CN114847812A

CN114847812A - Automatic control method, device and equipment for disinfection floor cleaning robot and storage medium

Info

Publication number: CN114847812A
Application number: CN202210777759.5A
Authority: CN
Inventors: 王华春
Original assignee: Shenzhen Bopeng Intelligent Technology Co ltd I
Current assignee: Shenzhen Bopeng Intelligent Technology Co ltd I
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-08-05
Anticipated expiration: 2042-07-04
Also published as: CN114847812B

Abstract

The invention relates to the technical field of Internet of things, and discloses an automatic control method, device, equipment and storage medium for a disinfection floor cleaning robot, which are used for realizing the integration of cleaning and disinfection and improving the cleaning and disinfection efficiency. The method comprises the following steps: acquiring a cleaning time period in which the disinfection floor cleaning robot is currently located, and selecting a cleaning strategy according to the cleaning time period; controlling the floor cleaning robot to clean and disinfect along an initial cleaning path according to a cleaning strategy, and acquiring dynamic environment information and image data of a disinfected cleaning area; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the cleaning standard is met according to the image data; if so, controlling the floor cleaning robot to clean and disinfect along the residual disinfection and cleaning path until the disinfection and cleaning are finished; if not, the cleaning mode is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the cleaning standard is met.

Description

Automatic control method, device and equipment for disinfection floor cleaning robot and storage medium

Technical Field

The invention relates to the technical field of Internet of things, in particular to an automatic control method, device, equipment and storage medium for a disinfection floor cleaning robot.

Background

The disinfection floor-washing robot is used as an environment-friendly cleaning robot and widely applied to cleaning and disinfection operations in public places such as stations, airports, hotels, stadiums and the like. In order to improve the automation degree of operation and reduce the close contact between an operator and the environment to be disinfected and cleaned in epidemic situations, the automatic disinfection and cleaning robot is produced.

The existing disinfection floor cleaning robot can automatically complete cleaning operation on an operation area according to a planned path, and meanwhile, the existing disinfection floor cleaning robot has a certain obstacle avoidance function in order to ensure safe floor cleaning. However, the existing solutions have no way to reasonably control the cross relationship between the disinfection areas of the cleaning area when facing both tasks, resulting in inefficient cleaning and disinfection.

Disclosure of Invention

The invention provides an automatic control method, device, equipment and storage medium for a disinfection floor-cleaning robot, which are used for realizing the integration of cleaning and disinfection and improving the cleaning and disinfection efficiency.

The invention provides an automatic control method of a disinfection and cleaning robot, which comprises the following steps: based on the sensor group among the preset disinfection floor cleaning robot acquires the static environmental information of the clean region of waiting to disinfect, and acquires disinfection floor cleaning robot's locating information, wherein, sensor group includes: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor cleaning robot; taking the positioning information as a cleaning starting position of the floor cleaning robot, and constructing an initial cleaning path of the cleaning area to be disinfected according to the static environment information and the cleaning starting position; acquiring the current cleaning time period of the disinfection and floor cleaning robot, and selecting a cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along the initial cleaning path according to the cleaning strategy, and calling the visual image sensor to acquire dynamic environment information of the area to be disinfected and image data of the disinfected area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the disinfected cleaning area meets a cleaning standard according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the disinfected cleaning area meets the cleaning standard.

Optionally, in a first implementation manner of the first aspect of the present invention, the obtaining of a cleaning time period in which the motor robot is currently located, and selecting a cleaning policy corresponding to the cleaning area to be disinfected according to the cleaning time period includes: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode, comprising: acquiring a cleaning period in which the disinfection and cleaning robot is currently located, wherein the cleaning period comprises: daytime hours and nighttime hours; when the cleaning time interval is the daytime time interval, setting a cleaning mode as a dust pushing maintenance mode and setting a disinfection mode as a high-frequency disinfection mode, and taking the dust pushing maintenance mode and the high-frequency disinfection mode as cleaning strategies of the daytime time interval; setting a cleaning mode to a deep cleaning mode and a sterilization mode to a low-frequency sterilization mode when the cleaning session is a night session, and using the deep cleaning mode and the low-frequency sterilization mode as a cleaning strategy for the night session.

Optionally, in a second implementation manner of the first aspect of the invention, the automatic control method of the floor washing robot further includes: acquiring the single disinfection area and the single cleaning area of the disinfection floor cleaning robot; calculating the coverage ratio of the single disinfection area and the single cleaning area; calculating a sweep frequency of the initial cleaning path from the single sweep area; and calculating the disinfection frequency of the disinfection floor cleaning robot according to the coverage proportion and the cleaning frequency.

Optionally, in a third implementation manner of the first aspect of the present invention, the dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a remaining disinfecting and cleaning path, and determining whether the disinfected cleaning area meets a cleaning standard according to the image data includes: calculating the dynamic environment information and the target distance of the disinfection floor washing robot; judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot or not according to the target distance; if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path; and judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data.

Optionally, in a fourth implementation manner of the first aspect of the invention, the automatic control method of the floor washing robot further includes: if not, predicting the traveling track of the dynamic environment information to obtain a dynamic predicted track; acquiring the current travel path of the disinfection floor cleaning robot, and predicting collision points of the dynamic prediction track and the current travel path to obtain a prediction result; and dynamically adjusting the initial cleaning path in advance according to the prediction result to obtain a candidate disinfection cleaning path.

Optionally, in a fifth implementation manner of the first aspect of the invention, the automatic control method of the floor washing robot further includes: detecting the residual amount of the disinfectant of the disinfection floor cleaning robot in real time, and acquiring the position information of the disinfection floor cleaning robot when the residual amount of the disinfectant is smaller than a preset target value; acquiring base station information, and calculating the shortest supplementary path of the floor disinfection and cleaning robot according to the position information and the base station information; and controlling the disinfection floor-cleaning robot to return to the base station along the shortest supplement path to perform disinfection liquid supplement operation.

