Disinfection method, system and device of a disinfection vehicle

Abstract

The present application relates to the technical field of robot control, in particular to a disinfection and killing method, system and equipment of a disinfection vehicle, which judges the state type, movement direction and static obstacle height type of an obstacle based on an obstacle image, considers the movement characteristics of a dynamic obstacle when the obstacle is a dynamic obstacle, sets a reasonable disinfection and killing strategy, can guarantee disinfection and killing efficiency and safety, considers the volume characteristics of a static obstacle, formulates a suitable disinfection and killing method, improves disinfection and killing efficiency and saves disinfection and killing resources on the basis of guaranteeing disinfection and killing quality.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a disinfection method, system, and equipment for a disinfection vehicle. Background Technology

[0002] The new epidemic prevention strategy of simultaneously preventing and controlling the spread of the virus through the three chains of people, goods, and the environment has gained importance, thus highlighting the growing significance of disinfection of spatial environments. Currently, disinfection methods can be broadly categorized into two types: manual spraying and intelligent disinfection by mobile disinfection vehicles.

[0003] To save on labor costs, hospitals tend to use disinfection carts for disinfection in wards. However, during the disinfection process, disinfection carts often cannot develop reasonable disinfection strategies based on the characteristics of human activity, which reduces disinfection efficiency and may also affect the safety of the carts and other personnel. In addition, with the increase in hospital ward facilities, relying on a single disinfection method not only reduces the quality of disinfection but also easily wastes disinfection resources and increases disinfection costs. Summary of the Invention

[0004] This invention provides a disinfection method, system, and equipment for a disinfection vehicle.

[0005] The technical solution of this invention is as follows:

[0006] A disinfection method for a disinfection vehicle includes the following operations:

[0007] The S1 disinfection vehicle travels along a preset path for disinfection. If an obstacle is detected during the disinfection process, an image of the obstacle is acquired.

[0008] S2 obtains the obstacle state type based on the obstacle image;

[0009] If the obstacle's state type is a dynamic obstacle, execute S3;

[0010] If the obstacle's state type is a static obstacle, execute S4;

[0011] S3 obtains the dynamic direction of the obstacle's movement based on the obstacle image;

[0012] If the direction of movement of the dynamic obstacle is opposite to the direction of travel of the disinfection vehicle, the disinfection vehicle will replan its route and continue to travel and carry out disinfection.

[0013] If the direction of movement of the dynamic obstacle is the same as the direction of travel of the disinfection vehicle, the disinfection vehicle continues to travel and carry out disinfection.

[0014] If the direction of movement of the dynamic obstacle intersects with the direction of travel of the disinfection vehicle, the disinfection vehicle stops to carry out disinfection. Once the dynamic obstacle is no longer detected in the field of vision of the disinfection vehicle, the disinfection vehicle continues to carry out disinfection.

[0015] S4 determines the static obstacle height type based on the obstacle image;

[0016] If the static obstacle is of the first height type, the disinfection vehicle stops driving and performs disinfection when the distance between it and the static obstacle is the first distance.

[0017] If the static obstacle is of the second height type, the disinfection vehicle will stop driving and perform disinfection when the distance between it and the static obstacle is the second distance.

[0018] The elimination method described above, specifically the operation of obtaining the direction of movement of the dynamic obstacle in S3, is as follows:

[0019] Acquire multiple consecutive frames of obstacle images, compare the position and area of ​​the dynamic obstacles in the multiple frames of obstacle images, and obtain the displacement and area changes;

[0020] If the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area increases, then the direction of movement of the dynamic obstacle is opposite to that of the disinfection vehicle.

[0021] If the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area becomes smaller, then the direction of movement of the dynamic obstacle is the same as the direction of the disinfection vehicle.

[0022] If the line containing the displacement makes an angle with the line containing the displacement of the disinfection vehicle, then the direction of movement of the dynamic obstacle intersects with the direction of the disinfection vehicle.

