Disinfection method, device and equipment suitable for multiple scenes and medium

Abstract

The invention relates to the technical field of robots, in particular to a disinfection method, device and equipment suitable for multiple scenes and a medium. The method comprises the steps that a disinfection mode and a disinfection mode set by a user are obtained; acquiring a map constructed for a disinfection area, determining a disinfection path of a robot in the map, and controlling the robot to move to a starting point of the disinfection path; a disinfection module corresponding to the disinfection mode is determined, the working state of the disinfection module is detected, and if it is determined that the working state of the disinfection module is normal, the robot is controlled to move based on the disinfection path, and the disinfection module is controlled to conduct disinfection based on the disinfection mode; the invention provides a plurality of disinfection modes and disinfection modes, can be applied to disinfection in different scenes, and meets the disinfection requirements in different scenes.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a disinfection method, device, equipment and medium suitable for multiple scenarios. Background Art

[0002] Different areas in different scenarios such as hotels, office buildings, and hospitals have different requirements for disinfection. The disinfection robots in related technologies are difficult to meet the needs of disinfection in multiple scenarios. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present invention is to provide a disinfection method, device, equipment and medium suitable for multiple scenarios, which can be efficiently compatible with different disinfection scenarios.

[0004] On the one hand, an embodiment of the present invention provides a disinfection method applicable to multiple scenarios, the method comprising the following steps: Obtain the disinfection mode and disinfection method set by the user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; Acquire a map constructed for the disinfection area, determine a disinfection path of the robot in the map, and control the robot to move to the starting point of the disinfection path; wherein the map is provided with a plurality of points, which are marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; Determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

[0005] Optionally, the method further comprises: If it is determined that the robot has completed the disinfection of each point in the disinfection path, the robot is controlled to move to the charging pile for charging.

[0006] Optionally, determining a disinfection path of the robot in the map includes: The points selected by the user in the map are obtained, the selected points are sorted, and the disinfection path of the robot is determined according to the order of the points.

[0007] Optionally, controlling the robot to move based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, includes: If the disinfection mode is a full-process disinfection mode, determine the straight line path between two adjacent points in the disinfection path, connect each of the straight line paths in sequence to obtain the moving path of the robot; and control the disinfection module to perform disinfection while the robot moves along the moving path.

[0008] Optionally, the method further comprises: If the disinfection mode is a full-course disinfection mode, then when the robot moves along the moving path, if an obstacle is detected, the movement is paused and a voice announcement is made until the obstacle leaves and the robot continues to move.

[0009] Optionally, controlling the robot to move based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, includes: If the disinfection mode is a fixed-point disinfection mode, the robot is controlled to move to each point in the disinfection path in sequence, and when the robot moves to a point in the disinfection path, the disinfection module is controlled to disinfect the point.

[0010] Optionally, the method further comprises: If the disinfection mode is a fixed-point disinfection mode, then when the robot moves along the disinfection path, if an obstacle is detected, the path planning algorithm is used to replan to avoid the obstacle and continue to move to the next point.

[0011] On the other hand, an embodiment of the present invention provides a disinfection device suitable for multiple scenarios, characterized in that the device comprises: The first module is used to obtain the disinfection mode and disinfection method set by the user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; The second module is used to obtain a map constructed for the disinfection area, determine the disinfection path of the robot in the map, and control the robot to move to the starting point of the disinfection path; wherein the map is provided with a plurality of points, which are marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; The third module is used to determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

[0012] On the other hand, an embodiment of the present invention provides a robot, 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 the above method.

