CN113263507A

CN113263507A - Autonomous patrol intelligent disinfection robot

Info

Publication number: CN113263507A
Application number: CN202110434949.2A
Authority: CN
Inventors: 刘盛; 张少波; 王建峰; 杜荣博; 戴丰绩
Original assignee: Hangzhou Shishang Technology Co ltd
Current assignee: Hangzhou Shishang Technology Co ltd
Priority date: 2021-04-22
Filing date: 2021-04-22
Publication date: 2021-08-17

Abstract

The utility model provides a robot is killed in autonomic patrolling intelligence towards indoor disinfection and sterilization, the robot is killed in autonomic patrolling intelligence includes the fuselage, is located the drive chassis of fuselage below and the head that is located the fuselage top, the fuselage outside is equipped with four ultraviolet germicidal lamp tubes, the inside antiseptic solution storage box that is equipped with of fuselage, the head is including being located positive touch display screen, being located the panorama monitoring module and the four nozzle and being located inside fog generator and the water pump of top, adopts the mode that two-dimensional laser radar and IMU combined together to guarantee the location of the robot is killed in autonomic patrolling intelligence. The invention improves the precision of the autonomous patrol intelligent killing robot in motion, and has the characteristics of low power consumption, convenience, intelligence, low cost and the like when realizing free movement.

Description

Autonomous patrol intelligent disinfection robot

Technical Field

The invention relates to the field of autonomous patrol intelligent elimination and killing robots, in particular to an indoor disinfection and sterilization oriented autonomous patrol intelligent elimination and killing robot.

Background

As new coronavirus pneumonia outbreaks worldwide, how to rapidly suppress the spread of such highly-infectious viruses, reduce casualties, and mitigate economic decline has become a challenge that countries have to face. Research by the world health organization and scientists of various countries shows that the transmission routes of the new coronary pneumonia are mainly direct transmission, aerosol transmission and contact transmission, so that comprehensive disinfection and sterilization must be carried out frequently in areas with high risk of infection, such as areas where cases appear and public places where people gather. Generally, a disinfection person can wear thick protective clothing and carry on a disinfection sprayer, and then enters a high-risk area to spray disinfectant, so that the disinfection purpose is achieved. The mode is time-consuming and labor-consuming, has high labor cost, can not completely ensure safety of the disinfection personnel despite the protection of the protective clothing, and causes the disinfection personnel to be infected as long as the work flow is careless and careless. Based on the current situation, how to replace the manual work with the autonomous patrol intelligent disinfection robot to complete the dangerous disinfection work becomes a topic to be researched by more and more researchers.

At present, most of disinfection robots only have simple functions of driving according to a preset route and spraying disinfection medicaments along the route, certain manual intervention is still needed in the medicament supplementing and charging endurance stages, and the overall intelligent automation level is not high. This excessive manual operation in turn increases the risk of indirect viral infection, and also has a large space for human resources. Except the disinfection mode of spraying the disinfectant, the disinfection device also has an ultraviolet lamp irradiation mode, the ultraviolet ray must irradiate the surface of an object for a certain time to achieve the disinfection effect, and the accurate control is needed for ensuring that the robot can uniformly obtain enough ultraviolet irradiation time for the surrounding objects in the moving process. If the disinfection medicament and the ultraviolet ray directly contact with the human body, certain damage can be caused to the human health, so the disinfection robot is required to be more intelligent, and the disinfection operation is actively closed to ensure the safety of personnel when the disinfection robot meets the pedestrian.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an indoor disinfection and sterilization oriented autonomous patrol intelligent disinfection and sterilization robot, which can plan a path to autonomously move, spray disinfection agents or irradiate ultraviolet light to uniformly cover the whole to-be-disinfected area, automatically plan a detour route to ensure driving safety when obstacles are encountered in the process, automatically return to a station to fill the agents or charge a charging pile when the agents are insufficient or the electric quantity is insufficient, an onboard panoramic camera can ensure that the robot finishes patrol work while disinfecting, automatically detect abnormal objects encountered in the driving process and report to a remote administrator in time, if a person is encountered, the spray or an ultraviolet lamp can be timely turned off, so that the injury to the administrator is prevented, and meanwhile, the administrator can remotely monitor through a video transmitted in real time.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a robot is killed in autonomic patrolling intelligence towards indoor disinfection and sterilization, the robot is killed in autonomic patrolling intelligence includes the fuselage, is located the drive chassis of fuselage below and the head that is located the fuselage top, the fuselage outside is equipped with four ultraviolet germicidal lamp tubes, the inside antiseptic solution storage box that is equipped with of fuselage, the head is including being located positive touch display screen, being located the panorama monitoring module and the four nozzle and being located inside fog generator and the water pump of top, adopts the mode that two-dimensional laser radar and IMU combined together to guarantee the location of the robot is killed in autonomic patrolling intelligence. The scheme improves the accuracy of the autonomous patrol intelligent killing robot during movement, and has the characteristics of low power consumption, convenience, intelligence, low cost and the like when the autonomous patrol intelligent killing robot is freely moved.