[0023] In the disinfection method described above, if the direction of movement of the dynamic obstacle is the same as the direction of movement of the disinfection vehicle, the operation of the disinfection vehicle continuing to move and disinfect in step S3 is specifically as follows:

[0024] If the direction of movement of the dynamic obstacle is the same as the direction of the disinfection vehicle, the speed of the dynamic obstacle is obtained based on the image of the obstacle;

[0025] If the speed of the dynamic obstacle is not less than the speed of the disinfection vehicle, the disinfection vehicle continues to travel at the original speed for disinfection.

[0026] If the speed of the dynamic obstacle is less than the speed of the disinfection vehicle, the disinfection vehicle will decelerate to the first speed and continue to travel for disinfection.

[0027] Specifically, the operation of obtaining the dynamic obstacle speed based on the obstacle image is as follows:

[0028] Obtain initial and final time obstacle images within a preset period. Compare the movement length of the same point on the dynamic obstacle in the initial and final time obstacle images. Multiply the movement length by the scale corresponding to the obstacle image to obtain the movement distance of the dynamic obstacle. Divide the movement distance of the dynamic obstacle by the preset period to obtain the speed of the dynamic obstacle.

[0029] In the elimination method described above, the operation in S4 that obtains the static obstacle height type based on the obstacle image specifically involves:

[0030] An image of the disinfection vehicle is acquired, and after scaling, it is compared with an image of the obstacle at the same scale. If the height of the static obstacle in the obstacle image is not less than the height of the disinfection vehicle, then the height type of the static obstacle is the first height type; if the height of the static obstacle in the obstacle image is less than the height of the disinfection vehicle, then the height type of the static obstacle is the second height type.

[0031] As described above, in the disinfection method, if the static obstacle height type in step S4 is the second height type, and the disinfection vehicle stops driving when the distance between it and the static obstacle is the second distance, the disinfection operation further includes:

[0032] The obstacle images are classified to obtain the static obstacle closure type;

[0033] If the static barrier closure type is the first closure type, the disinfection vehicle disinfects the closed surface of the barrier;

[0034] If the static barrier enclosure type is the second enclosure type, the disinfection vehicle disinfects the exposed surface of the barrier.

[0035] Specifically, the operation of classifying the obstacle images to obtain the static obstacle closure type is as follows:

[0036] The color feature map, texture feature map, and shape feature map of the obstacle are obtained, fused together to obtain a fused image, and the static obstacle closure type is obtained after classifying the fused image.

[0037] A disinfection system for a disinfection vehicle includes:

[0038] An obstacle state type generation module is used to obtain the obstacle state type based on the obstacle image;

[0039] A dynamic obstacle motion direction generation module is used to obtain the dynamic obstacle motion direction based on the obstacle image;

[0040] A static obstacle height type generation module is used to obtain the static obstacle height type based on the obstacle image;

[0041] The disinfection vehicle driving and disinfection control module is used to control the movement and disinfection status of the disinfection robot;

[0042] A disinfection device for a disinfection vehicle includes a processor and a memory, wherein the processor executes a computer program stored in the memory to implement the above-mentioned disinfection method for the disinfection vehicle.

[0043] A computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the above-described disinfection method for a disinfection vehicle.

[0044] The beneficial effects of this invention are as follows:

[0045] This invention provides a disinfection method for a disinfection vehicle. Based on an obstacle image, it determines the obstacle's state type, the direction of movement of dynamic obstacles, and the height type of static obstacles. When the obstacle is dynamic, the method considers its movement characteristics and sets a reasonable disinfection strategy, ensuring both disinfection efficiency and safety. Simultaneously, it considers the volume characteristics of static obstacles and formulates appropriate disinfection methods, improving disinfection efficiency and saving disinfection resources while ensuring disinfection quality.