Optionally, in a sixth implementation manner of the first aspect of the invention, the automatic control method of the floor washing robot further includes: acquiring height data of static obstacles in the static environment information and an initial disinfectant spraying strategy; adjusting the spraying height of a disinfectant sprayer of the disinfection floor washing robot according to the height data; and after the spraying height is adjusted, carrying out strategy adjustment on the initial disinfectant spraying strategy to obtain a target disinfectant spraying strategy.

A second aspect of the present invention provides an automatic control apparatus of a sanitizing and washing robot, comprising: the acquisition module is used for acquiring the static environment information of a cleaning area to be disinfected based on a sensor group in a preset disinfection and cleaning robot, and acquiring the positioning information of the disinfection and cleaning robot, wherein the sensor group comprises: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor cleaning robot; the construction module is used for taking the positioning information as a cleaning starting position of the disinfection floor cleaning robot and constructing an initial cleaning path of the cleaning area to be disinfected according to the static environment information and the cleaning starting position; the selecting module is used for acquiring the current cleaning time period of the disinfection and cleaning robot and selecting the cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode; the acquisition module is used for controlling the disinfection floor cleaning robot to carry out cleaning and disinfection along the initial cleaning path according to the cleaning strategy and calling the visual image sensor to acquire dynamic environment information of the cleaning area to be disinfected and image data of the disinfected cleaning area in real time; the judging module is used for dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path and judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data; the processing module is used for controlling the disinfection floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection cleaning path if the residual disinfection cleaning path is met, until the disinfection and cleaning of the area to be disinfected and cleaned are completed; and the deep cleaning module is used for adjusting the cleaning mode of the disinfection floor cleaning robot into a deep cleaning mode if the cleaning mode is not met, and deeply cleaning the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard.

Optionally, in a first implementation manner of the second aspect of the present invention, the selecting module is specifically configured to: acquiring a cleaning period in which the disinfection and cleaning robot is currently located, wherein the cleaning period comprises: daytime hours and nighttime hours; when the cleaning time interval is the daytime time interval, setting a cleaning mode as a dust pushing maintenance mode and setting a disinfection mode as a high-frequency disinfection mode, and taking the dust pushing maintenance mode and the high-frequency disinfection mode as cleaning strategies of the daytime time interval; setting a cleaning mode to a deep cleaning mode and a sterilization mode to a low-frequency sterilization mode when the cleaning session is a night session, and using the deep cleaning mode and the low-frequency sterilization mode as a cleaning strategy for the night session.

Optionally, in a second implementation manner of the second aspect of the invention, the automatic control device of the floor sanitizing robot further includes: the calculation module is used for acquiring the single disinfection area and the single cleaning area of the disinfection floor cleaning robot; calculating the coverage ratio of the single disinfection area and the single cleaning area; calculating a sweep frequency of the initial cleaning path from the single sweep area; and calculating the disinfection frequency of the disinfection floor cleaning robot according to the coverage proportion and the cleaning frequency.

Optionally, in a third implementation manner of the second aspect of the present invention, the determining module is specifically configured to: calculating the dynamic environment information and the target distance of the disinfection and floor cleaning robot; judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot or not according to the target distance; if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path; and judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data.

Optionally, in a fourth implementation manner of the second aspect of the invention, the automatic control device of the floor sanitizing robot further includes: the prediction module is used for predicting the travelling track of the dynamic environment information to obtain a dynamic prediction track if the dynamic environment information does not exist; acquiring the current travel path of the disinfection floor cleaning robot, and predicting collision points of the dynamic prediction track and the current travel path to obtain a prediction result; and dynamically adjusting the initial cleaning path in advance according to the prediction result to obtain a candidate disinfection cleaning path.

Optionally, in a fifth implementation manner of the second aspect of the invention, the automatic control device of the floor sanitizing robot further includes: the supplementary module is used for detecting the residual amount of the disinfectant of the disinfection floor-cleaning robot in real time, and acquiring the position information of the disinfection floor-cleaning robot when the residual amount of the disinfectant is smaller than a preset target value; acquiring base station information, and calculating the shortest supplementary path of the floor disinfection and cleaning robot according to the position information and the base station information; and controlling the disinfection floor-cleaning robot to return to the base station along the shortest supplement path to perform disinfection liquid supplement operation.

Optionally, in a sixth implementation manner of the second aspect of the invention, the automatic control device of the floor sanitizing and washing robot further comprises: the spraying module is used for acquiring height data of static obstacles in the static environment information and an initial disinfectant spraying strategy; adjusting the spraying height of a disinfectant sprayer of the disinfection floor washing robot according to the height data; and after the spraying height is adjusted, carrying out strategy adjustment on the initial disinfectant spraying strategy to obtain a target disinfectant spraying strategy.

In a third aspect the present invention provides an automatic control apparatus for a sanitizing machine robot, comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the sanitizer robot automation control equipment to perform the sanitizer robot automation control method described above.

A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to execute the above-described automatic control method of a floor sanitizing robot.

In the technical scheme provided by the invention, the current cleaning time period of the disinfection floor cleaning robot is obtained, and a cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time period, wherein the cleaning time period comprises the following steps: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along the initial cleaning path according to the cleaning strategy, and calling the visual image sensor to acquire dynamic environment information of the area to be disinfected and image data of the disinfected area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the disinfected cleaning area meets a cleaning standard according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the disinfected cleaning area meets the cleaning standard. The invention adopts different cleaning strategies to disinfect and clean the to-be-disinfected cleaning area at different time intervals, is beneficial to maximally improving the cleaning efficiency, adopts different disinfection modes at different time intervals, improves the disinfection safety, also improves the obstacle avoidance capability of the disinfection and cleaning robot by analyzing and avoiding the dynamic environment information in real time, and also can inspect the cleaned area after the cleaning is finished, thereby improving the cleaning degree.