[0013] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0014] The embodiments of the present invention include the following beneficial effects: In this embodiment, the disinfection mode and disinfection method set by the user are first obtained; the disinfection path of the robot in the map is determined, and the robot is controlled to move to the starting point of the disinfection path; thereby preliminarily planning the disinfection route of the robot, determining the disinfection module corresponding to the disinfection method, detecting the working state of the disinfection module, and ensuring that the robot can perform normal disinfection; if it is determined that the working state of the disinfection module is normal, the robot is controlled to move based on the disinfection path, and the disinfection module is controlled to perform disinfection based on the disinfection mode. The present invention provides a variety of disinfection methods and disinfection modes, which can be used for disinfection in different scenarios to meet the disinfection needs in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 It is a schematic diagram of the steps of a disinfection method applicable to multiple scenarios provided by an embodiment of the present invention; Figure 2 Schematic diagram of a disinfection path in an embodiment of the present invention; Figure 3 It is a structural block diagram of a disinfection device applicable to multiple scenarios provided by an embodiment of the present invention; Figure 4 It is a structural block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention 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 invention and are not intended to limit the present invention. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present invention. They are only examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the attached claims.

[0018] It is understood that the terms "first", "second", etc. used in the present invention may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0019] The terms "at least one", "multiple", "each", "any", etc. used in the present invention, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0020] 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 the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0021] like Figure 1 As shown, an embodiment of the present invention provides a disinfection method applicable to multiple scenarios, and the method includes the following steps: S100, obtaining a disinfection mode and disinfection method set by a user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; It should be noted that the setting method of the robot management platform is convenient and flexible, but it is more suitable for non-peak hours, such as at 12 o'clock in the evening, when there is little traffic and the robot operator is not on site in the disinfection area. At this time, the robot platform can be used to set the disinfection method and mode, and issue disinfection tasks. The screen setting method is generally used during working hours. The robot operator can set the disinfection method and mode based on the traffic in the disinfection area, other demands, etc.

[0022] The disinfection mode includes the whole disinfection mode and the fixed-point disinfection mode. The disinfection mode can be comprehensively selected according to the requirements of the same disinfection area in different time periods and different disinfection areas for the disinfection effect. The disinfection method can be set through the robot platform remote setting, screen interactive interface setting (such as an interactive interface based on the Android system), and handle operation; the disinfection mode can be set through the robot platform remote setting and screen interactive interface setting.

[0023] For different disinfection methods, set corresponding disinfection parameters, including spray volume, ultraviolet intensity, robot movement speed, and point residence time.

[0024] S200, obtaining a map constructed for the disinfection area, determining a disinfection path of the robot in the map, and controlling the robot to move to a starting point of the disinfection path; wherein the map is provided with a plurality of points, the points being marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; It should be noted that the starting point refers to the point where disinfection begins, that is, the first point in the disinfection path; for example, the robot is initially at the charging station, and it moves to the starting point of the disinfection area before starting disinfection.

[0025] S300, determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

[0026] Specifically, the disinfection method is set by remote setting of the robot platform or by means of an interactive interface, and the disinfection methods include atomization disinfection and ultraviolet disinfection. Next, the disinfection mode selected by the user is obtained. If it is atomization disinfection, the working status of the atomization module is obtained; if it is ultraviolet disinfection, the working status of the ultraviolet module is obtained.

[0027] Before and during the disinfection process, the robot detects the working status of the disinfection module. If the working status is abnormal, such as high temperature, overcurrent, etc., the disinfection task is terminated, and the corresponding abnormal status is reported to the platform and the abnormal status information is displayed on the interactive interface.

[0028] For the atomization disinfection method, first use the liquid level sensor of the atomization tank to detect whether the liquid level of the atomization tank has reached the working level. If it has, turn on the atomizer, fan, and water pump to enable the atomization disinfection module, and then start atomization disinfection. If it has not reached the working level, control the water tank to pump water to the atomization tank until the disinfectant level in the atomization tank reaches the working level. For ultraviolet disinfection, disinfection can be performed by turning on the ultraviolet lamp.

[0029] Before starting disinfection, first determine the set disinfection method, whether it is spray disinfection or ultraviolet disinfection. If it is atomization disinfection method and the working condition of the atomization module is normal, turn on the atomization module for disinfection; if it is ultraviolet disinfection method and the working condition of the ultraviolet module is normal, turn on the ultraviolet module for disinfection.

