CN114115235A - Disinfectant supplementing method, device and medium for disinfecting robot - Google Patents
Disinfectant supplementing method, device and medium for disinfecting robot Download PDFInfo
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- CN114115235A CN114115235A CN202111264421.1A CN202111264421A CN114115235A CN 114115235 A CN114115235 A CN 114115235A CN 202111264421 A CN202111264421 A CN 202111264421A CN 114115235 A CN114115235 A CN 114115235A
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- 230000001502 supplementing effect Effects 0.000 title claims abstract description 74
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- 230000000249 desinfective effect Effects 0.000 title claims description 52
- 239000007788 liquid Substances 0.000 claims description 63
- 238000004590 computer program Methods 0.000 claims description 12
- 230000001954 sterilising effect Effects 0.000 claims description 6
- 238000004659 sterilization and disinfection Methods 0.000 abstract description 94
- 230000000694 effects Effects 0.000 abstract description 2
- 239000013589 supplement Substances 0.000 description 12
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application discloses a disinfectant supplementing method for a disinfection robot, which relates to the field of robot control. In addition, the application also provides a device and a computer readable storage medium, which correspond to the method and have the same effects.
Description
Technical Field
The present application relates to the field of robot control, and more particularly, to a method, an apparatus, and a medium for supplying a disinfectant to a robot.
Background
In a place with dense personnel, the sanitation and disinfection of public areas are particularly important. In order to increase the efficiency of disinfection in public areas, the use of robots in the disinfection field is becoming current. Today, various disinfection robots have been shown in the market, wherein disinfection robots that automatically replenish disinfection fluids eliminate the step of manually adding disinfection fluids, reduce labor costs and operational risks, and by setting a low level alarm value, when the disinfection fluid reserve reaches this low level alarm value, disinfection robots replenish disinfection fluids to the nearest disinfection fluid replenishment station.
Generally, the disinfectant replenishing stations are arranged around a disinfection area where the disinfection robot works, and a plurality of disinfectant replenishing stations are arranged, when the disinfectant storage amount of the disinfection robot reaches the low liquid level alarm value, the disinfection robot replenishes the disinfectant to the nearest disinfectant replenishing station.
Therefore, how to combine the disinfectant storage value with the remaining path planning of the robot is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The application aims to provide a disinfectant supplementing method for a disinfection robot, which combines a disinfectant storage amount value with the residual path planning of the robot.
In order to solve the above technical problem, the present application provides a disinfectant solution supplementing method for a disinfecting robot, including:
acquiring a cruising mileage corresponding to the current disinfectant storage value;
planning a driving route according to the cruising range and the distance between the current position and the position of each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not passed by the robot in a preset working route;
and controlling the motor to feed liquid to a disinfectant replenishing station according to the driving route.
Preferably, the acquiring of the mileage corresponding to the disinfectant storage amount value includes:
acquiring the disinfectant storage quantity value, the atomizer gear and the running speed;
acquiring the disinfectant consumption speed corresponding to the gears of the atomizer;
and obtaining the cruising mileage according to the disinfectant storage value, the disinfectant consumption speed and the running speed.
Preferably, the planning of the driving route according to the cruising range and the position of each residual disinfectant replenishing station away from the current position comprises:
acquiring the distance from the current position to two nearest residual disinfectant replenishing stations in real time, wherein the distances are a first route and a second route respectively, and the first route is smaller than the second route;
if the cruising mileage is not less than the first route and less than the second route, selecting the disinfectant replenishing station closest to the first route for replenishing the disinfectant;
and if the endurance mileage is greater than the second route, continuing to drive according to the working route.
Preferably, the planning of the driving route according to the cruising range and the position of each residual disinfectant replenishing station away from the current position comprises:
when reaching a disinfectant replenishing station, acquiring a distance from the next disinfectant replenishing station;
if the cruising mileage is less than the distance, replenishing liquid at the current disinfectant replenishing station;
and if the cruising mileage is not less than the distance, continuing to drive according to the working route.
Preferably, the acquiring the disinfectant liquid storage amount value comprises:
and receiving the information of the pressure sensor at the lower part of the disinfectant storage box, and converting the information into the disinfectant storage value.
