Patrol robot provided with fusion multiple sensors

Abstract

The patrol robot comprises a main body, a plurality of ultrasonic sensors, a panorama camera, a thermal image camera, a plurality of gas sensors and a UWB (Ultra Wideband) positioning following module, the main body comprises an upper assembly component and a moving component used for driving the upper assembly component to walk along the surface of a medium, and the moving component is used for driving the upper assembly component to move along the surface of the medium. The upper assembly component comprises an installation platform, an electric cabinet and an upper assembly shell, the ultrasonic sensors are fixed to the installation platform through front, rear, left and right installation supports respectively, the panorama camera is arranged on the upper side of the front portion of the upper assembly shell, the thermal image camera is arranged at the front end of the upper assembly shell, and a plurality of sensor fixing covers are arranged on the electric cabinet. The gas sensor is detachably mounted in the sensor fixing cover, and the UWB positioning following module is mounted in the upper mounting component. The patrol robot can replace human beings to carry out patrol operation, so that the personal safety of the human beings, especially police officers is guaranteed, and the patrol robot is diversified in function, reasonable in layout and suitable for autonomous patrol in various complex environments.

Description

Technical Field

[0001] This utility model relates to the field of patrol robots, and in particular to a patrol robot equipped with multiple sensors. Background Technology

[0002] Traditional patrol operations mainly rely on manual patrols, which not only have high labor costs, but also pose significant safety hazards when patrolling various dangerous sites such as fires, explosives, chemical leaks, and nuclear radiation areas, which is not conducive to ensuring the personal safety of police officers.

[0003] Existing patrol robots, such as the police quadruped robot long-range early warning and loudspeaker device with announcement number CN222836601U, mainly collect environmental information around the robot through image cameras, lidar, infrared sensors, GPS modules, ultrasonic sensors, gyroscopes, and accelerometers. However, all of these components are centrally located in the acquisition system on the upper part of the robot's support platform, which is not convenient for comprehensively collecting environmental information around the robot. Furthermore, it lacks gas sensors and is not suitable for patrol operations in various dangerous situations such as fires, explosives, chemical leaks, and nuclear radiation areas. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a patrol robot equipped with multiple sensors that can replace humans in patrol operations, thereby ensuring the personal safety of humans, especially police officers. It is also versatile, rationally designed, and suitable for autonomous patrolling in various complex environments.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A patrol robot with multiple sensors integrated on its upper body includes a main body, several ultrasonic sensors, a panoramic camera, a thermal imaging camera, several gas sensors, and a UWB positioning and following module. The main body includes an upper structure and a moving component for driving the upper structure along a medium surface. The upper structure includes a mounting platform, an electrical control box with a circuit board fixed inside, and an upper structure shell covering the mounting platform and the electrical control box. Several ultrasonic sensors are fixed to the mounting platform by front mounting brackets, rear mounting brackets, left mounting brackets, and right mounting brackets arranged around the periphery of the mounting platform. The panoramic camera is arranged on the upper side of the front of the upper structure shell and fixed to the mounting platform by a panoramic camera bracket arranged on the mounting platform. The thermal imaging camera is arranged at the front end of the upper structure shell and fixed inside a thermal imaging camera cover, which is fixed to the mounting platform. Several sensor fixing covers are provided on the electrical control box along the periphery of the mounting platform, and the gas sensors are detachably installed in the sensor fixing covers. The UWB positioning and following module is installed inside the upper structure. The ultrasonic sensors, panoramic camera, thermal imaging camera, and gas sensors are electrically connected to the circuit board.

[0007] Preferably, at least two ultrasonic sensors are installed at intervals along the front-rear direction of the mounting platform on the left mounting bracket; and / or,

[0008] At least two ultrasonic sensors are installed at intervals along the front-back direction of the mounting platform on the right mounting bracket.

[0009] Preferably, the left mounting bracket, the right mounting bracket, and each ultrasonic sensor mounted on the left mounting bracket and the right mounting bracket are arranged inside the upper housing, and the upper housing is provided with a plurality of ultrasonic detection channels corresponding to each ultrasonic sensor on the left mounting bracket and the right mounting bracket.

