Ultraviolet intelligent disinfection control system and method based on environmental perception

Abstract

The invention relates to the technical field of intelligent disinfection, and discloses an intelligent ultraviolet disinfection control system and method based on environmental perception, and the system comprises an information extraction module, a radiation model construction module, a dose distribution module, a disinfection module, a data feedback module and a disinfection termination module. Wherein an initial model is constructed based on three-dimensional point cloud data and reflectivity characteristics, reflectivity compensation is performed on the initial model, and an ultraviolet radiation field attenuation model is obtained; coupling the ultraviolet radiation field attenuation model with an ultraviolet sterilization threshold database to obtain an ultraviolet dose spatial distribution map; the to-be-disinfected object is disinfected according to the ultraviolet dose space distribution diagram; dynamically correcting the ultraviolet radiation field attenuation model based on irradiance feedback data of the to-be-disinfected object during disinfection to obtain an ultraviolet dose regulation and control instruction of the to-be-disinfected object; when the ultraviolet dose regulation and control instruction reaches a biosafety threshold value, the disinfection process is terminated; the intelligent disinfection efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent disinfection technology, and in particular to an ultraviolet intelligent disinfection control system and method based on environmental perception. BACKGROUND

[0002] The prior art lacks environmental perception capability in the ultraviolet disinfection process, and it is difficult to accurately obtain the three-dimensional spatial distribution and surface reflectivity characteristics of the objects to be disinfected. This leads to a large deviation between the constructed ultraviolet radiation field model and the actual scene, and the decay law of ultraviolet light in different object surfaces and spaces cannot be accurately reflected, resulting in a lack of targeted allocation of disinfection dose and easy occurrence of local incomplete disinfection or excessive dose, which seriously affects the disinfection efficiency.

[0003] At the same time, the prior art lacks a dynamic correction mechanism and cannot adjust the radiation field model according to the real-time feedback of irradiance data during disinfection. When the position, surface state or environmental factors of the objects to be disinfected change, the model cannot adapt to these changes in time, resulting in a disconnection between the subsequent disinfection dose control instructions and the actual needs, further exacerbating the instability of the disinfection effect, and making it difficult to meet the efficient and accurate intelligent disinfection needs. SUMMARY

[0004] The present application provides an ultraviolet intelligent disinfection control system and method based on environmental perception to solve the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides an ultraviolet intelligent disinfection control system based on environmental perception, characterized in that the system comprises an information extraction module, a radiation model construction module, a dose distribution module, a disinfection module, a data feedback module and a disinfection termination module, wherein:

[0006] The information extraction module is used to obtain three-dimensional point cloud data of the disinfection area and reflectivity characteristics of the objects to be disinfected;

[0007] The radiation model construction module is used to construct an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, and to obtain an ultraviolet radiation field decay model of the objects to be disinfected by performing reflectivity compensation on the initial model;

[0008] The dose distribution module is used to couple the ultraviolet radiation field decay model with an ultraviolet sterilization threshold database to obtain an ultraviolet dose spatial distribution map of the disinfection area;

[0009] The disinfection module is used to disinfect the objects to be disinfected according to the ultraviolet dose spatial distribution map;

[0010] The data feedback module is configured to dynamically correct the ultraviolet radiation field decay model based on irradiance feedback data of the object to be disinfected during disinfection, so as to obtain an ultraviolet dose regulation instruction of the object to be disinfected.

[0011] The disinfection termination module is configured to terminate the disinfection process when the ultraviolet dose regulation instruction reaches a biological safety threshold.

[0012] In a preferred embodiment, the information extraction module, when performing the steps of obtaining the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected, is specifically configured to:

[0013] perform multi-angle depth scanning on the disinfection area to obtain an original point cloud data set of the disinfection area;

[0014] perform surface reconstruction on the original point cloud data set after outlier filtering to form a three-dimensional point cloud model of the disinfection area;

[0015] collect surface spectral reflectance characteristics of the object to be disinfected;

[0016] match and map the surface spectral reflectance characteristics with a material optical database to obtain reflectivity parameters of the object to be disinfected.

[0017] In a preferred embodiment, the radiation model construction module, when performing the step of constructing an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, is specifically configured to:

[0018] perform surface curvature consistency filtering processing on the three-dimensional point cloud data;

[0019] establish a space-optical correlation data set of point cloud vertex coordinates and reflectivity collection positions in the three-dimensional point cloud data after surface curvature consistency filtering processing;

[0020] convert the space-optical correlation data set into an initial radiation transfer model of the object to be disinfected.

[0021] In a preferred embodiment, the radiation model construction module, when performing the step of performing reflectivity compensation on the initial model to obtain an ultraviolet radiation field decay model of the object to be disinfected, is specifically configured to:

[0022] identify the surface material type of the object to be disinfected;

[0023] perform surface optical property correction on the initial radiation transfer model based on a set of reflectivity compensation coefficients corresponding to the surface material type, to obtain an initial model of the object to be disinfected.

[0024] In a preferred embodiment, when coupling the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain the ultraviolet dose spatial distribution map of the disinfection area, the dose distribution module is specifically used to:

[0025] Extracting the radiation intensity spatial distribution value from the ultraviolet radiation field attenuation model;

[0026] According to the disinfection target, the corresponding inactivation coefficient set is called from the ultraviolet sterilization threshold database;

[0027] generating a spatial distribution map of ultraviolet dose based on the set of inactivation coefficients;

[0028] A spatial continuity check is performed on the ultraviolet dose spatial distribution diagram, and an ultraviolet dose spatial distribution diagram with a qualified spatial continuity check result is output.

[0029] In a preferred embodiment, when the dose distribution module generates the ultraviolet dose spatial distribution map based on the inactivation coefficient set, it is specifically used to:

[0030] The ultraviolet dose of the disinfection area is generated by a dose mapping function, wherein the calculation formula of the ultraviolet dose is as follows: ;

[0031] Where, For coordinates The UV dose at For coordinates Disinfection time is The spatial distribution value of radiation intensity at time is the microbial inactivation coefficient in the inactivation coefficient set, is the dose accumulation function, is the differential operator, is the disinfection duration variable;

[0032] A spatial distribution map of ultraviolet dose in the disinfection area is constructed based on the ultraviolet dose.

[0033] In a preferred embodiment, when the data feedback module dynamically corrects the ultraviolet radiation field attenuation model based on the irradiance feedback data of the object to be disinfected during disinfection to obtain the ultraviolet dose control instruction for the object to be disinfected, it is specifically used to: Obtaining a measured irradiance data set of the object to be disinfected;

[0034] Extracting a predicted irradiance data set at a corresponding position from the ultraviolet radiation field attenuation model;

[0035] generating a model parameter correction of the ultraviolet radiation field decay model based on the predicted irradiance dataset;

[0036] applying the model parameter correction to a structure parameter of the ultraviolet radiation field decay model;

[0037] obtaining an ultraviolet dose regulation instruction of the object to be disinfected when the model parameter correction of three consecutive iterations is less than a convergence threshold.

[0038] In a preferred embodiment, the calculation formula of the model parameter correction is as follows:

[0039] ;

[0040] In the formula, is the model parameter correction, is a parameter optimization function, is the measured irradiance dataset, is the predicted irradiance dataset, is a spatial weight matrix.

