Path planning method and system based on medical laser disinfection

Abstract

The invention relates to the field of laser disinfection path planning, and discloses a path planning method and system based on medical laser disinfection, and the method comprises the steps: constructing a laser disinfection map, obtaining the initial position and final position of a laser disinfection robot, planning an initial disinfection path, obtaining an expansion ratio, and obtaining a disinfection effect. Judging whether the disinfection effect meets a preset disinfection standard or not, if the disinfection effect does not meet the disinfection standard, adjusting the initial disinfection parameter to obtain the disinfection parameter, setting a laser disinfection robot to obtain a parameter-adjusted disinfection robot, and if the disinfection effect meets the disinfection standard, continuously performing disinfection according to the initial disinfection path. And whether a dynamic obstacle exists in the disinfection process is monitored in real time, a monitoring result is obtained, the current position of the parameter adjusting disinfection robot is obtained until the current position is the final position, and path planning based on medical laser disinfection is completed. According to the invention, the automation level and the disinfection quality of medical disinfection can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser disinfection path planning, and in particular to a path planning method and system based on medical laser disinfection. Background Art

[0002] Medical laser disinfection is a technical means to kill or remove pathogenic microorganisms in medical environments, instruments, and surfaces by using the characteristics of lasers to achieve the purpose of disinfection and sterilization. Path planning refers to the process of finding an optimal or feasible path from a starting point to a target point in a specific environment in order to complete a task.

[0003] The traditional disinfection method is to use chemical disinfectants for disinfection. Chemical disinfectants are highly corrosive. Long-term use will damage medical equipment, instruments and building materials and shorten their service life. At the same time, traditional disinfection is done manually, which is not only inefficient but also prone to omissions. Therefore, how to improve the automation level and disinfection quality of medical disinfection is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a path planning method based on medical laser disinfection and a computer-readable storage medium, the main purpose of which is to improve the automation level and disinfection quality of medical disinfection and reduce labor costs and human errors.

[0005] To achieve the above object, the present invention provides a path planning method based on medical laser disinfection, comprising: Determine the medical disinfection area and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; Obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; Receive a start instruction, obtain an expansion ratio, and obtain a disinfection effect based on the start instruction, the expansion ratio, an initial disinfection path, preset initial disinfection parameters, a plurality of pre-built medical devices, and a laser disinfection robot; Determine whether the disinfection effect meets the preset disinfection standards; If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot, the parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the disinfection effect meets the disinfection standard, disinfection is continued according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data; If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and when the current position is the final position, complete the path planning based on medical laser disinfection.

[0006] Optionally, constructing a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot includes: A blank medical area map is constructed based on the medical disinfection area, and the blank medical area map is divided to obtain a two-dimensional grid map, wherein the two-dimensional grid map includes a plurality of pixels, and the pixel values ​​of the plurality of pixels are all 0, wherein the laser disinfection robot includes: a laser disinfection unit, a laser radar device, a microbial sensor and a panoramic vision sensor, wherein the medical disinfection area includes a plurality of medical devices; The medical disinfection area is photographed using the panoramic vision sensor in the laser disinfection robot to obtain a medical picture set; Extract a medical image from the medical image collection one by one, and perform the following operations on the extracted medical images: Extracting a target device from a medical image, building a medical disinfection device database, matching the target device with the medical disinfection device database, and obtaining a matching result file, wherein the matching result file includes a plurality of matching results, and the matching results include: matching or not matching; If the matching result in the matching result file is not a match, the target device is marked as a static obstacle on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the static obstacle in the two-dimensional grid map are assigned to 255 to obtain a first identification grid map; If the matching result in the matching result file is a match, the target device is marked as a device to be disinfected on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the device to be disinfected in the two-dimensional grid map are assigned to 0 to obtain a second identification grid map; The first identification grid map and the second identification grid map are integrated to obtain an identification grid map, and all pixels in the identification grid map with a pixel value of 0 in the second identification grid map are projected into the pre-constructed target grid map to obtain a laser disinfection map.

[0007] Optionally, constructing a blank medical area map based on the medical disinfection area, dividing the blank medical area map to obtain a two-dimensional grid map includes: Obtaining the actual width and actual height of the medical disinfection area, and constructing a rectangular coordinate system of the medical disinfection area according to the actual width and actual height, wherein the rectangular coordinate system includes: a horizontal axis and a vertical axis; The maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis are calculated based on the actual width, actual height, and the preset grid division size. The calculation formula is as follows: , in, Indicates the maximum number of grids on the horizontal axis. Indicates the actual width, Indicates the grid division size, Indicates the actual height. Indicates the maximum number of grids on the vertical axis. Indicates rounding up calculation; Constructing a blank medical area map according to the maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis, dividing the blank medical area map according to the grid division size to obtain a grid set, wherein the grid set includes a plurality of grids, and each grid corresponds to a coordinate, and the blank medical area map is a two-dimensional plane map; For each raster in the raster collection, the following operations are performed: The grid number is calculated based on the grid, where the calculation formula for calculating the grid number is as follows: , in, Indicates the grid number, represents the horizontal coordinate of the grid, Represents the vertical coordinate of the grid, Indicates the coordinates corresponding to the grid; The grid numbers are summarized to obtain a grid number set corresponding to the grid set, and a two-dimensional grid map is confirmed based on the grid number set.

[0008] Optionally, the building of a medical disinfection equipment database, matching the target device with the medical disinfection equipment database, and obtaining a matching result file includes: Obtain a disinfection equipment picture set, perform an information labeling operation on each disinfection equipment picture in the disinfection equipment picture set, and obtain an identification equipment picture set; A medical disinfection equipment database is constructed based on the identification equipment picture set, and identification equipment pictures are extracted from the medical disinfection equipment database in sequence, and the following operations are performed on the extracted identification equipment pictures: Extract the target matching device from the identification device image, obtain a first feature vector of the target device and a second feature vector of the target matching device, and obtain a matching point set according to the first feature vector and the second feature vector; Calculate the Euclidean distance of each matching point in the matching point set to obtain a Euclidean distance set, extract a Euclidean distance from the Euclidean distance set in turn, and perform the following operations on the extracted Euclidean distances: Extract the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain the neighboring distance, and obtain the effective distance threshold according to the preset distance ratio and the neighboring distance; Compare the Euclidean distance to the effective distance threshold; If the Euclidean distance is less than the effective distance threshold, the matching point corresponding to the Euclidean distance less than the effective distance threshold is taken as the effective matching point; Use the pre-built clustering algorithm to evaluate the uniformity of valid matching points, obtain uniform weights, and calculate the confidence based on the uniform weights and the Euclidean distances corresponding to the valid matching points; The confidences and valid matching points are summarized respectively to obtain the confidence set and the valid matching point set corresponding to the Euclidean distance set, and the similarity between the target matching device and the target device is calculated based on the confidence set and the valid matching point set; If the similarity is greater than a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold is confirmed as the match; If the similarity is less than or equal to a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity less than or equal to the preset similarity threshold is confirmed as the mismatch, and the process returns to the step of sequentially extracting identification device images from the medical disinfection equipment database; Summarize the matching results and obtain the matching result file.

[0009] Optionally, calculating the similarity between the target matching device and the target device according to the confidence set and the valid matching point set includes: The similarity between the target matching device and the target device is calculated based on the matching point set, the effective matching point set and the confidence set, wherein the similarity calculation formula is as follows: , in, Indicates similarity, represents the number of valid matching point sets, Represents the number of matching point sets, Represents the preset confidence weight coefficient, Indicates the preset distance attenuation coefficient, Indicates The Euclidean distance of valid matching points, Indicates The confidence of valid matching points, Represents a natural constant.

