Room disinfection methods, equipment, and media based on robot vacuum cleaners

Abstract

This application discloses a room disinfection method, device, and medium based on a robotic vacuum cleaner. The method includes: controlling the robotic vacuum cleaner to move within the room and release disinfectant gas according to a disinfection command; collecting and calculating the concentration of disinfectant gas at multiple preset collection points within the room to obtain multiple first collection point gas concentrations; calculating a first average concentration of disinfectant gas within the room based on the gas concentrations at the multiple first collection points; stopping the release of disinfectant gas when the first average concentration of disinfectant gas exceeds a first preset concentration value; and filtering the disinfectant gas within the room after a first preset time interval until the average concentration of disinfectant gas within the room is lower than a second preset concentration value. This application differs from traditional disinfection methods such as ultraviolet light and disinfectant water, is not subject to excessive constraints, and can better complete the disinfection work within the room. It can effectively solve the problem that existing disinfection methods have significant limitations and cannot ensure disinfection quality.

Description

Technical Field

[0001] This application relates to the field of robot vacuum cleaner technology, specifically to a room disinfection method, equipment, and medium based on a robot vacuum cleaner. Background Technology

[0002] Currently, there are two main disinfection methods for robotic vacuum cleaners with disinfection functions on the market: one is to add disinfectant to the water tank for mopping and disinfection, and the other is to use ultraviolet light for disinfection. Disinfectant disinfection can only target bacteria and viruses on the ground, and has little effect on viruses on walls and in the air. Ultraviolet light disinfection is affected by factors such as ambient temperature, light aging, and exposure time, and cannot guarantee a good disinfection effect. Therefore, these two disinfection methods have significant limitations and cannot guarantee disinfection quality. Summary of the Invention

[0003] This application provides a room disinfection method, equipment, and medium based on a robot vacuum cleaner, aiming to solve the problem that existing disinfection methods have significant limitations and cannot ensure disinfection quality.

[0004] To address the aforementioned technical problems, this application provides a room disinfection method based on a robot vacuum cleaner, comprising:

[0005] The robot vacuum cleaner is controlled to move within the room and release disinfectant gas according to the disinfection instructions;

[0006] The concentration of disinfectant gas at multiple preset collection points in the room is collected and calculated to obtain the gas concentration at multiple first collection points;

[0007] The average concentration of the first disinfectant gas in the room is calculated based on the gas concentrations at multiple first collection points.

[0008] When the average concentration of the first disinfectant gas exceeds the first preset concentration value, the release of the disinfectant gas is stopped;

[0009] After a first preset time interval, the disinfectant gas in the room is filtered out until the average concentration of the disinfectant gas in the room is lower than a second preset concentration value.

[0010] Preferably, the step of collecting and calculating the concentration of disinfectant gas at multiple preset collection points in the room to obtain the gas concentration at multiple first collection points includes:

[0011] Obtain the movement path of the robot vacuum cleaner within the room;

[0012] Mark multiple collection points along the movement path;

[0013] The sweeping machine is controlled to move to the collection points to collect gas concentrations at multiple first collection points.

[0014] Preferably, after the step of calculating the average concentration of the first disinfectant gas in the room based on the gas concentrations at multiple first collection points, the method further includes:

[0015] Determine whether the gas concentration at the first collection point is less than the first preset concentration value;

[0016] When the gas concentration at the first collection point is less than the first preset concentration value, it is marked as a gas replenishment point;

[0017] The sweeper is controlled to go to the gas replenishment point to perform disinfection gas replenishment until the concentration of disinfection gas at the gas replenishment point is greater than the first preset concentration value.

[0018] Collect and calculate the concentration of disinfectant gas after the gas replenishment point replenishes the disinfectant gas to obtain the gas concentration at the second collection point;

[0019] Obtain the sampling points adjacent to the gas replenishment point, and generate multiple adjacent sampling points;

[0020] The average gas concentration values ​​at multiple adjacent points are obtained by calculating the average gas concentration at the first collection point and the gas concentration at the second collection point, respectively, based on the gas concentration at the second collection point.

[0021] Determine whether the average gas concentration value of the adjacent sampling points is less than the first preset concentration value;

[0022] When the average gas concentration at adjacent points is less than the first preset concentration value, the difference between the average gas concentration at adjacent points and the first preset concentration value is calculated.

[0023] Using the neighboring point where the difference between the average gas concentration value of the adjacent points and the first preset concentration value is negative and the absolute value of the difference is the largest as the moving direction, the sweeper is controlled to move along the moving direction to the neighboring point to replenish the disinfection gas until the disinfection gas concentration of the neighboring point is greater than the first preset concentration value.

[0024] Preferably, the step of performing the filtration of the disinfectant gas in the room after the first preset time interval until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value includes:

[0025] After a preset time interval for releasing disinfectant gas, the robot vacuum cleaner is controlled to move within the room and perform disinfectant gas filtration.

[0026] The gas concentration at the third sampling point is collected after the disinfection gas filtration process is performed at the multiple sampling points.

[0027] The average concentration of the second disinfectant gas in the room was calculated based on the gas concentrations at multiple third collection points.

[0028] Determine whether the average concentration of the second disinfectant gas is less than the preset second concentration value;

[0029] When the average concentration of the second disinfectant gas is less than the second preset concentration value, the disinfectant gas filtration operation is stopped.

[0030] When the average concentration of the second disinfectant gas is greater than the second preset concentration value, the filtration of the disinfectant gas in the room continues until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0031] Preferably, the step of continuing to filter the disinfectant gas in the room when the average concentration of the second disinfectant gas is greater than the second preset concentration value, until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value, includes:

[0032] Determine whether the gas concentration at the third collection point is greater than the second preset concentration value;

[0033] When the gas concentration at the third collection point is greater than the second preset concentration value, it is marked as a secondary filtration point;

[0034] The sweeper is controlled to go to the secondary filtration point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the gas replenishment point is less than the second preset concentration value.

