KR102750276B1 - Apparatus for spraying disinfection with line tracer learning path compensation and method thereof - Google Patents

Abstract

A disinfection spraying device with line tracer learning path correction and a method thereof are provided. A disinfection spraying device with line tracer learning path correction according to an embodiment of the present invention includes a line scanner that scans a line installed in advance in a spraying space and points installed on a direction change path, a driving unit that drives movement and spraying of a main body along the scanned line, a learning unit that learns a spraying path along the line by a learning model, a driving control unit that controls the main body to drive along the spraying path by the learned learning model, a speed calculation unit that calculates a moving speed between points during driving by the learning model, and a speed correction unit that corrects the moving speed and applies it to the next point section when the calculated moving speed is different from a target speed.

Description

{Apparatus for spraying disinfection with line tracer learning path compensation and method thereof}

The present invention relates to a disinfection spraying device with a line tracer learning path correction and a method therefor, and more particularly, to a disinfection spraying device with a line tracer learning path correction which learns a path based on a low-cost line tracer and then corrects the learning path for each section to enable continuous driving in a line loss situation, and a method therefor.

Since the recent COVID-19 outbreak, awareness of infectious diseases has increased and the need for quarantine has greatly increased. The current quarantine method is the traditional method in which quarantine workers wear protective clothing and spray disinfectant directly to perform quarantine.

This method requires a lot of time for workers to wear protective clothing and disinfect the entire space, and in the case of public facilities such as government offices or schools, disinfection work is often carried out continuously from dawn to dusk. In addition, because disinfection must be done when no one is present, it is often done late at night, which places a very large burden on workers.

In addition, the disinfectant changes into a harmless substance in the air after a certain period of time, but it is a harmful substance to workers at the time of spraying, so they must wear protective clothing. At this time, if the protective clothing is not worn properly or if part of the protective clothing is lost, harmful substances may enter the protective clothing.

In addition, because workers must spray directly, there may be areas where there is too much or too little disinfectant due to subjective judgment.

To solve this problem, a solution using robots such as line tracers is emerging. In this case, since line tracers move along lines, their use is limited when the interior conditions change or the lines are damaged. Therefore, a solution that can operate continuously even when the interior conditions change or the lines are damaged is needed.

KR 10-2454302 B1

In order to solve the problems of the prior art as described above, one embodiment of the present invention provides a disinfection spraying device and method equipped with a line tracer learning path correction capable of continuously driving in a line loss situation by learning a path based on a low-cost line tracer and then correcting the learned path for each section.

According to one aspect of the present invention for solving the above-mentioned problem, a disinfection spraying device having a line tracer learning path correction is provided, including: a line scanner for scanning a line installed in a spraying space in advance and points installed in a direction change path; a driving unit for driving a main body and spraying along the scanned line; a learning unit for learning a spraying path along the line by a learning model; a driving control unit for controlling the main body to drive along the spraying path by the learned learning model; a speed calculation unit for calculating a moving speed between the points during driving by the learning model; and a speed correction unit for correcting the moving speed and applying it to the next point section when the calculated moving speed is different from the target speed.

In one embodiment, the speed correction unit can determine the suitability of the learning model and driving according to the learning model based on the tendency of the corrected movement speed change.

In one embodiment, the disinfection spray device having the line tracer learning path correction may further include an alarm unit that alarms an abnormal state of the learning model and the spray path. Here, the speed correction unit may control an alarm through the alarm unit to reset the learning model and the spray path when the tendency of the corrected movement speed change is different.

In one embodiment, the disinfection spray device having the line tracer learning path correction may further include a communication unit that communicates with an administrator terminal. Here, the speed correction unit may control the transmission of an alarm for resetting the learning model and the spray path to the administrator terminal through the communication unit.

In one embodiment, the alarm unit can alarm with any one of an acoustic signal, a visual signal, and an audio-visual signal.

In one embodiment, the driving control unit can stop the driving of the main body when the alarm occurs.

In one embodiment, the speed compensation unit may reduce the movement speed if the calculated movement speed is faster than the target speed.

In one embodiment, the speed compensation unit can increase the movement speed if the calculated movement speed is slower than the target speed.

In one embodiment, the driving control unit may control the vehicle to drive along the injection path by the learning model without following the installed line, but via the point.