[0010] Optionally, obtaining the expansion ratio includes: Obtain the maximum speed, reaction time, braking distance, body width and body length of the laser disinfection robot, obtain the diagonal length of the body according to the body width and body length, and obtain the diagonal length of the obstacle; The sum of the diagonal length of the vehicle body and the diagonal length of the obstacle is calculated to obtain a comprehensive diagonal value, and the dimension safety distance is calculated based on the comprehensive diagonal value, where the dimension safety distance is half of the comprehensive diagonal value; The product of the maximum speed and the reaction time is calculated to obtain a dynamic safety distance, and a motion safety distance is obtained according to the maximum speed and the braking distance; The safety distance is obtained based on the size safety distance, the dynamic safety distance and the motion safety distance, wherein the safety distance is the largest distance among the size safety distance, the dynamic safety distance and the motion safety distance; The expansion ratio is calculated based on the safety distance and grid division size.

[0011] Optionally, the method of obtaining the disinfection effect based on the start-up instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot includes: For each of the multiple medical devices, perform the following operations: Using the microbial sensor to detect the microbial density of the medical device, and comparing the microbial density, a preset first microbial density, and a preset second microbial density, wherein the first microbial density is greater than the second microbial density; If the microbial density is greater than the second microbial density and the microbial density is less than or equal to the first microbial density, the laser disinfection unit is adjusted using a preset mid-range laser disinfection to obtain a mid-range laser disinfection unit, wherein the laser disinfection unit includes a telescopic rod; Obtaining a medical height of the medical device, adjusting the length of the telescopic rod according to the medical height to obtain a calibration height, and using a mid-range laser disinfection unit and the calibration height to disinfect the medical device to obtain a first disinfection effect; If the microbial density is less than or equal to the second microbial density, a second disinfection effect is obtained based on the preset low-grade laser disinfection, laser disinfection unit and medical equipment; If the microbial density is greater than the first microbial density, a third disinfection effect is obtained based on the preset high-end laser disinfection, laser disinfection unit and medical equipment; The first disinfection effect, the second disinfection effect, or the third disinfection effect is taken as the disinfection effect.

[0012] Optionally, the method of using a mid-range laser disinfection unit and adjusting the height to disinfect the medical device to obtain a first disinfection effect includes: According to the mid-range laser disinfection unit, the laser irradiation area, mid-range laser power and mid-range laser irradiation time are obtained, and the coverage of the disinfection area is obtained according to the adjustment height; The first disinfection effect of the medical device is calculated according to the coverage of the disinfection area, the mid-range laser power, the mid-range laser irradiation time and the adjustment height, wherein the calculation formula of the first disinfection effect is as follows: , in, Indicates the first disinfection effect, Indicates mid-range laser power, Indicates the mid-range laser irradiation time, Indicates the absorption rate of the preset medical device, Indicates the reflectivity of the preset medical device, Indicates the preset microbial sterilization threshold, represents the laser irradiation area, Indicates the preset ambient temperature. Indicates the preset ambient humidity. Indicates height adjustment. Indicates the coverage of the disinfection area. Represents an exponential function.

[0013] Optionally, the real-time monitoring of the disinfection process to obtain monitoring results includes: Start the laser radar device, use the started laser radar device to obtain laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain denoised point cloud data, and use the denoised point cloud data as a reference frame; Acquire current laser point cloud data, denoise the current laser point cloud data, obtain denoised current point cloud data, and use the denoised current point cloud data as the current frame; Using a pre-built point cloud registration algorithm, a point cloud data displacement comparison operation is performed on the reference frame and the current frame to obtain a displacement distance set, and it is determined whether there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set; If there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set, the displacement distance is confirmed as an abnormal displacement distance, and the abnormal displacement distances are summarized to obtain an abnormal displacement distance set; Calculate the number of abnormalities in the abnormal displacement distance set. If the number of abnormalities is greater than a preset standard displacement distance number, identify the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles, and obtain obstacle data; Otherwise, the current frame corresponding to the abnormal number that is less than or equal to the preset standard displacement distance number is marked as data without dynamic obstacles, and obstacle-free data is obtained; The obstacle data or obstacle-free data is confirmed as the monitoring result.

[0014] To achieve the above object, the present invention also provides a path planning system based on medical laser disinfection, comprising: A disinfection map construction module is used to determine the medical disinfection area and construct a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; The disinfection path planning module is used to obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; A disinfection effect evaluation module is used to receive a start instruction, obtain an expansion ratio, obtain a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot, and determine whether the disinfection effect meets the preset disinfection standard. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain a parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as a laser disinfection robot, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot is returned. If the disinfection effect meets the disinfection standard, disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain a monitoring result, wherein the monitoring result includes: obstacle data or obstacle-free data; The disinfection path adjustment module is used to re-plan the initial disinfection path if the monitoring result is obstacle data, obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, return to the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots; if the monitoring result is obstacle-free data, return to the step of continuously disinfecting according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and complete the path planning based on medical laser disinfection when the current position is the final position.

[0015] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising: A memory storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-mentioned path planning method based on medical laser disinfection.

[0016] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned path planning method based on medical laser disinfection.

[0017] The present invention solves the problem described in the background technology. The present invention determines a medical disinfection area, constructs a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot. The present invention clarifies the medical disinfection area and constructs a laser disinfection map, which allows the disinfection robot to clearly know the scope that needs to be disinfected, ensures comprehensive coverage of the entire medical area, avoids disinfection blind spots, minimizes pathogenic microorganism residues, obtains the initial position and final position of the laser disinfection robot, and plans an initial disinfection path according to the laser disinfection map, the initial position and the final position. The present invention obtains the initial position and the final position, can determine a clear task boundary for the disinfection robot, makes the disinfection process clear in purpose, avoids blind movement of the robot, improves disinfection efficiency, receives a start instruction, The expansion ratio is obtained, and the disinfection effect is obtained based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot. The introduction of the expansion ratio of the present invention makes the disinfection range have a certain flexibility, and the expansion ratio can be adjusted according to the actual situation, so as to expand or reduce the disinfection range to achieve a better disinfection effect. At the same time, the disinfection effect is obtained by combining the initial disinfection path, the preset initial disinfection parameters, the multiple medical devices and the laser disinfection robot and other factors, which can comprehensively and objectively evaluate whether the disinfection process reaches the preset disinfection standard, avoid inaccurate disinfection effect evaluation due to deviation of a single factor, and judge whether the disinfection effect meets the preset disinfection standard. The present invention judges whether the disinfection effect meets the preset disinfection standard. Whether it meets the standard can ensure that the disinfection process meets the specified quality requirements and effectively reduce the risk of hospital infection. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots is returned. When the disinfection effect does not meet the standard, the disinfection robot can be adaptively optimized according to the actual situation by adjusting the initial disinfection parameters, and constantly try to find a more suitable combination of disinfection parameters to achieve the preset disinfection standard. If the disinfection effect meets the standard, Disinfection standard, then disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data. When the disinfection effect meets the standard, the present invention continues to disinfect according to the initial disinfection path, which can ensure the continuity and stability of the disinfection process and ensure that the entire disinfection area can be fully disinfected. If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, and the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start-up instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-constructed multiple medical devices and laser disinfection robots is returned. When a dynamic obstacle is detected, the present inventionReplanning the path can enable the disinfection robot to avoid obstacles in time and continue to complete the disinfection task. By finding the optimal disinfection path, it can minimize path delays and efficiency losses caused by obstacles while ensuring the disinfection effect. If the monitoring result is obstacle-free data, it returns to the step of continuing to disinfect according to the initial disinfection path, and obtains the current position of the parameter-adjusting disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed. In the absence of dynamic obstacles, the present invention continues to disinfect according to the initial disinfection path, which can maintain the efficiency of the disinfection process. By obtaining the current position of the parameter-adjusting disinfection robot in real time, it can ensure that the robot accurately reaches the final position and successfully completes the entire disinfection task. Therefore, the present invention can improve the automation level and disinfection quality of medical disinfection and reduce labor costs and human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a path planning method based on medical laser disinfection provided by an embodiment of the present invention; Figure 2 A functional module diagram of a path planning system based on medical laser disinfection provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an electronic device for implementing the path planning method based on medical laser disinfection provided in one embodiment of the present invention.

