## 3 Results  
### Creation of Model  
The procedure was applied to the experimental definition of the number of disinfect AGVs for urgent reception in Zilina, Slovakia, to validate the proposed system. The simulation model, as well as simulation runs, are realised in Siemens's Tecnomatix Plant Simulation 16 software. The processor used for computing power was an Intel(R) Core (TM) i9-10850K CPU @ 3.60 GHz with 16 GB RAM and a Nvidia t1000 4 GB graphics card, with each thread performing 20 simulation runs at a time. The simulation model itself was created in Tecnomatix Plant Simulation 16 software, which allows the definition of logic through the programming language SimTalk 2.0. Step B1 included the creation of walls and pillars and a drawing area that AGVs could not visit. Within step B2, a 24-h format was established in which doctors and nurses worked. For the model within step B3, patients' inputs to the system were defined as listed in Figure 6. Within step B4, patients' logic is derived from them (Table 1), and the percentage of their incidence is defined by the target destinations in B5. On this basis, the movement of patients can be defined as B6. The decision-making nodes then collect the data used by the disinfectant AGV (B7). The final layout is displayed in Figure 7, and an example of the logic of patient decision making at the exit of the surgical ambulance is schematically shown in Figure 8.  
The symbols and colours on the layout represent the following objects: turquoise represents the walls that divide the space, the red hatched part represents rooms where disinfection is not carried out by the AGV, green marks the points where data are collected about the patient's presence, and red points represent places where the activity is carried out, for example, registration, treatment, and other actions. The blue lines represent the connectors and represent the direction of movement of the patients. In the simulation model within step C1, one location was determined as the main charging point where the AGV was charged. In this place, the AGV stayed whenever it did not have a defined task or when the battery level fell below the specified reserve value. Within step C1, based on the spatial constraints defined in B1 (for example, ambulation or hall) and the characteristics of the disinfection superstructure that have been set, model 1 m has been established as an effective reach zone for carrying out disinfection tasks (Figure 9). \begin{table}
\begin{tabular}{c c c c} \hline \multirow{2}{*}{**Patient Logic**} & \multicolumn{3}{c}{**Type of Patient**} \\  & **Acute** & **Urgent** & **Non-Urgent** \\ \hline Trauma & Triangular (1:01:12, 1:01:12, 5:55:48) & Triangular (10:48, 10:48, 1:40:48) & Uniform (0:36, 10:12) \\ Surgical & Triangular (1:01:12, 1:01:12, 8:52:12) & Triangular (10:48, 10:48, 1:42:00) & Uniform (1:48, 10:48) \\ Internal & Triangular (1:01:12, 1:01:12, 7:04:48) & Triangular (10:48, 10:48, 1:42:36) & Uniform (0:36, 10:12) \\ Radiology & Triangular (27:00, 12:36, 59:24) & Triangular (38:00, 18:44, 1:13:11) & - \\ Biochemistry & Triangular (1:48, 1:12, 3:00) & & - \\ \hline \end{tabular}
\end{table} 
Table 1: Duration of treatment at each workplace. The symbols and colours on the layout represent the following objects: turquoise represents the walls dividing the space, the red hatched part represents the rooms where disinfection is not carried out by AGV, the grey lines are the access routes of the disinfection ground AGV along which movement is possible in both directions, and the orange lines are the individual disinfection routes, which are unidirectional. The basic logic of the path was to control the possibility of assigning another task if there was no AGV task in the queue. The AGV returned to the parking place. If the task is in the queue, the AGV starts performing it and indicates that it is being performed. If the battery level is insufficient, the AGV returns to the charging station (Figure 10).