CN120027801B

CN120027801B - A path planning method and system based on medical laser disinfection

Info

Publication number: CN120027801B
Application number: CN202510494762.XA
Authority: CN
Inventors: 杨蕊; 冉天飞; 郑玲玲; 王�琦; 张治草; 覃晓鸣
Original assignee: Shenzhen Kbf Laser Technology Co ltd; Second Affiliated Hospital Army Medical University
Current assignee: Shenzhen Kbf Laser Technology Co ltd; Second Affiliated Hospital Army Medical University
Priority date: 2025-04-21
Filing date: 2025-04-21
Publication date: 2025-07-08
Anticipated expiration: 2045-04-21
Also published as: CN120027801A

Abstract

The invention relates to the field of laser disinfection path planning, in particular to a path planning method and system based on medical laser disinfection, comprising the following steps: constructing a laser disinfection map, acquiring an initial position and a final position of a laser disinfection robot, planning an initial disinfection path, acquiring an expansion ratio, acquiring a disinfection effect, judging whether the disinfection effect accords with a preset disinfection standard, adjusting initial disinfection parameters to obtain disinfection parameters if the disinfection effect does not accord with the disinfection standard, setting the laser disinfection robot to obtain a parameter-adjusting disinfection robot, continuously disinfecting according to the initial disinfection path if the disinfection effect accords with the disinfection standard, monitoring whether dynamic obstacles exist in the disinfection process in real time to obtain a monitoring result, acquiring the current position of the parameter-adjusting disinfection robot until the current position is the final position, and completing the path planning based on medical laser disinfection. The invention can improve the automation level and the disinfection quality of medical disinfection.

Description

Path planning method and system based on medical laser disinfection

Technical Field

The invention relates to the technical field of laser disinfection path planning, in particular to a path planning method and system based on medical laser disinfection.

Background

Medical laser disinfection is a technical means for killing or removing pathogenic microorganisms on the surfaces of medical environments, instruments, articles and the like by utilizing the characteristics of laser so as to achieve the aim of disinfection and sterilization. Path planning refers to the process of finding an optimal or feasible path from a starting point to a target point in a particular environment in order to accomplish a certain task.

The traditional disinfection method adopts chemical disinfectant for disinfection, the chemical disinfectant has stronger corrosiveness, and can damage medical equipment, instruments and building materials after long-term use, thereby shortening the service life of the medical equipment, instruments and building materials. Meanwhile, the traditional disinfection is performed manually, so that the efficiency is low, and the situation of disinfection omission is easy to occur. Therefore, how to improve the automation level and the disinfection quality of medical disinfection is a technical problem which needs to be solved urgently.

Disclosure of Invention

The invention provides a path planning method and a computer-readable storage medium based on medical laser disinfection, which mainly aim at improving the automation level and disinfection quality of medical disinfection and reducing the cost and human error.

In order to achieve the above object, the present invention provides a path planning method based on medical laser disinfection, including:

Determining a medical disinfection area, and constructing a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot;

Acquiring an initial position and a final position of a laser disinfection robot, and planning an initial disinfection path according to a laser disinfection map, the initial position and the final position;

receiving a starting instruction, acquiring an expansion proportion, and acquiring a disinfection effect based on the starting instruction, the expansion proportion, an initial disinfection path, preset initial disinfection parameters, a plurality of medical devices and a laser disinfection robot;

Judging whether the disinfection effect accords with a preset disinfection standard or not;

If the disinfection effect does not meet the disinfection standard, adjusting initial disinfection parameters to obtain disinfection parameters, setting a laser disinfection robot by using the disinfection parameters to obtain a parameter-adjusting disinfection robot, taking the parameter-adjusting disinfection robot as the laser disinfection robot, and returning to the step of acquiring the disinfection effect based on the starting instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the preset medical equipment and the laser disinfection robot;

If the disinfection effect meets the disinfection standard, continuously performing disinfection according to the initial disinfection path, and monitoring the disinfection process in real time to obtain a monitoring result, wherein the monitoring result comprises barrier data or barrier-free data;

if the monitoring result is obstacle data, re-planning an initial disinfection path to obtain an optimal disinfection path, and returning to the step of acquiring disinfection effects based on a starting instruction, an expansion proportion, the initial disinfection path, preset initial disinfection parameters, a plurality of medical devices and a laser disinfection robot;

And if the monitoring result is barrier-free data, returning to the step of continuously sterilizing according to the initial sterilizing path, acquiring the current position of the parameter-adjusting sterilizing robot in real time, and finishing path planning based on medical laser sterilization when the current position is the final position.

Optionally, the constructing a laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot includes:

constructing a blank medical area map based on a medical disinfection area, and dividing the blank medical area map to obtain a two-dimensional grid map, wherein the two-dimensional grid map comprises a plurality of pixels, and the pixel values of the pixels are 0, and the laser disinfection robot comprises a laser disinfection unit, laser radar equipment, a microorganism sensor and a panoramic vision sensor, wherein the medical disinfection area comprises a plurality of medical equipment;

shooting a medical disinfection area according to a panoramic vision sensor in the laser disinfection robot to obtain a medical picture set;

sequentially extracting a medical picture from the medical picture set, and executing the following operations on the extracted medical pictures:

Extracting target equipment from the medical picture, constructing a medical disinfection equipment database, and matching the target equipment with the medical disinfection equipment database to obtain a matching result file, wherein the matching result file comprises a plurality of matching results, and the matching results comprise matching or non-matching;

If the matching result in the matching result file is not matching, marking the target equipment as a static obstacle on the two-dimensional grid map, and assigning the pixel values of all pixels corresponding to the static obstacle in the two-dimensional grid map as 255 to obtain a first identification grid map;

If the matching result in the matching result file is matching, marking the target equipment as equipment to be disinfected on a two-dimensional grid map, and assigning the pixel values of all pixels corresponding to the equipment to be disinfected in the two-dimensional grid map to be 0 to obtain a second identification grid map;

Integrating the first identification grid map and the second identification grid map to obtain an identification grid map, and projecting all pixels with pixel values of 0 in the second identification grid map in the identification grid map to a pre-built target grid map to obtain a laser disinfection map.

Optionally, the constructing a blank medical area map based on the medical disinfection area, dividing the blank medical area map to obtain a two-dimensional grid map, includes:

acquiring the actual width and the actual height of the medical disinfection area, and constructing a rectangular coordinate system of the medical disinfection area according to the actual width and the actual height, wherein the rectangular coordinate system comprises a transverse axis and a longitudinal axis;

Calculating the maximum grid number of the transverse axis and the maximum grid number of the vertical axis according to the actual width, the actual height and the preset grid division size, wherein the calculation formula is as follows:

,

Wherein, the Representing the maximum number of grids on the horizontal axis,The actual width is indicated as such,The grid division size is indicated as such,Which represents the actual height of the floor and,Representing the maximum number of grids of the vertical axis,Representing an upward rounding calculation;

constructing a blank medical area map according to the maximum grid number of the horizontal axis and the maximum grid number of the vertical axis, and dividing the blank medical area map according to the grid dividing size to obtain a grid set, wherein the grid set comprises a plurality of grids, each grid corresponds to one coordinate, and the blank medical area map is a two-dimensional plane map;

the following is performed for each grid in the grid set:

Calculating a grid number according to the grid, wherein the calculation formula for calculating the grid number is as follows:

,

Wherein, the The number of the grid is indicated,The abscissa of the grid is indicated,The ordinate of the grid is indicated,Representing coordinates corresponding to the grid;

Summarizing the grid numbers to obtain a grid number set corresponding to the grid set, and confirming the two-dimensional grid map according to the grid number set.

