A three-dimensional modeling space simulation method, device and medium for a smart building

Abstract

The application discloses a kind of three-dimensional modeling space simulation simulation method, equipment and medium of wisdom building, it is related to wisdom building three-dimensional modeling technical field, including according to material transfer node, disinfection operation node and clean area entrance to establish building three-dimensional space topology model, obtain unified space coordinate basis;The geometric parameter of the material to be transported is imported into unified space coordinate basis, establishes material three-dimensional surface model and obtains surface area set;According to surface area set, obtain wiping track or spray track, generate disinfection track model acting on material three-dimensional surface model;Disinfection track model is mapped with surface area set in space, to generate surface coverage field;Combined with material posture and occlusion object, the space accessibility of surface coverage field is corrected, to generate corrected coverage field;With the pollution risk parameter of surface area as input, generate residual pollution risk field and output three-dimensional simulation result.

Description

Technical Field

[0001] This invention relates to the field of 3D modeling technology for smart buildings, specifically to a 3D modeling spatial simulation method, equipment, and medium for smart buildings. Background Technology

[0002] With the development of smart building, BIM, digital twin, and 3D spatial simulation technologies, building models have gradually shifted from traditional static geometric representations to comprehensive computational models capable of representing spatial topological relationships, object postures, operational trajectories, and simulation results. In scenarios such as cleanrooms, pharmaceutical engineering buildings, and laboratory buildings, material handling processes involve not only the positional migration between building nodes but also the 3D spatial mapping between material surfaces and operational trajectories such as wiping and spraying. Therefore, how to establish building space models, material surface models, and operational trajectory models under a unified coordinate system, and simulate the actual operational state of material surfaces, has become an important direction for the refined simulation of smart buildings.

[0003] While existing 3D modeling methods for smart buildings can represent building space, equipment locations, and material paths, they still have core shortcomings. Current models typically only describe the location or path of materials within the building space, lacking a mechanism to regionalize the material's outer surface and map it in 3D to wiping or spray trajectories. This makes it difficult to obtain surface-level coverage distribution results. Simulations often equate trajectory coverage with actual effective coverage, failing to fully consider the impact of material posture, surface orientation, support contact, and obstructing objects on spatial accessibility. This leads to an overestimation of the actual disinfection range. Therefore, existing technologies struggle to accurately represent the effective coverage state of material surfaces in the 3D space of smart buildings, and further hinder the generation of residual contamination risk simulation results that can be used for transport assessment. Summary of the Invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problem solved by the present invention is that existing three-dimensional modeling and spatial simulation methods for smart buildings have the problem of difficulty in regionalizing the outer surface of materials and mapping it in three-dimensional space with wiping or spraying trajectories to generate a surface coverage field, and difficulty in combining material posture and occlusion objects to modify the spatial accessibility of the surface coverage field and form a three-dimensional simulation result that can be used for transfer determination.

[0006] To address the aforementioned technical problems, this invention provides the following technical solution: a three-dimensional modeling and spatial simulation method for smart buildings, comprising: establishing a three-dimensional spatial topology model of the building based on material transfer nodes, disinfection operation nodes, and clean area entrances to obtain a unified spatial coordinate basis; importing the geometric parameters of the material to be transferred into the unified spatial coordinate basis to establish a three-dimensional surface model of the material and obtain a set of surface regions; obtaining wiping or spraying trajectories based on the set of surface regions to generate a disinfection trajectory model acting on the three-dimensional surface model of the material; spatially mapping the disinfection trajectory model with the set of surface regions to generate a surface coverage field; combining the material posture and occlusion objects to perform spatial accessibility correction on the surface coverage field to generate a corrected coverage field; using the corrected coverage field and the pollution risk parameters of the surface regions as inputs to generate a residual pollution risk field and output three-dimensional simulation results.

[0007] As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the establishment of the three-dimensional spatial topology model of the building includes: arranging material transfer nodes, disinfection operation nodes, and clean area entrances in a unified building coordinate system, and establishing node connection edges according to spatial sequence; the three-dimensional spatial topology model of the building is composed of material transfer nodes, disinfection operation nodes, clean area entrances, and node connection edges; material transfer nodes represent the transfer position of materials in the building space, disinfection operation nodes represent the spatial position of materials undergoing surface disinfection simulation, and clean area entrances represent the transfer determination position of materials after completing disinfection simulation; node connection edges define the spatial path relationship of materials from the transfer position to the disinfection operation position, and then from the disinfection operation position to the clean area entrance; disinfection operation nodes serve as a common spatial reference for the three-dimensional surface model of materials and the disinfection trajectory model, enabling the material surface area and the disinfection trajectory to be mapped in the same coordinate system; a data association relationship is established between the clean area entrance and the disinfection operation nodes, so that the corrected coverage field and residual pollution risk field formed at the disinfection operation nodes are transmitted to the clean area entrance to participate in the transfer determination; a unified spatial coordinate system is output through the three-dimensional spatial topology model of the building.

[0008] As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the following steps are included: establishing a three-dimensional surface model of the material, using a unified spatial coordinate base and disinfection operation nodes as modeling benchmarks, converting the geometric parameters of the material to be transferred into material geometry located in the three-dimensional spatial topology model of the building; discretizing the outer surface of the material geometry to form different independently identifiable surface regions, and forming a set of surface regions from different surface regions; configuring each surface region with a region identifier, spatial coordinates, surface orientation, region range, surface state, and initial contamination risk parameters; spatial coordinates characterize the position of the surface region in the three-dimensional spatial topology model of the building, surface orientation characterizes the orientation relationship of the surface region relative to the wiping direction or spraying direction, and region range characterizes the geometric range of the surface region that can be affected by the trajectory; surface state records the spatial contact relationship between the surface region and the supporting or shielding object, and the initial contamination risk parameters serve as the initial input for generating the residual contamination risk field; when the material posture changes, the spatial coordinates, surface orientation, and surface state in the set of surface regions are updated synchronously with the material posture; the three-dimensional surface model of the material outputs the set of surface regions as a spatial carrier for establishing the disinfection trajectory model and generating the surface coverage field.

[0009] As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the disinfection trajectory model includes: acquiring or generating wiping or spraying trajectories based on a set of surface regions, and converting the wiping or spraying trajectories into three-dimensional trajectories under a unified building coordinate system; the wiping trajectory consists of a wiping action zone composed of the position sequence, movement direction, and action width of the wiping tool; the spraying trajectory consists of a spraying starting point, spraying direction, and spraying action range constituted a spray action body; the wiping action zone or spray action body serves as a spatial action unit in the disinfection trajectory model; according to the trajectory time sequence, a temporal association is established between the spatial action unit and the set of surface regions in the three-dimensional surface model of the material; the temporal association records the sequential relationship of the spatial action unit's action on each surface region, and the spatial action unit records the action range of the disinfection operation in three-dimensional space; when there is no spatial correspondence between the spatial action unit and the surface regions in the set of surface regions, the corresponding spatial action unit is not written into the surface coverage field; the trajectory association data between the spatial action unit and the set of surface regions is output through the disinfection trajectory model.

[0010] As a preferred embodiment of the three-dimensional modeling spatial simulation method for smart buildings described in this invention, the generation of the surface coverage field includes: using trajectory association data to map spatial action units in the disinfection trajectory model to corresponding surface regions in the surface region set; determining the trajectory action range in each surface region based on the geometric overlap relationship between the spatial action units and the surface regions; obtaining the coverage degree of each surface region from the relative relationship between the trajectory action range and the region range of the corresponding surface region; for the coverage degree formed by the spray action body, performing directional correction based on the orientation relationship between the surface orientation of the surface region and the spray direction; writing the coverage degree of each surface region into the surface region set to form a surface coverage field with surface regions as units; the surface coverage field characterizes the spatial distribution state of the wiping trajectory or spray trajectory on the three-dimensional surface model of the material; surface regions whose coverage degree meets the preset coverage conditions are marked as coverage regions to be corrected, and surface regions whose coverage degree does not meet the preset coverage conditions are marked as low coverage regions.

[0011] As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the generation of the corrected coverage field includes: constructing a surface accessibility model based on material posture, surface orientation, support object position, and occlusion object position; the surface accessibility model characterizes the accessibility relationship of spatial action units from the disinfection operation side to the area to be corrected for coverage; for the area to be corrected for coverage corresponding to the wiping action strip, wiping accessibility parameters are formed based on the contact relationship between the surface area and the support object, and the orientation relationship between the surface orientation and the wiping entry direction; for the area to be corrected for coverage corresponding to the spray action body, spray accessibility parameters are formed based on the spatial visibility relationship between the spray starting point, spray direction, occlusion object position, and surface area position; the wiping accessibility parameters or spray accessibility parameters are fused with the coverage degree of the corresponding surface area to form a corrected coverage degree; low-coverage areas remain in a low-coverage state, and the area to be corrected for coverage forms an effective coverage state or an ineffective coverage state according to the corrected coverage degree; the corrected coverage field is formed by the corrected coverage degree, effective coverage state, ineffective coverage state, and low coverage state of each surface area.