[0046] This invention provides a disinfection method for a disinfection vehicle. By using the color feature map, texture feature map, and shape feature map of the obstruction, the method can accurately identify and classify the closure type of the obstruction, set corresponding disinfection strategies, improve disinfection efficiency, and save disinfection resources. Attached Figure Description

[0047] The solutions and advantages of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0048] In the attached diagram:

[0049] Figure 1 This is a flowchart illustrating the disinfection method in the embodiment;

[0050] Figure 2 This is a schematic diagram of the disinfection system in the embodiment;

[0051] Figure 3 This is a schematic diagram of the disinfection equipment in the embodiment. Detailed Implementation

[0052] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0053] This embodiment provides a disinfection method for a disinfection vehicle, see [link to relevant documentation]. Figure 1 This includes the following operations:

[0054] The S1 disinfection vehicle travels along a preset path for disinfection. If an obstacle is detected during the disinfection process, an image of the obstacle is acquired.

[0055] S2 obtains the obstacle state type based on the obstacle image;

[0056] If the obstacle's state type is a dynamic obstacle, execute S3;

[0057] If the obstacle's state type is a static obstacle, execute S4;

[0058] S3 obtains the dynamic direction of the obstacle's movement based on the obstacle image;

[0059] If the direction of movement of the dynamic obstacle is opposite to the direction of travel of the disinfection vehicle, the disinfection vehicle will replan its route and continue to travel and carry out disinfection.

[0060] If the direction of movement of the dynamic obstacle is the same as the direction of travel of the disinfection vehicle, the disinfection vehicle continues to travel and carry out disinfection.

[0061] If the direction of movement of the dynamic obstacle intersects with the direction of travel of the disinfection vehicle, the disinfection vehicle stops to carry out disinfection. Once the dynamic obstacle is no longer detected in the field of vision of the disinfection vehicle, the disinfection vehicle continues to carry out disinfection.

[0062] S4 determines the static obstacle height type based on the obstacle image;

[0063] If the static obstacle is of the first height type, the disinfection vehicle stops driving and performs disinfection when the distance between it and the static obstacle is the first distance.

[0064] If the static obstacle is of the second height type, the disinfection vehicle will stop driving and perform disinfection when the distance between it and the static obstacle is the second distance.

[0065] Specifically:

[0066] The S1 disinfection vehicle travels along a preset path for disinfection. If an obstacle is detected during the disinfection process, an image of the obstacle is acquired.

[0067] Based on the spatial conditions of hospital wards, an environmental map is created, and a preset path for the disinfection vehicle to travel and disinfect is determined based on the environmental map. The environmental map and the preset path are input into the disinfection vehicle system, and the disinfection vehicle will travel and disinfect according to the preset path. If an obstacle is detected during the disinfection process, the image of the obstacle will be acquired immediately.

[0068] An environmental map is created. Environmental images are acquired and combined with information such as the location of obstacles in the environment to construct an environmental map. This environmental map is a metric map resulting from the fusion of a feature map and a raster map. The feature map is obtained by scanning objects in the environment and processing point cloud data. When processing point cloud data, clustering algorithms can be used to segment the point cloud data into different objects, and features of each object can be extracted, such as its position, size, shape, and orientation. This information can be represented as geometric elements in the feature map, corresponding to points, right angles, line segments, and arcs, respectively. The raster map divides the map into small cells (grids), each representing a small rectangular area in the environment, with its value indicating the probability that the area is occupied by an object. The metric map, resulting from the fusion of the feature map and the raster map, is more conducive to the disinfection vehicle analyzing obstacles and replanning its route during disinfection operations. To facilitate remote monitoring of the disinfection vehicle's movement, a map matching algorithm is used to match the vehicle's pose information, obstacle locations, and other information with the environmental map, thereby enabling the disinfection vehicle to be located within the environmental map.

[0069] Obstacle detection. When the disinfection vehicle is moving and disinfecting, it sends electromagnetic wave energy along a preset path. If the electromagnetic wave energy is reflected back, an obstacle is detected; if the electromagnetic wave energy is not reflected back, no obstacle is detected.