Further, the driving chassis comprises a driving structure at the bottom and four universal wheels, the driving structure comprises two differential power rotating wheels, the two differential power rotating wheels are respectively and coaxially connected with two driving motors, the two driving motors are respectively and fixedly connected with two groups of straight-arm shock-absorbing suspensions, the two groups of straight-arm shock-absorbing suspensions respectively comprise two straight-arm supporting telescopic rods, the straight-arm supporting telescopic rods respectively penetrate through a shock-absorbing spring and then penetrate through telescopic bearings at the bottom of the driving chassis, the straight-arm supporting telescopic rods can freely extend back and forth, the bottoms of the shock-absorbing springs are limited at the bottoms of the straight-arm supporting telescopic rods, the tops of the shock-absorbing springs are limited at the bottoms of the telescopic bearings, the tops of the straight-arm supporting telescopic rods are limited by bolts to prevent the telescopic bearings from being separated when extending downwards, and the shock-absorbing springs can provide resilience force when the straight-arm supporting telescopic rods extend, the four universal wheels are respectively arranged on the periphery of the bottom of the driving chassis. The driving structure has good stability and very good trafficability to slightly undulating floors in a room.

Still further, the driving chassis further comprises a sensor assembly for navigation and obstacle avoidance, the sensor assembly comprises two RGBD dense distance measuring sensors positioned on the front face of the driving chassis, the two RGBD dense distance measuring sensors are embedded in the front face of the driving chassis in a V shape, the detection ranges of the RGBD dense distance measuring sensors cover a sector area with the radius of 5 meters in front of the driving chassis and are used for detecting three-dimensional information of all obstacles in the range, the sensor assembly further comprises 4 ultrasonic sensors, the ultrasonic sensors are respectively arranged on the front left front, the front right front, the back left rear and the back right rear of the driving chassis, the ultrasonic sensors can measure the distance between the front of the sensor and the obstacles in real time, and the sensor assembly further comprises a two-dimensional laser radar positioned on the front portion of the upper layer of the driving chassis, the front part of the upper layer of the driving chassis is integrally overhead, and only a triangular prism surface body formed by the central strut of the driving chassis, the left rear corner strut and the right rear corner strut is reserved to connect the upper layer and the lower layer, so that the two-dimensional laser radar has a horizontal 270-degree non-shielding scanning range, scans the surrounding environment in real time and acquires point cloud data of the surrounding environment. The sensor assembly of the scheme has good adaptability, has comprehensive detection coverage range, and provides accurate and real-time data for realizing the functions of positioning, navigation, obstacle avoidance and the like.

Furthermore, the drive chassis also comprises a central processing unit which is arranged at the rear part of the upper layer of the drive chassis, the central processing is connected with a data line of the two-dimensional laser radar, receives point cloud information obtained by scanning the surrounding environment by the two-dimensional laser radar, completes the accurate positioning of the central processing by combining the data returned by the IMU, and realizes the real-time planning of a traveling route, the drive chassis control board transmits instructions to the two drive motors by transmitting information to the drive chassis control board to complete the task of moving to the target place, thereby realizing accurate navigation, the RGBD dense distance measuring sensor and the ultrasonic radar transmit the real-time monitored information of surrounding obstacles to the central processing unit, and the central processor plans an obstacle avoidance detour route in real time according to the obstacle information or suddenly stops to wait for the obstacle to leave. The central processing unit and the positioning and navigation functions realized by the sensor assembly have strong safety, adaptability and flexibility.