[0035] Collect and calculate the concentration of disinfectant gas after the secondary filtration point performs the secondary filtration of disinfectant gas to obtain the gas concentration at the filtration point;

[0036] Obtain the collection points adjacent to the secondary filtering point, and generate multiple adjacent filtering points;

[0037] The average gas concentration at the third collection point is calculated based on the gas concentration at the filtration point and the gas concentration at the adjacent filtration point to obtain the average gas concentration values ​​at multiple adjacent filtration points.

[0038] Determine whether the average gas concentration at adjacent filtration points is greater than the second preset concentration value;

[0039] When the average gas concentration at adjacent filtration points is greater than the second preset concentration value, the difference between the average gas concentration at adjacent filtration points and the second preset concentration value is calculated.

[0040] Using the adjacent filter point where the difference between the average gas concentration value of the adjacent filter point and the second preset concentration value is positive and the adjacent filter point with the largest difference as the moving direction, the sweeper is controlled to move along the moving direction to the adjacent filter point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the adjacent filter points is less than the second preset concentration value.

[0041] Preferably, the step of controlling the sweeper to move along the moving direction to the adjacent filter point where the difference between the average gas concentration value of the adjacent filter points and the second preset concentration value is positive and the difference is the largest, and performing secondary filtration of disinfectant gas, until the disinfectant gas concentration at all adjacent filter points is less than the second preset concentration value, includes:

[0042] The concentration of disinfectant gas was randomly collected at several locations within the room to obtain the gas concentration at multiple fourth collection points.

[0043] Calculate the average concentration of the third disinfectant gas in the room based on the gas concentration at the fourth collection point;

[0044] When the average concentration of the third disinfectant gas is less than the second preset concentration value, it is determined that the disinfectant gas filtration work is completed.

[0045] When the average concentration of the third disinfectant gas is greater than the second preset concentration value, the sweeping machine is controlled to move to the fourth collection point and perform disinfectant gas filtration until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0046] Preferably, after the step of controlling the sweeper to move in the room and release disinfectant gas according to the disinfection command, the following steps are included:

[0047] The concentration of disinfectant gas in the room is collected at a second preset interval to obtain disinfectant gas concentration data;

[0048] The disinfectant gas concentration data is uploaded to a preset processing terminal to generate a disinfectant gas concentration map.

[0049] Preferably, before the step of controlling the sweeper to move in the room and release disinfectant gas according to the disinfection command, the following steps are included:

[0050] If the robot vacuum receives a disinfection command, it will monitor the current environment in real time.

[0051] If the current environment is a closed environment and there are no living organisms in the current environment, a disinfection command is generated.

[0052] Otherwise, a warning message is generated and sent to the user terminal.

[0053] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the room disinfection method based on a robot vacuum cleaner as described above.

[0054] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the room disinfection method based on a robot vacuum cleaner as described above.

[0055] This application discloses a room disinfection method, device, and medium based on a robotic vacuum cleaner, comprising: controlling the robotic vacuum cleaner to move within the room and release disinfectant gas according to a disinfection command; collecting and calculating the concentration of disinfectant gas at multiple preset collection points within the room to obtain multiple first collection point gas concentrations; calculating a first average concentration of disinfectant gas within the room based on the gas concentrations at the multiple first collection points; stopping the release of the disinfectant gas when the first average concentration of disinfectant gas exceeds a first preset concentration value; and, after a first preset time interval, performing a filtration process for the disinfectant gas within the room until the average concentration of disinfectant gas within the room is lower than a second preset concentration value. This application differs from traditional disinfection methods such as ultraviolet light and disinfectant water, is not subject to excessive constraints, and can better complete the disinfection work within the room. It effectively solves the problem that existing disinfection methods have significant limitations and cannot guarantee disinfection quality. Attached Figure Description

[0056] Figure 1 This is a schematic flowchart of a room disinfection method based on a robot vacuum cleaner, according to one embodiment.

[0057] Figure 2 This is a schematic diagram of a room disinfection device based on a robot vacuum cleaner, according to one embodiment.

[0058] Figure 3 This is a schematic block diagram of the structure of a computer device according to one embodiment.

[0059] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] Those skilled in the art will understand that, unless explicitly stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of this application means the presence of features, integers, steps, operations, elements, units, cells, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, cells, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless couplings. The term “and / or” as used herein includes all or any of the units and all combinations thereof of one or more associated listed items.

[0062] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0063] Reference Figure 1 This application provides a room disinfection method based on a robot vacuum cleaner, comprising:

[0064] S1. Control the sweeper to move in the room and release disinfectant gas according to the disinfection instructions;

[0065] S2. Collect and calculate the concentration of disinfectant gas at multiple preset collection points in the room to obtain the gas concentration at multiple first collection points;

[0066] S3. Calculate the average concentration of the first disinfectant gas in the room based on the gas concentration at multiple first collection points.

[0067] S4. When the average concentration of the first disinfectant gas exceeds the first preset concentration value, stop releasing the disinfectant gas;

[0068] S5. After the first preset time interval, perform the filtration of the disinfectant gas in the room until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0069] As described in step S1 above, the control sweeper provided in this embodiment is internally equipped with a disinfection gas production device and a disinfection gas filtration device. The disinfection gas includes ozone, but may also include other disinfection gases; this application does not specifically limit this. The ozone generation principle is as follows: short-wavelength ultraviolet light with a wavelength below 200nm can decompose O2 molecules, and the generated O* can combine with O2 to produce ozone. Therefore, an ultraviolet lamp that emits short-wavelength ultraviolet light below 200nm can be used as the disinfection gas production device. The ozone elimination principle is as follows: ozone can be quickly removed at room temperature using a manganese-based composite metal as an ozone catalyst. Therefore, a manganese-based composite metal can be installed at the blower outlet of the sweeper. The manganese-based composite gold ozone filter serves as a disinfection gas filtration device. It utilizes the suction and exhaust functions of the sweeper's fan to remove ozone from the air. The sweeper also has a communication unit that can communicate with a user terminal to receive disinfection commands. After receiving the user's disinfection command, the sweeper moves within the room, continuously generating ozone during this process to disperse it throughout the room. The fan shuts off during the production and release of the disinfection gas. The sweeper's movement path can be the path it follows when performing a cleaning task, or another preset path, such as a "U" shaped path along a wall or a "bow" shaped path.