Drawings

FIG. 1 is a schematic diagram of one embodiment of a method for automatically controlling a sanitizing robot, in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of another embodiment of the automated method of sanitizing a robot in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of one embodiment of the automated control system of the sanitizing robot of the present invention;

FIG. 4 is a schematic view of another embodiment of the automated control system of the sanitizing robot in an embodiment of the present invention;

FIG. 5 is a schematic diagram of one embodiment of the automated control system for a sanitizing robot, in accordance with one embodiment of the present invention.

Detailed Description

The embodiment of the invention provides an automatic control method, device, equipment and storage medium for a disinfection floor-cleaning robot, which are used for realizing the integration of cleaning and disinfection and improving the cleaning and disinfection efficiency. The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For ease of understanding, a detailed flow of an embodiment of the present invention is described below, with reference to fig. 1, an embodiment of a method for automatically controlling a sanitizing robot in an embodiment of the present invention includes:

101. based on the sensor group in the preset disinfection floor cleaning robot obtains the static environmental information of the clean area to be disinfected to obtain the positioning information of the disinfection floor cleaning robot, wherein, the sensor group includes: the robot comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the robot;

it is understood that the execution subject of the present invention may be an automatic control device of a floor cleaning robot, and may also be a terminal or a server, which is not limited herein. The embodiment of the present invention is described by taking a server as an execution subject.

It should be noted that a sensor group is preset in the preset floor-cleaning robot, wherein the sensor group comprises: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a drop-proof sensor, wherein the visual image sensor is used for acquiring a static image of a cleaning area to be disinfected and analyzing static environment information of the cleaning area to be disinfected according to the acquired static image, the static environment analysis mainly comprises the steps of identifying and positioning a fixed static barrier in the cleaning area, finally, the static barrier information obtained by identification is used as the static environment information, the disinfection and cleaning robot is positioned through the positioning sensor to obtain the positioning information of the disinfection and cleaning robot, and the positioning information is used for indicating the current position information of the disinfection and cleaning robot.

102. Taking the positioning information as a cleaning starting position of the floor cleaning robot, and constructing an initial cleaning path of a cleaning area to be sterilized according to the static environment information and the cleaning starting position;

specifically, regard location information as the clean initial position of disinfection floor cleaning robot, that is to say regard the current position information of locating of disinfection floor cleaning robot as clear starting point, disinfection floor cleaning robot in this embodiment can be in the optional position of the clean region of treating the disinfection to regard arbitrary position as clean initial position, need not to return the basic station and use the basic station as initial position, the clean region of treating the disinfection more nimble carries out cleaning and disinfecting. Further, the robot for cleaning the floor by disinfection can walk along the edge of the area to be cleaned by disinfection to obtain the outline of the area to be cleaned by disinfection, wherein the edge of the area to be cleaned by disinfection can be a solid edge and/or a virtual edge, the solid edge refers to the boundary formed by an actual object (such as a wall), the virtual edge refers to the virtual boundary of the area to be cleaned, and the area to be cleaned can be defined by the solid edge boundary and/or the virtual boundary. The corresponding walking along the edge can also be walking along the solid edge and/or walking along the virtual edge. Constructing an initial cleaning path of a cleaning area to be disinfected according to the static environment information and the cleaning initial position, and the specific process comprises the following steps: and constructing a three-dimensional coordinate system for the area to be disinfected and cleaned, carrying out point position marking on the static environment information in the three-dimensional coordinate system to obtain a three-dimensional coordinate system marked with the barrier, and carrying out shortest path planning on the three-dimensional coordinate system marked with the barrier by a preset SLAM algorithm based on the cleaning initial position to obtain an initial cleaning path.

103. Acquiring the current cleaning time period of the robot for disinfecting and washing the floor, and selecting a cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises the following steps: day and night time periods, the cleaning strategy includes: a cleaning mode and a sterilization mode;

specifically, the cleaning time interval in which the disinfection and cleaning robot is located at present is obtained, the disinfection and cleaning robot can adopt different cleaning strategies according to different cleaning time intervals, and the cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time intervals, wherein the cleaning time intervals comprise: day and night time periods, the cleaning strategy includes: a cleaning mode and a sterilization mode. In addition, in this embodiment, the disinfection floor cleaning robot can also gather the personnel intensity in the clean region of waiting to disinfect through visual image sensor in real time, adjusts cleaning strategy according to personnel intensity, for example: when the density of the personnel is more intensive, the frequency of the disinfection and cleaning is correspondingly increased.

104. Controlling the floor cleaning robot to clean and disinfect along an initial cleaning path according to a cleaning strategy, and calling a visual image sensor to acquire dynamic environment information of a cleaning area to be disinfected and image data of the disinfected cleaning area in real time;

specifically, after the cleaning strategy is adjusted by the disinfection and cleaning robot, the disinfection and cleaning robot is controlled to clean and disinfect along the initial cleaning path according to the cleaning strategy, and the visual image sensor is called to acquire dynamic environment information of the area to be disinfected and image data of the disinfected and cleaned area in real time. Wherein, dynamic environmental information is also in the people or the article of mobile state promptly, and secondly, the disinfection washes the ground robot and still can gather the image data in disinfection clean area, and dynamic environmental information mainly is used for dodging the dynamic movement barrier that is in initial clean route, and the image data in disinfection clean area is mainly used for detecting clean degree, detects and deals with clean result in real time, has improved the clean degree of disinfection washing the ground robot.

105. Dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether a disinfected cleaning area meets a cleaning standard or not according to the image data;

specifically, the initial cleaning path is dynamically adjusted according to the dynamic environment information to obtain a residual disinfection cleaning path, whether a disinfected cleaning area meets the cleaning standard is judged according to the image data, and uncleaned image data and cleaned image data of the area before and after the disinfection floor cleaning robot cleans the area along the initial cleaning path are collected and stored while cleaning; comparing the uncleaned image data with the cleaned image data; when the comparison is unqualified, controlling the disinfection floor cleaning robot to return to the cleaned area for secondary disinfection and cleaning, and then moving along the initial cleaning path for secondary disinfection and cleaning; and judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data.

106. If so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected and cleaned along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed;

specifically, if the cleaning standard is met, the disinfection and floor cleaning robot is controlled to clean and disinfect the area to be disinfected and cleaned along a residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed, wherein the residual disinfection and cleaning path is a path to be cleaned which is the initial cleaning path except the cleaned area, and the residual disinfection and cleaning path is obtained.

107. If not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and deep cleaning is carried out on the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard.

Specifically, if the cleaning mode of the floor cleaning robot is not met, the cleaning mode of the floor cleaning robot is adjusted to be a deep cleaning mode, and deep cleaning is carried out on the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard. If the cleaning strategy is in the daytime, the dust pushing mode cannot process the area which cannot be processed by the disinfected cleaning area, the cleaning mode needs to be adjusted to be the deep cleaning mode, the area is deeply cleaned until the disinfected cleaning area meets the cleaning standard, and after the disinfected cleaning area meets the cleaning standard, the disinfection and cleaning robot is controlled to continue cleaning along the rest part of the initial cleaning path until the cleaning of the area to be disinfected is completed.

In the embodiment of the invention, the cleaning time interval in which the disinfection and cleaning robot is currently located is obtained, and the cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time interval, wherein the cleaning time interval comprises the following steps: day and night time periods, the cleaning strategy includes: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along an initial cleaning path according to a cleaning strategy, and calling a visual image sensor to acquire dynamic environment information of a cleaning area to be disinfected and image data of the disinfected cleaning area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether a disinfected cleaning area meets a cleaning standard or not according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected and cleaned along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and deep cleaning is carried out on the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard. The invention adopts different cleaning strategies to disinfect and clean the to-be-disinfected cleaning area at different time intervals, is beneficial to maximally improving the cleaning efficiency, adopts different disinfection modes at different time intervals, improves the disinfection safety, also improves the obstacle avoidance capability of the disinfection and cleaning robot by analyzing and avoiding the dynamic environment information in real time, and also can inspect the cleaned area after the cleaning is finished, thereby improving the cleaning degree.

Referring to fig. 2, another embodiment of the automatic control method of the floor washing robot according to the embodiment of the present invention includes:

201. based on the sensor group in the preset disinfection floor cleaning robot obtains the static environmental information of the clean area to be disinfected to obtain the positioning information of the disinfection floor cleaning robot, wherein, the sensor group includes: the robot comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the robot;

the laser sensor and the ultrasonic sensor are mainly used for detecting dynamic environment information, detecting the profile information of the dynamic environment information through the laser sensor and selecting an avoidance mode according to the profile information, and the ultrasonic sensor is used for measuring the distance between the dynamic environment information and the disinfection and cleaning robot.

202. Taking the positioning information as a cleaning starting position of the floor cleaning robot, and constructing an initial cleaning path of a cleaning area to be sterilized according to the static environment information and the cleaning starting position;

specifically, in the embodiment, the static path is planned only according to the contour of the cleaning area to be disinfected at the initial stage to obtain the initial cleaning path, and the path planning is not performed by adopting the information of the obstacles in the cleaning area, because the obstacles may move (for example, move to the outside of the cleaning area) in the process of cleaning and disinfecting the cleaning robot along the initial cleaning path, and thus the phenomenon of missing scanning may occur when the cleaning robot cleans along the originally planned initial cleaning path.

203. Acquiring the current cleaning time period of the robot for disinfecting and washing the floor, and selecting a cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises the following steps: day and night time periods, the cleaning strategy includes: a cleaning mode and a sterilization mode;

specifically, the cleaning time period in which the disinfection and cleaning robot is currently located is acquired, wherein the cleaning time period comprises: daytime hours and nighttime hours; when the cleaning time interval is the daytime time interval, the cleaning mode is set as a dust pushing maintenance mode, the disinfection mode is set as a high-frequency disinfection mode, the dust pushing maintenance mode and the high-frequency disinfection mode are used as cleaning strategies in the daytime time interval, and therefore, more people exist in the daytime time interval, and the high-frequency disinfection of the cleaning area to be disinfected needs to be carried out, in addition, the daytime time interval is mainly maintenance, so the dust pushing mode is adopted; when the cleaning time interval is the night time interval, the cleaning mode is set to be the deep cleaning mode, the disinfection mode is set to be the low-frequency disinfection mode, the deep cleaning mode and the low-frequency disinfection mode are used as cleaning strategies of the night time interval, more people exist in the night time interval, high-frequency disinfection on a cleaning area to be disinfected is not needed, the low-frequency disinfection mode is adopted, in addition, the night time interval is mainly based on deep cleaning, and therefore the deep cleaning mode is adopted. Further, the embodiment can also divide the corresponding cleaning time interval according to the personnel density of the cleaning area to be disinfected, can adopt the same cleaning strategy as the day time interval when the personnel are dense, and adopt the same cleaning strategy as the night cleaning mode when the personnel are sparse and have no personnel.

Optionally, acquiring a single disinfection area and a single cleaning area of the disinfection floor cleaning robot; calculating the coverage ratio of the single disinfection area and the single cleaning area; calculating the sweeping frequency of an initial cleaning path according to the single sweeping area; and calculating the disinfection frequency of the disinfection and cleaning robot according to the coverage proportion and the cleaning frequency.