Preferably, four ultraviolet lamp tubes are respectively located on four ridge lines of fuselage side, the head and the tail both ends respectively with the fuselage is connected, and middle lamp tube part exposes outside, the antiseptic solution storage box is located inside the fuselage, the antiseptic solution storage box includes main tank body, inlet and drawing liquid pipe, the inlet is located the fuselage back to communicate with each other with the outside via the cavity of fuselage, drawing liquid pipe bottom extends to main tank bottom, the top is connected the water pump of head. The machine body is reasonable in layout and compact in structure.

The panoramic monitoring module is the bellied cylinder form that makes progress, and at a wide dynamic camera of cylinder side dead ahead to embedding, every interval 60 degrees of clockwise is just imbed a wide dynamic camera again, and total 6 have constituteed panoramic monitoring module jointly, the input pipe of water pump is connected in the fuselage antiseptic solution storage box bottom, the output pipe of water pump is connected in smoke generator's the atomizing pond, will antiseptic solution in the antiseptic solution storage box is carried to smoke generator atomizes, four atomising mouths are in inside a smog conveyer pipe of assembling of head, smog conveyer pipe connection smoke generator, the integrated multinomial function of head.

When the autonomous patrol intelligent killing robot moves, the two-dimensional laser radar scans the environment to obtain point cloud data and transmits the point cloud data to the central processing unit, the central processing unit transmits signals to the drive chassis controller, the drive chassis controller transmits the processed signals to the two drive motors, the autonomous patrol intelligent killing robot can identify the position and automatically operate to an area needing disinfection according to task setting, the central processing unit transmits signals to the ultraviolet lamp tube and the smoke generator, the ultraviolet lamp tube is lightened, the smoke generator starts to work to generate smoke, and the task of disinfection and sterilization is completed.

The panoramic monitoring module and the RGBD dense distance measuring sensor recognize that pedestrians exist in the safe operation range of the autonomous patrol intelligent killing robot, the signals are transmitted to the central processing unit, the central processing unit transmits the information to the drive chassis controller, the ultraviolet lamp tube and the smoke generator to stop operating after finishing the information processing, the pedestrians are informed to keep away, the central processing unit displays the information and the state on the touch display screen, the autonomous patrol intelligent killing robot can pause working in time when encountering the pedestrians during the killing operation process, the damage to the health of the pedestrians is avoided, and the safety is high.

The autonomous patrol intelligent killing robot is a non-transitory computer readable storage medium on which a computer program is stored, the program, when executed by a processor, implements the autonomous patrol intelligent killing robot. The autonomous patrol intelligent killing robot can adapt to complex terrains, uniformly covers an area to be killed, and efficiently finishes killing work.

The invention has the following beneficial effects: the precision of the autonomous patrol intelligent killing robot during movement is improved, and the autonomous patrol intelligent killing robot has the advantages of being low in power consumption, convenient, fast, intelligent, low in cost and the like while achieving free movement.

Drawings

FIG. 1 is a front view of an autonomous patrol intelligent killing robot according to the present application;

FIG. 2 is a side view of the autonomous patrol intelligent killer robot of the present application;

FIG. 3 is a rear view of the autonomous patrol intelligent killer robot of the present application;

fig. 4 is a schematic view of the internal structure of a drive chassis of the autonomous patrol intelligent killer robot of the present application, wherein (a) is a front view and (b) is a side view;

wherein, the autonomous patrol intelligent killing robot 100; a body 1; a disinfectant liquid storage tank 10; an ultraviolet lamp tube 11; a drive chassis 2; a drive structure 20; a sensor assembly 21; a lithium battery 22; a drive control board 24; a differential power runner 200; a universal wheel 201; a drive motor 202; a dual-fork straight-arm suspension 204; a two-dimensional laser radar 210; RGBD dense ranging sensor 211; an IMU 213; a head portion 3; a touch display screen 30; a panoramic monitoring module 31; a spray outlet 32; a smoke generator 33; a water pump 34; wide motion camera 310.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 4, an autonomous patrol intelligent killer robot 100 (hereinafter, simply referred to as a "robot") will be described in detail. The features of the following examples and embodiments may be combined with each other without conflict.

This application autonomous patrol intelligent killer robot 100 includes: the device comprises a machine body 1 which is roughly rectangular in structure, a driving chassis 2 positioned below the machine body 1, and a head 3 positioned in the middle of the top end of the machine body 1. The shape of the body 1 is not limited to a rectangle, but can be set to be different shapes such as a square shape, an oval shape, a circular shape and the like according to specific use conditions, customer requirements or working environments of the autonomous patrol intelligent killing robot 100.

