A path planning method and system based on medical laser disinfection

Abstract

The present invention relates to the field of laser disinfection path planning, and a path planning method and system for medical laser disinfection, including: constructing a laser disinfection map, obtaining the initial position and the final position of a laser disinfection robot, planning an initial disinfection path, obtaining a dilation ratio, obtaining a disinfection effect, determining whether the disinfection effect meets a preset disinfection standard, if the disinfection effect does not meet the disinfection standard, adjusting the initial disinfection parameters to obtain disinfection parameters, setting the laser disinfection robot to obtain a parameter-adjusted disinfection robot, if the disinfection effect meets the disinfection standard, continuously performing disinfection according to the initial disinfection path, and real-time monitoring whether there are dynamic obstacles during the disinfection process to obtain a monitoring result, obtaining the current position of the parameter-adjusted disinfection robot until the current position is the final position, and completing the path planning for medical laser disinfection. The present invention can improve the automation level and disinfection quality of medical disinfection.

Description

Technical Field

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

[0002] Medical laser disinfection is a technical means that uses the characteristics of lasers to kill or remove pathogenic microorganisms on the surfaces of medical environments, instruments, articles, etc., so as 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 to complete a certain task.

[0003] Traditional disinfection methods use chemical disinfectants for disinfection. Chemical disinfectants have strong corrosiveness, and long-term use will damage medical equipment, instruments and building materials, shortening their service life. At the same time, traditional disinfection is carried out manually, which is not only inefficient but also prone to missed disinfection. 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 and a computer-readable storage medium for medical laser disinfection, and its main purpose 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, a path planning method for medical laser disinfection provided by the present invention includes:

[0006] Determine the medical disinfection area, and construct a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot;

[0007] Obtain the initial position and the final position of the laser disinfection robot, and plan an initial disinfection path according to the laser disinfection map, the initial position and the final position;

[0008] 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, preset initial disinfection parameters, a plurality of pre-constructed medical devices and the laser disinfection robot;

[0009] Judge whether the disinfection effect meets the preset disinfection standard;

[0010] If the disinfection effect does not meet the disinfection standard, adjust the initial disinfection parameters to obtain disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the plurality of pre-constructed medical devices and the laser disinfection robot;

[0011] If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path, and monitor the disinfection process in real time to obtain monitoring results, where the monitoring results include: obstacle data or obstacle-free data;

[0012] If the monitoring result is obstacle data, re-plan the initial disinfection path to obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return the step of obtaining the disinfection effect based on the start instruction, inflation ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices, and the laser disinfection robot;

[0013] If the monitoring result is obstacle-free data, return the step of continuing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, complete the path planning based on medical laser disinfection.

[0014] Optionally, the constructing the laser disinfection map according to the medical disinfection area and the pre-built laser disinfection robot includes:

[0015] Construct a blank medical area map based on the medical disinfection area, and divide the blank medical area map to obtain a two-dimensional grid map, where the two-dimensional grid map includes multiple pixels, and the pixel values of the multiple pixels are all 0. Among them, the laser disinfection robot includes: a laser disinfection unit, a lidar device, a microbial sensor, and a panoramic vision sensor, and the medical disinfection area includes multiple medical devices;

[0016] Shoot the medical disinfection area with the panoramic vision sensor in the laser disinfection robot to obtain a set of medical pictures;

[0017] Extract a medical picture from the set of medical pictures in sequence, and perform the following operations on each of the extracted medical pictures:

[0018] Extract the target device from the medical picture, construct a medical disinfection device database, match the target device with the medical disinfection device database to obtain a matching result file, where the matching result file includes multiple matching results, and the matching results include: match or no match;

[0019] If the matching result in the matching result file is no match, mark the target device as a static obstacle on the two-dimensional grid map, and assign the pixel values of all pixels corresponding to the static obstacle in the two-dimensional grid map to 255 to obtain the first identification grid map;

[0020] If the matching result in the matching result file is a match, mark the target device as a device to be disinfected on the two-dimensional grid map, and assign the pixel value of all pixels corresponding to the device to be disinfected in the two-dimensional grid map to 0 to obtain a second marked grid map;

[0021] Integrate the first marked grid map and the second marked grid map to obtain a marked grid map, and project all pixels with a pixel value of 0 in the second marked grid map in the marked grid map onto a pre-constructed target grid map to obtain a laser disinfection map.

[0022] Optionally, 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:

[0023] 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;

[0024] 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 a preset grid division size. The calculation formula is as follows:

[0025] ,

[0026] 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;

[0027] 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;

[0028] Perform the following operations on each grid in the grid set:

[0029] Calculate the grid number according to the grid. The calculation formula for calculating the grid number is as follows:

[0030] ,

[0031] where, represents the grid number, represents the abscissa of the grid, represents the ordinate of the grid, Represent the coordinates corresponding to the grid;

[0032] Summarize the grid numbers to obtain the grid number set corresponding to the grid set, and confirm the two-dimensional grid map according to the grid number set.

[0033] Optionally, the medical disinfection equipment database is constructed, and the target device is matched with the medical disinfection equipment database to obtain a matching result file, including:

[0034] Obtain a set of disinfection equipment pictures, perform information annotation operations on each disinfection equipment picture in the set of disinfection equipment pictures to obtain a set of marked equipment pictures;

[0035] Construct a medical disinfection equipment database based on the set of marked equipment pictures, sequentially extract the marked equipment pictures from the medical disinfection equipment database, and perform the following operations on each of the extracted marked equipment pictures:

[0036] Extract the target matching device from the marked equipment picture, obtain the first feature vector of the target device and the second feature vector of the target matching device, and obtain a set of matching points according to the first feature vector and the second feature vector;

[0037] Calculate the Euclidean distance of each matching point in the set of matching points to obtain a set of Euclidean distances, sequentially extract an Euclidean distance from the set of Euclidean distances, and perform the following operations on each of the extracted Euclidean distances:

[0038] Extract the next Euclidean distance adjacent to the Euclidean distance in the set of Euclidean distances to obtain an adjacent distance, and obtain an effective distance threshold according to the preset distance ratio and the adjacent distance;

[0039] Compare the Euclidean distance with the effective distance threshold;

[0040] If the Euclidean distance is less than the effective distance threshold, then use the matching points corresponding to the Euclidean distances less than the effective distance threshold as effective matching points;

[0041] Use the pre-constructed clustering algorithm to evaluate the uniformity of the effective matching points to obtain a uniform weight, and calculate the confidence according to the uniform weight and the Euclidean distance corresponding to the effective matching points;

[0042] Summarize the confidence and the effective matching points respectively to obtain a set of confidence corresponding to the set of Euclidean distances and a set of effective matching points, and calculate the similarity between the target matching device and the target device according to the set of confidence and the set of effective matching points;

[0043] If the similarity is greater than the preset similarity threshold, then confirm the matching result of the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold as the said matching;

[0044] If the similarity is less than or equal to the preset similarity threshold, then the matching result between the target device corresponding to the similarity less than or equal to the preset similarity threshold and the target matching device is confirmed as the mismatch, and the step of sequentially extracting the identification device pictures from the medical disinfection device database is returned;

[0045] Summarize the matching results to obtain a matching result file.

