A disinfection robot and control system and method

Abstract

The application discloses a disinfection robot and a control system and method, and belongs to the field of robot technology.The disinfection robot comprises a vehicle body, a caterpillar chassis located on both sides of the vehicle body, a mechanical arm located on the upper end of the vehicle body and a disinfection device.The caterpillar chassis can climb inclined road conditions and stairs, the vehicle body provides power for the caterpillar chassis, and the mechanical arm can disinfect stair handrails and elevator buttons.The disinfection device is connected with the mechanical arm and can perform atomization disinfection on regular road surfaces.The disinfection robot and the control system and method can improve the multi-working environment adaptability of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a disinfection robot, control system, and method. Background Technology

[0002] Currently, various specialized robots are available on the market to assist people in their work across different fields. Among existing technologies, the M2 disinfection robot released by Shanghai Keenon Robotics Technology Co., Ltd. possesses fully autonomous positioning and navigation, intelligent obstacle avoidance, and autonomous elevator operation, providing cross-floor disinfection and epidemic prevention services. A UVD robot manufactured by the Danish robotics company Blue Ocean Robotics can also autonomously move within hospital wards and has strong disinfection capabilities. However, most disinfection robots currently available both domestically and internationally are based on existing service robots, adding ultraviolet disinfection lamps and other devices to automate disinfection using UV-C irradiation along pre-set routes. While this irradiation disinfection method is highly efficient, it poses certain safety risks. The disinfection operations performed by these robots are harmful to humans, and current disinfection robots are mostly used in public places such as hospitals, requiring unmanned environments and high environmental safety standards. Therefore, disinfection robots that can be used long-term in occupied environments represent a differentiated competitive advantage.

[0003] Furthermore, hospitals, schools, and other similar settings have varying surface conditions such as stairs and slopes, making it impossible for conventional disinfection robots to achieve full coverage of the areas requiring disinfection. For frequently touched surfaces like elevator buttons and stair handrails, thorough disinfection is not possible. Using spray disinfection methods would waste disinfectant and negatively impact hygiene. Conventional disinfection robots also offer limited disinfection modes and cannot effectively replace manual labor. Summary of the Invention

[0004] The technical problem to be solved by this invention is to address the issue that existing disinfection robots cannot achieve full coverage of disinfection areas on different surfaces such as stairs and slopes, and cannot adequately disinfect frequently touched areas such as elevator buttons and stair handrails.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] A disinfection robot includes a vehicle body 100, a tracked chassis 200 located on both sides of the vehicle body 100, a robotic arm 300 located on the upper part of the vehicle body 100, and a disinfection device 400. The tracked chassis 200 can climb sloping roads and stairs, the vehicle body 100 provides power to the tracked chassis 200, and the robotic arm 300 can disinfect stair handrails and elevator buttons. The disinfection device 400 is connected to the robotic arm 300 and can perform atomized disinfection on regular road surfaces.

[0007] Advantages: The tracked chassis can climb sloping roads and stairs, and the robotic arm can disinfect stair handrails and elevator buttons, solving the problem that frequently touched areas that need disinfection cannot be adequately disinfected.

[0008] In one embodiment of the present invention, the tracked chassis 200 includes a support beam 210, a suspension frame 220 and a connecting frame 230; the connecting leg of the side plate 120 of the vehicle body 100, one end of the support beam 210, the connecting frame 230 and the main suspension frame beam 221 of the suspension frame 220 are sequentially and coaxially hinged.

[0009] In one embodiment of the present invention, the suspension frame 220 includes a main suspension frame beam 221, and one end of the main suspension frame beam 221 is forked, and a first auxiliary suspension frame beam 222 and a second auxiliary suspension frame beam 223 are formed by extending along both ends of the fork; and the main suspension frame beams 221 of the pair of suspension frames 220 are hinged at the end near the auxiliary suspension frame; the tracked chassis 200 also includes a spring cylinder 240, and the two ends of the spring cylinder 240 are respectively fixedly connected to the first auxiliary suspension frame beams 222 of the pair of suspension frames 220.

[0010] In one embodiment of the present invention, the tracked chassis 200 further includes a reduction gear assembly 250, an active assembly 260, a tensioning assembly 270, and a track 280; the reduction gear assembly 250 is synchronously connected to the output shaft of the motor and reducer assembly 130 of the vehicle body 100; the active shaft 262 of the active assembly 260 passes through the first connecting frame 231 of the connecting frame 230 and is coaxially connected to the reduction gear assembly 250, and moves synchronously with the reduction gear assembly 250; the tensioning assembly 270 is connected to the connecting frame 280. The second connecting frame 232 of the frame 230 is hinged; the tensioning component 270 and the active component 260 are respectively located at both ends of the support beam 210, the track 280 wraps around the tensioning component 270 and the active component 260, and the output shaft of the motor and reducer assembly 130 drives the reducer assembly 250 to rotate, which in turn drives the active component 260 to rotate. The active component 260 drives the track 280 to rotate, and the rotation of the track 280 drives the tensioning component 270 to rotate.

[0011] In one embodiment of the present invention, the tracked chassis 200 further includes a support wheel set 2910 and a balance wheel set 2920; a pair of support wheel sets 2910 are located on the first auxiliary suspension frame beam 222, and the support shaft 2911 of the support wheel set 2910 is connected to the side plate 120 of the vehicle body 100; a pair of balance wheel sets 2920 are located below the second auxiliary suspension frame beam 223; the third connecting frame 233 of the connecting frame 230 is hinged to the second auxiliary suspension frame beam 223 and connected to the balance wheel set 2920; the track 280 wraps around the pair of support wheel sets 2910 and the pair of balance wheel sets 2920, and the pair of support wheel sets 2910 and the pair of balance wheel sets 2920 are rotatable along the track 280.

[0012] In one embodiment of the present invention, the robotic arm 300 includes a lifting device 310, a guide rail device 3240, and a robotic gripper device 350; the lifting device 310 is chain-driven with the guide rail device 3240, providing power to the guide rail device 3240; the robotic gripper device 350 is connected to the guide rail device 3240, and the guide rail device 3240 drives the robotic gripper device 350 to be positioned at a stair handrail or elevator button.

[0013] In one embodiment of the present invention, the lifting device 310 includes a lifting motor 311, a first lifting wheel 312 fixedly connected to the output shaft of the lifting motor 311, a second lifting wheel 313 and a third lifting wheel 314 respectively fixedly located at the upper and lower ends of the guide rail device 3240, and a lifting chain that is chain-driven with the first lifting wheel 312, the second lifting wheel 313 and the third lifting wheel 314; and the lifting motor 311 is fixedly located on one side of the guide rail device 3240, and the distribution of the first lifting wheel 312, the second lifting wheel 313 and the third lifting wheel 314 makes the lifting chain triangular in shape.