[0070] The image acquisition and detection functions of the disinfection vehicle can be achieved through the radar and camera on the vehicle, respectively. S2 determines the obstacle status type based on the obstacle image; if the obstacle status type is a dynamic obstacle, proceed to S3; if the obstacle status type is a static obstacle, proceed to S4.

[0071] The specific steps to determine the obstacle state type are as follows: acquire multiple obstacle images within a first period, compare the obstacle positions in the multiple images, and if the obstacle position changes, it is a dynamic obstacle; if the obstacle position does not change, it is a static obstacle. The first period is 6-8 seconds, preferably 7 seconds. By comparing the obstacle positions within 7 seconds, the obstacle state type can be quickly determined.

[0072] S3 obtains the direction of movement of dynamic obstacles based on the obstacle image; if the direction of movement of dynamic obstacles is opposite to the direction of the disinfection vehicle, the disinfection vehicle replans its path and continues to drive and disinfect; if the direction of movement of dynamic obstacles is the same as the direction of the disinfection vehicle, the disinfection vehicle continues to drive and disinfect; if the direction of movement of dynamic obstacles intersects with the direction of the disinfection vehicle, the disinfection vehicle stops driving and disinfects until no dynamic obstacles are detected in the field of view of the disinfection vehicle, then the disinfection vehicle continues to drive and disinfect.

[0073] The specific steps for obtaining the direction of motion of a dynamic obstacle are as follows: Acquire multiple consecutive frames of obstacle images, compare the position and area of ​​the dynamic obstacle in the multiple frames to obtain displacement and area changes; if the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area increases, then the direction of motion of the dynamic obstacle is opposite to the direction of the disinfection vehicle; if the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area decreases, then the direction of motion of the dynamic obstacle is the same as the direction of the disinfection vehicle; if the line of displacement and the line of displacement of the disinfection vehicle form an angle, then the direction of motion of the dynamic obstacle intersects with the direction of the disinfection vehicle. The frame count is 96-144 frames, preferably 120 frames. By comparing the displacement of the dynamic obstacle in the obstacle images within 10 seconds, and the changes in the area of ​​the dynamic obstacle in the images, the disinfection vehicle can accurately obtain the direction of motion of the dynamic obstacle.

[0074] Specifically, if the direction of movement of the dynamic obstacle is the same as the direction of movement of the disinfection vehicle, the operation of the disinfection vehicle continuing to move and disinfect is as follows: If the direction of movement of the dynamic obstacle is the same as the direction of movement of the disinfection vehicle, the speed of the dynamic obstacle is obtained based on the obstacle image; if the speed of the dynamic obstacle is not less than the speed of the disinfection vehicle, the disinfection vehicle maintains its original speed and continues to move and disinfect; if the speed of the dynamic obstacle is less than the speed of the disinfection vehicle, the disinfection vehicle decelerates to a first speed and then continues to move and disinfect. The first speed is half the speed of the dynamic obstacle to ensure that the disinfection vehicle maintains a safe distance from the dynamic obstacle.

[0075] Obtain initial and final time obstacle images within a preset period. Compare the movement length of the same point on the dynamic obstacle in the initial and final time obstacle images. Multiply the movement length by the corresponding scale of the obstacle image to obtain the movement distance of the dynamic obstacle. Divide the movement distance of the dynamic obstacle by the preset period to obtain the speed of the dynamic obstacle. The preset period is 5-15s, preferably 10s. S4 Based on the obstacle images, determine the static obstacle height type. If the static obstacle height type is the first height type, the disinfection vehicle stops when the distance between it and the static obstacle is the first distance, and disinfection is performed. If the static obstacle height type is the second height type, the disinfection vehicle stops when the distance between it and the static obstacle is the second distance, and disinfection is performed.

[0076] The specific operation for obtaining the static obstacle height type based on the obstacle image is as follows: acquire the disinfection vehicle image, and compare it with the obstacle image of the same scale after scaling. If the static obstacle height in the obstacle image is not less than the height of the disinfection vehicle, the static obstacle height type is the first height type; if the static obstacle height in the obstacle image is less than the height of the disinfection vehicle, the static obstacle height type is the second height type.