Optionally, the constructing a medical disinfection device database, matching the target device with the medical disinfection device database to obtain a matching result file, includes:

Acquiring a disinfection equipment picture set, and executing information labeling operation on each disinfection equipment picture in the disinfection equipment picture set to obtain an identification equipment picture set;

constructing a medical disinfection equipment database based on the identification equipment picture set, sequentially extracting identification equipment pictures from the medical disinfection equipment database, and executing the following operations on the extracted identification equipment pictures:

Extracting target matching equipment from the identification equipment picture, acquiring a first feature vector of the target equipment and a second feature vector of the target matching equipment, and acquiring a matching point set according to the first feature vector and the second feature vector;

calculating Euclidean distance of each matching point in the matching point set to obtain a Euclidean distance set, sequentially extracting one Euclidean distance from the Euclidean distance set, and executing the following operations on the extracted Euclidean distances:

Extracting the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain an adjacent distance, and acquiring an effective distance threshold according to a preset distance proportion and the adjacent distance;

Comparing the Euclidean distance to a valid distance threshold;

if the Euclidean distance is smaller than the effective distance threshold, taking a matching point corresponding to the Euclidean distance smaller than the effective distance threshold as an effective matching point;

Evaluating the uniformity of the effective matching points by using a pre-constructed clustering algorithm to obtain uniform weights, and calculating confidence coefficients according to the uniform weights and Euclidean distances corresponding to the effective matching points;

Collecting confidence coefficient and effective matching points respectively to obtain a confidence coefficient set and an effective matching point set corresponding to the Euclidean distance set, and calculating the similarity between the target matching equipment and the target equipment according to the confidence coefficient set and the effective matching point set;

If the similarity is larger than a preset similarity threshold, confirming the matching result of the target equipment corresponding to the similarity larger than the preset similarity threshold and the target matching equipment as the matching;

If the similarity is smaller than or equal to a preset similarity threshold, confirming that the matching result of the target equipment corresponding to the similarity smaller than or equal to the preset similarity threshold and the target matching equipment is not matched, and returning to the step of sequentially extracting the identification equipment pictures from the medical disinfection equipment database;

Summarizing the matching result to obtain a matching result file.

Optionally, the calculating the similarity between the target matching device and the target device according to the confidence coefficient set and the valid matching point set includes:

And calculating the similarity between the target matching equipment and the target equipment according to the matching point set, the effective matching point set and the confidence coefficient set, wherein the calculation formula of the similarity is as follows:

,

Wherein, the The degree of similarity is indicated and,Representing the number of valid sets of matching points,Representing the number of sets of matching points,Representing a preset confidence weight coefficient,Indicating a preset distance decay factor,Represent the firstEuclidean distance of each valid matching point,Represent the firstThe confidence of the individual valid matching points,Representing natural constants.

Optionally, the obtaining the expansion ratio includes:

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

Calculating the sum of the diagonal length of the airframe and the diagonal length of the obstacle to obtain a comprehensive diagonal value, and calculating a dimension safety distance based on the comprehensive diagonal value, wherein the dimension safety distance is one half of the comprehensive diagonal value;

Calculating the product of the maximum speed and the reaction time to obtain a dynamic safety distance, and obtaining a motion safety distance according to the maximum speed and the braking distance;

acquiring a safety distance based on the size safety distance, the dynamic safety distance and the motion safety distance, wherein the safety distance is the largest distance among the size safety distance, the dynamic safety distance and the motion safety distance;

the expansion ratio is calculated based on the safe distance and the grid division size.

Optionally, the obtaining the disinfection effect based on the start command, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the preset plurality of medical devices and the laser disinfection robot includes:

the following operations are performed for each of the plurality of medical devices:

Detecting the microorganism density of the medical equipment by using the microorganism sensor, and comparing the microorganism density with a preset first microorganism density and a preset second microorganism density, wherein the first microorganism density is larger than the second microorganism density;

If the microorganism density is greater than the second microorganism density and the microorganism density is less than or equal to the first microorganism density, adjusting the laser disinfection unit by utilizing a preset middle-grade laser disinfection to obtain a middle-grade laser disinfection unit, wherein the laser disinfection unit comprises a telescopic rod;

acquiring the medical height of the medical equipment, adjusting the length of the telescopic rod according to the medical height to obtain an adjustment height, and sterilizing the medical equipment by using a middle-grade laser sterilization unit and the adjustment height to obtain a first sterilization effect;

If the microorganism density is less than or equal to the second microorganism density, acquiring a second disinfection effect based on a preset low-grade laser disinfection and laser disinfection unit and medical equipment;

If the microorganism density is greater than the first microorganism density, acquiring a third disinfection effect based on a preset high-grade laser disinfection and laser disinfection unit and medical equipment;

the first sterilizing effect or the second sterilizing effect or the third sterilizing effect is taken as a sterilizing effect.

Optionally, utilize middle grade laser disinfection unit and timing height to disinfect medical equipment, obtain first disinfection effect, include:

Acquiring a laser irradiation area, a middle-grade laser power and a middle-grade laser irradiation time according to a middle-grade laser disinfection unit, and acquiring a disinfection area coverage according to a regulation height;

calculating a first disinfection effect of the medical equipment according to the coverage of the disinfection area, the middle-grade laser power, the irradiation time of the middle-grade laser and the adjustment height, wherein the calculation formula of the first disinfection effect is as follows:

,

Wherein, the A first disinfection effect is indicated, which is to say,The laser power of the middle-grade laser is shown,The irradiation time of the middle-grade laser is shown,Indicating the absorption rate of the preset medical device,Indicating the reflectivity of the preset medical device,Indicating a preset microbial sterilization threshold value,The laser irradiation area is shown as a laser irradiation area,Which is indicative of a preset ambient temperature, and,Indicating the preset humidity of the environment to be protected,Indicating the adjustment height of the device,Indicating the extent of coverage of the disinfection area,Representing an exponential function.

Optionally, the real-time monitoring the disinfection process to obtain a monitoring result includes:

Starting laser radar equipment, acquiring laser point cloud data of a medical disinfection area by using the started laser radar equipment, denoising the laser point cloud data to obtain denoising point cloud data, and taking the denoising point cloud data as a reference frame;

acquiring current laser point cloud data, denoising the current laser point cloud data to obtain denoised current point cloud data, and taking the denoised current point cloud data as a current frame;

Performing point cloud data displacement comparison operation on the reference frame and the current frame by using a pre-constructed point cloud registration algorithm to obtain a displacement distance set, and judging whether a displacement distance greater than a preset displacement distance threshold exists in the displacement distance set;

If the displacement distance set has the displacement distance larger than the preset displacement distance threshold value, confirming the displacement distance as an abnormal displacement distance, and summarizing the abnormal displacement distance to obtain an abnormal displacement distance set;

Calculating the abnormal number of the abnormal displacement distance set, and if the abnormal number is larger than the preset standard displacement distance number, marking the current frame corresponding to the abnormal number larger than the preset standard displacement distance number as data with dynamic barriers to obtain barrier data;

Otherwise, marking the current frame corresponding to the abnormal number smaller than or equal to the preset standard displacement distance number as data without dynamic obstacle, and obtaining barrier-free data;

And confirming the obstacle data or the no-obstacle data as a monitoring result.