[0012] As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the output of the three-dimensional simulation results includes: using the initial pollution risk parameters of each surface region in the three-dimensional surface model of the material as the initial input of the risk field; using the corrected coverage degree and coverage status of each surface region in the corrected coverage field as the risk reduction input; using the transfer contact relationship of each surface region relative to the entrance of the clean area as the risk weight input; and generating the residual pollution risk value of each surface region based on the initial input of the risk field, the risk reduction input, and the risk weight input. As a preferred embodiment of the three-dimensional modeling and spatial simulation method for smart buildings described in this invention, the output of the three-dimensional simulation results further includes: writing residual pollution risk values ​​into the corresponding surface areas to form a residual pollution risk field based on the three-dimensional surface model of the material; superimposing the residual pollution risk field onto the disinfection operation nodes or clean area entrances in the three-dimensional spatial topology model of the building to form a three-dimensional simulation display result; the three-dimensional simulation display result presents the surface coverage distribution, spatial accessibility correction results, and residual pollution risk distribution; based on the relationship between the residual pollution risk distribution and the preset risk requirements, outputting the three-dimensional simulation judgment result of whether the material should continue to be transferred, supplemented with disinfection, or re-disinfected.

[0013] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement a three-dimensional modeling and spatial simulation method for intelligent buildings.

[0014] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of a three-dimensional modeling spatial simulation method for intelligent buildings.

[0015] The beneficial effects of this invention are as follows: The three-dimensional modeling and spatial simulation method for smart buildings provided by this invention enables precise mapping of various models and trajectories in the same three-dimensional space through a unified spatial coordinate system; disinfection actions are transformed into surface-level computable results through surface region sets and coverage fields; by correcting the coverage field, the system eliminates false coverage caused by support contact, occlusion, and back-facing; and through the residual contamination risk field, the simulation results are ultimately transformed into a visual, traceable, and usable technical basis for judging continued transportation or supplementary disinfection. Overall, this invention improves the realism, precision, and decision-making usability of material transportation and disinfection simulation in smart buildings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 The overall flowchart of a three-dimensional modeling and spatial simulation method for smart buildings provided by the present invention is shown. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0019] Reference Figure 1 As an embodiment of the present invention, a three-dimensional modeling and spatial simulation method for smart buildings is provided, comprising: S1: Establish a three-dimensional spatial topology model of the building based on material transfer nodes, disinfection operation nodes, and clean area entrances to obtain a unified spatial coordinate basis.

[0020] Furthermore, establishing a three-dimensional spatial topology model of the building includes arranging material transfer nodes, disinfection operation nodes, and clean area entrances in a unified building coordinate system, and establishing node connection edges according to spatial sequence. The three-dimensional spatial topology model of the building is composed of material transfer nodes, disinfection operation nodes, clean area entrances, and node connection edges. Material transfer nodes represent the transfer position of materials in the building space, disinfection operation nodes represent the spatial position of materials for surface disinfection simulation, and clean area entrances represent the transfer determination position of materials after disinfection simulation. Node connection edges define the spatial path relationship of materials from the transfer position to the disinfection operation position, and then from the disinfection operation position to the clean area entrance. Disinfection operation nodes serve as a common spatial reference for the three-dimensional surface model of materials and the disinfection trajectory model, enabling the material surface area and the disinfection trajectory to be mapped in the same coordinate system. A data association relationship is established between the clean area entrance and the disinfection operation nodes, so that the corrected coverage field and residual contamination risk field formed at the disinfection operation nodes are transmitted to the clean area entrance for transfer determination. A unified spatial coordinate system is output through the three-dimensional spatial topology model of the building.

[0021] It should be noted that one specific approach to obtaining a unified spatial coordinate system includes establishing a unified building coordinate system based on the building information model, 3D scanning model, or as-built model of the smart building. The unified building coordinate system is used to uniformly represent material transfer nodes, disinfection operation nodes, clean area entrances, materials to be transferred, disinfection operation trajectories, and the subsequently formed surface coverage field, modified coverage field, and residual contamination risk field. The unified building coordinate system can adopt the original global coordinate system of the building model or a local building coordinate system with a fixed reference point in the disinfection operation area as its origin. Considering that the core calculations of this method occur in the material disinfection operation area, it is preferable to use the center point of the disinfection operation table, the center point of the transfer window, or the center point of the clean area entrance door frame as the spatial reference point, and set the building ground normal direction as the vertical direction. The 3D surface model of the material, the wiping trajectory, and the spray trajectory all need to be spatially mapped near the disinfection operation nodes. Setting this area as the coordinate reference can reduce subsequent coordinate transformation errors and improve the spatial matching accuracy between the material surface and the disinfection trajectory.

[0022] In the unified building coordinate system, material transfer nodes, disinfection operation nodes, and clean area entrances are defined as spatial nodes carrying node type, three-dimensional coordinates, cleanliness level code, and node function code, respectively. Each spatial node is represented as:

[0023] in, Indicates the first The node vector of each spatial node. , , These represent the three-dimensional coordinates of the spatial node in the unified architectural coordinate system. This indicates the transpose operation. This indicates the cleanliness level code of the area to which the spatial node belongs. This indicates the node type encoding of the spatial node. Node type encoding Used to distinguish material transfer nodes, disinfection operation nodes, and clean area entrances; For node indexing, the 3D coordinates can be obtained from the building's 3D model, BIM model, laser scan point cloud, or manual measurement data. The cleanliness level code can be obtained from the room attribute table or clean area design documents. The node type code can be pre-configured according to the node function. In one implementation, after reading the 3D coordinates of the nodes in the building's 3D model, a cleanliness level code is further configured for each node according to the room attribute table or clean area design documents. Configure node type coding according to the function of the node in the material transfer process. Among them, cleanliness level coding Used to convert different cleanroom control areas into computable numerical attributes; can encode non-clean areas or low-cleanliness temporary storage areas as... The general clean auxiliary area is coded as The material disinfection area is coded as follows: Encode the high-cleanliness buffer as The entrance to the target clean area is coded as When actual projects adopt cleanliness levels such as A, B, C, and D, these levels can be mapped sequentially to increasing numerical codes according to cleanliness control requirements, allowing cleanliness level relationships to participate in node connection establishment, cleanliness level transfer judgment, and transport path constraints. Node type coding. Used to identify the functional attributes of nodes in this method; encoding material transfer nodes as The disinfection operation node is coded as The clean area entrance is coded as .

[0024] After establishing spatial nodes, node connection edges are created based on the material transfer sequence within the smart building. These connection edges represent the spatial path of materials from the material transfer node to the disinfection operation node, and then from the disinfection operation node to the clean area entrance. To avoid relying solely on geometric distance to determine node connectivity and neglecting process limitations in pharmaceutical clean buildings, this embodiment uses spatial distance, cleanliness level transfer relationships, and permissible process transfer relationships as the basis for establishing node connection edges. For any two spatial nodes... and The node connection relationship is represented as follows:

[0025]

[0026] in, Indicates the first The spatial node and the first Whether to establish node connection edges between spatial nodes. This indicates the establishment of a connecting edge. This indicates that no connecting edges will be established; This represents the three-dimensional spatial distance between two spatial nodes; , , Represents a node The three-dimensional coordinates , , Represents a node 3D coordinates; This indicates the maximum spatial distance allowed for establishing direct connecting edges; Represents a node With nodes Cleanliness level transfer relationship between them; This indicates the set of cleanliness levels that are permitted for transfer. This indicates a process-permitted transfer marker, indicating when the process flow allows materials to be transferred from a node. Transfer to node The value is 1 if the condition is met, otherwise it is 0. , Index different spatial nodes.

[0027] For the maximum spatial distance The settings in this embodiment are not fixed using arbitrary empirical values, but are determined based on the actual distances between adjacent functional points within the disinfection operation area. Typically, the distances between material storage points, operating tables, and pass-through windows within the same disinfection operation area are relatively short. Setting it too low will prevent actual adjacent nodes from establishing connections; if... Setting the value too high may incorrectly connect remote nodes that do not belong to the same transit operation chain. Therefore, it is preferable to set the value too high. Set the distance to 1.2 to 1.5 times the average historical distance between adjacent operation points within the same functional area, or 5 to 15 meters if no historical data is available. This setting can accommodate errors in building modeling and deviations in actual operation paths, while also preventing nodes across rooms or areas from being mistakenly identified as directly connected, thus making the three-dimensional spatial topology model of the building more consistent with the actual material transfer process.

[0028] Furthermore, the three-dimensional spatial topology model of the building is constructed from the set of spatial nodes and the set of edges connecting the nodes:

[0029] in, Represents a three-dimensional spatial topological model of a building. Indicates by A set of nodes consisting of spatial nodes. Represents the set of edges connecting nodes. Represents a set of associated node data. This represents the total number of spatial nodes in the 3D spatial topology model of the building. Node data association set. This is used to record the data transmission relationship between disinfection operation nodes and clean area entrances, enabling the corrected coverage field and residual contamination risk field formed at the disinfection operation nodes to be accessed by the clean area entrance. In this embodiment, the node data association set... Each associated record includes a material number, a disinfection operation node number, a clean area entrance number, a surface area set number, a correction cover field number, and a residual contamination risk field number. In other words, the clean area entrance is not determined solely by the material's current location, but rather by accessing the 3D simulation data generated at the disinfection operation node using the material number. This data association method creates a traceable spatial data link between the disinfection operation, surface cover correction, and clean area entrance determination, preventing situations where the material has completed disinfection simulation but the determination node cannot access the simulation results.