[0046] Optionally, calculating the similarity between the target matching device and the target device according to the confidence set and the effective matching point set includes:

[0047] Calculate the similarity between the target matching device and the target device according to the matching point set, the effective matching point set and the confidence set, where the calculation formula of the similarity is as follows:

[0048] ,

[0049] where, represents the similarity, represents the number of effective matching point sets, represents the number of matching point sets, represents the preset confidence weight coefficient, represents the preset distance attenuation coefficient, represents the Euclidean distance of the th effective matching point, represents the confidence of the th effective matching point,

[0050] Optionally, obtaining the inflation ratio includes:

[0051] Obtain the maximum speed, reaction time, braking distance, body width and body length of the laser disinfection robot, obtain the body diagonal length according to the body width and body length, and obtain the obstacle diagonal length;

[0052] Calculate the sum of the body diagonal length and the obstacle diagonal length to obtain the comprehensive diagonal value, and calculate the size safety distance based on the comprehensive diagonal value, where the size safety distance is half of the comprehensive diagonal value;

[0053] Calculate the product of the maximum speed and the reaction time to obtain the dynamic safety distance, and obtain the motion safety distance according to the maximum speed and the braking distance;

[0054] Obtain the safety distance based on the size safety distance, the dynamic safety distance and the motion safety distance, where the safety distance is the maximum of the size safety distance, the dynamic safety distance and the motion safety distance;

[0055] Calculate the expansion ratio based on the safety distance and the grid division size.

[0056] Optionally, 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 includes:

[0057] Perform the following operations on each of the multiple medical devices:

[0058] 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;

[0059] 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;

[0060] Obtain the medical height of the medical device, adjust the length of the telescopic rod according to the medical height to obtain a calibrated height, and use the medium-range laser disinfection unit and the calibrated height to disinfect the medical device to obtain a first disinfection effect;

[0061] If the microbial density is less than or equal to the second microbial density, obtain a second disinfection effect based on the preset low-range laser disinfection, the laser disinfection unit, and the medical device;

[0062] If the microbial density is greater than the first microbial density, obtain a third disinfection effect based on the preset high-range laser disinfection, the laser disinfection unit, and the medical device;

[0063] Take the first disinfection effect or the second disinfection effect or the third disinfection effect as the disinfection effect.

[0064] Optionally, the using the medium-range laser disinfection unit and the calibrated height to disinfect the medical device to obtain a first disinfection effect includes:

[0065] Obtain the laser irradiation area, the medium-range laser power, and the medium-range laser irradiation time according to the medium-range laser disinfection unit, and obtain the disinfection area coverage according to the calibrated height;

[0066] Calculate the first disinfection effect of the medical device according to the disinfection area coverage, the medium-range laser power, the medium-range laser irradiation time, and the calibrated height, where the calculation formula of the first disinfection effect is as follows:

[0067] ,

[0068] Where, represents the first disinfection effect, represents medium laser power, represents medium laser irradiation time, represents the absorption rate of the preset medical device, represents the reflectivity of the preset medical device, represents the preset microbial sterilization threshold, represents the laser irradiation area, represents the preset ambient temperature, represents the preset ambient humidity, represents the calibration height, represents the coverage of the disinfection area, represents the exponential function.

[0069] Optionally, the real-time monitoring of the disinfection process to obtain the monitoring results includes:

[0070] Start the lidar device, use the started lidar device to obtain the laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain the denoised point cloud data, and use the denoised point cloud data as the reference frame;

[0071] Obtain the current laser point cloud data, denoise the current laser point cloud data to obtain the denoised current point cloud data, and use the denoised current point cloud data as the current frame;

[0072] Use the pre-constructed point cloud registration algorithm to perform a point cloud data displacement comparison operation on the reference frame and the current frame to obtain a displacement distance set, and determine whether there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set;

[0073] If there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set, then confirm the displacement distance as an abnormal displacement distance, summarize the abnormal displacement distances to obtain an abnormal displacement distance set;

[0074] Calculate the number of abnormalities in the abnormal displacement distance set. If the number of abnormalities is greater than the preset standard displacement distance number, then identify the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles to obtain obstacle data;

[0075] Otherwise, identify the current frame corresponding to the number of abnormalities less than or equal to the preset standard displacement distance number as data without dynamic obstacles to obtain obstacle-free data;

[0076] Confirm the obstacle data or the obstacle-free data as the monitoring results.

[0077] To achieve the above object, the present invention also provides a path planning system based on medical laser disinfection, including:

[0078] A disinfection map construction module, which is used to determine medical disinfection areas and construct a laser disinfection map based on the medical disinfection areas and pre-built laser disinfection robots;

[0079] A disinfection path planning module, which is used to obtain the initial position and the final position of the laser disinfection robot, and plan an initial disinfection path based on the laser disinfection map, the initial position and the final position;

[0080] A disinfection effect evaluation module, which is used to receive a start instruction, obtain an inflation ratio, and obtain a disinfection effect based on the start instruction, the inflation ratio, the initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and the laser disinfection robot, and 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 disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 start instruction, the inflation ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot. If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain a monitoring result, where the monitoring result includes: obstacle data or obstacle-free data;

[0081] A disinfection path adjustment module, which is used to re-plan the initial disinfection path to obtain an optimal disinfection path if the monitoring result is obstacle data, use the optimal disinfection path as the initial disinfection path, and return to the step of obtaining the disinfection effect based on the start instruction, the inflation ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot. If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed.

[0082] To solve the above problems, the present invention also provides an electronic device, and the electronic device includes:

[0083] A memory that stores at least one instruction;

[0084] A processor that executes the instructions stored in the memory to implement the above-mentioned path planning method based on medical laser disinfection.

[0085] To solve the above problems, the present invention also provides a computer-readable storage medium, and at least one instruction is stored in the computer-readable storage medium, and 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.