[0019] Description of reference numerals: 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0022] The embodiment of the present application provides a path planning method based on medical laser disinfection. The execution subject of the path planning method based on medical laser disinfection includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided in the embodiment of the present application. In other words, the path planning method based on medical laser disinfection can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0023] Reference Figure 1FIG. 1 is a flow chart of a path planning method based on medical laser disinfection provided by an embodiment of the present invention. In this embodiment, the path planning method based on medical laser disinfection includes: S1. Determine the medical disinfection area, and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot.

[0024] In detail, the laser disinfection map is constructed according to the medical disinfection area and the pre-constructed laser disinfection robot, including: A blank medical area map is constructed based on the medical disinfection area, and the blank medical area map is divided to obtain a two-dimensional grid map, wherein the two-dimensional grid map includes a plurality of pixels, and the pixel values ​​of the plurality of pixels are all 0, wherein the laser disinfection robot includes: a laser disinfection unit, a laser radar device, a microbial sensor and a panoramic vision sensor, wherein the medical disinfection area includes a plurality of medical devices; The medical disinfection area is photographed using the panoramic vision sensor in the laser disinfection robot to obtain a medical picture set; Extract a medical image from the medical image collection one by one, and perform the following operations on the extracted medical images: Extracting the target device from the medical image, building a medical disinfection device database, matching the target device with the medical disinfection device database, and obtaining a matching result file, wherein the matching result file includes a plurality of matching results, and the matching results include: matching or not matching; If the matching result in the matching result file is a mismatch, the target device is marked as a static obstacle on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the static obstacle in the two-dimensional grid map are assigned to 255 to obtain a first identification grid map; If the matching result in the matching result file is a match, the target device is marked as a device to be disinfected on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the device to be disinfected in the two-dimensional grid map are assigned to 0 to obtain a second identification grid map; The first identification grid map and the second identification grid map are integrated to obtain an identification grid map, and all pixels in the identification grid map with a pixel value of 0 in the second identification grid map are projected into the pre-constructed target grid map to obtain a laser disinfection map.

[0025] It should be explained that the laser disinfection unit is a unit used to achieve the disinfection function. The laser radar device refers to a device that obtains information about the surrounding environment by emitting a laser beam and measuring the time difference of the reflected light. The laser radar device described in the embodiment of the present invention provides the laser disinfection robot with accurate spatial information of the surrounding environment, helping the robot to identify the position, shape and distance of obstacles (such as medical equipment, walls, tables and chairs, etc.). The microbial sensor refers to a sensor that can detect the presence and number of microorganisms in the environment. During the disinfection process, the microbial sensor described in the embodiment of the present invention can feedback the disinfection effect and help the robot determine which areas are not thoroughly disinfected and need to be disinfected again. At the same time, according to the information provided by the microbial sensor, the disinfection parameters of the laser disinfection unit can be dynamically adjusted to improve the pertinence and effectiveness of disinfection. The panoramic vision sensor refers to a sensor that can obtain a panoramic image of the surrounding environment. Medical equipment refers to various instruments, instruments, appliances, equipment, materials and other equipment used in the medical field, including diagnostic equipment (such as X-ray machines, ultrasonic diagnostic equipment, etc.), treatment equipment (such as laser therapy equipment, ventilators, etc.), monitoring equipment (such as electrocardiogram monitors, blood pressure monitors, etc.) and auxiliary equipment (such as operating tables, beds, etc.).

[0026] It should be explained that the medical disinfection area refers to the medical space range area that needs to be disinfected. For example, the medical disinfection area is an operating room, a ward, etc. The blank medical area map refers to a two-dimensional plane map constructed based on the medical disinfection area, and at this time, the map of specific equipment and obstacles in the area is not yet included. The two-dimensional grid map refers to the map obtained after dividing the blank medical area map, and the two-dimensional grid map is a grayscale image. The medical picture set refers to a collection of medical pictures obtained by photographing the medical disinfection area using the panoramic vision sensor in the laser disinfection robot. The step of extracting the target device from the medical picture is a prior art and will not be repeated here. The target device refers to the image of a specific device extracted from the medical picture by image recognition. For example, there is an image of an operating table in the medical picture, and Xiao Zhang extracts the image of the operating table from the medical picture, and the image of the operating table is the target device.

[0027] It is understandable that a static obstacle refers to an object in the medical disinfection area that is relatively fixed in position and does not move. The first marked grid map refers to the map obtained by marking these static obstacles on a two-dimensional grid map after the target device does not match the medical disinfection device database and is determined to be a static obstacle. The device to be disinfected refers to the device when the target device extracted from the medical image matches the medical disinfection device database. The second marked grid map refers to the map obtained by marking the device to be disinfected on a two-dimensional grid map. The marked grid map refers to a map obtained by summarizing the first marked grid map and the second marked grid map and integrating the marked information of all static obstacles and devices to be disinfected, which can completely present the distribution of different types of objects in the medical disinfection area and provide comprehensive basic data for constructing the laser disinfection map in the follow-up. The target grid map refers to a map used to receive the marked information in the marked grid map.

[0028] Specifically, constructing a blank medical area map based on the medical disinfection area and dividing the blank medical area map to obtain a two-dimensional grid map includes: Obtain the actual width and actual height of the medical disinfection area, and construct a rectangular coordinate system of the medical disinfection area according to the actual width and actual height, where the rectangular coordinate system includes: a horizontal axis and a vertical axis; Calculate the maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis according to the actual width, actual height and the preset grid division size. The calculation formula is as follows: , where, represents the maximum number of grids on the horizontal axis, represents the actual width, represents the grid division size, represents the actual height, represents the maximum number of grids on the vertical axis, represents rounding up for calculation; Construct a blank medical area map according to the maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis, and divide the blank medical area map according to the grid division size to obtain a grid set, where the grid set includes multiple grids, and each grid corresponds to a coordinate. The blank medical area map is a two-dimensional plane map; Perform the following operations on each grid in the grid set: Calculate the grid number according to the grid. The calculation formula for calculating the grid number is as follows: , where, represents the grid number, represents the abscissa of the grid, Represents the vertical coordinate of the grid, Indicates the coordinates corresponding to the grid; The grid numbers are summarized to obtain a grid number set corresponding to the grid set, and a two-dimensional grid map is confirmed based on the grid number set.