[0070] As described in steps S2-S4 above, during the movement of the sweeping machine, while releasing and collecting ozone, the concentration of disinfectant gas at multiple preset collection points in the room can be collected and calculated. These collection points are all preset along the sweeping machine's movement path. Furthermore, after the sweeping machine has finished releasing ozone in the room, it can return to the preset collection points to collect the disinfectant gas concentration, thus obtaining multiple first collection point gas concentrations. Specifically, if a "U-shaped" path is used, each corner of the U-shaped path is set as a collection point, for a total of 8 collection points. This allows for the collection of the first collection point gas concentrations at 8 points. The first average disinfectant gas concentration is calculated from these 8 first collection point gas concentrations. Finally, the release of disinfectant gas is determined by whether the first average disinfectant gas concentration exceeds a preset first concentration value. If the first average disinfectant gas concentration exceeds the first preset concentration value, the ultraviolet emitting lamp is turned off to stop the production and release of the disinfectant gas. The first preset concentration value is the air disinfectant ozone concentration, and the range of the first preset concentration value is 2 mg / m³. 3 ~30mg / m 3(i.e., the ozone concentration per unit volume when it has a disinfection and sterilization effect), the action time is 30 to 120 minutes; if the average concentration of the first disinfection gas does not exceed the first preset concentration value, the sweeper can be controlled to continue to replenish the production and release of disinfection gas. The sweeper can continue to replenish the production and release of disinfection gas along the same path, or it can move randomly to release disinfection gas.

[0071] As described in step S5 above, after a preset time interval, i.e., 30-120 minutes after the disinfectant gas release process is completed, the sweeper will turn on its fan to perform air intake and exhaust, allowing the ozone in the air to flow through the ozone filter and complete the ozone removal process. Simultaneously, it will continuously monitor and calculate the ozone concentration in the room in real time until the average ozone concentration in the room falls below a second preset concentration value. This second preset concentration value is the concentration at which there are no adverse effects on the human body, i.e., the safe standard concentration of ozone is ≤0.16 mg / m³. 3 ;

[0072] In one embodiment, the step of collecting and calculating the concentration of disinfectant gas at multiple preset collection points in the room to obtain the gas concentration at multiple first collection points includes:

[0073] Obtain the movement path of the robot vacuum cleaner within the room;

[0074] Mark multiple collection points along the movement path;

[0075] The sweeping machine is controlled to move to the collection points to collect gas concentrations at multiple first collection points.

[0076] As described above, during the process of collecting the concentration of disinfectant gas at the collection points, the first step is to obtain the movement path of the sweeper when releasing disinfectant gas or performing cleaning tasks, such as a "U" shaped path along the wall or a "bow" shaped path. Multiple collection points are set or marked on the movement path of the sweeper. The distance between each marked point can be the same or different. The order in which the sweeper moves to the collection points can be determined according to the order in which the collection points pass through the sweeper's movement path, or it can be a random order. This application does not limit this. By collecting the ozone gas concentration at the first collection point of multiple collection points, the overall average concentration in the room can be obtained.

[0077] In one embodiment, after the step of calculating the average concentration of the first disinfectant gas in the room based on the gas concentrations at multiple first collection points, the method further includes:

[0078] Determine whether the gas concentration at the first collection point is less than the first preset concentration value;

[0079] When the gas concentration at the first collection point is less than the first preset concentration value, it is marked as a gas replenishment point;

[0080] The sweeper is controlled to go to the gas replenishment point to perform disinfection gas replenishment until the concentration of disinfection gas at the gas replenishment point is greater than the first preset concentration value.

[0081] Collect and calculate the concentration of disinfectant gas after the gas replenishment point replenishes the disinfectant gas to obtain the gas concentration at the second collection point;

[0082] Obtain the sampling points adjacent to the gas replenishment point, and generate multiple adjacent sampling points;

[0083] The average gas concentration values ​​at multiple adjacent points are obtained by calculating the average gas concentration at the first collection point and the gas concentration at the second collection point, respectively, based on the gas concentration at the second collection point.

[0084] Determine whether the average gas concentration value of the adjacent sampling points is less than the first preset concentration value;

[0085] When the average gas concentration at adjacent points is less than the first preset concentration value, the difference between the average gas concentration at adjacent points and the first preset concentration value is calculated.

[0086] Using the neighboring point where the difference between the average gas concentration value of the adjacent points and the first preset concentration value is negative and the absolute value of the difference is the largest as the moving direction, the sweeper is controlled to move along the moving direction to the neighboring point to replenish the disinfection gas until the disinfection gas concentration of the neighboring point is greater than the first preset concentration value.

