Disinfection robot detection method, system and device and medium

Abstract

According to the embodiment, the running state of the robot is judged through at least one sensor data; if the robot is in the motion state, the cached data are cleared; if the robot is in the static state, acquiring current radar data, and judging whether a variable for storing scene data is null or not; and if the variable for storing the scene data is null, updating the current scene data into the current radar data. Comparing the current radar data with the scene data, judging whether the data change or not and judging whether an object approaching behavior exists or not; and executing movement detection, scene data updating and self-locking detection according to a judgment result, and finally outputting a detection result. The technical problem that the safety of the disinfection process cannot be guaranteed due to the fact that approaching of the object cannot be accurately recognized can be solved, and the working efficiency of spray disinfection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of disinfection equipment, and in particular to a disinfection robot detection method, system, device and medium. Background Art

[0002] With the rapid development of automation technology, disinfection robots are increasingly used in public places, medical institutions and industrial environments. Disinfection robots can autonomously perform fixed-point spraying of disinfectants or ultraviolet disinfection operations, greatly improving the efficiency and effectiveness of disinfection work. However, since the chemicals and ultraviolet rays used in the disinfection process may have adverse effects on surrounding objects or equipment, and even cause safety hazards, disinfection robots must have an effective object proximity detection mechanism to ensure the safety of the disinfection process.

[0003] Currently, a common solution is to use infrared sensors to monitor temperature changes to determine whether someone is approaching. However, when spraying disinfectant, it may be falsely triggered due to the decrease in ambient temperature.

[0004] Therefore, there is an urgent need to study a technology for a disinfection robot to detect approaching objects to ensure the normal use of the disinfection robot in the above environment and improve the working efficiency of spray disinfection. Summary of the invention

[0005] In view of this, the purpose of the embodiments of the present invention is to provide a disinfection robot detection method, system, device and medium to solve the technical problem in the prior art that the safety of the disinfection process cannot be guaranteed due to the inability to accurately identify approaching objects, thereby improving the working efficiency of spray disinfection.

[0006] On the one hand, an embodiment of the present invention provides a disinfection robot detection method, the method comprising the following steps: Determine the robot's operating status through at least one sensor data; If the robot is in motion, clearing all cached data; If the robot is in a stationary state, the current radar data is obtained to determine whether the variable storing the scene data is empty; If the variable storing the scene data is empty, the current scene data is updated to the current radar data; The scene data is radar data when the program detects that the robot is stationary.

[0007] Optionally, if the robot is in a stationary state, obtaining current radar data and determining whether a variable storing scene data is empty includes: Traverse the current radar data and read the angle and distance of each point; If the distance is within the detection range, keep the distance; If the distance is greater than the maximum data of the detection range, the distance is set to infinity.

[0008] Optionally, if the variable storing the scene data is empty, updating the current scene data to the current radar data comprises: Comparing the current radar data with the scene update data to determine whether there is a change in the data; If the data does not change, the output result is False; If the data has changed, the current data is set as the scene update data and the update save time.

[0009] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes: Determine whether there is an object approaching behavior; If there is an object approaching, the current radar data is compared with the scene update data. If the data changes, the current radar data is saved as the scene update data and the save time is updated and True is output; If there is no object approaching behavior, the current radar data is compared with the scene update data. If there is a change in the data, the scene data update and scene update flag are set to True and False is output.

[0010] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes: According to the difference between the current radar data and the distance at the same angle in the scene data, the change number, the distance reduction number, the absolute number are accumulated and compared with the predetermined threshold value respectively, and the data change flag and the proximity flag are updated according to the comparison result.

[0011] Optionally, comparing the current radar data with the scene data to determine whether the data has changed further includes: If the scene update data is not empty, determine whether the difference between the current time and the data storage time is greater than the scene update time threshold; If the difference between the current time and the data saving time is greater than the scene update time threshold, the scene data is updated.