[0010] Preferably, the front mounting bracket includes a first protective cover disposed on the front side of the upper housing and surrounding the front ultrasonic sensor; and / or,

[0011] The rear mounting bracket includes a second protective cover arranged on the rear side of the upper housing and surrounding the rear ultrasonic sensor.

[0012] Preferably, the panoramic camera bracket is provided with a panoramic camera protective frame that covers the outside of the panoramic camera.

[0013] Preferably, the gas sensor includes a CO2 sensor, a CO sensor, an SO2 sensor, and a temperature and humidity sensor.

[0014] Preferably, the sensor mounting covers are provided on the left and right sides of the front part and the left and right sides of the rear part of the electrical control box, respectively. A CO2 sensor and a CO sensor are respectively installed in the sensor mounting covers on the left and right sides of the front part of the electrical control box, and an SO2 sensor and a temperature and humidity sensor are respectively installed in the sensor mounting covers on the left and right sides of the rear part of the electrical control box.

[0015] Preferably, the left mounting bracket includes a left front mounting bracket arranged along the front left side of the mounting platform and a left rear mounting bracket arranged along the rear left side of the mounting platform. The left front mounting bracket is connected to the electrical control box, and the left rear mounting bracket is connected to the mounting platform. At least one ultrasonic sensor on the left side of the mounting platform is mounted on the left front mounting bracket, at least one ultrasonic sensor on the left side of the mounting platform is mounted on the left rear mounting bracket, and at least one temperature and humidity sensor on the left side of the mounting platform is fixed on the left rear mounting bracket; and / or,

[0016] The right mounting bracket includes a right front mounting bracket arranged along the front right side of the mounting platform and a right rear mounting bracket arranged along the rear right side of the mounting platform. The right front mounting bracket is connected to the electrical control box, and the right rear mounting bracket is connected to the mounting platform. At least one ultrasonic sensor on the right side of the mounting platform is mounted on the right front mounting bracket, at least one ultrasonic sensor on the right side of the mounting platform is mounted on the right rear mounting bracket, and at least one temperature and humidity sensor on the right side of the mounting platform is fixed on the right rear mounting bracket.

[0017] Preferably, the UWB positioning and following module includes a master station and at least two slave stations. The master station and each slave station are arranged above each ultrasonic sensor and gas sensor. The master station is installed in a waterproof box on the upper front side of the upper housing, and each slave station is installed in a waterproof box on the upper left and right sides of the upper housing.

[0018] Preferably, the gas sensor is provided with an aviation plug and the sensor mounting cover is provided with an aviation socket. The gas sensor and the sensor mounting cover are detachably connected by plugging and unplugging the aviation plug and the aviation socket.

[0019] The beneficial effects achieved by this utility model are as follows:

[0020] The patrol robot provided by this utility model can replace humans in patrol operations, thereby ensuring the personal safety of humans, especially police officers. It can comprehensively perceive the distance to obstacles in front, behind, to the left, and to the right of the patrol robot through ultrasonic sensors mounted on the front, rear, left, and right mounting brackets, facilitating autonomous obstacle avoidance in complex environments. Simultaneously, it can collect image information of the surrounding environment through a panoramic camera on the upper front of the upper casing, effectively recognizing faces, license plates, and other information to fulfill the specific functional requirements of police patrols. It can also sense heat sources through a thermal imaging camera at the front of the upper casing and through several sensors around the mounting platform. The robot uses a gas sensor to detect the ambient gas around it. The gas sensor is detachably installed inside the sensor housing, which optimizes the number of gas sensors and simplifies the layout. Different types of gas sensors can be replaced to monitor different ambient gases as needed. The UWB positioning and following module in the upper structure enables the robot to accurately and stably follow the target object. It has multiple functions, reasonable sensor layout, and compact structure, which greatly reduces the visual and perception blind spots around the entire patrol robot. It is suitable for autonomous patrolling in a variety of complex environments, especially for autonomous patrolling in dangerous areas such as fire, explosives, chemical leaks, and nuclear radiation areas.