[0087] As described above, after collecting the gas concentration at multiple collection points, it is determined whether the gas concentration at each collection point exceeds a first preset concentration value of 2 mg / m³. 3 ~30mg / m 3(i.e., the ozone concentration per unit volume when it has a disinfecting and sterilizing effect). When the gas concentration at the first sampling point O is less than the first preset concentration value, it indicates that the ozone concentration at sampling point O has not reached the level required for disinfection and sterilization. Therefore, sampling point O will be marked as a gas replenishment point (i.e., sampling point O) where disinfecting gas needs to be replenished. The server will control the sweeper to move to the gas replenishment point to continue producing and releasing ozone until the disinfecting gas concentration at the gas replenishment point is greater than the first preset concentration value. After replenishing the disinfecting gas, the gas replenishment point (i.e., sampling point O) will be sampled and measured again. The concentration of disinfectant gas at collection point O is used to obtain the gas concentration at the second collection point. At this time, the gas concentration at the second collection point will be greater than the first preset concentration value. The cloud server will expand the four-neighborhood with the gas replenishment point (i.e., collection point O) as the center point, and search for the four collection points A, B, C, and D adjacent to the gas replenishment point (i.e., collection point O) as adjacent collection points. The average value of the gas concentration at the second collection point of the gas replenishment point (i.e., collection point O) and the gas concentration at the first collection points of collection points A, B, C, and D will be calculated. For example, if the ozone concentration at collection point O is 2.4 mg / m³... 3 The ozone concentrations at sampling points A, B, C, and D were 1.4 mg / m³. 3 1.2 mg / m 3 2.3 mg / m 3 2.1 mg / m 3 The average gas concentration at sampling point O and its adjacent points A, B, C, and D is 1.9 mg / m³. 3 1.8 mg / m 3 2.35 mg / m 3 2.25 mg / m 3 That is, the difference between the average gas concentration at sampling point O and its neighboring point A and the first preset concentration value is negative (-0.1 mg / m³). 3 The difference between the average gas concentration at sampling point O and its neighboring point B and the first preset concentration value is negative (-0.2 mg / m³). 3 If the robot vacuum moves towards the adjacent sampling point B, it will replenish the disinfectant gas at the adjacent sampling point B. This process continues until the concentration of disinfectant gas at all adjacent sampling points is greater than the first preset concentration value, indicating that the disinfectant gas release is complete. In this embodiment, by performing a four-neighbor search on each point and determining whether to replenish the disinfectant gas based on the disinfectant gas concentration at the adjacent sampling points within the four-neighbor area, the disinfectant gas concentration at any point in the entire room can meet the disinfection standard.

[0088] In one embodiment, the step of performing the filtration of the disinfectant gas in the room after a first preset time interval until the average concentration of the disinfectant gas in the room is lower than a second preset concentration value includes:

[0089] After a preset time interval for releasing disinfectant gas, the robot vacuum cleaner is controlled to move within the room and perform disinfectant gas filtration.

[0090] The gas concentration at the third sampling point is collected after the disinfection gas filtration process is performed at the multiple sampling points.

[0091] The average concentration of the second disinfectant gas in the room was calculated based on the gas concentrations at multiple third collection points.

[0092] Determine whether the average concentration of the second disinfectant gas is less than the preset second concentration value;

[0093] When the average concentration of the second disinfectant gas is less than the second preset concentration value, the disinfectant gas filtration operation is stopped.

[0094] When the average concentration of the second disinfectant gas is greater than the second preset concentration value, the filtration of the disinfectant gas in the room continues until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0095] As described above, after the preset time interval for releasing the disinfectant gas, such as 30 minutes after the disinfectant gas release is completed, most of the harmful substances and bacteria in the room will have been eliminated by ozone after 30 minutes of disinfection. Therefore, the server will control the robot to move around the room again and turn on the fan, allowing the ozone-containing air to come into contact with the ozone filter during the fan's intake and exhaust process, thereby filtering out the ozone in the air. The path the robot moves during ozone filtration can be the same as or different from the path used when releasing ozone. The location of the collection point can be the same as the location of the collection point used when releasing ozone, or it can be set separately. During the ozone filtration process, the robot will collect the gas concentration at a third collection point after the disinfectant gas filtration. The average concentration of the second disinfectant gas in the room will be calculated based on the gas concentrations at multiple third collection points. When the average concentration of the second disinfectant gas after the disinfectant gas filtration is less than the second preset concentration value, i.e., ≤0.16mg / m³, the robot will be activated. 3 If the fan stops working, it indicates that the disinfectant gas filtration process is complete and the fan can be turned off. Otherwise, the cloud server will continue to control the robot vacuum cleaner to move around the room and perform the disinfectant gas filtration process until the average concentration of the disinfectant gas in the room is below 0.16 mg / m³. 3 This ensures that the level of disinfectant gas in the room is not too high, thus preventing it from affecting the user's stay.

[0096] In one embodiment, the step of continuing to filter the disinfectant gas in the room when the average concentration of the second disinfectant gas is greater than the second preset concentration value, until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value, includes:

[0097] Determine whether the gas concentration at the third collection point is greater than the second preset concentration value;

[0098] When the gas concentration at the third collection point is greater than the second preset concentration value, it is marked as a secondary filtration point;

[0099] The sweeper is controlled to go to the secondary filtration point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the gas replenishment point is less than the second preset concentration value.

[0100] Collect and calculate the concentration of disinfectant gas after the secondary filtration point performs the secondary filtration of disinfectant gas to obtain the gas concentration at the filtration point;

[0101] Obtain the collection points adjacent to the secondary filtering point, and generate multiple adjacent filtering points;

[0102] The average gas concentration at the third collection point is calculated based on the gas concentration at the filtration point and the gas concentration at the adjacent filtration point to obtain the average gas concentration values ​​at multiple adjacent filtration points.

[0103] Determine whether the average gas concentration at adjacent filtration points is greater than the second preset concentration value;

[0104] When the average gas concentration at adjacent filtration points is greater than the second preset concentration value, the difference between the average gas concentration at adjacent filtration points and the second preset concentration value is calculated.

[0105] Using the adjacent filter point where the difference between the average gas concentration value of the adjacent filter point and the second preset concentration value is positive and the adjacent filter point with the largest difference as the moving direction, the sweeper is controlled to move along the moving direction to the adjacent filter point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the adjacent filter points is less than the second preset concentration value.