[0014] In one embodiment of the present invention, the guide rail device 3240 includes a longitudinal guide rail 320, a transverse guide rail 330 fixedly connected to the longitudinal guide rail 320, and a rotary guide rail 340 fixedly connected to the transverse guide rail 330. The mechanical gripper device 350 is fixedly connected to the output end of the rotary guide rail 340. The longitudinal guide rail 320 includes a longitudinal guide rail frame 321, one end of which is fixedly connected to the vehicle body 100, and a longitudinal moving block 322 capable of moving longitudinally along the longitudinal guide rail frame 321. The second lifting wheel 313 and the third lifting wheel 314 are respectively fixedly located at the upper and lower ends of the longitudinal guide rail frame 321. The lifting chain passes through the longitudinal moving block 322 and can drive the longitudinal moving block 322 to move longitudinally. The transverse guide rail 330 includes a transverse guide rail frame 331, one end of which is fixedly connected to the vehicle body 100, and a longitudinal moving block 322 capable of moving longitudinally along the longitudinal guide rail frame 321. The system includes a transverse fixed block 332 fixedly connected to the longitudinal moving block 322 and engaged with the transverse guide rail frame 331 at the other end; a transverse guide rail motor 333 fixedly connected to one end of the transverse guide rail frame 331; a lead screw 334 connected to the transverse guide rail frame 331 and fixedly connected at one end to the output end of the transverse guide rail motor 333; and a transverse moving block 335 sleeved on the lead screw 334 and capable of moving laterally along the lead screw 334. The transverse moving block 335 is also fixedly connected to the lower end face of the transverse fixed block 332 and can drive the transverse guide rail frame 331 to move horizontally. The rotary guide rail 340 includes a fixed bracket 341 fixedly connected to the other end of the transverse guide rail frame 331; a fixed disk 342 fixedly connected to the fixed bracket 341; and a rotary motor 343 fixedly connected to the fixed disk 342.

[0015] In one embodiment of the present invention, the mechanical gripper device 350 includes a fixed plate 351 fixedly connected to the rotation surface of the rotary motor 343, a plurality of connecting rods 352 fixedly connected to the fixed plate 351 at one end, a connecting piece 353 hinged at one end to the other end of the plurality of connecting rods 352, a movable plate 354 hinged to the other end of the connecting piece 353, and a flexible gripper 355 hinged to the connecting piece 353; the mechanical gripper device 350 further includes a clamping motor 356 fixedly connected to the rotation surface of the rotary motor 343 at one end, and the other end of the clamping motor 356 passes through the fixed plate 351 and the movable plate 354 in sequence; and a threaded rod 3561 is provided on the connection section between the clamping motor 356 and the movable plate 354, and when the clamping motor 356 rotates forward and backward, it can cause the movable plate 354 to move on the threaded rod 3561, thereby driving the flexible gripper 355 to clamp or release.

[0016] In one embodiment of the present invention, the flexible gripper 355 includes a connecting plate 3551 with one end hinged to the connecting piece 353, and a plurality of linkages 3552 with one end hinged to the connecting plate 3551. The plurality of linkages 3552 decrease in height sequentially from the side near the connecting piece 353 to the other end of the connecting plate 3551, and are connected to the connecting piece 353 and the linkages 3552, and adjacent linkages 3552 and the connecting plate 3551 are connected to the connecting piece 353 and the linkages 3552. The connecting plate 3551 is hinged to a plurality of wiping plates 3553; each of the wiping plates 3553 includes a wiping frame 3554 and a sponge roller 3555 located between and connected to the wiping frame 3554; a cotton layer is pasted on the wiping frame 3554, and a disinfection pipe connected to the disinfection device 400 is provided inside the sponge roller 3555, the disinfection pipe conveying disinfectant water to wet the sponge roller 3555.

[0017] In one embodiment of the present invention, the disinfection device 400 includes a disinfection water tank 410, a water pump 420, and a disinfection cabinet 430 fixedly located on the upper surface of the vehicle body 100, and a spray nozzle 440 fixedly located on the lower surface of the vehicle body 100; the disinfection water tank 410, the water pump 420, and the spray nozzle 440 are connected by disinfection pipes; the disinfection cabinet 430 has two layers inside, one layer for placing disinfection products, and the other layer for placing the hardware of the control system of the disinfection robot; the disinfection robot also includes a camera device 500, which is fixedly located on the fixed bracket 341.

[0018] This invention also provides a control system for a disinfection robot, used to control the actions of the aforementioned disinfection robot, comprising: a host control system parsing module 610, a host control system display module 620, a vehicle control module 630, an instruction module 640, a remote module 650, and an action control module 660; a camera device 500 is communicatively connected to the host control system parsing module 610, the host control system parsing module 610 parses the video images captured by the camera device 500, and sends the parsed data to the host control system display module 620 for display; the vehicle control module 630 is used to locate the disinfection robot in real time, and controls the operation system of the disinfection robot according to the location data, and transmits the location data to the host control system display module 620 for display of real-time location; the instruction module 640 is used to generate action instructions for the disinfection robot, and transmits the action instructions to the remote module 650, the remote module 650 transmits the action instructions to the action control module 660, and the action control module 660 manipulates the disinfection robot to work according to the action instructions.

[0019] The present invention also provides a control method for a disinfection robot, the control method further comprising:

[0020] S110, acquire the image captured by the camera device;

[0021] S120, Execute the target detection algorithm to detect and determine whether the acquired image is a target object; if so, proceed to the next step S130; otherwise, return to step S110.

[0022] S130, Obtain the location of the target object;

[0023] S140, the distance from the disinfection robot to the target object is measured using a monocular ranging algorithm;

[0024] S150, based on the ranging results, the actual coordinates of the target object are obtained, and the disinfection robot moves in the direction of the actual coordinates.

[0025] In one embodiment of the present invention, the step of measuring the distance from the disinfection robot to the location of the target object using a monocular ranging algorithm includes the following steps:

[0026] Let the physical imaging plane coordinate system be xyz, and the real-world coordinate system established based on the camera device be x. ， y ， z ， ;

[0027] Obtain the correspondence between the physical imaging plane coordinate system and the real-world coordinate system;

[0028] The camera device is scaled by matching horizontal and vertical pixels, and the corresponding movement coordinates of the target object in the real-world coordinate system are obtained, as well as the target object in the real-world coordinate system is obtained.

[0029] The target object is obtained in the real-world coordinate system using the following formula:

[0030]

[0031] ;

[0032] ;

[0033] ;

[0034] In the formula, This refers to the axis system of the camera device itself, and the distance from the target object to the lens of the camera device; This refers to the axis of the camera device itself, and the distance from the image to the lens of the camera device; Represented as real-world coordinates; Represented as a physical imaging plane coordinate system; It is represented as the distance between the optical center O and the physical imaging plane; Indicated as in The scaling factor on the axis; Indicated as in Scaling factor on the axis; This refers to the image of the target object in the real world after the camera device performs horizontal and vertical pixel scaling. The coordinates of movement on the coordinate system.

[0035] In one embodiment of the present invention, the control method further includes a control method for a tracked chassis:

[0036] A motion model of the disinfection robot is established, and the motion speed of the tracked chassis on both sides is controlled according to the motion model. The turning of the disinfection robot is achieved by controlling the speed difference between the tracked chassis on both sides.

[0037] The establishment of the motion model includes the following steps:

[0038] S210, based on the speed and the integral over time, obtain the travel distance of the center point of the lateral distance between the left track chassis, the right track chassis, and the two track chassis on both sides of the vehicle body;

[0039] S220, based on the travel distance of the left tracked chassis, the travel distance of the right tracked chassis, and the travel distance of the center point of the lateral distance, as well as the turning radius generated by the simultaneous forward movement and rotation of the disinfection robot and the lateral distance between the left and right tracked chassis, the rotation angle of the disinfection robot within a certain period of time is obtained.

