A disinfection robot detection method, system, device and medium

Abstract

This invention determines the robot's operating status using data from at least one sensor. If the robot is in motion, all cached data is cleared. If the robot is stationary, current radar data is acquired, and it is determined whether the variable storing scene data is empty. If the variable storing scene data is empty, the current scene data is updated to the current radar data. The current radar data is then compared with the scene data to determine if there are any changes and if an object is approaching. Based on the determination results, motion detection, scene data updates, and self-locking detection are performed, and finally, the detection results are output. This invention solves the technical problem of inaccurate object approach detection, which leads to compromised safety during the disinfection process, thereby improving the efficiency of spray disinfection.

Description

Technical Field

[0001] This invention relates to the field of disinfection equipment technology, and in particular to a method, system, device and medium for detecting disinfection robots. Background Technology

[0002] With the rapid development of automation technology, disinfection robots are increasingly widely used in public places, medical institutions, and industrial environments. Disinfection robots can autonomously perform targeted spraying of disinfectant or ultraviolet disinfection, greatly improving the efficiency and effectiveness of disinfection work. However, because the chemical agents and ultraviolet light used in the disinfection process may adversely affect surrounding objects or equipment, and even pose 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 detect temperature changes and determine if someone is approaching. However, when spraying disinfectant, the system may be accidentally triggered due to a drop in ambient temperature.

[0004] Therefore, there is an urgent need to research a technology for detecting the proximity of objects to disinfection robots in the aforementioned environments to ensure their proper use and improve the efficiency of spray disinfection. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a disinfection robot detection method, system, device and medium to solve the technical problem in the prior art that the inability to accurately identify the approach of objects leads to the inability to guarantee the safety of the disinfection process, and to improve the efficiency of spray disinfection.

[0006] On one hand, embodiments of the present invention provide a method for detecting a disinfection robot, the method comprising the following steps:

[0007] The robot's operating status is determined by data from at least one sensor.

[0008] If the robot is in motion, then clear all cached data;

[0009] If the robot is stationary, acquire the current radar data and determine whether the variable storing the scene data is empty;

[0010] If the variable storing the scene data is empty, then the current scene data will be updated to the current radar data;

[0011] The scene data refers to radar data detected by the program when the robot is stationary.

[0012] Optionally, the step of obtaining the current radar data and determining whether the variable storing the scene data is empty before proceeding if the robot is stationary includes:

[0013] Iterate through the current radar data and read the angle and distance of each point;

[0014] If the distance is within the detection range, retain the distance;

[0015] If the distance is greater than the maximum detection range, then set the distance to infinity.

[0016] Optionally, updating the current scene data to the current radar data if the variable storing the scene data is empty includes:

[0017] The current radar data is compared with the scene update data to determine whether there are any changes in the data;

[0018] If the data remains unchanged, the output will be False.

[0019] If the data changes, the current data will be set as the scene update data and the update save time.

[0020] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes:

[0021] Determine if there is any object approaching behavior;

[0022] If an object approaches, the current radar data is compared with the scene update data. If the data has changed, the current radar data is saved as scene update data along with the update save time, and True is output.

[0023] If no object approaches, the current radar data is compared with the scene update data. If the data has changed, the scene data update and scene update flag are set to True and False is output.

[0024] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes:

[0025] The data change flag and proximity flag are updated based on the difference between the current radar data and the distance at the same angle in the scene data, respectively, including the cumulative change number, the distance decrease number, the absolute number, and the comparison with a predetermined threshold.

[0026] Optionally, comparing the current radar data with the scene data to determine whether the data has changed further includes:

[0027] 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.

[0028] If the difference between the current time and the data retention time is greater than the scene update time threshold, then update the scene data.

[0029] Optionally, determining whether an object is approaching further includes:

[0030] If the flag is True, set the self-locking flag to True, indicating that the program self-locks and updates the self-locking time;

[0031] Determine if 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.

[0032] On the other hand, embodiments of the present invention provide a disinfection robot detection system, comprising:

[0033] The first module determines the robot's operating status using data from at least one sensor.