Specifically, as the disinfectant for disinfecting the floor cleaning robot is disinfected in a spraying manner, the disinfecting area is larger than the cleaning area, so that the disinfectant does not need to be sprayed all the time in the cleaning process of the floor cleaning robot, the single disinfecting area and the single cleaning area of the floor cleaning robot are obtained, the single disinfecting area is the area which can be covered by disinfection when the floor cleaning robot travels in one direction, and the single cleaning area is the area which can be covered by cleaning when the floor cleaning robot travels in one direction; calculating the coverage ratio of the single disinfection area and the single cleaning area; calculating the sweeping frequency of an initial cleaning path according to the single sweeping area; and calculating the disinfection frequency of the disinfection and cleaning robot according to the coverage proportion and the cleaning frequency, namely the disinfection frequency.

204. Controlling the floor cleaning robot to clean and disinfect along an initial cleaning path according to a cleaning strategy, and calling a visual image sensor to acquire dynamic environment information of a cleaning area to be disinfected and image data of the disinfected cleaning area in real time;

specifically, after the cleaning strategy is adjusted by the disinfection and cleaning robot, the disinfection and cleaning robot is controlled to clean and disinfect along the initial cleaning path according to the cleaning strategy, and a visual image sensor is called to acquire dynamic environment information of the cleaning area to be disinfected and image data of the disinfected cleaning area in real time. Wherein, dynamic environmental information is also in the people or the article of mobile state promptly, and secondly, the disinfection washes the ground robot and still can gather the image data in disinfection clean area, and dynamic environmental information mainly is used for dodging the dynamic movement barrier that is in initial clean route, and the image data in disinfection clean area is mainly used for detecting clean degree, detects and deals with clean result in real time, has improved the clean degree of disinfection washing the ground robot.

205. Calculating dynamic environment information and a target distance of the disinfection floor washing robot;

206. judging whether the dynamic environment information is in a collision warning area of the floor cleaning robot according to the target distance;

207. if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path;

specifically, the ultrasonic sensor is used for measuring the distance between the dynamic environment information and the disinfection floor cleaning robot, calculating the target distance between the dynamic environment information and the disinfection floor cleaning robot, judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot according to the target distance, and determining the current traveling speed of the disinfection floor cleaning robot according to the collision warning area where the mobile obstacle is located: and controlling the disinfection and washing robot to decelerate according to the collision warning area where the moving obstacle is located, wherein after deceleration, the traveling speed of the disinfection and washing robot in each collision warning area is in direct proportion to the safety distance threshold value of each collision warning area. The embodiment controls the disinfection and washing robot to decelerate and advance according to the collision warning area where the mobile obstacle is located, the advancing speed of the disinfection and washing robot in each collision warning area is in direct proportion to the safety distance threshold value of each collision warning area, namely, the mobile obstacle is closer to the disinfection and washing robot, the current advancing speed of the disinfection and washing robot is slower, so that the disinfection and washing robot can avoid the obstacle processing time sufficiently, the smoothness of speed change during obstacle avoidance can be ensured, the machine body is prevented from being impacted and shaken, and the stability of the machine body in the obstacle avoidance process is ensured. In a possible embodiment, when a moving obstacle is detected in at least two collision warning areas, the travel speed of the sanitizing robot is reduced to the travel speed corresponding to the collision warning area having the least safe distance threshold of the at least two collision warning areas. The embodiment is mainly aimed at the condition that the plurality of moving obstacles with different distances are near the disinfection and cleaning robot, and is in safety consideration, the threat coefficients of the plurality of detected moving obstacles with different distances to the disinfection and cleaning robot are screened, obviously, the influence of the moving obstacle closest to the disinfection and cleaning robot on the disinfection and cleaning robot is most priority, therefore, when the embodiment meets the condition that the plurality of moving obstacles with different distances are near the disinfection and cleaning robot, the moving obstacle closest to the disinfection and cleaning robot can be effectively considered, the current traveling speed of the disinfection and cleaning robot is controlled according to the collision warning area where the closest moving obstacle is located, and the disinfection and cleaning robot can avoid obstacles safely in time.

Optionally, if not, predicting a traveling track of the dynamic environment information to obtain a dynamic predicted track, and predicting a moving track of the moving obstacle in the dynamic environment information to judge a possible traveling direction of the moving obstacle; acquiring the current travel path of the disinfection and washing robot, and predicting collision points of the dynamic prediction track and the current travel path to obtain a prediction result, wherein the prediction result comprises: a collision prediction point location when a collision occurs, and no collision occurs; the initial cleaning path is dynamically adjusted in advance according to the prediction result to obtain a candidate disinfection cleaning path, and the possible movement direction of the moving barrier is predicted to avoid in advance, so that the intelligence of avoiding can be effectively improved.

208. Judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data;

209. if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected and cleaned along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed;

210. if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and deep cleaning is carried out on the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard.

Optionally, because the amount of disinfectant carried by the disinfection and washing robot at a time is limited, the residual amount of the disinfectant of the disinfection and washing robot needs to be detected in real time, and when the residual amount of the disinfectant is smaller than a preset target value, the position information of the disinfection and washing robot is obtained, where the position information is the position of the disinfection and washing robot when the disinfectant is used up; acquiring base station information, and calculating the shortest supplement path of the disinfection floor cleaning robot according to the position information and the base station information, wherein the base station information is used for indicating the position of a base station, and the base station is used for supplementing a disinfectant, charging the disinfection floor cleaning robot and self-cleaning the disinfection floor cleaning robot; and controlling the disinfection and floor cleaning robot to return to the base station along the shortest supplementing path to perform disinfectant supplementing operation, and after the disinfectant is supplemented, controlling the disinfection and floor cleaning robot to return to the cleaning area along the shortest supplementing path to continue cleaning and disinfecting operation.