In one embodiment, the line may be removed and the injection path may consist of only the points.

According to another aspect of the present invention, a disinfection spraying method having a line tracer learning path correction is provided, including: a step of learning a spraying path along a line installed in a spraying space by a learning model; a step of calculating a moving speed between points installed on a direction change path on the spraying path while driving along the spraying path by the learned learning model; and a step of correcting the moving speed to be applied to a next point section when the calculated moving speed is different from a target speed.

In one embodiment, the correcting step can determine the suitability of the learning model and driving according to the learning model based on the tendency of the corrected movement speed change.

In one embodiment, the disinfection spraying method with the line tracer learning path correction may further include a step of alarming to reset the learning model and the spraying path when the tendency of the corrected movement speed change is different.

In one embodiment, the alarming step may transmit an alarm for resetting the learning model and the injection path to the administrator terminal.

In one embodiment, the alarming step may alarm with any one of an acoustic signal, a visual signal, and an audio-visual signal.

In one embodiment, the alarming step may stop driving when the alarm occurs.

In one embodiment, the compensating step may reduce the movement speed if the calculated movement speed is faster than the target speed.

In one embodiment, the compensating step may increase the movement speed if the calculated movement speed is slower than the target speed.

In one embodiment, the disinfection spraying method having the line tracer learning path correction may further include, after the learning step, a step of driving along the spraying path by the learning model without following the installed line, but via the point.

In one embodiment, the line may be removed and the injection path may consist of only the points.

According to another aspect of the present invention, a computer-readable recording medium having recorded thereon a program for performing the above-described method is provided.

A disinfection spraying device and method having a line tracer learning path correction according to one embodiment of the present invention learn a path along an initial line based on a low-cost line tracer by a learning model, and then calculate and correct the moving speed for each direction change section and apply it to the next section, thereby enabling continuous driving in a line loss situation, thereby improving the reliability of operation.

In addition, the disinfection spray device and method having a line tracer learning path correction according to one embodiment of the present invention calculates the moving speed for each section between points installed at a direction change location and, if the tendency of the moving speed is irregular, alarms that the learning model or line is damaged, thereby allowing the manager to quickly check the abnormal condition, thereby reducing the working time and improving the working efficiency.

FIG. 1 is a perspective view of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.
FIG. 2 is a block diagram of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.
FIG. 3 is a diagram showing a path of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.
FIG. 4 is a drawing showing an example of a correction coefficient of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.
FIG. 5 is a flow chart of a disinfection spraying method with line tracer learning path correction according to one embodiment of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, in order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

Hereinafter, a disinfection spray device with a line tracer learning path correction according to one embodiment of the present invention will be described in more detail with reference to the drawings. Fig. 1 is a perspective view of a disinfection spray device with a line tracer learning path correction according to one embodiment of the present invention.

Referring to FIG. 1, a disinfection spray device (100) equipped with a line tracer learning path correction according to one embodiment of the present invention includes a main body (110), wheels (120), a receiving portion (130), and a spray portion (140).

A disinfectant spray device (100) equipped with a line tracer learning path correction is a device for spraying disinfectant along a given path by mounting a disinfectant on a robot based on line tracer technology. It is a device configured to operate even without a line by learning the path through a learning model after the initial installation of the line.

In general, line tracers may move outside the initially set path due to various external factors such as interior conditions and line damage. To solve this problem, the present invention proposes a method of compensating line tracers through a minimum algorithm because line tracers are low-cost by nature.

Here, a point can be installed at a location where a change in direction occurs in the learned path. At this time, the disinfection spray device (100) equipped with a line tracer learning path correction can calculate the moving speed after moving to the point through the learning model and reflect it in the next moving speed. That is, the disinfection spray device (100) equipped with a line tracer learning path correction can calculate a correction coefficient between the speed of the previous path and the original speed and apply it to the next path if it is faster or slower than the target speed to be reached.

In addition, the disinfection spray device (100) equipped with a line tracer learning path correction can support the disinfection robot to smoothly perform the disinfection function that it originally intended to achieve, and can increase work efficiency by shortening the work time by quickly judging abnormal conditions such as damage to the learning model or path, and thus can guarantee the work time and minimize deviation from the work path through correction to reach the original path.

The main body (110) is a line tracer main body and may be a robot.