[0086] To solve the problems described in the background art, the present invention determines the medical disinfection area, constructs a laser disinfection map based on the medical disinfection area and a pre-built laser disinfection robot. After clarifying the medical disinfection area, the present invention constructs a laser disinfection map, which enables the disinfection robot to clearly know the scope to be disinfected, ensures full coverage of the entire medical area, avoids the occurrence of disinfection dead corners, minimizes the residual pathogenic microorganisms to the greatest extent, obtains the initial position and the final position of the laser disinfection robot, and plans an initial disinfection path based on the laser disinfection map, the initial position and the final position. By obtaining the initial position and the final position, the present invention can determine a clear task boundary for the disinfection robot, making the disinfection process target-oriented, avoiding blind movement of the robot, and improving the disinfection efficiency. Receiving a start instruction, obtaining an expansion ratio, and obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, preset initial disinfection parameters, a pre-built plurality of medical devices and the laser disinfection robot. The introduction of the expansion ratio in the present invention makes the disinfection scope have a certain flexibility, and the expansion ratio can be adjusted according to the actual situation, so as to expand or shrink the disinfection scope to achieve a better disinfection effect. At the same time, considering multiple factors such as the initial disinfection path, preset initial disinfection parameters, a plurality of medical devices and the laser disinfection robot to obtain the disinfection effect can comprehensively and objectively evaluate whether the disinfection process meets the preset disinfection standard, and avoid inaccurate evaluation of the disinfection effect caused by the deviation of a single factor. Judging whether the disinfection effect meets the preset disinfection standard. By judging whether the disinfection effect meets this standard, the present invention 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, then adjust the initial disinfection parameters to obtain disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 start instruction, the expansion ratio, the initial disinfection path, preset initial disinfection parameters, a pre-built plurality of medical devices and the laser disinfection robot. When the disinfection effect does not meet the standard, the present invention can make the disinfection robot adaptively optimize according to the actual situation by adjusting the initial disinfection parameters, and continuously try to find a more suitable combination of disinfection parameters to meet the preset disinfection standard. If the disinfection effect meets the disinfection standard, then continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain a monitoring result. Among them, the monitoring result includes: obstacle data or obstacle-free data. When the disinfection effect meets the standard, the present invention continues disinfection 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, then re-plan the initial disinfection path to obtain an optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, preset initial disinfection parameters, a pre-built plurality of medical devices and the laser disinfection robot. When detecting a dynamic obstacle,Re-planning the path enables the disinfection robot to avoid obstacles in time and continue to complete the disinfection task. By finding the optimal disinfection path, it is possible to minimize the path delay and efficiency loss caused by obstacles while ensuring the disinfection effect. If the monitoring result is no obstacle 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. When the current position is the final position, complete the path planning based on medical laser disinfection. In the absence of dynamic obstacles, the present invention continues to disinfect according to the initial disinfection path, which can maintain the high efficiency of the disinfection process. By obtaining the current position of the parameter-adjusted 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, reduce labor costs and human errors., BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 FIG. is a schematic flowchart of a path planning method based on medical laser disinfection provided by an embodiment of the present invention;

[0088] Figure 2 FIG. is a functional module diagram of a path planning system based on medical laser disinfection provided by an embodiment of the present invention;

[0089] Figure 3 FIG. is a schematic structural diagram of an electronic device for implementing the path planning method based on medical laser disinfection provided by an embodiment of the present invention.

[0090] DESCRIPTION OF REFERENCE NUMERALS

[0091] 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0092] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0093] 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.

[0094] An 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 electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by 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.

[0095] Refer toFigure 1 As shown, it is a schematic flowchart 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:

[0096] S1. Determine the medical disinfection area, and construct a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot.

[0097] Specifically, the constructing of the laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot includes:

[0098] Construct a blank medical area map based on the medical disinfection area, and divide the blank medical area map to obtain a two-dimensional grid map. Among them, the two-dimensional grid map includes multiple pixels, and the pixel values of the multiple pixels are all 0. Among them, the laser disinfection robot includes: a laser disinfection unit, a lidar device, a microbial sensor, and a panoramic vision sensor. Among them, the medical disinfection area includes multiple medical devices;

[0099] Take pictures of the medical disinfection area by the panoramic vision sensor in the laser disinfection robot to obtain a set of medical pictures;

[0100] Extract one medical picture from the set of medical pictures in sequence, and perform the following operations on each of the extracted medical pictures:

[0101] Extract the target device from the medical picture, construct a medical disinfection device database, match the target device with the medical disinfection device database to obtain a matching result file. Among them, the matching result file includes multiple matching results, and the matching results include: matching or not matching;

[0102] If the matching result in the matching result file is not matching, mark the target device as a static obstacle on the two-dimensional grid map, and assign the pixel value of all pixels corresponding to the static obstacle in the two-dimensional grid map to 255 to obtain a first marked grid map;

[0103] If the matching result in the matching result file is matching, mark the target device as a device to be disinfected on the two-dimensional grid map, and assign the pixel value of all pixels corresponding to the device to be disinfected in the two-dimensional grid map to 0 to obtain a second marked grid map;

[0104] Integrate the first marked grid map and the second marked grid map to obtain a marked grid map, project all pixels with a pixel value of 0 in the second marked grid map in the marked grid map onto a pre-constructed target grid map to obtain a laser disinfection map.

[0105] It should be explained that the laser disinfection unit is a unit for realizing the disinfection function. A lidar device refers to a device that obtains information about the surrounding environment by emitting laser beams and measuring the time difference of the reflected light. The lidar device described in the embodiment of the present invention provides accurate spatial information of the surrounding environment for the laser disinfection robot, helping the robot identify the positions, shapes, and distances of obstacles (such as medical devices, walls, desks, and chairs). A microbial sensor refers to a sensor that can detect the presence and quantity of microorganisms in the environment. In the disinfection process, the microbial sensor described in the embodiment of the present invention can feedback the disinfection effect, helping 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 also be dynamically adjusted to improve the pertinence and effectiveness of disinfection. A panoramic vision sensor refers to a sensor that can obtain a panoramic image of the surrounding environment. A medical device refers to various instruments, devices, appliances, equipment, materials, etc. used in the medical field, including diagnostic devices (such as X-ray machines, ultrasonic diagnostic instruments, etc.), treatment devices (such as laser treatment devices, ventilators, etc.), monitoring devices (such as electrocardiogram monitors, blood pressure monitors, etc.), and auxiliary devices (such as operating tables, hospital beds, etc.).

[0106] 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. A blank medical area map refers to a two-dimensional plane map constructed based on the medical disinfection area, which does not yet contain the specific devices and obstacles in the area. A 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. A medical picture set refers to the set of medical pictures obtained by using the panoramic vision sensor in the laser disinfection robot to photograph the medical disinfection area. The step of extracting the target device from the medical pictures is a prior art and will not be elaborated here. A target device refers to the image of a specific device extracted from the medical pictures through 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.

[0107] It is understandable that a static obstacle refers to an object in a 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 a 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 marking 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 subsequent construction of a laser disinfection map. The target grid map refers to a map used to receive the marking information in the marked grid map.

[0108] 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:

[0109] 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;

[0110] 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:

[0111] ,

[0112] 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 the ceiling calculation;

[0113] 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;

[0114] Perform the following operations on each grid in the grid set:

[0115] Calculate the grid number according to the grid. The calculation formula for calculating the grid number is as follows:

[0116] ,

[0117] Among them, represents the grid number, represents the abscissa of the grid, represents the ordinate of the grid, represents the coordinates corresponding to the grid;

[0118] Summarize the grid numbers to obtain the grid number set corresponding to the grid set, and confirm the two-dimensional grid map according to the grid number set.