[0029] It should be explained that the actual width and height of the medical disinfection area are obtained by obtaining the actual width and height of the medical disinfection area through the architectural drawings of the medical disinfection area, and the direction of the actual width and height is confirmed based on the picture of the medical disinfection area taken by the laser disinfection robot. Exemplarily, the position of the camera of the laser disinfection robot simulates the human eye, so the picture of the medical disinfection area taken by the laser disinfection robot is used as the standard. When the laser disinfection robot takes a picture of the operating room, and the operating room photographed has two walls perpendicular to the ground, the two walls perpendicular to the ground are parallel to each other, and the straight-line distance between the two walls perpendicular to the ground is confirmed to be 6 meters according to the architectural drawings of the medical disinfection area, and the vertical distance from the floor of the operating room to the ceiling is 3.5 meters, then 6 meters is the actual width, and 3.5 meters is the actual height. The step of constructing the rectangular coordinate system of the medical disinfection area is: the lower left corner corresponding to the picture of the medical disinfection area taken by the laser disinfection robot is the origin, the vertical origin is upward (for example, the direction from the floor of the operating room to the ceiling) is the vertical axis, and the horizontal right (for example, the direction parallel to the floor of the operating room) is the horizontal axis to construct the rectangular coordinate system. The maximum number of grids on the horizontal axis refers to the maximum number of grids that can be divided on the horizontal axis according to the preset grid division size. The maximum number of grids on the vertical axis refers to the maximum number of grids that can be divided on the vertical axis according to the preset grid division size. The grid division size refers to the pre-set size for dividing the medical disinfection area into grids. The grid set refers to the set of all grids obtained by dividing the blank medical area map according to the grid division size. The grid number refers to a unique number assigned to each grid in order to facilitate the identification and management of each grid in the grid set.

[0030] In detail, the medical disinfection equipment database is constructed, the target equipment is matched with the medical disinfection equipment database, and a matching result file is obtained, including: Obtain a disinfection equipment picture set, perform an information labeling operation on each disinfection equipment picture in the disinfection equipment picture set, and obtain an identification equipment picture set; A medical disinfection equipment database is constructed based on the identification equipment picture set, and identification equipment pictures are extracted from the medical disinfection equipment database in sequence, and the following operations are performed on the extracted identification equipment pictures: Extract the target matching device from the identification device image, obtain a first feature vector of the target device and a second feature vector of the target matching device, and obtain a matching point set according to the first feature vector and the second feature vector; Calculate the Euclidean distance of each matching point in the matching point set to obtain a Euclidean distance set, extract a Euclidean distance from the Euclidean distance set in turn, and perform the following operations on the extracted Euclidean distances: Extract the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain the neighboring distance, and obtain the effective distance threshold according to the preset distance ratio and the neighboring distance; Compare the Euclidean distance to the effective distance threshold; If the Euclidean distance is less than the effective distance threshold, the matching point corresponding to the Euclidean distance less than the effective distance threshold is taken as the effective matching point; Use the pre-built clustering algorithm to evaluate the uniformity of valid matching points, obtain uniform weights, and calculate the confidence based on the uniform weights and the Euclidean distances corresponding to the valid matching points; The confidences and valid matching points are summarized respectively to obtain the confidence set and the valid matching point set corresponding to the Euclidean distance set, and the similarity between the target matching device and the target device is calculated based on the confidence set and the valid matching point set; If the similarity is greater than a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold is confirmed as the match; If the similarity is less than or equal to a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity less than or equal to the preset similarity threshold is confirmed as the mismatch, and the process returns to the step of sequentially extracting identification device images from the medical disinfection equipment database; Summarize the matching results and obtain a matching result file.

[0031] It should be explained that the disinfection equipment picture set refers to a set of pictures of various types of medical disinfection equipment. The information annotation operation refers to the operation of adding relevant identification information to each disinfection equipment picture in the disinfection equipment picture set. For example, the identification information is brand, model, key features, etc. The purpose of the information annotation operation described in the embodiment of the present invention is to make the equipment information in the disinfection equipment picture more clear and recognizable, so as to facilitate the subsequent construction of the database and matching operations. The identification equipment picture set refers to a set consisting of all identification equipment pictures. The first feature vector refers to a set of feature values ​​extracted from the target device. The second feature vector refers to a set of feature values ​​extracted from the target matching device in the identification equipment picture extracted from the medical disinfection equipment database. The acquisition of the matching point set according to the first feature vector and the second feature vector refers to comparing the first feature vector with the second feature vector using a feature matching algorithm to obtain a matching point set, and the matching point is the same element position in the first feature vector and the second feature vector. For example, the feature matching algorithm is nearest neighbor matching, RANSAC, etc. The Euclidean distance set refers to a set consisting of all Euclidean distances.

[0032] Exemplarily, the first eigenvector is: , the second eigenvector is: , extract a row of eigenvalues ​​from the first eigenvector ,in, 1 in The 1.1 in is a matching point, which is the element position of the first category in the first row of the first eigenvector and the second eigenvector. Similarly, the Euclidean distance formula is used to calculate the eigenvalue of this row and each eigenvalue of the second eigenvector, and the Euclidean distance is obtained. , and then extract the second and third row eigenvalues ​​from the first eigenvector in turn, and perform Euclidean calculations on the second and third row eigenvalues ​​and each row eigenvalue in the second eigenvector, and the Euclidean distance set is obtained as , extract a Euclidean distance from the Euclidean distance set in turn. If the extracted Euclidean distance is , extract and Neighbor Euclidean distance ,Right now The proximity distance.

[0033] It can be understood that the neighboring distance refers to the next Euclidean distance adjacent to a Euclidean distance after extracting the Euclidean distance from the Euclidean distance set. For example, the Euclidean distance set is , when the Euclidean distance is extracted from the Euclidean distance set When , the neighbor distance is . The distance ratio refers to a preset ratio value used to calculate the effective distance threshold according to the neighboring distance. The effective distance threshold refers to a distance threshold obtained according to the preset distance ratio and the neighboring distance. The effective matching point refers to the matching point whose Euclidean distance is less than the effective distance threshold when comparing the Euclidean distance with the effective distance threshold. The clustering algorithm refers to the algorithm used to evaluate the uniformity of the effective matching point set. For example, the clustering algorithm is the K-Means algorithm, the DBSCAN algorithm, etc. The uniform weight refers to the weight value obtained after evaluating the uniformity of the effective matching point set using the clustering algorithm. It reflects the uniformity of the effective matching points in spatial distribution. The more uniform the effective matching points are in spatial distribution, the higher the uniform weight. The confidence is used to measure the credibility of the match between the target matching device and the target device. The higher the uniform weight and the smaller the Euclidean distance, the higher the confidence. The confidence set refers to the set consisting of all confidences.

[0034] Importantly, the formula for calculating the confidence in the step of calculating the confidence based on the uniform weight and the Euclidean distance corresponding to the valid matching points is as follows: , in, Indicates The uniform weight of the valid matching points.

[0035] In detail, the calculating the similarity between the target matching device and the target device according to the confidence set and the valid matching point set includes: The similarity between the target matching device and the target device is calculated based on the matching point set, the effective matching point set and the confidence set, wherein the similarity calculation formula is as follows: , in, Indicates similarity, represents the number of valid matching point sets, Represents the number of matching point sets, Represents the preset confidence weight coefficient, Indicates the preset distance attenuation coefficient, Indicates The Euclidean distance of valid matching points, Indicates The confidence of valid matching points, Represents a natural constant.

[0036] It should be explained that the confidence weight coefficient refers to a pre-set coefficient used to adjust the influence of confidence in the entire calculation process when calculating the similarity between the target matching device and the target device. The smaller the confidence weight coefficient, the smaller the influence of confidence in the similarity calculation. The distance decay coefficient refers to a pre-set coefficient used to control the decay rate of confidence as the Euclidean distance changes. The larger the distance decay coefficient, the faster the confidence decays as the Euclidean distance changes.

[0037] S2. Obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position.