Preferably, the acquiring of the consumption speed of the disinfectant corresponding to the gear of the atomizer includes:
and calling a preset parameter comparison table to obtain the disinfectant consumption speed corresponding to the gears of the atomizer.
Preferably, the first and second electrodes are formed of a metal,
calculating the current consumption speed of the disinfectant corresponding to the current gear of the atomizer in real time;
judging whether the current consumption speed is different from the data in the parameter comparison table;
and if so, updating the data of the parameter comparison table according to the current consumption speed.
Preferably, the method comprises the following steps:
the acquisition module is used for acquiring the endurance mileage corresponding to the current disinfectant storage value;
the planning module is used for planning a driving route according to the cruising mileage and the position of the current position away from each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not passed by the robot in a preset working route;
and the control module is used for controlling the motor to feed liquid to the disinfectant replenishing station according to the driving route.
Preferably, the method comprises the following steps:
a memory for storing a computer program;
a processor for implementing the steps of the method of disinfecting liquid replenishment of a disinfecting robot as claimed in any one of claims 1 to 7 when said computer program is executed.
Preferably, the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the sterilizing fluid replenishing method of a sterilizing robot according to any one of claims 1 to 7.
According to the disinfectant supplementing method of the disinfection robot, the subsequent driving route of the disinfection robot is planned according to the cruising mileage and the position of the current position away from each residual disinfectant supplementing station by obtaining the cruising mileage corresponding to the disinfectant storage value, and the route of the disinfection robot when fluid supplement is carried out is not repeated with the route which is subjected to disinfection work.
In addition, the application also provides a device and a computer readable storage medium, which correspond to the method and have the same effects.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for supplementing a disinfecting liquid to a disinfecting robot according to an embodiment of the present disclosure;
fig. 2 is a flowchart for obtaining a mileage corresponding to a disinfectant storage amount value according to an embodiment of the present application;
fig. 3 is a schematic view of a specific implementation scenario provided in this embodiment;
fig. 4 is a schematic view of another specific implementation scenario provided in this embodiment;
fig. 5 is a schematic view of a disinfecting liquid replenishing device for a disinfecting robot according to an embodiment of the present disclosure;
fig. 6 is a structural diagram of another disinfection liquid replenishing device for a disinfection robot according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the present application.
The core of the application is to provide a disinfectant supplementing method for a disinfection robot, which combines a disinfectant storage value with the residual path planning of the robot, so that a route when the disinfection robot goes to a disinfectant supplementing station for supplementing the disinfectant can not be repeated with a route which is subjected to disinfection work, and the work efficiency is reduced.
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for supplementing a disinfecting liquid to a disinfecting robot according to an embodiment of the present disclosure. As shown in fig. 1, a method for supplementing a sterilizing liquid for a sterilizing robot includes:
s11: acquiring a cruising mileage corresponding to the current disinfectant storage value;
the driving range mentioned in step S11 is: the current antiseptic solution reserves can supply the disinfection robot to continue the journey of disinfecting work, and how this embodiment does not restrict to obtain the continuation of the journey mileage, designs according to the particular case. For example, the cruising mileage is obtained through the disinfectant storage amount value, the disinfectant consumption speed and the driving speed; the endurance mileage is directly obtained through a preset disinfectant storage endurance mileage meter.
It should be noted that, in this embodiment, whether the disinfection robot works in a single gear or in multiple gears is not limited, and it is only required to obtain a corresponding driving range according to the current disinfectant reserve. The embodiment also does not limit the expression form and the obtaining mode of the disinfectant storage capacity value, for example, the disinfectant storage capacity weight value is obtained by a pressure sensor or a weighing sensor, or the disinfectant storage capacity value is obtained by a liquid level sensor.
S12: planning a driving route according to the cruising mileage and the distance between the current position and the position of each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not passed by the robot in a preset working route;
and planning a driving route by combining the distance between the current position and the position of each residual disinfectant replenishing station with the cruising mileage. Usually, the disinfectant supplementing station is arranged on a working route of the disinfecting robot, and is provided with a plurality of disinfectant supplementing stations, and the disinfectant supplementing route of the disinfecting robot and the disinfecting working route of the disinfecting robot can be combined by acquiring the distance from the disinfectant supplementing station to the current position on the residual route which is not passed by the disinfecting robot in the preset working route, so that the running route of the disinfecting robot is not repeated, and the working efficiency is reduced.
