Robot control method and device, medical waste collection and transportation robot, and storage medium

Abstract

The present disclosure provides a robot control method and device, a medical waste collection and transportation robot, and a storage medium, which belong to the field of robot technology. The method includes: in response to receiving a first instruction sent by a first device, determining multiple locations of medical waste according to the first instruction; the first device is a device for storing medical waste attribute information; calculating the first recovery time threshold of medical waste at each location, calculating the first distance between the current location of the medical waste collection and transportation robot and each location; determining the driving path of the medical waste collection and transportation robot according to the first recovery time threshold and the first distance, and recycling the medical waste at each location based on the driving path and placing it at the target location. The robot control method and device, medical waste collection and transportation robot, and storage medium provided by the present disclosure can improve the efficiency of the robot in recycling medical waste.

Description

Technical Field

[0001] The present disclosure belongs to the field of robot technology, and more specifically, relates to a robot control method and device, a medical waste collection and transportation robot, and a storage medium. Background Art

[0002] In the field of robotics, with the rapid development of science and technology and the continuous expansion of application scenarios, robots are gradually penetrating into all walks of life, especially in the medical field. In the medical environment, the safe, efficient and compliant treatment of medical waste has always been an important part of hospital management. Traditional medical waste treatment methods often rely on manual collection, classification and transportation, which is not only inefficient, but also has a high risk of cross-infection, posing a potential threat to the health of medical staff and patients.

[0003] In recent years, with the continuous advancement of robot technology and the improvement of intelligence level, medical waste collection and transportation robots have emerged. However, the existing medical waste collection and transportation robots are inefficient in recycling medical waste and cannot solve the adverse effects caused by emergencies. Summary of the invention

[0004] The purpose of the present disclosure is to provide a robot control method and device, a medical waste collection and transportation robot, and a storage medium to improve the efficiency of the robot in recycling medical waste.

[0005] A first aspect of the embodiments of the present disclosure provides a robot control method, which is applied to a medical waste collection and transportation robot, comprising:

[0006] In response to receiving a first instruction sent by a first device, determining multiple locations of medical waste according to the first instruction; the first device is a device for storing attribute information of medical waste;

[0007] Calculate the first recycling time threshold of medical waste at each position, and calculate the first distance between the current position of the medical waste collection and transportation robot and each position;

[0008] The driving path of the medical waste collection and transportation robot is determined according to the first recycling time threshold and the first distance, and the medical waste at each location is recycled based on the driving path and placed at a target location.

[0009] A second aspect of the embodiments of the present disclosure provides a robot control device, which is applied to a medical waste collection and transportation robot, comprising:

[0010] A first determination module, configured to determine multiple locations of medical waste in response to receiving a first instruction sent by a first device, according to the first instruction; the first device is a device for storing attribute information of medical waste;

[0011] The second determination module is used to calculate the first recovery time threshold of the medical waste at each position, and calculate the first distance between the current position of the medical waste collection and transportation robot and each position;

[0012] The collection and transportation module is used to determine the driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance, and to recycle the medical waste at various locations based on the driving path and place them at a target location.

[0013] According to a third aspect of an embodiment of the present disclosure, a medical waste collection and transportation robot is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the above-mentioned robot control method when executing the computer program.

[0014] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned robot control method are implemented.

[0015] The robot control method and device, medical waste collection and transportation robot, and storage medium provided by the embodiments of the present disclosure have the following beneficial effects:

[0016] On the one hand, the medical waste collection and transportation robot quickly determines multiple locations of medical waste by responding to the instructions sent by the first device in real time, and accurately plans the driving path based on the first recycling time threshold and the first distance. This method significantly improves the efficiency of medical waste collection and treatment, reduces the retention time of medical waste in the hospital, and thus reduces the risk of cross-infection that may be caused by waste accumulation.

[0017] On the other hand, through intelligent path planning and task scheduling, the medical waste collection and transportation robot can select the optimal path to collect medical waste, reducing unnecessary idle time and waste of resources. At the same time, the robot's ability to work around the clock also reduces the labor intensity of medical staff, allowing human resources to be more reasonably allocated and utilized, further reducing the overall cost of medical waste treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a flow chart of a robot control method provided by an embodiment of the present disclosure;

[0020] Figure 2 A structural block diagram of a robot control device provided by an embodiment of the present disclosure;

[0021] Figure 3 A schematic block diagram of a medical waste collection and transportation robot provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present disclosure. However, it should be clear to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present disclosure with unnecessary details.

[0023] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0024] Please refer to Figure 1 , Figure 1 A schematic flow chart of a robot control method provided in one embodiment of the present disclosure, the method comprising:

[0025] S101: In response to receiving a first instruction sent by a first device, determining multiple locations of medical waste according to the first instruction; the first device is a device that stores attribute information of medical waste.

[0026] In this embodiment, the robot control method is applied to a medical waste collection and transportation robot. The medical waste collection and transportation robot is an automated device used to collect and transport medical waste within a medical institution. Compared with humans, the medical waste collection and transportation robot working in hospitals, emergency stations and other places has the following advantages:

[0027] Reduce the risk of cross infection: Medical waste often contains pathogens, which can easily lead to cross infection when handled manually. Robots can reduce the direct contact between staff and medical waste, thereby reducing the risk of infection.

[0028] Improve work efficiency: Robots can work non-stop around the clock without being restricted by working hours. They can efficiently complete the collection and transportation tasks of medical waste and reduce labor costs.

[0029] Accurate classification and treatment: The robot is equipped with advanced recognition technology, which can accurately classify medical waste, ensuring that each type of waste can be treated in the prescribed manner, reducing the possibility of classification errors. The robot is equipped with advanced recognition technology, such as image recognition technology, spectral analysis technology, sensor technology, radio frequency identification technology, etc.

[0030] Reduce labor intensity: The collection and transportation of medical waste is usually arduous. Robots can replace manpower to complete these physical labors and reduce the burden on staff.