[0030] To enable spatial mapping between the material's 3D surface model and the disinfection trajectory model under the same datum, the disinfection operation node was further configured as a local modeling datum. For the... The local baseline transformation of each disinfection operation node is represented as follows:

[0031] in, Indicates the first Homogeneous transformation matrix from the local coordinate system of each disinfection operation node to the unified architectural coordinate system. Indicates the first The rotation matrix of the local coordinate system of each disinfection operation node relative to the unified building coordinate system. Indicates the first The coordinates of the origin of each disinfection operation node in the unified building coordinate system. , , These represent the coordinate values ​​of the origin along the three coordinate axes. Through this transformation matrix, the material geometry, surface area, wiping trajectory, and spray trajectory can all be converted from the local coordinates of the disinfection operation node to a unified architectural coordinate system.

[0032] In determining In this case, the existing direction vectors of the disinfection workbench, pass-through window, or work area in the building model can be used preferentially. Preferably, the horizontal direction of the disinfection work side is set as local. The axis sets the direction in which materials enter the clean area as local. The axis, setting the vertical upward direction as local. The coordinate axis is set to match the actual material disinfection process, allowing the relationship between the subsequent wiping direction, spray direction, and surface orientation to be expressed in a unified geometric way.

[0033] S2: Import the geometric parameters of the material to be transferred into a unified spatial coordinate system, establish a three-dimensional surface model of the material, and obtain a set of surface regions.

[0034] Furthermore, establishing a 3D surface model of the material involves using a unified spatial coordinate system and disinfection operation nodes as modeling benchmarks to convert the geometric parameters of the material to be transferred into material geometry within the 3D spatial topology model of the building. The outer surface of the material geometry is discretized to form distinct, independently identifiable surface regions, which together constitute a set of surface regions. Each surface region is configured with a region identifier, spatial coordinates, surface orientation, region extent, surface state, and initial contamination risk parameters. Spatial coordinates represent the position of the surface region within the 3D spatial topology model of the building; surface orientation represents the orientation of the surface region relative to the wiping or spraying direction; region extent represents the geometric range within which the surface region can be affected by the trajectory; surface state records the spatial contact relationship between the surface region and supporting or shielding objects; and the initial contamination risk parameters serve as the initial input for generating the residual contamination risk field. When the material's posture changes, the spatial coordinates, surface orientation, and surface state in the surface region set are updated synchronously with the material's posture. The 3D surface model of the material outputs the surface region set, which serves as the spatial carrier for establishing the disinfection trajectory model and generating the surface coverage field.

[0035] It should be noted that one method for establishing a three-dimensional surface model of the material and obtaining a set of surface regions specifically includes: first, establishing the material geometry in the material's local coordinate system; then, transforming the material geometry to a unified architectural coordinate system through material posture transformation and disinfection operation node datum transformation. For the first... One item awaiting transfer, the first The first surface region The coordinate transformation relationship of the sampling points is as follows:

[0036]

[0037] in, Indicates the first The first material The first surface region The homogeneous coordinates of each sampling point in the local coordinate system of the material This represents the homogeneous coordinates of the sampling point after transformation to a unified architectural coordinate system; Indicates the first Homogeneous transformation matrix from the local coordinate system of each disinfection operation node to the unified architectural coordinate system. Indicates the first From the local coordinate system of the material to the first Homogeneous transformation matrix of the local coordinate system of each disinfection operation node; Indicates the first The attitude rotation matrix of each material at the disinfection operation node. Indicates the first Translation vector of each material relative to the local coordinate system of the disinfection operation node; index Indicates the material number. Indicates the surface area number. This indicates the sampling point number within the surface region. Through this coordinate transformation, every calculable sampling point on the outer surface of the material can be mapped to the three-dimensional spatial topology model of the building.

[0038] After the material geometry is established, its outer surface is discretized into regions. Since the surface coverage field needs to determine the actual range of action of the wiping or spraying action on the surface area, if the surface area is divided too large, it may result in both covered and uncovered portions within a single area, but only a single coverage state can be obtained; if the division is too fine, it will significantly increase the burden of coverage calculation and risk field calculation. Therefore, this embodiment preferably determines the surface area scale based on the spatial resolution of the disinfection operation.

[0039] Specifically, for disinfection methods primarily based on wiping, the maximum side length of the surface area is preferably no greater than half the width of the wiping tool; for disinfection methods primarily based on spraying, the maximum side length of the surface area is preferably no greater than one-third of the spray radius. The reason for choosing half the wiping width is that the wiping tool can typically cover a continuous area within its width in a single pass. Controlling the surface area size to within half of this width allows for more accurate identification of the partially covered area near the wiping boundary. The reason for choosing one-third of the spray radius is that spray coverage typically exhibits edge attenuation and directional changes; using a relatively smaller area size allows for better differentiation between the spray center area and the weakly covered edge areas. Through these optimized sizes, the accuracy of coverage identification can be ensured while avoiding excessive subdivision of the entire material surface.

[0040] No. The set of surface regions of a material is represented as:

[0041] in, Indicates the first A collection of surface areas of a material. Indicates the first The first material A surface area, Indicates the first The total number of surface areas into which a material is divided. Each surface area... Each surface area data unit contains an area identifier, a set of sampling points, area center coordinates, surface orientation, area extent, surface condition, and initial contamination risk parameters.

[0042] For surface areas The coordinates of its regional center are obtained by averaging the uniform architectural coordinates of all sampling points within the surface region:

[0043] in, Indicates the first The first material The coordinates of the center of each surface region in a unified architectural coordinate system. This indicates the number of sampling points within the surface area. Indicates the first [item] within this surface region. The non-homogeneous coordinates of each sampling point in a unified building coordinate system. The coordinates of the region center are used for subsequent rapid matching of the trajectory's effective area and the surface area, and the set of sampling points is used to further calculate the degree of overlap between the trajectory's effective range and the surface area.

[0044] The surface orientation of a surface region is represented by the region's normal vector. For a surface region composed of triangular meshes, its normal vector is obtained by a weighted average of the areas of the mesh faces within the region:

[0045] in, Indicates the first The first material The unit normal vector of a surface region in a unified architectural coordinate system This indicates the number of grid patches contained within the surface area. Indicates the first in this surface region The area of ​​each grid patch This represents the unit normal vector of the mesh patch in the unified architectural coordinate system. This represents the grid patch index. Area weighting is used instead of simple averaging because irregular packaging materials, folded edges, label curling areas, or localized grid noise can create numerous small patches. Simple averaging can easily allow these small, abnormal patches to have an excessive impact on the overall surface orientation. With area weighting, larger and more stable patches contribute more to the surface orientation, thus improving the stability of subsequent spray direction correction and wiping accessibility assessment.

[0046] When the material's posture changes (flipped, rotated, or repositioned), the spatial coordinates and orientation of the surface area need to be updated synchronously with the material's posture. For surface orientation, the update relationship is as follows:

[0047] in, Indicates the first The first material The initial unit normal vector of a surface region in the local coordinate system of the material. Indicates the first The attitude rotation matrix of each material relative to the local coordinate system of the disinfection operation node. Indicates the first The rotation matrix of the local coordinate system of each disinfection operation node relative to the unified building coordinate system. This represents the unit normal vector in the updated unified building coordinate system. This update method ensures that the surface orientation is consistent with the material posture, avoiding the need to correct the spray direction or determine accessibility based on the original orientation of the flipped bottom surface.

[0048] Furthermore, a surface state is set for each surface region. The surface state is used to record the spatial contact relationship between the surface region and the supporting or occluding object. To ensure that the surface state can be obtained from objective geometric data, this embodiment uses a statistical method of distance statistics from sampling points to the supporting object to determine the degree of support contact. For surface regions... Its support contact ratio is expressed as:

[0049] in, Indicates the first The first material The support contact ratio between each surface area and the supported object This indicates the number of sampling points within the surface area. Indicates the first [item] within this surface region. Unified building coordinates for each sampling point This represents a three-dimensional geometric set representing a supporting object, which can be a workbench, pallet, transfer cart surface, or pass-through window sill. This represents the shortest distance from the sampling point to the geometric set of the supporting objects. Indicates the support contact distance threshold. This indicates an indicator function that takes the value 1 if the condition within the parentheses is true, and 0 otherwise.

[0050] For support contact distance threshold Its settings need to balance model error and contact recognition sensitivity. The material surface in a 3D scan or BIM model typically does not perfectly overlap with the surface of the supporting object, potentially resulting in modeling deviations on the order of millimeters. If the threshold is set to 0, actual contact areas may be misjudged as non-contact areas due to model gaps; if the threshold is too high, areas close to the supporting object but not in contact may also be misjudged as contact areas. Therefore, it is preferable to... Set it to 1 to 2 times the average side length of the model mesh. When the average side length of the material's 3D model mesh is 2 mm, The preferred thickness is 2mm to 4mm. This absorbs model discretization and scanning errors, and avoids misjudging obviously suspended surface areas as contact states.

[0051] Based on the support contact ratio, the surface area state can be initially marked. Since partial contact may result in insufficient wiping or spraying during actual disinfection, it is not advisable to mark it as a contact state only when the entire surface area is in complete contact. On the other hand, judging it as a contact state if only a very small number of sampling points are close to the support object would be overly conservative. Therefore, in this embodiment, the contact ratio threshold is preferably set to 0.2 to 0.4, more preferably 0.3. When approximately 30% of the sampling points in a surface area are close to the support object, it indicates that a significant portion of the area has been affected by the support object, and it can be initially recorded as a contact state; when the support contact ratio is below this threshold and the surface area faces the disinfection operation side, it can be recorded as an reachable state; the remaining areas are recorded as a state to be judged. Using this range can identify the bottom surface, pressing surface, and tray contact surface, while avoiding over-marking the entire surface area as a contact state due to a small number of edge sampling points being close to the support object.