The embodiment does not limit how to plan the driving route, and the driving route is designed according to specific situations. For example, the cruising mileage is obtained in real time, and the driving route is continuously adjusted according to the distance between the current position and all disinfectant replenishing stations on the non-driving route; or, acquiring whether the cruising mileage is greater than the distance to the next disinfectant replenishing station every time one disinfectant station arrives, if so, continuing to drive, and if not, replenishing the disinfectant at the current disinfectant replenishing station; or judging the distance between the current position and the two subsequent disinfectant replenishing stations in real time, and judging whether to replenish the disinfectant in the first disinfectant replenishing station or to continue driving.
S13: and controlling the motor to feed liquid to the disinfectant replenishing station according to the driving route.
The main control device of the disinfection robot controls the motor to carry out liquid supplement to the disinfectant supplement station according to the planned driving route, and the planned driving route combines the endurance mileage, so that the route of the disinfection robot for going to the disinfectant supplement station for liquid supplement is not repeated with the route which is subjected to disinfection work.
In addition, this embodiment provides a preferred scheme, sets up a liquid level alarm value, and when antiseptic solution reserves reached this alarm value, disinfection robot mends liquid at next antiseptic solution replenishing station. The disinfectant alarm value is a preset disinfectant storage value, and the storage value is a minimum value which can ensure that the disinfection robot reaches the next disinfectant replenishing station to replenish the disinfectant, so that the phenomena that the prediction of the endurance mileage is unstable, the route planning is inaccurate and the disinfectant storage cannot reach the residual disinfectant replenishing station due to the large change of the working state of the disinfection robot are prevented.
According to the disinfectant supplementing method for the disinfection robot, the subsequent driving route of the disinfection robot is planned according to the cruising range corresponding to the disinfectant storage amount value and the positions of the cruising range and the current position away from the residual disinfectant supplementing stations, the route of the disinfection robot when the disinfection robot carries out fluid supplementing is not repeated with the route which is subjected to disinfection work, and the problem that the route of the disinfection robot when the disinfection robot carries out fluid supplementing to the nearest disinfectant supplementing station is possibly repeated with the route which is subjected to disinfection work when the disinfectant storage amount reaches the low liquid level alarm value in the existing scheme is solved.
According to the foregoing embodiment, fig. 2 is a flowchart of obtaining a mileage corresponding to a stored disinfectant value according to an embodiment of the present application, and as shown in fig. 2, this embodiment provides a preferred embodiment, and the obtaining a mileage corresponding to a stored disinfectant value includes:
s21: acquiring a disinfectant storage value, an atomizer gear and a running speed;
s22: acquiring the disinfectant consumption speed corresponding to the gears of the atomizer;
s23: and obtaining the endurance mileage according to the disinfectant storage value, the disinfectant consumption speed and the running speed.
In the step S21, three data of the disinfectant storage amount value, the atomizer gear position, and the driving speed are acquired, and this embodiment does not limit the order of acquiring these three data, and as a preferred embodiment, these three data are acquired at the same time, so that the error can be reduced.
It should be noted that, the embodiment does not limit the expression form and the obtaining manner of the disinfectant storage amount value, for example, a weight value of the disinfectant storage amount is obtained by a pressure sensor or a weighing sensor, or a volume value of the disinfectant storage amount is obtained by a liquid level sensor; the working efficiency of gear quantity and the atomizer gear of the atomizer of disinfection robot is also not restricted to this embodiment, and it can to obtain real-time data according to actual conditions.
The embodiment does not limit how to obtain the disinfectant consumption speed corresponding to the gears of the atomizer, and can calculate the disinfectant consumption speed of the current gear in real time by obtaining the data in the parameter comparison table of the gears of the atomizer and the disinfectant consumption speed which are set in advance, and the disinfectant consumption speed is designed according to specific implementation conditions.