In order to achieve the above object, the present invention further provides a path planning system based on medical laser disinfection, comprising:

The disinfection map construction module is used for determining a medical disinfection area and constructing a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot;

the disinfection path planning module is used for acquiring the initial position and the final position of the laser disinfection robot and planning an initial disinfection path according to the laser disinfection map, the initial position and the final position;

The disinfection effect evaluation module is used for receiving a starting instruction, acquiring an expansion proportion, acquiring disinfection effects based on the starting instruction, the expansion proportion, an initial disinfection path, preset initial disinfection parameters, a plurality of medical devices and laser disinfection robots, judging whether the disinfection effects meet preset disinfection standards, if the disinfection effects do not meet the disinfection standards, adjusting the initial disinfection parameters to obtain the disinfection parameters, setting the laser disinfection robots by using the disinfection parameters to obtain the parameter-adjusting disinfection robots, taking the parameter-adjusting disinfection robots as the laser disinfection robots, and returning to the step of acquiring the disinfection effects based on the starting instruction, the expansion proportion, the initial disinfection path, the preset initial disinfection parameters, the preset plurality of medical devices and the laser disinfection robots, if the disinfection effects meet the disinfection standards, continuously carrying out disinfection according to the initial disinfection paths, and monitoring the disinfection processes in real time to obtain monitoring results, wherein the monitoring results comprise barrier data or barrier-free data;

The disinfection path adjusting module is used for re-planning an initial disinfection path to obtain an optimal disinfection path if the monitoring result is obstacle data, returning the optimal disinfection path to the step of acquiring disinfection effects based on the starting instruction, the expansion proportion, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical equipment and the laser disinfection robot, returning the step of continuously carrying out disinfection according to the initial disinfection path if the monitoring result is no obstacle data, acquiring the current position of the parameter-adjusting disinfection robot in real time, and finishing the path planning based on medical laser disinfection when the current position is the final position.

In order to solve the above-mentioned problems, the present invention also provides an electronic apparatus including:

a memory storing at least one instruction;

And the processor executes the instructions stored in the memory to realize the path planning method based on medical laser disinfection.

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

The invention is to solve the problem stated in the background art, the invention constructs the laser disinfection map by confirming the medical disinfection area, constructing the laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot, the invention definitely confirms the medical disinfection area, then constructs the laser disinfection map, enables the disinfection robot to clearly know the scope to be disinfected, ensures the whole medical area to be covered, avoids the occurrence of disinfection dead angles, furthest reduces pathogenic microorganism residues, obtains the initial position and the final position of the laser disinfection robot, plans the initial disinfection path according to the laser disinfection map, the initial position and the final position, obtains the initial position and the final position, can confirm clear task boundary for the disinfection robot, ensures the disinfection process target to be definite, avoids the blind movement of the robot, improves the disinfection efficiency, receives the starting instruction, obtains the expansion proportion, and is based on the starting instruction, The invention introduces the expansion ratio to make the disinfection range have certain flexibility, can adjust the expansion ratio according to the actual situation, thus enlarge or reduce the disinfection range to achieve better disinfection effect, meanwhile, combine the original disinfection path, the preset original disinfection parameter, the plurality of medical devices and the laser disinfection robot to obtain disinfection effect, and the like, can comprehensively and objectively evaluate whether the disinfection process reaches the preset disinfection standard, avoid inaccurate disinfection effect evaluation caused by the deviation of single factor, judge whether the disinfection effect accords with the preset disinfection standard, ensure that the disinfection process meets the specified quality requirement by judging whether the disinfection effect accords with the standard, effectively reduce the risk of hospital infection, if the disinfection effect does not accord with the disinfection standard, adjust the original disinfection parameter to obtain the disinfection parameter, set the laser disinfection robot by using the disinfection parameter to obtain the parameter-adjusting disinfection robot, take the parameter-adjusting disinfection robot as the laser disinfection robot, return the starting instruction-based disinfection robot, expansion ratio, initial disinfection path, preset initial disinfection parameters, The invention discloses a method for obtaining disinfection effects of a plurality of medical equipment and a laser disinfection robot, which comprises the steps of when the disinfection effects are not up to standard, enabling the disinfection robot to adaptively optimize according to actual conditions by adjusting initial disinfection parameters, continuously trying to find a more proper disinfection parameter combination so as to reach preset disinfection standards, continuously disinfecting according to an initial disinfection path if the disinfection effects are up to the disinfection standards, and monitoring the disinfection process in real time to obtain monitoring results, wherein the monitoring results comprise barrier data or barrier-free data, and continuously disinfecting according to the initial disinfection path under the condition that the disinfection effects are up to the standards, so that the continuity and stability of the disinfection process can be ensured, the whole disinfection area can be fully disinfected, if the monitoring results are barrier data, re-planning the initial disinfection path to obtain an optimal disinfection path, taking the optimal disinfection path as the initial disinfection path, and returning the optimal disinfection path to the starting instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, When a dynamic obstacle is detected, the path is re-planned to enable the sterilizing robot to avoid the obstacle in time and continue to complete the sterilizing process, the path delay and efficiency loss caused by the obstacle can be reduced as much as possible on the premise of guaranteeing the sterilizing effect by searching the optimal sterilizing path, if no obstacle data is detected, the step of continuously sterilizing according to the initial sterilizing path is returned, the current position of the parameter-adjusting sterilizing robot is obtained in real time, and when the current position is the final position, the path planning based on medical laser sterilizing is completed. Therefore, the invention can improve the automation level and the disinfection quality of medical disinfection and reduce the labor cost and human error.

Drawings

Fig. 1 is a flow chart of a path planning method based on medical laser disinfection according to an embodiment of the invention;

FIG. 2 is a functional block diagram of a path planning system based on medical laser disinfection according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device for implementing the path planning method based on medical laser disinfection according to an embodiment of the present invention.

Reference numerals illustrate:

1. Electronic equipment 10, a processor 11, a memory 12 and a bus.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The embodiment of the application provides a path planning method based on medical laser disinfection. The execution subject of the path planning method based on medical laser disinfection includes, but is not limited to, at least one of a server, a terminal, and the like, which can be configured to execute the method provided by the embodiment of the application. In other words, the path planning method based on medical laser disinfection may be performed by software or hardware installed in a terminal device or a server device, and the software may be a blockchain platform. The server side comprises, but is not limited to, a single server, a server cluster, a cloud server or a cloud server cluster and the like.

Referring to fig. 1, a flow chart of a path planning method based on medical laser disinfection according to an embodiment of the invention is shown. In this embodiment, the path planning method based on medical laser disinfection includes:

S1, determining a medical disinfection area, and constructing a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot.