[0040] S230, Based on the rotation angle, obtain the rotation speed of the disinfection robot around the target center point at the lateral distance from the center point;

[0041] S240, based on the rotation speed of the center point target, obtain the real-time speeds of the left track chassis and the right track chassis;

[0042] The lateral distance traveled between the center points of the left and right tracked chassis and the two tracked chassis on both sides of the vehicle body is obtained by the following formula:

[0043] Arc_L = V_L * t;

[0044] Arc_M=V x *t;

[0045] Arc_R = V_R * t;

[0046] In the formula, Arc_L, Arc_R, and Arc_M represent the distance traveled by the center points of the lateral distances between the left and right tracked chassis and the two tracked chassis on both sides of the vehicle body; V_L and V_R represent the travel speeds of the left and right tracked chassis; V x The velocity represents the target's forward speed at a lateral distance from the center point; t represents time.

[0047] The rotation angle of the disinfection robot over a certain period of time is obtained by the following formula:

[0048] θ=Arc_L / (R–W / 2)=Arc_M / R=Arc_R / (R+W / 2);

[0049] In the formula, θ represents the rotation angle; R represents the turning radius generated by the disinfection robot moving forward and rotating simultaneously; W represents the lateral distance between the left and right tracked chassis.

[0050] The rotational speed of the target center point is obtained using the following formula:

[0051] V z =V_L / (R–W / 2)=V x / R=V_R / (R+W / 2);

[0052] In the formula, V z V represents the rotational speed of the disinfection robot around the target center point, which is laterally at the center point; x This represents the speed at which the disinfection robot moves around the target at the center point in the lateral direction;

[0053] By transforming the formula for the rotational velocity of the target at the center point, we can obtain:

[0054] R=V x / V z ;

[0055] V x / R=V_L / (R–W / 2)=V_R / (R+W / 2);

[0056] The real-time speeds of the left track chassis and the right track chassis are obtained using the following formula:

[0057] V_LT=V x –W / 2*V z ;

[0058] V_RT=V x +W / 2*V z ;

[0059] In the formula, V_LT represents the real-time speed of the left track chassis; V_RT represents the real-time speed of the right track chassis.

[0060] Compared with existing technologies, the advantages of this invention are: the tracked chassis design broadens the application range of the disinfection robot, enabling it to perform disinfection operations in more terrains. By applying machine vision and flexible mechanical gripper technology to the disinfection field, the contact-based disinfection method effectively disinfects areas such as stair handrails and elevator buttons, leaving minimal disinfectant residue and achieving high efficiency. The invention's control scheme enables automatic disinfection, exhibiting a high degree of intelligence. Combined with spray disinfection and ultraviolet disinfection cabinets, it can effectively replace manual labor, improving the robot's adaptability to various working environments. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of a disinfection robot according to an embodiment of the present invention.

[0062] Figure 2 and Figure 3 This is a schematic diagram of the tracked chassis according to an embodiment of the present invention.

[0063] Figure 4 This is a schematic diagram of the guide rail device and the mechanical gripper device according to an embodiment of the present invention.

[0064] Figure 5 This is a schematic diagram of the lifting device according to an embodiment of the present invention.

[0065] Figure 6 and Figure 7 This is a schematic diagram of the mechanical gripper device according to an embodiment of the present invention.

[0066] Figure 8 This is a schematic diagram of a disinfection device according to an embodiment of the present invention.

[0067] Figure 9 This is a block diagram of the control system of the disinfection robot according to an embodiment of the present invention.

[0068] Figure 10 This is a flowchart of the control method for the disinfection robot according to an embodiment of the present invention.

[0069] Figure 11 This is a flowchart illustrating how a disinfection robot measures distance to the target object in an embodiment of the present invention.

[0070] Figure 12 This is a schematic diagram illustrating the monocular ranging principle of an embodiment of the present invention.

[0071] Figure 13 This is a flowchart illustrating the establishment of a motion model according to an embodiment of the present invention.

[0072] Figure 14This is a schematic diagram illustrating the motion model principle of an embodiment of the present invention. Detailed Implementation

[0073] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0074] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0075] Please see Figure 1 As shown, the present invention provides a disinfection robot, including a vehicle body 100, a tracked chassis 200 located on both sides of the vehicle body 100, a robotic arm 300 located on the upper part of the vehicle body 100, and a disinfection device 400. The tracked chassis 200 can climb sloping roads and stairs, the vehicle body 100 provides power to the tracked chassis 200, the robotic arm 300 can disinfect stair handrails and elevator buttons, and the disinfection device 400 is connected to the robotic arm 300 and can perform atomized disinfection on regular road surfaces.

[0076] Please see Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the vehicle body 100 includes a body plate 110, side plates 120 and a motor and reducer assembly 130. A pair of side plates 120 are respectively located on the body plate 110 and fixedly connected thereto, and a pair of motor and reducer assemblies 130 are respectively fixedly located on both sides of the bottom of the body plate 110.

[0077] Please see Figures 1 to 3As shown, in one embodiment of the present invention, each side of the tracked chassis 200 of the vehicle body 100 includes a support beam 210, a suspension frame 220, and a connecting frame 230. The connecting leg of the side plate 120, one end of the support beam 210 and the connecting frame 230, and the main suspension frame beam 221 of the suspension frame 220 are sequentially and coaxially hinged. The suspension frame 220 includes the main suspension frame beam 221, and one end of the main suspension frame beam 221 branches off, extending along both ends of the branch to form a first auxiliary suspension frame beam 222 and a second auxiliary suspension frame beam 223, which together form an auxiliary suspension frame. The main suspension frame beams 221 of the pair of suspension frames 220 are hinged near the auxiliary suspension frame. The tracked chassis 200 also includes a spring cylinder 240, the two ends of which are fixedly connected to the first auxiliary suspension frame beams 222 of the pair of suspension frames 220. The spring cylinder 240 includes a spring and a cylinder. One end of the cylinder is fixedly connected to the first auxiliary suspension frame beam 222, and the other end of the cylinder, i.e. the extended end, is fixedly connected to the first auxiliary suspension frame beam 222 of another suspension frame 220. The spring is sleeved on the cylinder, and its two ends are fixedly connected to the two first auxiliary suspension frame beams 222 respectively.

[0078] Please see Figures 1 to 3As shown, in one embodiment of the present invention, the tracked chassis 200 further includes a reduction gear assembly 250, an active assembly 260, a tensioning assembly 270, and a track 280. Specifically, the connecting frame 230 includes a first connecting frame 231, a second connecting frame 232, and a third connecting frame 233. The reduction gear assembly 250 is synchronously connected to the output shaft of the motor and reducer assembly 130. The active shaft 262 of the active assembly 260 passes through the first connecting frame 231 and is coaxially connected to the reduction gear assembly 250, and moves synchronously with the reduction gear assembly 250. The reduction assembly 250 includes a first synchronous reduction pulley 251, a second synchronous reduction pulley 252, a first synchronous belt 253, and a second synchronous belt 254. A pair of coaxial first synchronous reduction pulleys 251 are located on both sides of the side plate 120. One of the first synchronous reduction pulleys 251 is connected to the output shaft of the motor and reducer assembly 130 via the second synchronous belt 254, so that the first synchronous reduction pulley 251 moves synchronously with the output shaft of the motor and reducer assembly 130 and transmits power to the other coaxial first synchronous reduction pulley 251. The other first synchronous reduction pulley 251 is synchronously driven by the second synchronous reduction pulley 252 via the first synchronous belt 253. One end of a pair of first connecting brackets 231 is hinged to the support beam 210, and the other end is connected to the drive assembly 260 and the tensioning assembly 270, respectively. The active component 260 includes an active wheel 261 and an active shaft 262. After the active shaft 262 is keyed to the active wheel 261, it passes through the first connecting frame 231 and is coaxially connected to the second synchronous reduction wheel 252. The movement of the second synchronous reduction wheel 252 drives the active wheel 261 to move synchronously. The tensioning component 270 is hinged to the first connecting frame 231. The tensioning component 270 and the active component 260 are located at the two ends of the support beam 210, respectively. The track 280 wraps around the tensioning component 270 and the active component 260. The output shaft of the motor and reducer assembly 130 drives the reduction assembly 250 to rotate, which synchronously drives the active component 260 to rotate. The active component 260 drives the track 280 to rotate, and the rotation of the track 280 drives the tensioning component 270 to rotate. The tensioning assembly 270 includes a first tensioning wheel 271, a pair of second tensioning wheels 272, and a tensioning connecting frame 273. The first tensioning wheel 271 and the pair of second tensioning wheels 272 are respectively connected to both ends of the tensioning connecting frame 273, and the tensioning connecting frame 273 is also hinged to the first connecting frame 231, and the pair of second tensioning wheels 272 are coaxial. Guide teeth 281 are provided on the contact surface between the track 280 and the drive wheel 261. The guide teeth 281 mesh with the drive wheel 261. When the drive wheel 261 rotates, it is driven by the tensioning assembly 270 via the track 280.