[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of a patrol robot according to an embodiment of the present invention. Figure 1 .

[0024] Figure 2 This is a schematic diagram of the structure of a patrol robot according to an embodiment of the present invention. Figure 2 .

[0025] Figure 3 This is a schematic diagram of the structure of a patrol robot according to an embodiment of the present invention. Figure 3 .

[0026] Figure 4 This is a schematic diagram of the structure of a patrol robot according to an embodiment of the present invention. Figure 4 .

[0027] Figure 5This is a partial structural schematic diagram of a patrol robot according to an embodiment of the present invention.

[0028] Reference numerals: Upper structure component 100, Moving component 200, Ultrasonic sensor 1, Panoramic camera 2, Thermal imaging camera 3, Gas sensor 4, CO2 sensor 41, CO sensor 42, SO2 sensor 43, Temperature and humidity sensor 44, UWB positioning and following module 5, Master station 51, Slave station 52, Front mounting bracket 6, First protective cover 61, Rear mounting bracket 7, Second protective cover 71, Left mounting bracket 81, Left front mounting bracket 811, Left rear mounting bracket 812, Right mounting bracket 82, Right front mounting bracket 821, Right rear mounting bracket 822, Panoramic camera bracket 9, Panoramic camera protective frame 10, Thermal imaging camera cover 11, Sensor fixing cover 12, Electrical control box 13, Upper structure outer shell 14, Waterproof box 15. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0034] like Figures 1-5As shown in the figure, as an embodiment of this utility model, a patrol robot with multiple sensors integrated on its upper body is provided, including a main body, several ultrasonic sensors 1, a panoramic camera 2, a thermal imaging camera 3, several gas sensors 4, and a UWB positioning and following module 5. The main body includes an upper body component and a moving component 200 for driving the upper body component 100 to walk along the surface of the ground or other media. The upper body component 100 includes a mounting platform, an electrical control box 13 with a circuit board fixed inside, and an upper body shell 14 covering the mounting platform and the electrical control box 13. The ultrasonic sensors, panoramic camera, thermal imaging camera, and gas sensors are electrically connected to the circuit board. Several ultrasonic sensors 1 are fixed to the mounting platform by front mounting brackets 6, rear mounting brackets 7, left mounting brackets 81, and right mounting brackets 82 respectively arranged around the mounting platform. The panoramic camera 2 is arranged on the upper side of the front of the upper body shell 14 and is fixed to the mounting platform by a panoramic camera bracket 9 arranged on the mounting platform. The thermal imaging camera 3 is positioned at the front end of the upper casing 14 and fixed inside the thermal imaging camera cover 11, which is fixed to the mounting platform. Several sensor mounting covers 12 are provided along the periphery of the mounting platform on the electrical control box 13, and the gas sensor 4 is detachably installed inside the sensor mounting covers 12. The UWB positioning and following module is installed inside the upper casing component 100. Ultra-wideband (UWB) technology is a wireless carrier communication technology that does not use sinusoidal carriers but instead utilizes nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a wide frequency spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense multipath environments such as indoor spaces.The patrol robot of this embodiment can replace humans in patrol operations, thereby ensuring the personal safety of humans, especially police officers. It can comprehensively perceive the distance to obstacles in front, behind, to the left, and to the right of the patrol robot through ultrasonic sensors 4 mounted on the front mounting bracket 6, rear mounting bracket 7, left mounting bracket 81, and right mounting bracket 82, facilitating autonomous obstacle avoidance in complex environments. Simultaneously, it can collect image information of the surrounding environment through a panoramic camera 2 on the upper front of the upper casing 14, effectively recognizing faces, license plates, and other information to fulfill the specific functional requirements of police patrol. It can also sense heat sources through a thermal imaging camera 3 at the front of the upper casing 14 and through the surrounding area of ​​the mounting platform. Several gas sensors 4 sense the ambient gas around the patrol robot, and the gas sensors can be detachably installed in the sensor fixing cover. The number of gas sensors is optimized and the layout is simplified. Different types of gas sensors can be replaced according to actual needs to monitor different ambient gases. The UWB positioning and following module 5 in the upper component 100 drives the patrol robot to accurately and stably follow the target object. It has multiple functions, reasonable layout of each sensor, and compact structure, which greatly reduces the visual blind spot and perception blind spot around the entire patrol robot. It is suitable for autonomous patrol in a variety of complex environments, especially for autonomous patrol in various dangerous sites such as fire, explosives, chemical leaks, and nuclear radiation areas.