[0041] In a preferred embodiment, the disinfection termination module is used to:

[0042] compare the ultraviolet dose regulation instruction with a preset biological safety threshold;

[0043] generate a disinfection termination signal when the numerical value of the ultraviolet dose regulation instruction is continuously not lower than the biological safety threshold;

[0044] cut off the power supply circuit of the ultraviolet emission assembly according to the disinfection termination signal of the disinfection area, and terminate the disinfection process.

[0045] In order to solve the above problems, the application also provides an ultraviolet intelligent disinfection control method based on environmental perception, which comprises:

[0046] S1, obtaining three-dimensional point cloud data of a disinfection area and reflectivity characteristics of an object to be disinfected;

[0047] S2, constructing an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, performing reflectivity compensation on the initial model, and obtaining an ultraviolet radiation field decay model of the object to be disinfected;

[0048] S3, coupling the ultraviolet radiation field decay model with an ultraviolet sterilization threshold database to obtain an ultraviolet dose spatial distribution map of the disinfection area;

[0049] S4, disinfecting the object to be disinfected according to the ultraviolet dose spatial distribution map;

[0050] S5, dynamically correcting the ultraviolet radiation field attenuation model based on irradiance feedback data of the object to be disinfected during disinfection, to obtain an ultraviolet dose regulation instruction of the object to be disinfected;

[0051] S6, when the ultraviolet dose regulation instruction reaches a biological safety threshold, terminating the disinfection process.

[0052] Compared with the prior art, the present application has the following beneficial effects:

[0053] 1. The present application obtains three-dimensional point cloud data of the disinfection area and reflectivity characteristics of the object to be disinfected through the information extraction module, and constructs an initial model and performs reflectivity compensation based thereon to obtain an accurate ultraviolet radiation field attenuation model. The ultraviolet dose spatial distribution map generated by coupling the model with an ultraviolet sterilization threshold database can provide targeted dose guidance for disinfection, ensuring that each region of the object to be disinfected can obtain appropriate disinfection dose, effectively improving the accuracy and comprehensiveness of disinfection.

[0054] 2. The present application introduces a data feedback module, dynamically corrects the ultraviolet radiation field attenuation model based on irradiance feedback data during disinfection, so that the model can adapt to changes in the environment during disinfection in real time, and then generate accurate ultraviolet dose regulation instructions. When the instruction reaches the biological safety threshold, the disinfection termination module terminates the process in time, avoids unnecessary energy consumption on the premise of ensuring that the disinfection effect meets the standard, and significantly improves the efficiency of intelligent disinfection. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 The system architecture diagram of the ultraviolet intelligent disinfection control system based on environmental perception provided by an embodiment of the present application is shown in the figure.

[0056] Figure 2 The flowchart of the ultraviolet intelligent disinfection control method based on environmental perception provided by an embodiment of the present application is shown in the figure.

[0057] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments belong to some of the embodiments of the present application but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0059] The terms used in the embodiments of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application. The singular forms "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0060] Depending on the context, the word "if" or "if" as used herein can be interpreted as "when" or "when" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)".

[0061] In addition, the step sequence in each of the following method embodiments is only an example and is not strictly limited.

[0062] In fact, the server device deployed by the environment-aware ultraviolet intelligent disinfection control system can be composed of one or more devices. The environment-aware ultraviolet intelligent disinfection control system can be implemented as a business instance, a virtual machine, a hardware device. For example, the environment-aware ultraviolet intelligent disinfection control system can be implemented as a business instance deployed on one or more devices in a cloud node. In short, the environment-aware ultraviolet intelligent disinfection control system can be understood as a software deployed on a cloud node, which is used to provide an environment-aware ultraviolet intelligent disinfection control system for each user terminal. Alternatively, the environment-aware ultraviolet intelligent disinfection control system can also be implemented as a virtual machine deployed on one or more devices in a cloud node. The virtual machine has application software installed for managing each user terminal. Alternatively, the environment-aware ultraviolet intelligent disinfection control system can also be implemented as a server composed of a plurality of same or different types of hardware devices, and one or more hardware devices are provided to provide an environment-aware ultraviolet intelligent disinfection control system for each user terminal.

[0063] In an implementation form, the environment-aware UV intelligent disinfection control system and the user end are mutually adaptive. That is, the environment-aware UV intelligent disinfection control system is installed as an application on a cloud service platform, and the user end is a client that establishes a communication connection with the application; or the environment-aware UV intelligent disinfection control system is implemented as a website, and the user end is implemented as a webpage; or the environment-aware UV intelligent disinfection control system is implemented as a cloud service platform, and the user end is implemented as an applet in an instant messaging application.

[0064] As shown in Figure 1 FIG. 1 is a system architecture diagram of an environment-aware UV intelligent disinfection control system according to an embodiment of the present application.

[0065] The environment-aware UV intelligent disinfection control system 100 can be set in a cloud server, and in an implementation form, can be one or more service devices, or can be installed as an application on a cloud (such as a server of a mobile service operator, a server cluster, etc.), or can be developed as a website. According to the functions implemented, the environment-aware UV intelligent disinfection control system 100 can include an information extraction module 101, a radiation model construction module 102, a dose distribution module 103, a disinfection module 104, a data feedback module 105, and a disinfection termination module 106. The modules of the present application can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, and are stored in the memory of the electronic device.

[0066] In the embodiment of the present application, each of the above modules in the environment-aware UV intelligent disinfection control system can be independently implemented and called by other modules. Here, calling can be understood as that a module can connect multiple modules of another type and provide corresponding services for the connected multiple modules. In the environment-aware UV intelligent disinfection control system provided by the embodiment of the present application, without modifying the program code, the application range of the environment-aware UV intelligent disinfection control system architecture can be adjusted by adding modules and directly calling, realizing cluster-type horizontal expansion, so as to achieve the purpose of quickly and flexibly expanding the environment-aware UV intelligent disinfection control system. In actual application, the above modules can be set in the same device or different devices, or can be set in a virtual device, such as a service instance in a cloud server.

[0067] The following will describe the components and specific work flow of the environment-aware UV intelligent disinfection control system with reference to specific embodiments:

[0068] The information extraction module 101 is configured to acquire three-dimensional point cloud data of a disinfection area and reflectivity characteristics of an object to be disinfected.

[0069] In the embodiment of the present application, when the information extraction module acquires the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected, it is specifically configured to:

[0070] perform multi-angle depth scanning on the disinfection area to obtain an original point cloud data set of the disinfection area;

[0071] perform surface reconstruction on the original point cloud data set after filtering out outliers to form a three-dimensional point cloud model of the disinfection area;

[0072] collect surface spectral reflectance characteristics of the object to be disinfected;

[0073] match and map the surface spectral reflectance characteristics with a material optical database to obtain reflectivity parameters of the object to be disinfected.