In detail, the construction of the laser disinfection map according to the medical disinfection area and the pre-constructed laser disinfection robot comprises the following steps:

It should be explained that the laser sterilizing unit is a unit for realizing a sterilizing function. A lidar device refers to a device that acquires surrounding information by emitting a laser beam and measuring a time difference of reflected light. The laser radar device provides accurate spatial information of surrounding environment for the laser disinfection robot, and helps the robot identify the position, shape and distance of obstacles (such as medical equipment, walls, tables and chairs and the like). A microbial sensor refers to a sensor that is capable of detecting the presence and quantity of microorganisms in an environment. The microbial sensor provided by the embodiment of the invention can feed back the disinfection effect in the disinfection process, help a robot judge which areas are not thoroughly disinfected and need to be disinfected again, and can dynamically adjust the disinfection parameters of the laser disinfection unit according to the information provided by the microbial sensor, thereby improving the pertinence and the effectiveness of disinfection. A panoramic vision sensor refers to a sensor capable of acquiring panoramic images of the surrounding environment. Medical devices refer to various instruments, appliances, devices, materials, etc. used in the medical field, including diagnostic devices (e.g., X-ray machines, ultrasonic diagnostic devices, etc.), therapeutic devices (e.g., laser therapeutic devices, respiratory devices, etc.), monitoring devices (e.g., electrocardiographic monitors, blood pressure monitors, etc.), and auxiliary devices (e.g., operating tables, hospital beds, etc.).

It should be noted that the medical sterilization area refers to a medical space area where a sterilization process is required. For example, the medical sterilization area is an operating room, a ward, or the like. The blank map of the medical treatment area refers to a two-dimensional planar map constructed based on the medical disinfection area, which now does not contain specific equipment and obstacles within the area. The two-dimensional grid map is a map obtained by dividing a blank medical region map, and is a gray-scale image. The medical picture set refers to a set of medical pictures obtained by shooting a medical sterilization area by using a panoramic vision sensor in the laser sterilization robot. The step of extracting the target device from the medical picture is the prior art, and is not described herein. The target device refers to an image of a specific device extracted from a medical picture through image recognition. For example, there is an image of the operating table in the medical picture, and the sheetlet extracts the image of the operating table from the medical picture, which is the target device.

It is understood that static obstructions refer to those objects that are relatively stationary and do not move in the medical sterilization area. The first identification grid map is a map obtained by marking static obstacles on a two-dimensional grid map after the target device is determined to be the static obstacle when the target device is not matched with the medical disinfection device database. The sterilization-required device refers to a device when a target device extracted from a medical picture matches with a medical sterilization device database. The second identification grid map is a map obtained by marking equipment to be sterilized on a two-dimensional grid map. The identification grid map is a map obtained by integrating all static barriers and marking information of equipment to be sterilized after the first identification grid map and the second identification grid map are summarized, can completely present the distribution condition of different types of objects in a medical sterilization area, and provides comprehensive basic data for the follow-up construction of a laser sterilization map. The target grid map refers to a map for receiving the marking information in the identification grid map.

In detail, the constructing a blank medical area map based on the medical disinfection area, dividing the blank medical area map to obtain a two-dimensional grid map, includes:

,

the following is performed for each grid in the grid set:

,

It should be noted that, the acquiring the actual width and the actual height of the medical sterilization area refers to acquiring the actual width and the actual height of the medical sterilization area through a building drawing of the medical sterilization area, and confirming the direction of the actual width and the actual height by taking a picture obtained by the medical sterilization area shot by the laser sterilization robot as a reference. For example, the position of the camera of the laser disinfection robot is set to simulate human eyes, so when the laser disinfection robot shoots an operating room with pictures obtained from a medical disinfection area shot by the laser disinfection robot as a point, the laser disinfection robot shoots the operating room with walls with two sides perpendicular to the ground, the walls with the two sides perpendicular to the ground are parallel to each other, the straight line distance between the walls with the two sides perpendicular to the ground is confirmed to be 6 meters according to the building drawing of the medical disinfection area, the vertical distance from the ground to the ceiling of the operating room is 3.5 meters, at this time, the 6 meters are the actual width, and the 3.5 meters are the actual height. The method for constructing the rectangular coordinate system of the medical disinfection area comprises the steps of taking the lower left corner corresponding to a picture obtained by the medical disinfection area shot by a laser disinfection robot as an origin, taking the vertical axis as the vertical axis which is upward (for example, the direction from the floor to the ceiling of the operating room) as the vertical origin, and taking the horizontal axis as the horizontal axis which is rightward (for example, the direction parallel to the floor of the operating room) to construct the rectangular coordinate system. The maximum number of grids on the horizontal axis refers to the maximum number of grids that can be divided on the horizontal axis according to a preset grid division size. The maximum number of grids of the vertical axis means the maximum number of grids that can be divided on the vertical axis according to a preset grid division size. The grid division size refers to a size set in advance for dividing the medical sterilization area into grids. The grid set refers to a set of all grids obtained by dividing the blank medical area map according to the grid division size. The grid number refers to a unique number assigned to each grid for convenience in identifying and managing each grid in the grid set.

In detail, the constructing a medical disinfection device database, matching the target device with the medical disinfection device database to obtain a matching result file, includes:

Comparing the Euclidean distance to a valid distance threshold;

Summarizing the matching result to obtain a matching result file.

It should be explained that the disinfection device picture set refers to a set including various types of medical disinfection device pictures. The information labeling operation refers to an operation of adding related identification information to each sterilizing equipment picture in the sterilizing equipment picture set. For example, the identification information is a brand, model, key features, etc. The information labeling operation of the embodiment of the invention aims to make the equipment information in the disinfection equipment picture more clear and identifiable, and is convenient for subsequent database construction and matching operation. The identification device picture set refers to a set composed of all identification device pictures. The first feature vector refers to a set of feature values extracted from the target device. The second feature vector refers to a set of feature values extracted from the target matching device in the identification device picture extracted from the medical disinfection device database. The step of obtaining the matching point set according to the first feature vector and the second feature vector is to compare the first feature vector and the second feature vector by using a feature matching algorithm, so as to obtain the matching point set, wherein the matching point is the same element position in the first feature vector and the second feature vector. For example, the feature matching algorithm is nearest neighbor matching, RANSAC, etc. The euclidean distance set refers to a set consisting of all euclidean distances.

Illustratively, the first feature vector is: The second feature vector is: extracting a row of eigenvalues from the first eigenvector , wherein,1 And in (1)1.1 Of the first feature vector is a matching point, and the first element position of the first line in the first feature vector and the second feature vector is calculated by using Euclidean distance formula to calculate the feature value of the line and the feature value of each line in the second feature vector to obtain Euclidean distance as followsExtracting the second and third lines of feature values from the first feature vector in turn, performing Euclidean calculation on the second and third lines of feature values and each line of feature values in the second feature vector to obtain Euclidean distance set asSequentially extracting one Euclidean distance from the Euclidean distance set, if the extracted Euclidean distance isExtracting andAdjacent Euclidean distanceI.e.Is the proximity distance.

It is understood that the adjacent distance refers to the next euclidean distance adjacent to the distance after sequentially extracting one euclidean distance from the euclidean distance group. For example, euclidean distance set isWhen the Euclidean distance is extracted from the Euclidean distance setWhen the adjacent distance is. The distance ratio refers to a preset ratio value for calculating an effective distance threshold value according to the adjacent distance. The effective distance threshold is a distance threshold obtained according to a preset distance proportion and a preset adjacent distance. The valid matching point is a matching point whose euclidean distance is smaller than the valid distance threshold when comparing the euclidean distance to the valid distance threshold. The clustering algorithm refers to an algorithm for evaluating the uniformity of the set of valid matching points. For example, the clustering algorithm is a K-Means algorithm, a DBSCAN algorithm, or the like. The uniform weight is a weight value obtained after the uniformity of the effective matching point set is evaluated by using a clustering algorithm, and reflects the uniformity degree of the effective matching points on the spatial distribution, and the more uniform the effective matching points are spatially distributed, the higher the uniform weight is. Confidence is a measure of the confidence of a match between a target matching device and a target device. The higher the uniformity weight, the smaller the Euclidean distance, the higher the confidence. Confidence set refers to the set of all confidence levels.

