant Y, if the requirement is satisfied, performing S13;
if not, j is 2, and whether any two disinfection robots have electric quantity X is judged1，X2，…，XnThe sum of the target electric quantity X of the disinfection robots required for completing the disinfection task is more than or equal to the target electric quantity X of the disinfection robots required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the two disinfection robots is1，Y2，…，YnIf the sum is equal to or greater than the target sterilizing fluid amount Y, performing S13;
if not, j is j +1, and whether any j disinfection robot electric quantity X exists is judged1，X2，…，XnThe sum of the power consumption is more than or equal to the target electric quantity X of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the j disinfection robots1，Y2，…，YnIf the sum is equal to or greater than the target amount of disinfectant Y, S13 is performed, and if the sum is not equal to or greater than the target amount of disinfectant Y, the steps are repeated until j is equal to n;
s13: all parameters X of j disinfection robots meeting the condition of S121，X2，…，Xn，Y1，Y2，…，YnSubstituting the scheduling weight value V into a calculation formula, wherein V is (X)1，X2，…，XnSum of j of-X) α + (Y)1，Y2，…，YnSum of j-Y) beta + (D)1，D2，…，DnSum of j) γ + (T)1，T2，…，TnThe sum of j) is theta to obtain a scheduling weight;
s14: and arranging the scheduling weights calculated in the step S13 from small to large to form a ready list, wherein the first indication on the ready list is the optimal solution of the scheduling scheme, and then arranging the optimal or multiple sterilization robots to execute the sterilization tasks according to the optimal scheme.
Wherein (X)1，X2，…，XnThe smaller the value of the sum of j in the disinfection robots is, the electric quantity of the j disinfection robots is closest to the target electric quantity, (Y)1，Y2，…，YnThe smaller the value of the sum of j in the disinfection robots is, the more the total disinfectant residual quantity of the j disinfection robots is closest to the target disinfectant quantity, (D)1，D2，…，DnThe sum of j) indicates that the total distance between the j disinfection robots and the target position is smaller, (T)1，T2，…，TnThe smaller the value of the sum of j) indicates that the smaller the total mileage of the tasks executed by j disinfection robots, the smaller the fault damage caused by the repeated work of the same disinfection robot can be reduced, therefore, the smaller the scheduling weight,the electric quantity, the disinfection liquid quantity, the distance and the total mileage of a single or a plurality of disinfection robots arranged by the scheme are most matched with the disinfection task.
The scheduling method for the disinfection robot to execute the charging task or the liquid adding task in the step S4 is implemented as follows:
s21: setting an electric quantity warning value and a disinfectant warning value of the disinfection robot, wherein the electric quantity warning value of the disinfection robot refers to a stopping point which can be returned to a workstation from a farthest point of a global map under the condition that the disinfection robot can be guaranteed to maintain the normal operation of a moving chassis and an obstacle avoidance navigation system, and the disinfectant warning value refers to the condition that the disinfection task of a single region block on the global map is guaranteed to be completed;
s22: after the disinfection robot finishes a disinfection task, detecting that the electric quantity or the residual amount of disinfectant reaches an electric quantity warning value or a disinfectant warning value, automatically returning the disinfection robot to a corresponding stop point of a workstation to perform automatic charging or automatic liquid adding, updating state information on a background scheduling system in real time, displaying a charging or liquid adding state by the disinfection robot when the charging task or the liquid adding task is performed, and displaying a standby state by the disinfection robot after the charging task or the liquid adding task is finished;
s23: when the disinfection robot executes a disinfection task, the electric quantity or the residual quantity of the disinfectant is detected to reach an electric quantity warning value or a disinfectant warning value, the background scheduling system calculates the electric quantity and the disinfectant quantity required by the rest disinfection task, a single optimal or a plurality of combined disinfection robots are scheduled in the standby disinfection robots to receive a disinfection task instruction for replacement, the replaced disinfection robots continue to complete the disinfection task, and the replaced disinfection robots return to a corresponding stop point of a work station for automatic charging or automatic liquid adding.
The invention has the beneficial effects that:
(1) the invention establishes the disinfection tasks which can be graded, can realize one-key instruction sending, does not need to preset the disinfection robot for multiple times, and reduces the task time of the disinfection robot;
(2) according to the invention, a single or multiple disinfection robots are dispatched according to an actual disinfection task by utilizing a weighting algorithm, so that the optimization of the electric quantity and the disinfectant consumption of the disinfection robots is realized;
(3) the invention is provided with the disinfection robot workstation, and can realize automatic charging and automatic liquid adding of the disinfection robot by matching with a background scheduling system, automatically complete disinfection tasks, obviously improve disinfection efficiency and liberate labor force.
