Inspection disinfection robot and inspection disinfection robot control platform

Abstract

The utility model relates to an inspection and disinfection robot and an inspection and disinfection robot control platform, and the inspection and disinfection robot comprises a motion device which comprises an electric chassis and wheels connected with the electric chassis; the rack is mounted on the electric chassis; the mist disinfecting and killing device is used for spraying disinfectant and comprises a mist sprayer; the at least one pesticide storage barrel is arranged on at least one side of the two sides, except the head part and the tail part, of the rack; the at least one mechanical diaphragm pump is mounted on the rack on the inner side of the bottom of the pesticide storage barrel, and the mechanical diaphragm pump is connected with the pesticide storage barrel and the mist sprayer; the blast early warning device comprises a thermal infrared camera; the action execution device comprises a first holder; the control device is mounted in the rack; wherein the first holder is installed above the tail portion of the machine frame, the mist sprayer is installed above the first holder in the retreating direction of the electric chassis, and the thermal infrared camera is installed above the mist sprayer.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a patrol inspection and disinfection robot. Background Art

[0002] Maintaining a good breeding environment in indoor livestock and poultry farming is the top priority in breeding work. Indoor pig and other livestock and poultry farming have very strict requirements on the environment of the pens. Nowadays, plagues such as swine fever and chicken plague are rampant. A well-ventilated, clean and sanitary environment is conducive to the growth of livestock and poultry and prevents the breeding of bacteria. In order to maintain a clean pig house environment, farmers will regularly collect environmental information of the pig house, clean and disinfect it. Through environmental information collection, targeted environmental improvements can be effectively carried out. Through disinfection, pathogens can be eliminated to prevent the occurrence of infectious diseases and plagues. Effective plague early warning monitoring can effectively kill the spread of plague. These can reduce the chance of indoor livestock and poultry getting sick, reduce or recover the economic losses of farmers, and provide consumers with high-quality meat ingredients.

[0003] In the layout of indoor cage breeding space, the corridor space is narrow, the structure is compact, and the power supply is single. In order to maintain the most suitable breeding environment, multiple groups of multi-type sensor equipment and ventilation and insulation equipment will be distributed indoors. Due to the compact structure and single power supply, the sensor equipment cannot be placed in the best position, and the regional division also reduces the detection accuracy. In order to prevent the spread of the virus, most of them adopt spray disinfection, and spray the walls, ground, feeding troughs and other places of the pig house after diluting the chemical disinfectant in proportion. Spraying disinfection work is mostly manual due to the constraints of space and other factors. Plague early warning monitoring lacks universal group detection methods, and often uses manual sampling observation or detection methods. Using manual disinfection or monitoring of plague early warning will bring many problems. First of all, manual operation is limited by the load-bearing spray device and manual physical strength, with low operation efficiency and high labor intensity. Secondly, people are the most direct virus carriers. It is very easy to cause the hidden danger of cross-infection between humans and animals during manual spraying disinfection or quarantine, which increases the probability of plague outbreaks. Utility Model Content

[0004] In order to solve the problems of low operating efficiency and cross-infection between humans and animals caused by manual disinfection of indoor cage breeding space, the utility model discloses a patrol disinfection robot, comprising:

[0005] A motion device, comprising an electric chassis and wheels connected to the electric chassis;

[0006] A frame, mounted on the electric chassis;

[0007] The mist disinfection device is used to spray disinfectant, which includes:

[0008] Mist sprayers;

[0009] At least one medicine storage barrel is placed on at least one of the two sides of the frame except the head and the tail;

[0010] At least one mechanical diaphragm pump is installed on the frame inside the bottom of the medicine storage barrel, and the mechanical diaphragm pump is connected to the medicine storage barrel and the mist sprayer;

[0011] Disease early warning devices, including thermal infrared cameras;

[0012] The action execution device includes a first pan / tilt platform;

[0013] A control device is installed in the frame; wherein,

[0014] The electric chassis, the mist sprayer, the mechanical diaphragm pump, the thermal infrared camera and the first pan / tilt are respectively connected to the control device;

[0015] The first pan-tilt head is installed above the rear of the frame, the mist sprayer is installed above the first pan-tilt head along the backward direction of the electric chassis, and the thermal infrared camera is installed above the mist sprayer.