[0034] The second module, if the robot is in motion, clears all cached data;

[0035] The third module, if the robot is stationary, acquires the current radar data and determines whether the variables storing the scene data are empty;

[0036] The fourth module updates the current scene data to the current radar data if the variable storing the scene data is empty.

[0037] On the other hand, embodiments of the present invention provide a disinfection robot detection device, comprising:

[0038] At least one processor;

[0039] At least one memory for storing at least one program;

[0040] 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 described above.

[0041] On the other hand, embodiments of the present invention provide a computer-readable storage medium storing a processor-executable program, characterized in that the processor-executable program, when executed by a processor, is used to perform the disinfection robot detection method described in any of the preceding claims.

[0042] This invention determines the robot's operating status using data from at least one sensor. If the robot is in motion, all cached data is cleared. If the robot is stationary, current radar data is acquired, and it is determined whether the variable storing scene data is empty. If the variable storing scene data is empty, the current scene data is updated to the current radar data. The current radar data is then compared with the scene data to determine if there are any changes and if an object is approaching. Based on the determination results, motion detection, scene data updates, and self-locking detection are performed, and finally, the detection results are output. This invention solves the technical problem of inaccurate object approach detection, which leads to compromised safety during the disinfection process, thereby improving the efficiency of spray disinfection.

[0043] The present invention also has the following beneficial effects:

[0044] 1) Unaffected by temperature, suitable for disinfection robot spray disinfection scenarios.

[0045] 2) It has a wider detection range.

[0046] 3) Parameters can be flexibly adjusted to meet different usage scenarios. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of a disinfection robot detection method provided in an embodiment of the present invention;

[0049] Figure 2 This is a structural block diagram of a disinfection robot detection system provided in an embodiment of the present invention;

[0050] Figure 3 This is a structural block diagram of a disinfection robot detection device provided in an embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] It should be noted that although 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 and the above-mentioned figures are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0054] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0055] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware charging modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0056] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0057] See Figure 1 As shown in the figure, an embodiment of the present invention provides a method for detecting a disinfection robot, the method comprising the following steps:

[0058] The robot's operating status is determined by data from at least one sensor.

[0059] If the robot is in motion, then clear all cached data;

[0060] If the robot is stationary, acquire the current radar data and determine whether the variable storing the scene data is empty;

[0061] If the variable storing the scene data is empty, then the current scene data will be updated to the current radar data;

[0062] The scene data refers to radar data detected by the program when the robot is stationary.

[0063] Specifically, for motion detection, it is first necessary to determine whether the robot is stationary, as detection is only meaningful when the robot is stationary; if the robot is not stationary, the cached information will be cleared to avoid affecting subsequent detection after the robot has come to a stop.

[0064] When the robot is stationary, we continuously acquire radar data and perform preliminary processing; then we check if the scene data is empty; if so, we update the scene data to the current radar data. After completion, we perform motion detection, scene data update, and self-locking detection, and finally output the detection results.

[0065] The scene data here is the radar data when the program considers the scene to be stationary. It is compared with the current radar data to analyze whether there is any approaching behavior.

[0066] Understandably, 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 velocity does not change significantly within a certain time, the robot can be considered stationary. If the robot is stationary, movement detection can begin. If the robot is moving, previous cached data needs to be cleared to avoid interference with detection in a stationary state. In a stationary state, the robot continuously acquires radar data and performs preliminary processing, such as filtering and noise reduction. It checks if the current scene data is empty; if so, it updates to the current radar data. This helps the robot understand its surrounding environment. Using the processed radar data, it detects whether any objects or obstacles are moving within the robot's detection range. Based on the movement detection results, the scene data is updated to reflect the latest changes in the environment.

[0067] Optionally, the step of obtaining the current radar data and determining whether the variable storing the scene data is empty before proceeding if the robot is stationary includes:

[0068] Iterate through the current radar data and read the angle and distance of each point;

[0069] If the distance is within the detection range, retain the distance;

[0070] If the distance is greater than the maximum detection range, then set the distance to infinity.