[0052] The surface areas are also configured with initial contamination risk parameters. These parameters represent the initial contamination risk level of each surface area when the material arrives at the disinfection operation point. To ensure that this parameter reflects both the overall risk from the material source area and the local differences in different surface areas due to support contact and material characteristics, this embodiment incorporates the risk from the material source area, historical contact risk, support contact ratio, and material surface risk into the initial contamination risk parameter.

[0053] in, Indicates the first The first material Initial contamination risk parameters for each surface area Indicates the first Normalized risk value corresponding to each material source region Indicates the first The historical contact risk value of each material before it reaches the disinfection operation point. This indicates the support contact ratio of this surface area. This represents the normalized risk value of the material or surface roughness of that surface region. , , , These represent the weights of source region, historical contact, supporting contact, and material risk, respectively, and satisfy the following conditions: .

[0054] When setting weights, it is considered that the source region of the material usually determines the overall contamination risk level when the material enters the disinfection node, and the risk of the source region is taken into account. It can be assigned a higher weight; historical contact risk The cumulative impact of contact with personnel, vehicles, or work surfaces during transport should also be considered an important factor; the proportion of contact with support structures should also be taken into account. and material risks This better reflects local surface differences. Based on the above considerations, the preferred option is... and The total value is greater than and The total value. In a typical material handling scenario, it can be... Set it to 0.35 to 0.45, Set it to 0.25 to 0.35, Set it to 0.10 to 0.20, Set it to 0.10 to 0.20. This setting ensures that the initial contamination risk is neither solely determined by the material's source region nor excessively dominated by any single local factor, thus allowing the subsequent residual contamination risk field to simultaneously reflect both the overall background risk of the material and the local surface risk.

[0055] In a preferred embodiment, for materials originating from a low-cleanliness-level outer packaging temporary storage area, the risk of origin area is considered. It can be set to 0.7 to 0.9; for materials from pre-treated areas, source area risk. It can be set to 0.3 to 0.5. Historical exposure risk. This can be normalized based on the number of human contacts, carrier contacts, or barcode scanning records of the materials before they reach the disinfection operation point. Material risk. Normalization settings can be applied based on whether the surface is a smooth plastic film, a paper label, a folded seal, or a rough cardboard box surface. The above numerical range is not limited to specific material types, but rather provides a reproducible risk initialization method, ensuring that each surface area has a calculable and traceable initial risk input.

[0056] S3: Obtain the wiping trajectory or spray trajectory based on the surface area set, and generate a disinfection trajectory model that acts on the three-dimensional surface model of the material.

[0057] Furthermore, the disinfection trajectory model includes: acquiring or generating wiping or spraying trajectories based on a set of surface regions, and converting the wiping or spraying trajectories into three-dimensional trajectories in a unified architectural coordinate system; the wiping trajectory consists of the wiping action zone formed by the position sequence, movement direction, and action width of the wiping tool; the spraying trajectory consists of the spray starting point, spray direction, and spray action range formed by the spray action body; the wiping action zone or spray action body serves as the spatial action unit in the disinfection trajectory model; according to the trajectory time sequence, a temporal association is established between the spatial action unit and the set of surface regions in the three-dimensional surface model of the material; the temporal association records the order of action of the spatial action unit on each surface region, and the spatial action unit records the action range of the disinfection operation in three-dimensional space; when there is no spatial correspondence between the spatial action unit and the surface region in the set of surface regions, the corresponding spatial action unit is not written into the surface coverage field; the trajectory association data between the spatial action unit and the set of surface regions is output through the disinfection trajectory model.

[0058] It should be noted that one method for generating a disinfection trajectory model acting on a three-dimensional surface model of a material specifically includes, after outputting the three-dimensional surface model of the material, using a set of surface regions... This serves as a spatial carrier for disinfection trajectory modeling, acquiring or generating wiping or spraying trajectories corresponding to the set of surface areas. The wiping or spraying trajectories can originate from hand positioning sensors worn by operators, visual recognition devices, robot execution paths, spray equipment control parameters, or simulated trajectories from preset standard operating procedures.

[0059] To facilitate the formation of a surface coverage field, this embodiment unifies wiping and spraying operations into a single spatial action unit. The spatial action unit corresponding to the wiping operation is the wiping action zone, and the spatial action unit corresponding to the spraying operation is the spray action body. This approach ensures that although wiping and spraying have different operational forms, they essentially represent a spatial correspondence between a disinfection area with a defined spatial range and the material surface area. By unifying them into a "spatial action unit," the subsequent surface coverage field can use a unified data structure to record the trajectory and range of action, avoiding the need to establish two separate sets of coverage calculation processes.

[0060] For the wiping operation, the center point position sequence of the wiping tool is collected in chronological order. Let the first... The start and end points of each swab sampling period are respectively and Then the direction of the wiping center line segment during this sampling period is:

[0061] in, Indicates the first The direction of movement per unit during each swab sampling period. and These represent two consecutive sampling positions of the center point of the wiping tool in a unified architectural coordinate system. This represents the spatial action unit index in the disinfection trajectory model. The disinfection operation process is discretized into multiple consecutive spatial action units in chronological order. Each spatial action unit corresponds to the spatial range of a wiping action band or a spray action. This is based on the wiping centerline segment and the width of the wiping tool. , forming the first A wiping action band The wiping action zone can be understood as extending to both sides perpendicular to the direction of movement, centered on the wiping center line segment. The resulting strip-shaped spatial region. For the material surface area. Sampling points in Whether it falls into the first The effectiveness of wiping can be determined by the following formula:

[0062]

[0063] in, Indicates the first The first material The first surface region Is the sampling point _i? The wiping action is defined as follows: a value of 1 indicates that the action is performed, and a value of 0 indicates that the action is not performed. Indicates sampling point The projection position parameters on the center line segment of the wipe; Indicates the effective working width of the wiping tool; This indicates the indicator function. This judgment considers both whether the projection of the sampling point along the wiping center line segment is within that trajectory segment, and whether the distance from the sampling point to the wiping center line segment is within the effective working width of the wiping tool. Therefore, it can extend the wiping trajectory from a simple center line to a wiping action band with actual spatial width.

[0064] Width of action of wiping tools Its value can be obtained based on the actual contact width of the wiping cloth, wiping head, or robot end effector. Considering that the contact at the tool edge may be unstable during manual wiping, directly using the physical width of the tool may overestimate the effective coverage area. Therefore, it is preferable to use [the physical width of the tool]. Set the effective width to 0.7 to 0.9 times the physical width of the tool. This setting usually ensures more stable contact in the central area of ​​the wiping tool, while weak contact may occur at the edges due to insufficient pressure or uneven surfaces. Using an effective width slightly smaller than the physical width allows the coverage calculation to more closely approximate the actual disinfection range, avoiding false results of adequate coverage due to overestimation of the wiping width.

[0065] For spraying operations, collect or set the spray start point, spray direction, spray range, and spray spread angle. Let the... The spray starting point for each spray action period is The unit vector of the spray direction is The spray range is The spray half-angle is Then the first A spray action body It can be represented as a conical or approximately conical spatial region extending from the spray initiation point along the spray direction. For sampling points... Whether a person is within the spray's effective range can be determined by the following formula:

[0066] in, Indicates the first The first material The first surface region Is the sampling point in the [number]th [sampling point]? Within a spray action body, a value of 1 indicates that the person is within the spray action body, and a value of 0 indicates that the person is not within the spray action body; Indicates the starting point of the spray. This represents the unit vector indicating the spray direction. Indicates the spray's effective distance. This indicates the spray half-angle. By converting the spray trajectory from a single directional point into a spatial cone-shaped effective range, the coverage field can determine whether the spray actually acts on a specific surface area, rather than simply judging based on whether the spray action occurs.

[0067] For spray coverage distance and spray half angle The values ​​are preferably obtained from the nozzle instruction manual, spray validation tests, or field calibration results. If the nozzle parameters are unknown, a spray deposition distribution test can be performed on a flat test plate under the same spray pressure and spray distance, and the outer edge where the deposition distribution achieves stable coverage can be used to determine the value. and Setting different nozzles, pressures, and droplet sizes will result in different spray diffusion ranges. If the angle is simply based on experience, it is easy to cause the spray action body to be inconsistent with the actual deposition range.

[0068] After obtaining the wiping action zone or spray action body, it is used as the spatial action unit in the disinfection trajectory model. For ease of consistent expression, let's call it the... Each spatial action unit is Its type is determined by the operating method. When the operating method is wiping... When the operation mode is spray, The disinfection trajectory model can be represented as:

[0069] in, Indicates the action on the first Disinfection trajectory model for individual materials Indicates the first Each spatial function unit Indicates the first The total number of spatial action units corresponding to each material. This disinfection trajectory model retains the trajectory time sequence and can record the order in which the same surface area is wiped or sprayed multiple times.

[0070] Furthermore, a temporal correlation is established between spatial action units and the set of surface regions. For surface regions... and spatial action unit If the spatial action unit acts on at least one sampling point in the surface region, then the two are considered to have a trajectory association. The trajectory association can be represented as:

[0071] in, Indicates the first The first material The surface region and the first Whether there is a trajectory association between spatial action units, a value of 1 indicates that there is a trajectory association, and a value of 0 indicates that there is no trajectory association; Represents surface area The number of sampling points within; Indicates the first Each spatial action unit for sampling points The function marker, when the spatial function unit is a wiping function zone. When the spatial action unit is a spray action body, By using this trajectory association marker, it can be determined which surface regions are indeed affected by a certain trajectory action unit. Spatial action units that do not form a spatial correspondence with any surface region are not written into the surface cover field.