[0016] In the above-mentioned inspection and disinfection robot of the utility model, the electric chassis adopts a four-wheel Ackerman structure, further comprising:

[0017] Frame;

[0018] A steering mechanism, comprising a connecting rod front axle, a front axle steering machine and a servo steering motor mounted on a vehicle frame, wherein the front axle steering machine is connected to the connecting rod front axle and the servo steering motor, the connecting rod front axle is connected to the two front wheels of the vehicle, and the front axle steering machine is adjusted by the forward and reverse rotation of the servo steering motor so that the two front wheels form a parallel turning angle;

[0019] Two rear axle synchronous servo motors are connected to the two rear wheels of the vehicle through planetary reducers respectively.

[0020] In one embodiment of the inspection and disinfection robot described above of the utility model, the mist sprayer adopts a double-pressurization method.

[0021] In the above-mentioned inspection and disinfection robot embodiment of the utility model, the mist sprayer adopting the double-pressurization method further includes:

[0022] Multi-hole nozzle;

[0023] Spraying barrel;

[0024] High pressure fan; wherein,

[0025] The spraying tube is installed above the first pan-tilt platform along the backward direction of the electric chassis, the nozzle is located inside the spraying tube, the high-pressure fan is installed on the outside of the tail of the spraying tube, the porous nozzle is connected to the mechanical diaphragm pump through a pipeline, and the high-pressure fan is connected to the control device.

[0026] In the above-mentioned patrol and disinfection robot of the utility model, the action execution device further includes:

[0027] A second pan / tilt platform is installed between the mist sprayer and the thermal infrared camera and connected to the control device;

[0028] The third pan / tilt head is installed in front of the frame and connected to the control device.

[0029] In one embodiment of the above-mentioned inspection and disinfection robot of the utility model, an environment sensing device is also included, which further includes:

[0030] A multi-environment information collector is installed above the rack without any shielding, and includes:

[0031] Multi-hole protective cover;

[0032] a plurality of sensors located within the porous shield;

[0033] An industrial camera is installed on the third pan-tilt platform and is used to capture images of the inspection and disinfection robot in the direction of travel.

[0034] In one embodiment of the above-mentioned inspection and disinfection robot of the utility model, a path sensing device is also included, which further includes:

[0035] A multi-line laser radar is installed on the head of the frame and connected to the control device, and is used to detect surrounding obstacles and boundary walls.

[0036] In one embodiment of the above-mentioned inspection and disinfection robot of the present invention, the control device also includes a wireless communication module installed at the rear of the frame, which is used to receive and / or send control and data signals.

[0037] In one embodiment of the above-mentioned inspection and disinfection robot of the utility model, it also includes a wireless remote control device, which is wirelessly connected to the wireless communication module and is used to control the motion device, the mist disinfection device and the action execution device. The wireless remote control device has the highest control authority.

[0038] The utility model also discloses a patrol inspection and disinfection robot control platform, characterized in that it includes a remote control terminal device for controlling the mist disinfection device and the action execution device of the patrol inspection and disinfection robot as described in any one of the above items, and storing and displaying the data collected by the plague early warning device, the environment sensing device and the path sensing device, wherein the remote control terminal device further includes:

[0039] Terminal data processing module;

[0040] A display module connected to the terminal data processing module;

[0041] A storage module connected to the terminal data processing module;

[0042] Wireless data transmission module; wherein,

[0043] The terminal data processing module is connected to the wireless communication module of the control device through the wireless data transmission module, and the wireless connection is implemented using a bridge method. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a front view of an embodiment of the inspection and disinfection robot in the utility model;

