CN113908318A

CN113908318A - Toilet disinfection robot, disinfection system and disinfection method

Info

Publication number: CN113908318A
Application number: CN202111360173.0A
Authority: CN
Inventors: 许登科; 唐以廷
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-01-11

Abstract

The invention discloses a toilet disinfection robot, a disinfection system and a disinfection method, wherein the robot comprises: the control module is used for controlling the movement of the robot and the movement of the mechanical arm; moving the chassis so that the robot moves in the toilet; the liquid storage device is used for storing disinfectant; the micro water pump is used for pumping disinfectant to the spray head; the first mechanical arm comprises a camera and a spray head, the camera is used for collecting an environment image, and the spray head is used for spraying disinfectant to an area where a preset article is detected in the environment image; the second mechanical arm comprises an electric motor and a cleaning cloth, and the electric motor is used for driving the cleaning cloth to rotate so as to clean the preset area. The invention can timely and quickly realize the disinfection of articles such as a door handle, a water tap, a flushing button and the like which are frequently contacted by a user in a public washroom, greatly reduces the risk of the spread of bacteria and viruses and is beneficial to ensuring the body health of the public.

Description

Toilet disinfection robot, disinfection system and disinfection method

Technical Field

The invention relates to the field of disinfection robots, in particular to a toilet disinfection robot, a disinfection system and a disinfection method.

Background

One study in the united states indicates that the number of bacteria on the inner wall of a freshly flushed urinal is still as high as 10 ten thousand, and that the cyclone in the urinal can carry germs and microbes up to 6 meters high in the air and suspend in the air for several hours, with a high risk of cross-infection and greater susceptibility to various diseases if in a public toilet. Therefore, sterilization and disinfection of public toilets are very important.

In the prior art, for example, patent with publication number CN212773828U discloses an opening and closing disinfection device applied to a toilet door, which can disinfect a door handle well, but cannot disinfect other objects, and has a large limitation; while the patent with publication number CN107320022A discloses an intelligent cleaning robot for toilet, which is mainly used for cleaning toilet and can sterilize by ultraviolet rays, but this method is too inefficient and needs to be used without being help.

Disclosure of Invention

In order to solve the problems, the invention provides a toilet disinfection robot, a disinfection system and a disinfection method, which greatly strengthen the sanitation guarantee of a public toilet and reduce the risk of virus transmission. The specific technical scheme of the invention is as follows:

a toilet sanitizing robot, said robot comprising: the control module is used for controlling the movement of the robot and the movement of the mechanical arm; the mobile chassis is connected with the control module so that the robot can move in the toilet; the liquid storage device is fixedly connected with the movable chassis and is used for storing disinfectant; the micro water pump is connected with the control module and the liquid storage device and is used for pumping disinfectant to the spray head; the first mechanical arm is connected with the control module and the liquid storage device and comprises a camera and a spray head, the camera is used for collecting an environment image, and the spray head is used for spraying disinfectant to an area where a preset article is detected in the environment image; the second mechanical arm is connected with the control module and the liquid storage device and comprises an electric motor and cleaning cloth, and the electric motor is used for driving the cleaning cloth to rotate so as to complete cleaning of a preset area.

Further, the mobile chassis comprises an obstacle avoidance module for detecting obstacles, and the obstacle avoidance module comprises an ultrasonic sensor and an infrared sensor.

Further, the first mechanical arm further comprises a first upper arm, a first lower arm, a transfusion hose and two joint motors; one end of the first upper arm is connected with the liquid storage device through a joint motor, and the other end of the first upper arm is connected with the first lower arm through the joint motor; the transfusion hose is arranged inside the first mechanical arm and used for connecting the spray head and the micro water pump; the camera and the sprayer are both arranged at the tail end of the first lower arm, and the sprayer is arranged in a groove at the tail end of the first lower arm.

Further, the second mechanical arm further comprises a second upper arm, a second lower arm and two joint motors; one end of the second upper arm is connected with the liquid storage device through a joint motor, and the other end of the second upper arm is connected with the second lower arm through the joint motor; the electric motor and the wiper are both provided at the end of the second lower arm.

A toilet sterilization system, the system comprising the toilet sterilization robot, the system further comprising an infrared sensor disposed in a toilet compartment and an infrared sensor of a hand washing station; wherein, the infrared sensor in the compartment is arranged on the wall opposite to the compartment door and used for detecting the user; the infrared sensor of the hand washing table is arranged on the water faucet and used for detecting a user; wherein each infrared sensor has a unique identification code.