The wheel (120) may be a means of movement provided at the lower part of the main body (110). For example, the wheel (120) may include a circular or orbital type that implements movement of the main body (110). However, it is not particularly limited thereto.

The receiving portion (130) can receive the disinfectant to be sprayed. The receiving portion (130) can be provided to have a certain space on the upper part or inside the main body (110). The receiving portion (130) can be provided with a conduit that communicates with the spray portion (140).

The spray unit (140) can spray a disinfectant to disinfect the target area. For example, the spray unit (140) can spray a disinfectant by a nozzle. At this time, the spray unit (140) can include a plurality of nozzles. In addition, the spray unit (140) can include an angle adjustment unit (not shown) that adjusts the spray angle of the nozzle. Here, the angle adjustment unit can adjust the angle of the nozzle in the horizontal direction or the vertical direction.

FIG. 2 is a block diagram of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.

Referring to FIG. 2, a disinfection spray device (100) equipped with a line tracer learning path correction may further include a line scanner (150), a communication unit (160), a storage unit (170), a driving unit (180), an alarm unit (185), and a control unit (190).

The line scanner (150) can scan lines installed in advance in the spray space and points installed in the direction change path. Here, the spray space means a quarantine space where disinfectant is sprayed. In addition, as described below, the points can be installed at positions where the direction changes in the spray path.

For example, the line scanner (150) may be formed by a camera. At this time, the line scanner (150) may identify colors. In this case, the line pre-installed in the spray space may include color information. That is, the line may include information about the spray space or spray path depending on the color. Here, the information about the spray space may include the size of the spray space and the location of the spray path. In addition, the spray path means the movement path of the main body (110).

The communication unit (160) can communicate with an administrator terminal (not shown). Here, the administrator terminal (not shown) can be an electronic device capable of wired or wireless communication, such as a PC, laptop, or smartphone. Accordingly, the communication unit (160) can communicate with the administrator terminal (not shown) through a wired or wireless communication network.

The storage unit (170) can store the learning model learned in the learning unit (192). In addition, the storage unit (170) can permanently or temporarily store information necessary for controlling the disinfection spray device (100) equipped with a line tracer learning path correction in the control unit (190). In addition, the storage unit (170) can temporarily store information produced by the control unit (190).

The driving unit (180) can drive the movement and spraying of the main body (110) along the scanned line. That is, the driving unit (180) can drive the wheel (120) under the control of the control unit (190). That is, the driving unit (180) can drive the wheel (120) according to the spraying path or moving speed by the control unit (190). At this time, the driving unit (180) can drive the wheel (120) according to the speed and direction.

The driving unit (180) can drive the spray angle and spray intensity of the spray unit (140) by control of the control unit (190). That is, the driving unit (180) can drive the spray unit (140) according to the spray angle and spray intensity by the control unit (190). At this time, the driving unit (180) can drive the horizontal or vertical angle of the spray unit (140).

The alarm unit (185) can alarm for abnormal conditions of the learning model and the spray path. For example, the alarm unit (185) can alarm with any one of an acoustic signal, a visual signal, and an audio-visual signal. At this time, the alarm unit (185) can alarm that the disinfection spray device (100) equipped with a line tracer learning path correction according to the control of the speed correction unit (198) can no longer perform normal disinfection.

The control unit (190) is communicatively connected to the line scanner (150), the communication unit (160), the storage unit (170), the driving unit (180), and the alarm unit (185) to control the overall operation of the disinfection spray device (100) equipped with a line tracer learning path correction. The control unit (190) may include a learning unit (192), a driving control unit (194), a speed calculation unit (196), and a speed correction unit (198).

The learning unit (192) can learn the injection path along the pre-installed line by using a learning model. At this time, the learning unit (192) can learn by using the learning model while driving along the initially installed line.

Here, when the injection path learning by the learning unit (192) is completed, the line is removed and the injection path can be composed of only points installed at the direction change location.

The driving control unit (194) can control the main body (110) to drive along the injection path by the learning model learned in the learning unit (192). That is, the driving control unit (194) can drive along the injection path by the learning model of the learning unit (192) without following the installed line. At this time, the driving control unit (194) can control to drive via a point as a section movement target.