[0031] The first device is a device for storing medical waste attribute information, such as a central information management system of a hospital, a specific sensor network or a server, etc. The first device stores various attribute information about medical waste, such as the location, type, source, collection time, storage time, and processing and storage requirements of medical waste.

[0032] The first device establishes a wireless communication connection with a sensor network within the medical institution. These sensors are installed in the medical waste storage area and on transportation vehicles. When the medical waste is placed at a specific location or during transportation, the sensors will collect and send data such as location information, collection time, type source, etc. to the first device in real time.

[0033] For example, in a waste storage room of a hospital, each storage rack is equipped with a weight sensor, an RFID reader, a timer, etc. When a trash can containing medical waste is placed on the storage rack, the timer starts working, the weight sensor senses the weight change, and combines with the RFID reader to read the label information on the trash can to determine the type, source, collection time, storage time, etc. of the medical waste. The sensor transmits this data to the first device in real time via the Wi-Fi network.

[0034] The first instruction is an instruction sent by the first device to the medical waste collection and transportation robot, which contains the attribute information of the medical waste or other necessary operation instructions. The instruction can instruct the medical waste collection and transportation robot to go to a specific location to collect medical waste. According to these instructions, the medical waste collection and transportation robot performs the corresponding medical waste collection and treatment tasks. Generally, the medical waste collection and transportation robot is in a 24-hour power-on state, and the robot can establish contact with the first device through wireless communication. When the medical waste collection and transportation robot receives the first instruction sent by the first device, it can parse the first instruction, which contains information such as the location and type of the medical waste. The robot can determine the specific location of the medical waste and identify it based on the location information in the first instruction using machine vision, sensor monitoring, obstacle avoidance and other technologies.

[0035] For example, the robot receives the first instruction, which contains the location information of medical waste generated in a certain ward. After the robot is started, it uses the high-definition camera installed on its head to perform machine vision scanning. Through the pre-trained image recognition model, it can recognize features such as corridors and ward doors. At the same time, the ultrasonic sensor equipped on the body constantly monitors the surrounding environment. When it detects moving medical staff in front, the robot will automatically slow down or stop to avoid obstacles. When it arrives at the door of the designated ward, it confirms the location again through the unique mark at the door of the ward, then enters the ward and uses the ultraviolet sensor to identify medical waste storage containers with specific reflective characteristics.

[0036] During peak hours in medical institutions, such as flu season, the amount of medical waste generated increases dramatically. When multiple wards, operating rooms or emergency rooms generate a large amount of full medical waste at the same time, in order to avoid accumulation and potential disease transmission risks, the first device (central information management system) will send a first instruction (including the location information of multiple medical wastes to be processed) to the robot, so that the robot can recycle and transport the medical waste generated by multiple wards, operating rooms or emergency rooms in a short time.

[0037] S102: Calculate the first recycling time threshold of medical waste at each location, and calculate the first distance between the current location of the medical waste collection and transportation robot and each location.

[0038] In this embodiment, the first recycling time threshold refers to the remaining time threshold for medical waste to be recycled at each location after the robot receives the first instruction. This is the longest remaining time that medical waste can be stored at a specific location. If this time is exceeded, bacterial infection and the like may occur.

[0039] The current location refers to the actual location of the medical waste collection and transportation robot during idle time or when performing tasks. The robot's location will be continuously updated as it moves within the hospital. Each time the robot completes a task, it will park at a fixed location or the destination (target location) of the medical waste collection and transportation.

[0040] The various locations refer to the various places where medical waste is placed inside the hospital, such as wards, operating rooms, laboratories, etc. These locations are the source of medical waste and are also the places where robots need to go to collect medical waste.

[0041] The first distance refers to the walking distance between the robot's current position and each position. The purpose of calculating the first distance is to estimate the time required for the robot to reach each position from the current position.

[0042] In this embodiment, the control module of the robot can receive the first instruction sent by the first device (central information management system), and obtain information such as the type, quantity generation rate, and potential harm of medical waste at each location according to the first instruction. Then, based on the acquired data, combined with historical recycling data, hospital management regulations and hygiene standards, the first recycling time threshold of medical waste at each location is calculated.

[0043] The robot's control system can quantify the information such as the type, quantity generation rate and potential harm of medical waste at each location. For the type of medical waste, it can be classified according to its degree of danger, such as high danger, medium danger and low danger, and different weight values ​​are assigned to each of them, such as 3 for high danger, 2 for medium danger and 1 for low danger. The quantity generation rate can be counted according to the quantity generated per unit time, such as the weight or volume generated per hour. The potential harm can be evaluated based on factors such as the infection risk and environmental pollution degree caused by medical waste, and the corresponding numerical value is also assigned, such as a score of 1 to 10. Then, combined with historical recycling data, the recycling time intervals of medical waste of the same type and similar quantity generation rate in the past are analyzed to calculate the average recycling time. Referring to the hospital's management regulations and hygiene standards, it can refer to the longest storage time of medical waste in the ward.

[0044] Assume that the medical waste is of high-risk type, with a generation rate of X kilograms per hour, a potential hazard score of 8, a historical average recycling time of Y hours, and the hospital stipulates that the maximum storage time for this type of medical waste is Z hours.

[0045] The first recycling time threshold is calculated according to the following formula:

[0046]

[0047] Wherein, T represents the first recycling time threshold, Z represents the longest storage time of a certain type of medical waste in hospital management regulations and hygiene standards, t represents the current time, E1 represents the weight coefficient of historical recycling time, Y represents the average recycling time of medical waste of the same type and similar quantity generation rate in the past, E2 represents the weight coefficient of potential hazard, H represents the potential hazard score, E3 represents the weight coefficient of quantity generation rate, and X represents the quantity generation rate of medical waste.

[0048] For example, E1=0.4, E2=0.3, E3=0.3, the hourly generation rate of high-risk medical waste is 5 kg, the potential hazard score is 7, the historical average recycling time is 2 hours, and the hospital stipulates that the maximum storage time is 3 hours, then If 0.5 hours have passed since the medical waste was generated, then the first recycling time threshold T is 2.51 hours.