Optionally, height data of a static obstacle in the static environment information and an initial disinfectant spraying strategy are obtained, when the static obstacle exceeds a disinfectant spraying outlet, the spraying height of a disinfectant sprayer of the disinfection floor cleaning robot needs to be adjusted according to the height data, and the height of the disinfectant spraying outlet higher than the static obstacle is adjusted; and after the spraying height is adjusted, strategy adjustment is carried out on the initial disinfectant spraying strategy to obtain a target disinfectant spraying strategy. The coverage completeness rate of spraying the disinfectant can be improved by intelligently controlling the disinfectant spraying strategy, and the disinfection effect of the cleaning area to be disinfected is effectively guaranteed.

In the embodiment of the invention, the cleaning time interval in which the disinfection and cleaning robot is currently located is obtained, and the cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time interval, wherein the cleaning time interval comprises the following steps: day and night time periods, the cleaning strategy includes: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along an initial cleaning path according to a cleaning strategy, and calling a visual image sensor to acquire dynamic environment information of a cleaning area to be disinfected and image data of the disinfected cleaning area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether a disinfected cleaning area meets a cleaning standard or not according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected and cleaned along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is deeply cleaned until the disinfected cleaning area meets the cleaning standard. The invention adopts different cleaning strategies to disinfect and clean the to-be-disinfected cleaning area at different time intervals, is beneficial to maximally improving the cleaning efficiency, adopts different disinfection modes at different time intervals, improves the disinfection safety, also improves the obstacle avoidance capability of the disinfection and cleaning robot by analyzing and avoiding the dynamic environment information in real time, and also can inspect the cleaned area after the cleaning is finished, thereby improving the cleaning degree.

In the above description of the automatic control method of the robot cleaner according to the embodiment of the present invention, referring to fig. 3, the automatic control apparatus of the robot cleaner according to the embodiment of the present invention is described as follows, and an embodiment of the automatic control apparatus of the robot cleaner according to the embodiment of the present invention includes:

an acquisition module 301, configured to acquire static environment information of a cleaning area to be disinfected based on a sensor group in a preset disinfection and cleaning robot, and acquire positioning information of the disinfection and cleaning robot, where the sensor group includes: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor cleaning robot;

a building module 302, configured to use the positioning information as a cleaning start position of the floor cleaning robot, and build an initial cleaning path of the cleaning area to be disinfected according to the static environment information and the cleaning start position;

a selecting module 303, configured to acquire a cleaning time period in which the robot for disinfection and cleaning is currently located, and select a cleaning policy corresponding to the cleaning area to be disinfected according to the cleaning time period, where the cleaning time period includes: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode;

an acquisition module 304, configured to control the floor cleaning robot to perform cleaning and disinfection along the initial cleaning path according to the cleaning strategy, and invoke the visual image sensor to acquire dynamic environment information of the to-be-cleaned area and image data of the disinfected cleaning area in real time;

a judging module 305, configured to dynamically adjust the initial cleaning path according to the dynamic environment information to obtain a remaining sterile cleaning path, and judge whether the sterile cleaning area meets a cleaning standard according to the image data;

the processing module 306 is configured to control the floor cleaning robot to clean and disinfect the area to be disinfected along the remaining disinfection and cleaning path if the condition is met, until the area to be disinfected and cleaned is disinfected and cleaned;

and a deep cleaning module 307, configured to adjust the cleaning mode of the floor sanitizing robot to a deep cleaning mode if the cleaning mode is not met, and perform deep cleaning on the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard.

In the embodiment of the invention, the cleaning time interval in which the disinfection and cleaning robot is currently located is obtained, and a cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time interval, wherein the cleaning time interval comprises the following steps: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along the initial cleaning path according to the cleaning strategy, and calling the visual image sensor to acquire dynamic environment information of the area to be disinfected and image data of the disinfected area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the disinfected cleaning area meets the cleaning standard according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the disinfected cleaning area meets the cleaning standard. The invention adopts different cleaning strategies to disinfect and clean the to-be-disinfected cleaning area at different time intervals, is beneficial to maximally improving the cleaning efficiency, adopts different disinfection modes at different time intervals, improves the disinfection safety, also improves the obstacle avoidance capability of the disinfection and cleaning robot by analyzing and avoiding the dynamic environment information in real time, and also can inspect the cleaned area after the cleaning is finished, thereby improving the cleaning degree.

Referring to fig. 4, another embodiment of the automatic control apparatus of the floor sanitizing robot according to the embodiment of the present invention comprises:

an acquisition module 301, configured to acquire static environment information of a cleaning area to be disinfected based on a sensor group in a preset disinfection and cleaning robot, and acquire positioning information of the disinfection and cleaning robot, where the sensor group includes: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling-prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor-washing robot;

Optionally, the selecting module 303 is specifically configured to: acquiring a cleaning period in which the disinfection and cleaning robot is currently located, wherein the cleaning period comprises: daytime hours and nighttime hours; when the cleaning time interval is the daytime time interval, setting a cleaning mode as a dust pushing maintenance mode and setting a disinfection mode as a high-frequency disinfection mode, and taking the dust pushing maintenance mode and the high-frequency disinfection mode as cleaning strategies of the daytime time interval; setting a cleaning mode to a deep cleaning mode and a sterilization mode to a low-frequency sterilization mode when the cleaning session is a night session, and using the deep cleaning mode and the low-frequency sterilization mode as a cleaning strategy for the night session.

Optionally, the automatic control device of the floor sanitizing and washing robot further comprises:

a calculation module 308 for obtaining a single disinfection area and a single cleaning area of the floor sanitizing and washing robot; calculating the coverage ratio of the single disinfection area and the single cleaning area; calculating a sweep frequency of the initial cleaning path from the single sweep area; and calculating the disinfection frequency of the disinfection floor cleaning robot according to the coverage proportion and the cleaning frequency.