[0074] Specifically, a three-dimensional laser scanner is used to perform multi-angle depth scanning on the disinfection area, and the boundary range of the disinfection area is first determined. 8-10 scanning stations are uniformly selected on the periphery of the area, and a distance of 3-5 meters is maintained between each station to ensure that the scanning range of adjacent stations has an overlapping area of more than 30%. The scanner is fixed on a tripod, the height of the tripod is adjusted to 1.5 meters, and the lens of the scanner is kept in horizontal view with the center of the area. After turning on the scanner, the scanning resolution is set to 1000 points per square meter, and the automatic scanning mode is started. The scanner will rotate 360 degrees to emit a laser beam, which will be reflected immediately after contacting the walls, floors and object surfaces in the area. The built-in timer in the scanner records the round-trip time of the laser, and combines the spatial coordinates of the scanner to calculate the X, Y and Z three-dimensional coordinates of each reflection point. After completing the scanning of one station, the tripod is moved to the next station, and the above operation is repeated until all stations are scanned. The three-dimensional coordinate data obtained by each station is imported into a computer and combined to form a three-dimensional coordinate set containing millions of points, which is the original point cloud data set of the disinfection area.

[0075] Further, the original point cloud dataset is filtered for outliers, and a radius filtering method is used. First, 100 uniformly distributed points are randomly selected in the dataset, and the average number of points within a 10 cm radius around each point is calculated. The 60% of these average values is taken as the preset minimum value, and the sphere radius is set to 10 cm. The computer program extracts each point in the original point cloud dataset one by one, generates a virtual sphere with a radius of 10 cm centered on the point, and counts the number of other points contained in the sphere. If the number is lower than the preset minimum value, the program will automatically delete the point from the dataset. After checking all the points, the point cloud dataset after outlier filtering is obtained. Then, surface reconstruction is performed, and the Poisson reconstruction method is used. The processed point cloud data is input into the computer, and the program calculates a normal vector pointing to the outside of the region for each point. Then, a three-dimensional grid is constructed based on the coordinates and normal vectors of all points. A continuous implicit function is generated through grid interpolation, and all points fall on the zero value surface of the function. Finally, a coherent surface is generated based on the outline of the zero value surface, forming a three-dimensional point cloud model of the disinfection area.

[0076] Further, the surface spectral reflectance characteristics of the object to be disinfected are collected using a portable spectrometer. First, the spectrometer is connected to the computer, and the matching software is opened for preheating. The preheating time is 30 minutes. A standard white board is placed next to the object to be disinfected, and the probe head of the spectrometer is aimed at the center of the white board, 10 cm away and perpendicular to the surface of the white board. Click the "calibration" button in the software to complete the baseline calibration of the spectrometer. After calibration, remove the white board and aim the probe head at the surface of the object to be disinfected. Keep the same distance and angle to ensure that the lens of the probe head completely covers a 2 square centimeter area of the object surface without shadow obstruction. The software controls the spectrometer to emit a continuous light beam with wavelengths from 400 nm to 1000 nm. After the light beam is incident on the object surface, part of the light is absorbed and part is reflected. The sensor of the spectrometer receives the reflected light and converts the light signal into an electrical signal. The software records the electrical signal intensity corresponding to each wavelength and generates a continuous curve with wavelength as the horizontal axis and reflected light intensity as the vertical axis, which is the surface spectral reflectance characteristics of the object to be disinfected.

[0077] Further, the surface spectral reflection characteristics of the object to be disinfected are matched and mapped with a material optical database, which contains information of more than 500 materials such as metal, plastic, wood, cloth, etc., and the surface spectral reflection characteristics of each material are collected by the same spectrometer under the same conditions and archived as standard curves, each of which is associated with the reflectivity parameters of the material at different wavelengths. When matching, the spectral reflection characteristic curve of the object to be disinfected is imported into the database matching system, which automatically compares the curve with the standard curves in the database, starting from a wavelength of 400 nanometers, with an interval of 5 nanometers, calculates the vertical coordinate difference between the curve of the object to be disinfected and each standard curve in each interval, adds up the total difference value of all intervals, and the standard curve with the smallest total difference value is the one with the highest matching degree. The system extracts the reflectivity parameters corresponding to the curve as the reflectivity parameters of the object to be disinfected.

[0078] In summary, obtaining the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected can provide basic data support for subsequent construction of an accurate ultraviolet radiation field attenuation model. The three-dimensional point cloud data can accurately present the spatial structure of the disinfection area and the three-dimensional distribution of the object to be disinfected, and the reflectivity characteristics can reflect the reflection characteristics of the object surface to ultraviolet light. The combination of the two makes the construction of the initial model more in line with the actual scene, laying a foundation for the accuracy of the subsequent reflectivity compensation and radiation field model.

[0079] In summary, the acquisition of these data enables the system to analyze the optical characteristics of different objects in a targeted manner, ensuring that the influence of object surface reflectivity on ultraviolet radiation is fully considered when constructing the ultraviolet dose spatial distribution map, making the dose distribution more in line with the actual needs of the object to be disinfected, providing data basis for accurate disinfection, and helping to improve the effectiveness and rationality of disinfection.

[0080] The radiation model construction module 102 is configured to construct an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, and perform reflectivity compensation on the initial model to obtain an ultraviolet radiation field attenuation model of the object to be disinfected.

[0081] In the embodiment of the present application, when the radiation model construction module constructs an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, it is specifically configured to:

[0082] perform surface curvature consistency filtering processing on the three-dimensional point cloud data;

[0083] establish a space-optical correlation data set of the point cloud vertex coordinates and the reflectivity collection positions in the three-dimensional point cloud data after the surface curvature consistency filtering processing;

[0084] convert the space-optical correlation data set into an initial radiation transmission model of the object to be disinfected.

[0085] The radiation model construction module is specifically configured to:

[0086] identify the surface material type of the object to be disinfected;

[0087] correct the surface optical properties of the initial radiation transmission model based on the reflectivity compensation coefficient set corresponding to the surface material type, to obtain the initial model of the object to be disinfected.

[0088] Specifically, the surface curvature consistency filtering processing is performed on the three-dimensional point cloud data. First, the neighborhood range of each point in the data set is determined, and the nearest 50 points around each point are selected as the neighborhood of the point with each point as the center. The curvature value of the surface formed by all points in the neighborhood at the point is obtained by calculating the bending degree of the surface. Specifically, the points in the neighborhood are fitted into a plane, and the ratio of the distance from the point to the plane to the neighborhood radius is measured. The greater the ratio, the greater the curvature. Then, the curvature values of each point and all points in its neighborhood are compared, and the difference between the curvature values of the neighborhood points and the point is counted. If more than 80% of the neighborhood points have a curvature difference with the point within a predetermined range, the point is retained, otherwise it is determined as a noise point and removed. After processing, the three-dimensional point cloud data after surface curvature consistency filtering processing is obtained.

[0089] Further, in the three-dimensional point cloud data after surface curvature consistency filtering processing, the three-dimensional coordinates of all point cloud vertices are extracted and recorded. At the same time, the three-dimensional coordinates of the reflectivity collection positions recorded when collecting the spectral reflectance characteristics of the surface of the object to be disinfected are called. These coordinates are obtained by placing a positioning marker at the collection point and then scanning the marker with a three-dimensional laser scanner. The point cloud vertex coordinates and the reflectivity collection position coordinates are imported into the same coordinate system, the spatial distance between each reflectivity collection position coordinate and all point cloud vertex coordinates is calculated, the nearest point cloud vertex is found, the coordinates of the vertex and the corresponding reflectivity data are bound, and the collection of all binding relationships forms a set of spatial-optical correlation data set of point cloud vertex coordinates and reflectivity collection positions.