[0038] It should be explained that the obtaining of the initial position of the laser disinfection robot refers to obtaining the initial position using the positioning system of the laser disinfection robot. The final position refers to the final position of the robot specified by the operator. The step of planning the initial disinfection path according to the laser disinfection map, the initial position and the final position is: according to the laser disinfection map, the initial position and the final position, an initial path is generated using the A* algorithm, and the initial path is optimized using the simulated annealing optimization algorithm to obtain a collision-free optimal path from the starting point to the end point. The A* algorithm and the simulated annealing optimization algorithm described in the embodiment of the present invention are prior art and will not be repeated here.

[0039] S3. Receive a start instruction, obtain an expansion ratio, and obtain a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot.

[0040] It should be explained that the start instruction refers to the instruction issued by the operator to start the disinfection workflow of the laser disinfection robot.

[0041] In detail, obtaining the expansion ratio includes: Obtain the maximum speed, reaction time, braking distance, body width and body length of the laser disinfection robot, obtain the diagonal length of the body according to the body width and body length, and obtain the diagonal length of the obstacle; The sum of the diagonal length of the vehicle body and the diagonal length of the obstacle is calculated to obtain a comprehensive diagonal value, and the dimension safety distance is calculated based on the comprehensive diagonal value, where the dimension safety distance is half of the comprehensive diagonal value; The product of the maximum speed and the reaction time is calculated to obtain a dynamic safety distance, and a motion safety distance is obtained according to the maximum speed and the braking distance; The safety distance is obtained based on the size safety distance, the dynamic safety distance and the motion safety distance, wherein the safety distance is the largest distance among the size safety distance, the dynamic safety distance and the motion safety distance; Calculate the expansion ratio based on the safety distance and the grid division size.

[0042] It should be explained that the acquisition of the maximum speed, reaction time, braking distance, body width, and body length of the laser disinfection robot refers to obtaining the maximum speed, reaction time, braking distance, body width, and body length through the design drawings or product technical documents of the laser disinfection robot. The calculation formula for the body diagonal length in the step of obtaining the body diagonal length based on the body width and body length is as follows: , Wherein, represents the body diagonal length, represents the body width, represents the body length.

[0043] It should be explained that the method for obtaining the diagonal length of the obstacle is the same as the method for obtaining the body diagonal length based on the body width and body length, and will not be elaborated here. The comprehensive diagonal value refers to the value obtained by adding the calculated body diagonal length and the diagonal length of the obstacle. The size safety distance is used to ensure a spatial interval between the laser disinfection robot and the obstacle during operation. The dynamic safety distance refers to the value obtained by calculating the product of the maximum speed and the reaction time. The motion safety distance refers to the distance traveled by the robot from the start of braking to a complete stop. The calculation formula in the step of calculating the expansion ratio based on the safety distance and the grid division size is as follows: , Wherein, represents the expansion ratio, represents the safety distance.

[0044] Specifically, the acquisition of the disinfection effect based on the start instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices, and the laser disinfection robot includes: Perform the following operations on each of the multiple medical devices: Use the microbial sensor to detect the microbial density of the medical device, and compare the microbial density, the preset first microbial density, and the preset second microbial density, where the first microbial density is greater than the second microbial density; If the microbial density is greater than the second microbial density and less than or equal to the first microbial density, use the preset medium-range laser disinfection to adjust the laser disinfection unit to obtain a medium-range laser disinfection unit, where the laser disinfection unit includes a telescopic rod; Obtaining a medical height of the medical device, adjusting the length of the telescopic rod according to the medical height to obtain a calibration height, and using a mid-range laser disinfection unit and the calibration height to disinfect the medical device to obtain a first disinfection effect; If the microbial density is less than or equal to the second microbial density, a second disinfection effect is obtained based on the preset low-grade laser disinfection, laser disinfection unit and medical equipment; If the microbial density is greater than the first microbial density, a third disinfection effect is obtained based on the preset high-end laser disinfection, laser disinfection unit and medical equipment; The first disinfection effect, the second disinfection effect, or the third disinfection effect is taken as the disinfection effect.

[0045] It should be explained that the use of the microbial sensor to detect the microbial density of the medical device is a prior art and will not be repeated here. Microbial density refers to the number of microorganisms contained in a unit area or unit volume on the surface of the medical device. The first microbial density and the second microbial density both refer to a preset microbial density threshold. The microbial density threshold refers to a numerical value preset by humans. Mid-range laser disinfection refers to a pre-set disinfection mode, and its disinfection intensity is between high-end laser disinfection and low-end laser disinfection. The mid-range laser disinfection unit refers to a unit obtained by adjusting the laser disinfection unit under the preset mid-range laser disinfection mode. The adjustment height refers to the height obtained by adjusting the length of the telescopic rod of the laser disinfection unit according to the actual height of the medical device. The first disinfection effect refers to the disinfection effect achieved by using the mid-range laser disinfection unit and the adjustment height to disinfect the medical device when the microbial density of the medical device is greater than the second microbial density and less than or equal to the first microbial density. The second disinfection effect refers to the disinfection effect produced by using the laser disinfection unit to disinfect the medical device based on the preset low-end laser disinfection mode when the microbial density of the medical device is less than or equal to the second microbial density. The third disinfection effect refers to the disinfection effect obtained by using a preset high-end laser disinfection mode to disinfect the medical device through a laser disinfection unit when the microbial density of the medical device is greater than the first microbial density. The low-end laser disinfection mode refers to the disinfection mode used when the microbial density of the medical device is less than or equal to the second microbial density. The high-end laser disinfection mode refers to the disinfection mode used when the microbial density of the medical device is greater than the first microbial density. For example, the laser power is set to 10 watts and the irradiation time is 5 minutes in the resisting laser disinfection mode, and the high-end laser disinfection mode increases the laser power to 30 watts and extends the irradiation time to 15 minutes.

[0046] It is understandable that the method for obtaining the second disinfection effect based on the preset low-end laser disinfection, laser disinfection unit and medical equipment and the method for obtaining the third disinfection effect based on the preset high-end laser disinfection, laser disinfection unit and medical equipment are the same as the method for disinfecting medical equipment using a mid-range laser disinfection unit and adjusting the height to obtain the first disinfection effect, and will not be repeated here.

[0047] In detail, the method of using a mid-range laser disinfection unit and adjusting the height to disinfect the medical equipment to obtain a first disinfection effect includes: According to the mid-range laser disinfection unit, the laser irradiation area, mid-range laser power and mid-range laser irradiation time are obtained, and the coverage of the disinfection area is obtained according to the adjustment height; The first disinfection effect of the medical device is calculated according to the coverage of the disinfection area, the mid-range laser power, the mid-range laser irradiation time and the adjustment height, wherein the calculation formula of the first disinfection effect is as follows: , in, Indicates the first disinfection effect, Indicates mid-range laser power, Indicates the mid-range laser irradiation time, Indicates the absorption rate of the preset medical device, Indicates the reflectivity of the preset medical device, Indicates the preset microbial sterilization threshold, represents the laser irradiation area, Indicates the preset ambient temperature. Indicates the preset ambient humidity. Indicates height adjustment. Indicates the coverage of the disinfection area. Represents an exponential function.

[0048] It should be explained that mid-range laser power refers to the laser power output by the laser disinfection unit in the mid-range laser disinfection mode. Mid-range laser irradiation time refers to the length of time that the laser continuously irradiates the medical device in the mid-range laser disinfection mode. The adjustment height is the height obtained by adjusting the length of the telescopic rod of the laser disinfection unit according to the height of the medical device. The disinfection area coverage refers to the proportion of the surface area of ​​the medical device that can be effectively irradiated by the laser to the total surface area of ​​the medical device. The absorptivity of the medical device refers to the proportion of the energy reflected back in the laser energy irradiated to the surface of the medical device. The reflectivity of the medical device refers to the proportion of the energy absorbed by the device in the laser energy irradiated to the surface of the medical device. The laser irradiation area refers to the area covered by the laser on the surface of the medical device during the disinfection process.