Referring to fig. 1 to 4, the main body 1 includes a disinfectant storage tank 10 located inside the main body 1; four ultraviolet lamp tubes 11 are arranged on four prisms on the side surface of the machine body 1. Wherein, the disinfectant liquid storage tank 10 comprises a liquid inlet 101 positioned at the back of the fuselage 1 and an output conduit 102 extending from the bottom of the disinfectant liquid storage tank to the head. The head end and the tail end of the ultraviolet lamp tube 11 are connected with the lamp holders on the four ridges on the side surface of the machine body 1, the middle lamp tube part of the ultraviolet lamp tube 11 is exposed outside, and 360-degree dead-angle-free ultraviolet irradiation can be realized for sterilization.

The driving chassis 2 is installed below the machine body 1, and the driving chassis 2 is approximately in a cube structure and used for bearing the machine body 1 and performing automatic cruise motion. The drive chassis 2 includes a drive structure 20, a sensor assembly 21, a lithium battery 22, a central processor 23, and a drive control board 24. The driving structure 20 is located at the bottom of the driving chassis 2 and comprises two differential power rotating wheels 200 and four universal wheels 201, wherein the two differential power rotating wheels 200 are respectively located in cavities which are concave upwards in the middle of two sides of the driving chassis 2 and are respectively coaxially connected with two driving motors 202, and the two driving motors 202 are connected with the bottom of the driving chassis 2 through two groups of bifurcate straight arm shock absorption suspensions 203; the four universal wheels 201 are fixed at four corners of the bottom of the chassis. Wherein, the straight arm of bifurcate suspension 203 of moving away to avoid possible earthquakes includes two straight arm telescopic links 204, straight arm telescopic link 204 bottom with driving motor 202 fixed connection, then pass a compression spring 205, penetrate again the telescopic bearing 206 of 2 bottoms on driving chassis makes compression spring 205 bottom spacing in straight arm telescopic link 204 bottom, the top spacing in telescopic bearing 206's bottom, last straight arm telescopic link 204 top uses the bolt to fix spacingly, prevents straight arm telescopic link 204 roll-off telescopic bearing 206. The double-fork straight-arm telescopic rod 204 has strong rebound resilience and shock absorption, so that the driving chassis 2 has good trafficability and stability.

The sensor assembly 21 comprises a two-dimensional laser radar 210, an RGBD dense distance measuring sensor 211, an ultrasonic radar 212 and an IMU213, wherein the two-dimensional laser radar 210 is located in an upper front overhead area inside the drive chassis 2, a triangular prism formed by surrounding a chassis center pillar, a chassis left rear corner pillar and a chassis right rear corner pillar on the upper layer inside the drive chassis is used as a connecting part 214 for connecting a lower layer and a chassis top layer in the chassis, and in a horizontal scanning plane of the two-dimensional laser radar 210, only the connecting part 214 shields a rear view of 90 degrees, so that a real view of 270 degrees is provided. The two RGBD dense distance measuring sensors 211 are embedded in the center of the front face of the driving chassis 2 and arranged in a V shape, and can timely find three-dimensional information of obstacles in the range of 5 meters ahead. The ultrasonic radars 212 are located at four positions, i.e., a lower left and a lower right position on the front surface and a lower left and a lower right position on the back surface of the drive chassis 2, respectively, and measure distances from the four positions to the obstacle in the front direction. The IMU213 is installed in the middle layer inside the driving chassis 2, and is used for measuring the acceleration, the speed and the corresponding direction when the driving chassis 2 moves. The sensor assembly 21 is reasonable in layout and comprehensive in measurement range coverage, and provides a good data base for positioning and navigation of the drive chassis 2.

The lithium battery 22 is installed on the middle layer inside the drive chassis 2, has an electric quantity of 40 ampere hours, and ensures that the autonomous patrol intelligent killing robot 100 can operate uninterruptedly for a long time. The central processing unit 23 is installed at the rear part of the upper layer inside the driving chassis 2, and after receiving point cloud data obtained by scanning the surrounding environment in real time from the two-dimensional laser radar 210, the central processing unit 23 can calculate the position of the autonomous patrol intelligent killing robot 100 in the environment, plan a driving route, transmit a signal capable of driving the driving structure 20 to move to a target location to the driving control board 24 located at the lower layer inside the driving chassis 2, the driving control board 24 translates the signal and sends the driving signal to the driving motor 202, and the driving motor 202 provides corresponding power for the differential power runner 200, so that the autonomous patrol intelligent killing robot 100 completes an automatic patrol task.