Specifically, the disinfectant storage amount value, the running speed and the disinfectant consumption speed corresponding to the gears of the atomizer are obtained, and the cruising mileage of the current disinfectant storage amount which can be supplied to the disinfection robot to continue disinfection work can be calculated, so that a route can be planned subsequently.
According to the above embodiment, since the gear of the atomizer of the disinfection robot may not be constant, and the driving speed is also variable, in order to adjust the planned driving route in time when the working state changes, this embodiment provides a preferable scheme for planning the driving route according to the driving mileage and the position of each remaining disinfectant replenishing station from the current position, including:
the method comprises the steps of obtaining the distance from a current position to two nearest residual disinfectant replenishing stations in real time, wherein the distances are a first route and a second route respectively, and the first route is smaller than the second route;
if the cruising mileage is not less than the first distance and less than the second distance, selecting the disinfectant replenishing station closest to the first distance for replenishing the disinfectant;
and if the endurance mileage is greater than the second route, continuing to drive according to the working route.
Fig. 3 is a schematic view of an implementation scenario provided in this embodiment, as shown in fig. 3, the main control device obtains, in real time, distances from the current position of the disinfection robot to two nearest remaining disinfection solution supplement stations in a subsequent working route, that is, a first disinfection solution supplement station 31 and a second disinfection solution supplement station 32 shown in fig. 3, where a distance from the first disinfection solution supplement station 31 to the current position is recorded as a first route, and a distance from the second disinfection solution supplement station 32 to the current position is recorded as a second route.
If the cruising range is not less than the first route and less than the second route, the current disinfectant reserve can be supplied to the disinfection robot to work and reach the first disinfectant supplementing station 32, but can not reach the second disinfectant supplementing station 32, so that the first disinfectant supplementing station 31 is selected for supplementing the disinfectant; if the cruising range is larger than the second route, the current disinfectant reserve is enough to be supplied to the disinfection robot to work and reach the second disinfectant supplementing station 32, so that the disinfection robot continues to run according to the working route, whether the second disinfectant supplementing station 32 supplements the disinfectant is not determined at the moment, the main control device obtains the cruising range and the routes of the two disinfectant supplementing stations closest to the current position in real time, compares the cruising range and the routes of the two disinfectant supplementing stations closest to the current position, and judges whether the disinfectant is supplemented at the next disinfectant supplementing station.
It should be noted that the working path shown in fig. 3 is a straight line, and is only a working condition, in actual work, the working path may be a curve, or may be irregular, and both the first path and the second path acquired by the main control device are characterized as an actual driving path, not a straight distance.
It should be noted that, in this embodiment, the first route and the second route are obtained, the driving route is planned according to the obtained result, and if the consumption speed of the disinfectant during the operation of the disinfection robot or the driving speed of the disinfection robot changes, the cruising range may change, so that the planned working route may also change, and the planned driving route is adjusted in time.
According to the disinfectant supplementing method for the disinfection robot, the first distance and the second distance are obtained in real time, and whether the next disinfectant supplementing station is supplemented with the disinfectant is judged by comparing the first distance with the current endurance mileage, so that data information is obtained in real time, route planning can be adjusted in time, and a more reasonable route planning scheme is selected.
According to the above embodiment, acquiring data information in real time can adjust route planning in time, but the main control device needs to perform a large amount of data processing, and in order to reduce the data processing work performed by the main control device, this embodiment provides an optimal scheme for planning a driving route according to the cruising range and the position of each remaining disinfectant replenishing station away from the current position, including:
when reaching a disinfectant replenishing station, acquiring a distance from the next disinfectant replenishing station;
if the cruising mileage is less than the distance, replenishing the liquid in the current disinfectant replenishing station;
and if the cruising mileage is not less than the distance, continuing to drive according to the working route.