[0030] In this embodiment, a variety of disinfection methods and modes are provided, including atomization disinfection and ultraviolet disinfection. Atomization disinfection can generally work in an environment with people, such as a hotel lobby, a hospital corridor, etc.; ultraviolet disinfection is generally used in areas with very small flow of people or no people, such as an operating room area, etc. The robot provided by the present invention can be used for disinfection in different scenarios to meet the disinfection needs in different scenarios.

[0031] In some embodiments, the method further comprises: If it is determined that the robot has completed the disinfection of each point in the disinfection path, the robot is controlled to move to the charging pile for charging.

[0032] In some embodiments, before the disinfection task starts, the initial position of the robot is the charging pile; when the disinfection task is completed, the robot is controlled to return to the charging pile for charging, so that the position of the robot can be uniformly planned and charged in time.

[0033] In some embodiments, determining the disinfection path of the robot in the map includes: The points selected by the user in the map are obtained, the selected points are sorted, and the disinfection path of the robot is determined according to the order of the points.

[0034] Specifically, the selection of disinfection locations must ensure that the entire area can be fully covered and disinfected. After the disinfection robot builds a map of the disinfection area, it selects the disinfection location in the map and marks the disinfection location. The marked disinfection location is called a point. Then, before issuing the disinfection task, the area that needs to be covered by this disinfection task is obtained. According to the area that needs to be covered by this disinfection task, all points can be selected, or some of them can be selected. The disinfection path of the robot can be determined according to the order of the selected points. Figure 2As shown in the figure, A, B, C, D, E, F, G, H, and I are the points marked on the map. If these points are selected in the order of ABCDEFGHI for this task, then the robot's disinfection path is ABCDEFGHI, and the robot disinfects along the route of ABCDEFGHI. Disinfection tasks can also be issued through the robot management platform and the screen interactive interface.

[0035] In some embodiments, controlling the movement of the robot based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, comprises: If the disinfection mode is a full-process disinfection mode, determine the straight line path between two adjacent points in the disinfection path, connect each of the straight line paths in sequence to obtain the moving path of the robot; and control the disinfection module to perform disinfection while the robot moves along the moving path.

[0036] Specifically, the full-process disinfection mode requires the robot to disinfect while moving between two points. This mode requires the robot's path planning algorithm to move on a straight path between the two points as much as possible.

[0037] In some embodiments, the method further comprises: If the disinfection mode is a full-course disinfection mode, then when the robot moves along the moving path, if an obstacle is detected, the movement is paused and a voice announcement is made until the obstacle leaves and the robot continues to move.

[0038] Specifically, if an obstacle is encountered during the movement, the movement will be paused, and the movement will continue after the obstacle is removed through voice broadcast.

[0039] In some embodiments, controlling the movement of the robot based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, comprises: If the disinfection mode is a fixed-point disinfection mode, the robot is controlled to move to each point in the disinfection path in sequence, and when the robot moves to a point in the disinfection path, the disinfection module is controlled to disinfect the point.

[0040] Specifically, the fixed-point disinfection mode does not require disinfection during the movement between two points. Disinfection only needs to be started when the point is reached. Disinfection is stopped after the disinfection time is up, and the disinfection is continued after moving to the next point.

[0041] In some embodiments, the method further comprises: If the disinfection mode is a fixed-point disinfection mode, then when the robot moves along the disinfection path, if an obstacle is detected, the path planning algorithm is used to replan to avoid the obstacle and continue to move to the next point.

[0042] Specifically, the focus of fixed-point disinfection is to ensure that the vehicle moves to the designated point. If there are obstacles between the two points, the path planning algorithm is used to replan the path to avoid the obstacles and continue to move to the next point.

[0043] See also Figure 3 , an embodiment of the present invention provides a disinfection device suitable for multiple scenarios, the device comprising: The first module is used to obtain the disinfection mode and disinfection method set by the user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; The second module is used to obtain a map constructed for the disinfection area, determine the disinfection path of the robot in the map, and control the robot to move to the starting point of the disinfection path; wherein the map is provided with a plurality of points, which are marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; The third module is used to determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

[0044] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device 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.