[0045] Figure 2 A top view of an embodiment of the inspection and disinfection robot of the utility model;

[0046] Figure 3 This is a cross-sectional view of an embodiment of the inspection and disinfection robot of the present utility model;

[0047] Figure 4 It is an operation path tracking control model of an embodiment of the inspection and disinfection robot in the utility model;

[0048] Figure 5 This is a block diagram of a patrol inspection and disinfection robot control platform in the utility model;

[0049] Wherein, the reference numerals are:

[0050] 1: Inspection and disinfection robot

[0051] 10: Electric chassis

[0052] 11: Connecting rod front axle

[0053] 12: Front axle steering gear

[0054] 13: Servo steering motor

[0055] 14: Rear axle synchronous servo motor

[0056] 20: Rack

[0057] 30: Mist Sprayer

[0058] 31: Medicine barrel

[0059] 32: Mechanical diaphragm pump

[0060] 301: Multi-hole nozzle

[0061] 302: Spraying barrel

[0062] 303: High pressure fan

[0063] 40: Thermal infrared camera

[0064] 50: First PTZ

[0065] 51: Second PTZ

[0066] 52: The Third PTZ

[0067] 60: Control device

[0068] 61: Wireless communication module

[0069] 70: Multi-line LiDAR

[0070] 80: Multi-environment information collector

[0071] 90: Industrial Camera

[0072] 100: Remote control terminal device

[0073] 110: Terminal data processing module

[0074] 120: Display module

[0075] 130: Storage module

[0076] 140: Wireless data transmission module

[0077] 200: Inspection and disinfection robot control platform DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that references to "one embodiment", "embodiment", "example embodiment" and the like in the specification refer to the embodiment described, which may include specific features, structures or characteristics, but does not necessarily include these specific features, structures or characteristics. In addition, such expressions do not refer to the same embodiment. Further, when describing specific features, structures or characteristics in conjunction with the embodiments, whether or not there is a clear description, it has been shown that combining such features, structures or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0079] Certain words are used in the specification and subsequent claims to refer to specific modules, components or parts. It should be understood by those of ordinary skill in the art that technical users or manufacturers may refer to the same module, component or part by different nouns or terms. This specification and subsequent claims do not use differences in names as a way to distinguish modules, components or parts, but use differences in the functions of modules, components or parts as the criteria for distinction. "Including" and "including" mentioned throughout the specification and subsequent claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connect" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connection through other devices.

[0080] In the following specification and claims, reference will be made to a number of terms which shall be defined to have the following meanings. The singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. "Optional" or "optionally" means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0081] In addition, in the description of the specification, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and "approximately", or "approximately", "substantially", "left and right" and the like indicating directions or positional relationships or parameters are all based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description content, and do not indicate or imply that the referred device or element must have a specific direction, specific size, or be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0082] Please refer to Figures 1 to 3 The utility model discloses a patrol inspection and disinfection robot 1, comprising:

[0083] A motion device, comprising an electric chassis 10 and wheels connected to the electric chassis 10;

[0084] A frame 20, mounted on the electric chassis 10;

[0085] The mist disinfection device is used to spray disinfectant, which includes:

[0086] Mist sprayer 30;

[0087] At least one medicine storage barrel 31 is placed on at least one of the two sides of the frame 20 except the head and the tail;

[0088] At least one mechanical diaphragm pump 32 is installed on the frame 20 inside the bottom of the medicine storage barrel 31, and the mechanical diaphragm pump 32 is connected to the medicine storage barrel 31 and the mist sprayer 30;

[0089] Plague early warning device, including a thermal infrared camera 40;

[0090] The action execution device includes a first pan / tilt platform 50;

[0091] The control device 60 is installed in the frame 20; wherein,

[0092] The electric chassis 10, the mist sprayer 30, the mechanical diaphragm pump 32, the thermal infrared camera 40 and the first pan / tilt platform 50 are respectively connected to the control device 60;

[0093] The first pan-tilt platform 50 is installed above the rear of the frame 20 , the mist sprayer 30 is installed above the first pan-tilt platform 50 along the backward direction of the electric chassis 10 , and the thermal infrared camera 40 is installed above the mist sprayer 30 .