Fig. 4 is a schematic view of another implementation scenario provided in this embodiment, as shown in fig. 4, in an implementation, when the disinfection robot reaches one disinfection solution supplementing station, that is, the first disinfection solution supplementing station 41 shown in fig. 4, a distance from the next disinfection solution supplementing station, that is, a distance between the first disinfection solution supplementing station 41 and the second disinfection solution supplementing station 42 shown in fig. 4 is obtained, and if the cruising range is smaller than the distance between the first disinfection solution supplementing station 41 and the second disinfection solution supplementing station 42, liquid is supplemented at the first disinfection solution supplementing station 41; if the cruising range is not less than the distance from the second disinfectant replenishing station 42, the vehicle continues to travel according to the working route, and when the disinfection robot reaches the second disinfectant replenishing station 42, whether liquid replenishing is needed is judged again.
It should be noted that the working route shown in fig. 4 is a straight line, which is only a working condition, in actual work, the working route may be a curve, or may be irregular, and the distance from the next disinfectant replenishing station acquired by the main control device is an actual driving distance, not a straight line distance.
The scheme provided by the embodiment only needs to judge whether liquid needs to be supplemented when arriving at a disinfectant supplementing station, and the data operation needed by the main control device is less.
According to the above embodiment, if the disinfectant liquid storage capacity value is obtained by the liquid level sensor, when the working road surface of the disinfection robot is not level, the liquid level of the disinfectant liquid in the disinfectant liquid storage tank may be not level, and there may be an error in the obtained disinfectant liquid storage capacity value, the embodiment provides a preferred embodiment, and the obtaining of the disinfectant liquid storage capacity value includes:
and receiving the information of the pressure sensor at the lower part of the disinfectant storage box, and converting the information into a disinfectant storage value.
Specifically, install pressure sensor in venom storage box lower part, pressure sensor transmits information to master control set, and master control set converts received pressure information into the weight value, and this weight value is as the antiseptic solution reserves value.
The weight value is used as a disinfectant liquid storage value to participate in data calculation, so that the inaccuracy of a measurement result caused by the fact that the liquid level is not horizontal when the volume value is selected is avoided.
According to the above embodiment, the main control device needs to obtain the disinfectant consumption speed corresponding to the gear position value of the atomizer, and in order to reduce data calculation and obtain the current disinfectant consumption speed in time, this embodiment provides an optimal solution, and obtaining the disinfectant consumption speed corresponding to the gear position of the atomizer includes:
and calling a preset parameter comparison table to obtain the disinfectant consumption speed corresponding to the gears of the atomizer.
It should be noted that, the parameter comparison table mentioned in this embodiment refers to: and a preset parameter comparison table which corresponds to the disinfectant consumption speed one by one for each gear of the atomizer of the disinfection robot.
It should be noted that, the embodiment provides a method for calculating a consumption speed of a disinfectant, where a sampling period is set to T, and a step test is performed on an atomizer for a time duration of T. And performing linear regression processing on the sample data of each gear to obtain the disinfectant consumption speed corresponding to each atomizer gear, and recording each atomizer gear and the corresponding disinfectant consumption speed as a parameter comparison table. The calculation method of the consumption speed of the disinfecting liquid is not limited to this calculation method, but is merely a preferred embodiment.
When the master control device obtains the gear value of the atomizer, the disinfectant consumption speed corresponding to the gear of the atomizer can be directly obtained by calling the parameter comparison table, so that the time is saved, and the working efficiency is improved.
According to the embodiment, the main control device obtains the gear value of the atomizer, obtains the disinfectant consumption speed corresponding to the gear of the atomizer by calling the parameter comparison table, and in the actual work of the robot, the disinfectant consumption speeds corresponding to the gear of the atomizer may have differences, and in order to reduce errors, the embodiment provides an optimal scheme:
calculating the current consumption speed of the disinfectant corresponding to the current atomizer gear in real time;
judging whether the current consumption speed is different from the data in the parameter comparison table;
if yes, updating the data of the parameter comparison table according to the current consumption speed.
When the disinfection robot works, the current consumption speed of the disinfectant corresponding to the current atomizer gear is calculated in real time, and if the calculated consumption speed in the working state is different from the data in the parameter comparison table, the disinfectant consumption speed data corresponding to the current atomizer gear in the parameter comparison table is updated. The calculation method of the consumption speed of the disinfectant is the same as that in the above embodiment, and is not repeated herein.
And the data in the parameter comparison table is updated in real time, so that the accuracy of the disinfectant consumption speed data is improved, and the calculation error of the endurance mileage is reduced.