[0106] As described above, after collecting the gas concentration at a third collection point from multiple collection points, it is determined whether the gas concentration at the third collection point is greater than a second preset concentration value, that is, whether the gas concentration at the third collection point corresponding to each collection point is less than the second preset concentration value of 0.16 mg / m³. 3 When the gas concentration at the third sampling point O is less than the second preset concentration value of 0.16 mg / m³ 3This indicates that the ozone concentration at sampling point O has reached the safe concentration requirement for ozone. If the gas concentration at the third sampling point is still greater than the second preset concentration value of 0.16 mg / m³ after filtration, this indicates that the ozone concentration at sampling point O has reached the safe concentration requirement for ozone. 3 If the ozone concentration at the sampling point O is lower than the second preset concentration value, the server will mark the sampling point O as the secondary filtration point. The server will then control the robot vacuum to move to the secondary filtration point to continue ozone filtration until the concentration of the disinfectant gas at the gas replenishment point is lower than the second preset concentration value. After the secondary filtration of the disinfectant gas, the concentration of the disinfectant gas at the secondary filtration point (i.e., sampling point O) will be collected and measured again to obtain the gas concentration at the filtration point. At this time, the gas concentration at the second sampling point will be lower than the second preset concentration value. Afterward, the server will expand the four-neighborhood with the secondary filtration point (i.e., sampling point O) as the center point, and search for the four sampling points A, B, C, and D adjacent to the secondary filtration point (i.e., sampling point O) as adjacent filtration points. The average concentration of the gas at the adjacent filtration points will be calculated by comparing the gas concentration at the third sampling point of the secondary filtration point (i.e., sampling point O) with the gas concentration at the third sampling point of the adjacent filtration points A, B, C, and D. For example, if the ozone concentration at sampling point O is 0.21 mg / m³, the average concentration of the gas at the adjacent filtration points will be calculated. 3 The ozone concentrations at sampling points A, B, C, and D were 0.11 mg / m³. 3 0.18 mg / m 3 0.20 mg / m 3 0.10 mg / m 3 Then, the average gas concentration at the secondary filtration point (i.e., sampling point O) and the adjacent filtration points A, B, C, and D are 0.16 mg / m³. 3 0.185 mg / m 3 0.205 mg / m 3 0.155mg / m 3 That is, the difference between the average gas concentration at the secondary filtration point O and the adjacent filtration point B and the second preset concentration value is a positive value (0.025 mg / m³). 3 The difference between the average gas concentration at sampling point O and the adjacent filtration point C and the second preset concentration value is a positive value (0.045 mg / m³). 3However, if the average gas concentration at sampling point O and adjacent filter point C is greater than the difference between the average gas concentration at adjacent filter point B and the second preset concentration value, then the sweeping robot is controlled to move towards adjacent filter point C. After reaching adjacent filter point C, secondary filtration of disinfectant gas is performed at adjacent filter point C. This process continues until the gas concentration at the third sampling point of all adjacent filter points is less than the second preset concentration value, indicating that the filtration of disinfectant gas is complete. In this embodiment, by performing a four-neighborhood search for each point and determining whether further filtration of disinfectant gas is needed based on the gas concentration at the third sampling point of adjacent filter points within the four-neighborhood, the concentration of disinfectant gas at any point in the entire room can be kept below the safe standard concentration of 0.16 mg / m³. 3 .

[0107] In one embodiment, the step of controlling the sweeper to move along the moving direction to the adjacent filter point where the difference between the average gas concentration value of the adjacent filter points and the second preset concentration value is positive and the difference is the largest, to perform secondary filtration of disinfectant gas, until the disinfectant gas concentration at all adjacent filter points is less than the second preset concentration value, includes:

[0108] The concentration of disinfectant gas was randomly collected at several locations within the room to obtain the gas concentration at multiple fourth collection points.

[0109] Calculate the average concentration of the third disinfectant gas in the room based on the gas concentration at the fourth collection point;

[0110] When the average concentration of the third disinfectant gas is less than the second preset concentration value, it is determined that the disinfectant gas filtration work is completed.

[0111] When the average concentration of the third disinfectant gas is greater than the second preset concentration value, the sweeping machine is controlled to move to the fourth collection point and perform disinfectant gas filtration until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0112] As described above, after the secondary filtration of disinfectant gas in the above embodiments, ozone concentration can be collected again at several random sampling points to ensure that the ozone concentration in the room meets the standard. Specifically, the concentration of disinfectant gas is randomly collected at several locations in the room to obtain multiple fourth sampling point gas concentrations. For example, eight different locations a, b, c, d, e, f, g, and h are used as sampling points. The robot vacuum cleaner is controlled to move to these eight different sampling points to collect ozone concentrations, resulting in eight fourth sampling point gas concentrations. Then, the average concentration of the third disinfectant gas after the secondary disinfectant gas filtration is calculated by calculating the fourth sampling point gas concentrations at these eight sampling points a, b, c, d, e, f, g, and h. The locations of these eight sampling points can overlap or partially overlap with the locations of the previous sampling points A, B, C, and D, or they can not overlap at all. If the average concentration of the third disinfectant gas is less than 0.16 mg / m³, the ozone concentration will be determined. 3 If the average concentration of the third disinfectant gas is greater than 0.16 mg / m³, it indicates that the disinfectant gas filtration process is complete; 3 The above-mentioned method of using four-neighbor expansion can be used to filter disinfectant gases again until the average concentration of disinfectant gases in the room is below 0.16 mg / m³. 3 .

[0113] In one embodiment, after the step of controlling the sweeper to move within the room and release disinfectant gas according to the disinfection command, the following steps are included:

[0114] The concentration of disinfectant gas in the room is collected at a second preset interval to obtain disinfectant gas concentration data;

[0115] The disinfectant gas concentration data is uploaded to a preset processing terminal to generate a disinfectant gas concentration map.

[0116] As described above, when the robot vacuum moves in the room and releases disinfectant gas, the concentration of disinfectant gas in the room is collected in real time. The robot vacuum's movement path is then matched point-to-point with the disinfectant gas concentration collected during its movement. The robot vacuum's location and the corresponding disinfectant gas concentration at that location are uploaded to the server for processing at preset time intervals, such as every 1 second, to generate a disinfectant gas concentration map. The location of the robot vacuum can be determined by establishing a coordinate system based on the room map obtained by the robot vacuum, so that users can intuitively understand the changes in disinfectant gas concentration in various parts of the room.

[0117] In one embodiment, prior to the step of controlling the sweeper to move within the room and release disinfectant gas according to a disinfection command, the following steps are included:

[0118] If the robot vacuum receives a disinfection command, it will monitor the current environment in real time.

[0119] If the current environment is a closed environment and there are no living organisms in the current environment, a disinfection command is generated.

[0120] Otherwise, a warning message is generated and sent to the user terminal.