[0035] like Figure 1 As shown, in some specific embodiments, two ultrasonic sensors 1 are spaced apart along the front-back direction of the mounting platform on the left mounting bracket 81, and two ultrasonic sensors 1 are spaced apart along the front-back direction of the mounting platform on the right mounting bracket 82. This increases the perception range of obstacles on the left and right sides of the patrol robot, effectively avoiding visual and perception blind spots, and making it more conducive to comprehensively perceiving the distance of obstacles on the left and right sides of the patrol robot. In other embodiments, more ultrasonic sensors 1 can be spaced apart along the front-back direction of the mounting platform on the left mounting bracket 81, or more ultrasonic sensors 1 can be spaced apart along the front-back direction of the mounting platform on the right mounting bracket 82, thereby further increasing the perception range of obstacles on the left and right sides of the patrol robot.

[0036] In some specific embodiments, the left mounting bracket 81, the right mounting bracket 82, and each ultrasonic sensor 1 mounted on the left mounting bracket 81 and the right mounting bracket 82 are arranged inside the upper housing 14. The upper housing 14 is provided with a plurality of ultrasonic detection channels corresponding to each ultrasonic sensor 1 on the left mounting bracket 81 and the right mounting bracket 82, so that each ultrasonic sensor 1 on the left mounting bracket 81 and the right mounting bracket 82 can sense the distance of obstacles on the left and right sides of the patrol robot through the ultrasonic detection channels, avoiding interference from the upper housing 14 to the ultrasonic sensor 1.

[0037] like Figure 2, Figure 3 As shown, in some specific embodiments, the front mounting bracket 6 includes a first protective cover 61 disposed on the front side of the upper housing 14 and surrounding the front ultrasonic sensor 1. This allows the front mounting bracket 6 to not only fix the front ultrasonic sensor 1 but also protect it from impacts and damage, thereby ensuring the stable and reliable sensing of the front ultrasonic sensor 1 and extending its service life. The rear mounting bracket 7 includes a second protective cover 71 disposed on the rear side of the upper housing 14 and surrounding the rear ultrasonic sensor 1. This allows the rear mounting bracket 7 to not only fix the rear ultrasonic sensor 1 but also protect it from impacts and damage, thereby ensuring the stable and reliable sensing of the rear ultrasonic sensor 1 and extending its service life.

[0038] like Figure 4 As shown, in some specific embodiments, the panoramic camera bracket 9 is provided with a panoramic camera protective frame 10 covering the outside of the panoramic camera 2 to prevent the panoramic camera 2 from being damaged by bumps, thereby ensuring the clarity of the images of the surrounding environment of the patrol robot collected by the panoramic camera 2 and extending the service life of the panoramic camera 2.

[0039] In some specific embodiments, the gas sensor 4 includes a CO2 sensor 41, a CO sensor 42, an SO2 sensor 43, and a temperature and humidity sensor 44, providing four monitoring functions. In other embodiments, other gas monitoring can be performed by replacing or adding other different gas sensors as needed. The gas sensor 4 is equipped with an aviation plug, and the sensor mounting cover 12 is equipped with an aviation socket. The gas sensor 4 and the sensor mounting cover 12 are detachably connected by plugging and unplugging the aviation plug and the aviation socket, which allows users to quickly replace different types of gas sensors according to different patrol scenarios, making it widely adaptable.