In the above embodiments, the disinfecting liquid replenishing method for the disinfecting robot is described in detail, and the present application also provides embodiments corresponding to the disinfecting liquid replenishing apparatus for the disinfecting robot. It should be noted that the present application describes the embodiments of the apparatus portion from two perspectives, one from the perspective of the function module and the other from the perspective of the hardware.
Fig. 5 is a schematic view of a disinfectant solution replenishing device for a disinfecting robot according to an embodiment of the present application, and as shown in fig. 5, the disinfectant solution replenishing device for a disinfecting robot according to the present embodiment includes:
the acquisition module 51 is configured to acquire a cruising mileage corresponding to the current disinfectant storage amount value;
the planning module 52 is configured to plan a driving route according to the cruising range and the position of the current position from each remaining disinfectant supplementing station, where each remaining disinfectant supplementing station is a disinfectant supplementing station on a remaining route that the robot does not pass through in the preset working route;
and the control module 53 is used for controlling the motor to feed liquid to the disinfectant replenishing station according to the driving route.
Specifically, the obtaining module 51 obtains a cruising range corresponding to a current disinfectant storage amount value, the planning module 52 plans a driving route according to the cruising range and a position of the current position away from each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not traveled by the robot in a preset working route, the control module 53 controls the motor to supplement the disinfectant from the driving route to the disinfectant supplementing station, and the subsequent driving route of the disinfection robot is planned according to the cruising range corresponding to the disinfectant storage amount value and the position of the current position away from each residual disinfectant supplementing station, so that a route from the disinfection robot to the disinfectant supplementing station when the disinfectant storage amount reaches the low liquid level alarm value is ensured not to be repeated with a route which is already subjected to disinfection work, and the problem that the route from the disinfection robot to the nearest disinfectant supplementing station when the disinfectant storage amount reaches the low liquid level alarm value in the existing scheme is avoided And (5) problems are solved.
Since the embodiments of the apparatus portion and the method portion correspond to each other, please refer to the description of the embodiments of the method portion for the embodiments of the apparatus portion, which is not repeated here.
Fig. 6 is a structural diagram of another disinfection solution replenishing device for a disinfection robot according to an embodiment of the present application, and as shown in fig. 6, the disinfection solution replenishing device for a disinfection robot according to the present embodiment includes: a memory 60 for storing a computer program;
a processor 61 for implementing the steps of the disinfecting liquid replenishing method for disinfecting the robot as described in the above embodiment when executing the computer program.
The disinfecting liquid replenishing device for the disinfecting robot provided by the embodiment can include, but is not limited to, a smart phone, a tablet computer, a notebook computer or a desktop computer.
The processor 61 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 61 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 61 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 61 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 61 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
Memory 60 may include one or more computer-readable storage media, which may be non-transitory. Memory 60 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 60 is at least used for storing a computer program 601, wherein the computer program is loaded and executed by the processor 61, and then the relevant steps of the disinfection liquid replenishing method for a disinfection robot disclosed in any one of the foregoing embodiments can be realized. In addition, the resources stored by the memory 60 may also include an operating system 602, data 603, and the like, and the storage may be transient storage or permanent storage. Operating system 602 may include Windows, Unix, Linux, etc., among others. Data 603 may include, but is not limited to, data involved in a sanitizing liquid replenishment method of a sanitizing robot, and the like.
In some embodiments, the disinfecting liquid replenishing device of the disinfecting robot further comprises a display screen 62, an input/output interface 63, a communication interface 64, a power supply 65 and a communication bus 66.
It will be appreciated by those skilled in the art that the configuration shown in fig. 6 does not constitute a limitation of the sanitizing liquid replenishing apparatus of the sanitizing robot, and may include more or less components than those shown.