[0049] This time threshold is usually a time range or a specific time point, which indicates when medical waste should be recycled and processed to ensure that the waste does not exceed the safe storage time or cause other risks. In the medical industry, the retention time of medical waste in wards, operating rooms and other environments does not exceed 8 hours. The time threshold can be adjusted dynamically according to actual conditions. For example, during peak hours in hospitals, the amount of medical waste generated may increase significantly. At this time, the time threshold needs to be shortened to ensure that medical waste is recycled in a timely manner.

[0050] In addition, after receiving the first instruction, the control module of the robot calculates the first distance based on the current position and the information of each medical waste storage location. The purpose of calculating the first distance is to evaluate the time required for the robot to reach each location from the current position, so as to optimize the robot's task scheduling and path planning. By selecting the optimal path and sequence, the robot can collect medical waste more efficiently, reduce idle time and resource waste, and ensure that the medical waste is recycled in time before the first recycling time threshold is reached.

[0051] S103: Determine a driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance, recycle the medical waste at each location based on the driving path, and place the medical waste at a target location.

[0052] In this embodiment, the driving path refers to the optimal or reasonable travel route calculated by the medical waste collection and transportation robot according to the first recycling time threshold, the first distance, and the attribute information of the medical waste, etc. This path ensures that the robot can efficiently complete the collection of medical waste and minimize the travel time.

[0053] The target location refers to the final location where the medical waste collection and transportation robot will place the collected medical waste. According to the hospital's waste treatment process and facility layout, the target location can include a medical waste temporary storage area, a medical waste classification treatment area, etc., such as an independent warehouse in the hospital's logistics area, a warehouse in the inpatient building, etc.

[0054] The robot's control module calculates the first recycling time threshold of medical waste at each location, and after calculating the first distance between the current location and each medical waste placement point through the built-in navigation system, the optimal driving path can be calculated based on the first recycling time threshold and the first distance. This usually involves an optimization algorithm to ensure that the robot can collect in the order of the most urgent recycling needs and minimize the total travel distance. The robot goes to each location in turn according to the determined driving path to collect medical waste and place it at the target location.

[0055] For example, suppose that at 5 pm on a certain day, the current position of the medical waste collection and transportation robot is in the lobby on the first floor of the hospital. At this time, the control module of the robot receives the first instruction sent by the central information management system. The instruction shows that the medical waste in the operating room on the third floor needs to be recycled, and the remaining time for recycling is 30 minutes. The medical waste in the operating room on the third floor is surgical instrument contamination, blood, etc., which has high potential harm and a fast quantity generation rate. The medical waste in the ward 201 on the second floor also needs to be recycled, and the remaining time for recycling is 20 minutes. The medical waste in the ward on the second floor is general medical waste, such as masks, infusion tubes, etc., and the quantity generation rate is relatively stable. The distance between the robot and the ward 201 on the second floor is L1, and the distance from the operating room on the third floor is L2, and L2 is greater than L1. At this time, the robot determines that if it can complete the task, it can give priority to recycling the medical waste in the operating room and place it at the target location to reduce the probability of contamination of the operating room.

[0056] From the above, it can be concluded that, on the one hand, the medical waste collection and transportation robot quickly determines multiple locations of medical waste by responding to the instructions sent by the first device in real time, and accurately plans the driving path according to the first recycling time threshold and the first distance. This method significantly improves the efficiency of medical waste collection and treatment, reduces the retention time of medical waste in the hospital, and thus reduces the risk of cross-infection that may be caused by waste accumulation.

[0057] On the other hand, through intelligent path planning and task scheduling, the medical waste collection and transportation robot can select the optimal path to collect medical waste, reducing unnecessary idle time and waste of resources. At the same time, the robot's ability to work around the clock also reduces the labor intensity of medical staff, allowing human resources to be more reasonably allocated and utilized, further reducing the overall cost of medical waste treatment.

[0058] In one embodiment of the present disclosure, determining a driving path of a medical waste collection and transportation robot according to a first recycling time threshold and a first distance includes:

[0059] The priority of each position is determined according to the weighting of the first weight of the first recycling time threshold and the second weight of the first distance, and the driving path of the medical waste collection and transportation robot is determined according to the priority of each position.

[0060] In this embodiment, the first recycling time threshold refers to the remaining time threshold for medical waste to be recycled at each location. The first weight refers to the importance of the first recycling time threshold when determining the driving path. This generally means that the closer the medical waste is to the first recycling time threshold, the higher its recycling priority. The first weight can be determined by relevant management personnel and technical personnel of the hospital based on experience.

[0061] The first distance refers to the shortest distance between the current position of the medical waste collection and transportation robot and each position. The second weight refers to the size of the first distance when determining the driving path. This usually means that the closer the position is to the current position of the robot, the higher its priority in being visited.

[0062] By combining the first weight of the first recycling time threshold and the second weight of the first distance, the control module of the robot can calculate the priority of each location, thereby determining the optimal driving path of the robot. This means that the robot will first go to a location with a higher priority to recycle medical waste, and then go to a location with a lower priority to recycle medical waste.

[0063] The priority of each position can be calculated by a first formula, which includes:

[0064]

[0065] in, represents the priority of the ith position, represents the first weight of the first recycling time threshold, represents the first recycling time threshold of medical waste at the ith location, is a positive number, less than 1, represents the second weight of the first distance, Indicates the preset maximum distance, Represents the first distance between the current position of the first device and the i-th position.

[0066] In the first formula, The first recycling time threshold is processed. The larger the value, the higher the priority of medical waste treatment. The distance is processed. The smaller the distance, the larger the value of this item, indicating a higher priority. and Take the weighted sum of these two items to get the priority of each position Finally, follow The robot's driving path is determined in order of size, with the robot going to the position with the highest priority first.