Drawings
FIG. 1 is a schematic view of a disinfection robot workstation as a whole, wherein 1 is a disinfection robot workstation and 11 is a docking station;
FIG. 2 is a schematic view of a disinfection robot at a stop point of a workstation, wherein 2 is the disinfection robot, 12 is a stop point charging pile, and 13 is a stop point disinfectant supplementing device;
fig. 3 is a schematic view of the whole structure of the disinfection robot, wherein 21 is a mobile chassis, 22a is a laser radar, 22b is an ultrasonic sensor, 23a is a liquid storage barrel, 23b is an atomizing nozzle, and 24 is a charging device;
FIG. 4 is a schematic diagram of a two-dimensional sterilization scenario being constructed;
FIG. 5 is a flowchart of a method for scheduling the execution of a sterilization task by a sterilization robot;
FIG. 6 is a flow chart of a method of scheduling the selection of one or more sterilization robots to perform a sterilization task;
fig. 7 is a flowchart of a scheduling method for the disinfection robot to perform a charging task or a filling task.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The invention discloses a scheduling system for a plurality of disinfection robots, which comprises a disinfection robot workstation 1, a disinfection robot 2 and a background scheduling system 3;
as shown in fig. 1 and 2, a disinfection robot workstation 1 is provided with M disinfection robot stopping points 11, wherein the M disinfection robots are in one-to-one correspondence with the stopping points, and each stopping point is provided with a charging pile 12 and a disinfectant supplementing device 13, so that the disinfection robots can be automatically charged and automatically added with liquid;
as shown in fig. 3, the disinfection robot 2 includes a mobile chassis 21, an obstacle avoidance navigation system 22, a spraying system 23 and a charging device 24; the movable chassis 21 adopts a wheel type chassis and is used for running and advancing of the disinfection robot; the obstacle avoidance navigation system 22 consists of a laser radar 22a and a plurality of ultrasonic sensors 22b, and realizes three-dimensional image building and obstacle detection in a 360-degree range outside the vehicle body; the spraying system 23 consists of a liquid storage barrel 23a and an atomizing spray head 23b, a plurality of liquid level sensors are arranged in the liquid storage barrel, the surplus of the disinfectant can be monitored in real time, and the multidirectional atomizing spray head can realize the spraying disinfection of targets at different positions and areas; the charging device 24 is connected with the workstation charging pile 12 to realize automatic charging;
the background scheduling system 3 is connected with all the disinfection robots through the WIFI module, the state information of all the disinfection robots is collected, the state information of the disinfection robots comprises electric quantity, disinfectant surplus and positions, when the background scheduling system 3 detects that the electric quantity or the disinfectant surplus of the disinfection robots reaches an electric quantity warning value or a disinfectant warning value, a charging task or a liquid adding task is automatically started, the disinfection robots automatically return to corresponding stop points of a workstation to automatically charge or automatically add liquid, and the state information of the disinfection robots on the background scheduling system is updated in real time; after a worker selects a disinfection task by one key, the background scheduling system 3 counts the state information of an area to be disinfected according to assigned disinfection task information, the state information of the disinfection area comprises space area and personnel gathering degree, and a single optimal disinfection robot or a plurality of disinfection robot combinations are scheduled to execute the task by combining the state information of the disinfection robots, so that the disinfection task is automatically completed;
the disinfection tasks are classified according to the actual conditions of large public places (namely high-speed rail stations, airports and subway stations), and comprise global timing disinfection tasks (suitable for sparse personnel in the large public places at night), global emergency disinfection tasks (suitable for temporary crowd evacuation), and local emergency disinfection tasks (suitable for temporary disinfection with personnel gathering), wherein the priority of the disinfection tasks is that the local emergency disinfection tasks are higher than the global emergency disinfection tasks and higher than the global timing disinfection tasks; other non-disinfection tasks include a charging task, a liquid adding task, and a global area task.