[0119] It should be explained that the obtaining of the actual width and actual height of the medical disinfection area refers to obtaining the actual width and actual height of the medical disinfection area through the architectural drawings of the medical disinfection area, and the direction of the actual width and actual height is confirmed based on the picture obtained by the laser disinfection robot photographing the medical disinfection area. Exemplarily, the position where the camera of the laser disinfection robot is set simulates the human eye. Therefore, when taking the picture obtained by the laser disinfection robot photographing the medical disinfection area as the standard, when the laser disinfection robot photographs the operating room, and there are two walls perpendicular to the ground in the photographed operating room, 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 operating room floor to the ceiling is 3.5 meters. At this time, 6 meters is the actual width and 3.5 meters is the actual height. The steps for constructing the rectangular coordinate system of the medical disinfection area are as follows: The lower left corner of the picture corresponding to the medical disinfection area photographed by the laser disinfection robot is the origin, the vertical direction upward from the origin (for example, the direction from the operating room floor to the ceiling above) is the vertical axis, and the horizontal direction to the right (for example, the direction parallel to the operating room floor) is the horizontal axis to construct a rectangular coordinate system. The maximum number of grid numbers 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 grid numbers 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 size preset 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 the grid set for the convenience of identifying and managing each grid.

[0120] Specifically, for constructing the medical disinfection equipment database, matching the target equipment with the medical disinfection equipment database to obtain a matching result file, including:

[0121] Obtain a set of disinfection equipment pictures, and perform information annotation operations on each disinfection equipment picture in the set of disinfection equipment pictures to obtain a set of marked equipment pictures;

[0122] Construct a medical disinfection equipment database based on the identification device picture set, sequentially extract the identification device pictures from the medical disinfection equipment database, and perform the following operations on each of the extracted identification device pictures:

[0123] Extract the target matching device from the identification device picture, obtain the first feature vector of the target device and the second feature vector of the target matching device, and obtain a set of matching points according to the first feature vector and the second feature vector;

[0124] Calculate the Euclidean distance of each matching point in the set of matching points to obtain a set of Euclidean distances, sequentially extract one Euclidean distance from the set of Euclidean distances, and perform the following operations on each of the extracted Euclidean distances:

[0125] Extract the next Euclidean distance adjacent to the Euclidean distance in the set of Euclidean distances to obtain an adjacent distance, and obtain an effective distance threshold according to the preset distance ratio and the adjacent distance;

[0126] Compare the Euclidean distance with the effective distance threshold;

[0127] If the Euclidean distance is less than the effective distance threshold, then use the matching points corresponding to the Euclidean distance less than the effective distance threshold as effective matching points;

[0128] Use the pre-constructed clustering algorithm to evaluate the uniformity of the effective matching points to obtain a uniformity weight, and calculate the confidence according to the uniformity weight and the Euclidean distance corresponding to the effective matching points;

[0129] Aggregate the confidence and the effective matching points respectively to obtain a confidence set and an effective matching point set corresponding to the set of Euclidean distances, and calculate the similarity between the target matching device and the target device according to the confidence set and the effective matching point set;

[0130] If the similarity is greater than the preset similarity threshold, then confirm the matching result of the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold as the said matching;

[0131] If the similarity is less than or equal to the preset similarity threshold, then confirm the matching result of the target device and the target matching device corresponding to the similarity less than or equal to the preset similarity threshold as the said non-matching, and return to the step of sequentially extracting the identification device pictures from the medical disinfection equipment database;

[0132] Aggregate the matching results to obtain a matching result file.

[0133] It should be noted that the picture set of disinfection equipment refers to a collection including pictures of various types of medical disinfection equipment. The information annotation operation refers to the operation of adding relevant identification information to each picture of the disinfection equipment in the picture set of disinfection equipment. For example, the identification information is brand, model, key features, etc. The purpose of the information annotation operation described in the embodiments of the present invention is to make the equipment information in the pictures of the disinfection equipment more clear and identifiable, facilitating subsequent database construction and matching operations. The marked equipment picture set refers to a set composed of all marked equipment pictures. The first feature vector refers to a set of eigenvalue extracted from the target equipment. The second feature vector refers to a set of eigenvalue extracted from the target matching equipment in the marked equipment pictures extracted from the medical disinfection equipment database. The obtaining of the matching point set according to the first feature vector and the second feature vector refers to using a feature matching algorithm to compare the first feature vector and the second feature vector, thereby obtaining 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 composed of all Euclidean distances.

[0134] Exemplarily, the first feature vector is: , and the second feature vector is: , extract a row of eigenvalue from the first feature vector , where the 1 in and 1.1 in are a matching point, both at the position of the first element in the first row of the first feature vector and the second feature vector. By analogy, use the Euclidean distance formula to calculate this row of eigenvalue with each row of eigenvalue in the second feature vector, and the obtained Euclidean distance is . Then, extract the second row and the third row of eigenvalue from the first feature vector in turn, and perform Euclidean calculation on the second row and the third row of eigenvalue with each row of eigenvalue in the second feature vector, and the obtained Euclidean distance set is . Extract an Euclidean distance from the Euclidean distance set in turn. If the extracted Euclidean distance is , extract the Euclidean distance adjacent to , that is as the adjacent distance.

[0135] It can be understood that the adjacent distance refers to the next Euclidean distance adjacent to a Euclidean distance after extracting a Euclidean distance from the Euclidean distance set in turn. For example, the Euclidean distance set is , when the Euclidean distance extracted from the Euclidean distance set is , the adjacent distance is . The distance ratio refers to a preset ratio value used to calculate the effective distance threshold based on the adjacent distance. The effective distance threshold refers to a distance threshold obtained according to the preset distance ratio and the adjacent distance. An effective matching point refers to a matching point where the Euclidean distance is less than the effective distance threshold when comparing the Euclidean distance with the effective distance threshold. The clustering algorithm refers to an algorithm used to evaluate the uniformity of the set of effective matching points. 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 set of effective matching points using the clustering algorithm. It reflects the degree of uniformity of the spatial distribution of the effective matching points. The more uniformly the effective matching points are distributed in space, the higher the uniform weight. The confidence level is used to measure the credibility of the matching between the target matching device and the target device. The higher the uniform weight and the smaller the Euclidean distance, the higher the confidence level. The confidence level set refers to the set composed of all confidence levels.

[0136] Importantly, in the step of calculating the confidence level according to the uniform weight and the Euclidean distance corresponding to the effective matching points, the formula for calculating the confidence level is as follows:

[0137] ,

[0138] where, represents the uniform weight of the th effective matching point.

[0139] Specifically, calculating the similarity between the target matching device and the target device according to the confidence level set and the set of effective matching points includes:

[0140] Calculating the similarity between the target matching device and the target device according to the set of matching points, the set of effective matching points and the confidence level set. The formula for calculating the similarity is as follows:

[0141] ,

[0142] where, represents the similarity, represents the number of the set of effective matching points, represents the number of the set of matching points, represents the preset confidence level weight coefficient, represents the preset distance attenuation coefficient, represents the th Euclidean distance of the effective matching point, represents the th confidence level of the effective matching point, represents the natural constant.

[0143] It should be noted that the confidence weight coefficient is a pre-set coefficient used to adjust the influence degree of confidence in the whole calculation process when calculating the similarity between the target matching device and the target device. The smaller the confidence weight coefficient is, the smaller the influence of confidence in the similarity calculation is. The distance attenuation coefficient is a pre-set coefficient used to control the attenuation speed of confidence with the change of Euclidean distance. The larger the distance attenuation coefficient is, the faster the attenuation speed of confidence with the change of Euclidean distance is.