[0090] Furthermore, the spatial-optical correlation data set is converted into an initial radiation transmission model of the object to be disinfected. First, a three-dimensional mesh model of the object to be disinfected is constructed based on the vertex coordinates of the point cloud in the spatial-optical correlation data set. Each vertex of the mesh corresponds to a reflectivity value. Next, the light propagation rules in the model are set. That is, when light hits a mesh vertex, the direction and intensity of the reflected light are determined based on the reflectivity value of the vertex. The reflection direction is calculated based on the normal direction of the surface where the vertex is located, and the reflection intensity is proportional to the reflectivity value. Then, a light source position and intensity are preset in the model to simulate the light starting from the light source, passing through the reflection and absorption process of each vertex on the surface of the object to be disinfected, and finally outputting the transmission path of the light on the surface of the object and the energy change. The model constructed in this way is the initial radiation transmission model of the object to be disinfected.

[0091] Specifically, to identify the surface material type of the object to be disinfected, first obtain the surface spectral reflectance characteristic curve of the object to be disinfected, which contains reflected light intensity data within the wavelength range of 400 nanometers to 1000 nanometers. Prepare a pre-established material spectral characteristic library, which includes standard spectral reflectance characteristic curves for 50 common materials. The standard curve for each material is generated by averaging 10 spectral acquisitions of a standard sample of that material under the same environmental conditions. Each standard curve is clearly labeled with the corresponding material name, such as stainless steel, polyethylene, ceramic, pine, etc. The spectral reflectance characteristic curve of the object to be disinfected is compared one by one with the standard curves in the material spectral characteristic library. When comparing, starting from a wavelength of 400 nanometers, with each 10 nanometer interval as an interval, the difference in reflected light intensity between the curve of the object to be disinfected and the standard curve in each interval is calculated. If the difference is less than 0.05, the interval is determined to overlap. The proportion of all overlapping intervals to the total number of intervals is calculated, and the material name corresponding to the standard curve with the highest proportion is selected, which is the surface material type of the object to be disinfected.

[0092] Further, based on the reflectivity compensation coefficient set corresponding to the surface material type of the object to be disinfected, the initial radiation transmission model is corrected for surface optical properties. The reflectivity compensation coefficient set corresponding to the surface material type is extracted from the material parameter database, which includes compensation coefficients corresponding to every 20 nanometers in the wavelength range of 400 nanometers to 1000 nanometers at incident angles of 0 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, and 90 degrees. These coefficients are the correction values calculated by comparing 100 reflectivity measurements of the material sample at different incident angles and wavelengths in the laboratory with theoretical values. The parameter editing interface of the initial radiation transmission model is opened, and the optical parameter setting area of each grid vertex in the interface includes corresponding input boxes for incident angle and wavelength. According to the incident light ray angle and light ray wavelength of each grid vertex in the model, the corresponding compensation coefficients are selected from the reflectivity compensation coefficient set and input into the compensation parameter column of the vertex. The model automatically multiplies the original reflectivity value by the input compensation coefficient to obtain the corrected reflectivity value, and recalculates the propagation direction and energy attenuation of the reflected light rays accordingly. After the correction is completed, three different grid vertices in the model are selected, and the actual measured reflected light intensity at the position is compared with the model output reflected light intensity. If the deviation is less than 5%, the correction is determined to be effective, and the model at this time is the initial model of the object to be disinfected.

[0093] In summary, based on three-dimensional point cloud data and reflectivity characteristics, an initial model is constructed, and reflectivity compensation is performed to obtain an ultraviolet radiation field attenuation model, which can accurately depict the spatial structure of the disinfection area and the surface optical properties of the object to be disinfected. The three-dimensional point cloud data provides the three-dimensional spatial distribution information of the object, and the reflectivity characteristics incorporate the reflection law of the object surface to ultraviolet light. The combination of the two makes the initial model conform to the actual scene in terms of spatial form and optical interaction.

[0094] In summary, the reflectivity compensation performed on this basis further corrects the differences in the influence of different material surfaces on ultraviolet radiation, enabling the final ultraviolet radiation field attenuation model to accurately reflect the transmission and attenuation law of ultraviolet light in complex environments. This provides a reliable model basis for subsequent generation of accurate ultraviolet dose spatial distribution maps, ensuring that the calculation and distribution of ultraviolet dose during disinfection are more in line with actual needs, thereby improving the accuracy and effectiveness of disinfection.

[0095] The dose distribution module 103 is configured to couple the ultraviolet radiation field attenuation model with an ultraviolet sterilization threshold database to obtain an ultraviolet dose spatial distribution map of the disinfection area.

[0096] In an embodiment of the present invention, when the dose distribution module couples the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain the ultraviolet dose spatial distribution map of the disinfection area, it is specifically used to:

[0097] Extracting the radiation intensity spatial distribution value from the ultraviolet radiation field attenuation model;

[0098] According to the disinfection target, the corresponding inactivation coefficient set is called from the ultraviolet sterilization threshold database;

[0099] generating a spatial distribution map of ultraviolet dose based on the set of inactivation coefficients;

[0100] A spatial continuity check is performed on the ultraviolet dose spatial distribution diagram, and an ultraviolet dose spatial distribution diagram with a qualified spatial continuity check result is output.

[0101] When the dose distribution module generates the ultraviolet dose spatial distribution diagram based on the inactivation coefficient set, the dose distribution module is specifically used to:

[0102] The ultraviolet dose of the disinfection area is generated by a dose mapping function, wherein the calculation formula of the ultraviolet dose is as follows:

[0103] ;

[0104] Where, For coordinates The UV dose at For coordinates Disinfection time is The spatial distribution value of radiation intensity at time is the microbial inactivation coefficient in the inactivation coefficient set, is the dose accumulation function, is the differential operator, is the disinfection duration variable;

[0105] A spatial distribution map of ultraviolet dose in the disinfection area is constructed based on the ultraviolet dose.

[0106] Specifically, the radiation intensity spatial distribution value is extracted from the ultraviolet radiation field attenuation model. First, the three-dimensional coordinate system of the model is determined, with the ground vertex at the lower left corner of the disinfection area as the coordinate origin, the horizontal direction as the X-axis, the vertical direction as the Y-axis, and the vertical direction as the Z-axis, all with units of centimeters. The grid is divided according to the X-axis every 5 centimeters, the Y-axis every 5 centimeters, and the Z-axis every 5 centimeters, forming uniformly distributed spatial sampling points in the entire disinfection area, ensuring that each corner contains at least one sampling point. Open the data record file of the ultraviolet radiation field attenuation model. The file stores the radiation intensity data of each position in coordinate order, with the data format being "X coordinate, Y coordinate, Z coordinate, radiation intensity (microwatts per square centimeter)". Locate the coordinates of each sampling point one by one, find the corresponding radiation intensity value in the file, and record the correspondence between the coordinates and the values to avoid misplacement. Organize all the coordinates and corresponding intensities into a table, with the first column being the X coordinate, the second column being the Y coordinate, the third column being the Z coordinate, and the fourth column being the radiation intensity. This table is the radiation intensity spatial distribution value.