[0121] As described above, before the step of controlling the robot vacuum to move in the room and release disinfectant gas according to the disinfection command, if the robot vacuum receives a disinfection execution command, the disinfection execution command can be a command issued by the user through the user terminal APP; or it can be a periodic disinfection command issued by the server periodically; in some embodiments, the server will control the robot vacuum to continuously detect the concentration of harmful substances in the room, such as the concentration of bacteria or the concentration of floating particulate matter, etc. When the concentration of harmful substances exceeds a preset concentration threshold, a disinfection inquiry command is generated and sent to the user terminal. The user terminal decides whether to carry out disinfection work based on the received disinfection inquiry command, that is, to issue a disinfection execution command to the robot vacuum.

[0122] Furthermore, after receiving the disinfection inquiry command, the user terminal can send a confirmation disinfection command to the robot vacuum cleaner to immediately perform the disinfection operation, or it can send a timed disinfection command, which allows the user to set the disinfection time of the robot vacuum cleaner on the user terminal, so that the user can reasonably arrange the disinfection plan.

[0123] In one embodiment, the step of real-time detection of the current environment in which the sweeping robot is located includes:

[0124] Check if the doors and windows in the room are closed;

[0125] When the doors and windows are in the open state, door and window status information is generated;

[0126] The door and window status information is sent to the user terminal.

[0127] As described above, after receiving the disinfection command sent by the user terminal, the server controls the robot vacuum to detect whether the doors and windows in the room are closed. Specifically, a microwave radar can be installed on the side of the robot vacuum at an angle of about 45 degrees to the ground. The microwave radar can scan the walls and part of the space in the room. If the electromagnetic waves emitted by the microwave radar can be completely returned from the walls around the room, it proves that the room is closed. If the returned electromagnetic waves are incomplete, it indicates that the doors and windows are not completely closed. Therefore, the server can detect the unclosed doors and windows in the room and send the information to the user terminal to remind the user to close the doors and windows.

[0128] In one embodiment, the step of real-time detection of the current environment in which the sweeping robot is located further includes:

[0129] Detect the presence of any organisms exhibiting signs of life activity in the room;

[0130] When a living organism with characteristics of life is present in the room, information about that living organism is generated.

[0131] A warning is issued simultaneously with sending the vital signs information to the user terminal.

[0132] As described above, after receiving the disinfection command sent by the user terminal, the cloud server can also control the microwave radar to scan the electromagnetic waves in the room. When the microwave radar detects electromagnetic waves that are not emitted by itself in the room, it indicates that there are active animals in the room, including people, pets, etc. When active animals are detected in the room, a reminder message will be sent to the user terminal, that is, there is still a living organism in the room. At the same time, it can also emit voice signals or light signals through the buzzer, speaker, flashlight, etc. set on the robot vacuum cleaner to remind the user to leave the room.

[0133] In one embodiment, after the step of stopping the release of the disinfectant gas when the average concentration of the first disinfectant gas exceeds a first preset concentration value, the method includes:

[0134] Continuously monitor the room;

[0135] An alarm will sound when a living being enters the room.

[0136] As mentioned above, after the robot vacuum cleaner has released the disinfecting gas, during the preset time interval, i.e. the ozone disinfection period, the cloud server will control the microwave radar to continuously monitor whether any living organisms enter the room. If a person or pet enters the room during the ozone disinfection period, the robot vacuum cleaner will emit voice or light signals through the buzzer, speaker, flashlight, etc., to remind the user to leave.

[0137] Secondly, referring to Figure 2 This application also provides a room disinfection device based on a robot vacuum cleaner, comprising:

[0138] The disinfection gas release module 100 is used to control the sweeper to move in the room and release disinfection gas according to the disinfection command.

[0139] The first gas concentration acquisition module 200 is used to acquire and calculate the concentration of disinfectant gas at multiple preset acquisition points in the room to obtain the gas concentration at multiple first acquisition points.

[0140] The first average concentration calculation module 300 is used to calculate the average concentration of the first disinfectant gas in the room based on the gas concentrations at multiple first collection points.

[0141] Disinfectant gas stop module 400; used to stop releasing the disinfectant gas when the average concentration of the first disinfectant gas exceeds a first preset concentration value;

[0142] The disinfection gas filtration module 500 performs the disinfection gas filtration work in the room after a first preset time interval until the average concentration of disinfection gas in the room is lower than a second preset concentration value.

[0143] In one embodiment, the first gas concentration acquisition module 200 includes:

[0144] The movement path acquisition unit is used to acquire the movement path of the robot vacuum cleaner within the room;

[0145] A collection point marking unit is used to mark multiple collection points in the movement path;

[0146] The first gas collection unit is used to control the sweeper to move to the collection point to collect gas, thereby obtaining the gas concentration at multiple first collection points.

[0147] In one embodiment, the first gas concentration acquisition module 200 further includes:

[0148] The first judgment unit is used to determine whether the gas concentration at the first collection point is less than the first preset concentration value;

[0149] A gas replenishment point marking unit is used to mark a gas replenishment point when the gas concentration at the first collection point is less than the first preset concentration value;

[0150] The first disinfectant gas replenishment unit is used to control the sweeper to go to the gas replenishment point to perform disinfectant gas replenishment work until the concentration of disinfectant gas at the gas replenishment point is greater than the first preset concentration value.

[0151] The second gas concentration acquisition unit is used to acquire and calculate the concentration of disinfectant gas after the gas replenishment point replenishes the disinfectant gas, and obtain the gas concentration at the second acquisition point.

[0152] The adjacent sampling point acquisition unit is used to acquire the sampling points adjacent to the gas replenishment point and generate multiple adjacent sampling points;

[0153] The first average concentration calculation unit is used to calculate the average value of the gas concentration at the first collection point and the gas concentration at the adjacent collection point based on the gas concentration at the second collection point, so as to obtain multiple average gas concentration values ​​at adjacent points.

[0154] The second judgment unit is used to determine whether the average gas concentration value of the adjacent sampling points is less than the first preset concentration value.

[0155] The first difference calculation unit is used to calculate the difference between the average gas concentration value of the adjacent points and the first preset concentration value when the average gas concentration value of the adjacent points is less than the first preset concentration value.