[0049] S4. Determine whether the disinfection effect meets the preset disinfection standard. If the disinfection effect does not meet the disinfection standard, adjust the initial disinfection parameters to obtain the disinfection parameters, use the disinfection parameters to set the laser disinfection robot, obtain the parameter-adjusted disinfection robot, use the parameter-adjusted disinfection robot as the laser disinfection robot, and return to the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots.

[0050] It should be explained that the disinfection standard refers to a pre-set standard for measuring whether the disinfection effect meets the standard. The disinfection parameters are a new set of parameters obtained by adjusting the initial disinfection parameters after judging that the initial disinfection effect does not meet the preset disinfection standard. The purpose of adjusting the initial disinfection parameters is to enable the laser disinfection robot to achieve better disinfection effects in the subsequent disinfection process so that it meets the disinfection standards. Ways to adjust the initial disinfection parameters include increasing the laser power, extending the irradiation time, changing the length of the telescopic rod to adjust the irradiation angle, etc. The parameter-adjusted disinfection robot refers to a robot obtained by resetting the laser disinfection robot using the adjusted disinfection parameters.

[0051] S5. If the disinfection effect meets the disinfection standard, disinfection is continued according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data.

[0052] In detail, the real-time monitoring of the disinfection process and obtaining of monitoring results include: Start the laser radar device, use the started laser radar device to obtain laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain denoised point cloud data, and use the denoised point cloud data as a reference frame; Acquire current laser point cloud data, denoise the current laser point cloud data to obtain denoised current point cloud data, and use the denoised current point cloud data as the current frame; Using a pre-built point cloud registration algorithm, a point cloud data displacement comparison operation is performed on the reference frame and the current frame to obtain a displacement distance set, and it is determined whether there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set; If there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set, the displacement distance is confirmed as an abnormal displacement distance, and the abnormal displacement distances are summarized to obtain an abnormal displacement distance set; Calculate the number of abnormalities in the abnormal displacement distance set. If the number of abnormalities is greater than a preset standard displacement distance number, identify the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles, and obtain obstacle data; Otherwise, the current frame corresponding to the abnormal number that is less than or equal to the preset standard displacement distance number is marked as data without dynamic obstacles, and obstacle-free data is obtained; The obstacle data or obstacle-free data is confirmed as the monitoring result.

[0053] It should be explained that laser point cloud data is data of three-dimensional spatial information acquired by a laser radar device. The denoising of laser point cloud data refers to denoising the laser point cloud data using a denoising method. For example, the denoising method is statistical filtering, radius filtering, bilateral filtering, etc. The current laser point cloud data refers to the laser point cloud data acquired in real time by the laser radar device at a certain moment in the disinfection process. Denoised point cloud data refers to the data obtained after denoising the laser point cloud data. The method for denoising the current laser point cloud data is the same as the method for denoising the laser point cloud data, which will not be repeated here.

[0054] Importantly, the point cloud registration algorithm is an algorithm for aligning and matching different point cloud data. The point cloud data displacement comparison operation refers to the operation of calculating the displacement distance between corresponding points in two point cloud data after aligning the parameter frame and the current frame using the point cloud registration algorithm. The displacement distance set refers to the set of all displacement distances obtained in the point cloud data displacement comparison operation. The abnormal displacement distance refers to the displacement distance in the displacement distance set that is greater than the preset displacement distance threshold. The abnormal displacement distance set refers to a set consisting of all abnormal displacement distances. The displacement distance threshold refers to a pre-set standard for distinguishing normal displacement from abnormal displacement. The standard displacement distance number refers to a pre-set threshold for judging the number of points with abnormal displacement in the current frame. The current frame refers to the denoised current point cloud data corresponding to a certain moment in the disinfection process. The reference frame refers to the point cloud information of objects in the disinfection area in the absence of dynamic obstacles.

[0055] S6. If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start-up instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots is returned.

[0056] It should be explained that the re-planning of the initial disinfection path refers to the use of the A* algorithm to re-plan the initial disinfection path, thereby ensuring that the laser disinfection robot avoids the dynamic obstacles.

[0057] S7. If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusting disinfection robot in real time, and when the current position is the final position, complete the path planning based on medical laser disinfection.

[0058] It should be explained that the method for obtaining the current position of the parameter-adjusting disinfection robot is the same as the method for obtaining the initial position and final position of the laser disinfection robot, which will not be repeated here. The optimal disinfection path refers to the path obtained after comprehensively considering various factors (avoiding obstacles, shortest path length, high energy consumption, and comprehensive coverage of the disinfection area) in the process of replanning the initial disinfection path.

[0059] The present invention solves the problem described in the background technology. The present invention determines a medical disinfection area, constructs a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot. The present invention clarifies the medical disinfection area and constructs a laser disinfection map, which allows the disinfection robot to clearly know the scope that needs to be disinfected, ensures comprehensive coverage of the entire medical area, avoids disinfection blind spots, minimizes pathogenic microorganism residues, obtains the initial position and final position of the laser disinfection robot, and plans an initial disinfection path according to the laser disinfection map, the initial position and the final position. The present invention obtains the initial position and the final position, can determine a clear task boundary for the disinfection robot, makes the disinfection process clear in purpose, avoids blind movement of the robot, improves disinfection efficiency, receives a start instruction, The expansion ratio is obtained, and the disinfection effect is obtained based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot. The introduction of the expansion ratio of the present invention makes the disinfection range have a certain flexibility, and the expansion ratio can be adjusted according to the actual situation, so as to expand or reduce the disinfection range to achieve a better disinfection effect. At the same time, the disinfection effect is obtained by combining the initial disinfection path, the preset initial disinfection parameters, the multiple medical devices and the laser disinfection robot and other factors, which can comprehensively and objectively evaluate whether the disinfection process reaches the preset disinfection standard, avoid inaccurate disinfection effect evaluation due to deviation of a single factor, and judge whether the disinfection effect meets the preset disinfection standard. The present invention judges whether the disinfection effect meets the preset disinfection standard. Whether it meets the standard can ensure that the disinfection process meets the specified quality requirements and effectively reduce the risk of hospital infection. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots is returned. When the disinfection effect does not meet the standard, the disinfection robot can be adaptively optimized according to the actual situation by adjusting the initial disinfection parameters, and constantly try to find a more suitable combination of disinfection parameters to achieve the preset disinfection standard. If the disinfection effect meets the standard, Disinfection standard, then disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data. When the disinfection effect meets the standard, the present invention continues to disinfect according to the initial disinfection path, which can ensure the continuity and stability of the disinfection process and ensure that the entire disinfection area can be fully disinfected. If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, and the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start-up instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-constructed multiple medical devices and laser disinfection robots is returned. When a dynamic obstacle is detected, the present inventionReplanning the path can enable the disinfection robot to avoid obstacles in time and continue to complete the disinfection task. By finding the optimal disinfection path, it can minimize path delays and efficiency losses caused by obstacles while ensuring the disinfection effect. If the monitoring result is obstacle-free data, it returns to the step of continuing to disinfect according to the initial disinfection path, and obtains the current position of the parameter-adjusting disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed. In the absence of dynamic obstacles, the present invention continues to disinfect according to the initial disinfection path, which can maintain the efficiency of the disinfection process. By obtaining the current position of the parameter-adjusting disinfection robot in real time, it can ensure that the robot accurately reaches the final position and successfully completes the entire disinfection task. Therefore, the present invention can improve the automation level and disinfection quality of medical disinfection and reduce labor costs and human errors.