[0144] S2. Obtain the initial position and the final position of the laser disinfection robot, and plan an initial disinfection path according to the laser disinfection map, the initial position and the final position.

[0145] It should be noted that the obtaining of the initial position of the laser disinfection robot refers to obtaining the initial position by using the positioning system of the laser disinfection robot. The final position refers to the final position designated by the operator for the robot. The step of planning the initial disinfection path according to the laser disinfection map, the initial position and the final position is as follows: according to the laser disinfection map, the initial position and the final position, use the A* algorithm to generate an initial path, and use the simulated annealing optimization algorithm to optimize this initial path to obtain a collision-free optimal path from the starting point to the ending point. The A* algorithm and the simulated annealing optimization algorithm in the embodiments of the present invention are prior arts and will not be elaborated here.

[0146] 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-constructed multiple medical devices and the laser disinfection robot.

[0147] It should be noted that the start instruction is an instruction issued by the operator for starting the disinfection work process of the laser disinfection robot.

[0148] Specifically, the obtaining of the expansion ratio includes:

[0149] Obtain the maximum speed, reaction time, braking distance, body width and body length of the laser disinfection robot, obtain the body diagonal length according to the body width and body length, and obtain the obstacle diagonal length;

[0150] Calculate the sum of the body diagonal length and the obstacle diagonal length to obtain a comprehensive diagonal value, and calculate a size safety distance based on the comprehensive diagonal value, where the size safety distance is half of the comprehensive diagonal value;

[0151] Calculate the product of the maximum speed and the reaction time to obtain a dynamic safety distance, and obtain a motion safety distance according to the maximum speed and the braking distance;

[0152] Obtain the safety distance based on the dimensional safety distance, dynamic safety distance, and motion safety distance, where the safety distance is the maximum of the dimensional safety distance, dynamic safety distance, and motion safety distance;

[0153] Calculate the expansion ratio based on the safety distance and the grid division size.

[0154] It should be noted that obtaining the maximum speed, reaction time, braking distance, body width, and body length of the laser disinfection robot means 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:

[0155] ,

[0156] Wherein, represents the body diagonal length, represents the body width, represents the body length.

[0157] It should be noted 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, which 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 dimensional 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 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:

[0158] ,

[0159] Wherein, represents the expansion ratio, represents the safety distance.

[0160] Specifically, obtaining 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:

[0161] Perform the following operations on each of the multiple medical devices:

[0162] Use the microbial sensor to detect the microbial density of the medical device, and compare the microbial density, a preset first microbial density, and a preset second microbial density, where the first microbial density is greater than the second microbial density;

[0163] 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;

[0164] Obtain the medical height of the medical device, adjust the length of the telescopic rod according to the medical height to obtain a calibrated height, and use the medium-range laser disinfection unit and the calibrated height to disinfect the medical device to obtain a first disinfection effect;

[0165] If the microbial density is less than or equal to the second microbial density, obtain a second disinfection effect based on the preset low-range laser disinfection, the laser disinfection unit, and the medical device;

[0166] If the microbial density is greater than the first microbial density, obtain a third disinfection effect based on the preset high-range laser disinfection, the laser disinfection unit, and the medical device;

[0167] Take the first disinfection effect or the second disinfection effect or the third disinfection effect as the disinfection effect.

[0168] It should be noted that detecting the microbial density of medical devices using the microbial sensor is prior art and will not be elaborated here. Microbial density refers to the number of microorganisms contained per unit area or unit volume on the surface of a medical device. Both the first microbial density and the second microbial density refer to preset microbial density thresholds. The microbial density threshold is a value preset by humans. Medium-range laser disinfection refers to a preset disinfection mode, and its disinfection intensity is between high-range laser disinfection and low-range laser disinfection. The medium-range laser disinfection unit refers to the unit obtained by adjusting the laser disinfection unit under the preset medium-range laser disinfection mode. The calibrated 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 after disinfecting the medical device using the medium-range laser disinfection unit and the calibrated height 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 after disinfecting the medical device using the laser disinfection unit based on the preset low-range 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 after disinfecting the medical device using the preset high-range laser disinfection mode through the laser disinfection unit when the microbial density of the medical device is greater than the first microbial density. The low-range laser disinfection mode refers to the disinfection mode adopted when the microbial density of the medical device is less than or equal to the second microbial density. The high-range laser disinfection mode refers to the disinfection mode adopted when the microbial density of the medical device is greater than the first microbial density. For example, in the low-range laser disinfection mode, the laser power is set to 10 watts and the irradiation time is 5 minutes, while in the high-range laser disinfection mode, the laser power is increased to 30 watts and the irradiation time is extended to 15 minutes.

[0169] It can be understood that the method for obtaining the second disinfection effect based on the preset low-range laser disinfection, the laser disinfection unit, and the medical device, and the method for obtaining the third disinfection effect based on the preset high-range laser disinfection, the laser disinfection unit, and the medical device are the same as the method for disinfecting the medical device using the medium-range laser disinfection unit and the calibrated height to obtain the first disinfection effect, and will not be elaborated here.

[0170] Specifically, disinfecting the medical device using the medium-range laser disinfection unit and the calibrated height to obtain the first disinfection effect includes:

[0171] Obtaining the laser irradiation area, medium-range laser power, and medium-range laser irradiation time according to the medium-range laser disinfection unit, and obtaining the disinfection area coverage according to the calibrated height;

[0172] Calculate the first disinfection effect of the medical device according to the disinfection area coverage, medium-range laser power, medium-range laser irradiation time, and calibration height. The calculation formula for the first disinfection effect is as follows:

[0173] ,

[0174] where, represents the first disinfection effect, represents the medium-range laser power, represents the medium-range laser irradiation time, represents the preset absorption rate of the medical device, represents the preset reflectivity of the medical device, represents the preset microbial sterilization threshold, represents the laser irradiation area, represents the preset environmental temperature, represents the preset environmental humidity, represents the calibration height, represents the disinfection area coverage, represents the exponential function.

[0175] It should be noted that the medium-range laser power refers to the laser power output by the laser disinfection unit in the medium-range laser disinfection mode. The medium-range laser irradiation time refers to the duration of continuous laser irradiation of the medical device in the medium-range laser disinfection mode. The calibration 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 ratio 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 absorption rate of the medical device refers to the proportion of the laser energy reflected back among the laser energy irradiated on the surface of the medical device. The reflectivity of the medical device refers to the proportion of the laser energy absorbed by the device among the laser energy irradiated on the surface of the medical device. The laser irradiation area refers to the area of the region covered by the laser on the surface of the medical device during the disinfection process.

[0176] 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, set the laser disinfection robot using the disinfection parameters to 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 start instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-constructed multiple medical devices, and the laser disinfection robot.

[0177] It should be noted 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 after adjusting the initial disinfection parameters when it is determined that the initial disinfection effect does not meet the pre-set disinfection standard. The purpose of adjusting the initial disinfection parameters is to enable the laser disinfection robot to achieve a better disinfection effect in subsequent disinfection processes and make it meet the disinfection standard. The 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 the robot obtained after re-setting the laser disinfection robot using the adjusted disinfection parameters.

[0178] S5. If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain monitoring results, where the monitoring results include: obstacle data or obstacle-free data.