[0072] S4: Spatial mapping of the disinfection trajectory model to the set of surface regions to generate a surface coverage field.

[0073] Furthermore, generating a surface coverage field includes: using trajectory association data to map spatial action units in the disinfection trajectory model to corresponding surface regions in the surface region set; determining the trajectory action range in each surface region based on the geometric overlap between the spatial action units and the surface regions; obtaining the coverage degree of each surface region from the relative relationship between the trajectory action range and the region range of the corresponding surface region; for the coverage degree formed by the spray action body, performing directional correction based on the orientation relationship between the surface orientation of the surface region and the spray direction; writing the coverage degree of each surface region into the surface region set to form a surface coverage field with surface regions as units; the surface coverage field characterizes the spatial distribution state of the wiping trajectory or spray trajectory on the three-dimensional surface model of the material; surface regions whose coverage degree meets the preset coverage conditions are marked as coverage regions to be corrected, and surface regions whose coverage degree does not meet the preset coverage conditions are marked as low coverage regions.

[0074] It should be noted that one specific scheme for generating a surface cover field includes, for the surface region First, mark the sampling points in S3. The sampling points in the surface region that are acted upon by any spatial action unit are determined. To avoid duplicate counting when the same sampling point is acted upon by multiple trajectories, this embodiment uses a union method to count covered sampling points. That is, as long as a sampling point is acted upon by at least one spatial action unit, the sampling point is recorded as a covered sampling point. The covered sampling point label is represented as follows:

[0075] in, Indicates the first The first material The first surface region Whether a sampling point is covered by the disinfection trajectory, a value of 1 indicates that it is covered by at least one spatial action unit, and a value of 0 indicates that it is not covered; Indicates the first The total number of spatial action units corresponding to each material; Indicates the first Each spatial action unit for sampling points The effect marker is used. The reason for using the maximum value instead of the cumulative value is that the surface coverage field is mainly used to represent the spatial coverage area, not the number of applications; the effect of repeated wiping or repeated spraying on disinfection intensity can be further expressed in subsequent risk reduction or disinfectant action models, and the coverage area itself should not exceed the geometric range of the surface area due to repeated trajectories.

[0076] After obtaining the coverage sampling point markers, the original coverage degree of the surface region is expressed as:

[0077] in, Indicates the first The first material The original coverage of each surface area This indicates the number of sampling points in the surface area. Indicates the first in this surface region Each sampling point covers the sampling point marker. Since the sampling points are distributed according to the geometric extent of the surface region... It can be used to approximate the proportion of the trajectory's effective range relative to the overall range of the surface region.

[0078] For wiping operations, if the first Disinfection trajectory model for each material Composed of a wiping band, it can... This represents the degree of wiping coverage of the surface area. Since wiping coverage mainly depends on whether the wiping band passes through the surface area and the size of the area it passes through, without considering obstruction and accessibility, the coverage ratio of the sampling points can directly reflect the theoretical coverage of the surface area by the wiping trajectory.

[0079] For spraying operations, simply stating whether the spray body covers a surface area is insufficient to accurately represent the actual coverage effect. The strength of the spray droplet's effect on the surface area is related to the relationship between the surface orientation and the spray direction: when the surface area faces the spray direction, droplets are more likely to deposit; when the angle between the surface area and the spray direction is large, the deposition effect decreases; when the surface faces away from the spray direction, even if it is geometrically within the spray body, effective deposition may be difficult to form. Therefore, when determining the coverage effect of the spray body, directional corrections need to be introduced.

[0080] For the There are several spraying bodies, and the unit vector of the spray direction is... Due to the normal vector of the material surface The spray direction is usually directed outwards from the material, while the spray direction is... This indicates the direction from the spray origin to the material surface; therefore, when the surface is directly facing the spray, and The directions are closer. Based on this relationship, the spray direction correction factor for the surface region is expressed as:

[0081] in, Indicates the first The first material Spray direction correction coefficient for each surface area This indicates that the surface area is related to the first Trajectory association markers between spatial action units This represents the unit normal vector of the surface region in the unified architectural coordinate system. Indicates the first The spray direction unit vector of each spraying body This represents an extremely small positive number that prevents the denominator from being zero. (By...) Surface areas facing away from the spray direction can be corrected to have a lower directional contribution, while surface areas facing the spray direction can receive a higher directional contribution. This directional correction method allows the spray coverage field to consider not only "whether it is within the spray cone" but also "whether it receives the spray in an orientation suitable for deposition".

[0082] After obtaining the spray direction correction coefficient, the spray coverage is expressed as:

[0083] in, Indicates the first The first material The coverage degree of the surface coverage field written in each surface region, This indicates the original coverage of the surface area. This indicates the spray direction correction factor. When the disinfection operation is a wiping operation, it can be set as follows: ,at this time When the disinfection operation is a spray operation, through The original coverage level is corrected for orientation. This ensures that both wiping and spraying can output a consistent coverage level. .

[0084] To form a surface coverage field, the coverage degree of all surface regions is written into the surface region set. The surface coverage field of a material can be represented as:

[0085] in, Indicates the first The surface coverage area of ​​the material Indicates the first The first material A surface area, This indicates the degree of coverage corresponding to that surface area. Indicates the first The total number of surface areas of each material. The surface cover field records the coverage level in units of surface areas, which can further identify which surface areas need spatial accessibility correction and which areas are already in a low-coverage state.

[0086] When marking areas requiring coverage correction and low-coverage areas, preset coverage conditions need to be set. These preset conditions should not be set too low, otherwise clearly insufficiently covered surface areas will be included in the effectiveness correction, increasing the risk of misjudgment; nor should they be set too high, because the surface coverage field obtained in S4 is still a theoretical coverage result, and subsequent spatial accessibility correction based on material posture and occlusion objects is still needed. Based on this consideration, it is preferable to set the preset coverage condition to a coverage level of not less than 0.6 to 0.8, more preferably 0.7. Using this range allows for the selection of surface areas with relatively clear trajectory coverage as areas requiring coverage correction, while retaining the space for judging actual effective coverage through occlusion correction.

[0087] Specifically, when When the preset coverage conditions are met, the surface area will be... Marked as an area to be corrected; when If the preset coverage conditions are not met, the surface area will be... Areas marked as low coverage. Areas requiring correction of coverage indicate that the surface area has been sufficiently affected by the wiping or spraying trajectory in space, but whether it ultimately constitutes effective coverage still needs to be corrected for spatial accessibility by considering the material's posture, supporting objects, and obstructing objects; low coverage areas indicate that the surface area has insufficient theoretical coverage under the current disinfection trajectory, and even if accessibility is assessed, it is difficult to identify as an effective coverage area.

[0088] S5: Combine material posture and occlusion objects to perform spatial accessibility correction on the surface cover field, and generate a corrected cover field.

[0089] Furthermore, generating the corrected coverage field includes: constructing a surface accessibility model based on material posture, surface orientation, support object position, and obstruction object position; the surface accessibility model characterizes the accessibility relationship of spatial action units from the disinfection operation side to the area to be corrected for coverage; for the area to be corrected for coverage corresponding to the wiping action strip, wiping accessibility parameters are formed based on the contact relationship between the surface area and the support object, and the orientation relationship between the surface orientation and the wiping entry direction; for the area to be corrected for coverage corresponding to the spray action body, spray accessibility parameters are formed based on the spatial visibility relationship between the spray starting point, spray direction, obstruction object position, and surface area position; the wiping accessibility parameters or spray accessibility parameters are fused with the coverage degree of the corresponding surface area to form the corrected coverage degree; low-coverage areas remain in a low-coverage state, and the area to be corrected for coverage forms an effective coverage state or an ineffective coverage state based on the corrected coverage degree; the corrected coverage field is formed by the corrected coverage degree, effective coverage state, ineffective coverage state, and low coverage state of each surface area.

[0090] It should be noted that one specific scheme for generating the modified cover field includes generating the surface cover field. Subsequently, spatial accessibility corrections are made to the surface coverage field by combining material posture, surface orientation, location of supporting objects, and location of occluding objects. Coverage degree This mainly indicates whether the wiping or spray trajectory geometrically covers the surface area. However, in actual disinfection operations, theoretical coverage does not necessarily equal effective coverage. For example, although the bottom surface of the material may be within the trajectory projection range, if the bottom surface is pressed against a tray or workbench, the wiping tool or spray droplets cannot actually reach it. Similarly, although a side may be within the spray area, if the spray origin and that side are obstructed by the operator's hand, adjacent materials, or the material's own structure, the effective spray coverage of that side should be reduced.

[0091] In this embodiment, the surface reachability model is the set of surface regions obtained by S2. Surface orientation Support contact ratio Surface state, spatial action unit obtained from S3 and the coverage obtained by S4 As input. The occluding object is represented by a three-dimensional geometric set, denoted as . It can be composed of an operator's hand model, a clamping tool model, a pallet edge, a workbench edge, adjacent materials, or a transfer window frame. The supporting object still uses the one in S2. This allows for the calculation of wipe accessibility parameters or spray accessibility parameters for each surface area by representing both supporting and occluding objects as three-dimensional geometric sets in a unified architectural coordinate system.