Optionally, the determining module 305 is specifically configured to: calculating the dynamic environment information and the target distance of the disinfection and floor cleaning robot; judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot or not according to the target distance; if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path; and judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data.

the prediction module 309 is configured to, if not, perform travel track prediction on the dynamic environment information to obtain a dynamic prediction track; acquiring the current travel path of the disinfection floor cleaning robot, and predicting collision points of the dynamic prediction track and the current travel path to obtain a prediction result; and dynamically adjusting the initial cleaning path in advance according to the prediction result to obtain a candidate disinfection cleaning path.

the supplementing module 310 is configured to detect the remaining amount of the disinfectant of the disinfection floor-cleaning robot in real time, and when the remaining amount of the disinfectant is smaller than a preset target value, obtain position information of the disinfection floor-cleaning robot; acquiring base station information, and calculating the shortest supplementary path of the floor disinfection and cleaning robot according to the position information and the base station information; and controlling the disinfection floor-cleaning robot to return to the base station along the shortest supplement path to perform disinfection liquid supplement operation.

the spraying module 311 is configured to obtain height data of a static obstacle in the static environment information and an initial disinfectant spraying strategy; adjusting the spraying height of a disinfectant sprayer of the disinfection floor washing robot according to the height data; and after the spraying height is adjusted, carrying out strategy adjustment on the initial disinfectant spraying strategy to obtain a target disinfectant spraying strategy.

In the embodiment of the invention, the cleaning time interval in which the disinfection and cleaning robot is currently located is obtained, and a cleaning strategy corresponding to the cleaning area to be disinfected is selected according to the cleaning time interval, wherein the cleaning time interval comprises the following steps: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode; controlling the floor cleaning robot to clean and disinfect along the initial cleaning path according to the cleaning strategy, and calling the visual image sensor to acquire dynamic environment information of the area to be disinfected and image data of the disinfected area in real time; dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the disinfected cleaning area meets a cleaning standard according to the image data; if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed; if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the disinfected cleaning area meets the cleaning standard. The invention adopts different cleaning strategies to disinfect and clean the to-be-disinfected cleaning area at different time intervals, is beneficial to maximally improving the cleaning efficiency, adopts different disinfection modes at different time intervals, improves the disinfection safety, also improves the obstacle avoidance capability of the disinfection and cleaning robot by analyzing and avoiding the dynamic environment information in real time, and also can inspect the cleaned area after the cleaning is finished, thereby improving the cleaning degree.

The automatic control apparatus of the robot sterilizer of the present invention is described in detail in the perspective of the modular functional entity in fig. 3 and 4 above, and the automatic control apparatus of the robot sterilizer of the present invention is described in detail in the perspective of the hardware process in the following.

Fig. 5 is a schematic diagram of an embodiment of an automatic control apparatus 500 of a disinfection robot, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 510 (e.g., one or more processors) and a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing an application 533 or data 532. Memory 520 and storage media 530 may be, among other things, transient or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations in the robot control apparatus 500 for a disinfection scrubber. Still further, the processor 510 may be configured to communicate with the storage medium 530 to execute a sequence of instruction operations in the storage medium 530 on the sanitizing robot's automatic control apparatus 500.

The sanitizing robot's automatic control apparatus 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input-output interfaces 560, and/or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and the like. It will be appreciated by those skilled in the art that the sanitizing robot configuration shown in FIG. 5 does not constitute a limitation of the sanitizing robot, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

The invention also provides automatic control equipment of the disinfection and washing robot, which comprises a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions are executed by the processor to cause the processor to execute the steps of the automatic control method of the disinfection and washing robot in the embodiments.

The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, which may also be a volatile computer readable storage medium, having stored therein instructions, which, when run on a computer, cause the computer to perform the steps of the method for automatic control of a sanitizing robot.

Further, the computer-readable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the blockchain node, and the like.

The block chain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. 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 above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An automatic control method of a sanitizing and washing robot, comprising:

based on the sensor group among the preset disinfection floor cleaning robot acquires the static environmental information of the clean region of waiting to disinfect, and acquires disinfection floor cleaning robot's locating information, wherein, sensor group includes: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor cleaning robot;

taking the positioning information as a cleaning starting position of the floor cleaning robot, and constructing an initial cleaning path of the cleaning area to be disinfected according to the static environment information and the cleaning starting position;

acquiring the current cleaning time period of the disinfection and floor cleaning robot, and selecting a cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises: a day time period and a night time period, the cleaning strategy comprising: the robot for cleaning and disinfecting the floor is characterized by comprising a cleaning mode and a disinfecting mode, wherein the disinfecting floor-cleaning robot acquires the personnel density of an area to be disinfected in real time through the visual image sensor and adjusts the cleaning strategy according to the personnel density;

controlling the floor cleaning robot to clean and disinfect along the initial cleaning path according to the cleaning strategy, and calling the visual image sensor to acquire dynamic environment information of the area to be disinfected and image data of the disinfected area in real time;

dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain a residual disinfection cleaning path, and judging whether the disinfected cleaning area meets a cleaning standard according to the image data, wherein the dynamically adjusting the initial cleaning path according to the dynamic environment information to obtain the residual disinfection cleaning path, and judging whether the disinfected cleaning area meets the cleaning standard according to the image data comprises the following steps: calculating the dynamic environment information and the target distance of the disinfection and floor cleaning robot; judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot or not according to the target distance; if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path; judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data;

if so, controlling the floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection and cleaning path until the disinfection and cleaning of the area to be disinfected and cleaned are completed;

if not, the cleaning mode of the disinfection floor cleaning robot is adjusted to be a deep cleaning mode, and the disinfected cleaning area is subjected to deep cleaning until the disinfected cleaning area meets the cleaning standard.