[0179] Specifically, the real-time monitoring of the disinfection process to obtain the monitoring results includes:

[0180] Start the lidar device, use the started lidar device to obtain the laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain the denoised point cloud data, and use the denoised point cloud data as the reference frame;

[0181] Obtain the current laser point cloud data, denoise the current laser point cloud data to obtain the denoised current point cloud data, and use the denoised current point cloud data as the current frame;

[0182] Use the pre-constructed point cloud registration algorithm to perform a point cloud data displacement comparison operation on the reference frame and the current frame to obtain a displacement distance set, and determine whether there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set;

[0183] If there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set, confirm the displacement distance as an abnormal displacement distance, summarize the abnormal displacement distances to obtain an abnormal displacement distance set;

[0184] Calculate the number of abnormalities in the abnormal displacement distance set. If the number of abnormalities is greater than the preset standard displacement distance number, mark the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles to obtain obstacle data;

[0185] Otherwise, mark the current frame corresponding to the number of abnormalities less than or equal to the preset standard displacement distance number as data without dynamic obstacles to obtain obstacle-free data;

[0186] Confirm the obstacle data or the obstacle-free data as the monitoring result.

[0187] It should be explained that the laser point cloud data is the data of three-dimensional space information obtained by a lidar device. The denoising of the laser point cloud data refers to using a denoising method to denoise the laser point cloud data. For example, the denoising methods include statistical filtering, radius filtering, bilateral filtering, etc. The current laser point cloud data refers to the laser point cloud data obtained in real time by the lidar device at a certain moment during the disinfection process. The 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 elaborated here.

[0188] Importantly, the point cloud registration algorithm is an algorithm used to align and match 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 the set composed of all abnormal displacement distances. The displacement distance threshold refers to a preset standard used to distinguish normal displacement and abnormal displacement. The standard displacement distance quantity refers to a preset 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 during the disinfection process. The reference frame refers to the point cloud information of the objects in the disinfection area without dynamic obstacles.

[0189] S6. If the monitoring result is obstacle data, re-plan the initial disinfection path to obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to the step of obtaining the disinfection effect based on the start instruction, inflation ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices, and the laser disinfection robot.

[0190] It should be explained that the re-planning of the initial disinfection path refers to using the A* algorithm to re-plan the initial disinfection path to ensure that the laser disinfection robot avoids the dynamic obstacles.

[0191] S7. If the monitoring result is obstacle-free data, return to the step of continuously performing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, complete the path planning for medical laser disinfection.

[0192] It should be noted that the method for obtaining the current position of the parameter-adjusting disinfection robot is the same as the method for obtaining the initial and final positions of the laser disinfection robot, which will not be elaborated here. The optimal disinfection path refers to the path obtained by comprehensively considering various factors (avoiding obstacles, shortest path length, efficient energy consumption, and comprehensive coverage of the disinfection area) during the process of re-planning the initial disinfection path.

[0193] To solve the problems described in the background art, the present invention determines the medical disinfection area, constructs a laser disinfection map based on the medical disinfection area and a pre-constructed laser disinfection robot. After clarifying the medical disinfection area, the present invention constructs a laser disinfection map, which enables the disinfection robot to clearly know the scope that needs to be disinfected, ensures full coverage of the entire medical area, avoids the emergence of disinfection dead corners, and minimizes the residual pathogenic microorganisms to the greatest extent. The initial position and the final position of the laser disinfection robot are obtained, and an initial disinfection path is planned based on the laser disinfection map, the initial position, and the final position. By obtaining the initial position and the final position, the present invention can determine a clear task boundary for the disinfection robot, making the disinfection process goal-oriented and avoiding blind movement of the robot, thereby improving the disinfection efficiency. A start instruction is received, and an expansion ratio is obtained. Based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices, and the laser disinfection robot, the disinfection effect is obtained. The introduction of the expansion ratio in the present invention makes the disinfection scope have a certain flexibility, and the expansion ratio can be adjusted according to the actual situation, so as to expand or shrink the disinfection scope to achieve a better disinfection effect. At the same time, by combining various factors such as the initial disinfection path, the preset initial disinfection parameters, multiple medical devices, and the laser disinfection robot to obtain the disinfection effect, it can comprehensively and objectively evaluate whether the disinfection process meets the preset disinfection standard, and avoid inaccurate evaluation of the disinfection effect caused by the deviation of a single factor. It is judged whether the disinfection effect meets the preset disinfection standard. By judging whether the disinfection effect meets this standard, the present invention 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 disinfection parameters, and the laser disinfection robot is set with the disinfection parameters to obtain a 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 start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices, and the laser disinfection robot is returned. When the disinfection effect does not meet the standard, the present invention can make the disinfection robot adaptively optimize according to the actual situation by adjusting the initial disinfection parameters, and continuously try to find a more suitable combination of disinfection parameters to achieve the preset disinfection standard. If the disinfection effect meets the disinfection standard, disinfection is continuously carried out according to the initial disinfection path, and the disinfection process is monitored in real time to obtain a monitoring result. Among them, the monitoring result includes: obstacle data or obstacle-free data. When the disinfection effect meets the standard, the present invention continuously carries out disinfection 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 re-planned to obtain an 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 instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices, and the laser disinfection robot is returned. When a dynamic obstacle is detected in the present invention,Re-planning the path enables the disinfection robot to avoid obstacles in time and continue to complete the disinfection task. By finding the optimal disinfection path, it can minimize the path delay and efficiency loss caused by obstacles while ensuring the disinfection effect. If the monitoring result shows no obstacle data, it returns to the step of continuously disinfecting according to the initial disinfection path, and obtains the current position of the parameter-adjusted 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 high efficiency of the disinfection process. By obtaining the current position of the parameter-adjusted 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.

[0194] As Figure 2 shown, it is a functional module diagram of a path planning system for medical laser disinfection provided by an embodiment of the present invention.

[0195] The path planning system 100 for medical laser disinfection according to the present invention can be installed in an electronic device. According to the functions achieved, the path planning system 100 for 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 modules in the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, and are stored in the memory of the electronic device;

[0196] 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 a pre-constructed laser disinfection robot;

[0197] The disinfection path planning module 102 is used to obtain the initial position and the final position of the laser disinfection robot, and plan an initial disinfection path according to the laser disinfection map, the initial position and the final position;

[0198] The disinfection effect evaluation module 103 is configured to 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, and 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 disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 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. If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain a monitoring result, where the monitoring result includes: obstacle data or obstacle-free data;

[0199] The disinfection path adjustment module 104 is configured to, if the monitoring result is obstacle data, re-plan the initial disinfection path to obtain an optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to 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. If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, complete the path planning based on medical laser disinfection.

[0200] Specifically, each module in the path planning system 100 for medical laser disinfection in the embodiments of the present invention adopts the same technical means as those in the above-mentioned Figure 1 path planning method for medical laser disinfection described therein, and can produce the same technical effects, which will not be elaborated here.

[0201] As Figure 3 shown, it is a schematic structural diagram of an electronic device for implementing the path planning method for medical laser disinfection provided by an embodiment of the present invention.