A method of sanitizing a toilet, the method being implemented by the toilet sanitizing system, the method comprising the steps of: step S1, when the robot receives the information that the infrared sensor in the compartment detects the user enters, the robot judges the position of the compartment, and then after the information that the user leaves is received, the robot starts a disinfection program; step S2, the robot moves to the corresponding compartment and forwards unfolds the second mechanical arm, and then controls the second mechanical arm to rotate towards the opening direction of the compartment door while advancing so as to push the compartment door open until the robot enters the compartment; step S3, the robot opens the camera to detect the bolt and the flush button and controls the nozzle of the first lower arm to spray and sterilize; step S4, the robot controls the first lower arm to spray disinfectant according to a preset motion track so as to disinfect air; step S5, the robot retracts the first mechanical arm and exits the compartment, then retracts the second mechanical arm, and analyzes the service condition of the faucet through the information transmitted by the infrared sensor of the washbasin; and step S6, the robot moves to a corresponding water faucet, the first mechanical arm and the second mechanical arm are unfolded, the camera is opened to detect the water faucet and sterilize, then the cleaning cloth is controlled to rotate and clean areas on two sides of the water faucet, and after cleaning is finished, the robot retracts the first mechanical arm and the second mechanical arm and returns to the base station.

Further, the robot is in a standby state when not in operation; in a standby state, the first lower arm and the second lower arm of the robot are folded upwards towards the back of the robot; when the first lower arm is in the stowed state, the camera remains closed.

Further, in step S1, the robot determines the location of the compartment by the identification code of the infrared sensor.

Further, in step S3, the method for the robot to open the camera to detect the door bolt and the flush button and perform disinfection includes: after the robot enters the compartment, the first upper arm is lifted forwards, so that the camera positioned on the first lower arm can detect the door bolt backwards, the robot changes the angle between the first upper arm and the first lower arm through the joint motor and collects images, and meanwhile, the door bolt is identified by using template matching; the robot adjusts the position of the camera until the bolt is positioned in the central area of the image, and then the micro water pump is started, so that the spray head sprays disinfectant to finish the disinfection of the bolt; the robot deploys the first lower arm forward, continues to capture images and identify the flush button using template matching, and then disinfects it.

Further, in step S6, the method for controlling the rag to rotate and clean the areas on both sides of the faucet by the robot includes: the robot passes through the camera and gathers the image, after discerning tap, plans its left and right sides scope of predetermineeing for clean region, then controls the rag and rotates and clean the clean region.

The invention has the beneficial effects that: the toilet disinfection system can timely and quickly disinfect articles such as a door handle, a faucet, a flushing button and the like which are frequently contacted by a user in a public toilet, greatly reduces the risk of spreading bacteria and viruses, and is beneficial to ensuring the physical health of the public.

Drawings

Fig. 1 illustrates a robot for sterilizing a toilet according to an embodiment of the present invention.

FIG. 2 illustrates a method for disinfecting a toilet according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.

The robot can meet different obstacles in the process of walking along the edge, and in order to effectively simplify the description of the indoor environment and provide a reasonable corresponding strategy in path planning, the robot can process the indoor obstacles as follows: 1. and as long as the distance between the barrier and the wall does not meet the minimum distance for the robot to pass through, the robot cannot pass through smoothly, and the barrier is processed by pressing against the wall. 2. For a straight-line obstacle, the outline characteristic of the straight-line obstacle is represented by a rectangle; and for the nonlinear obstacles, processing by adopting a broken line approximation method. 3. When the distance between the two obstacles is very close and the robot cannot pass through the two obstacles smoothly, the two obstacles can be regarded as one obstacle to be treated.

The robot carrier is provided with a gyroscope for angle detection and a milemeter for travel distance detection, and is also provided with a sensor capable of detecting the wall distance, wherein the sensor for detecting the wall distance can be an ultrasonic distance sensor, an infrared intensity detection sensor, an infrared distance sensor, a physical switch detection collision sensor, a capacitance or resistance change detection sensor and the like.

Under the background of the prevalence of new coronary pneumonia, it is very important to make the sterilization and disinfection of public toilets. However, in the prior art, for example, patent No. CN212773828U discloses an opening and closing disinfection device applied to a toilet door, which can disinfect a door handle well, but cannot disinfect other objects, and has a large limitation; while the patent with publication number CN107320022A discloses an intelligent cleaning robot for toilet, which is mainly used for cleaning toilet and can sterilize by ultraviolet rays, but this method is too inefficient and needs to be used without being help.