In addition, the driving control unit (194) can stop the driving of the main body (110) when an alarm is generated in the alarm unit (185). That is, if a reset is required due to damage to the learning model or the path, the main body (110) may deviate from the path and hit an obstacle if it continues to drive, and thus may receive an impact. Therefore, the driving control unit (194) can stop the driving of the main body (110).

The speed calculation unit (196) can calculate the moving speed between points during driving by the learning model through the driving control unit (194). Here, since the line tracer does not have a sensor related to speed, the current speed can be calculated. Therefore, the speed calculation unit (196) can calculate the moving speed based on the learned path and the time to reach the point. That is, since a point is installed on a path where the direction changes in the learned path, the speed calculation unit (196) can calculate the moving speed based on the time and distance from the previous point to the corresponding point.

The speed correction unit (198) can correct the movement speed and apply it to the next point section when the movement speed calculated by the speed calculation unit (196) is different from the target speed. In other words, the speed correction unit (198) can correct the movement speed according to the speed calculated for each point section that has been driven and apply it to the next section.

For example, the speed correction unit (198) can reduce the movement speed when the movement speed calculated by the speed calculation unit (196) is faster than the target speed. Here, the target speed means the movement speed of the corresponding section when learning the path according to the line, and the speed when there is no restriction due to an obstacle or deviation from the path. In addition, the movement speed of the corresponding section can be reduced due to an obstacle or deviation from the path. In this case, the speed correction unit (198) can compensate to reduce the movement speed in the next section.

For example, when learning a path, if the point distance of 100 m is reached in 7 seconds, but the section distance of 100 m is reached in 8 seconds at a point where there is no path, the speed correction unit (198) can calculate the value and increase the movement speed until the next path.

As another example, the speed correction unit (198) can increase the moving speed when the moving speed calculated by the speed calculation unit (196) is slower than the target speed. Here, the moving speed of the corresponding section can increase due to a change in the interior or a shortening of the path due to a deviation from the path.

In this way, the disinfection spray device (100) equipped with a line tracer learning path correction according to one embodiment of the present invention learns the path along the initial line based on a low-cost line tracer by a learning model, and then calculates and corrects the moving speed for each direction change section and applies it to the next section, thereby enabling continuous driving in a line loss situation, thereby improving the reliability of operation.

In addition, the speed correction unit (198) can determine the suitability of the learning model and driving according to the learning model based on the tendency of the change in the corrected moving speed. That is, if the corrected moving speed has a tendency to increase or decrease constantly, the speed correction unit (198) can determine that there are few external factors through the corresponding correction algorithm and can use the existing learning model as is.

On the other hand, if the tendency of the corrected movement speed to increase or decrease occurs irregularly, the speed correction unit (198) may determine that the learning model or path is damaged and may alarm to reset the learning model or path. That is, if the tendency of the change in the corrected movement speed is different, the speed correction unit (198) may control the alarm unit (185) to alarm to reset the learning model and the spray path. Here, resetting the path means changing the line installed in the quarantine space.

In this way, the disinfection spray device (100) equipped with a line tracer learning path correction according to one embodiment of the present invention calculates the moving speed for each section between points installed at the direction change location, and if the tendency of the moving speed is irregular, it alarms that the learning model or line is damaged, thereby allowing the manager to quickly check the abnormal condition, thereby reducing the working time and improving the working efficiency.

FIG. 3 is a diagram showing a path of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.

Referring to Figure 3, during learning, lines are installed for all paths as in (a), but when learning is completed, points can be installed only at direction change locations as in (b).

In this way, since points are installed only at the location of the direction change, the disinfection spray device (100) equipped with a line tracer learning path correction can drive normally even if the line is lost or an obstacle is added in the middle of the corresponding section.

FIG. 4 is a drawing showing an example of a correction coefficient of a disinfection spray device having a line tracer learning path correction according to one embodiment of the present invention.

Referring to Fig. 4, a correction coefficient can be calculated to correct the movement speed calculated for each section (1 to 10) between points. In the normal case, as shown in (a), the correction coefficient (a1) has a continuously increasing value. In addition, in the normal case, as shown in (b), the correction coefficient (a1) has a continuously decreasing value. That is, in the normal case, the correction for each point section has the same tendency to increase or decrease.

On the other hand, as shown in (c), if the correction coefficient (a1) increases or decreases by point interval and shows an irregular trend, it may be an abnormal condition. That is, an error may have occurred in the learning model, or an additional obstacle may have been introduced on the path. In this case, it is necessary to reset the learning model or the path (line).