This application drive chassis 2 can with autonomic patrol intelligent killing robot 100 takes arbitrary position to operate, drive chassis 2 can be normal preceding, back, left and right go straight, retreat or turn.

The head 3 is mounted at the top end of the body 1 and is approximately oval, the head 3 comprises a touch display screen 30 positioned on the front side, a panoramic monitoring module 31 positioned on the top side, four spray outlets 32 positioned on the periphery of the top side, a smoke generator 33 positioned inside and a water pump 34, the panoramic monitoring module 31 is in a cylindrical shape protruding upwards, a wide dynamic camera 310 is embedded in the right front direction of the side surface of the cylinder, one wide dynamic camera 310 is embedded in the right front direction at intervals of 60 degrees in the clockwise direction, the panoramic monitoring module 31 is composed of 6 pieces in total, an input conduit of the water pump 34 is connected with the bottom of the disinfectant storage box 10 in the body 1, an output conduit of the water pump 34 is connected with a atomization pool of the smoke generator 33, and disinfectant in the disinfectant storage box 10 is conveyed to the smoke generator 33 for atomization, the four spray ports 32 are converged into a smoke delivery pipe 320 inside the head 3, and the smoke delivery pipe 320 is connected with the smoke generator 33.

The touch display screen 30 is connected with a central processing unit 23 in the drive chassis 2 through a video transmission line, the central processing unit 23 displays a man-machine interaction interface on the touch display screen 30, in the using process, a user can touch and click the touch display screen 30 according to needs to transmit a control instruction or parameter setting to the central processing unit 23, and the central processing unit 23 executes a task according to the intention of the user. The smoke generator 33 is connected with the central processing unit 23 through a data transmission line, and starts or stops working by reading a switching signal transmitted from the central processing unit 23. The panoramic monitoring module 31 is connected to the central processing unit 23 through a data transmission line, and transmits the real-time images in six directions captured by the six wide dynamic cameras 310 to the central processing unit 23, and the central processing unit 23 splices the six images into a panoramic image and transmits the panoramic image to a remote monitor for a background administrator to view. Meanwhile, the central processing unit 23 also performs real-time target detection on the panoramic image, and immediately transmits a work suspension instruction to the ultraviolet lamp tube 11 and the smoke generator 33 if pedestrians pass around the panoramic image, so as to prevent the health of the pedestrians from being damaged by killing operations.

Referring to fig. 1 to 4, the autonomous patrol intelligent killing robot 100 has the following work flow:

firstly, after the power is turned on, the system will automatically turn on the program of the bottom layer foundation, meanwhile, the area needing to be killed can be manually selected on the touch display screen 30, after the task is selected, the central processing unit 23 sends a signal to the driving control board 24, and the autonomous patrol intelligent killing robot 100 starts to move.

In the planned disinfection operation range, when the autonomous patrol intelligent disinfection robot 100 moves, the ultraviolet lamp tube 11 and the smoke generator 33 are started, the ultraviolet lamp emits 11 ultraviolet rays to irradiate the surface of a surrounding object for disinfection and sterilization, the atomizing nozzle 32 sprays atomized disinfectant gas to disinfect the surrounding air and the surface of the object, meanwhile, the two-dimensional laser radar 210 scans the surrounding environment in real time and transmits point cloud information to the central processing unit 23, the central processing unit 23 completes positioning and navigation of the autonomous patrol intelligent disinfection robot in combination with data obtained by the IMU213, and an S-shaped travelling route is automatically planned so as to completely cover the disinfection operation range with a disinfection action area.