[0107] Further, according to the disinfection target, the corresponding inactivation coefficient set is called from the ultraviolet sterilization threshold database. First, determine the type of microorganism in the environment to be disinfected through laboratory detection, such as Bacillus subtilis determined through petri dish colony observation. The type is the disinfection target. Open the ultraviolet sterilization threshold database, which uses a hierarchical directory structure. The first-level directory is the microorganism category (such as bacteria, viruses, fungi), and the second-level directory is the specific microorganism name. Each second-level directory stores an Excel file containing the inactivation coefficient set of the microorganism. The coefficient set is divided into three columns: radiation intensity range (microwatts per square centimeter), corresponding inactivation rate (percentage), and required action time (minutes). Open the corresponding category directory in the database one by one, find the Excel file consistent with the disinfection target, double-click to open the file, check if the data in the file is complete, and confirm that there are no missing lines or incorrect values. Save the file as CSV format, and set the save path to the current working folder. The CSV file is the called inactivation coefficient set.

[0108] Further, based on the inactivation coefficient set, an ultraviolet dose space distribution map is generated. First, the radiation intensity space distribution value table and the inactivation coefficient set CSV file are imported into the same data processing table. The corresponding relationship between the two is matched through the radiation intensity value, that is, each value in the radiation intensity space distribution value finds the corresponding action time in the inactivation coefficient set with the same intensity range. For each sampling point, multiply its radiation intensity value by the matched action time to calculate the ultraviolet dose value (unit: microwatt・minute / square centimeter) of the point and record it in the fifth column of the data processing table. The data containing three-dimensional coordinates and dose values are imported into a three-dimensional drawing tool. The tool automatically constructs a space coordinate system with X, Y, and Z axes. Set the dose value 0-500 microwatt・minute / square centimeter as blue, 501-1000 as green, 1001-1500 as yellow, and 1501 and above as red. The tool fills the corresponding color according to the dose value of each point and connects the discrete points into a continuous surface through an interpolation algorithm to generate a graph containing coordinate scales, color legends, and dose range labels. This graph is the ultraviolet dose space distribution map.

[0109] Further, the spatial continuity of the ultraviolet dose space distribution map is verified. First, according to the ultraviolet radiation attenuation experimental data of the same material surface, the maximum allowed difference of dose values between adjacent 5 cm sampling points is determined to be 100 microwatt・minute / square centimeter. The sampling point coordinates and dose value table of the ultraviolet dose space distribution map is printed out. According to the order of X axis from small to large, Y axis from small to large, and Z axis from small to large, each sampling point is taken out one by one, its dose value is recorded, and the adjacent sampling points in the X+5 cm, X-5 cm, Y+5 cm, Y-5 cm, Z+5 cm, and Z-5 cm directions are found. The dose values of the adjacent points are also recorded. The dose difference in each direction is calculated. If all the differences are ≤100 microwatt・minute / square centimeter, mark "qualified" in the table; if there is any difference >100, mark "unqualified" and record the specific coordinates. After all the checks are completed, if the number of points marked "unqualified" is 0, output the ultraviolet dose space distribution map directly; if there are unqualified points, recheck the matching calculation process of the radiation intensity value and the inactivation coefficient set, correct the errors, and generate the dose value and distribution map again. Then, verify again according to the same method until all the adjacent point differences meet the requirements, and output the verified ultraviolet dose space distribution map.

[0110] Specifically, The parameters of the inactivation coefficient set are derived from the coordinates of the position in the disinfection area which is determined by the three-dimensional coordinate system and corresponds to the coordinates of the sampling points in the radiation intensity space distribution value. The parameters of the inactivation coefficient set are derived from the ultraviolet radiation field attenuation model. From the model, the radiation intensity space distribution value contains coordinates at different disinfection times corresponding to the radiation intensity value. The parameter comes from the ultraviolet sterilization threshold database, and the biological inactivation coefficient corresponding to the microorganism is the inactivation coefficient in the inactivation coefficient set called according to the sterilization target. . The parameter comes from the function relationship established based on the corresponding relationship between the radiation intensity spatial distribution value and the inactivation coefficient set, and the specific form of the function is determined by matching the radiation intensity value and the action time. The parameter comes from the duration set by the disinfection operation, and is determined according to the sterilization target and the action time parameter in the inactivation coefficient set.

[0111] Further, the meaning of the formula is to calculate the ultraviolet dose at the coordinates in the disinfection area, and the total dose received by the position in the entire disinfection process is obtained by integrating the results after the dose accumulation function processing of the radiation intensity spatial distribution value and the biological inactivation coefficient at different times in the disinfection duration at the coordinates , which reflects the inactivation effect of ultraviolet on microorganisms at this position.

[0112] Further, the trend of the formula is that when the disinfection duration increases, the interval range of the integral expands, and if the radiation intensity spatial distribution value remains unchanged or changes little within the increased time, the integral result will increase with t after the dose accumulation function processing. When the radiation intensity spatial distribution value increases, the result after the dose accumulation function f(*) processing increases within the same time, and the obtained by integration will also increase. When the biological inactivation coefficient k_m increases, the accumulation at each time point will increase through the dose accumulation function processing, thereby causing the after integration to increase.

[0113] In summary, coupling the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain the ultraviolet dose spatial distribution map of the disinfection area can realize the precise matching of the ultraviolet radiation characteristics and the sterilization demand. The ultraviolet radiation field attenuation model provides the spatial distribution rule of the ultraviolet radiation intensity in the disinfection area, and the ultraviolet sterilization threshold database contains the inactivation standards required by different disinfection targets, and the coupling of the two can convert the radiation field data into dose distribution information with clear sterilization significance.

[0114] In general, the ultraviolet dose spatial distribution map generated by the coupling can clearly show the required ultraviolet dose at each position in the disinfection area, providing accurate operation basis for the disinfection module, ensuring that each area of the object to be disinfected can obtain the ultraviolet dose meeting the sterilization requirement, avoiding incomplete disinfection caused by insufficient dose, and reducing resource waste caused by excessive dose, thereby improving the scientificity and efficiency of the disinfection process.

[0115] The disinfection module 104 is used to disinfect the object to be disinfected according to the ultraviolet dose spatial distribution map.

[0116] In the embodiment of the present application, the required ultraviolet irradiation time of each position on the surface of the object to be disinfected is determined according to the ultraviolet dose spatial distribution map. First, find the corresponding three-dimensional coordinate region of the object to be disinfected in the distribution map, read the ultraviolet dose value and the corresponding radiation intensity of each sampling point in the region. Combine the action time parameter used when generating the dose value before, and determine the irradiation time corresponding to each dose value, that is, when the radiation intensity remains stable, the time required to continuously irradiate to reach the dose value. Organize these times into a table according to the coordinate position, which contains the coordinates of each sampling point on the surface of the object to be disinfected and the corresponding required irradiation time.