[0060] like Figure 2 , which is a functional module diagram of a path planning system based on medical laser disinfection provided by an embodiment of the present invention.

[0061] The path planning system 100 based on medical laser disinfection of the present invention can be installed in an electronic device. According to the functions to be implemented, the path planning system 100 based on medical laser disinfection can include a disinfection map construction module 101, a disinfection path planning module 102, a disinfection effect evaluation module 103 and a disinfection path adjustment module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device; The disinfection map construction module 101 is used to determine the medical disinfection area and construct a laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot; The disinfection path planning module 102 is used to obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; The disinfection effect evaluation module 103 is used to receive a start instruction, obtain an expansion ratio, obtain a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot, and determine whether the disinfection effect meets the preset disinfection standard. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain a parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as a laser disinfection robot, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot is returned. If the disinfection effect meets the disinfection standard, disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain a monitoring result, wherein the monitoring result includes: obstacle data or obstacle-free data; The disinfection path adjustment module 104 is used to re-plan the initial disinfection path if the monitoring result is obstacle data, obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, return to the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots; if the monitoring result is obstacle-free data, return to the step of continuously disinfecting according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and complete the path planning based on medical laser disinfection when the current position is the final position.

[0062] In detail, each module in the path planning system 100 based on medical laser disinfection in the embodiment of the present invention is used in the same manner as described above. Figure 1 The same technical means as the path planning method based on medical laser disinfection described in the text can produce the same technical effects, so I will not go into details here.

[0063] like Figure 3 , which is a schematic diagram of the structure of an electronic device for implementing a path planning method based on medical laser disinfection provided by an embodiment of the present invention.

[0064] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a path planning method program based on medical laser disinfection.

[0065] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the path planning method program based on medical laser disinfection, but also can be used to temporarily store data that has been output or is to be output.

[0066] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules (such as a path planning method program based on medical laser disinfection, etc.) stored in the memory 11, and calls data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0067] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0068] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0069] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0070] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0071] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0072] The path planning method program based on medical laser disinfection stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve: Determine the medical disinfection area and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; Obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; Receive a start instruction, obtain an expansion ratio, and obtain a disinfection effect based on the start instruction, the expansion ratio, an initial disinfection path, preset initial disinfection parameters, a plurality of pre-built medical devices, and a laser disinfection robot; Determine whether the disinfection effect meets the preset disinfection standards; If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot, the parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the disinfection effect meets the disinfection standard, disinfection is continued according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data; If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and when the current position is the final position, complete the path planning based on medical laser disinfection.

[0073] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0074] Furthermore, if the module / unit integrated in the electronic device 1 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. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0075] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement: Determine the medical disinfection area and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; Obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; Receive a start instruction, obtain an expansion ratio, and obtain a disinfection effect based on the start instruction, the expansion ratio, an initial disinfection path, preset initial disinfection parameters, a plurality of pre-built medical devices, and a laser disinfection robot; Determine whether the disinfection effect meets the preset disinfection standards; If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot, the parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the disinfection effect meets the disinfection standard, disinfection is continued according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data; If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and when the current position is the final position, complete the path planning based on medical laser disinfection.

[0076] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0077] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0078] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, 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 hardware plus software functional modules.

[0079] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A path planning method based on medical laser disinfection, characterized in that: The method comprises: Determine the medical disinfection area, and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; Obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; Receive a start instruction, obtain an expansion ratio, and obtain a disinfection effect based on the start instruction, the expansion ratio, an initial disinfection path, preset initial disinfection parameters, a plurality of pre-built medical devices, and a laser disinfection robot; Determine whether the disinfection effect meets the preset disinfection standards; If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot, the parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the disinfection effect meets the disinfection standard, disinfection is continued according to the initial disinfection path, and the disinfection process is monitored in real time to obtain monitoring results, wherein the monitoring results include: obstacle data or obstacle-free data; If the monitoring result is obstacle data, the initial disinfection path is replanned to obtain the optimal disinfection path, the optimal disinfection path is used as the initial disinfection path, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned; If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and when the current position is the final position, complete the path planning based on medical laser disinfection.

2. The path planning method based on medical laser disinfection according to claim 1, characterized in that: The laser disinfection map is constructed according to the medical disinfection area and the pre-constructed laser disinfection robot, including: A blank medical area map is constructed based on the medical disinfection area, and the blank medical area map is divided to obtain a two-dimensional grid map, wherein the two-dimensional grid map includes a plurality of pixels, and the pixel values ​​of the plurality of pixels are all 0, wherein the laser disinfection robot includes: a laser disinfection unit, a laser radar device, a microbial sensor and a panoramic vision sensor, wherein the medical disinfection area includes a plurality of medical devices; The medical disinfection area is photographed using the panoramic vision sensor in the laser disinfection robot to obtain a medical picture set; Extract a medical image from the medical image set one by one, and perform the following operations on the extracted medical images: Extracting a target device from a medical image, building a medical disinfection device database, matching the target device with the medical disinfection device database, and obtaining a matching result file, wherein the matching result file includes a plurality of matching results, and the matching results include: matching or not matching; If the matching result in the matching result file is not a match, the target device is marked as a static obstacle on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the static obstacle in the two-dimensional grid map are assigned to 255 to obtain a first identification grid map; If the matching result in the matching result file is a match, the target device is marked as a device to be disinfected on the two-dimensional grid map, and the pixel values ​​of all pixels corresponding to the device to be disinfected in the two-dimensional grid map are assigned to 0 to obtain a second identification grid map; The first identification grid map and the second identification grid map are integrated to obtain an identification grid map, and all pixels in the identification grid map with a pixel value of 0 in the second identification grid map are projected into the pre-constructed target grid map to obtain a laser disinfection map.

3. The path planning method based on medical laser disinfection according to claim 2, characterized in that: The method of constructing a blank medical area map based on the medical disinfection area and dividing the blank medical area map to obtain a two-dimensional grid map includes: Obtaining the actual width and actual height of the medical disinfection area, and constructing a rectangular coordinate system of the medical disinfection area according to the actual width and actual height, wherein the rectangular coordinate system includes: a horizontal axis and a vertical axis; The maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis are calculated based on the actual width, actual height, and the preset grid division size. The calculation formula is as follows: ， in, Indicates the maximum number of grids on the horizontal axis. Indicates the actual width, Indicates the grid division size, Indicates the actual height. Indicates the maximum number of grids on the vertical axis. Indicates rounding up calculation; Constructing a blank medical area map according to the maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis, dividing the blank medical area map according to the grid division size to obtain a grid set, wherein the grid set includes a plurality of grids, and each grid corresponds to a coordinate, and the blank medical area map is a two-dimensional plane map; For each raster in the raster collection, the following operations are performed: The grid number is calculated based on the grid, where the calculation formula for calculating the grid number is as follows: ， in, Indicates the grid number, represents the horizontal coordinate of the grid, Represents the vertical coordinate of the grid, Indicates the coordinates corresponding to the grid; The grid numbers are summarized to obtain a grid number set corresponding to the grid set, and a two-dimensional grid map is confirmed based on the grid number set.