[0012] Optionally, the determining whether there is an object approaching behavior further includes: If the proximity flag is True, set the self-locking flag to True, indicating that the program is self-locking and updates the self-locking time; Determine whether the time difference between the current time and the self-locking time is greater than the self-locking holding time. If so, reset the self-locking flag and output False.

[0013] On the other hand, an embodiment of the present invention provides a disinfection robot detection system, including: The first module determines the operation status of the robot through at least one sensor data; The second module clears all cached data if the robot is in motion; The third module, if the robot is in a stationary state, obtains the current radar data and determines whether the variable storing the scene data is empty; The fourth module updates the current scene data to the current radar data if the variable storing the scene data is empty.

[0014] On the other hand, an embodiment of the present invention provides a disinfection robot detection device, including: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements any of the above-mentioned disinfection robot detection methods.

[0015] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, which stores a program executable by a processor, characterized in that the program executable by the processor is used to execute any of the above-mentioned disinfection robot detection methods when executed by the processor.

[0016] The embodiment of the present invention determines the running state of the robot through at least one sensor data; if the robot is in motion, clears all cached data; if the robot is stationary, obtains the current radar data and determines whether the variable storing the scene data is empty; if the variable storing the scene data is empty, updates the current scene data to the current radar data. The current radar data is compared with the scene data to determine whether the data has changed and whether there is an object approaching; according to the judgment result, motion detection, scene data update, self-locking detection are performed, and finally the detection result is output. The present invention can solve the technical problem that the safety of the disinfection process cannot be guaranteed due to the inability to accurately identify the approach of objects, and improve the working efficiency of spray disinfection.

[0017] The present invention also has the following beneficial effects: 1) Not affected by temperature, suitable for disinfection robot spray disinfection scenarios.

[0018] 2) It has a larger detection range.

[0019] 3) Parameters can be flexibly adjusted to meet different usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 It is a schematic diagram of a disinfection robot detection method provided by an embodiment of the present invention; Figure 2 is a structural block diagram of a disinfection robot detection system provided by an embodiment of the present invention; Figure 3 It is a structural block diagram of a disinfection robot detection device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0025] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0026] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware charging modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0028] See also Figure 1 As shown, an embodiment of the present invention provides a disinfection robot detection method, the method comprising the following steps: Determine the robot's operating status through at least one sensor data; If the robot is in motion, clearing all cached data; If the robot is in a stationary state, the current radar data is obtained to determine whether the variable storing the scene data is empty; If the variable storing the scene data is empty, the current scene data is updated to the current radar data; The scene data is radar data when the program detects that the robot is stationary.

[0029] Specifically, for the detection of movement, it is necessary to first determine whether the robot is stationary. Only the detection in a stationary state is meaningful. If the robot is not stationary, the cached information will be cleared to avoid affecting the subsequent detection after it is stationary. When the robot is stationary, we continue to obtain radar data and perform preliminary processing; then determine whether the scene data is empty, and if so, update the scene data to the current radar data. After completion, perform motion detection, scene data update, self-locking detection, and finally output the detection results.

[0030] The scene data here refers to the radar data when the program considers the scene to be stationary, which is compared with the current radar data to analyze whether there is any approaching behavior.

[0031] It is understandable that before detection begins, some key parameters need to be set, such as detection range, movement threshold, absolute value, and update waiting time. The robot first determines whether it is stationary. This can be achieved by comparing continuous sensor data. For example, if the position or speed does not change significantly within a certain period of time, the robot can be considered stationary. If the robot is stationary, then movement detection can be started. If the robot is moving, the previous cached data needs to be cleared to avoid this data interfering with the detection in the stationary state. In the stationary state, the robot continuously obtains radar data and performs preliminary processing, such as filtering and denoising. Determine whether the current scene data is empty. If so, update it to the current radar data. This helps the robot understand the environment around it. Using the processed radar data, detect whether there are objects or obstacles moving within the robot's detection range. Based on the results of the motion detection, update the scene data to reflect the latest changes in the environment.

[0032] Optionally, if the robot is in a stationary state, obtaining current radar data and determining whether a variable storing scene data is empty includes: Traverse the current radar data and read the angle and distance of each point; If the distance is within the detection range, keep the distance; If the distance is greater than the maximum data of the detection range, the distance is set to infinity.