[0079] Please see Figures 1 to 3As shown, in one embodiment of the present invention, the tracked chassis 200 further includes a support wheel set 2910 and a balance wheel set 2920. A pair of support wheel sets 2910 are located on the first auxiliary suspension frame beam 222, and their support shafts 2911 are connected to the side plate 120. A pair of balance wheel sets 2920 are located below the second auxiliary suspension frame beam 222. A third connecting frame 233 is hinged to the second auxiliary suspension frame beam 222 and connected to the balance wheel sets 2920. The track 280 wraps around the pair of support wheel sets 2910 and the pair of balance wheel sets 2920, and the pair of support wheel sets 2910 and the pair of balance wheel sets 2920 are rotatable along the track 280.

[0080] Please see Figures 1 to 3 As shown, in one embodiment of the present invention, the balance wheel assembly 2920 always provides a downward force to the tracked chassis 200, pressing the track 280. When the track 280 is partially suspended, the spring cylinder 240 contracts, causing the suspended portion of the balance wheel assembly 2920 to be pressed downward under the action of the spring cylinder 240 to maximize the contact area between the track 280 and the ground, thereby improving off-road capability. The tensioning assembly 270 ensures that the track 280 is always in a taut state and forms an inclined surface at the front end of the chassis, thereby improving the chassis's obstacle-crossing ability.

[0081] Please see Figure 1 , Figures 4 to 7 As shown, in one embodiment of the present invention, the robotic arm 300 includes a lifting device 310, a guide rail device 3240, and a robotic gripper device 350. The lifting device 310 and the guide rail device 3240 are connected by a chain drive, providing power to the guide rail device 3240. The robotic gripper device 350 is connected to the guide rail device 3240, and the guide rail device 3240 drives the robotic gripper device 350 to be positioned at a stair handrail or elevator button.

[0082] Please see Figure 1 , Figures 4 to 7 As shown, in one embodiment of the present invention, the lifting device 310 includes a lifting motor 311, a first lifting wheel 312 fixedly connected to the output shaft of the lifting motor 311, a second lifting wheel 313 and a third lifting wheel 314 respectively fixedly located at the upper and lower ends of the guide rail device 3240, and a lifting chain that is chain-driven with the first lifting wheel 312, the second lifting wheel 313 and the third lifting wheel 314. The lifting motor 311 is fixedly located on one side of the guide rail device 3240. The distribution of the first lifting wheel 312, the second lifting wheel 313 and the third lifting wheel 314 makes the lifting chain triangular in shape, which distributes a certain load and ensures the stability of the lifting device 310.

[0083] Please see Figure 1 , Figures 4 to 7As shown, in one embodiment of the present invention, the guide rail device 3240 includes a longitudinal guide rail 320, a transverse guide rail 330 fixedly connected to the longitudinal guide rail 320, and a rotary guide rail 340 fixedly connected to the transverse guide rail 330. The mechanical claw device 350 is fixedly connected to the output end of the rotary guide rail 340. The longitudinal guide rail 320 includes a longitudinal guide rail frame 321, one end of which is fixedly connected to the vehicle body 100 and a longitudinal moving block 322 that can move longitudinally along the longitudinal guide rail frame 321. The second lifting wheel 313 and the third lifting wheel 314 are respectively fixedly located at the upper and lower ends within the longitudinal guide rail frame 321. The lifting chain passes through the longitudinal moving block 322 and can drive the longitudinal moving block 322 to move longitudinally. The transverse guide rail 330 includes a transverse guide rail frame 331, a transverse fixing block 332 whose one end is fixedly connected to the longitudinal moving block 322 and whose other end engages with the transverse guide rail frame 331, a transverse guide rail motor 333 fixedly connected to one end of the transverse guide rail frame 331, a lead screw 334 connected to the transverse guide rail frame 331 and whose one end is also fixedly connected to the output end of the transverse guide rail motor 333, and a transverse moving block 335 sleeved on the lead screw 334 and capable of moving laterally along the lead screw 334. The transverse moving block 335 is also fixedly connected to the lower end face of the transverse fixing block 332 and can drive the transverse guide rail frame 331 to move horizontally. The rotary guide rail 340 includes a fixed bracket 341 fixedly connected to the other end of the transverse guide rail frame 331, a fixed disk 342 fixedly connected to the fixed bracket 341, and a rotary motor 343 fixedly connected to the fixed disk 342. Specifically, the transverse guide rail motor 333 is a stepper motor.

[0084] Please see Figure 1 , Figures 4 to 7 As shown, in one embodiment of the present invention, the mechanical gripper device 350 includes a fixed plate 351 fixedly connected to the rotating surface of a rotary motor 343, a plurality of connecting rods 352 fixedly connected to the fixed plate 351 at one end, a connecting piece 353 hinged at one end to the other end of the plurality of connecting rods 352, a movable plate 354 hinged to the other end of the connecting piece 353, and a flexible gripper 355 hinged to the connecting piece 353. The mechanical gripper device 350 also includes a clamping motor 356 fixedly connected to the rotating surface of the rotary motor 343 at one end, and the other end of the clamping motor 356 passes through the fixed plate 351 and the movable plate 354 in sequence, and a threaded rod 3561 is provided on the connecting section between the clamping motor 356 and the movable plate 354. When the clamping motor 356 rotates forward and backward, it can move the movable plate 354 on the threaded rod 3561, thereby driving the flexible gripper 355 to clamp or release.

[0085] Please see Figure 1 , Figures 4 to 7As shown, in one embodiment of the present invention, the flexible gripper 355 includes a connecting plate 3551 hinged at one end to a connecting piece 353, and a plurality of linkage frames 3552 hinged at one end to the connecting plate 3551. The height of the plurality of linkage frames 3552 decreases sequentially from the side near the connecting piece 353 to the other end of the connecting plate 3551. A plurality of wiping plates 3553 are hinged to the connecting piece 353 and the linkage frames 3552, and to adjacent linkage frames 3552 and the connecting plate 3551. Each wiping plate 3553 includes a wiping frame 3554 and a sponge roller 3555 located between and connected to the wiping frames 3554. A cotton layer is adhered to the wiping frame 3554. A disinfection pipe connected to the disinfection device 400 is provided inside the sponge roller 3555. The disinfection pipe transmits disinfectant water to wet the sponge roller 3555. The cotton layer is replaceable.