The disinfectant replenishing device for the disinfection robot provided by the embodiment of the application comprises a memory and a processor, wherein when the processor executes a program stored in the memory, the following method can be realized: the disinfection liquid supplementing method of the disinfection robot plans the subsequent running route of the disinfection robot according to the distance between the cruising mileage and the current position and the position of each residual disinfection liquid supplementing station, ensures that the route of the disinfection robot when the disinfection robot carries out liquid supplementing can not be repeated with the route which has already carried out disinfection work, and avoids the problem that the route of the disinfection robot when the disinfection liquid reserve reaches the low liquid level alarm value and the disinfection liquid supplementing route which is closest to the disinfection liquid supplementing station can be repeated with the route which has already carried out disinfection work in the existing scheme.
Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps recited in the above-described embodiments of the disinfecting liquid replenishing method for a disinfecting robot.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods described in the embodiments of the present application, or all or part of the technical solutions. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The disinfecting liquid replenishing method, device and computer readable storage medium for disinfecting robot provided by the present application are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for replenishing disinfectant liquid for a disinfecting robot, comprising:
acquiring a cruising mileage corresponding to the current disinfectant storage value;
planning a driving route according to the cruising range and the distance between the current position and the position of each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not passed by the robot in a preset working route;
and controlling the motor to feed liquid to a disinfectant replenishing station according to the driving route.
2. The method for supplementing disinfecting liquid to a disinfecting robot according to claim 1, wherein said obtaining a mileage corresponding to a stored quantity of disinfecting liquid comprises:
acquiring the disinfectant storage quantity value, the atomizer gear and the running speed;
acquiring the disinfectant consumption speed corresponding to the gears of the atomizer;
and obtaining the cruising mileage according to the disinfectant storage value, the disinfectant consumption speed and the running speed.
3. The disinfectant solution replenishing method for disinfecting robot according to claim 1 or 2, wherein said planning of the travel route based on the mileage and the position of the current position from each of the remaining disinfectant solution replenishing stations comprises:
acquiring the distance from the current position to two nearest residual disinfectant replenishing stations in real time, wherein the distances are a first route and a second route respectively, and the first route is smaller than the second route;
if the cruising mileage is not less than the first route and less than the second route, selecting the disinfectant replenishing station closest to the first route for replenishing the disinfectant;
and if the endurance mileage is greater than the second route, continuing to drive according to the working route.
4. The disinfectant solution replenishing method for disinfecting robot according to claim 1 or 2, wherein said planning of the travel route based on the mileage and the position of the current position from each of the remaining disinfectant solution replenishing stations comprises:
when reaching a disinfectant replenishing station, acquiring a distance from the next disinfectant replenishing station;
if the cruising mileage is less than the distance, replenishing liquid at the current disinfectant replenishing station;
and if the cruising mileage is not less than the distance, continuing to drive according to the working route.
5. The method of replenishing disinfecting solution to a disinfecting robot of claim 2, wherein said obtaining the disinfecting solution stock value comprises:
and receiving the information of the pressure sensor at the lower part of the disinfectant storage box, and converting the information into the disinfectant storage value.
6. The method for supplementing disinfecting liquid to a disinfecting robot according to claim 2, wherein said obtaining a consumption speed of disinfecting liquid corresponding to the gear of the atomizer comprises:
and calling a preset parameter comparison table to obtain the disinfectant consumption speed corresponding to the gears of the atomizer.
7. The disinfectant solution replenishing method for disinfecting robot as recited in claim 6,
calculating the current consumption speed of the disinfectant corresponding to the current gear of the atomizer in real time;
judging whether the current consumption speed is different from the data in the parameter comparison table;
and if so, updating the data of the parameter comparison table according to the current consumption speed.
8. A disinfectant solution replenishing device for a disinfecting robot, comprising:
the acquisition module is used for acquiring the endurance mileage corresponding to the current disinfectant storage value;
the planning module is used for planning a driving route according to the cruising mileage and the position of the current position away from each residual disinfectant supplementing station, wherein each residual disinfectant supplementing station is a disinfectant supplementing station on a residual route which is not passed by the robot in a preset working route;
and the control module is used for controlling the motor to feed liquid to the disinfectant replenishing station according to the driving route.
9. A disinfectant solution replenishing device for a disinfecting robot, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of disinfecting liquid replenishment of a disinfecting robot as claimed in any one of claims 1 to 7 when said computer program is executed.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method for replenishing a sterilizing liquid for a sterilizing robot according to any one of claims 1 to 7.
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