[0040] like Figure 5As shown, in some specific embodiments, sensor mounting covers 12 are respectively provided on the left and right sides of the front and the left and right sides of the rear of the electrical control box 13. CO2 sensor 41 and CO sensor 42 are respectively installed inside the sensor mounting covers 12 on the left and right sides of the front of the electrical control box 13, and SO2 sensor 43 and temperature and humidity sensor 44 are respectively installed inside the sensor mounting covers 12 on the left and right sides of the rear of the electrical control box 13. The upper casing 14 has perforated structures corresponding to each gas sensor 4, which facilitates the gas sensors 4 sensing the ambient gas outside the patrol robot through the perforated structures and avoids interference from the upper casing 14 on the sensing of the gas sensors 4. The temperature and humidity sensor is located outside the upper casing 14 to reduce the impact of the patrol robot's own heat dissipation on the sensitivity of the temperature and humidity sensor 44.

[0041] like Figure 5 As shown, in some specific embodiments, the left mounting bracket 81 includes a left front mounting bracket 811 arranged along the front left side of the mounting platform and a left rear mounting bracket 812 arranged along the rear left side of the mounting platform. The left front mounting bracket 811 is connected to the electrical control box 13, and the left rear mounting bracket 812 is connected to the mounting platform. The structure is compact and stable, which can reduce the overall size of the patrol robot. An ultrasonic sensor 1 on the left side of the mounting platform is mounted on the left front mounting bracket 811, and an ultrasonic sensor 1 on the left rear mounting bracket 812 is mounted on the left rear mounting bracket 812. A temperature and humidity sensor 44 on the left side of the mounting platform is fixed on the left rear mounting bracket 812, so that the left rear mounting bracket 812 is used for positioning both the ultrasonic sensor 1 and the temperature and humidity sensor 44, thereby simplifying the structure and reducing the overall weight of the patrol robot. The right mounting bracket 82 includes a right front mounting bracket 821 arranged along the front right side of the mounting platform and a right rear mounting bracket 822 arranged along the rear right side of the mounting platform. The right front mounting bracket 821 is connected to the electrical control box 13, and the right rear mounting bracket 822 is connected to the mounting platform. The structure is compact and stable, which can reduce the overall size of the patrol robot. An ultrasonic sensor 1 on the right side of the mounting platform is mounted on the right front mounting bracket 821, and an ultrasonic sensor 1 on the right side of the mounting platform is mounted on the right rear mounting bracket 822. A temperature and humidity sensor 44 on the right side of the mounting platform is fixed on the right rear mounting bracket 822, so that the right rear mounting bracket 822 is used for positioning both the ultrasonic sensor 1 and the temperature and humidity sensor 44, thereby simplifying the structure and reducing the overall weight of the patrol robot. In other embodiments, multiple ultrasonic sensors 1 may also be mounted on the left front mounting bracket 811, the left rear mounting bracket 812, the right front mounting bracket 821, or the right rear mounting bracket 822, and multiple temperature and humidity sensors 44 may also be fixed on the left rear mounting bracket 812 or the right rear mounting bracket 822.

[0042] like Figure 3 , Figure 4 As shown, in some specific embodiments, the UWB positioning and following module includes a master station 51 and three slave stations 52. The master station 51 and each slave station 52 are arranged above each ultrasonic sensor 1 and gas sensor 4. The structural arrangement between the master station 51 and each slave station 52, the panoramic camera 2, the thermal imaging camera 3, each ultrasonic sensor 1, and each gas sensor 4 is compact and reasonable, which helps to ensure stable communication between the master station 51 and each slave station 52 and avoids interference from other components such as each ultrasonic sensor 1 and gas sensor 4. Furthermore, the master station 51 is installed in a waterproof box 15 on the upper front side of the upper housing 14, and each slave station 52 is installed in a waterproof box 15 on the upper left and right sides of the upper housing 14, respectively, to prevent water from entering the master station 51 and each slave station 52 and causing short circuits, thus improving safety.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