[0086] Please see Figure 1 , Figures 4 to 7 As shown, in one embodiment of the present invention, the flexible gripper 335 is rotated by a rotary motor 343, and the clamping motor 336 gives the flexible gripper 335 a fin effect, allowing it to deform according to the shape of the object being gripped. The sponge layer 3356 is replaceable, enabling dust removal from the contact area and absorption of disinfectant. The connecting frame 3352 is made of aluminum, and the disinfection channels inside the sponge roller 3355 ensure continuous immersion. This ensures that the flexible gripper 335 perfectly conforms to areas such as stair railings while effectively achieving contact disinfection. The rotary motor 343 is a brushless motor, and the clamping motor 336 is a DC motor.

[0087] Please see Figures 1 to 8 As shown, in one embodiment of the present invention, the disinfection device 400 includes a disinfection water tank 410, a water pump 420, and a disinfection cabinet 430 fixedly located on the upper surface of the vehicle body 100, and a nozzle 440 fixedly located on the lower surface of the vehicle body 100. The disinfection water tank 410, the water pump 420, and the nozzle 440 are connected to the disinfection cabinet 430 through disinfection pipes. The disinfection cabinet 430 has two layers inside, one layer for placing disinfection products and the other layer for placing the hardware of the control system for controlling the disinfection robot.

[0088] Please see Figures 1 to 8 As shown, in one embodiment of the present invention, the disinfection robot further includes a camera device 500, which is fixedly mounted on a fixed bracket 341. The camera device 500 is fixed at a height of 180mm from the transverse guide rail 330, making it higher than the flexible gripper 335, and ensuring that the positional error between the identified target and the flexible gripper 335 is small, facilitating target positioning and functional implementation.

[0089] Please see Figure 9As shown, the present invention also provides a control system for a disinfection robot, used to control the actions of the disinfection robot, including: a host control system analysis module 610, a host control system display module 620, a vehicle control module 630, an instruction module 640, a remote module 650, and an action control module 660. A camera device 500 is communicatively connected to the host control system analysis module 610. The host control system analysis module 610 analyzes the video images captured by the camera device 500 and sends the analyzed data to the host control system display module 620 for display. The vehicle control module 630 is used for real-time positioning of the disinfection robot and, based on the positioning data, controls the actions of the disinfection robot, and transmits the positioning data to the host control system display module 620 for display. The instruction module 640 generates action instructions for the disinfection robot and transmits the action instructions to the remote module 650. The remote module 650 transmits the action instructions to the action control module 660, and the action control module 660 manipulates the disinfection robot to work according to the action instructions.

[0090] Please see Figure 9 As shown, in one embodiment of the present invention, the upper-level control system parsing module 610 includes an HD conversion module 611, a first storage module 612, a first Raspberry Pi 613, a first antenna 614, and a first network card 515. The camera device 500 performs real-time video image acquisition and communicates with the first Raspberry Pi 613 through the HD conversion module 611; that is, the camera device 500 and the first Raspberry Pi 613 are connected via an HDMI interface. After receiving the image data, the first Raspberry Pi 613 saves the image data in the first storage module 612. The upper control system display module 620 includes a second antenna 621, a second network card 622, a second Raspberry Pi 623, a second storage module 624, and a display device 625. It transmits the image data parsed in the upper control system parsing module 610 to the display device 625 in the upper control system display module 620 for display through the first antenna 614, the first network card 515, the second antenna 621, and the second network card 622, and stores the parsed image data in the second storage module 624.

[0091] Please see Figure 9As shown, in one embodiment of the present invention, the vehicle control module 630 includes a positioning device 631, a flight control module 632, a vehicle driving control module 633, and a positioning display module 634. The positioning device 631, for example, uses GPS, an electronic compass, or an ammeter, for real-time positioning of the disinfection robot. The flight control module 632 uses an APM (Auto Pilot Mega, APM) system to receive positioning data transmitted by the positioning device 631 and an autonomous navigation scheme stored in the first Raspberry Pi 613, and controls the vehicle driving control module 633. Specifically, the vehicle driving control module 633 is a joystick for controlling the disinfection robot. Controlling the joystick allows the tracked chassis 200 and the robotic arm 300 to perform corresponding actions. The positioning display module 634 acquires positioning data, specifically using a Mission Planner, which can be connected to a computer terminal or a display device 625 for dynamically displaying the real-time positioning of the disinfection robot on a laptop or display device 625.

[0092] Please see Figure 9 As shown, in one embodiment of the present invention, the instruction module 640 includes a control panel module 641, a microcontroller 642, and a LoRa transparent transmission module 643. The control panel module 641 is used to generate action commands, and the microcontroller 642 converts the action commands into a format and transmits them to the LoRa transparent transmission module 643. Specifically, the microcontroller 642 is an STM32 chip. The remote module 650 includes a LoRa transparent transmission receiving module 651 and an Android module 652. The LoRa transparent transmission receiving module 651 receives the action commands sent by the LoRa transparent transmission module 643, while the Android module 652 can also remotely send action commands and transmit them to the action control module 660. The action control module 660 includes a lower-level control module 611 and an action control module 662, wherein the lower-level control module 611 controls the action control module 662 to act according to the action commands. Specifically, the lower-level control module 611 is also an STM32 chip. The motion control module 662, such as the tracked chassis 200 and the robot arm 300, moves according to the motion commands. According to the control commands of the flight control module 632 to the vehicle driving control module 633, the motion control module 662 moves according to the control commands of the first Raspberry Pi 613 and the second Raspberry Pi 623, through the command module 640 and the remote module 650, and then through the lower-level control module 611 to control the motion control module 662 to move according to the control commands.

[0093] Please see Figure 9As shown, in one embodiment of the present invention, the autonomous navigation scheme includes global map construction, real-time localization of the disinfection robot, and global and local optimal path planning. For global map construction, a LiDAR sensor is installed on the disinfection robot, allowing for SLAM map construction by real-time reading of LiDAR data. For real-time robot localization, adaptive Monte Carlo localization is used. This method is a probabilistic localization method for the disinfection robot during two-dimensional movement, employing a particle filter to track the robot's position on a known map, demonstrating good localization performance for large-scale local localization problems. For global and local optimal path planning, the A* algorithm is used for global path planning. This algorithm is a commonly used static obstacle avoidance optimal path planning algorithm; its principle is easy to understand, its path planning effect is good, and it is easy to implement. For local path planning, a time-elastic band path planning algorithm is used. This algorithm has strong foresight, can optimize a segment of the trajectory ahead, and has good obstacle avoidance performance for dynamic obstacles. The autonomous navigation schemes are all mature existing technologies and will not be described further here. The autonomous navigation scheme is stored in the first Raspberry Pi 613. It performs visual recognition of stairs and elevator buttons based on video images from the camera device 500, and performs positioning and path planning for the disinfection robot. At the same time, it uses the OpenHD open-source radio image transmission scheme to transmit images remotely with the second Raspberry Pi 623.

[0094] Please see Figure 9 As shown, in one embodiment of the present invention, the remote control of the disinfection robot is mainly implemented based on the LoRa transparent transmission module 643, the LoRa transparent transmission receiving module 651, and the Android module 652. The remote control terminal has devices such as a joystick, switch, button, and potentiometer for generating control signals. Operators can send corresponding control commands to the disinfection robot and the remote image receiving terminal through the remote control terminal, thereby achieving remote control of the entire disinfection robot system. Specifically, the hardware circuitry of the entire disinfection robot's control system is located inside the disinfection cabinet.