[0117] Further, according to the required irradiation time of each position on the surface of the object to be disinfected, the running parameters of the ultraviolet disinfection equipment are set, the disinfection equipment is placed at a predetermined fixed position in the disinfection area, and it is ensured that the ultraviolet emission direction of the equipment can cover all surfaces of the object to be disinfected. According to the longest required irradiation time of each position on the surface of the object to be disinfected, the total running time of the equipment is set, and the power output of the equipment is checked to ensure that the radiation intensity is consistent with the radiation intensity recorded in the ultraviolet dose spatial distribution map, avoiding insufficient or excessive actual dose caused by intensity deviation.

[0118] Further, the ultraviolet disinfection equipment is started, and the object to be disinfected in the disinfection area is irradiated according to the set total running time. During the irradiation process, the disinfection area is kept closed to avoid personnel entering or external light interfering with the operation of the equipment. The running state of the equipment is observed every 10 minutes to confirm that the equipment normally emits ultraviolet light and does not appear abnormal shutdown, and the irradiation time is recorded to ensure that the actual irradiation time is consistent with the set total running time.

[0119] Further, after the irradiation time reaches the set total operation time, the ultraviolet disinfection device is turned off, 30 minutes are waited for the device to cool down, then the ventilation device of the disinfection area is turned on, and ventilation is performed for 15 minutes to reduce the ozone concentration in the area. Then the disinfection area is entered, an ultraviolet dose meter is used to detect a plurality of sampling points on the surface of the object to be disinfected, actual received ultraviolet dose values are read, the values are compared with dose values at corresponding positions in the ultraviolet dose spatial distribution map, if the actual dose values at all detection points all reach or exceed the dose values in the distribution map, it is determined that the disinfection is qualified, and the disinfection of the object to be disinfected is completed; if there are detection points that do not meet the standard, the irradiation time at the position is adjusted again according to the distribution map, the device is started again for supplementary irradiation until all detection points meet the standard.

[0120] In general, according to the ultraviolet dose spatial distribution map, the object to be disinfected is disinfected, which can make the disinfection process have clear pertinence and accuracy. The distribution map clearly presents the required ultraviolet dose at each position in the disinfection area, and the disinfection module operates accordingly, which can ensure that each area of the object to be disinfected can obtain ultraviolet irradiation that meets the sterilization requirements.

[0121] In general, this disinfection method based on accurate dose distribution can ensure that all disinfected parts reach an effective disinfection dose, avoid incomplete disinfection caused by insufficient dose, and prevent excessive dose caused by blind irradiation, thereby ensuring disinfection effect while improving the efficiency and rationality of the disinfection process.

[0122] The data feedback module 105 is configured to dynamically correct the ultraviolet radiation field attenuation model based on irradiance feedback data of the object to be disinfected during disinfection, to obtain an ultraviolet dose regulation instruction of the object to be disinfected.

[0123] In the embodiment of the present application, when the data feedback module performs dynamic correction of the ultraviolet radiation field attenuation model based on irradiance feedback data of the object to be disinfected during disinfection, to obtain an ultraviolet dose regulation instruction of the object to be disinfected, it is specifically configured to:

[0124] Obtain a measured irradiance data set of the object to be disinfected;

[0125] Extract a predicted irradiance data set of the corresponding position from the ultraviolet radiation field attenuation model;

[0126] Generate a model parameter correction amount of the ultraviolet radiation field attenuation model based on the predicted irradiance data set;

[0127] Apply the model parameter correction amount to the structural parameter of the ultraviolet radiation field attenuation model;

[0128] When the model parameter correction quantity of three consecutive iterations is less than a convergence threshold value, an ultraviolet dose regulation instruction of the object to be disinfected is obtained.

[0129] The calculation formula of the model parameter correction quantity is as follows:

[0130] ;

[0131] In the formula, is the model parameter correction quantity, is a parameter optimization function, is the measured irradiance data set, is the predicted irradiance data set, is a spatial weight matrix.

[0132] Specifically, a measured irradiance data set of the object to be disinfected is obtained, three-dimensional coordinate positions same as sampling points in the radiation intensity spatial distribution value are first selected on the surface of the object to be disinfected, and it is ensured that each position can represent different regions of the object surface. The detection head of the portable irradiance meter is fixed at each selected coordinate position, the detection head is kept perpendicular to the object surface and 1 centimeter away from the object surface, and external light interference is avoided. The irradiance meter is turned on, and the irradiance value of each position is read and recorded after the value is stable, the unit is microwatt per square centimeter, and all positions are arranged into a table with three-dimensional coordinates and corresponding measured irradiance values, the table columns are X coordinate, Y coordinate, Z coordinate, and measured irradiance in turn. The table is the measured irradiance data set of the object to be disinfected.

[0133] Further, a predicted irradiance data set of the corresponding position is extracted from the ultraviolet radiation field attenuation model, a data record file of the ultraviolet radiation field attenuation model is opened, the file stores radiation intensity data of each position, i.e., predicted irradiance data, in coordinate order. According to the three-dimensional coordinates in the measured irradiance data set, the radiation intensity values corresponding to the same coordinates in the model data record file are found one by one, and when recording these values, it is ensured that the coordinates are completely matched and no measured position is missed. All found predicted irradiance values are arranged into a table according to corresponding coordinates, the table columns are X coordinate, Y coordinate, Z coordinate, and predicted irradiance in turn, and the table is the predicted irradiance data set of the corresponding position.

[0134] Further, the model parameter correction quantity of the ultraviolet radiation field decay model is generated based on the predicted irradiance data set, the measured irradiance data set and the predicted irradiance data set are placed in the same table, and the measured value and the predicted value at the same coordinate position are compared. The difference between the measured value and the predicted value at each position is calculated. If the measured value is greater than the predicted value, it means that the model prediction of the irradiance at this position is low, and the corresponding parameter needs to be increased. If the measured value is less than the predicted value, it means that the model prediction is high, and the corresponding parameter needs to be reduced. The direction and size of the difference of all positions are counted to determine the model parameters that need to be adjusted, such as light source intensity coefficient, distance decay coefficient, etc. The specific adjustment value of each parameter is calculated according to the average degree of the difference. The set of these adjustment values is the model parameter correction quantity.

[0135] Further, the model parameter correction quantity is applied to the structural parameters of the ultraviolet radiation field decay model, and the parameter configuration file of the ultraviolet radiation field decay model is opened. The file contains various structural parameters of the model, such as light source initial intensity, reflection coefficient of different materials, air attenuation coefficient, etc. According to the adjustment value of each parameter in the model parameter correction quantity, the corresponding structural parameter is found in the configuration file, and the parameter value is increased or decreased according to the requirement of the correction quantity. For example, if the correction quantity of the light source intensity coefficient is to increase by 5%, the light source initial intensity value in the configuration file is multiplied by 1.05. After the modification is completed, the configuration file is saved, the ultraviolet radiation field decay model is re-run, and the modified structural parameters take effect to generate new predicted irradiance data.