Hereinafter, a disinfection spraying method equipped with a line tracer learning path correction of the present invention will be described with reference to FIG. 5.

FIG. 5 is a flow chart of a disinfection spraying method with line tracer learning path correction according to one embodiment of the present invention.

Referring to FIG. 5, a disinfection spraying method (200) equipped with a line tracer learning path correction includes a step of learning a spraying path according to a line (S210), a step of calculating a moving speed for each point section (S220 and S230), a step of making corrections according to the calculated moving speed (S240 to S270), and a step of giving an alarm according to a tendency of a change in the moving speed (S280 and S290).

To explain in more detail, as shown in Fig. 5, first, the disinfection spray device (100) equipped with a line tracer learning path correction learns the spray path along a line installed in advance in the spray space by the learning model (step S210). At this time, the disinfection spray device (100) equipped with a line tracer learning path correction can learn by the learning model while driving along the initially installed line.

Next, points are installed on the turning path (step S220). That is, when the injection path learning is completed, the line is removed, and the injection path can be composed of only points installed at the turning location.

Next, the disinfection spray device (100) equipped with a line tracer learning path correction starts disinfection while driving along the spray path by the learning model. That is, the disinfection spray device (100) equipped with a line tracer learning path correction can drive along the spray path by the learning model without following the installed line. At this time, the disinfection spray device (100) equipped with a line tracer learning path correction can drive via a point as a section movement target.

Next, the disinfection spray device (100) equipped with a line tracer learning path correction calculates the moving speed for each point section (step S230). That is, the disinfection spray device (100) equipped with a line tracer learning path correction can calculate the moving speed between points installed on a direction change path on the spray path when driving along the spray path according to the learned learning model.

At this time, the disinfection spray device (100) equipped with a line tracer learning path correction can calculate the movement speed based on the learned path and the time to reach the point. That is, by installing a point on the path where the direction changes in the learned path, the disinfection spray device (100) equipped with a line tracer learning path correction can calculate the movement speed based on the time and distance from the previous point to the corresponding point.

Next, the disinfection spray device (100) equipped with a line tracer learning path correction determines whether the calculated movement speed is faster than the target movement speed (step S240), and if the calculated movement speed is faster, reduces the movement speed (step S250).

As a result of the judgment in step S240, if the calculated movement speed is not fast, the disinfection spray device (100) equipped with a line tracer learning path correction determines whether the calculated movement speed is slower than the target movement speed (step S260), and if the calculated movement speed is slow, increases the movement speed (step S270).

Next, the disinfection spray device (100) equipped with a line tracer learning path correction determines whether the tendency of the corrected movement speed change is different (step S280). At this time, the disinfection spray device (100) equipped with a line tracer learning path correction can determine whether the corrected movement speed continuously increases or continuously decreases.

As a result of the judgment in step S280, if the tendency of the corrected movement speed change is the same, the disinfection spray device (100) equipped with the line tracer learning path correction returns to step S230 and repeatedly performs the section-by-section speed calculation and correction in steps S230 to S270. That is, if the disinfection spray device (100) equipped with the line tracer learning path correction has a tendency of the corrected movement speed to increase or decrease constantly, it is determined through the correction algorithm that the external factor is small and the existing learning model can be used as is.

As a result of the judgment in step S280, if the tendency of the corrected movement speed change is different, the disinfection spray device (100) equipped with line tracer learning path correction issues an alarm to reset the learning model and the spray path (step S290). That is, if the tendency of the corrected movement speed to increase or decrease occurs irregularly, the disinfection spray device (100) equipped with line tracer learning path correction can determine that the learning model or path is damaged and issue an alarm to reset the learning model or path.

At this time, the disinfection spray device (100) equipped with line tracer learning path correction can transmit an alarm for resetting the learning model and the spray path to the administrator terminal (not shown). In addition, the disinfection spray device (100) equipped with line tracer learning path correction can alarm with any one of an acoustic signal, a visual signal, and an audiovisual signal.

In addition, the disinfection spray device (100) equipped with a line tracer learning path correction can stop driving. That is, if a reset is required due to damage to the learning model or the path, the disinfection spray device (100) equipped with a line tracer learning path correction can stop driving because if it continues to drive, it may deviate from the path and hit an obstacle, causing an impact.