[0095] Please see Figure 10 As shown, the present invention also provides a control method for a disinfection robot, comprising:

[0096] S110, acquire the image captured by the camera device.

[0097] S120, execute the target detection algorithm to detect and determine whether the acquired image is a target object; if so, proceed to the next step S130, otherwise return to step S110.

[0098] To achieve target capture and disinfection, we first need to perform object detection in complex environments. Traditional OpenCV-based contour recognition algorithms can identify irregular object contours through binary extraction and manually designed features, such as Sobel edge detection features, Haar features, and Hog features. However, in real-world environments, the color of an object, and in most cases, it is neither a solid nor a single color, is a crucial indicator for distinguishing its characteristics. The same type of object may have multiple shapes, making it difficult to identify all objects using only a few contour maps, resulting in poor generalization performance. Therefore, deep learning-based object detection, with its powerful feature extraction capabilities and generalization, provides a powerful tool for high-accuracy object detection.

[0099] Deep learning-based object detection algorithms learn features using convolutional neural networks (CNNs) and are categorized into single-stage and two-stage algorithms based on whether they perform pre-selection of image regions (Region Proposals). Due to the added pre-selection step, two-stage algorithms achieve higher accuracy than single-stage algorithms, but are slower. To meet real-time requirements, we employ the YOLO (You Only Look Once) model, the most popular single-stage algorithm, for object detection.

[0100] The core difference between YOLO and other algorithms lies in its ability to output the category and location of all detected targets at once by browsing the entire image. It transforms the object classification problem into a bounding box detection regression problem by predicting the bounding boxes of the segmented image. Currently, the YOLO series has evolved from YOLOv1 in 2016 to the YOLOE series, with numerous improvements to anchor boxes, activation functions, backbone networks, and other components. However, the YOLOv5 model, with its advantages of small scale, high accuracy, and multi-platform reproducibility, is widely used in object detection tasks. Therefore, in this embodiment, YOLOv5 is chosen as the object detection model for the system, as it is existing technology and will not be described further.

[0101] S130, Obtain the location of the target object.

[0102] When the target detection algorithm detects a staircase or elevator button, the lens of the corresponding camera device will be directed to the location of the target object.

[0103] S140, the distance from the disinfection robot to the target object is measured using a monocular ranging algorithm.

[0104] Please see Figures 10 to 12 As shown, the process of the disinfection robot measuring the distance to the target object includes the following steps:

[0105] S141, Set the physical imaging plane coordinate system to xyz, and the real-world coordinate system established based on the camera device to x ， y ， z ， .

[0106] S142, Obtain the correspondence between the physical imaging plane coordinate system and the real world coordinate system.

[0107] In the real world, points P and Q, after passing through a pinhole camera, fall onto the physical imaging plane and are called image points P' and Q'. Based on similar triangles, we have:

[0108]

[0109] In the formula, Represented as the physical imaging plane coordinate system. Represented as real-world coordinates, This represents the distance between the optical center O and the physical imaging plane. The negative sign indicates that the image is inverted. The final image we see will show the imaging plane inverted in front of the camera.

[0110] S143, the camera device is scaled by matching horizontal and vertical pixels, and the corresponding movement coordinates of the target object in the real world coordinate system are obtained, as well as the target object in the real world coordinate system are obtained.

[0111] The target object is obtained in the real-world coordinate system using the following formula:

[0112]

[0113] ;

[0114] ;

[0115] ;

[0116] In the formula, This refers to the camera's own axis, specifically the distance from the target object to the camera lens. This refers to the axis system of the camera device itself, specifically the distance from the image to the camera lens. Indicated as in The scaling factor, Indicated as in Scaling factor on This refers to the image of the target object in the real world after the camera device performs horizontal and vertical pixel scaling. The coordinates of movement on the coordinate system.

[0117] Please see Figures 10 to 12 As shown, in one embodiment of the present invention, it should be noted that distance estimation through monocular ranging has a prerequisite: the true height H of the object needs to be known. The imaging height h can be measured on a plane, and then, based on similar triangles, we have:

[0118]

[0119] In practical applications, the robotic arm design allows for an algorithm error of approximately 3-4 cm, accommodating the gap between the actual and estimated sizes of objects. For example, in the application scenario of handrail disinfection, the program only needs to pre-enter the handrail height data. The model first obtains the preset height of the object by identifying the target type, and then combines this with a monocular ranging algorithm to obtain the object's specific location information.

[0120] S150, based on the ranging results, the actual coordinates of the target object are obtained, and the disinfection robot moves in the direction of the actual coordinates.

[0121] Calibration using a camera device can yield... , , , The value of the target object can be used to deduce its actual coordinates and calculate its length, width, and height.

[0122] Please see Figure 13 and Figure 14 As shown, in one embodiment of the present invention, the control method further includes a control method for a tracked chassis.

[0123] The disinfection robot has a tracked chassis, driven by two electrodes and a reducer assembly on each side. Motion control of the chassis is achieved through kinematic modeling. This kinematic model can be simplified and equivalently represented as a differential motion model of two tracked chassis. The speed of the two tracked chassis can be controlled by adjusting the rotational speeds of the electrodes and reducer assemblies, and steering is achieved through the differential speed between the two tracked chassis.

[0124] The control method includes: establishing a motion model of the disinfection robot, controlling the motion speed of the tracked chassis on both sides according to the motion model, and realizing the steering of the disinfection robot by controlling the speed difference between the tracked chassis on both sides.

[0125] The establishment of the motion model includes the following steps:

[0126] S210, based on the speed and the integral over time, obtain the travel distance of the center point of the lateral distance between the left track chassis, the right track chassis, and the two track chassis on both sides of the vehicle body.

[0127] S220, based on the travel distance of the left tracked chassis, the travel distance of the right tracked chassis, and the travel distance of the center point of the lateral distance, as well as the turning radius generated by the simultaneous forward movement and rotation of the disinfection robot and the lateral distance between the left and right tracked chassis, the rotation angle of the disinfection robot within a certain period of time is obtained.

[0128] S230, based on the rotation angle, obtain the rotation speed of the disinfection robot around the center point target at the lateral distance center point.

[0129] S240, based on the rotational speed of the center point target, obtain the real-time speeds of the left track chassis and the right track chassis.

[0130] The lateral distance traveled between the center points of the left and right tracked chassis and the two tracked chassis on both sides of the vehicle body is obtained by the following formula:

[0131] Arc_L = V_L * t;

[0132] Arc_M=V x *t;

[0133] Arc_R = V_R * t;

[0134] In the formula, Arc_L, Arc_R, and Arc_M represent the distance traveled by the center points of the lateral distances between the left and right tracked chassis and the two tracked chassis on both sides of the vehicle body, respectively; V_L and V_R represent the travel speeds of the left and right tracked chassis, respectively; and V... x The velocity of the target is represented by the lateral distance from the center point, and t represents time.

[0135] The rotation angle of the disinfection robot over a certain period of time is obtained by the following formula:

[0136] θ=Arc_L / (R–W / 2)=Arc_M / R=Arc_R / (R+W / 2);

[0137] In the formula, θ represents the rotation angle, R represents the turning radius generated by the disinfection robot moving forward and rotating at the same time, and W represents the lateral distance between the left and right tracked chassis.

[0138] The rotational speed of the target center point is obtained using the following formula:

[0139] V z =V_L / (R–W / 2)=V x / R=V_R / (R+W / 2);

[0140] In the formula, V z V represents the rotational speed of the disinfection robot around the target center point at the lateral distance from the center point. x This represents the speed at which the disinfection robot moves around the target at the center point of the lateral distance.