[0071] Specifically, each radar data point is traversed, and the angle and distance of each point are read. Based on the comparison between the distance and the detection range, it is decided 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 is outside the detection range, it is set to infinity.

[0072] Understandably, you can choose to store the processed distance back into the data structure or output it to the console.

[0073] Optionally, updating the current scene data to the current radar data if the variable storing the scene data is empty includes:

[0074] The current radar data is compared with the scene update data to determine whether there are any changes in the data;

[0075] If the data remains unchanged, the output will be False.

[0076] If the data changes, the current data will be set as the scene update data and the update save time.

[0077] Specifically, the acquired radar data is compared with scene data, and the data change flag and movement flag are updated during 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 proximity action. An appropriate comparison method is used to check whether the two datasets are the same (e.g., calculate their differences or compare them directly). If the data has changed, and the change is detected for the first time (the scene update data is empty), then 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.

[0078] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes:

[0079] Determine if there is any object approaching behavior;

[0080] If an object approaches, the current radar data is compared with the scene update data. If the data has changed, the current radar data is saved as scene update data along with the update save time, and True is output.

[0081] If no object approaches, the current radar data is compared with the scene update data. If the data has changed, the scene data update and scene update flag are set to True and False is output.

[0082] Specifically, the radar data is traversed to check if any objects are within the detection range. The presence of approaching objects is determined by comparing the distances in the current radar data with those in the scene update data.

[0083] If there is an object approaching and the data changes, save the radar data as scene update data, update the save time, and output True;

[0084] If an object moves closer but the data does not change, return True.

[0085] If the object is not close but the data changes, update the scene data and set the flag to True, then output False.

[0086] If the object is not nearby and the data has not changed, return False.

[0087] Understandably, if no approaching behavior is detected, the scene update flag is set to True (indicating that scene data can be updated directly later), and False is output directly. That is, when approaching behavior is detected, True is output, and if the scene update data differs from the current radar data, the scene data and data retention time are updated. When the data changes but no approaching behavior is detected, the scene data is updated immediately in subsequent scene data updates.

[0088] Optionally, comparing the current radar data with the scene update data to determine whether the data has changed further includes:

[0089] The data change flag and proximity flag are updated based on the difference between the current radar data and the distance at the same angle in the scene data, respectively, including the cumulative change number, the distance decrease number, the absolute number, and the comparison with a predetermined threshold.

[0090] Specifically, for each radar data point, the distance difference with the same angle point in the scene data is calculated; statistical data is updated, including the total number of changes, the number of distance decreases, and the number of absolute value changes; based on a predetermined threshold, it is determined whether there is data change or object approaching behavior. The output displays the data change and whether an object is approaching, based on the status of the data change flag and the proximity flag.

[0091] Understandably, by comparing the distances at the same angle in two sets of radar data, the changes, decreases, and absolute values ​​are accumulated based on the distance differences:

[0092] The change count represents the number of points where the absolute value of the distance difference is greater than the movement threshold;

[0093] The distance reduction number indicates the number of points in the current radar data whose distance is less than the scene data distance minus the movement threshold;

[0094] An absolute number represents the number of points whose distances change within an absolute range when changes occur.

[0095] Finally, these numbers are evaluated and compared with set values ​​to update the data change flag and proximity flag; the set values ​​exist here to simply filter out errors in the radar data.

[0096] Optionally, comparing the current radar data with the scene data to determine whether the data has changed further includes:

[0097] 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.

[0098] If the difference between the current time and the data retention time is greater than the scene update time threshold, then update the scene data.

[0099] Specifically, the current time is obtained and the difference between the current time and the saved time is calculated to determine whether it exceeds the scene update time threshold;

[0100] If the time difference is greater than the threshold, update the scene data and set the save time to the current time;

[0101] If the time difference does not exceed the threshold, the data is not updated;

[0102] If the scene update data or save time is empty, do not update the data, and jump to the update process to update.