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

,

Wherein, the Represent the firstThe uniform weights of the valid matching points.

In detail, the calculating the similarity between the target matching device and the target device according to the confidence coefficient set and the effective matching point set includes:

,

It should be explained that the confidence coefficient is a preset coefficient for adjusting the influence degree of the confidence coefficient in the whole calculation process when calculating the similarity between the target matching device and the target device. The smaller the confidence weight coefficient, the less the confidence affects in the similarity calculation. The distance decay factor is a preset factor for controlling the decay rate of the confidence level as a function of euclidean distance. The greater the distance decay coefficient, the faster the decay rate of the confidence level as a function of Euclidean distance.

S2, acquiring an initial position and a final position of the laser disinfection robot, and planning an initial disinfection path according to the laser disinfection map, the initial position and the final position.

It should be explained that the step of obtaining the initial position of the laser sterilization robot means obtaining the initial position by using a positioning system of the laser sterilization robot. The final position refers to a final position of the robot specified by the operator. The step of planning the initial disinfection path according to the laser disinfection map, the initial position and the final position comprises the steps of generating an initial path according to the laser disinfection map, the initial position and the final position by utilizing an A-type algorithm, and optimizing the initial path by utilizing a simulated annealing optimization algorithm to obtain a collision-free optimal path from a starting point to an end point. The a-algorithm and the simulated annealing optimization algorithm in the embodiments of the present invention are related art, and are not described herein.

S3, receiving a starting instruction, acquiring an expansion ratio, and acquiring a sterilization effect based on the starting instruction, the expansion ratio, an initial sterilization path, preset initial sterilization parameters, a plurality of medical devices and the laser sterilization robot.

It should be explained that the start instruction refers to an instruction issued by an operator to start the sterilization workflow of the laser sterilization robot.

In detail, the obtaining the expansion ratio includes:

It should be explained that the obtaining of the maximum speed, the reaction time, the braking distance, the machine body width and the machine body length of the laser disinfection robot means obtaining the maximum speed, the reaction time, the braking distance, the machine body width and the machine body length through a design drawing or a product technical document of the laser disinfection robot. The calculation formula of the diagonal length of the airframe in the step of obtaining the diagonal length of the airframe according to the airframe width and the airframe length is as follows:

,

Wherein, the Representing the length of the diagonal of the fuselage,Representing the width of the fuselage,Representing the fuselage length.

It should be noted that, the method for obtaining the diagonal length of the obstacle is the same as the method for obtaining the diagonal length of the airframe according to the airframe width and the airframe length, and will not be described herein. The integrated diagonal value is a value obtained by adding the calculated diagonal length of the fuselage and the diagonal length of the obstacle. The dimension safety distance is used for ensuring that the laser disinfection robot has a space interval with the obstacle during operation. The dynamic safe distance is a value obtained by calculating the product of the maximum speed and the reaction time. The motion safety distance refers to a distance travelled by the robot from the start of braking to the complete stop. The calculation formula in the step of calculating the expansion ratio based on the safe distance and the grid division size is as follows:

,

Wherein, the The expansion ratio is indicated by the expression,Indicating a safe distance.

In detail, the method for obtaining the disinfection effect based on the starting instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the preset medical equipment and the laser disinfection robot comprises the following steps:

It should be noted that, the detection of the microorganism density of the medical device by using the microorganism sensor is a prior art and will not be described herein. The microbial density refers to the number of microorganisms contained in a unit area or unit volume of the surface of the medical device. The first microorganism density and the second microorganism density are both microorganism density thresholds set in advance. The microorganism density threshold value means a value preset by human beings. The medium-grade laser disinfection refers to a preset disinfection mode, and the disinfection intensity of the medium-grade laser disinfection is between that of the high-grade laser disinfection and that of the low-grade laser disinfection. The middle-grade laser disinfection unit is a unit obtained by adjusting the laser disinfection unit in a preset middle-grade laser disinfection mode. The adjustment height is the height obtained by adjusting the length of the telescopic rod of the laser disinfection unit according to the actual height of the medical equipment. The first disinfection effect is achieved after the medical equipment is disinfected by adopting the medium-grade laser disinfection unit and the adjustment height when the microorganism density of the medical equipment is more than the second microorganism density and less than or equal to the first microorganism density. The second disinfection effect refers to a disinfection effect generated after the medical equipment is disinfected by the laser disinfection unit based on a preset low-grade laser disinfection mode when the microorganism density of the medical equipment is smaller than or equal to the second microorganism density. The third sterilizing effect is a sterilizing effect obtained after sterilizing the medical equipment by the laser sterilizing unit by adopting a preset high-grade laser sterilizing mode when the microorganism density of the medical equipment is greater than the first microorganism density. The low-grade laser disinfection mode refers to a disinfection mode adopted when the microorganism density of the medical equipment is less than or equal to the second microorganism density. The high-grade laser disinfection mode refers to a disinfection mode that is employed when the microorganism density of the medical device is greater than the first microorganism density. For example, the withstand laser sterilization mode is a mode in which the laser power is set to 10 watts and the irradiation time is 5 minutes, and the high-grade laser sterilization mode is a mode in which the laser power is increased to 30 watts and the irradiation time is prolonged to 15 minutes.

It can be understood that the method for obtaining the second disinfection effect based on the preset low-grade laser disinfection, the laser disinfection unit and the medical equipment and the method for obtaining the third disinfection effect based on the preset high-grade laser disinfection, the laser disinfection unit and the medical equipment are the same as the method for disinfecting the medical equipment by using the middle-grade laser disinfection unit and the adjustment height to obtain the first disinfection effect, and are not repeated here.

In detail, utilize middle grade laser disinfection unit and timing height to disinfect medical equipment, obtain first disinfection effect, include:

,

It should be explained that the mid-range laser power refers to the laser power output by the laser sterilization unit in the mid-range laser sterilization mode. The middle-grade laser irradiation time refers to the duration of laser continuous irradiation of the medical device in the middle-grade laser sterilization mode. The adjustment height is obtained by adjusting the length of the telescopic rod of the laser disinfection unit according to the height of the medical equipment. Disinfection zone coverage refers to the proportion of the surface area of the medical device that the laser is able to effectively irradiate to, as compared to the total surface area of the medical device. The absorptivity of a medical device refers to the proportion of the laser energy that impinges on the surface of the medical device that is reflected back. The reflectance of a medical device refers to the proportion of the laser energy that impinges on the surface of the medical device that is absorbed by the device. The laser irradiation area refers to the area of the area covered by the laser on the surface of the medical device during the sterilization process.