[0202] The electronic device 1 may include a processor 10, a memory 11, and a bus 12, and may further include a computer program stored in the memory 11 and executable on the processor 10, such as a path planning method program for medical laser disinfection.

[0203] 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 (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disc, etc. The memory 11 can be an internal storage unit of the electronic device 1 in some embodiments, such as the mobile hard disk of the electronic device 1. The memory 11 can also be an external storage device of the electronic device 1 in some other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 1. Further, the memory 11 also includes the internal storage unit of the electronic device 1 and also includes an external storage device. The memory 11 can be used not only to store application software installed on the electronic device 1 and various types of data, such as the code of the path planning method program based on medical laser disinfection, etc., but also to temporarily store data that has been output or will be output.

[0204] The processor 10 can be composed of integrated circuits in some embodiments. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions packaged together, including a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and lines, and by running or executing programs or modules stored in the memory 11 (such as the path planning method program based on medical laser disinfection, etc.), and calling data stored in the memory 11, to execute various functions of the electronic device 1 and process data.

[0205] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. This bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is set to achieve connection and communication between the memory 11 and at least one processor 10, etc.

[0206] Figure 3 Only the electronic device with components is shown. Those skilled in the art can understand that, Figure 3The shown structure does not constitute a limitation on the electronic device 1, and it may include fewer or more components than shown, or combine certain components, or have a different component arrangement.

[0207] For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for powering each component. Preferably, the power source can be logically connected to the at least one processor 10 through a power management device, so as to implement functions such as charging management, discharging management, and power consumption management through the power management device. The power source may also include any components such as one or more DC or AC power sources, a recharge device, a power failure detection circuit, a power converter or inverter, and a power status indicator. The electronic device 1 may also include a variety of sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0208] Furthermore, the electronic device 1 may further 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.

[0209] Optionally, the electronic device 1 may further include a user interface. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)). Optionally, the user interface may also be 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 liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visual user interface.

[0210] The program of the path planning method 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 implement:

[0211] Determine the medical disinfection area, and construct a laser disinfection map according to the medical disinfection area and a pre-built laser disinfection robot;

[0212] Obtain the initial position and the final position of the laser disinfection robot, and plan an initial disinfection path according to the laser disinfection map, the initial position, and the final position;

[0213] 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, preset initial disinfection parameters, a pre-built plurality of medical devices, and the laser disinfection robot;

[0214] Determine whether the disinfection effect meets the preset disinfection standard;

[0215] If the disinfection effect does not meet the disinfection standard, adjust the initial disinfection parameters to obtain disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 start instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices, and the laser disinfection robot;

[0216] If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain a monitoring result, where the monitoring result includes: obstacle data or obstacle-free data;

[0217] If the monitoring result is obstacle data, re-plan the initial disinfection path to obtain an optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to the step of obtaining 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;

[0218] 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.

[0219] Specifically, the specific implementation method of the above instructions by the processor 10 can refer to Figures 1 to 3 the description of the relevant steps in the corresponding embodiment, which will not be elaborated here.

[0220] Furthermore, if the modules / units integrated in the electronic device 1 are implemented in the form of software function units and sold or used as independent products, they 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, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory).

[0221] The present invention also provides a computer-readable storage medium, where the readable storage medium stores a computer program, and when the computer program is executed by the processor of the electronic device, it can implement:

[0222] Determine the medical disinfection area, and construct a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot;

[0223] Obtain the initial position and the 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;

[0224] Receive a start instruction, obtain the inflation ratio, and obtain the disinfection effect based on the start instruction, the inflation ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot;

[0225] Judge whether the disinfection effect meets the preset disinfection standard;

[0226] If the disinfection effect does not meet the disinfection standard, adjust the initial disinfection parameters to obtain the disinfection parameters, set the laser disinfection robot with the disinfection parameters to 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 start instruction, the inflation ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot;

[0227] If the disinfection effect meets the disinfection standard, continue disinfection according to the initial disinfection path and monitor the disinfection process in real time to obtain the monitoring result, where the monitoring result includes: obstacle data or obstacle-free data;

[0228] If the monitoring result is obstacle data, re-plan the initial disinfection path to obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to the step of obtaining the disinfection effect based on the start instruction, the inflation ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot;

[0229] If the monitoring result is obstacle-free data, return to the step of continuing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed.

[0230] In 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 there may be other division methods in actual implementation.

[0231] 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 may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0232] In addition, in each embodiment of the present invention, each functional module can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0233] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0234] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A path planning method based on medical laser disinfection, characterized in that The method includes: Determine a medical disinfection area, and construct a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot; Among them, the constructing the laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot includes: Construct a blank medical area map based on the medical disinfection area, divide the blank medical area map to obtain a two-dimensional grid map. Among them, the two-dimensional grid map includes multiple pixels, and the pixel values of the multiple pixels are all 0. The laser disinfection robot includes a laser disinfection unit, a lidar device, a microbial sensor, and a panoramic vision sensor. The medical disinfection area includes multiple medical devices; Capture the medical disinfection area by using the panoramic vision sensor in the laser disinfection robot to obtain a medical image set; Extract a medical image from the medical image set in sequence, and perform the following operations on each of the extracted medical images: Extract target devices from the medical image, construct a medical disinfection device database, match the target devices with the medical disinfection device database to obtain a matching result file, and obtain the laser disinfection map based on the matching result file; Among them, the constructing the medical disinfection device database, matching the target devices with the medical disinfection device database to obtain a matching result file includes: Obtain a disinfection device image set, perform information annotation operations on each disinfection device image in the disinfection device image set to obtain an identified device image set; Construct a medical disinfection device database based on the identified device image set, extract the identified device images from the medical disinfection device database in sequence, and perform the following operations on each of the extracted identified device images: Extract target matching devices from the identified device images, obtain the first feature vector of the target device and the 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 an Euclidean distance set, extract an Euclidean distance from the Euclidean distance set in sequence, and perform the following operations on each of the extracted Euclidean distances: Extract the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain an adjacent distance, and obtain an effective distance threshold according to a preset distance ratio and the adjacent distance; Compare the Euclidean distance with the effective distance threshold; If the Euclidean distance is less than the effective distance threshold, then use the matching points corresponding to the Euclidean distances less than the effective distance threshold as effective matching points; Use a pre-constructed clustering algorithm to evaluate the uniformity of the effective matching points to obtain a uniformity weight, and calculate a confidence level according to the uniformity weight and the Euclidean distance corresponding to the effective matching points; Sum up the confidence levels and the effective matching points respectively to obtain a confidence level set and an effective matching point set corresponding to the Euclidean distance set, and calculate the similarity between the target matching device and the target device according to the confidence level set and the effective matching point set; If the similarity is greater than a preset similarity threshold, then confirm the matching result of the target device and the target matching device corresponding to the similarity greater than the preset similarity threshold as a match; If the similarity is less than or equal to the preset similarity threshold, then confirm that the matching result between the target device corresponding to the similarity less than or equal to the preset similarity threshold and the target matching device is unmatched, and return the step of sequentially extracting the identification device pictures from the medical disinfection device database; Summarize the matching results to obtain a matching result file; Obtain the initial position and the final position of the laser disinfection robot, and plan an 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, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices, and the laser disinfection robot; Judge whether the disinfection effect meets the preset disinfection standard; If the disinfection effect does not meet the disinfection standard, then adjust the initial disinfection parameters to obtain disinfection parameters, set the laser disinfection robot with the disinfection parameters to obtain a 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 start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices, and the laser disinfection robot; If the disinfection effect meets the disinfection standard, then continue disinfection according to the initial disinfection path, and monitor the disinfection process in real time to obtain a monitoring result, where the monitoring result includes: obstacle data or obstacle-free data; If the monitoring result is obstacle data, then re-plan the initial disinfection path to obtain an optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return to 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-constructed multiple medical devices, and the laser disinfection robot; If the monitoring result is obstacle-free data, then return to the step of continuing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed.