[0092] For the area to be corrected corresponding to the wiping action zone, wiping accessibility is mainly affected by two factors: first, whether the surface area is pressed or in contact with the supporting object; and second, whether the orientation of the surface area is suitable for the wiping tool to enter from the disinfection operation side. If a certain surface area has a high contact ratio with the supporting object, the wiping tool will have difficulty directly contacting that area; if the surface area is oriented away from the wiping entry direction, even if the wiping trajectory is spatially close to that area, it may not be able to form an actual wiping action. Therefore, this embodiment uses both the support contact inhibition term and the orientation adaptation term to form the wiping accessibility parameter.

[0093] Let the first The wiping action zone has the following wiping direction: The wiping direction indicates the direction in which the wiping tool approaches the material surface from the operating side. For surface areas... , and the first The orientation matching item corresponding to each wiping action band is represented as follows:

[0094] in, Indicates the first The first material The surface region relative to the first The orientation of the wiping action strip is adapted. This represents the unit normal vector of the surface region in the unified architectural coordinate system. Indicates the first The wiping action band has a unit vector in the wiping direction. Because... Pointing towards the outside of the material, when the wiping tool enters the surface from the outside... A larger value indicates that the wiping tool is more likely to reach the surface; when the surface is away from the wiping direction, the value approaches 0, indicating lower wiping accessibility. Using this orientation adaptation option, the spatial proximity between the wiping tool and the surface can be directly determined using the surface orientation already calculated in S2, without needing to manually specify the wipeable state of each surface.

[0095] Furthermore, the support contact ratio Introduce wiping accessibility. A higher proportion of support contact indicates that the surface area is more likely to be pressed against a countertop, tray, or load-bearing surface, and the lower the chance that the wiping tool can actually make contact. For surface areas The wiping accessibility parameter is expressed as:

[0096] in, Indicates the first The first material Wiping accessibility parameters for each surface area This indicates the support contact ratio of this surface area. This indicates that the surface area is related to the first Trajectory association markers between spatial action units This indicates that the surface region is relative to the first The orientation of the wiping action strip is adapted. Indicates the first The total number of spatial action units corresponding to each material This indicates a very small positive number that prevents the denominator from being zero. This expression makes wiping accessibility affected by both the degree of support contact and the direction of wiping entry: when a large area of ​​the surface is pressed against the support object, Reduce its accessibility; when the surface area is oriented in a way that is not conducive to wiping access, Reduce its accessibility.

[0097] For the coverage area to be corrected corresponding to the spray action, spray accessibility is mainly determined by the spatial visibility relationship between the spray initiation point, spray direction, the location of the obstructed object, and the location of the surface area. The spray direction correction in S4 primarily considers whether the surface orientation is suitable for droplet deposition, while this step further considers whether the spray path is obstructed. For the surface area... It can be from the first Spray starting point Sampling points to this surface area Establish a line segment for the spray path and determine whether the line segment intersects with the geometric set of the occluding object. Intersecting. The line-of-sight markers for its sampling points are represented as:

[0098] in, Indicates the first The first material The first surface region The sampling point relative to the first Whether a spray action has a line-of-sight relationship, a value of 1 indicates that there is no obstruction between the spray start point and the sampling point, and a value of 0 indicates that there is an obstruction. Indicates the point of origin of the spray to sampling point line segments, Represents a three-dimensional geometric set of occluded objects. This indicates an empty set. Through this line-of-sight determination, it is possible to identify surface sampling points that are theoretically within the spray area but are actually obscured by hands, adjacent materials, table edges, or the frame of the transfer window.

[0099] To avoid performing complex fluid simulations for every tiny droplet, this embodiment uses the line-of-sight ratio of sampling points to characterize the spray accessibility of the surface area. For the surface area The spray reachability parameter is expressed as:

[0100] in, Indicates the first The first material Spray reachability parameters for each surface area This indicates that the surface area is related to the first Trajectory association markers between spatial action units This indicates the number of sampling points within the surface area. This indicates whether the sampling point has been covered by the disinfection trajectory in S4. This indicates that the sampling point is relative to the first... A visible marker for each spray action body, Indicates the first The total number of spatial action units corresponding to each material This represents a very small positive number to prevent the denominator from being zero. This spray accessibility parameter takes into account both "coverage by the sprayed object" and "unobstructed spray path," thus distinguishing areas that are geometrically covered by the spray but cannot actually deposit due to obstruction.

[0101] For obstructed objects in spray visibility judgment The modeling accuracy affects the stability of visibility judgment. If the occlusion object model is too coarse, it may miss local occlusion; if it is too detailed, the computational load will increase significantly. For engineering implementation considerations, it is preferable to simplify the hand, gripping tool, tray edge, adjacent materials, and transfer window frame into bounding box, convex hull, or simplified mesh models. This process can reduce the computational load of ray intersections while preserving the main occlusion geometry. For spray occlusion judgment, it is preferable to extend the outer contour of the occlusion object outward by 1mm to 3mm to create a safety margin. The reason for this margin is that actual spray droplets have a certain degree of diffusion and turbulence, and there are errors in visual recognition or 3D reconstruction; appropriately extending the occlusion object can reduce the probability of misjudging areas close to the occlusion boundary as having complete visibility, thus making the corrected coverage field more conservative and safe.

[0102] After obtaining the wipe accessibility parameters or spray accessibility parameters, compare them with the coverage parameters in S4. The data is merged to determine the corrected coverage level. For a unified representation, an reachability parameter is defined. :

[0103] in, Indicates the first The first material Uniform accessibility parameters for each surface region This indicates the wiping accessibility parameter. This represents the spray accessibility parameter. The corrected coverage level is expressed as:

[0104] in, Indicates the first The first material Correction coverage of each surface area This indicates the coverage obtained by S4. This represents the uniform accessibility parameter of the surface region. This fusion method ensures that a surface region will only achieve a higher level of corrected coverage if it simultaneously meets both the conditions of "trajectory coverage" and "spatial accessibility". If a surface region has a high level of trajectory coverage but low accessibility due to support contact or occlusion, its corrected coverage will be reduced accordingly.

[0105] After the corrected coverage level is determined, the surface areas are marked with their coverage status. Surface areas in S4 that have already been marked as low-coverage areas remain in a low-coverage state because their theoretical coverage is insufficient and they will not be improved to effective coverage through accessibility correction. For surface areas in S4 that have been marked as areas requiring coverage correction, the corrected coverage level is then determined... The system determines whether a region is in a state of effective or ineffective coverage. Since the preset coverage conditions in S4 have already selected areas with relatively sufficient theoretical coverage, the effective coverage threshold should not be too low, otherwise areas significantly affected by occlusion will be misjudged as effective; nor should it be too high, otherwise slight posture deviations or edge occlusions will cause large areas to be over-judged as ineffective. Based on this consideration, the effective coverage threshold is preferably set to 0.5 to 0.7, more preferably 0.6. This setting can accommodate the unavoidable slight trajectory deviations during manual operation while retaining the ability to identify significantly occluded, overlapping, and back-facing areas.

[0106] Specifically, no. The first material The coverage status of a surface region is represented as follows:

[0107] in, Indicates the first The first material The coverage status of each surface area Indicates effective coverage status. This indicates an invalid overwrite status. Indicates a low coverage status; This represents the set of low-coverage areas identified in S4. This represents the set of coverage areas to be corrected identified in S4. Indicates the degree of correction coverage. This indicates the effective coverage threshold. By using status flags, it's possible to distinguish between theoretically low coverage, invalid coverage due to occlusion, and actual effective coverage, providing different inputs for risk reduction.

[0108] The corrected coverage field is formed by the corrected coverage degree and coverage state of each surface region:

[0109] in, Indicates the first Correction coverage area for each material Indicates the first A surface area, This indicates the degree of correction coverage for that surface area. This indicates the coverage status of the surface area. This represents the total surface area of ​​the material. The modified cover field is a direct cover input for generating the residual contamination risk field, which further eliminates false covers caused by support contact, material orientation, and occlusion objects compared to the surface cover field in S4.

[0110] It should be noted that S5 does not change the geometry of the material's 3D surface model itself, but rather writes the corrected coverage degree and coverage state into the surface region set. After this processing, the spatial coordinates, surface orientation, initial contamination risk parameters, and corrected coverage data of the material surface region can be kept in the same data unit, which facilitates the direct fusion of the corrected coverage field with the contamination risk parameters to generate a residual contamination risk field.

[0111] S6: Using the pollution risk parameters of the modified coverage field and surface area as input, generate the residual pollution risk field and output the three-dimensional simulation results.

[0112] Furthermore, the output of the 3D simulation results includes: using the initial contamination risk parameters of each surface region in the 3D surface model of the material as the initial input of the risk field; using the corrected coverage degree and coverage status of each surface region in the corrected coverage field as the risk reduction input; using the transfer contact relationship of each surface region relative to the entrance of the clean area as the risk weight input; generating the residual contamination risk value of each surface region based on the initial input of the risk field, the risk reduction input, and the risk weight input; writing the residual contamination risk value into the corresponding surface region to form a residual contamination risk field based on the 3D surface model of the material; superimposing the residual contamination risk field onto the disinfection operation node or clean area entrance in the 3D spatial topology model of the building to form the 3D simulation display result; the 3D simulation display result presents the surface coverage distribution, spatial accessibility correction result, and residual contamination risk distribution; and outputting the 3D simulation judgment result of continuing material transfer, supplementary disinfection, or re-disinfection based on the relationship between the residual contamination risk distribution and the preset risk requirements.