[0033] Specifically, each radar data point is traversed, the angle and distance of each point are read respectively, and based on the comparison between the distance and the detection range, a decision is made whether to retain the distance or set it to infinity: if the distance is within the detection range, the original distance is retained; if the distance exceeds the detection range, it is set to infinity.

[0034] It is understood that the processed distance can be optionally stored back in a data structure or output to the console.

[0035] Optionally, if the variable storing the scene data is empty, updating the current scene data to the current radar data comprises: Comparing the current radar data with the scene update data to determine whether there is a change in the data; If the data does not change, the output result is False; If the data has changed, the current data is set as the scene update data and the update save time.

[0036] Specifically, the acquired radar data is compared with the scene data, and the data change flag and the movement flag are updated in the comparison process. The data change flag indicates that there is a difference between the two sets of data, and the movement flag indicates that there is a close behavior; use a suitable comparison method to check whether the two data sets are the same (for example, calculate their difference or compare them directly); if the data has changed, and the change is detected for the first time (the scene update data is empty), the current data is set as the scene update data, and the update time is recorded; if the data has not changed, the output result is False, indicating that there is no change.

[0037] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes: Determine whether there is an object approaching behavior; If there is an object approaching, the current radar data is compared with the scene update data. If the data changes, the current radar data is saved as the scene update data and the save time is updated and True is output; If there is no object approaching behavior, the current radar data is compared with the scene update data. If there is a change in the data, the scene data update and scene update flag are set to True and False is output.

[0038] Specifically, the radar data is traversed to check whether there is an object within the detection range. The distance in the current radar data and the scene update data is compared to determine whether there is an object approaching.

[0039] If there is an object approaching and the data has changed, the radar data is saved as scene update data, the save time is updated, and True is output; If there is an object approaching behavior but the data does not change, return True; If the object is not approaching but the data has changed, update the scene data and set the flag to True, then output False.

[0040] If the object is not approaching and the data has not changed, return False.

[0041] It is understandable that if there is no approach behavior, the scene update flag is set to True (indicating that the scene data can be directly updated later), and False is directly output; that is, when the analysis shows that there is an approach behavior, True is output, and at this time, if the scene update data is different from the current radar data, the scene data and data storage time are updated. When the data changes but the analysis shows that there is no approach behavior, the scene data will be updated immediately in the subsequent scene data update.

[0042] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes: According to the difference between the current radar data and the distance at the same angle in the scene data, the change number, the distance reduction number, the absolute number are accumulated and compared with the predetermined threshold value respectively, and the data change flag and the proximity flag are updated according to the comparison result.

[0043] Specifically, for each radar data point, calculate the distance difference with the same angle point in the scene data; update statistical data, including the total number of changes, the number of distance reductions, and the number of absolute value changes; determine whether there is a data change or an object approaching behavior based on a predetermined threshold. According to the status of the data change flag and the approaching flag, output the results showing the data change and whether there is an object approaching.

[0044] It can be understood that the distances at the same angle in the two sets of radar data are compared, and the change number, distance reduction number, and absolute number are accumulated according to the difference in distance: The change number indicates the number of points whose absolute value of distance difference is greater than the moving threshold; The distance reduction number indicates the number of points in the current radar data whose distance < scene data distance - movement threshold; The absolute number indicates the number of points where the change occurs within the absolute range of distance when the change occurs; Finally, these numbers are judged and compared with the set values, so as to update the data change flag and the proximity flag. The set values ​​here exist to simply filter the errors of radar data. Optionally, comparing the current radar data with the scene data to determine whether the data has changed further includes: If the scene update data is not empty, determine whether the difference between the current time and the data storage time is greater than the scene update time threshold; If the difference between the current time and the data saving time is greater than the scene update time threshold, the scene data is updated.