[0067] From the above, it can be concluded that this embodiment flexibly sets the priority of each position by comprehensively considering the weight of the first recycling time threshold and the first distance, thereby accurately planning the driving path of the medical waste collection and transportation robot. This strategy not only improves the efficiency of waste recycling, but also ensures the timeliness of recycling, optimizes resource allocation and utilization, effectively reduces operating costs, and enhances the overall efficiency and sustainability of the medical service system.

[0068] In one embodiment of the present disclosure, the priority of each location of medical waste is also related to the environmental changes of the hospital. According to the environmental information collected by the medical waste collection and transportation robot, the first distance is updated, and the priority of each location of medical waste is calculated using the second formula.

[0069] The second formula includes:

[0070]

[0071] in, represents the priority of the ith position, represents the first weight of the first recycling time threshold, represents the first recycling time threshold of medical waste at the ith location, represents the second weight of the first distance, represents the first distance between the current position of the first device and the i-th position, represents the cleanliness of the ith position, represents the security risk of the ith location, represents an adjustment factor used to balance the impact of cleanliness and safety risks on priority, α and β represent the weight coefficients of human flow and noise level, respectively. and are the flow of people and noise level at the ith location, Represents the exponential decay effect of traffic and noise on priority.

[0072] Cleanliness and safety risk are two different dimensions that affect the priority of the robot's driving path. The adjustment factor λ helps to find a balance between these two dimensions to ensure that the robot's driving path takes both cleanliness and safety risks into account. Cleanliness and safety risk can be determined based on the hospital's infection control policy and safety regulations. For example, a hospital divides both cleanliness and safety risk into three levels: low, medium, and high.

[0073] The cleanliness level can be assessed by:

[0074] Low level means less medical waste and a cleaner environment;

[0075] Medium level, which means there is a certain amount of medical waste and cleaning needs to be strengthened;

[0076] High level means that medical waste will accumulate in large quantities, posing a high risk of environmental pollution.

[0077] The assessment criteria for security risk level can be:

[0078] Low level: small flow of people, unobstructed passages, and no obvious safety hazards;

[0079] Medium level: moderate flow of people, a small number of obstacles in the passage, and certain safety risks;

[0080] High level: Large flow of people, blocked passages, and obvious risk of safety accidents.

[0081] The value range of the adjustment factor λ is between 0 and 1. For example, when the cleanliness is at a low level and the safety risk is at a low level, the value of λ is 0.2, indicating that more emphasis is placed on safety risk at this time; when the cleanliness is at a high level and the safety risk is at a low level, the value of λ is 0.5, indicating that more emphasis is placed on cleanliness at this time.

[0082] The flow of people can be obtained through the video image data collected by the surveillance camera, and the noise level can be obtained through the data collected by the acoustic sensors in various areas of the hospital. α and β are weight coefficients of the flow of people and the noise level. For example, when the flow of people is less than the first flow value, α can be a value less than 0.5; when the flow of people is greater than or equal to the first flow value, α can be a value greater than or equal to 0.5. Because the standards for the size of the flow of people in hospitals are different in different periods (normal period, flu period), the first flow value can be adjusted regularly by the hospital management personnel according to the situation of the hospital. For example, when the decibel value of the noise is less than the first noise value, β can be a value less than 0.5; when the decibel value of the noise is greater than or equal to the first noise value, β can be a value greater than or equal to 0.5. The basis for setting the first noise value can refer to the relevant provisions of the "Law on the Prevention and Control of Environmental Noise Pollution".

[0083] In this embodiment, the impact of human traffic and noise levels on the priority of each location is mainly considered: first, there is usually a large flow of people in the hospital, including patients, medical staff, and other visitors. The robot driving in high-flow areas may increase the risk of collision with pedestrians, which may cause personal injury or damage to the robot. Secondly, in areas with high traffic, the robot's driving speed may be forced to reduce to avoid collisions and ensure safety, which will reduce the robot's work efficiency and prolong the recycling time of medical waste. Finally, the noise level in the hospital may affect the robot's sensor performance and navigation system. The high noise environment may interfere with the robot's sonar, radar or other audio sensors, affecting its ability to perceive the surrounding environment.

[0084] It can be concluded from the above that this embodiment comprehensively considers the flow of people, noise level, cleanliness and safety risks, and significantly improves the safety and efficiency of medical waste collection and transportation through precise weight and adjustment factor settings.

[0085] In one embodiment of the present disclosure, after the medical waste at various locations is recycled based on the driving path and placed at the target location, the method further includes:

[0086] Determine the first countdown length corresponding to each position; the first countdown length corresponding to each position is used to instruct the medical waste collection and transportation robot to recycle the medical waste at each position within the first countdown length and place it at the target position;

[0087] In response to receiving a second instruction sent by the first device, determining a first recycling time threshold of the medical waste at the first location according to the second instruction; determining a first countdown length of the medical waste at the first location at the current moment;

[0088] If the absolute value of the difference between the first recycling time threshold and the first countdown length is greater than the first threshold, a first prompt message is sent to the first device, where the first prompt message is used to instruct the first device to determine whether the first recycling time threshold is correct.

[0089] In this embodiment, the first countdown time refers to the time limit for the medical waste collection and transportation robot to collect medical waste at various locations, that is, the robot needs to complete the collection of medical waste and place the medical waste at the target location within the specified countdown time. This helps to ensure that medical waste can be processed in a timely manner and avoid exceeding the first collection time threshold.

[0090] The second instruction is essentially the same as the first instruction, and both contain attribute information of medical waste or other necessary operation instructions. The instruction can instruct the medical waste collection and transportation robot to go to a specific location to collect medical waste.

[0091] The first threshold is a preset time value used to determine whether the absolute value of the difference between the first recycling time threshold and the first countdown length is within an acceptable range. If the absolute value of the difference is greater than the first threshold, it means that the first recycling time threshold may be inaccurate and needs to be re-determined.