[0077] If the static obstacle height type is the first height type, when the disinfection vehicle reaches the first distance from the static obstacle, it stops driving, increases the disinfection spray intensity, increases the disinfection area, and performs disinfection; if the static obstacle height type is the second height type, when the disinfection vehicle reaches the second distance from the static obstacle, it stops driving, decreases the disinfection spray intensity, reduces the disinfection area, and performs disinfection.

[0078] The first distance is 1-2m, preferably 1.5m, and the second distance is 0.2-1m, preferably 0.5m.

[0079] By comparing the height of the disinfection vehicle with that of the obstacle, the appropriate disinfection method can be selected. When the obstacle is large, a longer disinfection distance can be chosen to increase the spray intensity of the disinfection vehicle, thereby expanding the disinfection area and improving disinfection efficiency. When the obstacle is small, a shorter disinfection distance can be chosen to reduce the spray intensity of the disinfection vehicle, thereby reducing the disinfection area. This ensures disinfection quality while reducing the amount of disinfectant used, thus saving resources.

[0080] If the static obstacle height type is the second height type, and the distance between the disinfection vehicle and the obstacle is the second distance, the disinfection operation after stopping includes: classifying the obstacle image to obtain the static obstacle closure type; if the static obstacle closure type is the first closure type, the disinfection vehicle disinfects the closed surface of the obstacle; if the static obstacle closure type is the second closure type, the disinfection vehicle disinfects the exposed surface of the obstacle. The first closure type is fully enclosed, such as shoe cabinets, cardboard boxes, and medical kits; the second closure type is not fully enclosed, such as trash cans, stools, and shoes. When disinfecting obstacles belonging to the first closure type, the disinfection vehicle disinfects its external closed surface; taking a box as an example, the disinfection vehicle disinfects the outer surfaces of all four sides of the box. When disinfecting obstacles belonging to the second type of enclosure, the exposed surface closest to the disinfection vehicle can be disinfected. During the disinfection process, the disinfectant will automatically diffuse to other exposed surfaces through the non-enclosed space, saving disinfectant. Alternatively, all exposed surfaces can be disinfected to ensure disinfection quality. Taking a stool as an example, the stool surface (the side closest to the disinfection vehicle) can be disinfected, or the stool surface (including both the front and back sides) and stool legs can be disinfected.

[0081] The operation of classifying obstacle images to obtain static obstacle closure types can be performed as follows: Classify the obstacle images to obtain static obstacle closure types; alternatively, acquire the obstacle's color feature map, texture feature map, and shape feature map, fuse them to obtain a fused image, and then classify the fused image to obtain the static obstacle closure type. Color features refer to the characteristics of the obstacle's surface color in the image, represented using a color histogram or color moments, with a color histogram being preferred. Texture features refer to the texture attributes of the obstacle's surface, which can be used to distinguish objects of different materials. Shape features can be described by calculating indicators such as the area, perimeter, roundness, and rectangle of the obstacle's outline. By acquiring color, texture, and shape features that accurately describe the appearance and shape of the obstacle, and fusing these three features, an image that is easy to identify and classify is obtained. Once a specific obstacle is identified, the disinfection vehicle can perform targeted disinfection based on the obstacle's location and condition, thereby improving the effectiveness and quality of disinfection.

[0082] The classification process involves training a classification model for the disinfection vehicle using supervised learning based on the dataset. This trained model is then used to classify and process the fused images, resulting in the static obstacle closure type. The dataset includes labeled images of obstacles of the first closure type (e.g., shoe cabinets, cardboard boxes, medical kits) and images of obstacles of the second closure type (e.g., trash cans, shoes). This approach improves the classification efficiency and accuracy of the model.