[0113] It should be noted that one specific approach to generating a residual pollution risk field and outputting three-dimensional simulation results includes obtaining a corrected coverage field. Then, the initial contamination risk parameters of each surface region in the three-dimensional surface model of the material were used. As the initial input to the risk field, to correct the degree of correction coverage in the coverage field. and coverage status As a risk reduction input, and with the transfer contact relationship of each surface area relative to the entrance of the clean area as a risk weight input, a residual contamination risk field is generated.

[0114] In this embodiment, the initial input to the risk field uses the initial pollution risk parameters obtained in S2. This parameter incorporates risks from the material's source region, historical contact risks, support contact ratios, and material surface risks. (Coverage adjustment) Used to indicate the actual coverage level of the surface area after taking into account occlusion and accessibility; coverage status. This is used to distinguish between effective coverage, ineffective coverage, and low coverage. Although ineffective coverage and low coverage manifest differently, both can lead to residual contamination, therefore they should be treated differently from effective coverage areas during risk reduction.

[0115] To incorporate coverage status into risk reduction, this embodiment constructs a coverage reduction coefficient. For the... The first material For each surface region, the coverage reduction factor is expressed as:

[0116] in, Indicates the first The first material Coverage reduction factor for each surface area This represents the risk reduction intensity coefficient under effective coverage conditions. This represents the weak reduction factor under invalid coverage conditions, and ; This indicates the degree of correction coverage for that surface area. Indicates effective coverage status. This indicates an invalid overwrite status. This indicates a low coverage state. For areas with effective coverage, the higher the correction level, the more significant the risk reduction; for areas with ineffective coverage, even if there is some trajectory coverage, the reduction is limited due to obstruction or inaccessibility; for low coverage areas, no risk reduction is performed or only very weak reduction is performed in other implementations.

[0117] The setting of the risk reduction intensity coefficient needs to balance the actual contribution of the disinfection action with the safety of the simulation. If... If the value is too high, even a small amount of coverage may result in an excessively low residual risk, potentially leading to an underestimation of insufficiently disinfected areas; conversely, if the value is too low, the distinction between effectively covered and ineffectively covered areas will be unclear. Based on engineering experience that wiping or spraying disinfection typically reduces the risk of contamination in effectively treated areas, the preferred method is... Set to 0.6 to 0.9. For invalid coverage areas, since they may have theoretically similar trajectories but insufficient actual effectiveness, they should not be completely considered disinfected. It is preferable to set [the value] to 0.6 to 0.9. Set it to 0 to 0.2. This setting reflects the risk reduction effect of effective disinfection while avoiding overly optimistic risk reduction in areas with obstruction or low coverage.

[0118] Furthermore, considering the different subsequent contact relationships of different surface areas after materials enter the clean area entrance, some surface areas will be touched again by personnel, some will come into contact with workbenches, process equipment, or the inner surfaces of transfer windows, while others will only exist as non-contact exposed surfaces. If residual contamination risk is generated solely based on initial risk and coverage level, it is difficult to reflect the differences in the impact of the same contamination level under different subsequent contact scenarios. Therefore, this embodiment sets a transfer contact weight for each surface area.

[0119] Let the first The first material The transfer contact weight of each surface region is The weighting is determined by the contact relationship between the surface area and the entrance to the clean area. Preferably, if a surface area will come into contact with personnel gloves, clean benches, process contact surfaces, or other materials after entering the clean area, it is assigned a higher weight; if the surface area is only a non-contact exposed surface, it is assigned a lower weight. This embodiment uses contact event records or a preset transfer posture table to generate the transfer contact weights:

[0120] in, Indicates the first The first material The transfer contact weight of each surface region A normalized marker indicating whether the surface area came into contact with personnel gloves after entering the clean area. A normalized marker indicating whether the surface area is in contact with the inner surface of a clean bench, process equipment, or pass-through window. Normalized markers indicating whether the surface area is near a critical exposure direction or a critical operational area. , , These represent the weight increments for personnel contact, equipment / workbench contact, and critical exposure directions, respectively. , , It can be obtained from access control records, operating SOPs, robot handling trajectories, transfer posture tables, or manual configuration, and the value can be a normalized value between 0 and 1.

[0121] Regarding the weighting of transfer contacts, this embodiment does not assign the same weight to all contact surfaces, but distinguishes between personnel contact, equipment / workbench contact, and critical exposure directions. This is because personnel glove contact may pose a risk of re-transferring contamination, contact with process equipment or clean benches may allow contamination to enter subsequent process interfaces, and critical exposure directions may affect localized contamination exposure within the clean area. Preferably, , , These values ​​can be set to between 0.1 and 0.5, with the sum of the three not exceeding 1.0. This setting enhances the risk weights on top of the base risk, preventing a single exposure factor from completely dominating the residual contamination risk value.

[0122] Based on the initial contamination risk parameters, coverage reduction coefficient, and transshipment contact weight, residual contamination risk values ​​are generated for each surface region:

[0123] in, Indicates the first The first material The residual contamination risk value for each surface area This represents the initial contamination risk parameter for this surface area. Indicates the coverage reduction factor. This indicates the weight of transport contact. The risk generation logic is as follows: the higher the initial contamination risk, the higher the residual risk; the higher the degree of coverage and the more effective the coverage, the lower the residual risk; after entering the clean area, contact with critical objects or surface areas in critical exposure relationships will result in a higher residual risk weight, even if the initial risk is the same.

[0124] To avoid the risk value exceeding the preset range due to weight enhancement, a preferred embodiment can be used to normalize the residual pollution risk value:

[0125] in, This represents the normalized residual pollution risk value. This represents the residual pollution risk value before normalization. If a risk scale between 0 and 1 is used, this normalization process can ensure the stability of the risk field output range; if other risk level scales are used, equivalent mapping can also be performed according to the corresponding scale.

[0126] The residual contamination risk field is formed by the residual contamination risk values ​​of each surface area:

[0127] in, Indicates the first The risk of residual contamination from individual materials. Indicates the first The first material A surface area, This indicates the normalized residual contamination risk value for this surface area. This represents the total number of surface areas of the material. The residual contamination risk field uses a three-dimensional surface model of the material as a carrier, writing the risk value of each surface area into the corresponding surface area, so that the risk distribution can be directly presented on the three-dimensional model.

[0128] When outputting the 3D simulation results, the residual pollution risk field will be included. Disinfection operation nodes or clean area entrances are superimposed onto the 3D spatial topology model of the building. If used to guide operators in replenishing disinfection, it is preferable to display the risk field at the disinfection operation node, allowing operators to directly see the surface areas requiring additional wiping or adjustment of spray direction. If used to determine whether materials are permitted to enter the next clean area, it is preferable to display the risk field and transfer determination results at the clean area entrance. The 3D simulation display results can simultaneously present surface coverage distribution, spatial accessibility correction results, and residual contamination risk distribution. For example, the surface coverage distribution shows the coverage degree of each surface area. The spatial accessibility correction results show the degree of correction coverage. and coverage status The residual pollution risk distribution shows the normalized residual pollution risk value. .

[0129] To output a 3D simulation result indicating whether materials should continue to be transferred, require additional disinfection, or be re-disinfected, this embodiment determines the outcome based on the relationship between the residual contamination risk distribution and preset risk requirements. Let the preset risk requirements be... And set the key surface regions as Among them, the set of key surface regions The determination process includes: first, determining the surface areas based on the preset transfer posture, handling method, and placement method of the materials after entering the clean area. Will there be direct contact with personnel gloves, transport vehicles, clean benches, process equipment surfaces, or other materials? Then, based on the exposure direction of the materials after entering the clean area, determine the surface areas... Whether it faces a critical operating area, aseptic operating area, or high-cleanliness airflow protection zone; then mark the surface areas with direct contact relationships or critical exposure relationships as critical surface areas and add them to the critical surface area set. In one implementation, the clamping surface that contacts the personnel's gloves, the bottom surface that contacts the clean workbench or tray, the operating surface that contacts the process equipment, and the exposed surface facing the critical airflow direction into the clean area can be identified as critical surface areas. Surface areas that are only briefly exposed during transport and do not participate in subsequent contact are not included in the set of critical surface areas. The determination rule is expressed as follows:

[0130] in, Indicates the first The three-dimensional simulation results of the material. This indicates that continued transshipment is permitted. This indicates that additional disinfection is needed. This indicates that re-disinfection is required; Indicates the first A collection of key surface areas of a material. This indicates the number of surface regions in the set. This represents the normalized residual pollution risk value. This represents the risk threshold for a single critical surface area. This indicates the average risk threshold for critical surface areas. This determination method considers both individual high-risk points and the overall average risk, avoiding the concealment of local high-risk areas simply because the average value is low, and also avoiding the direct requirement for the entire material to be re-sterilized just because a few edge areas slightly exceed the limit.

[0131] Regarding the setting of preset risk thresholds, this embodiment preferably sets them according to the cleanliness level of the area and the intended use of the material. If the material is about to enter a higher cleanliness level area or a critical operation area, and A lower value should be used; if the material only enters a general clean auxiliary area, a relatively higher value can be used. Preferably, It can be set to 0.30 to 0.50. It can be set to 0.20 to 0.40, and Not greater than The reason for this setting is that a single critical high-risk surface area may lead to localized contamination, so the allowable single-point risk should not be too high; while the average risk, used to characterize the overall level of contamination residue, should be more conservative. By distinguishing between single-point thresholds and average thresholds, the output can focus on both local risk and overall disinfection adequacy.