As shown in fig. 5, the method for scheduling a plurality of disinfection robots to perform disinfection tasks is implemented as follows:
s1: starting a disinfection robot to acquire a global area task, scanning a global space by using an obstacle avoidance navigation system of a single disinfection robot, recording all fixed obstacles including a rest seat, a garbage can, security inspection equipment and the like, and generating a global map (only needing to be set for the first time or a disinfection area is changed);
s2: uploading the global map to a background scheduling system, as shown in fig. 4, dividing the global map into N area blocks, where N is set according to the minimum area of a turn that the disinfection robot can turn around, planning a disinfection path of each area block based on the actual global map, and ensuring that a connection point exists between each area block;
s3: selecting a disinfection task to be issued, if the selected disinfection task is a local emergency disinfection task, selecting a local area on a map, namely a plurality of regional blocks to be disinfected, specifically, as shown in fig. 4, a solid triangle is the selected local area, the regional blocks are required to be adjacent and have no gap therebetween, and calculating the target electric quantity and the target disinfection liquid quantity of the disinfection robot required for completing the disinfection task;
s4: the background scheduling system checks the state information of the disinfection robot, excludes the disinfection robot which is carrying out a charging task or a liquid adding task, and selects a single optimal or multiple combined disinfection robot from the standby disinfection robots to receive a task instruction according to the target electric quantity and the target disinfection liquid amount;
s5: the method comprises the following steps that a disinfection robot receiving a disinfection task opens an obstacle avoidance navigation system, disinfects according to a planned disinfection path, automatically decelerates when detecting that the obstacle is not on a global map, closes an atomizing nozzle on one side of the obstacle to avoid damage to pedestrians, immediately selects a minimum path to avoid, returns to the planned path when detecting that no obstacle exists, and opens the closed atomizing nozzle;
s6: and returning the disinfection robot completing the disinfection task to a corresponding stop point of the workstation, closing all the carried equipment and waiting for other task instructions.
As shown in fig. 6, a scheduling method for executing a disinfection task by a single optimal or multiple disinfection robots is selected, and the scheduling method adopts a weighting algorithm and is implemented as follows:
s11: setting parameters including a target electric quantity X and a target disinfection liquid quantity Y of a disinfection robot required for completing a disinfection task, an electric quantity Xn of a disinfection robot to be disinfected, a residual quantity Yn of disinfection liquid, a distance Dn between a current position and a target position, a total mileage Tn of executing the disinfection task, a weight alpha of an electric quantity factor, a weight beta of a residual quantity factor of the disinfection liquid, a weight gamma of a distance factor and a weight theta of a total mileage factor, wherein n represents the number of the disinfection robots to be disinfected, n is less than or equal to M, the weight of each factor satisfies the conditions that alpha + beta + gamma + theta is 1, and alpha-beta is greater than gamma theta;
s12: when j is equal to 1, j represents the number of the required disinfection robots, and whether any disinfection robot electric quantity X exists or not is judged1，X2，…，XnNot less than the target electric quantity X of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the disinfection robot1，Y2，…，YnNot less than the target amount of disinfectant Y, if the requirement is satisfied, performing S13;
if not, j is 2, and whether any two disinfection robots have electric quantity X is judged1，X2，…，XnThe sum of the target electric quantity X of the disinfection robots required for completing the disinfection task is more than or equal to the target electric quantity X of the disinfection robots required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the two disinfection robots is1，Y2，…，YnIf the sum is equal to or greater than the target sterilizing fluid amount Y, performing S13;
if not, j is j +1, and whether any j disinfection robot electric quantity X exists is judged1，X2，…，XnThe sum of the power consumption is more than or equal to the target electric quantity X of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the j disinfection robots1，Y2，…，YnIf the sum is equal to or greater than the target amount of disinfectant Y, S13 is performed, and if the sum is not equal to or greater than the target amount of disinfectant Y, the steps are repeated until j is equal to n;