[0141] By transforming the formula for the rotational velocity of the target at the center point, we can obtain:

[0142] R=V x / V z ;

[0143] V x / R=V_L / (R–W / 2)=V_R / (R+W / 2);

[0144] The real-time speeds of the left track chassis and the right track chassis are obtained using the following formula:

[0145] V_LT=V x –W / 2*V z ;

[0146] V_RT=V x +W / 2*V z ;

[0147] In the formula, V_LT represents the real-time speed of the left track chassis, and V_RT represents the real-time speed of the right track chassis.

[0148] The motion control of the robotic arm of the disinfection robot is mainly divided into four parts, namely: the lifting and lowering of the robotic gripper on the longitudinal guide rail; the lateral movement of the robotic gripper on the transverse guide rail; the rotational movement of the robotic gripper around its axis; and the grasping motion of the robotic gripper. These four movements are achieved by controlling four motors.

[0149] The motion control of both the chassis and the robotic arm of the disinfection robot relies on precise control of the motor motion. Motor control primarily involves two aspects: motor speed control and position control. For motor speed control, an incremental PID algorithm is used. This algorithm does not require accumulation; the control increment is determined only by the three most recent sampled values, making it easy to achieve good control results through weighted processing. Since this algorithm only outputs the control increment—the change in motor speed—each time, the impact of motor failure is small and will not severely affect the control process. For motor position control, a two-loop cascaded PID algorithm (position loop and speed loop) is used. Compared to a single-loop PID algorithm, this algorithm has a larger control constant and stronger system anti-interference capability and stability. Specifically, the motion control of the robotic arm utilizes existing technology.

[0150] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0151] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A disinfecting robot, characterized in that, The utility model provides a disinfection robot, including car body (100), crawler chassis (200) located car body (100) both sides, mechanical arm (300) and disinfection device (400) located car body (100) upper end, crawler chassis (200) can climb slope road condition and stair, car body (100) provides power for crawler chassis (200), mechanical arm (300) can disinfect stair handrail and elevator button, disinfection device (400) with mechanical arm (300) pipe connection and can carry out atomization disinfection to conventional pavement, Mechanical arm (300) includes lifting device (310), guide rail device (3240) and mechanical gripper device (350), lifting device (310) with guide rail device (3240) chain drive provides power for guide rail device (3240), mechanical gripper device (350) is connected with guide rail device (3240), and guide rail device (3240) drives mechanical gripper device (350) to be positioned to stair handrail or elevator button, Mechanical gripper device (350) includes fixed plate (351) with the rotation surface fixed connection of rotary motor (343), a plurality of connecting rods (352) with one end fixed connection of fixed plate (351), connecting piece (353) with one end hinged with the other end of a plurality of connecting rods (352), movable plate (354) with the other end hinged with connecting piece (353) and flexible gripper (355) with connecting piece (353) hinged, mechanical gripper device (350) still includes one end with the rotation surface fixed connection of rotary motor (343) of clamping motor (356), and the other end of clamping motor (356) passes through fixed plate (351) and movable plate (354) in proper order, and the connecting section of clamping motor (356) with movable plate (354) is provided with threaded rod (3561), when clamping motor (356) is reversed, movable plate (354) can move on threaded rod (3561), and flexible gripper (355) is driven to clamp or loosen in linkage, Flexible gripper (355) includes connecting plate (3551) with one end hinged with connecting piece (353), a plurality of link lever frames (3552) with one end hinged with connecting plate (3551), and a plurality of link lever frames (3552) from the side close to connecting piece (353) to the other end of connecting plate (3551), its height decreases in proper order, with connecting piece (353) and link lever frame (3552), adjacent two link lever frames (3552) and link lever frame (3552) and a plurality of wiping plates (3553) hinged with connecting plate (3551), every wiping plate (3553) includes wiping frame (3554) and sponge roller (3555) located between wiping frame (3554) and connected with wiping frame (3554), wiping frame (3554) is pasted with cotton layer, and sponge roller (3555) is provided with disinfection pipeline connected with the pipe of disinfection device (400), the disinfection pipeline transmits disinfectant to soak sponge roller (3555).

2. The disinfection robot of claim 1, wherein, The track chassis (200) comprises a support beam (210), a suspension frame (220) and a connecting frame (230); the connecting leg of the side plate (120) of the vehicle body (100), the support beam (210), one end of the connecting frame (230) and the main suspension frame beam (221) of the suspension frame (220) are coaxially hinged in sequence.

3. The disinfection robot of claim 2, wherein, The suspension frame (220) comprises a main suspension frame beam (221), and the one end of the main suspension frame beam (221) is bifurcated and extends along the two ends of the bifurcation to form a first auxiliary suspension frame beam (222) and a second auxiliary suspension frame beam (223); and the main suspension frame beams (221) of the suspension frames (220) are hinged at the end close to the auxiliary suspension frame; the track chassis (200) further comprises a spring air cylinder (240), and the two ends of the spring air cylinder (240) are fixedly connected with the first auxiliary suspension frame beams (222) of the suspension frames (220) respectively.

4. The disinfection robot of claim 3, wherein, The track chassis (200) further comprises a reduction assembly (250), a driving assembly (260), a tensioning assembly (270) and a track (280); the reduction assembly (250) is synchronously connected with the output shaft of the motor and reducer assembly (130) of the vehicle body (100); the driving shaft (262) of the driving assembly (260) passes through the first connecting frame (231) of the connecting frame (230) and is coaxially connected with the reduction assembly (250) again, and moves synchronously with the reduction assembly (250); the tensioning assembly (270) is hinged with the second connecting frame (232) of the connecting frame (230); the tensioning assembly (270) and the driving assembly (260) are located at the two ends of the support beam (210) respectively, the track (280) wraps the tensioning assembly (270) and the driving assembly (260), and the output shaft of the motor and reducer assembly (130) drives the reduction assembly (250) to rotate, synchronously drives the driving assembly (260) to rotate, the driving assembly (260) drives the track (280) to rotate, and the track (280) drives the tensioning assembly (270) to rotate.

5. The disinfection robot of claim 4, wherein, The track chassis (200) further comprises a support wheel group (2910) and a balance wheel group (2920); a pair of support wheel groups (2910) are located above the first auxiliary suspension frame beam (222), the support shaft (2911) of the support wheel group (2910) is connected with the side plate (120) of the vehicle body (100); a pair of balance wheel groups (2920) are located below the second auxiliary suspension frame beam (223); the third connecting frame (233) of the connecting frame (230) is hinged with the second auxiliary suspension frame beam (223) and connected with the balance wheel group (2920); the track (280) wraps the pair of support wheel groups (2910) and the pair of balance wheel groups (2920), and the pair of support wheel groups (2910) and the pair of balance wheel groups (2920) can rotate along the track (280).

6. The disinfection robot of claim 1, wherein, The lifting device (310) comprises a lifting motor (311), a first lifting wheel (312) fixedly connected with an output shaft of the lifting motor (311), a second lifting wheel (313) and a third lifting wheel (314) fixedly located at upper and lower ends of the guide rail device (3240) respectively, and a lifting chain in chain transmission with the first lifting wheel (312), the second lifting wheel (313) and the third lifting wheel (314); and the lifting motor (311) is fixedly located at one side of the guide rail device (3240), and the first lifting wheel (312), the second lifting wheel (313) and the third lifting wheel (314) are distributed and arranged, so that the lifting chain is in a triangular shape.