[0094] In the above-mentioned inspection and disinfection robot 1 of the utility model, the electric chassis 10 adopts a four-wheel Ackerman structure, further comprising:

[0095] Frame;

[0096] A steering mechanism, comprising a connecting rod front axle 11, a front axle steering machine 12 and a servo steering motor 13 installed on a vehicle frame, wherein the front axle steering machine 12 is connected to the connecting rod front axle 11 and the servo steering motor 13, the connecting rod front axle 11 is connected to the two front wheels of the vehicle, and the front axle steering machine 12 is adjusted by the forward and reverse rotation of the servo steering motor 13 so that the two front wheels form a parallel turning angle;

[0097] Two rear axle synchronous servo motors 14 are connected to the two rear wheels of the vehicle through planetary reducers respectively.

[0098] Specifically, in one embodiment of the utility model, a four-wheel structure with front-wheel steering and rear-wheel drive is preferably selected, and other driving modes may also be used but are not limited thereto. The front-wheel steering and rear-wheel drive mode has stronger stability and driving ability, which is more conducive to overcoming minor obstacles and coping with complex road conditions. The electric chassis 10 preferably uses a DC servo motor as the steering power, which has the characteristics of small size and precise steering. The electric chassis 10 preferably uses two 24V DC servo motors as the walking power, which has the characteristics of large torque and high precision, and takes into account the power output of large torque while ensuring the driving synchronization. The above-mentioned motor is combined with a battery pack to achieve long-term continuous operation.

[0099] The first gimbal 50 is installed above the rear end of the frame 20 through a connecting piece. For example, the front side of the first gimbal 50 is installed above the rear end of the frame 20 along the backward direction of the electric chassis 10, so that the gimbal is left-right symmetrical and retains 135 degrees of free rotation space.

[0100] In one embodiment of the present invention, Figure 1 As shown, the frame 20 is designed to have a high load-bearing structure.

[0101] In one embodiment of the utility model, the medicine storage barrel 31 is two 16L polypropylene corrosion-resistant medicine barrels, which are placed on both sides of the frame 20 except the head and the tail, and the medicine storage barrel 31 is connected to the mechanical diaphragm pump 32 through a hose. The mist sprayer 30 is installed above the first pan / tilt 50 along the backward direction of the electric chassis 10, that is, the spraying direction of the mist sprayer 30 is toward the tail of the electric chassis 10.

[0102] In one embodiment of the utility model, the lens direction of the thermal infrared camera 40 is consistent with the direction of the nozzle, and the target images in different orientations are collected by rotating and pitching the above-mentioned first pan-tilt platform 50 and / or second pan-tilt platform 51. The thermal infrared camera 40 and the target are aligned to obtain the temperature of the target, thereby judging whether the target is suffering from plague.

[0103] In the above-mentioned embodiment of the inspection and disinfection robot 1 of the present invention, the mist sprayer 30 adopts a double-pressurization method.

[0104] In the above-mentioned inspection and disinfection robot 1 of the utility model, the mist sprayer 30 using the double-boosting method further includes:

[0105] Multi-hole nozzle 301;

[0106] Spraying barrel 302;

[0107] High pressure fan 303; wherein,

[0108] The spraying tube 302 is installed above the first pan-tilt platform 50 along the backward direction of the electric chassis 10, the nozzle is located inside the spraying tube 302, the high-pressure fan 303 is installed on the outside of the tail of the spraying tube 302, the porous nozzle 301 is connected to the mechanical diaphragm pump 32 through a pipeline, and the high-pressure fan 303 is connected to the control device 60.