[0103] It's understandable that scene data is radar data when the program considers the scene to be static. However, considering that there might be movable obstacles present during the initialization of scene data, if it's not updated in time, the recognition result will be fixed once the person or object changes. Therefore, timely scene data updates are necessary. In the proximity detection process: when data changes and there is no proximity behavior, the scene update flag is set to True, and an update will be performed directly. When data changes and proximity behavior occurs, the scene data and data retention time will be updated each time a difference is detected between the scene update data and the current radar data. In the update process, when the scene update data is not empty, it first checks whether the current time minus the data retention time is greater than the scene update time threshold. That is, after detecting proximity behavior, if no data change is detected for a long time, the scene data will be updated.

[0104] Optionally, determining whether an object is approaching further includes:

[0105] If the flag is True, set the self-locking flag to True, indicating that the program self-locks and updates the self-locking time;

[0106] Determine if 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.

[0107] Specifically, if an object is detected approaching and the self-locking flag is set to True, the program enters a self-locking state and updates the self-locking time (i.e., the current time). It then checks if the time difference between the current time and the self-locking time is greater than the preset self-locking duration. If the time difference is greater than the self-locking duration, the self-locking flag is reset and the value False is output, indicating that the self-locking state is released.

[0108] The self-lock holding time (in seconds) is used to determine whether the self-lock flag needs to be reset. The purpose of this program is to prevent the same action from being triggered multiple times within a short period, ensuring program stability and consistency. The self-locking program is designed to reduce fluctuations in detection results. When the proximity flag in proximity detection is True, the self-lock flag is set to True, and the self-lock time is updated. The program checks the self-lock flag; if it is True, it indicates that the program is self-locking. At this point, it checks whether the time difference between the current time and the self-lock time is greater than the self-lock holding time. If so, the self-lock flag is reset and False is output. Thus, after the detection result is True, False is only finally output after all the detection results within the self-lock holding time are False.

[0109] For example, the present invention has at least five externally configurable parameters: detection range, movement threshold, absolute threshold, update wait time, and self-locking hold time; each of which functions as follows:

[0110] Detection range: The maximum value of the area to be detected; only data with a distance smaller than the detection range will be analyzed.

[0111] Movement threshold: Movement is considered to have occurred if the absolute value of the change in radar data is greater than the movement distance;

[0112] Absolute threshold: If movement is detected within this threshold, True is output.

[0113] Update wait time: A long wait time that remains unchanged after an object is detected approaching;

[0114] Self-locking holding time: The holding time when an object is detected approaching the result;

[0115] It can be adjusted according to hardware performance and usage scenarios, thus improving the applicability of the function.

[0116] This invention determines the robot's operating status using data from at least one sensor. If the robot is in motion, all cached data is cleared. If the robot is stationary, current radar data is acquired, and it is determined whether the variable storing scene data is empty. If the variable storing scene data is empty, the current scene data is updated to the current radar data. The current radar data is then compared with the scene data to determine if there are any changes and if an object is approaching. Based on the determination results, motion detection, scene data updates, and self-locking detection are performed, and finally, the detection results are output. This invention solves the technical problem of inaccurate object approach detection, which leads to compromised safety during the disinfection process, thereby improving the efficiency of spray disinfection.

[0117] See Figure 2 This invention provides a disinfection robot detection system, comprising:

[0118] The first module determines the robot's operating status using data from at least one sensor.

[0119] The second module, if the robot is in motion, clears all cached data;

[0120] The third module, if the robot is stationary, acquires the current radar data and determines whether the variables storing the scene data are empty;

[0121] The fourth module updates the current scene data to the current radar data if the variable storing the scene data is empty.

[0122] This invention determines the robot's operating status using data from at least one sensor. If the robot is in motion, all cached data is cleared. If the robot is stationary, current radar data is acquired, and it is determined whether the variable storing scene data is empty. If the variable storing scene data is empty, the current scene data is updated to the current radar data. The current radar data is then compared with the scene data to determine if there are any changes and if an object is approaching. Based on the determination results, motion detection, scene data updates, and self-locking detection are performed, and finally, the detection results are output. This invention solves the technical problem of inaccurate object approach detection, which leads to compromised safety during the disinfection process, thereby improving the efficiency of spray disinfection.