[0156] The second disinfectant gas replenishment unit is used to control the sweeper to move along the moving direction to the adjacent sampling point to perform disinfectant gas replenishment work, with the adjacent sampling point having the largest absolute value of the difference between the average gas concentration value of the adjacent points and the first preset concentration value being negative, until the disinfectant gas concentration of the adjacent sampling points is greater than the first preset concentration value.

[0157] In one embodiment, the disinfection gas filtration module 500 includes:

[0158] The first gas filtration unit is used to control the sweeper to move in the room and perform the disinfection gas filtration work after a preset time interval of releasing disinfection gas.

[0159] The third gas acquisition unit is used to acquire the gas concentration at the third acquisition point after the disinfection gas filtration work is performed at the multiple acquisition points.

[0160] The second average concentration calculation unit is used to calculate the average concentration of the second disinfectant gas in the room based on the gas concentration at multiple third collection points.

[0161] The third judgment unit is used to determine whether the average concentration of the second disinfection gas is less than a preset second preset concentration value;

[0162] The first gas filtration stop unit is used to stop the disinfection gas filtration operation when the average concentration of the second disinfection gas is less than the second preset concentration value.

[0163] The second gas filtration unit is used to continue filtration of the disinfectant gas in the room when the average concentration of the second disinfectant gas is greater than the second preset concentration value, until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

[0164] In one embodiment, the second gas filtration unit includes:

[0165] The first judgment subunit is used to determine whether the gas concentration at the third collection point is greater than the second preset concentration value;

[0166] The secondary filtration point marking subunit is used to mark the gas concentration at the third collection point as a secondary filtration point when the gas concentration at the third collection point is greater than the second preset concentration value.

[0167] The secondary filtration execution subunit is used to control the sweeper to go to the secondary filtration point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the gas replenishment point is less than the second preset concentration value.

[0168] The gas concentration acquisition subunit at the filtration point is used to acquire and calculate the concentration of disinfectant gas after the secondary filtration point performs the secondary filtration of disinfectant gas, and obtain the gas concentration at the filtration point.

[0169] The adjacent filter point acquisition subunit is used to acquire the acquisition points adjacent to the secondary filter point and generate multiple adjacent filter points;

[0170] The average concentration calculation unit at the filtration point is used to calculate the average value of the gas concentration at the third collection point and the adjacent filtration point based on the gas concentration at the filtration point, so as to obtain the average gas concentration values ​​at multiple adjacent filtration points.

[0171] The second judgment subunit is used to determine whether the average gas concentration value of the adjacent filtration points is greater than the second preset concentration value;

[0172] The first difference calculation subunit is used to calculate the difference between the average gas concentration value of the adjacent filtration points and the second preset concentration value when the average gas concentration value of the adjacent filtration points is greater than the second preset concentration value.

[0173] The first filtration execution subunit is used to control the sweeper to move along the moving direction to the adjacent filtration point to perform secondary filtration of disinfectant gas, with the difference between the average gas concentration value of the adjacent filtration point and the second preset concentration value being positive and the adjacent filtration point having the largest difference as the moving direction, until the concentration of disinfectant gas at the adjacent filtration points is less than the second preset concentration value.

[0174] In one embodiment, the second gas filtration unit further includes:

[0175] The fourth gas concentration acquisition subunit is used to randomly acquire the concentration of disinfectant gas at several locations in the room, and obtain the gas concentration at multiple fourth acquisition points.

[0176] The third gas average concentration calculation subunit is used to calculate the average concentration of the third disinfectant gas in the room based on the gas concentration at the fourth collection point.

[0177] The filtration work determination subunit is used to determine that the filtration work of the disinfectant gas is completed when the average concentration of the third disinfectant gas is less than the second preset concentration value.

[0178] The second filtration execution subunit is used to control the sweeping machine to move to the fourth collection point gas concentration and perform disinfection gas filtration when the average concentration of the third disinfection gas is greater than the second preset concentration value, until the average concentration of the disinfection gas in the room is lower than the second preset concentration value.

[0179] In one embodiment, the apparatus further includes a gas concentration map generation module, the gas concentration map generation module being used for:

[0180] The concentration of disinfectant gas in the room is collected at a second preset interval to obtain disinfectant gas concentration data;

[0181] The disinfectant gas concentration data is uploaded to a preset processing terminal to generate a disinfectant gas concentration map.

[0182] In one embodiment, the device further includes a disinfection instruction acquisition module, the disinfection instruction acquisition module being used for:

[0183] If the robot vacuum receives a disinfection command, it will monitor the current environment in real time.

[0184] If the current environment is a closed environment and there are no living organisms in the current environment, a disinfection command is generated.

[0185] Otherwise, a warning message is generated and sent to the user terminal.

[0186] In one embodiment, the disinfection instruction acquisition module further includes a door and window detection module, which is used for:

[0187] Check if the doors and windows in the room are closed;

[0188] When the doors and windows are in the open state, door and window status information is generated;

[0189] The door and window status information is sent to the user terminal.

[0190] In one embodiment, the disinfection instruction acquisition module further includes a vital signs detection module, which is used for:

[0191] Detect the presence of any organisms exhibiting signs of life activity in the room;

[0192] When a living organism with characteristics of life is present in the room, information about that living organism is generated.

[0193] A warning is issued simultaneously with sending the vital signs information to the user terminal.

[0194] In one embodiment, the vital sign detection module is further configured to:

[0195] Continuously monitor the room;

[0196] An alarm will sound when a living being enters the room.

[0197] Reference Figure 3This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 3 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data generated during room disinfection using a robotic vacuum cleaner. The network interface allows communication with external terminals via a network connection. When executed by the processor, the computer program implements a room disinfection method based on a robotic vacuum cleaner.

[0198] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment on which the present application is applied.