[0109] Specifically, when in use, the mechanical diaphragm pump 32 works to form a primary pressure, and the medicine liquid is sprayed out through the porous nozzle 301 under the action of the primary pressure. The wind direction generated by the high-pressure fan 303 is from the bottom to the top of the spray tube 302 to form a secondary wind pressure. The medicine liquid sprayed from the porous nozzle 301 is further atomized under the action of the secondary wind pressure and thrown outward through the outlet of the spray tube 302.

[0110] In the above-mentioned inspection and disinfection robot 1 of the utility model, the action execution device also includes:

[0111] A second pan / tilt platform 51 is installed between the mist sprayer 30 and the thermal infrared camera 40 and connected to the control device 60;

[0112] The third pan / tilt platform 52 is installed in front of the frame 20 and connected to the control device 60 .

[0113] In the above-mentioned inspection and disinfection robot 1 of the utility model, an environmental sensing device is also included, which further includes:

[0114] The multi-environment information collector 80 is installed above the rack 20 without any shielding, and includes:

[0115] Multi-hole protective cover;

[0116] a plurality of sensors located within the porous shield;

[0117] The industrial camera 90 is installed on the third pan-tilt platform 52 and is used to capture images of the inspection and disinfection robot 1 in the direction of travel.

[0118] Specifically, the multiple sensors of the multi-environment information collector 80 located in the multi-porous protective cover are used to collect environmental information such as temperature, humidity, sulfur dioxide, nitrogen dioxide, etc. The industrial camera 90 and the third pan-tilt head 52 are installed in front of the frame 20 by hoisting as a whole to ensure that the lens is consistent with the forward direction of the inspection and disinfection robot 1 and is unobstructed.

[0119] The first pan-tilt platform 50 , the second pan-tilt platform 51 and the third pan-tilt platform 52 are all electric pan-tilt platforms with at least two degrees of freedom, namely, pitch and horizontal rotation.

[0120] In the above-mentioned inspection and disinfection robot 1 of the utility model, a path sensing device is also included, which further includes:

[0121] The multi-line laser radar 70 is installed at the head of the frame 20 and connected to the control device 60, and is used to detect surrounding obstacles and boundary walls.

[0122] In the above-mentioned embodiment of the inspection and disinfection robot 1 of the present invention, the control device 60 also includes a wireless communication module 61 installed at the rear of the frame 20 for receiving and / or sending control and data signals.

[0123] The wireless communication method used by the wireless communication module 61 may include, for example, at least one of the following: WIFI communication, Bluetooth communication, near field communication, ZigBee communication, WiGig communication, and microwave communication.

[0124] In one embodiment of the above-mentioned inspection and disinfection robot 1 of the utility model, it also includes a wireless remote control device, which is wirelessly connected to the wireless communication module 61 and is used to control the motion device, the mist disinfection device and the action execution device. The wireless remote control device has the highest control authority, and the wireless remote control device also has the function of switching between manual mode and automatic control mode.

[0125] like Figure 5 As shown, the utility model also discloses a patrol inspection and disinfection robot control platform 200, characterized in that it includes a remote control terminal device 100, which is used to control the mist disinfection device and the action execution device of the patrol inspection and disinfection robot 1 as described in any of the above items, and store and display the data collected by the plague early warning device, the environment perception device and the path perception device, wherein the remote control terminal device 100 further includes:

[0126] Terminal data processing module 110;

[0127] A display module 120 connected to the terminal data processing module 110;

[0128] A storage module 130 connected to the terminal data processing module 110;

[0129] Wireless data transmission module 140; wherein,

[0130] The terminal data processing module 110 is connected to the wireless communication module 61 of the control device 60 via the wireless data transmission module 140 , and the wireless connection is implemented in a bridge manner.