In the process of moving, obstacles or pedestrians are identified on a planned route, the RGBD dense distance measuring sensor 211 transmits identified signals and images to the central processing unit 23, the central processing unit 23 transmits the processed information to the driving control board 24 to control the autonomous patrol intelligent killing robot 100 to avoid, in the avoiding process, the ultrasonic radar 212 and the RGBD dense distance measuring sensor 211 transmit information to prevent collision, and if the collision cannot pass, the central processing unit 23 controls the autonomous patrol intelligent killing robot 100 to stop at the original place and send a signal to a remote controller to remind a worker to process the obstacle. The panoramic monitoring module 31 collects and splices panoramic images and transmits the panoramic images to a remote administrator for monitoring, and simultaneously, automatically detects whether pedestrians exist in a killing action range, if the pedestrians are found, the central processing unit 23 informs the ultraviolet lamp tube 11 and the smoke generator 33 of stopping working, and informs the two devices of continuing working after the pedestrians leave, so that the killing operation is ensured not to cause harm to the health safety of the pedestrians.

The autonomous patrol intelligent killing robot 100 disclosed by the invention uses new energy as a power source, and is more environment-friendly and energy-saving. The autonomous patrol intelligent killing robot 100 is controlled to avoid obstacles and run smoothly on a planned route by integrating data information of the two-dimensional laser radar 210, the IMU213, the RGBD dense distance measuring sensor 211 and the ultrasonic radar 212, and can work normally in miscellaneous terrains and environments by combining with a driving structure of the driving chassis 2. In order to accurately control the movement of the robot, the two-dimensional laser radar 210 and the IMU213 are combined to ensure the positioning of the autonomous patrol intelligent killing robot 100, so as to improve the accuracy of the autonomous patrol intelligent killing robot 100 in movement, and the speed of the autonomous patrol intelligent killing robot 100 is relatively slow in the working process, so that the ultraviolet rays irradiated by the ultraviolet lamp tube 11 and the disinfectant smoke generated by the smoke generator 33 can disinfect each area uniformly and sufficiently. The robot 100 has the advantages of being low in power consumption, convenient, intelligent and low in cost, and the like while achieving free movement, so that the robot 100 can be applied to more practical applications.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a robot is killed in autonomic patrolling intelligence towards indoor disinfection and sterilization, a serial communication port, the robot is killed in autonomic patrolling intelligence includes the fuselage, is located the drive chassis of fuselage below and is located the head of fuselage top, the fuselage outside is equipped with four ultraviolet germicidal tube, the inside antiseptic solution storage box that is equipped with of fuselage, the head is including being located positive touch display screen, being located the panorama monitoring module and the four nozzle at top and being located inside fog generator and water pump, adopts the mode that two-dimensional laser radar and IMU combined together to guarantee the location of the robot is killed in autonomic patrolling intelligence.

2. The autonomous patrol intelligent killing robot for indoor disinfection and sterilization according to claim 1, wherein the driving chassis comprises a bottom driving structure and four universal wheels, the driving structure comprises two differential power wheels, the two differential power wheels are respectively and coaxially connected with two driving motors, the two driving motors are respectively and fixedly connected with two groups of double-fork straight-arm shock-absorbing suspensions, the two groups of double-fork straight-arm shock-absorbing suspensions respectively comprise two straight-arm supporting telescopic rods, each straight-arm supporting telescopic rod passes through a shock-absorbing spring and then passes through a telescopic bearing at the bottom of the driving chassis, the straight-arm supporting telescopic rods can freely extend back and forth, the bottoms of the shock-absorbing springs are limited at the bottom bolts of the straight-arm supporting telescopic rods, the tops of the straight-arm supporting telescopic rods are limited at the bottoms of the telescopic bearings by bolts to prevent the telescopic bearings from falling out when extending downwards, the shock-proof spring can provide resilience force when the straight arm supporting telescopic rod stretches out and draws back, and the four universal wheels are respectively arranged on the periphery of the bottom of the driving chassis.

3. The autonomous patrol intelligent elimination robot oriented to indoor disinfection and sterilization as claimed in claim 2, wherein the driving chassis further comprises a sensor assembly for navigation and obstacle avoidance, the sensor assembly comprises two RGBD dense distance measurement sensors located on the front face of the driving chassis, the two RGBD dense distance measurement sensors are embedded in the front face of the driving chassis in a V shape, the detection range of the RGBD dense distance measurement sensors covers a sector area with a radius of 5 m in front of the driving chassis for detecting three-dimensional information of all obstacles in the range, the sensor assembly further comprises 4 ultrasonic sensors, the ultrasonic sensors are respectively installed on the front left front, the front right front, the back left rear and the back right rear of the driving chassis, and the ultrasonic sensors can measure the distance between the front of the sensor and the obstacles in real time, sensor component is still including being located the anterior two-dimensional laser radar in drive chassis upper strata, the anterior whole of drive chassis upper strata is maked somebody a mere figurehead, only keeps the triangular prism face body that drive chassis center pillar and left rear angle pillar, right rear angle pillar formed connects the upper and lower floor, makes two-dimensional laser radar has horizontal 270 degrees and does not have the scanning range that shelters from, two-dimensional laser radar scans the surrounding environment in real time, acquires the point cloud data of surrounding environment.