specifically, for example, when j is 3 and n is 9, X is1，X2，…，X9，Y1，Y2，…，Y9In the presence of X1+X2+X9≥X，Y1+Y2+Y9≥Y；X3+X4+X6≥X，Y3+Y4+Y6≥Y；X2+X5+X7≥X，Y2+Y5+Y7In the three cases of being more than or equal to Y, the three parameters X of j being 3 are set1,X2,X9，Y1,Y2,Y9，X3,X4,X6，Y3,Y4,Y6，X2,X5,X7，Y2,Y5,Y7Substituting into S13;
s13: all parameters X of j disinfection robots meeting the condition of S121，X2，…，Xn，Y1，Y2，…，YnSubstituting the scheduling weight value V into a calculation formula, wherein V is (X)1，X2，…，XnSum of j of-X) α + (Y)1，Y2，…，YnSum of j-Y) beta + (D)1，D2，…，DnSum of j) γ + (T)1，T2，…，TnThe sum of j) is theta to obtain a scheduling weight;
specifically, the three parameters X of j to 31,X2,X9，Y1,Y2,Y9，X3,X4,X6，Y3,Y4,Y6，X2,X5,X7，Y2,Y5,Y7Substituting the scheduling weight V into a calculation formula to obtain a scheduling weight V1＝(X1+X2+X9-X)*α+(Y1+Y2+Y9-Y)*β+(D1+D2+D9)*γ+(T1+T2+T9)*θ；V2＝(X3+X4+X6-X)*α+(Y3+Y4+Y6-Y)*β+(D3+D4+D6)*γ+(T3+T4+T6)*θ；V3＝(X2+X5+X7-X)*α+(Y2+Y5+Y7-Y)*β+(D2+D5+D7)*γ+(T2+T5+T7)*θ；
S14: arranging the scheduling weights calculated in the S13 from small to large to form a ready list, wherein the first indication on the ready list is the optimal solution of the scheduling scheme, and then arranging one optimal or more disinfection robots to execute disinfection tasks according to the optimal scheme;
wherein (X)1，X2，…，XnThe smaller the value of the sum of j in the disinfection robots is, the electric quantity of the j disinfection robots is closest to the target electric quantity, (Y)1，Y2，…，YnThe smaller the value of the sum of j in the disinfection robots is, the more the total disinfectant residual quantity of the j disinfection robots is closest to the target disinfectant quantity, (D)1，D2，…，DnThe sum of j) indicates that the total distance between the j disinfection robots and the target position is smaller, (T)1，T2，…，TnThe smaller the value of the sum of j) indicates that the total mileage of the j disinfection robots for executing the tasks is smaller, and the fault damage caused by the repeated work of the same disinfection robot can be reduced, so that the smaller the scheduling weight value is, the electric quantity, the disinfection liquid quantity, the distance and the total mileage of a single disinfection robot or a plurality of disinfection robots arranged by the scheme are most matched with the disinfection tasks;
specifically, the scheduling weight V is obtained by calculating the three parameters of j to 32<V1<V3(ii) a The selection of the third, fourth and sixth disinfection robots is most matched with the current disinfection task, so that the optimization of the electric quantity, the disinfection liquid quantity, the distance and the total mileage can be realized;
as shown in fig. 7, the method for scheduling the disinfection robot to perform the charging task or the liquid adding task is implemented as follows:
s21: setting an electric quantity warning value and a disinfectant warning value of the disinfection robot, wherein the electric quantity warning value of the disinfection robot refers to a stopping point which can be returned to a workstation from a farthest point (shown in figure 4) of the global map under the condition that the disinfection robot can be ensured to maintain the normal operation of the moving chassis and the obstacle avoidance navigation system, and the disinfectant warning value refers to the condition that the disinfection task of a single regional block on the global map is ensured to be completed;
s22: after the disinfection robot finishes a disinfection task, detecting that the electric quantity or the residual amount of disinfectant reaches an electric quantity warning value or a disinfectant warning value, automatically returning the disinfection robot to a corresponding stop point of a workstation to perform automatic charging or automatic liquid adding, updating state information on a background scheduling system in real time, displaying a charging or liquid adding state by the disinfection robot when the charging task or the liquid adding task is performed, and displaying a standby state by the disinfection robot after the charging task or the liquid adding task is finished;
s23: when the disinfection robot executes a disinfection task, the electric quantity or the residual quantity of the disinfectant is detected to reach an electric quantity warning value or a disinfectant warning value, the background scheduling system calculates the electric quantity and the disinfectant quantity required by the rest disinfection task, a single optimal or a plurality of combined disinfection robots are scheduled in the standby disinfection robots to receive a disinfection task instruction for replacement, the replaced disinfection robots continue to complete the disinfection task, and the replaced disinfection robots return to a corresponding stop point of a work station for automatic charging or automatic liquid adding.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and equivalents and modifications not departing from the present invention are intended to be included within the scope of the claims of the present invention.