S4, judging whether the disinfection effect meets the preset disinfection standard, if the disinfection effect does not meet the disinfection standard, adjusting initial disinfection parameters to obtain disinfection parameters, setting a laser disinfection robot by using the disinfection parameters to obtain a parameter-adjusting disinfection robot, taking the parameter-adjusting disinfection robot as the laser disinfection robot, and returning to the step of acquiring the disinfection effect based on the starting instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the preset medical equipment and the laser disinfection robot.

It should be explained that the disinfection standard refers to a preset standard for measuring whether the disinfection effect reaches the standard. The disinfection parameters are new parameter sets obtained after the initial disinfection parameters are adjusted after the initial disinfection effect is judged to be not in accordance with the preset disinfection standard. The purpose of adjusting the initial disinfection parameters is to enable the laser disinfection robot to achieve better disinfection effect in the subsequent disinfection process, so that the laser disinfection robot meets the disinfection standard, and the ways of adjusting the initial disinfection parameters comprise improving laser power, prolonging irradiation time, changing the length of a telescopic rod to adjust irradiation angle and the like. The parameter-adjusting disinfection robot is a robot obtained by resetting the laser disinfection robot by utilizing the adjusted disinfection parameters.

And S5, if the disinfection effect meets the disinfection standard, continuously performing disinfection according to the initial disinfection path, and monitoring the disinfection process in real time to obtain a monitoring result, wherein the monitoring result comprises obstacle data or obstacle-free data.

In detail, the real-time monitoring of the disinfection process, to obtain a monitoring result, includes:

It should be explained that the laser point cloud data is data of three-dimensional space information acquired by the laser radar apparatus. The denoising of the laser point cloud data refers to denoising the laser point cloud data by using a denoising method. For example, denoising methods are statistical filtering, radius filtering, bilateral filtering, and the like. The current laser point cloud data refers to laser point cloud data acquired by the laser radar device in real time at a certain time in the disinfection process. The denoising point cloud data is data obtained by denoising the laser point cloud data. The method for denoising the current laser point cloud data is the same as the method for denoising the laser point cloud data, and will not be described in detail here.

Importantly, the point cloud registration algorithm is an algorithm for aligning and matching different point cloud data. The point cloud data displacement comparison operation refers to an operation of calculating a displacement distance between corresponding points in two point cloud data after aligning a parameter frame and a current frame by using a point cloud registration algorithm. The displacement distance set refers to a set of all displacement distances obtained in the point cloud data displacement comparison operation. The abnormal displacement distance refers to a displacement distance in which the displacement distance set is larger than a preset displacement distance threshold. The abnormal displacement distance set refers to a set composed of all abnormal displacement distances. The displacement distance threshold is a preset criterion for distinguishing normal displacement from abnormal displacement. The standard displacement distance number refers to a threshold value set in advance for judging the number of points of abnormal displacement in the current frame. The current frame refers to denoising current point cloud data corresponding to a certain moment in the disinfection process. The reference frame refers to point cloud information of objects within the disinfection area without dynamic obstructions.

And S6, if the monitoring result is obstacle data, re-planning an initial disinfection path to obtain an optimal disinfection path, taking the optimal disinfection path as the initial disinfection path, and returning to the step of acquiring disinfection effects based on the starting instruction, the expansion proportion, the initial disinfection path, the preset initial disinfection parameters, the preset medical equipment and the laser disinfection robot.

It should be explained that the re-planning the initial disinfection path refers to re-planning the initial disinfection path by using an a-x algorithm, so as to ensure that the laser disinfection robot avoids the dynamic obstacle.

And S7, if the monitoring result is barrier-free data, returning to the step of continuously sterilizing according to the initial sterilizing path, acquiring the current position of the parameter-adjusting sterilizing robot in real time, and finishing path planning based on medical laser sterilization when the current position is the final position.

It should be explained that the method for obtaining the current position of the parameter adjusting and disinfecting robot is the same as the method for obtaining the initial position and the final position of the laser disinfecting robot, and will not be described here again. The optimal disinfection path is a path obtained by comprehensively considering various factors (avoiding obstacles, having the shortest path length, high energy consumption and covering the disinfection area on the whole) in the process of re-planning the initial disinfection path.

Fig. 2 is a functional block diagram of a path planning system based on medical laser disinfection according to an embodiment of the present invention.

The path planning system 100 based on medical laser disinfection according to the present invention may be installed in an electronic device. Depending on the functions implemented, the medical laser disinfection-based path planning system 100 may include a disinfection map construction module 101, a disinfection path planning module 102, a disinfection effect evaluation module 103, and a disinfection path adjustment module 104. The module of the present invention may also be referred to as a unit, and refers to a series of computer program segments capable of being executed by a processor of an electronic device and performing a fixed function, which are stored in a memory of the electronic device;

The disinfection map construction module 101 is used for determining a medical disinfection area and constructing a laser disinfection map according to the medical disinfection area and a pre-constructed laser disinfection robot;

the disinfection path planning module 102 is configured to obtain an initial position and a final position of the laser disinfection robot, and plan an initial disinfection path according to the laser disinfection map, the initial position and the final position;

the disinfection effect evaluation module 103 is configured to receive a start instruction, obtain an expansion ratio, obtain a disinfection effect based on the start instruction, the expansion ratio, an initial disinfection path, a preset initial disinfection parameter, a plurality of medical devices and a laser disinfection robot, determine whether the disinfection effect meets a preset disinfection standard, adjust the initial disinfection parameter if the disinfection effect does not meet the disinfection standard, obtain the disinfection parameter, set the laser disinfection robot by using the disinfection parameter, obtain a parameter-adjusting disinfection robot, and use the parameter-adjusting disinfection robot as the laser disinfection robot, and return the steps of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameter, the plurality of medical devices and the laser disinfection robot, continuously perform disinfection according to the initial disinfection path if the disinfection effect meets the disinfection standard, and monitor the disinfection process in real time to obtain a monitoring result, wherein the monitoring result comprises obstacle data or obstacle-free data;

The disinfection path adjustment module 104 is configured to re-program the initial disinfection path to obtain an optimal disinfection path if the monitoring result is obstacle data, return the initial disinfection path to the step of obtaining disinfection effects based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-constructed multiple medical devices and the laser disinfection robot, if the monitoring result is no obstacle data, return the step of continuously performing disinfection according to the initial disinfection path, obtain the current position of the parameter-adjusting disinfection robot in real time, and complete the path planning based on medical laser disinfection when the current position is the final position.

In detail, the modules in the path planning system 100 based on medical laser disinfection in the embodiment of the present invention use the same technical means as the path planning method based on medical laser disinfection described in fig. 1, and can produce the same technical effects, which are not described herein.

Fig. 3 is a schematic structural diagram of an electronic device for implementing a path planning method based on medical laser disinfection according to an embodiment of the present invention.

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

The memory 11 includes at least one type of readable storage medium, including flash memory, a mobile hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may in other embodiments also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the electronic device 1. Further, the memory 11 further comprises an internal storage unit of the electronic device 1, and also comprises an external storage device. The memory 11 may be used not only for storing application software installed in the electronic device 1 and various types of data, such as codes of a route planning method program based on medical laser sterilization, but also for temporarily storing data that has been output or is to be output.

The processor 10 may be comprised of integrated circuits in some embodiments, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, and the like. The processor 10 is a Control Unit (Control Unit) of the electronic device, connects the respective components of the entire electronic device using various interfaces and lines, executes programs or modules (for example, a route planning method program based on medical laser sterilization, etc.) stored in the memory 11 by running or executing the programs or modules, and invokes data stored in the memory 11 to perform various functions of the electronic device 1 and process the data.