[0045] Specifically, the current time is obtained and the difference between the current time and the saved time is calculated to determine whether the current time exceeds the scene update time threshold. If the time difference is greater than the threshold, update the scene data and set the saved time to the current time; If the time difference does not exceed the threshold, the data is not updated; If the scene update data or save time is empty, the data will not be updated and the update process will be jumped to update.

[0046] It is understandable that the scene data is the radar data when the program considers the scene to be stationary. However, considering that there may be movable obstacles in the initialized scene data, if it is not updated in time, once the person or object changes, the recognition result will be fixed. Therefore, the scene data needs to be updated in time; in the approach detection process: when the data changes and there is no approach behavior, the scene update flag is set to True. It will be updated directly here; when the data changes and there is approach behavior, each time a difference is detected between the scene update data and the current radar data, the scene data and data storage time will be updated; and in the update process, when the scene update data is not empty, first determine whether the current time minus the data storage time is greater than the scene update time threshold, that is, after detecting the approach behavior, if no data change is detected for a long time, the scene data will be updated; Optionally, the determining whether there is an object approaching behavior further includes: If the proximity flag is True, set the self-locking flag to True, indicating that the program is self-locking and updates the self-locking time; Determine whether the time difference between the current time and the self-locking time is greater than the self-locking holding time. If so, reset the self-locking flag and output False.

[0047] Specifically, if an object is detected approaching, the self-locking flag is set to True, the program enters the self-locking state, and updates the self-locking time (i.e., the current time). It is determined whether the time difference between the current time and the self-locking time is greater than the preset self-locking holding time. If the time difference is greater than the self-locking holding time, the self-locking flag is reset and output False, indicating that the self-locking state is released.

[0048] It can be understood that the self-locking holding time (seconds) is used to determine whether the self-locking flag needs to be reset; the purpose of this program is to prevent the same action from being triggered multiple times in a short period of time to ensure the stability and consistency of the program. The self-locking program is to reduce the fluctuation of the detection results; when the proximity flag in the proximity detection is True, set the self-locking flag to True and update the self-locking time; judge the self-locking flag, if it is True, it means that the program is self-locking. At this time, it is necessary to check whether the time difference between the current time and the self-locking time is greater than the self-locking holding time. If so, reset the self-locking flag and output False; in this way, after the detection result is True, only when the monitoring results within the self-locking holding time are all False, will False be finally output; Exemplarily, the present invention has at least five externally configurable parameters: detection range, movement threshold, absolute threshold, update wait time, self-locking hold time; each of which has the following functions: Detection range: the maximum value of the area to be detected, only the data with a distance less than the detection range is analyzed; Movement threshold: When the absolute value of the radar data change is greater than the movement distance, it is considered to be movement; Absolute threshold: In this threshold, if motion is detected, True is output; Update wait time: The long wait time that remains unchanged after an object is detected approaching; Self-locking holding time: the holding time when the object is detected approaching; It can be adjusted according to hardware performance and usage scenarios, which improves the applicability of the function.

[0049] The embodiment of the present invention determines the running state of the robot through at least one sensor data; if the robot is in motion, clears all cached data; if the robot is stationary, obtains the current radar data and determines whether the variable storing the scene data is empty; if the variable storing the scene data is empty, updates the current scene data to the current radar data. The current radar data is compared with the scene data to determine whether the data has changed and whether there is an object approaching; according to the judgment result, motion detection, scene data update, self-locking detection are performed, and finally the detection result is output. The present invention can solve the technical problem that the safety of the disinfection process cannot be guaranteed due to the inability to accurately identify the approach of objects, and improve the working efficiency of spray disinfection.

[0050] See also Figure 2 , an embodiment of the present invention provides a disinfection robot detection system, comprising: The first module determines the operation status of the robot through at least one sensor data; The second module clears all cached data if the robot is in motion; The third module, if the robot is in a stationary state, obtains the current radar data and determines whether the variable storing the scene data is empty; The fourth module updates the current scene data to the current radar data if the variable storing the scene data is empty.