Claims (5)

1. A plurality of disinfection robot dispatch systems for large-scale public place which characterized in that: comprises a disinfection robot workstation (1), a disinfection robot (2) and a background scheduling system (3);
the disinfection robot workstation (1) is provided with M disinfection robot stopping points (11), wherein the M disinfection robots correspond to the stopping points one by one, and each stopping point is provided with a charging pile (12) and a disinfectant supplementing device (13) so as to realize automatic charging and automatic liquid adding of the disinfection robot;
the disinfection robot (2) comprises a mobile chassis (21), an obstacle avoidance navigation system (22), a spraying system (23) and a charging device (24); the movable chassis (21) adopts a wheel type chassis and is used for running and advancing of the disinfection robot; the obstacle avoidance navigation system (22) consists of a laser radar (22a) and a plurality of ultrasonic sensors (22b), and three-dimensional image building and obstacle detection in a 360-degree range outside the vehicle body are realized; the spraying system (23) consists of a liquid storage barrel (23a) and an atomizing nozzle (23b), a plurality of liquid level sensors are arranged in the liquid storage barrel, the surplus of the disinfectant is monitored in real time, and the multi-directional atomizing nozzle realizes the spraying disinfection of targets at different positions and areas; the charging device (24) is connected with the workstation charging pile (12) to realize automatic charging;
the background scheduling system (3) is connected with all the disinfection robots through the WIFI module, state information of all the disinfection robots is collected, the state information of the disinfection robots comprises electric quantity, disinfectant surplus and positions, when the background scheduling system (3) detects that the electric quantity or the disinfectant surplus of the disinfection robots reaches an electric quantity warning value or a disinfectant warning value, a charging task or a liquid adding task is automatically started, the disinfection robots automatically return to corresponding stop points of a work station to automatically charge or automatically add liquid, and the state information of the disinfection robots on the background scheduling system is updated in real time; after the staff selects the disinfection task by one key, the background scheduling system (3) counts the state information of the area to be disinfected according to the assigned disinfection task information, the state information of the disinfection area comprises the space area and the personnel gathering degree, and a single optimal disinfection robot or a plurality of disinfection robot combinations are scheduled to execute the task by combining the state information of the disinfection robots, so that the disinfection task is automatically completed.
2. The multiple sterilization robot dispatch system of claim 1, wherein: the disinfection tasks are classified according to the actual situation of a large public place, and comprise a global timing disinfection task, a global emergency disinfection task and a local emergency disinfection task, wherein the priority of the disinfection tasks is that the local emergency disinfection task is higher than the global emergency disinfection task and higher than the global timing disinfection task; other non-disinfection tasks include a charging task, a liquid adding task, and a global area task.
3. A scheduling method of a plurality of disinfection robots applied to a large public place is characterized in that: the realization process is as follows:
s1: starting a disinfection robot to acquire a global space area task, scanning a global space by using an obstacle avoidance navigation system of a single disinfection robot, recording all fixed obstacles including a rest seat, a garbage can and security inspection equipment, and generating a global map;
s2: uploading a global map to a background scheduling system, wherein the global map is divided into N area blocks, the setting of N depends on the minimum area of a turning circle of the disinfection robot, a disinfection path of each area block is planned based on the global map, and a connection point is ensured to be arranged between each area block;
s3: selecting a disinfection task to be issued, if the selected disinfection task is a local emergency disinfection task, selecting a local area on a global map, namely a plurality of regional blocks to be disinfected, wherein the regional blocks are adjacent and have no gap therebetween, and calculating the target electric quantity and the target disinfection liquid quantity of the disinfection robot required for completing the disinfection task;
s4: the background scheduling system checks the state information of the disinfection robot, wherein the state information comprises electric quantity, disinfectant surplus and the position of the disinfection robot, eliminates the disinfection robot which is carrying out a charging task or a liquid adding task, and selects a single optimal or multiple combined disinfection robot from the standby disinfection robots to receive a task instruction according to the target electric quantity and the target disinfectant quantity;
s5: the disinfection robot receiving the disinfection task opens a self-contained obstacle avoidance navigation system, disinfects according to a planned disinfection path, automatically decelerates when detecting that the obstacle is not on the global map, closes the atomizing spray head on one side with the obstacle, avoids damaging pedestrians, immediately selects the minimum path to avoid, returns to the planned disinfection path when detecting that no obstacle exists, and opens the closed atomizing spray head;
s6: the disinfection robot which completes the disinfection task returns to the corresponding stop point of the workstation, closes all the carried equipment, stands by other task instructions, and automatically completes the disinfection task.