2. The automatic control method of a robot sterilizer of claim 1, wherein the cleaning interval in which the robot sterilizer is currently located is obtained, and a cleaning strategy corresponding to the cleaning area to be sterilized is selected according to the cleaning interval, wherein the cleaning interval comprises: a day time period and a night time period, the cleaning strategy comprising: a cleaning mode and a sterilization mode, comprising:

acquiring a cleaning time period in which the disinfection and floor cleaning robot is currently located, wherein the cleaning time period comprises: daytime hours and nighttime hours;

when the cleaning time interval is the daytime time interval, setting a cleaning mode as a dust pushing maintenance mode and setting a disinfection mode as a high-frequency disinfection mode, and taking the dust pushing maintenance mode and the high-frequency disinfection mode as cleaning strategies of the daytime time interval;

setting a cleaning mode to a deep cleaning mode and a sterilization mode to a low-frequency sterilization mode when the cleaning session is a night session, and using the deep cleaning mode and the low-frequency sterilization mode as a cleaning strategy for the night session.

3. The automatic control method of a sanitizing robot according to claim 1, wherein said automatic control method of a sanitizing robot further comprises:

acquiring the single disinfection area and the single cleaning area of the disinfection floor cleaning robot;

calculating the coverage ratio of the single disinfection area and the single cleaning area;

calculating a sweep frequency of the initial cleaning path from the single sweep area;

and calculating the disinfection frequency of the disinfection floor cleaning robot according to the coverage proportion and the cleaning frequency.

4. The method of automatically controlling a sanitizing robot as recited in claim 1, wherein said method of automatically controlling a sanitizing robot further comprises:

if not, predicting the traveling track of the dynamic environment information to obtain a dynamic predicted track;

acquiring the current travel path of the disinfection floor cleaning robot, and predicting collision points of the dynamic prediction track and the current travel path to obtain a prediction result;

and dynamically adjusting the initial cleaning path in advance according to the prediction result to obtain a candidate disinfection cleaning path.

5. The automatic control method of a sanitizing robot according to claim 1, wherein said automatic control method of a sanitizing robot further comprises:

detecting the residual amount of the disinfectant of the disinfection floor cleaning robot in real time, and acquiring the position information of the disinfection floor cleaning robot when the residual amount of the disinfectant is smaller than a preset target value;

acquiring base station information, and calculating the shortest supplementary path of the floor disinfection and cleaning robot according to the position information and the base station information;

and controlling the disinfection floor-cleaning robot to return to the base station along the shortest supplement path to perform disinfection liquid supplement operation.

6. The automatic control method of a sanitizing robot according to any of claims 1-5, further comprising:

acquiring height data of static obstacles in the static environment information and an initial disinfectant spraying strategy;

adjusting the spraying height of a disinfectant sprayer of the disinfection floor washing robot according to the height data;

and after the spraying height is adjusted, carrying out strategy adjustment on the initial disinfectant spraying strategy to obtain a target disinfectant spraying strategy.

7. An automatic control device for a sanitizing robot, comprising:

the acquisition module is used for acquiring the static environment information of a cleaning area to be disinfected based on a sensor group in a preset disinfection and cleaning robot, and acquiring the positioning information of the disinfection and cleaning robot, wherein the sensor group comprises: the system comprises a visual image sensor, a laser sensor, a positioning sensor, an ultrasonic sensor and a falling prevention sensor, wherein the positioning information is used for indicating the current position information of the disinfection floor cleaning robot;

the construction module is used for taking the positioning information as a cleaning starting position of the disinfection floor cleaning robot and constructing an initial cleaning path of the cleaning area to be disinfected according to the static environment information and the cleaning starting position;

the selecting module is used for acquiring the current cleaning time period of the disinfection and cleaning robot and selecting the cleaning strategy corresponding to the cleaning area to be disinfected according to the cleaning time period, wherein the cleaning time period comprises: a day time period and a night time period, the cleaning strategy comprising: the robot for cleaning and disinfecting the floor is characterized by comprising a cleaning mode and a disinfecting mode, wherein the disinfecting floor-cleaning robot acquires the personnel density of an area to be disinfected in real time through the visual image sensor and adjusts the cleaning strategy according to the personnel density;

the acquisition module is used for controlling the disinfection floor cleaning robot to carry out cleaning and disinfection along the initial cleaning path according to the cleaning strategy and calling the visual image sensor to acquire dynamic environment information of the cleaning area to be disinfected and image data of the disinfected cleaning area in real time;

a determining module, configured to dynamically adjust the initial cleaning path according to the dynamic environment information to obtain a remaining disinfection cleaning path, and determine whether the disinfected cleaning area meets a cleaning standard according to the image data, where the dynamically adjust the initial cleaning path according to the dynamic environment information to obtain the remaining disinfection cleaning path, and determine whether the disinfected cleaning area meets the cleaning standard according to the image data, including: calculating the dynamic environment information and the target distance of the disinfection and floor cleaning robot; judging whether the dynamic environment information is in a collision warning area of the disinfection floor cleaning robot or not according to the target distance; if so, determining an avoidance mode according to the target distance, and dynamically adjusting the initial cleaning path according to the avoidance mode to obtain a residual disinfection cleaning path; judging whether the disinfected cleaning area meets the cleaning standard or not according to the image data;

the processing module is used for controlling the disinfection floor cleaning robot to clean and disinfect the area to be disinfected along the residual disinfection cleaning path if the residual disinfection cleaning path is met, until the disinfection and cleaning of the area to be disinfected and cleaned are completed;

and the deep cleaning module is used for adjusting the cleaning mode of the disinfection floor cleaning robot into a deep cleaning mode if the cleaning mode is not met, and deeply cleaning the disinfected cleaning area until the disinfected cleaning area meets the cleaning standard.

8. An automatic control apparatus for a sanitizing robot, comprising: a memory and at least one processor, the memory having instructions stored therein;

the at least one processor invokes the instructions in the memory to cause the sanitizing robot's automation control apparatus to perform the sanitizing robot's automation control method of any of claims 1-6.

9. A computer readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, implement the method of automated control of a sanitizing robot as recited in any of claims 1-6.