7. The disinfection robot of claim 6, wherein, The guide rail device (3240) comprises a longitudinal guide rail (320), a transverse guide rail (330) fixedly connected with the longitudinal guide rail (320), and a rotary guide rail (340) fixedly connected with the transverse guide rail (330), and the mechanical claw device (350) is fixedly connected with an output end of the rotary guide rail (340); the longitudinal guide rail (320) comprises a longitudinal guide rail frame (321) and a longitudinal moving block (322) capable of moving longitudinally along the longitudinal guide rail frame (321) and fixedly connected with the vehicle body (100) at one end; the second lifting wheel (313) and the third lifting wheel (314) are fixedly located at upper and lower ends in the longitudinal guide rail frame (321) respectively; the lifting chain passes through the longitudinal moving block (322) and can drive the longitudinal moving block (322) to move longitudinally; the transverse guide rail (330) comprises a transverse guide rail frame (331), a transverse fixed block (332) fixedly connected with the longitudinal moving block (322) at one end and clamped with the transverse guide rail frame (331) at the other end, a transverse guide rail motor (333) fixedly connected with one end of the transverse guide rail frame (331), a screw rod (334) connected with the transverse guide rail frame (331) and fixedly connected with an output end of the transverse guide rail motor (333) at one end, and a transverse moving block (335) sleeved on the screw rod (334) and capable of moving transversely along the screw rod (334), and the transverse moving block (335) is further fixedly connected with a lower end surface of the transverse fixed block (332) and can drive the transverse guide rail frame (331) to move transversely; the rotary guide rail (340) comprises a fixed support (341) fixedly connected with the other end of the transverse guide rail frame (331), a fixed disc (342) fixedly connected with the fixed support (341), and a rotary motor (343) fixedly connected with the fixed disc (342).

8. The disinfection robot of claim 1, wherein, The disinfection device (400) comprises a disinfection water tank (410) fixed on the upper end surface of the vehicle body (100), a water pump (420) and a disinfection cabinet (430) fixed on the lower end surface of the vehicle body (100), and a spray head (440) fixed on the lower end surface of the vehicle body (100); the disinfection water tank (410), the water pump (420) and the spray head (440) are connected by the disinfection pipeline; the disinfection cabinet (430) is internally provided with two layers, one layer is used for placing disinfection products, and the other layer is used for placing hardware of a control system for controlling the disinfection robot; the disinfection robot further comprises a camera device (500) fixed on the fixed support (341).

9. A control system for a disinfection robot, characterized in that The control method comprises the following steps: S10, acquiring the image collected by the camera device; S20, executing a target detection algorithm to detect whether the collected image is a target object; if yes, executing the next step S30; if not, returning to step S10; S30, acquiring the position of the target object; S40, performing monocular distance measurement algorithm to measure the distance from the disinfection robot to the position of the target object; S50, acquiring the actual coordinates of the target object according to the distance measurement result, and driving the disinfection robot according to the actual coordinate direction.

10. A control method of the disinfection robot according to any one of claims 1 to 8, characterized by, The control method further comprises the following steps: S110, acquiring the image collected by the camera device; S120, executing a target detection algorithm to detect whether the collected image is a target object; if yes, executing the next step S130; if not, returning to step S110; S130, acquiring the position of the target object; S140, performing monocular distance measurement algorithm to measure the distance from the disinfection robot to the position of the target object; S150, acquiring the actual coordinates of the target object according to the distance measurement result, and driving the disinfection robot according to the actual coordinate direction.

11. The control method of the disinfection robot according to claim 10, wherein The method for measuring the distance from the disinfection robot to the position of the target object by the monocular distance measurement algorithm comprises the following steps: A physical imaging plane coordinate system is set as xyz, and a real world coordinate system established based on the camera is x ， y ， z ， ; Acquiring the corresponding relationship between the physical imaging plane coordinate system and the real world coordinate system; Performing horizontal and vertical pixel matching scaling on the camera device to acquire the movement coordinates of the target object in the real world coordinate system and the target object in the real world coordinate system; The method for measuring the distance from the disinfection robot to the position of the target object by the monocular distance measurement algorithm comprises the following steps: ； ； ； In the formula, This refers to the axis system of the camera device itself, and the distance from the target object to the lens of the camera device; This refers to the axis of the camera device itself, and the distance from the image to the lens of the camera device; Represented as real-world coordinates; Represented as a physical imaging plane coordinate system; It is represented as the distance between the optical center O and the physical imaging plane; Indicated as in The scaling factor; Indicated as in The scaling factor on; This refers to the image of the target object in the real world after the camera device performs horizontal and vertical pixel scaling. The coordinates of movement on the coordinate system. 12.The control method of the disinfection robot according to claim 10, wherein, Acquiring the corresponding relationship between the physical imaging plane coordinate system and the real world coordinate system; Performing horizontal and vertical pixel matching scaling on the camera device to acquire the movement coordinates of the target object in the real world coordinate system and the target object in the real world coordinate system; The control method further comprises the control method of the tracked chassis: A motion model of the disinfection robot is established, motion speed control of the two side track chassis is realized according to the motion model, and the disinfection robot is turned through the speed difference between the two side track chassis; The motion model is established by the following steps: S210, a driving distance of a transverse distance center point between the left track chassis, the right track chassis and the left and right track chassis on the two sides of the vehicle body is obtained according to speed and integral of time; S220, a rotation angle of the disinfection robot within a certain time is obtained according to the driving distance of the left track chassis, the driving distance of the right track chassis, the driving distance of the transverse distance center point, a turning radius generated by simultaneous forward movement and rotation of the disinfection robot and a transverse distance between the left and right track chassis; S230, a center point target rotation speed of the disinfection robot around the transverse distance center point is obtained according to the rotation angle; S240, real-time speeds of the left track chassis and the right track chassis are obtained according to the center point target rotation speed; The driving distance of the transverse distance center point between the left track chassis, the right track chassis and the left and right track chassis on the two sides of the vehicle body is obtained by the following formula: Arc_L=V_L*t; Arc_M = V x *t; Arc_R=V_R*t; In the formula, Arc_L, Arc_R, and Arc_M represent the running distance of the lateral distance center point between the left track chassis, the right track chassis, and the left and right track chassis on both sides of the vehicle body; V_L and V_R represent the running speed of the left track chassis and the right track chassis; V x represents the target forward speed of the lateral distance center point; t represents time; The rotation angle of the disinfection robot within a certain time is obtained by the following formula: θ=Arc_L / (R–W / 2)=Arc_M / R=Arc_R / (R+W / 2); In the formula, θ represents the rotation angle; R represents a turning radius generated by simultaneous forward movement and rotation of the disinfection robot; and W represents a transverse distance between the left and right track chassis; The center point target rotation speed is obtained by the following formula: V z =V_L / (R–W / 2)=V x / R=V_R / (R+W / 2); In the formula, V z denotes a target rotational speed of the disinfection robot around a center point target of the lateral distance center point; V x denotes a target forward speed of the disinfection robot around the lateral distance center point; The center point target rotation speed formula is deformed to obtain: R = V x / z ; V x R = V_L / (R - W / 2) = V_R / (R + W / 2); The real-time speeds of the left track chassis and the right track chassis are obtained by the following formula: V LT = V x - W / 2 * V z ; V_RT = V x + W / 2 * V z ; In the formula, V_LT represents the real-time speed of the left track chassis; and V_RT represents the real-time speed of the right track chassis.

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