4. The autonomous patrol intelligent robot for indoor disinfection and sterilization according to claim 3, wherein the driving chassis further comprises a central processing unit, the central processing unit is installed at the rear part of the upper layer of the driving chassis, the central processing unit is connected with a data line of the two-dimensional laser radar, receives point cloud information obtained by scanning the surrounding environment by the two-dimensional laser radar, completes accurate positioning of the driving chassis by combining data returned by the IMU, realizes real-time planning of a travel route, completes a task of moving to a target place by transmitting information to the driving chassis control board and then transmitting instructions to the two driving motors, thereby realizing accurate navigation, and the RGBD dense distance measuring sensor and the ultrasonic radar transmit the information of surrounding obstacles monitored in real time to the central processing unit, and the central processor plans an obstacle avoidance detour route in real time according to the obstacle information or suddenly stops to wait for the obstacle to leave.

5. The autonomous patrol intelligent disinfection robot for indoor disinfection and sterilization as claimed in any one of claims 1 to 4, wherein said four ultraviolet lamps are respectively located on four ridges on the side of said body, the head and tail ends of said four ultraviolet lamps are respectively connected to said body, the middle lamp is partially exposed, said disinfection solution storage box is located inside said body, said disinfection solution storage box comprises a main box body, a liquid inlet and a liquid pumping duct, said liquid inlet is located on the back of said body and is communicated with the outside via the cavity of said body, the bottom end of said liquid pumping duct extends to the bottom of said main box body, and the top end of said liquid pumping duct is connected to the water pump of said head.

6. The autonomous patrol intelligent disinfection robot for indoor disinfection and sterilization as claimed in any one of claims 1 to 4, wherein the panoramic monitoring module is in the shape of an upward convex cylinder, a wide dynamic camera is embedded right in front of the side surface of the cylinder, a wide dynamic camera is embedded every 60 degrees clockwise, 6 panoramic monitoring modules are combined together to form the panoramic monitoring module, the input conduit of the water pump is connected to the bottom of the disinfectant storage tank in the machine body, the output conduit of the water pump is connected to the atomization pool of the smoke generator, the disinfectant in the disinfectant storage tank is conveyed to the smoke generator for atomization, the four spray nozzles are integrated into a smoke conveying pipe inside the head, and the smoke conveying pipe is connected to the smoke generator.

7. The autonomous patrol intelligent disinfection robot for indoor disinfection and sterilization according to claim 4, wherein during the movement of the autonomous patrol intelligent disinfection robot, the two-dimensional laser radar scans the environment to obtain point cloud data, the point cloud data is transmitted to the central processing unit, the central processing unit transmits signals to the drive chassis controller, the drive chassis controller transmits the processed signals to the two drive motors, the autonomous patrol intelligent disinfection robot can identify the position and automatically operate to an area needing disinfection according to task setting, the central processing unit transmits signals to the ultraviolet lamp tube and the smoke generator, the ultraviolet lamp tube is turned on, and the smoke generator starts to work to generate smoke to complete the task of disinfection and sterilization.

8. The autonomous patrol intelligent killer robot for indoor disinfection and sterilization according to claim 3 or 4, wherein the panoramic monitoring module and the RGBD dense distance measuring sensor recognize that pedestrians are in the safe operating range of the autonomous patrol intelligent killer robot, transmit signals to the central processing unit, the central processing unit transmits the processed information to the drive chassis controller, the ultraviolet lamp tube and the smoke generator to stop operation and inform the pedestrians of leaving, the central processing unit displays the information and the state on the touch display screen, and the autonomous patrol intelligent killer robot can pause in time when encountering the pedestrians during the killing operation.

9. The autonomous patrol intelligent elimination robot for indoor disinfection and sterilization according to any one of claims 1 to 4, wherein the autonomous patrol intelligent elimination robot is a non-transitory computer readable storage medium on which a computer program is stored, and the program is implemented by a processor.