[0092] The first prompt information refers to information sent by the robot to the first device when the difference between the first recycling time threshold and the first countdown time is greater than the first threshold. This information is used to prompt the first device to check and confirm whether the first recycling time threshold is correctly set. The first prompt information may include location information of medical waste, the first recycling time threshold, and reasonable preset questions. Reasonable preset questions may include: whether the sensor is faulty, whether foreign objects have entered the medical waste recycling box, etc.

[0093] In this embodiment, after the robot recycles the medical waste at each location based on the driving path and places it at the target location, a first countdown length needs to be set for each location. The first countdown length corresponding to each location is used to instruct the medical waste collection and transportation robot to recycle the medical waste at each location within the first countdown length and place it at the target location. For example, if the first countdown length of ward A is 2 hours, the robot must transport the medical waste in ward A to the target location within two hours.

[0094] Although the robot can set the first countdown length by itself, in general the first countdown length is only used as a prompt information. Only when the robot receives the second instruction sent by the first device is it necessary to recycle the medical waste corresponding to the location contained in the instruction.

[0095] For example, if the robot has just recycled medical waste in ward 201, the control module of the robot will automatically set the first countdown length corresponding to the ward to 8 hours. If the robot receives an instruction from the first device half an hour later, requiring the robot to go to ward 201 to recycle medical waste (the first recycling time threshold is 1 hour), the robot calculates the absolute value of the difference between the first countdown length and the first recycling time threshold. If the absolute value is 6.5 hours, which is greater than the first threshold (for example, 1 hour), the robot determines that there may be a problem with the instruction sent by the second device, and can send a first prompt message to the first device at this time, so that the first device determines whether the first recycling time threshold is correct.

[0096] For another example, if the robot recycles medical waste in ward 201, the control module of the robot automatically sets the first countdown length corresponding to the ward to 8 hours. If the robot receives an instruction from the first device 7 hours later, requiring the robot to recycle medical waste in ward 201 (the first recycling time threshold is 4 hours), the robot calculates the absolute value of the difference between the first countdown length and the first recycling time threshold. If the absolute value is 3 hours and is greater than the first threshold (for example, 1 hour), the robot determines that there may be a problem with the instruction sent by the second device, and can send a first prompt message to the first device at this time, so that the first device determines whether the first recycling time threshold is correct.

[0097] It can be concluded from the above that this embodiment effectively ensures that the medical waste collection and transportation robot can efficiently and accurately complete the recycling task by setting the first countdown length and the first threshold. Through the automatic detection and prompt function, when the first recycling time threshold is unreasonable, the robot can actively feedback and prompt timely correction, thereby avoiding the risk of delayed medical waste treatment.

[0098] In one embodiment of the present disclosure, the robot control method further includes:

[0099] Obtain the number of times that the absolute value of the difference between the first recycling time threshold and the first countdown time within the first time period is greater than the first threshold;

[0100] If the number of times is greater than the preset number of times, the first countdown length is updated according to the first recycling time threshold within the first time length.

[0101] In this embodiment, the first duration refers to a specific time period for counting the number of times the absolute value of the difference between the first recycling time threshold and the first countdown time is greater than the first threshold. This time period can be set according to actual conditions, such as one day, one week or one month.

[0102] The preset number of times is a preset value used to determine whether the absolute value of the difference between the first recycling time threshold and the first countdown time is greater than the first threshold frequently within the first time period. If the number of times exceeds the preset number of times, it can be considered that the first countdown time needs to be adjusted.

[0103] First, when the robot receives the second instruction of the first device, the absolute value of the difference between the first recycling time threshold and the first countdown length is calculated. This difference reflects the degree of deviation between the current first recycling time threshold and the first countdown length. Then, the number of times the absolute value of the difference is greater than the first threshold value within the first time length is counted. If this number exceeds the preset number, it means that during this period, the actual deviation between the first recycling time threshold and the first countdown length is more significant and frequent. For example, the flu season, the peak period of the hospital, the failure of the sensor for identifying medical waste, the failure of the server, etc. may all lead to the above situation. Based on this situation, in order to control and plan more accurately, the robot will update the first countdown length according to the first recycling time threshold within the first time length. The robot can make the first countdown length more in line with the actual recycling needs through such dynamic adjustment, thereby improving the efficiency and accuracy of the robot's recycling of medical waste, avoiding delays or waste of resources caused by unreasonable countdown length settings, and further optimizing the entire medical waste recycling process and effect.

[0104] Updating the first countdown time according to the first recycling time threshold within the first time period includes:

[0105] Determine a preset countdown length within a first duration, calculate the average of all first recovery time thresholds corresponding to the first position within the first duration to obtain a mean time threshold, and calculate the average of the differences between all preset countdown lengths and the first countdown length to obtain a target countdown length;

[0106] The first countdown length is updated according to the mean time threshold and the target countdown length.

[0107] For example, the first time period is 48 hours, and within 48 hours, the robot needs to recycle the medical waste at the first location 5 times. The first recycling time thresholds corresponding to each time are 3 hours, 2 hours, 2 hours, 3 hours, and 1 hour respectively.

[0108] First calculate the mean time threshold: (3+2+2+3+1) / 5=2.2 hours.

[0109] The preset countdown length is 6 hours, and the first countdown length is 5 hours, 5 hours, 4 hours, 5 hours, and 4 hours respectively.

[0110] The calculated differences are: (6-5)=1 hour, (6-5)=1 hour, (6-4)=2 hours, (6-5)=1 hour, (6-4)=2 hours. The average of the differences, i.e. the target countdown length, is (1+1+2+1+2) / 5=1.4 hours.

[0111] Then update the first countdown length. Assume that the weight of the mean time threshold is 0.6 and the weight of the target countdown length is 0.4.

[0112] The updated first countdown length = 2.2×0.6+1.4×0.4=1.88 hours.