[0044] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A patrol robot equipped with a fusion multi-sensor on the upper part, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including: Main body, including upper assembly member, and the moving member for driving upper assembly member along the surface of medium, the upper assembly member includes installation platform, the electric control box with circuit board fixed in inside, and the upper shell of cover being set in installation platform and electric control box outside; Several ultrasonic sensors are fixed on the installation platform by front mounting bracket, rear mounting bracket, left mounting bracket and right mounting bracket arranged on the periphery of the installation platform; Panoramic camera is arranged on the upper side of the front part of the upper shell and is fixed on the installation platform by panoramic camera bracket arranged on the installation platform; Thermal imaging camera is arranged at the front end of the upper shell and is fixed in thermal imaging camera cover, and the thermal imaging camera cover is fixed on the installation platform; Several gas sensors are provided with sensor fixing cover along the periphery of the installation platform on the electric control box, and the gas sensors are detachably installed in the sensor fixing cover; UWB positioning and following module is installed in the upper assembly member;The ultrasonic sensor, panoramic camera, thermal imaging camera and gas sensor are electrically connected with the circuit board.

2. The patrol robot of claim 1, wherein: At least two ultrasonic sensors are installed on the left mounting bracket along the front-rear direction of the installation platform;And / or, At least two ultrasonic sensors are installed on the right mounting bracket along the front-rear direction of the installation platform.

3. The patrol robot of claim 2, wherein: The left mounting bracket, right mounting bracket and each ultrasonic sensor installed on the left mounting bracket and right mounting bracket are arranged in the upper shell, and the upper shell is provided with several ultrasonic detection channels corresponding to each ultrasonic sensor on the left mounting bracket and right mounting bracket.

4. The patrol robot of claim 1, wherein: The front mounting bracket includes first protective cover arranged on the front side of the upper shell and arranged around the front side ultrasonic sensor;And / or, The rear mounting bracket includes second protective cover arranged on the rear side of the upper shell and arranged around the rear side ultrasonic sensor.

5. The patrol robot of claim 1, wherein: The panoramic camera bracket is provided with panoramic camera protective frame arranged outside the panoramic camera.

6. The patrol robot of claim 2, wherein: The gas sensor includes CO2 sensor, CO sensor, SO2 sensor and temperature and humidity sensor.

7. The patrol robot of claim 6, wherein: The left and right sides of the front part of the electric control box and the left and right sides of the rear part are respectively provided with the sensor fixing cover, CO2 sensor and CO sensor are respectively installed in the sensor fixing cover of the left and right sides of the front part of the electric control box, SO2 sensor and temperature and humidity sensor are respectively installed in the sensor fixing cover of the left and right sides of the rear part of the electric control box.

8. The patrol robot of claim 7, wherein: The left mounting bracket includes left front mounting bracket arranged along the left front part of the installation platform and left rear mounting bracket arranged along the left rear part of the installation platform, the left front mounting bracket is connected with the electric control box, the left rear mounting bracket is connected with the installation platform, at least one ultrasonic sensor on the left side of the installation platform is installed on the left front mounting bracket, at least one ultrasonic sensor on the left side of the installation platform is installed on the left rear mounting bracket, and at least one temperature and humidity sensor on the left side of the installation platform is fixed on the left rear mounting bracket;And / or, The right mounting bracket comprises a right front mounting bracket arranged along the right front part of the mounting platform and a right rear mounting bracket arranged along the right rear part of the mounting platform, the right front mounting bracket is connected with the electric control box, the right rear mounting bracket is connected with the mounting platform, at least one ultrasonic sensor on the right side of the mounting platform is mounted on the right front mounting bracket, at least one ultrasonic sensor on the right side of the mounting platform is mounted on the right rear mounting bracket, and at least one temperature and humidity sensor on the right side of the mounting platform is fixed on the right rear mounting bracket.

9. The patrol robot according to any one of claims 1-8, characterized in that: The UWB positioning and following module comprises a master station and at least two slave stations, the master station and each slave station are arranged above each ultrasonic sensor and gas sensor, and the master station is mounted in a waterproof box on the upper side of the front part of the upper shell, and each slave station is mounted in a waterproof box on the upper part of the left and right sides of the upper shell.

10. The patrol robot according to any one of claims 1-8, characterized in that: The gas sensor is provided with a jack plug, the sensor fixing cover is provided with a jack socket, and the gas sensor and the sensor fixing cover are detachably connected through the mutual plug-in connection of the jack plug and the jack socket.

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