[0045] refer to Figure 4 An embodiment of the present invention further provides a robot, the robot comprising a memory and a processor, the memory storing a computer program, and the processor implementing the method in the above embodiment when executing the computer program.

[0046] It can be understood that the contents of the above method embodiments are all applicable to this embodiment, the functions specifically implemented by this embodiment 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.

[0047] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above method is implemented.

[0048] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium 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.

[0049] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0050] The embodiments described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. Those skilled in the art can appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0051] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present invention and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0052] 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0054] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof 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.

[0055] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to 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 represent: 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 previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one 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, c can be single or multiple.

[0056] In the several embodiments provided by the present invention, 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 above 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.

[0057] The units described above 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.

[0058] In addition, each functional unit in each embodiment of the present invention 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.

[0059] 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 invention, 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. The computer software product is stored in a storage medium, including multiple instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store programs.

[0060] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the embodiments of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present invention shall be within the scope of the rights of the embodiments of the present invention.

Claims

1. A disinfection method applicable to multiple scenarios, characterized in that: The method comprises the following steps: Obtain the disinfection mode and disinfection method set by the user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; Acquire a map constructed for the disinfection area, determine a disinfection path of the robot in the map, and control the robot to move to the starting point of the disinfection path; wherein the map is provided with a plurality of points, which are marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; Determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

2. The method according to claim 1, characterized in that The method further comprises: If it is determined that the robot has completed the disinfection of each point in the disinfection path, the robot is controlled to move to the charging pile for charging.

3. The method according to claim 1, characterized in that Determining the disinfection path of the robot in the map includes: The points selected by the user in the map are obtained, the selected points are sorted, and the disinfection path of the robot is determined according to the order of the points.

4. The method according to claim 1, characterized in that: The controlling the movement of the robot based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, comprises: If the disinfection mode is a full-process disinfection mode, determine the straight line path between two adjacent points in the disinfection path, connect each of the straight line paths in sequence to obtain the moving path of the robot; and control the disinfection module to perform disinfection while the robot moves along the moving path.

5. The method according to claim 4, characterized in that The method further comprises: If the disinfection mode is a full-course disinfection mode, then when the robot moves along the moving path, if an obstacle is detected, the movement is paused and a voice announcement is made until the obstacle leaves and the robot continues to move.

6. The method according to claim 1, characterized in that The controlling the movement of the robot based on the disinfection path, and controlling the disinfection module to perform disinfection based on the disinfection mode, comprises: If the disinfection mode is a fixed-point disinfection mode, the robot is controlled to move to each point in the disinfection path in sequence, and when the robot moves to a point in the disinfection path, the disinfection module is controlled to disinfect the point.

7. The method according to claim 6, characterized in that The method further comprises: If the disinfection mode is a fixed-point disinfection mode, then when the robot moves along the disinfection path, if an obstacle is detected, the path planning algorithm is used to replan to avoid the obstacle and continue to move to the next point.

8. A disinfection device suitable for multiple scenarios, characterized in that: The device comprises: The first module is used to obtain the disinfection mode and disinfection method set by the user; wherein the disinfection mode includes a full-course disinfection mode and a fixed-point disinfection mode, and the disinfection method includes atomization disinfection and ultraviolet disinfection; The second module is used to obtain a map constructed for the disinfection area, determine the disinfection path of the robot in the map, and control the robot to move to the starting point of the disinfection path; wherein the map is provided with a plurality of points, which are marked disinfection positions; and the disinfection path includes a plurality of points arranged in sequence; The third module is used to determine the disinfection module corresponding to the disinfection method, detect the working status of the disinfection module, and if it is determined that the working status of the disinfection module is normal, control the movement of the robot based on the disinfection path, and control the disinfection module to perform disinfection based on the disinfection mode; wherein the disinfection module includes an atomization module corresponding to the atomization disinfection, and an ultraviolet module corresponding to the ultraviolet disinfection.

9. A robot, characterized in that: The robot comprises: 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 method according to any one of claims 1 to 7.

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

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