[0113] It can be concluded from the above that this embodiment can timely discover the significant deviation between the first recycling time threshold and the first countdown time by continuously monitoring the number of times the absolute value of the difference is greater than the first threshold. When the number exceeds the preset number, the first countdown time is updated in time, thereby effectively improving the accuracy and adaptability of recycling medical waste, avoiding delayed recycling, and ensuring the timeliness and efficiency of medical waste treatment.

[0114] In one embodiment of the present disclosure, medical waste at various locations is recycled based on the driving path and placed at a target location, including:

[0115] The type of medical waste is determined according to the patient information and room information of each location; the medical waste at each location is recycled based on the type of medical waste and placed at a target location.

[0116] In this embodiment, when the medical waste collection and transportation robot performs waste recycling tasks, it not only needs to determine the driving path based on the location information, but also needs to consider the patient information and room information at each location to determine the type of medical waste. Based on this information, the robot can more accurately classify and recycle different types of medical waste and place them at appropriate target locations. The specific working principle is as follows:

[0117] Medical waste collection and transportation robots need to obtain relevant information for each location, including patient information and room information. Patient information can include the patient's identity, disease type, etc.; room information includes room type, location, etc. Based on patient information and room information, the robot can determine the type of medical waste generated at each location. For example, certain types of diseases will produce specific types of medical waste, or specific types of rooms (such as operating rooms) will produce specific types of medical waste. Based on the determined type of medical waste, the robot can classify different types of medical waste for recycling. This means that the robot needs to process different types of medical waste and ensure that each type of waste is placed in the correct container or location.

[0118] For example, suppose there is a hospital, and a medical waste collection and transportation robot starts to perform the task of collecting and transporting medical waste. After receiving the first instruction sent by the first device, the robot parses the instruction and obtains:

[0119] The first location is the general ward room 101, the patient is a patient with a common cold, and the room is a general medical ward. Based on this information, the robot determines that the medical waste generated here is general medical waste.

[0120] The second location is operating room 205. The patient is a patient who has just undergone heart surgery and the room is an operating room. Based on this, the robot determines that the medical waste here is medical waste with infection risks.

[0121] The third location is Room 308 of the infectious disease ward. The patient suffers from infectious hepatitis and the room is a special ward for the infectious disease department. The robot thus determines that infectious medical waste is generated here.

[0122] After determining the type of medical waste at each location, the robot classifies the general medical waste into containers marked "general medical waste", the infectious medical waste into special anti-infection containers, and the infectious medical waste into strictly sealed special treatment containers, and finally places them in the corresponding target locations, such as the general medical waste storage area, the infectious medical waste treatment area and the special infectious medical waste treatment area.

[0123] From the above, it can be concluded that this embodiment realizes the accurate classification, recycling and positioning of medical waste by comprehensively considering the location, patient information and room information, significantly improves the efficiency and safety of medical waste management, effectively avoids the risk of cross infection, and promotes the cleanliness and sustainable development of the hospital environment.

[0124] In one embodiment of the present disclosure, the robot control method further includes:

[0125] In response to the storage time of the medical waste at the target location being greater than a second time, issuing second indication information according to a warning parameter of the type of medical waste;

[0126] The second indication information is used to instruct the first device and / or the second device to clean up the medical waste at the target location. The second device and the medical waste collection and transportation robot are both used to collect and transport medical waste.

[0127] In this embodiment, the early warning parameters refer to a series of conditions or thresholds used to define when the early warning mechanism should be triggered in medical waste management. These parameters are used to monitor the storage of medical waste and ensure that the waste is processed within a safe time frame. The early warning parameters can be storage duration, storage volume, type of medical waste or safety level, etc. The second indication information is used to instruct the first device and / or the second device to clean up the medical waste at the target location, and the second device and the medical waste collection and transportation robot are both used to collect and transport medical waste. The second device can also be a medical waste collection and transportation robot, and the first device can be a central information management system of the hospital, a specific sensor network or server, etc.

[0128] The target location can be a location where medical waste is centrally stored in medical facilities such as hospitals and emergency stations. When the robot determines that the storage time of medical waste at the target location is greater than the second time (for example, 40 hours, up to 48 hours), it can issue a second indication message based on the warning parameter of the medical waste type. For example, if the warning parameter is the storage time, and the storage time of ordinary medical waste exceeds 40 hours, the robot can issue a second indication message to the second device so that the second device can transfer the ordinary medical waste at the target location to the medical waste recycling vehicle in a timely manner; if the storage time of infectious medical waste exceeds 40 hours, the robot needs to issue a second indication message to the first device and the second device at the same time, so that the first device can coordinate the medical resources and the working conditions of the medical waste collection and transportation robot in a timely manner, and at the same time, the second device can transfer the ordinary medical waste at the target location to the medical waste recycling vehicle in a timely manner.

[0129] It can be concluded from the above that the embodiment of the present disclosure realizes effective monitoring of the storage time of medical waste by introducing the early warning parameter and the second indication information, ensuring that the medical waste will not be stored in the target location for too long, thereby improving the safety and efficiency of medical waste management. In addition, the embodiment can also improve the automation level of the robot in the medical waste treatment process, reduce human intervention, and improve work efficiency.

[0130] In one embodiment of the present disclosure, issuing the second indication information according to the early warning parameter of the medical waste type includes:

[0131] If the warning parameter is greater than the first warning threshold and less than the second warning threshold, the second indication information is sent to the second device; if the warning parameter is greater than or equal to the second warning threshold, the second indication information is sent to the first device and the second device;

[0132] The first warning threshold is smaller than the second warning threshold.

[0133] In this embodiment, the robot can monitor the early warning parameters of various types of medical waste in real time or regularly, and these parameters are usually closely related to the nature, quantity, potential hazards, etc. of the waste. For example, for infectious medical waste, the early warning parameter may be the concentration of pathogens; for chemical medical waste, it may be the content or type of harmful substances.

[0134] The robot compares the monitored warning parameters with the preset thresholds. In this embodiment, two thresholds are set: a first warning threshold and a second warning threshold, and the first warning threshold is less than the second warning threshold. The two thresholds represent different levels of risk.