[0083] To further improve the disinfection efficiency of mobile disinfection vehicles, a multi-vehicle terminal control strategy is established based on the aforementioned disinfection scheme. Multiple vehicles are networked and coordinated to transmit information about obstacles. Specifically, a leader-follower approach is adopted, selecting one vehicle as the movement trend (i.e., the leader) for the entire group. Other vehicles in the group exchange information through a cloud server, maintaining a specific movement state with the leader to preserve the formation. This allows them to operate in a similar manner to the leader vehicle in different work areas. If a vehicle detects a change in pedestrian activity, it can send this information to other vehicles. This not only reduces the computational load on the other vehicles but also enables them to plan disinfection strategies promptly based on the information, thus improving disinfection efficiency.

[0084] This embodiment provides a disinfection system for a disinfection vehicle, see [link / reference]. Figure 2 ,include:

[0085] The obstacle state type generation module is used to obtain the obstacle state type based on the obstacle image;

[0086] The dynamic obstacle motion direction generation module is used to obtain the motion direction of dynamic obstacles based on the obstacle image;

[0087] The static obstacle height type generation module is used to obtain the static obstacle height type based on the obstacle image;

[0088] The disinfection vehicle driving and disinfection control module is used to control the movement and disinfection status of the disinfection robot.

[0089] This embodiment provides a disinfection device for a disinfection vehicle, see [link / reference]. Figure 3 It includes a processor and a memory, wherein the processor executes a computer program stored in the memory to implement the above-mentioned disinfection method for a disinfection vehicle.

[0090] This embodiment provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the above-described disinfection method for a disinfection vehicle.

[0091] This embodiment provides a disinfection method for a disinfection vehicle. Based on an obstacle image, it determines the obstacle's state type, the direction of movement of dynamic obstacles, and the height type of static obstacles. When the obstacle is dynamic, the method considers its movement characteristics and sets a reasonable disinfection strategy, ensuring both disinfection efficiency and safety. Simultaneously, it considers the volume characteristics of static obstacles and formulates appropriate disinfection methods, improving disinfection efficiency and saving disinfection resources while ensuring disinfection quality.

[0092] This embodiment provides a disinfection method for a disinfection vehicle. By using the color feature map, texture feature map, and shape feature map of static obstacles, the closure type of the obstacles can be accurately identified and classified, and corresponding disinfection strategies can be set to improve disinfection efficiency and save disinfection resources.

Claims

1. A disinfection method for a disinfection vehicle, characterized in that, This includes the following operations: The S1 disinfection vehicle travels along a preset path for disinfection. If an obstacle is detected during the disinfection process, an image of the obstacle is acquired. S2 Based on the obstacle image, the obstacle state type is obtained; If the obstacle's state type is a dynamic obstacle, execute S3; If the obstacle's state type is a static obstacle, execute S4; S3 Based on the obstacle image, the direction of motion of the dynamic obstacle is obtained; If the direction of movement of the dynamic obstacle is opposite to the direction of travel of the disinfection vehicle, the disinfection vehicle will replan its route and continue to travel and carry out disinfection. If the direction of movement of the dynamic obstacle is the same as the direction of travel of the disinfection vehicle, the disinfection vehicle continues to travel and carry out disinfection. If the direction of movement of the dynamic obstacle intersects with the direction of travel of the disinfection vehicle, the disinfection vehicle stops to carry out disinfection. Once the dynamic obstacle is no longer detected in the field of vision of the disinfection vehicle, the disinfection vehicle continues to carry out disinfection. S4. Based on the obstacle image, the static obstacle height type is obtained; If the static obstacle is of the first height type, the disinfection vehicle stops driving and performs disinfection when the distance between it and the static obstacle is the first distance. If the static obstacle is of the second height type, the disinfection vehicle will stop driving and perform disinfection when the distance between it and the static obstacle is the second distance.