Accordingly, an embodiment of the present invention provides a toilet sterilization robot, as shown in fig. 1, the robot including: a control module 10 for controlling the movement of the robot and the movement of the robot arm; a moving chassis 20 connected with the control module 10 so that the robot moves in the toilet; the liquid storage device 30 is fixedly connected with the mobile chassis 20 and is used for storing disinfectant; the micro-water pump 40 is connected with the control module 10 and the liquid storage device 30 and is used for pumping disinfectant to the spray head 52; the first mechanical arm is connected with the control module 10 and the liquid storage device 30 and comprises a camera 51 and a spray head 52, wherein the camera 51 is used for collecting an environment image, and the spray head 52 is used for spraying disinfectant to an area where a preset article is detected in the environment image; the second mechanical arm is connected with the control module 10 and the liquid storage device 30 and comprises an electric motor 61 and a cleaning cloth 62, wherein the electric motor 61 is used for driving the cleaning cloth 62 to rotate so as to clean a preset area. Compared with the prior art, the disinfection robot provided by the embodiment of the invention can replace the manual work to disinfect articles such as a door handle, a faucet and a flushing button which are frequently contacted by a user in a public washroom, liberates people from tedious and repetitive work, and ensures the sanitary safety of the public washroom.

As one of the embodiments, the mobile chassis 20 includes an obstacle avoidance module 23 connected to the control module 10 for detecting obstacles, and the obstacle avoidance module 23 includes an ultrasonic sensor and an infrared sensor, and can avoid obstacles in time when detecting an obstacle ahead, so as to prevent collision. The moving chassis 20 further includes universal wheels 21 and driving wheels 22 for movement of the robot.

In one embodiment, the first mechanical arm further includes a first upper arm 53, a first lower arm 54, an infusion hose, and two joint motors 55. One end of the first upper arm 53 is connected to the liquid storage device 30 through a joint motor 55, and the other end of the first upper arm 53 is connected to the first lower arm 54 through the joint motor 55. It should be noted that the joint motor 55 is composed of two decoupled single-degree-of-freedom motors, one for controlling the front-back movement of the mechanical arm and one for controlling the left-right movement of the mechanical arm, so that the mechanical arm can freely adjust the position of the tail end thereof, which is the prior art and is not described again. The infusion hose is arranged inside the first mechanical arm and is used for connecting the spray head 52 and the micro-water pump 40. The camera 51 and the nozzle 52 are both arranged at the tail end of the first lower arm 54, and the nozzle 52 is arranged in a groove at the tail end of the first lower arm 54, so that the nozzle 52 is prevented from blocking the camera 51 to collect images.

As one of the embodiments, the second robot arm further includes a second upper arm 63, a second lower arm 64, and two joint motors 65. One end of the second upper arm 63 is connected with the liquid storage device 30 through a joint motor 65, and the other end of the second upper arm 63 is connected with the second lower arm 64 through the joint motor 65. Electric motor 61 and rag 62 all set up the end at second lower arm 64, electric motor 61 is connected with control module 10 and rag 62, and after receiving control module 10's enabling signal, control rag 62 is rotatory, realizes clean function.

The embodiment of the invention also provides a toilet disinfection system, which comprises the toilet disinfection robot, an infrared sensor arranged in the toilet and an infrared sensor of a wash basin; wherein, the infrared sensor in the compartment is arranged on the wall opposite to the compartment door and used for detecting the user; the infrared sensor of the hand washing table is arranged on the water faucet and used for detecting a user; wherein each infrared sensor has a unique identification code. It should be noted that the signal of the infrared sensor is transmitted to the control module 10 by a wireless communication technology, which may be a bluetooth communication technology or a WiFi communication technology, and this is a common means and is not described again. Compared with the prior art, the toilet disinfection system provided by the embodiment of the invention can timely and quickly realize disinfection of articles such as a door handle, a faucet and a flushing button which are frequently contacted by a user in a public toilet, greatly reduces the risk of propagation of bacteria and viruses, and is beneficial to guaranteeing the physical health of the public.

As shown in fig. 2, an embodiment of the present invention provides a method for disinfecting a toilet, which is implemented by the toilet disinfecting system, and the method includes the following steps:

in step S1, the robot determines the location of the compartment when receiving the information that the infrared sensor in the compartment detects the user entering, and then starts the disinfection program after receiving the information that the user leaves. In the process of performing step S1, the infrared sensor judges the state where the user enters and leaves from the distance value it measures. The measurement value of the infrared sensor in the case of no-person use of the compartment is set to a prescribed value, and when the prescribed value is changed, it indicates that the user enters the compartment, and after the prescribed value is returned to normal, it indicates that the user leaves the compartment. In special cases, if the time interval from the occurrence of the change from the specified value to the return to normal is short, it can be assumed that no person is using the compartment and the robot does not start the disinfection program. When the user is detected to enter the compartment, the robot judges the position of the compartment through the identification code of the infrared sensor.