[0131] The workflow of the above inspection and disinfection robot 1 is as follows:

[0132] Mapping of the work area: Use the wireless remote control device to switch to manual mode, remotely control the terminal device 100 to start the mapping function, and the robot drives along the boundary of the manually planned area. The robot uses the laser radar SLAM mapping function to form a point cloud image and scan the complete boundary to build a map.

[0133] Task execution: The robot completes the map construction and returns to the initial position. Then, it needs to set the path in the constructed map. There are two ways to set the path. One is to remotely control the robot to drive along the established path and record the drawn path. The other is to manually outline the task path in the constructed map in the form of dots and lines. After completing the path setting, the robot is switched to the automatic control mode using the wireless remote control device. The remote control terminal retrieves the task path, sets the operation cycle and time, turns on the first gimbal 50 cruise mode, turns on the mist disinfection device, and starts the task. At this time, the robot starts to drive along the specified path to perform the disinfection task. During the task execution, the environmental perception device will regularly collect environmental information and images, and transmit them to the remote control terminal through the wireless link formed by the bridge. After completing a task, the robot returns to the initial position, turns off the movement of the first gimbal 50, turns off the mist disinfection device, and waits for the replenishment of the liquid medicine and the next task execution.

[0134] In order to better achieve the above objectives, Figure 4 As shown, the inspection and disinfection robot 1 of the utility model adopts a path tracking algorithm when moving. The preset path is composed of discrete points. To ensure the smoothness of the curved path, the path point interval is 10 cm. Since the path point interval is relatively short, a linear interpolation method is used to connect the path points in sequence using straight line segments to form multiple straight line segments connected end to end. The motion control adopts PID longitudinal control and the tracking algorithm is used for lateral control, thereby establishing a kinematic model such as Figure 4 As shown:

[0135] A and B are the points with the largest width separation of the robot, and they are symmetrical about the robot axis. Therefore, the coordinates (x1, y1) of point A of the robot relative to point O and the heading angle θ3 of the robot can be obtained by positioning.

[0136] The robot's lateral tracking control uses a dynamic foresight distance tracking algorithm, and the formula is as follows:

[0137]

[0138] In the above formula

[0139] θ1: Steering angle of the front steering wheel of the tractor;

[0140] L1: tractor length;

[0141] t: instantaneous moment;

[0142] α: The angle between the vehicle body and the target path point;

[0143] V(t): tractor vehicle speed at time t;

[0144] ρ: the curvature of the target path point;

[0145] f(V,ρ): dynamic foresight distance function;

[0146] In traditional pure tracking algorithms, the foresight distance parameter will be affected by the robot's speed and the curvature of the track. When the foresight distance is too large, the robot will "take a shortcut"; when the foresight distance is too small, there will be "oscillation" between tracks. During the robot's operation, the foresight distance will directly affect the tracking effect of the tractor, so a dynamic foresight distance tracking algorithm is used.

[0147] As shown in the above robot kinematic model, when the robot is a rigid body, the spatial state information of the tractor can be obtained as follows:

[0148]

[0149] In the above formula

[0150] V1: tractor steering wheel speed;

[0151] (x1, y1): differential positioning coordinates of the mobile base station;

[0152] (x2,y2): coordinates of the midpoint of the rear axle of the tractor;

[0153] θ2: Angle between the tractor and the towed machine;

[0154] θ3: heading of the towed machine;

[0155] θ4: The clockwise angle between the distance between point A and point O and the true north direction under the projection of the distance between points A and O;

[0156] L2: wheelbase of the towed machine;

[0157] L3: distance between point A and point B;

[0158] L5: The distance between point A and the base station is projected onto the ground.

[0159] In summary, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field can evolve various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the patent applied for the present invention.