2. The disinfection method according to claim 1, characterized in that, The specific operation in S3 to obtain the direction of motion of the dynamic obstacle is as follows: Acquire multiple consecutive frames of obstacle images, compare the position and area of ​​the dynamic obstacles in the multiple frames of obstacle images, and obtain the displacement and area changes; If the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area increases, then the direction of movement of the dynamic obstacle is opposite to that of the disinfection vehicle. If the line of displacement coincides with the line of displacement of the disinfection vehicle, and the area becomes smaller, then the direction of movement of the dynamic obstacle is the same as the direction of the disinfection vehicle. If the line containing the displacement makes an angle with the line containing the displacement of the disinfection vehicle, then the direction of movement of the dynamic obstacle intersects with the direction of the disinfection vehicle.

3. The disinfection method according to claim 1, characterized in that, In step S3, if the direction of movement of the dynamic obstacle is the same as the direction of movement of the disinfection vehicle, the operation of the disinfection vehicle continuing to move and disinfect is specifically as follows: If the direction of movement of the dynamic obstacle is the same as the direction of the disinfection vehicle, the speed of the dynamic obstacle is obtained based on the image of the obstacle; If the speed of the dynamic obstacle is not less than the speed of the disinfection vehicle, the disinfection vehicle continues to travel at the original speed for disinfection. If the speed of the dynamic obstacle is less than the speed of the disinfection vehicle, the disinfection vehicle will decelerate to the first speed and continue to travel for disinfection.

4. The disinfection method according to claim 3, characterized in that, The operation of obtaining the dynamic obstacle speed based on the obstacle image specifically involves: Obtain initial and final time obstacle images within a preset period. Compare the movement length of the same point on the dynamic obstacle in the initial and final time obstacle images. Multiply the movement length by the scale corresponding to the obstacle image to obtain the movement distance of the dynamic obstacle. Divide the movement distance of the dynamic obstacle by the preset period to obtain the speed of the dynamic obstacle.

5. The disinfection method according to claim 1, characterized in that, The operation in S4 that obtains the static obstacle height type based on the obstacle image is specifically as follows: An image of the disinfection vehicle is acquired, and after scaling, it is compared with an image of the obstacle at the same scale. If the height of the static obstacle in the obstacle image is not less than the height of the disinfection vehicle, then the height type of the static obstacle is the first height type; if the height of the static obstacle in the obstacle image is less than the height of the disinfection vehicle, then the height type of the static obstacle is the second height type.

6. The disinfection method according to claim 1, characterized in that, If the static obstacle height type in step S4 is the second height type, and the disinfection vehicle stops driving when the distance between it and the static obstacle is the second distance, the disinfection operation will continue after the vehicle stops driving and performs the disinfection operation: The obstacle images are classified to obtain the static obstacle closure type; If the static barrier closure type is the first closure type, the disinfection vehicle disinfects the closed surface of the barrier; If the static barrier enclosure type is the second enclosure type, the disinfection vehicle disinfects the exposed surface of the barrier.

7. The disinfection method according to claim 6, characterized in that, The operation of classifying the obstacle images to obtain the static obstacle closure type specifically involves: The color feature map, texture feature map, and shape feature map of the obstacle are obtained, fused together to obtain a fused image, and the static obstacle closure type is obtained after classifying the fused image.

8. A disinfection system for a disinfection vehicle, used to implement the disinfection method described in claim 1, characterized in that, include: An obstacle state type generation module is used to obtain the obstacle state type based on the obstacle image; A dynamic obstacle motion direction generation module is used to obtain the dynamic obstacle motion direction based on the obstacle image; A static obstacle height type generation module is used to obtain the static obstacle height type based on the obstacle image; The disinfection vehicle driving and disinfection control module is used to control the movement and disinfection status of the disinfection vehicle.

9. A disinfection device for a disinfection vehicle, characterized in that, It includes a processor and a memory, wherein the processor executes a computer program stored in the memory to implement a disinfection method for a disinfection vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, wherein the computer program, when executed by a processor, implements a disinfection method for a disinfection vehicle according to any one of claims 1-7.

Images