The bus 12 may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is arranged to enable a connection communication between the memory 11 and at least one processor 10 etc.

Fig. 3 shows only an electronic device with components, it being understood by a person skilled in the art that the structure shown in fig. 3 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or may combine certain components, or may be arranged in different components.

For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for supplying power to each component, and preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that functions of charge management, discharge management, power consumption management, and the like are implemented through the power management device. The power supply may also include one or more of any of a direct current or alternating current power supply, recharging device, power failure detection circuit, power converter or inverter, power status indicator, etc. The electronic device 1 may further include various sensors, bluetooth modules, wi-Fi modules, etc., which will not be described herein.

Further, the electronic device 1 may also comprise a network interface, optionally the network interface may comprise a wired interface and/or a wireless interface (e.g. WI-FI interface, bluetooth interface, etc.), typically used for establishing a communication connection between the electronic device 1 and other electronic devices.

The electronic device 1 may optionally further comprise a user interface, which may be a Display, an input unit, such as a Keyboard (Keyboard), or a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the electronic device 1 and for displaying a visual user interface.

The path planning method program based on medical laser disinfection stored in the memory 11 in the electronic device 1 is a combination of instructions which, when run in the processor 10, can implement:

Specifically, the specific implementation method of the above instructions by the processor 10 may refer to descriptions of related steps in the corresponding embodiments of fig. 1 to 3, which are not repeated herein.

Further, the modules/units integrated in the electronic device 1 may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. The computer readable storage medium may be volatile or nonvolatile. For example, the computer readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM).

The present invention also provides a computer readable storage medium storing a computer program which, when executed by a processor of an electronic device, can implement:

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus, system and method may be implemented in other manners. For example, the system embodiments described above are merely illustrative, and there may be additional divisions of a practical implementation.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units can be realized in a form of hardware or a form of hardware and a form of software functional modules.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A path planning method based on medical laser disinfection, characterized in that the method comprises:

Determine the medical disinfection area and build a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot;

The laser disinfection map is constructed according to the medical disinfection area and the pre-constructed laser disinfection robot, including:

A blank medical area map is constructed based on the medical disinfection area, and the blank medical area map is divided to obtain a two-dimensional grid map, wherein the two-dimensional grid map includes a plurality of pixels, and the pixel values of the plurality of pixels are all 0, wherein the laser disinfection robot includes: a laser disinfection unit, a laser radar device, a microbial sensor and a panoramic vision sensor, wherein the medical disinfection area includes a plurality of medical devices;

The medical disinfection area is photographed using the panoramic vision sensor in the laser disinfection robot to obtain a medical picture set;

Extract a medical image from the medical image collection one by one, and perform the following operations on the extracted medical images:

Extract the target device from the medical image, build a medical disinfection equipment database, match the target device with the medical disinfection equipment database, obtain a matching result file, and obtain a laser disinfection map based on the matching result file;

Wherein, the medical disinfection equipment database is constructed, and the target equipment is matched with the medical disinfection equipment database to obtain a matching result file, including:

Obtain a disinfection equipment picture set, perform an information labeling operation on each disinfection equipment picture in the disinfection equipment picture set, and obtain an identification equipment picture set;

A medical disinfection equipment database is constructed based on the identification equipment picture set, and identification equipment pictures are extracted from the medical disinfection equipment database in sequence, and the following operations are performed on the extracted identification equipment pictures:

Extract the target matching device from the identification device image, obtain a first feature vector of the target device and a second feature vector of the target matching device, and obtain a matching point set according to the first feature vector and the second feature vector;

Calculate the Euclidean distance of each matching point in the matching point set to obtain a Euclidean distance set, extract a Euclidean distance from the Euclidean distance set in turn, and perform the following operations on the extracted Euclidean distances:

Extract the next Euclidean distance adjacent to the Euclidean distance in the Euclidean distance set to obtain the neighboring distance, and obtain the effective distance threshold according to the preset distance ratio and the neighboring distance;

Compare the Euclidean distance to the effective distance threshold;

If the Euclidean distance is less than the effective distance threshold, the matching point corresponding to the Euclidean distance less than the effective distance threshold is taken as the effective matching point;

Use the pre-built clustering algorithm to evaluate the uniformity of valid matching points, obtain uniform weights, and calculate the confidence based on the uniform weights and the Euclidean distances corresponding to the valid matching points;

The confidences and valid matching points are summarized respectively to obtain the confidence set and the valid matching point set corresponding to the Euclidean distance set, and the similarity between the target matching device and the target device is calculated based on the confidence set and the valid matching point set;

If the similarity is greater than a preset similarity threshold, the matching result between the target device corresponding to the similarity greater than the preset similarity threshold and the target matching device is confirmed as a match;

If the similarity is less than or equal to a preset similarity threshold, the matching result between the target device and the target matching device corresponding to the similarity less than or equal to the preset similarity threshold is confirmed as not matching, and the process returns to the step of sequentially extracting identification device images from the medical disinfection equipment database;

Summarize the matching results and obtain the matching result file;

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

Accepting a start instruction, obtaining an expansion ratio, and obtaining a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices, and the laser disinfection robot;

Determine whether the disinfection effect meets the preset disinfection standards;

If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain the disinfection parameters, the laser disinfection robot is set using the disinfection parameters to obtain the parameter-adjusted disinfection robot, the parameter-adjusted disinfection robot is used as the laser disinfection robot, and the step of obtaining the disinfection effect based on the startup instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot is returned;

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

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

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

2. The path planning method based on medical laser disinfection according to claim 1, characterized in that the step of obtaining a laser disinfection map based on a matching result file comprises:

Wherein, the matching result file includes a plurality of matching results, and the matching results include: match or mismatch;

If the matching result in the matching result file is not a match, the target device is marked as a static obstacle on the two-dimensional grid map, and the pixel values of all pixels corresponding to the static obstacle in the two-dimensional grid map are assigned to 255 to obtain a first identification grid map;

If the matching result in the matching result file is a match, the target device is marked as a device to be disinfected on the two-dimensional grid map, and the pixel values of all pixels corresponding to the device to be disinfected in the two-dimensional grid map are assigned to 0 to obtain a second identification grid map;

The first identification grid map and the second identification grid map are integrated to obtain an identification grid map, and all pixels in the identification grid map with a pixel value of 0 in the second identification grid map are projected into the pre-constructed target grid map to obtain a laser disinfection map.

3. The path planning method based on medical laser disinfection according to claim 1, characterized in that the blank medical area map is constructed based on the medical disinfection area, and the blank medical area map is divided to obtain a two-dimensional grid map, including:

Obtaining the actual width and actual height of the medical disinfection area, and constructing a rectangular coordinate system of the medical disinfection area according to the actual width and actual height, wherein the rectangular coordinate system includes: a horizontal axis and a vertical axis;

The maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis are calculated based on the actual width, actual height, and the preset grid division size. The calculation formula is as follows:

,

in, Indicates the maximum number of grids on the horizontal axis. Indicates the actual width, Indicates the grid division size, Indicates the actual height. Indicates the maximum number of grids on the vertical axis. Indicates rounding up calculation;

Constructing a blank medical area map according to the maximum number of grids on the horizontal axis and the maximum number of grids on the vertical axis, dividing the blank medical area map according to the grid division size to obtain a grid set, wherein the grid set includes a plurality of grids, and each grid corresponds to a coordinate, and the blank medical area map is a two-dimensional plane map;

For each raster in the raster collection, the following operations are performed:

The grid number is calculated based on the grid, where the calculation formula for calculating the grid number is as follows:

,

in, Indicates the grid number, represents the horizontal coordinate of the grid, Represents the vertical coordinate of the grid, Indicates the coordinates corresponding to the grid;

The grid numbers are summarized to obtain a grid number set corresponding to the grid set, and a two-dimensional grid map is confirmed based on the grid number set.