Claims

1. A patrol and disinfection robot, characterized in that: include: A motion device, comprising an electric chassis and wheels connected to the electric chassis; A frame, mounted on the electric chassis; The mist disinfection device is used to spray disinfectant, which includes: Mist sprayers; At least one medicine storage barrel is placed on at least one of the two sides of the frame except the head and the tail; At least one mechanical diaphragm pump is installed on the frame inside the bottom of the medicine storage barrel, and the mechanical diaphragm pump is connected to the medicine storage barrel and the mist sprayer; Disease early warning devices, including thermal infrared cameras; The action execution device includes a first pan / tilt platform; A control device is installed in the frame; wherein, The electric chassis, the mist sprayer, the mechanical diaphragm pump, the thermal infrared camera and the first pan / tilt are respectively connected to the control device; The first pan-tilt head is installed above the rear of the frame, the mist sprayer is installed above the first pan-tilt head along the backward direction of the electric chassis, and the thermal infrared camera is installed above the mist sprayer.

2. The inspection and disinfection robot according to claim 1, characterized in that: The electric chassis adopts a four-wheel Ackerman structure and further includes: Frame; A steering mechanism, comprising a connecting rod front axle, a front axle steering machine and a servo steering motor mounted on a vehicle frame, wherein the front axle steering machine is connected to the connecting rod front axle and the servo steering motor, the connecting rod front axle is connected to the two front wheels of the vehicle, and the front axle steering machine is adjusted by the forward and reverse rotation of the servo steering motor so that the two front wheels form a parallel turning angle; Two rear axle synchronous servo motors are connected to the two rear wheels of the vehicle through planetary reducers respectively.

3. The inspection and disinfection robot according to claim 1, characterized in that: The mist sprayer adopts a double-pressurization method.

4. The inspection and disinfection robot according to claim 3, characterized in that: The mist sprayer adopting the double-pressurization mode further comprises: Multi-hole nozzle; Spraying barrel; High pressure fan; wherein, The spraying tube is installed above the first pan-tilt platform along the backward direction of the electric chassis, the nozzle is located inside the spraying tube, the high-pressure fan is installed on the outside of the tail of the spraying tube, the porous nozzle is connected to the mechanical diaphragm pump through a pipeline, and the high-pressure fan is connected to the control device.

5. The inspection and disinfection robot according to claim 1, characterized in that: The action execution device also includes: A second pan / tilt platform is installed between the mist sprayer and the thermal infrared camera and connected to the control device; The third pan / tilt head is installed in front of the frame and connected to the control device.

6. The inspection and disinfection robot according to claim 5, characterized in that: It also includes an environmental sensing device, which includes: A multi-environment information collector is installed above the rack without any shielding, and includes: Multi-hole protective cover; a plurality of sensors located within the porous shield; An industrial camera is installed on the third pan-tilt platform and is used to capture images of the inspection and disinfection robot in the direction of travel.

7. The inspection and disinfection robot according to claim 6, characterized in that: Also includes a path sensing device, which includes: A multi-line laser radar is installed on the head of the frame and connected to the control device, and is used to detect surrounding obstacles and boundary walls.

8. The inspection and disinfection robot according to claim 7, characterized in that: The control device also includes a wireless communication module installed at the rear of the rack, which is used to receive and / or send control and data signals.

9. The inspection and disinfection robot according to claim 8, characterized in that: It also includes a wireless remote control device, which is wirelessly connected to the wireless communication module and is used to control the motion device, the mist disinfecting device and the action execution device. The wireless remote control device has the highest control authority.

10. A patrol and disinfection robot control platform, characterized in that: It includes a remote control terminal device, which is used to control the mist disinfection device and the action execution device of the inspection and disinfection robot according to any one of claims 1 to 9, and store and display the data collected by the plague early warning device, the environment perception device and the path perception device, wherein the remote control terminal device also includes: Terminal data processing module; A display module connected to the terminal data processing module; A storage module connected to the terminal data processing module; Wireless data transmission module; wherein, The terminal data processing module is connected to the wireless communication module of the control device through the wireless data transmission module, and the wireless connection is implemented using a bridge method.

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