4. The scheduling method of multiple sterilization robots applied to large public places according to claim 3, wherein: in said S4: the scheduling method for selecting the optimal or multiple disinfection robots to execute the disinfection tasks adopts a weighting algorithm, and is characterized in that: the realization process is as follows:
s11: setting parameters, wherein the parameters comprise a target electric quantity X and a target disinfectant liquid quantity Y of a disinfection robot required by completing a disinfection task, an electric quantity Xn of a disinfection robot to be arranged, a residual disinfectant liquid quantity Yn, a distance Dn between a current position and a target position, a total mileage Tn for executing the disinfection task, a weight alpha of an electric quantity factor, a weight beta of a residual disinfectant liquid factor, a weight gamma of a distance factor and a weight theta of a total mileage factor, wherein n represents the number of the disinfection robots to be arranged, n is less than or equal to M, the weight of each factor satisfies the conditions that alpha + beta + gamma + theta is 1, and alpha is more than beta and is more than gamma and is more than theta;
s12: when j is equal to 1, j represents the number of the required disinfection robots, and whether any disinfection robot electric quantity X exists or not is judged1，X2，…，XnNot less than the target electric quantity x of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the disinfection robot1，Y2，…，YnNot less than the target amount of disinfectant Y, if the requirement is satisfied, performing S13;
if not, j is 2, and whether any two disinfection robots have electric quantity X is judged1，X2，…，XnThe sum of the target electric quantity X of the disinfection robots required for completing the disinfection task is more than or equal to the target electric quantity X of the disinfection robots required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the two disinfection robots is1，Y2，…，YnIf the sum is equal to or greater than the target sterilizing fluid amount Y, performing S13;
if not, j is j +1, and whether any j disinfection robot electric quantity X exists is judged1，X2，…，XnThe sum of the power consumption is more than or equal to the target electric quantity X of the disinfection robot required for completing the disinfection task, and the residual quantity Y of the disinfection liquid of the j disinfection robots1，Y2，…，YnThe sum is more than or equal to the target disinfection solution amount Y, if the sum is satisfied, the operation is carried outS13, if not, repeating the steps until j equals n;
s13: all parameters X of j disinfection robots meeting the condition of S121，X2，…，Xn，Y1，Y2，…，YnSubstituting the scheduling weight value V into a calculation formula, wherein V is (X)1，X2，…，XnSum of j of-X) α + (Y)1，Y2，…，YnSum of j-Y) beta + (D)1，D2，…，DnSum of j) γ + (T)1，T2，…，TnThe sum of j) is theta, and the scheduling weight is obtained.
S14: and arranging the scheduling weights calculated in the step S13 from small to large to form a ready list, wherein the ready list has the optimal solution of the scheduling scheme, and a single optimal or multiple sterilization robots are arranged to execute sterilization tasks according to the optimal scheme.
5. The scheduling method of multiple sterilization robots applied to large public places according to claim 3, wherein: in said S4: the method for scheduling the disinfection robot to execute the charging task or the liquid adding task comprises the following implementation processes:
s21: setting an electric quantity warning value and a disinfectant warning value of the disinfection robot, wherein the electric quantity warning value of the disinfection robot refers to a stopping point which can be returned to a workstation from a farthest point of a global map under the condition that the disinfection robot can be guaranteed to maintain the normal operation of a moving chassis and an obstacle avoidance navigation system, and the disinfectant warning value refers to the condition that the disinfection task of a single region block on the global map is guaranteed to be completed;
s22: after the disinfection robot finishes a disinfection task, detecting that the electric quantity or the residual amount of disinfectant reaches an electric quantity warning value or a disinfectant warning value, automatically returning the disinfection robot to a corresponding stop point of a workstation to perform automatic charging or automatic liquid adding, updating state information on a background scheduling system in real time, displaying a charging or liquid adding state by the disinfection robot when the charging task or the liquid adding task is performed, and displaying a standby state by the disinfection robot after the charging task or the liquid adding task is finished;
s23: when the disinfection robot executes a disinfection task, the electric quantity or the residual quantity of the disinfectant is detected to reach an electric quantity warning value or a disinfectant warning value, the background scheduling system calculates the electric quantity and the disinfectant quantity required by the rest disinfection task, a single optimal or a plurality of combined disinfection robots are scheduled in the standby disinfection robots to receive a disinfection task instruction for replacement, the replaced disinfection robots continue to complete the disinfection task, and the replaced disinfection robots return to a corresponding stop point of a work station for automatic charging or automatic liquid adding.
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