[0136] Further, when the model parameter correction quantity of three consecutive iterations is less than the convergence threshold, the ultraviolet dose regulation instruction of the object to be disinfected is obtained. The convergence threshold is set to 1% of the initial value of each parameter, that is, when the absolute value of the parameter correction quantity is less than 1% of the initial value of the parameter, it is considered to meet the convergence condition. After the first model parameter correction is completed, new measured irradiance data set and predicted irradiance data set are obtained according to the same method, the second model parameter correction quantity is calculated, and it is judged whether it is less than the convergence threshold. If not, the third iteration calculation is continued. If the model parameter correction quantity of three consecutive iterations is less than the convergence threshold, it means that the predicted value and the measured value of the model are close enough. At this time, according to the ultraviolet dose spatial distribution map generated by the final ultraviolet radiation field decay model, the irradiation time and equipment operation power required by each position of the object to be disinfected are determined. These information is arranged into clear operation instruction, including equipment opening time, closing time, power gear, etc. The instruction is the ultraviolet dose regulation instruction of the object to be disinfected.

[0137] Specifically, The parameter source is the parameter optimization function The calculated value is based on the relative difference between the measured irradiance data set and the predicted irradiance data set, and the spatial weight matrix, and finally obtains the specific adjustment value for correcting the structure parameter of the ultraviolet radiation field attenuation model. The parameter is derived from the measured irradiance of each sampling point on the surface of the object to be disinfected. By fixing the probe head of the irradiance meter at the corresponding three-dimensional coordinate position, the stable value is read and the measured irradiance data set is formed. The parameter is derived from the predicted irradiance corresponding to the same coordinate as the measured position extracted from the ultraviolet radiation field attenuation model, and the predicted irradiance data set is formed after sorting. The parameter is derived from the disinfection importance of each position in the disinfection area, for example, the position weight of the surface of the object to be disinfected is higher than that of the open area, and the position weight near the place where microorganisms are easy to grow is higher. By assigning different weight values to different positions, a matrix is constructed to reflect the influence degree of space position on correction.

[0138] Further, the meaning of the formula is to calculate the relative difference between the measured irradiance data set and the predicted irradiance data set, combined with the spatial weight matrix , through the parameter optimization function processing, the model parameter correction amount is obtained, which quantifies the adjustment range of the structure parameter in the ultraviolet radiation field attenuation model, so that the prediction result of the model is closer to the actual measured value, and the prediction accuracy of the model on irradiance is improved.

[0139] Further, the trend of the formula is: when the value increases, that is, the relative difference between the measured irradiance and the predicted irradiance is larger, the parameter optimization function will output a larger , and the model parameter correction amount will increase, because a larger adjustment is needed to reduce the difference between the measured and predicted values; when the value decreases, will be reduced accordingly, and the correction range will be smaller. When the weight value of a position in the spatial weight matrix increases, if there is a difference in , it will have a greater impact on , that is, the higher the weight of the position, the greater the contribution of the difference to the correction amount, so that the correction focuses more on the accuracy of the position.

[0140] In general, based on the irradiance feedback data of the object to be disinfected during disinfection, the UV radiation field decay model is dynamically corrected, which can adapt to the changes in the disinfection process in real time. The measured irradiance data directly reflects the radiation state of UV in the actual scene. By comparing the measured irradiance data with the predicted data of the model and correcting the model parameters, the deviation between the model and the actual situation can be continuously reduced, so that the UV radiation field decay model can always accurately describe the current disinfection environment and improve the dynamic adaptability of the model.

[0141] In general, the obtained UV dose regulation instruction is more suitable for the real-time needs of the object to be disinfected. The dynamically corrected model provides an accurate calculation basis for the regulation instruction, ensuring that the instruction can be flexibly adjusted according to real-time factors such as the surface state and position changes of the object, ensuring that the disinfection dose always meets the sterilization requirements, and avoiding dose imbalance caused by model fixation, thereby enhancing the precise regulation capability of the disinfection process and further ensuring the stability and efficiency of the disinfection effect.

[0142] The disinfection termination module 106 is configured to terminate the disinfection process when the UV dose regulation instruction reaches the biological safety threshold.

[0143] In the embodiment of the present application, when the disinfection termination module executes the disinfection process termination when the UV dose regulation instruction reaches the biological safety threshold, it is specifically configured to:

[0144] Compare the UV dose regulation instruction with the preset biological safety threshold;

[0145] When the value of the UV dose regulation instruction is continuously not lower than the biological safety threshold, a disinfection termination signal is generated;

[0146] According to the disinfection termination signal of the disinfection area, the power supply circuit of the UV emission component is cut off, and the disinfection process is terminated.

[0147] Specifically, the UV dose values of each position of the object to be disinfected contained in the UV dose regulation instruction are obtained. These values are the core content of the regulation instruction and reflect the dose that should be reached at each position in the actual disinfection process. At the same time, the preset biological safety threshold is retrieved from the biological safety standard document. The threshold is the minimum effective inactivation dose set for the current target microorganism, for example, the biological safety threshold for Escherichia coli is a specific value. Each position dose value in the regulation instruction is compared with the corresponding biological safety threshold one by one, and the dose value, threshold and comparison result of each position are recorded in the table respectively. The comparison result is "not lower than" or "lower than".

[0148] Further, the time interval of continuous detection is set to 5 minutes, and after the first comparison finds that the value of the ultraviolet dose regulation instruction is not lower than the biological safety threshold, the timing starts, the comparison operation is repeated every 5 minutes, and the comparison is continuously performed three times. If the three comparison results all show that the value of the regulation instruction is not lower than the biological safety threshold, that is, the condition of "continuous not lower than" is met, at this time, the control module outputs a high-level electrical signal, which carries the identification information of the sterilization termination, records the time of the signal generation and the corresponding comparison result, and this signal is the sterilization termination signal.

[0149] Further, an electromagnetic relay is connected in series in the power supply circuit of the ultraviolet emission assembly, the control end of the relay is connected with the control module generating the sterilization termination signal, and when the power supply circuit is normally powered, the relay is in a normally closed state, and the current flows through the contact. When the sterilization termination signal is transmitted to the control end of the relay, the control end generates a magnetic force after receiving the signal, so that the normally closed contact of the relay is disconnected, the power supply circuit is interrupted, and the ultraviolet emission assembly stops working due to power failure. At the same time, the indicating lamp connected in series in the circuit changes from bright to dark, indicating that the power supply has been cut off, the time of the power supply circuit cut-off is recorded, and the sterilization process is terminated.

[0150] In general, the sterilization process is terminated when the ultraviolet dose regulation instruction reaches the biological safety threshold, which can accurately guarantee the standardization of the sterilization effect. The biological safety threshold is a key indicator for measuring whether the sterilization reaches the safety standard, and the sterilization process is terminated based on the threshold, so that the sterilized object can fully meet the biological safety requirements, and the safety hidden danger caused by incomplete sterilization can be fundamentally avoided.

[0151] In general, this termination mechanism can effectively avoid the overexposure of ultraviolet light. Once the dose reaches the threshold, the sterilization process is stopped, unnecessary energy consumption is reduced, the operation cost of the equipment is reduced, and the damage to the surface of some objects caused by long-time ultraviolet radiation is prevented. On the basis of guaranteeing the sterilization effect, the economy and safety of the sterilization process are improved.