[0135] If the warning parameter is greater than the first warning threshold but less than the second warning threshold, it means that the current risk is at a medium level and appropriate measures need to be taken, but it has not yet reached an emergency state. If the warning parameter is greater than or equal to the second warning threshold, it means that the risk has reached or exceeded the emergency level and more urgent and comprehensive measures need to be taken immediately.

[0136] According to the result of the threshold judgment, the robot sends instruction information to the corresponding device. The devices here usually include two categories: first devices (such as central information management system) and second devices (such as other robots, etc.).

[0137] When the warning parameters are at a medium risk level, the robot can only send the second indication information to the second device to remind it to pay attention and take corresponding treatment measures, such as speeding up the transfer speed, increasing protective measures, etc.

[0138] When the warning parameters reach or exceed the emergency level, the robot not only sends instruction information to the second device, but also requires the second device to take emergency measures immediately. At the same time, it also sends information to the first device so that the central information management system can fully understand the situation and coordinate resources, such as dispatching more robots, vehicles or personnel to participate in the processing.

[0139] For example, suppose there are three types of medical waste in hospitals: infectious medical waste, pathological medical waste and damaging medical waste. Each type of medical waste has corresponding warning parameters to measure its potential risk level.

[0140] For infectious waste, its warning parameters are determined based on the concentration of pathogens in the waste. The first warning threshold is set at a pathogen concentration of 500 / unit, and the second warning threshold is set at a pathogen concentration of 1000 / unit.

[0141] When the concentration of pathogens in a batch of infectious waste is 700 / unit (greater than 500 / unit and less than 1000 / unit), the robot will send a second instruction message to the second device to remind it to quickly transfer and dispose of the infectious medical waste. If the concentration of pathogens in the batch of infectious waste reaches 1200 / unit (greater than or equal to 1000 / unit), the robot will simultaneously send a second instruction message to the hospital's central information management system (first device) and other robots (second device), prompting the central information management system to understand the situation in a timely manner and coordinate resources, and at the same time requiring other robots to immediately take emergency treatment measures, such as urgently transferring it to a medical waste recycling vehicle.

[0142] It can be concluded from the above that this embodiment achieves refined management and rapid response to medical waste risks by setting different levels of warning thresholds. Not only can it timely notify relevant equipment to handle according to the risk level, but it can also mobilize multiple equipment resources in extreme cases to ensure that medical waste is handled in a timely and effective manner, effectively reducing the potential harm of medical waste to the environment and personnel, and improving the efficiency and safety of hospital waste management.

[0143] Corresponding to the robot control method of the above embodiment, Figure 2 This is a block diagram of a robot control device provided by an embodiment of the present disclosure. For ease of explanation, only the parts related to the embodiment of the present disclosure are shown. Figure 2 The robot control device 20 is applied to a medical waste collection and transportation robot, and includes: a first determination module 21, a second determination module 22 and a collection and transportation module 23.

[0144] The first determination module 21 is used to determine multiple locations of medical waste according to the first instruction in response to receiving a first instruction sent by a first device; the first device is a device that stores attribute information of medical waste;

[0145] The second determination module 22 is used to calculate the first recovery time threshold of the medical waste at each location, and calculate the first distance between the current location of the medical waste collection and transportation robot and each location;

[0146] The collection and transportation module 23 is used to determine the driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance, and to recycle the medical waste at various locations based on the driving path and place them at the target location.

[0147] In one embodiment of the present disclosure, the collection and transportation module 23 is specifically used for:

[0148] The priority of each position is determined according to the weighting of the first weight of the first recycling time threshold and the second weight of the first distance, and the driving path of the medical waste collection and transportation robot is determined according to the priority of each position.

[0149] In one embodiment of the present disclosure, the collection and transportation module 23 is further used for:

[0150] Determine the first countdown length corresponding to each position; the first countdown length corresponding to each position is used to instruct the medical waste collection and transportation robot to recycle the medical waste at each position within the first countdown length and place it at the target position;

[0151] In response to receiving a second instruction sent by the first device, determining a first recycling time threshold of the medical waste at the first location according to the second instruction; determining a first countdown length of the medical waste at the first location at the current moment;

[0152] If the absolute value of the difference between the first recycling time threshold and the first countdown length is greater than the first threshold, a first prompt message is sent to the first device, where the first prompt message is used to instruct the first device to determine whether the first recycling time threshold is correct.

[0153] In one embodiment of the present disclosure, the robot control device 20 further includes: a data updating module;

[0154] A data updating module, used for obtaining the number of times that the absolute value of the difference between the first recycling time threshold and the first countdown time within the first time period is greater than the first threshold;

[0155] If the number of times is greater than the preset number of times, the first countdown length is updated according to the first recycling time threshold within the first time length.

[0156] In one embodiment of the present disclosure, the collection and transportation module 23 is specifically used for:

[0157] The type of medical waste is determined according to the patient information and room information of each location; the medical waste at each location is recycled based on the type of medical waste and placed at a target location.

[0158] In one embodiment of the present disclosure, the robot control device 20 further includes: an information indication module;

[0159] an information indication module, configured to issue second indication information according to a warning parameter of the type of medical waste in response to the storage time of the medical waste at the target location being greater than a second time;

[0160] The second indication information is used to instruct the first device and / or the second device to clean up the medical waste at the target location. The second device and the medical waste collection and transportation robot are both used to collect and transport medical waste.

[0161] In one embodiment of the present disclosure, the information indication module is specifically used to:

[0162] If the warning parameter is greater than the first warning threshold and less than the second warning threshold, the second indication information is sent to the second device; if the warning parameter is greater than or equal to the second warning threshold, the second indication information is sent to the first device and the second device;

[0163] The first warning threshold is smaller than the second warning threshold.