[0051] The embodiment of the present invention determines the running state of the robot through at least one sensor data; if the robot is in motion, clears all cached data; if the robot is stationary, obtains the current radar data and determines whether the variable storing the scene data is empty; if the variable storing the scene data is empty, updates the current scene data to the current radar data. The current radar data is compared with the scene data to determine whether the data has changed and whether there is an object approaching; according to the judgment result, motion detection, scene data update, self-locking detection are performed, and finally the detection result is output. The present invention can solve the technical problem that the safety of the disinfection process cannot be guaranteed due to the inability to accurately identify the approach of objects, and improve the working efficiency of spray disinfection.

[0052] See also Figure 3 , an embodiment of the present invention provides a disinfection robot detection device, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements any of the above-mentioned disinfection robot detection methods.

[0053] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0054] In addition, the embodiment of the present application also discloses a computer program product or a computer program, and the computer program product or the computer program is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method. Similarly, the contents in the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those in the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0055] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the charging modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0056] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional charging modules / units in the systems and devices may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0057] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0059] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the 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. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0060] 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 solution of this embodiment.

[0061] In addition, each functional unit in each embodiment of the present application 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.

[0062] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0063] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A disinfection robot detection method, characterized in that: The method comprises the following steps: Determine the robot's operating status through at least one sensor data; If the robot is in motion, clearing all cached data; If the robot is in a stationary state, the current radar data is obtained to determine whether the variable storing the scene data is empty; If the variable storing the scene data is empty, the current scene data is updated to the current radar data; The scene data is radar data when the program detects that the robot is stationary.

2. The method according to claim 1, characterized in that If the robot is in a stationary state, obtaining current radar data and determining whether the variable storing the scene data is empty include: Obtain current radar data, traverse the current radar data, and read the angle and distance of each point; If the distance is within the detection range, keep the distance; If the distance is greater than the maximum data of the detection range, the distance is set to infinity.

3. The method according to claim 1, characterized in that If the variable storing the scene data is empty, updating the current scene data to the current radar data includes: Comparing the current radar data with the scene update data to determine whether there is a change in the data; If the data does not change, the output result is False; If the data has changed, the current data is set as the scene update data and the update save time.

4. The method according to claim 3, characterized in that Comparing the current radar data with the scene update data to determine whether the data has changed further includes: Determine whether there is an object approaching behavior; If there is an object approaching, the current radar data is compared with the scene update data. If the data changes, the current radar data is saved as the scene update data and the save time is updated and True is output; If there is no object approaching behavior, the current radar data is compared with the scene update data. If there is a change in the data, the scene data update and scene update flag are set to True and False is output.

5. The method according to claim 4, characterized in that The comparing the current radar data with the scene update data to determine whether the data has changed further includes: According to the difference between the current radar data and the distance at the same angle in the scene data, the change number, the distance reduction number, the absolute number are accumulated and compared with the predetermined threshold value respectively, and the data change flag and the proximity flag are updated according to the comparison result.

6. The method according to claim 4, characterized in that The comparing the current radar data with the scene data to determine whether the data has changed further includes: If the scene update data is not empty, determine whether the difference between the current time and the data storage time is greater than the scene update time threshold; If the difference between the current time and the data saving time is greater than the scene update time threshold, the scene data is updated.

7. The method according to claim 4, characterized in that The determining whether there is an object approaching behavior further includes: If the proximity flag is True, set the self-locking flag to True, indicating that the program is self-locking and updates the self-locking time; Determine whether the time difference between the current time and the self-locking time is greater than the self-locking holding time. If so, reset the self-locking flag and output False.

8. A disinfection robot detection system, characterized in that: The system comprises: The first module determines the operation status of the robot through at least one sensor data; The second module clears all cached data if the robot is in motion; The third module, if the robot is in a stationary state, obtains the current radar data and determines whether the variable storing the scene data is empty; The fourth module updates the current scene data to the current radar data if the variable storing the scene data is empty.

9. A disinfection robot detection device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the disinfection robot detection method as described in any one of claims 1-7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor executable program is used to execute the disinfection robot detection method as described in any one of claims 1-7 when executed by the processor.

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