In step S2, the robot moves to the corresponding compartment and deploys the second robot arm forward, and then controls the second robot arm to rotate in the direction in which the compartment door is opened to push the compartment door open while advancing until the robot enters the compartment. It should be noted that, the public washroom described in the present invention takes a common partition manner as an example, and the partition manner has the following characteristics: the compartment door is generally pushed inwards, the outer side of the compartment door is not provided with a handle, the inner side of the compartment door is provided with a cylindrical handle, and the compartment door is locked by a rotary door bolt on the side, wherein the rotary door bolt is one of key disinfection objects.

In the process of executing step S2, since the environment of the toilet is simple, the robot carries inertial navigation enough to meet the requirement of autonomous movement, and compared with laser navigation, the cost is greatly reduced, and compared with visual navigation, there is no risk of revealing the privacy of the user. The forward deployment of the second robot arm means that the robot rotates the second upper arm 63 forward to be parallel to the ground and then rotates the second lower arm 64 to be perpendicular to the ground. Alternatively, the second mechanical arm may also be deployed forward in other ways, as long as the effect of pushing open the compartment door is achieved. After pushing the compartment door, the infrared sensor can detect the distance from the robot, and the distance can be used for judging whether the robot enters the compartment.

In step S3, the robot opens the camera 51 to detect the door bolt and the flush button and controls the nozzle 52 of the first lower arm 54 to perform spray disinfection. It should be noted that the robot does not deploy the first arm and does not open the camera 51 before entering the compartment, so that the user does not have to worry about privacy disclosure.

In the process of executing step S3, the method for the robot to open the camera 51 to detect the bolt and the flush button and perform sterilization includes: after the robot enters the compartment, the first upper arm 53 is lifted forward until it is parallel to the ground so that the camera 51 on the first lower arm 54 can detect the bolt backwards. It should be noted that the robot is in a standby state when not in operation; in the standby state, the first lower arm 54 and the second lower arm 64 of the robot are retracted upward in the direction of the back of the robot, so that the camera 51 located at the end of the first lower arm 54 can detect the back right after the robot lifts the first upper arm 53 forward. The robot changes the angles of the first upper arm 53 and the first lower arm 54 by the joint motor 55 and collects images while recognizing the keeper using template matching. After identifying the bolt, the robot continues to adjust the position of the camera 51 until the bolt is located in the central area of the image, and then starts the micro-pump 40, so that the spray head 52 sprays the disinfectant to finish the disinfection of the bolt. The robot then deploys the first lower arm 54 forward, continues to capture images and identify and disinfect the flush button using template matching. In the process of identifying the flushing button, the direction of the collected image of the robot can be planned in advance according to the operation environment so as to improve the identification efficiency. As an example of the abnormality processing, when the robot cannot recognize the keeper for a certain period of time, the robot turns to recognize the flush button, and if the robot cannot recognize the keeper for the same time, the process proceeds to step S4.

In step S4, the robot controls the first lower arm 54 to spray disinfectant according to the preset movement track to disinfect the air. In order to guarantee the disinfection quality, after the disinfection of the objects which can be directly touched by the user is finished, the air needs to be disinfected to eliminate the suspended viruses or bacteria. Alternatively, the preset motion trajectory may be a bow shape, a zigzag shape, or the like, without being particularly limited.

And step S5, the robot retracts the first mechanical arm and exits the compartment, then retracts the second mechanical arm, and simultaneously analyzes the use condition of the faucet through the information transmitted by the infrared sensor of the washbasin. In the process of executing step S5, the robot first retracts the first robot arm, and simultaneously turns off the camera 51 to avoid capturing the user. Preferably, an obstacle avoidance module may be installed at the rear side of the robot moving chassis 20 to prevent the robot from colliding with a user when the robot moves backward. Optionally, a voice announcement may be made to alert the passing user when the robot exits the compartment. Then, the robot determines the position of the used faucet through the information of the infrared sensor and goes to disinfection and cleaning after the user leaves.