4. The path planning method based on medical laser disinfection according to claim 3, characterized in that the similarity between the target matching device and the target device is calculated based on the confidence set and the valid matching point set, comprising: calculating the similarity between the target matching device and the target device, comprising:

The similarity between the target matching device and the target device is calculated based on the matching point set, the effective matching point set and the confidence set, wherein the similarity calculation formula is as follows:

,

in, Indicates similarity, represents the number of valid matching point sets, Represents the number of matching point sets, Represents the preset confidence weight coefficient, Indicates the preset distance attenuation coefficient, Indicates The Euclidean distance of valid matching points, Indicates The confidence of valid matching points, Represents a natural constant.

5. The path planning method based on medical laser disinfection according to claim 4, characterized in that the step of obtaining the expansion ratio comprises:

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

The sum of the diagonal length of the vehicle body and the diagonal length of the obstacle is calculated to obtain a comprehensive diagonal value, and the dimension safety distance is calculated based on the comprehensive diagonal value, where the dimension safety distance is half of the comprehensive diagonal value;

The product of the maximum speed and the reaction time is calculated to obtain a dynamic safety distance, and a motion safety distance is obtained according to the maximum speed and the braking distance;

The safety distance is obtained based on the size safety distance, the dynamic safety distance and the motion safety distance, wherein the safety distance is the largest distance among the size safety distance, the dynamic safety distance and the motion safety distance;

The expansion ratio is calculated based on the safety distance and grid division size.

6. The path planning method based on medical laser disinfection according to claim 5, characterized in that the disinfection effect is obtained based on the start-up instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, the pre-built multiple medical devices and the laser disinfection robot, including:

For each of the multiple medical devices, perform the following operations:

Using the microbial sensor to detect the microbial density of the medical device, and comparing the microbial density, a preset first microbial density, and a preset second microbial density, wherein the first microbial density is greater than the second microbial density;

If the microbial density is greater than the second microbial density and the microbial density is less than or equal to the first microbial density, the laser disinfection unit is adjusted using a preset mid-range laser disinfection to obtain a mid-range laser disinfection unit, wherein the laser disinfection unit includes a telescopic rod;

Obtaining a medical height of the medical device, adjusting the length of the telescopic rod according to the medical height to obtain a calibration height, and using a mid-range laser disinfection unit and the calibration height to disinfect the medical device to obtain a first disinfection effect;

If the microbial density is less than or equal to the second microbial density, a second disinfection effect is obtained based on the preset low-grade laser disinfection, laser disinfection unit and medical equipment;

If the microbial density is greater than the first microbial density, a third disinfection effect is obtained based on the preset high-end laser disinfection, laser disinfection unit and medical equipment;

The first disinfection effect, the second disinfection effect, or the third disinfection effect is taken as the disinfection effect.

7. The path planning method based on medical laser disinfection according to claim 6, characterized in that the use of a mid-range laser disinfection unit and an adjusted height to disinfect the medical equipment to obtain a first disinfection effect comprises:

According to the mid-range laser disinfection unit, the laser irradiation area, mid-range laser power and mid-range laser irradiation time are obtained, and the coverage of the disinfection area is obtained according to the adjustment height;

The first disinfection effect of the medical device is calculated according to the coverage of the disinfection area, the mid-range laser power, the mid-range laser irradiation time and the adjustment height, wherein the calculation formula of the first disinfection effect is as follows:

,

in, Indicates the first disinfection effect, Indicates mid-range laser power, Indicates the mid-range laser irradiation time, Indicates the absorption rate of the preset medical device, Indicates the reflectivity of the preset medical device, Indicates the preset microbial sterilization threshold, represents the laser irradiation area, Indicates the preset ambient temperature. Indicates the preset ambient humidity. Indicates height adjustment. Indicates the coverage of the disinfection area. Represents an exponential function.

8. The path planning method based on medical laser disinfection according to claim 7, characterized in that the real-time monitoring of the disinfection process to obtain the monitoring results includes:

Start the laser radar device, use the started laser radar device to obtain laser point cloud data of the medical disinfection area, denoise the laser point cloud data to obtain denoised point cloud data, and use the denoised point cloud data as a reference frame;

Acquire current laser point cloud data, denoise the current laser point cloud data, obtain denoised current point cloud data, and use the denoised current point cloud data as the current frame;

Using a pre-built point cloud registration algorithm, a point cloud data displacement comparison operation is performed on the reference frame and the current frame to obtain a displacement distance set, and it is determined whether there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set;

If there is a displacement distance greater than a preset displacement distance threshold in the displacement distance set, the displacement distance is confirmed as an abnormal displacement distance, and the abnormal displacement distances are summarized to obtain an abnormal displacement distance set;

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

Otherwise, the current frame corresponding to the abnormal number that is less than or equal to the preset standard displacement distance number is marked as data without dynamic obstacles, and obstacle-free data is obtained;

The obstacle data or obstacle-free data is confirmed as the monitoring result.

9. A system using the path planning method based on medical laser disinfection according to claim 1, characterized in that the system comprises:

A disinfection map construction module is used to determine the medical disinfection area and construct a laser disinfection map based on the medical disinfection area and the pre-built laser disinfection robot;

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

A disinfection effect evaluation module is used to receive a start instruction, obtain an expansion ratio, obtain a disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot, and determine whether the disinfection effect meets the preset disinfection standard. If the disinfection effect does not meet the disinfection standard, the initial disinfection parameters are adjusted to obtain disinfection parameters, and the laser disinfection robot is set using the disinfection parameters to obtain a parameter-adjusted disinfection robot. The parameter-adjusted disinfection robot is used as a laser disinfection robot, and the step of obtaining the disinfection effect based on the start instruction, the expansion ratio, the initial disinfection path, the preset initial disinfection parameters, a plurality of pre-constructed medical devices and a laser disinfection robot is returned. If the disinfection effect meets the disinfection standard, disinfection is continuously performed according to the initial disinfection path, and the disinfection process is monitored in real time to obtain a monitoring result, wherein the monitoring result includes: obstacle data or obstacle-free data;

The disinfection path adjustment module is used to re-plan the initial disinfection path if the monitoring result is obstacle data, obtain the optimal disinfection path, use the optimal disinfection path as the initial disinfection path, return to the step of obtaining the disinfection effect based on the startup instruction, expansion ratio, initial disinfection path, preset initial disinfection parameters, pre-built multiple medical devices and laser disinfection robots; if the monitoring result is obstacle-free data, return to the step of continuously disinfecting according to the initial disinfection path, obtain the current position of the parameter-adjusted disinfection robot in real time, and complete the path planning based on medical laser disinfection when the current position is the final position.