[0199] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a room disinfection method based on a robot vacuum cleaner. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0200] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0201] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0202] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A room disinfection method based on a robot vacuum cleaner, characterized in that, include: The robot vacuum cleaner is controlled to move within the room and release disinfectant gas according to the disinfection instructions; The concentration of disinfectant gas at multiple preset collection points in the room is collected and calculated to obtain the gas concentration at multiple first collection points; The average concentration of the first disinfectant gas in the room is calculated based on the gas concentrations at multiple first collection points. When the average concentration of the first disinfectant gas exceeds the first preset concentration value, the release of the disinfectant gas is stopped; After the first preset time interval, the disinfectant gas in the room is filtered out until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value. After the step of calculating the average concentration of the first disinfectant gas in the room based on the gas concentrations at multiple first collection points, the method further includes: Determine whether the gas concentration at the first collection point is less than the first preset concentration value; When the gas concentration at the first collection point is less than the first preset concentration value, it is marked as a gas replenishment point; The sweeper is controlled to go to the gas replenishment point to perform disinfection gas replenishment until the concentration of disinfection gas at the gas replenishment point is greater than the first preset concentration value. Collect and calculate the concentration of disinfectant gas after the gas replenishment point replenishes the disinfectant gas to obtain the gas concentration at the second collection point; Obtain the sampling points adjacent to the gas replenishment point, and generate multiple adjacent sampling points; The average gas concentration values ​​at multiple adjacent points are obtained by calculating the average gas concentration at the first collection point and the gas concentration at the second collection point, respectively, based on the gas concentration at the second collection point. Determine whether the average gas concentration value of the adjacent sampling points is less than the first preset concentration value; When the average gas concentration at adjacent points is less than the first preset concentration value, the difference between the average gas concentration at adjacent points and the first preset concentration value is calculated. Taking the neighboring point with the largest absolute value of the difference between the average gas concentration value of the neighboring point and the first preset concentration value as the moving direction, the sweeper is controlled to move along the moving direction to the neighboring point to replenish the disinfection gas until the disinfection gas concentration of the neighboring point is greater than the first preset concentration value. Before the step of controlling the sweeper to move within the room and release disinfectant gas according to the disinfection command, the following steps are included: If the robot vacuum receives a disinfection command, it will check whether the doors and windows in the room are closed. When the doors and windows are in the open state, door and window status information is generated; The door and window status information is sent to the user terminal.

2. The room disinfection method based on a robot vacuum cleaner as described in claim 1, characterized in that, The step of collecting and calculating the concentration of disinfectant gas at multiple preset collection points in the room to obtain the gas concentration at multiple first collection points includes: Obtain the movement path of the robot vacuum cleaner within the room; Mark multiple collection points along the movement path; The sweeping machine is controlled to move to the collection points to collect gas concentrations at multiple first collection points.

3. The room disinfection method based on a robot vacuum cleaner as described in claim 1, characterized in that, The step of filtering the disinfectant gas in the room after a first preset time interval until the average concentration of the disinfectant gas in the room is lower than a second preset concentration value includes: After a preset time interval for releasing disinfectant gas, the robot vacuum cleaner is controlled to move within the room and perform disinfectant gas filtration. The gas concentration at the third sampling point is collected after the disinfection gas filtration process is performed at the multiple sampling points. The average concentration of the second disinfectant gas in the room was calculated based on the gas concentrations at multiple third collection points. Determine whether the average concentration of the second disinfectant gas is less than the preset second concentration value; When the average concentration of the second disinfectant gas is less than the second preset concentration value, the disinfectant gas filtration operation is stopped. When the average concentration of the second disinfectant gas is greater than the second preset concentration value, the filtration of the disinfectant gas in the room continues until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value.

4. The room disinfection method based on a robot vacuum cleaner as described in claim 3, characterized in that, The step of continuing to filter the disinfectant gas in the room when the average concentration of the second disinfectant gas is greater than the second preset concentration value, until the average concentration of the disinfectant gas in the room is lower than the second preset concentration value, includes: Determine whether the gas concentration at the third collection point is greater than the second preset concentration value; When the gas concentration at the third collection point is greater than the second preset concentration value, it is marked as a secondary filtration point; The sweeper is controlled to move to the secondary filtration point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the secondary filtration point is less than the second preset concentration value. Collect and calculate the concentration of disinfectant gas after the secondary filtration point performs the secondary filtration of disinfectant gas to obtain the gas concentration at the filtration point; Obtain the collection points adjacent to the secondary filtering point, and generate multiple adjacent filtering points; The average gas concentration at the third collection point is calculated based on the gas concentration at the filtration point and the gas concentration at the adjacent filtration point to obtain the average gas concentration values ​​at multiple adjacent filtration points. Determine whether the average gas concentration at adjacent filtration points is greater than the second preset concentration value; When the average gas concentration at adjacent filtration points is greater than the second preset concentration value, the difference between the average gas concentration at adjacent filtration points and the second preset concentration value is calculated. Using the adjacent filter point where the difference between the average gas concentration value of the adjacent filter point and the second preset concentration value is positive and the adjacent filter point with the largest difference as the moving direction, the sweeper is controlled to move along the moving direction to the adjacent filter point to perform secondary filtration of disinfectant gas until the concentration of disinfectant gas at the adjacent filter points is less than the second preset concentration value.

5. The room disinfection method based on a robot vacuum cleaner as described in claim 1, characterized in that, After the step of controlling the sweeper to move in the room and release disinfectant gas according to the disinfection command, the following steps are included: The concentration of disinfectant gas in the room is collected at a second preset interval to obtain disinfectant gas concentration data; The disinfectant gas concentration data is uploaded to a preset processing terminal to generate a disinfectant gas concentration map.

6. The room disinfection method based on a robot vacuum cleaner as described in claim 1, characterized in that, Before the step of controlling the sweeper to move within the room and release disinfectant gas according to the disinfection command, the following steps are included: If the robot vacuum receives a disinfection command, it will monitor the current environment in real time. If the current environment is a closed environment and there are no living organisms in the current environment, a disinfection command is generated. Otherwise, a warning message is generated and sent to the user terminal.

7. A computer device, characterized in that, The system includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the room disinfection method based on a robot vacuum cleaner as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the steps of the room disinfection method based on a robot vacuum cleaner as described in any one of claims 1 to 6.

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