The above methods can be implemented by a disinfection spray device (100) having a line tracer learning path correction as shown in FIG. 1, and in particular, can be implemented by a software program performing these steps, in which case, these programs can be stored in a computer-readable recording medium or transmitted by a computer data signal coupled with a carrier wave in a transmission medium or a communication network.

At this time, the computer-readable recording medium includes all kinds of recording devices that store data readable by a computer system, and may be, for example, ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, optical data storage device, etc.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same spirit, but this will also be considered to fall within the spirit of the present invention.

100: Disinfection spray device with line tracer learning path correction
110 : Body 120 : Wheel
130 : Receiving section 140 : Injection section
150 : Line scanner 160 : Communication department
170 : Storage unit 180 : Drive unit
185: Alarm unit 190: Control unit
192: Learning section 194: Driving control section
196: Speed calculation unit 198: Speed correction unit

Claims (21)

A line scanner that scans lines pre-installed in the injection space and points installed on the direction change path;
A driving unit that drives movement and spraying of the main body along the scanned line;
A learning unit that learns the injection path along the above line by a learning model;
A driving control unit that controls the main body to drive along the injection path by the learned learning model;
A speed calculation unit that calculates the moving speed between the above points when driving by the above learning model; and
A disinfection spray device having a line tracer learning path correction, including a speed correction unit that corrects the movement speed and applies it to the next point section when the calculated movement speed is different from the target speed;
The above speed correction unit determines the suitability of the learning model and driving according to the learning model based on the tendency of the corrected movement speed change.
It further includes an alarm unit that alarms an abnormal state of the learning model and the injection path, and the speed correction unit controls an alarm through the alarm unit to reset the learning model and the injection path when the tendency of the change in the corrected movement speed is different.
The above speed correction unit reduces the movement speed if the calculated movement speed is faster than the target speed.
The above speed correction unit increases the movement speed if the calculated movement speed is slower than the target speed, and
The above driving control unit does not follow the installed line, but drives along the injection path by the learning model.
A disinfection spray device having a line tracer learning path correction that controls the spray path to travel through the points by removing the above line and consisting only of the above points. delete delete In the first paragraph,
Further comprising a communication unit for communicating with the administrator terminal,
A disinfection spray device having a line tracer learning path correction that controls the speed correction unit to transmit an alarm for resetting the learning model and the spray path to the manager terminal through the communication unit. In the first paragraph,
The above alarm unit is a disinfection spray device equipped with a line tracer learning path correction that alarms with any one of an acoustic signal, a visual signal, and an audio-visual signal. In the first paragraph,
The above driving control unit is a disinfection spraying device equipped with a line tracer learning path correction that stops the driving of the main body when the above alarm occurs. delete delete delete delete A step of learning an injection path along a line pre-installed in an injection space by a learning model;
A step of calculating a moving speed between points installed on a direction change path on the injection path while driving along the injection path by the learned learning model; and
A step of correcting the movement speed so that it can be applied to the next point section when the calculated movement speed is different from the target speed;
A disinfection spraying method having a line tracer learning path correction including:
The above correction step determines the suitability of the learning model and driving according to the learning model based on the tendency of the corrected movement speed change.
It further includes a step of alarming to reset the learning model and the injection path when the tendency of the above-mentioned corrected movement speed change is different.
The above correction step reduces the movement speed if the calculated movement speed is faster than the target speed,
The above correction step increases the movement speed if the calculated movement speed is slower than the target speed.
After the above learning steps,
A disinfection spraying method with a line tracer learning path correction, further comprising a step of driving along the spraying path by the learning model without following the installed line, but with the line removed and the spraying path consisting only of the points, and driving via the points. delete delete In Article 11,
The above alarming step is a disinfection spraying method having a line tracer learning path correction that transmits an alarm for resetting the learning model and the spraying path to the administrator terminal. In Article 11,
The above alarming step is a disinfection spraying method having a line tracer learning path correction that alarms with any one of an acoustic signal, a visual signal, and an audio-visual signal. In Article 11,
The above alarming step is a disinfection spraying method having a line tracer learning path correction that stops driving when the above alarm occurs. delete delete delete delete A computer-readable recording medium having recorded thereon a program for performing any one of the methods of claims 11, 14, to 16.

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