[0164] See also Figure 3 , Figure 3 This is a schematic block diagram of a medical waste collection and transportation robot provided by an embodiment of the present disclosure. Figure 3 The medical waste collection and transportation robot 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303 and one or more memories 304. The processor 301, input device 302, output device 303 and memory 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, and the computer programs include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. Among them, the processor 301 is configured to call the program instructions to execute the functions of each module / unit in the above-mentioned device embodiments, such as Figure 2 The functions of modules 21 to 23 are shown.

[0165] It should be understood that in the embodiment of the present disclosure, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0166] The input device 302 may include a touch panel, a fingerprint collection sensor (for collecting the user's fingerprint information and fingerprint direction information), a microphone, etc., and the output device 303 may include a display (LCD, etc.), a speaker, etc.

[0167] The memory 304 may include a read-only memory and a random access memory, and provide instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store information about the device type.

[0168] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiments of the present disclosure can execute the implementation methods described in the first and second embodiments of the robot control method provided in the embodiments of the present disclosure, and can also execute the implementation methods of the medical waste collection and transportation robot described in the embodiments of the present disclosure, which will not be repeated here.

[0169] In another embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by the processor, all or part of the processes in the above-mentioned embodiment method are implemented, and the computer program can also be completed by instructing the relevant hardware through the computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0170] The computer-readable storage medium may be an internal storage unit of the medical waste collection and transportation robot of any of the aforementioned embodiments, such as a hard disk or memory of the medical waste collection and transportation robot. The computer-readable storage medium may also be an external storage device of the medical waste collection and transportation robot, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the medical waste collection and transportation robot. Furthermore, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the medical waste collection and transportation robot. The computer-readable storage medium is used to store computer programs and other programs and data required by the medical waste collection and transportation robot. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0171] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0172] Technicians in the relevant field can clearly understand that, for the convenience and conciseness of description, the specific working process of the medical waste collection and transportation robot and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0173] In the several embodiments provided in the present application, it should be understood that the disclosed medical waste collection and transportation robot and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or it can be an electrical, mechanical or other form of connection.

[0174] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present disclosure.

[0175] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0176] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present disclosure, and these modifications or replacements should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A robot control method, characterized in that: Applied to medical waste collection and transportation robots, including: In response to receiving a first instruction sent by a first device, determining multiple locations of medical waste according to the first instruction; the first device is a device for storing attribute information of medical waste; Calculate the first recycling time threshold of medical waste at each position, and calculate the first distance between the current position of the medical waste collection and transportation robot and each position; Determining a driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance, recycling medical waste at various locations based on the driving path, and placing the medical waste at a target location; After the medical waste at each location is collected based on the driving path and placed at the target location, the method further includes: Determine the first countdown length corresponding to each position; the first countdown length corresponding to each position is used to instruct the medical waste collection and transportation robot to recycle the medical waste at each position within the first countdown length and place it at the target position; In response to receiving a second instruction sent by the first device, determining a first recycling time threshold of the medical waste at the first location according to the second instruction; determining a first countdown length of the medical waste at the first location at the current moment; If the absolute value of the difference between the first recycling time threshold and the first countdown length is greater than the first threshold, a first prompt message is sent to the first device, where the first prompt message is used to instruct the first device to determine whether the first recycling time threshold is correct.

2. The robot control method according to claim 1, characterized in that: The determining the driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance includes: The priority of each position is determined based on the weighting of the first weight of the first recycling time threshold and the second weight of the first distance, and the driving path of the medical waste collection and transportation robot is determined based on the priority of each position.

3. The robot control method according to claim 1, characterized in that: Also includes: Obtaining the number of times that the absolute value of the difference between the first recycling time threshold and the first countdown time is greater than the first threshold within a first time period; If the number is greater than a preset number, the first countdown time is updated according to a first recycling time threshold within a first time period.

4. The robot control method according to claim 1, characterized in that: The method of recycling medical waste at various locations based on the driving path and placing the medical waste at a target location includes: The type of medical waste is determined according to the patient information and room information of each location; the medical waste at each location is recycled based on the type of medical waste and placed at a target location.

5. The robot control method according to claim 4, characterized in that: Also includes: In response to the storage time of the medical waste at the target location being greater than a second time, issuing second indication information according to the early warning parameter of the medical waste type; The second indication information is used to instruct the first device and / or the second device to clean up the medical waste at the target location, and the second device and the medical waste collection and transportation robot are both used to collect and transport medical waste.

6. The robot control method according to claim 5, characterized in that: The second indication information is issued according to the warning parameters of the medical waste type, including: If the warning parameter is greater than the first warning threshold and less than the second warning threshold, the second indication information is sent to the second device; if the warning parameter is greater than or equal to the second warning threshold, the second indication information is sent to the first device and the second device; The first warning threshold is lower than the second warning threshold.

7. A robot control device, characterized in that: Applied to medical waste collection and transportation robots, including: A first determination module, configured to determine multiple locations of medical waste in response to receiving a first instruction sent by a first device, according to the first instruction; the first device is a device for storing attribute information of medical waste; The second determination module is used to calculate the first recovery time threshold of the medical waste at each position, and calculate the first distance between the current position of the medical waste collection and transportation robot and each position; a collection and transportation module, configured to determine a driving path of the medical waste collection and transportation robot according to the first recycling time threshold and the first distance, and to recycle the medical waste at various locations based on the driving path and place the medical waste at a target location; After the medical waste at each location is collected based on the driving path and placed at the target location, the method further includes: Determine the first countdown length corresponding to each position; the first countdown length corresponding to each position is used to instruct the medical waste collection and transportation robot to recycle the medical waste at each position within the first countdown length and place it at the target position; In response to receiving a second instruction sent by the first device, determining a first recycling time threshold of the medical waste at the first location according to the second instruction; determining a first countdown length of the medical waste at the first location at the current moment; If the absolute value of the difference between the first recycling time threshold and the first countdown length is greater than the first threshold, a first prompt message is sent to the first device, where the first prompt message is used to instruct the first device to determine whether the first recycling time threshold is correct.

8. A medical waste collection and transportation robot, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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