4. The path planning method based on medical laser disinfection as claimed in claim 3, characterized in that: The medical disinfection equipment database is constructed, and the target equipment is matched with the medical disinfection equipment database to obtain a matching result file, including: Obtain a disinfection equipment picture set, perform an information labeling operation on each disinfection equipment picture in the disinfection equipment picture set, and obtain an identification equipment picture set; A medical disinfection equipment database is constructed based on the identification equipment picture set, and identification equipment pictures are extracted from the medical disinfection equipment database in sequence, and the following operations are performed on the extracted identification equipment pictures: Extract the target matching device from the identification device image, obtain a first feature vector of the target device and a second feature vector of the target matching device, and obtain a matching point set according to the first feature vector and the second feature vector; Calculate the Euclidean distance of each matching point in the matching point set to obtain a Euclidean distance set, extract a Euclidean distance from the Euclidean distance set in turn, and perform the following operations on the extracted Euclidean distances: Extract the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain the neighboring distance, and obtain the effective distance threshold according to the preset distance ratio and the neighboring distance; Compare the Euclidean distance to the effective distance threshold; If the Euclidean distance is less than the effective distance threshold, the matching point corresponding to the Euclidean distance less than the effective distance threshold is taken as the effective matching point; Use the pre-built clustering algorithm to evaluate the uniformity of valid matching points, obtain uniform weights, and calculate the confidence based on the uniform weights and the Euclidean distances corresponding to the valid matching points; The confidences and valid matching points are summarized respectively to obtain the confidence set and the valid matching point set corresponding to the Euclidean distance set, and the similarity between the target matching device and the target device is calculated based on the confidence set and the valid matching point set; If the similarity is greater than a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold is confirmed as the match; If the similarity is less than or equal to a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity less than or equal to the preset similarity threshold is confirmed as the mismatch, and the process returns to the step of sequentially extracting identification device images from the medical disinfection equipment database; Summarize the matching results and obtain a matching result file.

5. The path planning method based on medical laser disinfection according to claim 4, characterized in that: The calculating the similarity between the target matching device and the target device according to the confidence set and the valid matching point set includes: The similarity between the target matching device and the target device is calculated based on the matching point set, the effective matching point set and the confidence set, wherein the similarity calculation formula is as follows: ， in, Indicates similarity, represents the number of valid matching point sets, Represents the number of matching point sets, Represents the preset confidence weight coefficient, Represents the preset distance attenuation coefficient, Indicates The Euclidean distance of valid matching points, Indicates The confidence of valid matching points, Represents a natural constant.

6. The path planning method based on medical laser disinfection according to claim 5, characterized in that: The obtaining of the expansion ratio comprises: Obtain the maximum speed, reaction time, braking distance, body width and body length of the laser disinfection robot, obtain the diagonal length of the body according to the body width and body length, and obtain the diagonal length of the obstacle; The sum of the diagonal length of the vehicle body and the diagonal length of the obstacle is calculated to obtain a comprehensive diagonal value, and the dimension safety distance is calculated based on the comprehensive diagonal value, where the dimension safety distance is half of the comprehensive diagonal value; The product of the maximum speed and the reaction time is calculated to obtain a dynamic safety distance, and a motion safety distance is obtained according to the maximum speed and the braking distance; The safety distance is obtained based on the size safety distance, the dynamic safety distance and the motion safety distance, wherein the safety distance is the largest distance among the size safety distance, the dynamic safety distance and the motion safety distance; The expansion ratio is calculated based on the safety distance and grid division size.

7. The path planning method based on medical laser disinfection according to claim 6, characterized in that: The method of obtaining the disinfection effect based on the start-up instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot includes: For each of the multiple medical devices, perform the following operations: Using the microbial sensor to detect the microbial density of the medical device, and comparing the microbial density, a preset first microbial density, and a preset second microbial density, wherein the first microbial density is greater than the second microbial density; If the microbial density is greater than the second microbial density and the microbial density is less than or equal to the first microbial density, the laser disinfection unit is adjusted using a preset mid-range laser disinfection to obtain a mid-range laser disinfection unit, wherein the laser disinfection unit includes a telescopic rod; Obtaining a medical height of the medical device, adjusting the length of the telescopic rod according to the medical height to obtain a calibration height, and using a mid-range laser disinfection unit and the calibration height to disinfect the medical device to obtain a first disinfection effect; If the microbial density is less than or equal to the second microbial density, a second disinfection effect is obtained based on the preset low-grade laser disinfection, laser disinfection unit and medical equipment; If the microbial density is greater than the first microbial density, a third disinfection effect is obtained based on the preset high-end laser disinfection, laser disinfection unit and medical equipment; The first disinfection effect, the second disinfection effect, or the third disinfection effect is taken as the disinfection effect.

8. The path planning method based on medical laser disinfection according to claim 7, characterized in that: The method of using a mid-range laser disinfection unit and adjusting the height to disinfect medical equipment to obtain a first disinfection effect includes: According to the mid-range laser disinfection unit, the laser irradiation area, mid-range laser power and mid-range laser irradiation time are obtained, and the coverage of the disinfection area is obtained according to the adjustment height; The first disinfection effect of the medical device is calculated according to the coverage of the disinfection area, the mid-range laser power, the mid-range laser irradiation time and the adjustment height, wherein the calculation formula of the first disinfection effect is as follows: ， in, Indicates the first disinfection effect, Indicates mid-range laser power, Indicates the mid-range laser irradiation time, Indicates the absorption rate of the preset medical device, Indicates the reflectivity of the preset medical device, Indicates the preset microbial sterilization threshold, represents the laser irradiation area, Indicates the preset ambient temperature. Indicates the preset ambient humidity. Indicates height adjustment. Indicates the coverage of the disinfection area. Represents an exponential function.

9. The path planning method based on medical laser disinfection according to claim 8, characterized in that: The real-time monitoring of the disinfection process to obtain the monitoring results includes: Start the laser radar device, use the started laser radar device to obtain laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain denoised point cloud data, and use the denoised point cloud data as a reference frame; Acquire current laser point cloud data, denoise the current laser point cloud data, obtain denoised current point cloud data, and use the denoised current point cloud data as the current frame; Using a pre-built point cloud registration algorithm, a point cloud data displacement comparison operation is performed on the reference frame and the current frame to obtain a displacement distance set, and it is determined whether there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set; If there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set, the displacement distance is confirmed as an abnormal displacement distance, and the abnormal displacement distances are summarized to obtain an abnormal displacement distance set; Calculate the number of abnormalities in the abnormal displacement distance set. If the number of abnormalities is greater than a preset standard displacement distance number, identify the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles, and obtain obstacle data; Otherwise, the current frame corresponding to the abnormal number that is less than or equal to the preset standard displacement distance number is marked as data without dynamic obstacles, and obstacle-free data is obtained; The obstacle data or obstacle-free data is confirmed as the monitoring result.

10. A path planning system based on medical laser disinfection, characterized in that: The system comprises: A disinfection map construction module is used to determine the medical disinfection area and construct a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot; The disinfection path planning module is used to obtain the initial position and final position of the laser disinfection robot, and plan the initial disinfection path according to the laser disinfection map, the initial position and the final position; A disinfection effect evaluation module is used to receive a start instruction, obtain an expansion ratio, obtain a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot, and determine whether the disinfection effect meets the preset disinfection standard. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain a parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as a laser disinfection robot, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot is returned. If the disinfection effect meets the disinfection standard, disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain a monitoring result, wherein the monitoring result includes: obstacle data or obstacle-free data; The disinfection path adjustment module is used to re-plan the initial disinfection path if the monitoring result is obstacle data, obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, return to the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots; if the monitoring result is obstacle-free data, return to the step of continuously disinfecting according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and complete the path planning based on medical laser disinfection when the current position is the final position.

Images