[0123] See Figure 3 This invention provides a disinfection robot detection device, comprising:

[0124] At least one processor;

[0125] At least one memory for storing at least one program;

[0126] 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 described above.

[0127] It is evident that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0128] Furthermore, this application also discloses a computer program product or computer program stored in a computer-readable storage medium. A processor of a computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform the described method. Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0129] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the charging modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0130] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional charging modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0131] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0132] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0134] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0135] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0136] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for detecting a disinfection robot, characterized in that, The method includes the following steps: The robot's operating status is determined by data from at least one sensor. If the robot is in motion, clear all cached data. If the robot is stationary, acquire the current radar data and determine whether the variable storing the scene data is empty; If the variable storing the scene data is empty, then the current scene data will be updated to the current radar data; The scene data refers to radar data detected by the program when the robot is stationary; The step of updating the current scene data to the current radar data if the variable storing the scene data is empty includes: The current radar data is compared with the scene update data to determine whether there have been any changes in the data; If the data remains unchanged, the output will be False. If the data changes, the current data will be set as the scene update data and the update save time. The step of comparing the current radar data with the scene update data to determine whether the data has changed includes: Determine if there is any object approaching behavior; If an object approaches, the current radar data is compared with the scene update data. If the data changes, the current radar data is saved as scene update data along with the update and save time, and True is output. If no object approaches, compare the current radar data with the scene update data. If the data has changed, set the scene data update and the scene update flag to True and output False. The data change flag and proximity flag are updated based on the difference between the current radar data and the distance at the same angle in the scene data, respectively, including the cumulative change number, the distance decrease number, the absolute number, and the comparison with a predetermined threshold.

2. The method according to claim 1, characterized in that, If the robot is stationary, the process of acquiring current radar data and determining whether the variables storing scene data are empty includes: Acquire the current radar data, iterate through the current radar data, and read the angle and distance of each point; If the distance is within the detection range, retain the distance; If the distance is greater than the maximum detection range, then set the distance to infinity.

3. The method according to claim 1, characterized in that, The step of comparing the current radar data with the scene update data to determine whether the data has changed also 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 retention time is greater than the scene update time threshold, then update the scene data.

4. The method according to claim 1, characterized in that, The determination of whether there is object approach behavior also includes: If the flag is True, set the self-locking flag to True, indicating that the program self-locks and updates the self-locking time; Determine if 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.

5. A disinfection robot detection system, characterized in that, The system includes: The first module determines the robot's operating status using data from at least one sensor. The second module, if the robot is in motion, clears all cached data; The third module, if the robot is stationary, acquires the current radar data and determines whether the variables storing the scene data are empty; The fourth module, if the variable storing the scene data is empty, updates the current scene data to the current radar data; The scene data refers to radar data detected by the program when the robot is stationary; The step of updating the current scene data to the current radar data if the variable storing the scene data is empty includes: The current radar data is compared with the scene update data to determine whether there have been any changes in the data; If the data remains unchanged, the output will be False. If the data changes, the current data will be set as the scene update data and the update save time. The step of comparing the current radar data with the scene update data to determine whether the data has changed includes: Determine if there is any object approaching behavior; If an object approaches, the current radar data is compared with the scene update data. If the data changes, the current radar data is saved as scene update data along with the update and save time, and True is output. If no object approaches, compare the current radar data with the scene update data. If the data has changed, set the scene data update and scene update flag to True and output False. The data changes, distance reductions, and absolute values ​​at the same angle between the current radar data and the scene data are accumulated and compared with predetermined thresholds. The data change flag and proximity flag are updated based on the comparison results.

6. 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 1-4.

7. A computer-readable storage medium storing a processor-executable program, characterized in that, The program executable by the processor is used, when executed by the processor, to perform the disinfection robot detection method as described in any one of claims 1-4.

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