[0132] It should be noted that the 3D simulation results output by S6 are not simply text prompts, but spatialized results bound to the 3D surface model of the material and the 3D spatial topology model of the building. These results include surface coverage distribution, corrected coverage distribution, residual contamination risk field, and transfer judgment results. Operators can perform supplementary wiping or adjust the spray direction based on high-risk surface areas in the 3D display; quality or validation personnel can trace the source of risk based on the residual contamination risk field; and operational suggestions for continued transfer, supplementary disinfection, or re-disinfection can be output at the entrance of the clean area based on the judgment results. In this way, this method forms a complete 3D simulation closed loop from building spatial topology modeling, material surface modeling, disinfection trajectory mapping, spatial accessibility correction to residual contamination risk output. This closed loop not only improves the visualization and traceability of disinfection validation, but also transforms the traditional qualitative assessment relying on experience into quantitative decision support based on the coupling of spatial location, surface characteristics, and disinfection parameters. All simulation data can be automatically compared with GMP compliance requirements, generating electronic records conforming to the ALCOA+ principle in real time, providing a solid data foundation for the aseptic assurance system.

[0133] This embodiment also provides a computer device applicable to the three-dimensional modeling and spatial simulation method for smart buildings, including: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the three-dimensional modeling and spatial simulation method for smart buildings as proposed in the above embodiment.

[0134] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0135] This embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements the three-dimensional modeling and spatial simulation method for intelligent buildings as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

Claims

1. A three-dimensional modeling and spatial simulation method for intelligent buildings, characterized in that, include: A three-dimensional spatial topology model of the building is established based on material transfer nodes, disinfection operation nodes, and clean area entrances to obtain a unified spatial coordinate basis. The geometric parameters of the material to be transferred are imported into a unified spatial coordinate system to establish a three-dimensional surface model of the material and obtain a set of surface regions. Based on the set of surface regions, the wiping trajectory or spray trajectory is obtained, and a disinfection trajectory model is generated that acts on the three-dimensional surface model of the material. The disinfection trajectory model is spatially mapped to a set of surface regions to generate a surface coverage field. By combining the material posture and the occluding object, the spatial accessibility of the surface cover field is corrected to generate a corrected cover field; Using the pollution risk parameters of the modified coverage field and surface area as input, a residual pollution risk field is generated and three-dimensional simulation results are output.

2. The three-dimensional modeling and spatial simulation method for smart buildings as described in claim 1, characterized in that: The establishment of the three-dimensional spatial topology model of the building includes, Material transfer nodes, disinfection operation nodes, and clean area entrances are arranged in a unified architectural coordinate system, and node connection edges are established according to spatial sequence. The building's three-dimensional spatial topology model consists of material transfer nodes, disinfection operation nodes, clean area entrances, and node connection edges. Material transfer nodes represent the transfer positions of materials in the building space, disinfection operation nodes represent the spatial positions where materials undergo surface disinfection simulation, and clean area entrances represent the transfer determination positions of materials after disinfection simulation is completed. The node connection edge defines the spatial path relationship of materials from the transfer location to the disinfection operation location, and then from the disinfection operation location to the entrance of the clean area. The disinfection operation node serves as a common spatial reference for the material's three-dimensional surface model and the disinfection trajectory model, enabling the material surface area and the disinfection trajectory to be mapped in the same coordinate system. A data association is established between the clean area entrance and the disinfection operation node, so that the corrected coverage field and residual contamination risk field formed at the disinfection operation node are transmitted to the clean area entrance to participate in the transfer judgment. A unified spatial coordinate system is output through a three-dimensional spatial topology model of the building.

3. The three-dimensional modeling and spatial simulation method for smart buildings as described in claim 2, characterized in that: The establishment of the three-dimensional surface model of the material includes, Using a unified spatial coordinate system and disinfection operation nodes as the modeling benchmark, the geometric parameters of the materials to be transferred are converted into material geometry in the three-dimensional spatial topology model of the building. The outer surface of the material geometry is discretized to form different independently identifiable surface regions, and the different surface regions constitute a set of surface regions; Each surface area is configured with an area identifier, spatial coordinates, surface orientation, area extent, surface condition, and initial contamination risk parameters; Spatial coordinates represent the position of a surface region in the three-dimensional spatial topology model of the building; surface orientation represents the orientation relationship of the surface region relative to the wiping direction or spraying direction; and region extent represents the geometric range within which the surface region can be affected by the trajectory. The surface condition record records the spatial contact relationship between the surface area and the supporting or shading object, and the initial contamination risk parameters serve as the initial input for generating the residual contamination risk field; When the material's posture changes, the spatial coordinates, surface orientation, and surface state of the surface region set are updated synchronously with the material's posture. The three-dimensional surface model of the material outputs a set of surface regions, which serve as a spatial carrier for establishing the disinfection trajectory model and generating the surface coverage field.

4. The three-dimensional modeling and spatial simulation method for smart buildings as described in claim 3, characterized in that: The disinfection trajectory model includes, Based on the set of surface regions, obtain or generate wiping or spraying trajectories, and convert the wiping or spraying trajectories into three-dimensional trajectories under a unified architectural coordinate system; The wiping trajectory is composed of the position sequence of the wiping tool, the direction of movement, and the width of the wiping action zone. The spray trajectory consists of the spray initiation point, spray direction, and spray range, forming the spray action body. Wiping strips or spray bodies serve as spatial action units in the disinfection trajectory model; Establish a temporal association between the spatial action unit and the set of surface regions in the three-dimensional surface model of the material according to the trajectory time sequence; The temporal correlation records the sequential relationship of the effects of spatial action units on each surface area, and the spatial action unit records the range of the disinfection operation in three-dimensional space; When there is no spatial correspondence between a spatial action unit and a surface region in the set of surface regions, the corresponding spatial action unit is not written into the surface cover field; The disinfection trajectory model outputs trajectory correlation data between spatial action units and surface region sets.

5. The three-dimensional modeling and spatial simulation method for smart buildings as described in claim 4, characterized in that: The generated surface coverage field includes By using trajectory association data, the spatial action units in the disinfection trajectory model are mapped to the corresponding surface regions in the surface region set; The trajectory action range in each surface region is determined based on the geometric overlap between the spatial action unit and the surface region. The coverage degree of each surface region is obtained by the relative relationship between the range of the trajectory and the range of the corresponding surface region. For the coverage formed by the spray action, the orientation is corrected by combining the orientation relationship between the surface orientation of the surface area and the spray direction; The coverage degree of each surface region is written into the surface region set to form a surface coverage field with surface regions as units; The surface coverage field characterizes the spatial distribution of wiping or spraying trajectories on a three-dimensional surface model of a material. Surface areas whose coverage meets the preset coverage conditions are marked as coverage areas to be corrected, while surface areas whose coverage does not meet the preset coverage conditions are marked as low coverage areas.

6. The three-dimensional modeling and spatial simulation method for intelligent buildings as described in claim 5, characterized in that: The generation of the corrected coverage field includes, Construct a surface accessibility model based on material orientation, surface orientation, location of supporting objects, and location of occluding objects; Surface accessibility models characterize the accessibility relationships of spatial action units from the disinfection operation side to the coverage area to be modified; For the area to be corrected corresponding to the wiping action zone, wiping accessibility parameters are formed based on the contact relationship between the surface area and the supporting object, as well as the orientation relationship between the surface orientation and the wiping entry direction. For the coverage area to be corrected corresponding to the spray action body, spray accessibility parameters are formed based on the spatial visibility relationship between the spray start point, spray direction, the location of the obstructed object and the location of the surface area; By combining the wiping accessibility parameter or spray accessibility parameter with the coverage of the corresponding surface area, a modified coverage is formed; Low-coverage areas remain in a low-coverage state, while areas awaiting coverage correction will be either in a valid or invalid coverage state depending on the degree of coverage correction. The corrected coverage field is formed by the corrected coverage degree, effective coverage state, ineffective coverage state, and low coverage state of each surface region.

7. The three-dimensional modeling and spatial simulation method for intelligent buildings as described in claim 6, characterized in that: The output three-dimensional simulation results include, The initial contamination risk parameters of each surface region in the three-dimensional surface model of the material are used as the initial input of the risk field. The corrected coverage degree and coverage status of each surface region in the corrected coverage field are used as inputs for risk reduction. The transfer contact relationship of each surface area relative to the entrance of the clean area is used as the risk weight input; Based on the initial risk field input, risk reduction input, and risk weight input, residual pollution risk values ​​for each surface area are generated.

8. The three-dimensional modeling and spatial simulation method for intelligent buildings as described in claim 7, characterized in that: The output three-dimensional simulation results also include, The residual contamination risk value is written into the corresponding surface area to form a residual contamination risk field based on the three-dimensional surface model of the material. The residual pollution risk field is superimposed onto the disinfection operation node or clean area entrance in the three-dimensional spatial topology model of the building to form a three-dimensional simulation display result. The 3D simulation results show the surface coverage distribution, spatial accessibility correction results, and residual pollution risk distribution. Based on the relationship between the distribution of residual contamination risk and the preset risk requirements, the system outputs a three-dimensional simulation result to determine whether the material should continue to be transferred, supplemented with disinfection, or re-disinfected.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the three-dimensional modeling and spatial simulation method for intelligent buildings as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the three-dimensional modeling and spatial simulation method for intelligent buildings as described in any one of claims 1 to 8.

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