2. The path planning method based on medical laser disinfection according to claim 1, wherein, Obtain the laser disinfection map based on the matching result file, including: Among them, the matching result file includes multiple matching results, and the matching result includes: match or mismatch; If the matching result in the matching result file is mismatch, then mark the target device as a static obstacle on the two-dimensional grid map, and assign the pixel value of all pixels corresponding to the static obstacle in the two-dimensional grid map to 255 to obtain a first identification grid map; If the matching result in the matching result file is match, then mark the target device as a device to be disinfected on the two-dimensional grid map, and assign the pixel value of all pixels corresponding to the device to be disinfected in the two-dimensional grid map to 0 to obtain a second identification grid map; Integrate the first identification grid map and the second identification grid map to obtain an identification grid map, and project all the pixels with a pixel value of 0 in the second identification grid map in the identification grid map onto 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 1, wherein 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 formulas are as follows: ， Among them, 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 the ceiling 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. 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: ， Among them, represents the grid number, represents the abscissa of the grid, represents the ordinate of the grid, represents the coordinate corresponding to the grid; Summarize the grid numbers to obtain the grid number set corresponding to the grid set, and confirm the two-dimensional grid map according to the grid number set.

4. The path planning method based on medical laser disinfection according to claim 3, wherein The calculating the similarity between the target matching device and the target device according to the confidence set and the effective matching point set includes: calculating the similarity between the target matching device and the target device, including: Calculate the similarity between the target matching device and the target device according to the matching point set, the effective matching point set and the confidence set. The calculation formula for the similarity is as follows: ， Among them, represents the similarity, represents the number of valid matching point sets, represents the number of matching point sets, represents a preset confidence weight coefficient, represents a preset distance attenuation coefficient, represents the Euclidean distance of the th valid matching point, represents the confidence of the th valid matching point, represents the natural constant.

5. The path planning method based on medical laser disinfection according to claim 4, wherein The 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 body diagonal length according to the body width and body length, and obtain the obstacle diagonal length; Calculate the sum of the body diagonal length and the obstacle diagonal length to obtain the comprehensive diagonal value, and calculate the size safety distance based on the comprehensive diagonal value. The size safety distance is half of the comprehensive diagonal value; Calculate the product of the maximum speed and the reaction time to obtain the dynamic safety distance, and obtain the motion safety distance according to the maximum speed and the braking distance; Obtain the safety distance based on the size safety distance, the dynamic safety distance and the motion safety distance. The safety distance is the maximum of 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.

6. The path planning method based on medical laser disinfection according to claim 5, wherein, The obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed 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; Obtain the medical height of the medical device, adjust the length of the telescopic rod according to the medical height to obtain the calibrated height, and use the medium-range laser disinfection unit and the calibrated height to disinfect the medical device to obtain the first disinfection effect; If the microorganism density is less than or equal to the second microorganism density, obtain the second disinfection effect based on the preset low-grade laser disinfection, laser disinfection unit and medical device; If the microorganism density is greater than the first microorganism density, obtain the third disinfection effect based on the preset high-grade laser disinfection, laser disinfection unit and medical device; Take the first disinfection effect or the second disinfection effect or the third disinfection effect as the disinfection effect.

7. The path planning method based on medical laser disinfection according to claim 6, wherein, The using of the medium-grade laser disinfection unit and the calibration height to disinfect the medical device to obtain the first disinfection effect includes: Obtain the laser irradiation area, medium-grade laser power and medium-grade laser irradiation time according to the medium-grade laser disinfection unit, and obtain the disinfection area coverage according to the calibration height; Calculate the first disinfection effect of the medical device according to the disinfection area coverage, medium-grade laser power, medium-grade laser irradiation time and calibration height. The calculation formula of the first disinfection effect is as follows: ， Among them, represents the first disinfection effect, represents the medium laser power, represents the medium laser irradiation time, represents the absorption rate of the preset medical device, represents the reflectivity of the preset medical device, represents the preset microbial sterilization threshold, represents the laser irradiation area, represents the preset environmental temperature, represents the preset environmental humidity, represents the calibration height, represents the disinfection area coverage, represents the exponential function.

8. The path planning method based on medical laser disinfection according to claim 7, wherein The real-time monitoring of the disinfection process to obtain the monitoring result includes: Start the lidar device, use the started lidar device to obtain the laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain the denoised point cloud data, and take the denoised point cloud data as the reference frame; Obtain the current laser point cloud data, denoise the current laser point cloud data to obtain the denoised current point cloud data, and take the denoised current point cloud data as the current frame; Use the pre-constructed point cloud registration algorithm to perform a point cloud data displacement comparison operation on the reference frame and the current frame to obtain a displacement distance set, and determine whether there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set; If there is a displacement distance greater than the preset displacement distance threshold in the displacement distance set, confirm the displacement distance as an abnormal displacement distance, summarize the abnormal displacement distances 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 the preset standard displacement distance number, mark the current frame corresponding to the number of abnormalities greater than the preset standard displacement distance number as data with dynamic obstacles to obtain obstacle data; Otherwise, mark the current frame corresponding to the number of abnormalities less than or equal to the preset standard displacement distance number as data without dynamic obstacles to obtain obstacle-free data; Confirm the obstacle data or the obstacle-free data as the monitoring result.

9. A system using the path planning method based on medical laser disinfection as described in claim 1, characterized in that, The system includes: A disinfection map construction module for determining the medical disinfection area and constructing a laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot; A disinfection path planning module for obtaining the initial position and the final position of the laser disinfection robot and planning an initial disinfection path according to the laser disinfection map, the initial position and the final position; The disinfection effect evaluation module is used to receive a start instruction, obtain the expansion ratio, and obtain 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, 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 the disinfection parameters, and the laser disinfection robot is set with 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 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 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 the monitoring result, where the monitoring result includes: obstacle data or obstacle-free data; The disinfection path adjustment module is used to, if the monitoring result is obstacle data, re-plan the initial disinfection path to obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, and return 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. If the monitoring result is obstacle-free data, return the step of continuously performing disinfection according to the initial disinfection path, and obtain the current position of the parameter-adjusted disinfection robot in real time. When the current position is the final position, the path planning based on medical laser disinfection is completed.

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