[0152] Referring to Figure 2 Fig. 1 shows a flowchart of an ultraviolet intelligent sterilization control method based on environment perception provided by an embodiment of the present application. In this embodiment, the ultraviolet intelligent sterilization control method based on environment perception comprises:

[0153] S1, acquiring three-dimensional point cloud data of a sterilization area and reflectivity characteristics of an object to be sterilized;

[0154] S2, constructing an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, performing reflectivity compensation on the initial model, and obtaining an ultraviolet radiation field attenuation model of the object to be sterilized;

[0155] S3, coupling the ultraviolet radiation field attenuation model with an ultraviolet sterilization threshold database to obtain an ultraviolet dose spatial distribution map of the disinfection area;

[0156] S4, disinfecting the object to be disinfected according to the ultraviolet dose spatial distribution map;

[0157] S5, dynamically correcting the ultraviolet radiation field attenuation model based on irradiance feedback data of the object to be disinfected during disinfection to obtain an ultraviolet dose regulation instruction of the object to be disinfected;

[0158] S6, terminating the disinfection process when the ultraviolet dose regulation instruction reaches a biological safety threshold.

[0159] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0160] The embodiments of the present application can acquire and process related data based on artificial intelligence technology. The artificial intelligence is a theory, method, technology and application system for simulating, extending and expanding human intelligence by using a digital computer or a machine controlled by a digital computer, perceiving an environment, acquiring knowledge and using the knowledge to obtain optimal results.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An ultraviolet intelligent disinfection control system based on environmental perception, characterized in that: The system includes an information extraction module, a radiation model construction module, a dose distribution module, a disinfection module, a data feedback module and a disinfection termination module, wherein: The information extraction module is used to obtain the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected; The radiation model construction module is used to construct an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, perform reflectivity compensation on the initial model, and obtain an ultraviolet radiation field attenuation model of the object to be disinfected; The dose distribution module is used to couple the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain a spatial distribution map of the ultraviolet dose in the disinfection area; The disinfection module is used to disinfect the object to be disinfected according to the ultraviolet dose spatial distribution map; The data feedback module is used to dynamically correct the ultraviolet radiation field attenuation model based on the irradiance feedback data of the object to be disinfected during disinfection, so as to obtain the ultraviolet dose control instruction of the object to be disinfected; The disinfection termination module is used to terminate the disinfection process when the ultraviolet dose control instruction reaches a biosafety threshold.

2. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 1, characterized in that: When executing the acquisition of the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected, the information extraction module is specifically used to: Performing a multi-angle depth scan on the disinfection area to obtain an original point cloud data set of the disinfection area; Performing surface reconstruction on the original point cloud data set after outlier filtering to form a three-dimensional point cloud model of the disinfection area; Collect the surface spectral reflectance characteristics of the object to be disinfected; The surface spectral reflectance characteristics are matched and mapped with the material optical database to obtain the reflectivity parameters of the object to be disinfected.

3. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 1, characterized in that: When the radiation model construction module constructs the initial model based on the three-dimensional point cloud data and the reflectivity feature, it is specifically used to: Performing surface curvature consistency filtering on the three-dimensional point cloud data; Establish a spatial-optical correlation dataset of point cloud vertex coordinates and reflectivity acquisition positions in the three-dimensional point cloud data after surface curvature consistency filtering processing; The spatial-optical correlation data set is converted into an initial radiation transfer model of the object to be sterilized.

4. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 3 is characterized in that: When performing reflectivity compensation on the initial model to obtain the ultraviolet radiation field attenuation model of the object to be disinfected, the radiation model construction module is specifically used to: Identifying the surface material type of the object to be disinfected; Based on the reflectivity compensation coefficient set corresponding to the surface material type, the surface optical property correction is performed on the initial radiation transmission model to obtain the initial model of the object to be sterilized.

5. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 1, characterized in that: When the dose distribution module couples the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain the ultraviolet dose spatial distribution map of the disinfection area, it is specifically used to: Extracting the radiation intensity spatial distribution value from the ultraviolet radiation field attenuation model; According to the disinfection target, the corresponding inactivation coefficient set is called from the ultraviolet sterilization threshold database; generating a spatial distribution map of ultraviolet dose based on the set of inactivation coefficients; A spatial continuity check is performed on the ultraviolet dose spatial distribution diagram, and an ultraviolet dose spatial distribution diagram with a qualified spatial continuity check result is output.

6. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 5, characterized in that: When the dose distribution module generates the ultraviolet dose spatial distribution diagram based on the inactivation coefficient set, the dose distribution module is specifically used to: The ultraviolet dose of the disinfection area is generated by a dose mapping function, wherein the calculation formula of the ultraviolet dose is as follows: ； Where, For coordinates The UV dose at For coordinates Disinfection time is The spatial distribution value of radiation intensity at time is the microbial inactivation coefficient in the inactivation coefficient set, is the dose accumulation function, is the differential operator, is the disinfection duration variable; A spatial distribution map of ultraviolet dose in the disinfection area is constructed based on the ultraviolet dose.

7. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 1, characterized in that: When the data feedback module dynamically corrects the ultraviolet radiation field attenuation model based on the irradiance feedback data of the object to be disinfected during disinfection to obtain the ultraviolet dose control instruction for the object to be disinfected, it is specifically used to: Obtaining a measured irradiance data set of the object to be disinfected; Extracting a predicted irradiance data set at a corresponding position from the ultraviolet radiation field attenuation model; generating a model parameter correction value of the ultraviolet radiation field attenuation model based on the predicted irradiance data set; Applying the model parameter correction amount to the structural parameters of the ultraviolet radiation field attenuation model; When the model parameter correction amount of three consecutive iterations is less than the convergence threshold, an ultraviolet dose control instruction for the object to be disinfected is obtained.

8. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 7, characterized in that: The calculation formula of the model parameter correction amount is as follows: ； Where, is the model parameter correction, is the parameter optimization function, is the measured irradiance dataset, is the predicted irradiance dataset, is the spatial weight matrix.

9. The ultraviolet intelligent disinfection control system based on environmental perception according to claim 1, characterized in that: When the ultraviolet dose control instruction reaches the biosafety threshold, the disinfection termination module terminates the disinfection process, specifically for: Comparing the ultraviolet dosage control instruction with a preset biosafety threshold; When the value of the ultraviolet dosage control instruction is continuously not lower than the biosafety threshold, a disinfection termination signal is generated; The power supply circuit of the ultraviolet emitting component is cut off according to the disinfection termination signal of the disinfection area, thereby terminating the disinfection process.

10. A UV intelligent disinfection control method based on environmental perception, characterized in that: The method comprises: S1. Obtaining the three-dimensional point cloud data of the disinfection area and the reflectivity characteristics of the object to be disinfected; S2. constructing an initial model based on the three-dimensional point cloud data and the reflectivity characteristics, performing reflectivity compensation on the initial model, and obtaining an ultraviolet radiation field attenuation model of the object to be disinfected; S3. Coupling the ultraviolet radiation field attenuation model with the ultraviolet sterilization threshold database to obtain a spatial distribution map of ultraviolet dose in the disinfection area; S4, disinfecting the object to be disinfected according to the ultraviolet dose spatial distribution map; S5. Dynamically correcting the ultraviolet radiation field attenuation model based on the irradiance feedback data of the object to be disinfected during disinfection to obtain an ultraviolet dose control instruction for the object to be disinfected; S6. When the ultraviolet dose control instruction reaches the biosafety threshold, the disinfection process is terminated.

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