Step S6, the robot moves to a corresponding faucet, the first mechanical arm and the second mechanical arm are unfolded, the camera 51 is opened to detect the faucet and sterilize the faucet, then the cleaning cloth 62 is controlled to rotate and clean areas on two sides of the faucet, and after cleaning is completed, the robot retracts the first mechanical arm and the second mechanical arm and returns to the base station. In the process of executing step S6, the robot still extends the mechanical arm forward to avoid interference with other users. Then, the faucet is identified and disinfection is completed by using a template matching method. It should be noted that if the toilet uses the auto-induction faucet, the disinfection step of the faucet is skipped. After the disinfection is completed, the robot starts the electric motor 61, so that the cleaning cloth 62 rotates, then with the assistance of the camera 51, the preset range of the left side and the right side of the faucet is planned to be a cleaning area, and then the cleaning cloth 62 is controlled to fall into the cleaning area and move, so that the stains and water stains around the faucet are cleaned, the breeding of mosquitoes is prevented, and the possibility of virus and bacteria propagation is reduced. After completion of step S6, the robot makes a determination: if no information that a new user leaves the compartment or the washbasin is received, returning to the base station, otherwise, continuing to disinfect; if the user is simultaneously informed of the departure from the compartment and the departure from the wash station, the disinfection is performed on a near basis.

In the embodiment, when the robot is in disinfection operation, the user can control the robot to pause or stop the operation through voice, so that inconvenience to the user is avoided. Optionally, an emergency brake button can be arranged on the robot, so that the robot is convenient for a user to use. The technical scheme of the invention can timely and quickly realize the disinfection of articles such as a door handle, a water tap, a flushing button and the like which are frequently contacted by a user in a public washroom, greatly reduces the risk of the spread of bacteria and viruses, and is beneficial to ensuring the body health of the public.

Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.

In addition, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A toilet sanitizing robot, characterized in that said robot comprises:

the control module is used for controlling the movement of the robot and the movement of the mechanical arm;

the mobile chassis is connected with the control module so that the robot can move in the toilet;

the liquid storage device is fixedly connected with the movable chassis and is used for storing disinfectant;

the micro water pump is connected with the control module and the liquid storage device and is used for pumping disinfectant to the spray head;

the first mechanical arm is connected with the control module and the liquid storage device and comprises a camera and a spray head, the camera is used for collecting an environment image, and the spray head is used for spraying disinfectant to an area where a preset article is detected in the environment image;

the second mechanical arm is connected with the control module and the liquid storage device and comprises an electric motor and cleaning cloth, and the electric motor is used for driving the cleaning cloth to rotate so as to complete cleaning of a preset area.

2. The robot of claim 1, wherein the mobile chassis comprises an obstacle avoidance module for detecting obstacles, the obstacle avoidance module comprising an ultrasonic sensor and an infrared sensor.

3. The robot for sterilizing a toilet according to claim 1, wherein the first robot arm further comprises a first upper arm, a first lower arm, an infusion hose, and two joint motors; wherein the content of the first and second substances,

one end of the first upper arm is connected with the liquid storage device through a joint motor, and the other end of the first upper arm is connected with the first lower arm through the joint motor;

the transfusion hose is arranged inside the first mechanical arm and used for connecting the spray head and the micro water pump;

the camera and the sprayer are both arranged at the tail end of the first lower arm, and the sprayer is arranged in a groove at the tail end of the first lower arm.

4. The robot for sanitizing a toilet according to claim 1, wherein said second robotic arm further comprises a second upper arm, a second lower arm and two joint motors; wherein the content of the first and second substances,

one end of the second upper arm is connected with the liquid storage device through a joint motor, and the other end of the second upper arm is connected with the second lower arm through the joint motor;

the electric motor and the wiper are both provided at the end of the second lower arm.

5. A toilet sterilization system comprising the toilet sterilization robot of any one of claims 1 to 4, the system further comprising an infrared sensor provided in the toilet and an infrared sensor of the hand washing station; wherein the content of the first and second substances,

the infrared sensor in the compartment is arranged on the wall opposite to the compartment door and used for detecting the user;

the infrared sensor of the hand washing table is arranged on the water faucet and used for detecting a user;

wherein each infrared sensor has a unique identification code.

6. A method for sanitizing a toilet, characterized in that the method is implemented by a toilet sanitizing system according to claim 5, said method comprising the steps of:

step S1, when the robot receives the information that the infrared sensor in the compartment detects the user enters, the robot judges the position of the compartment, and then after the information that the user leaves is received, the robot starts a disinfection program;

step S2, the robot moves to the corresponding compartment and forwards unfolds the second mechanical arm, and then controls the second mechanical arm to rotate towards the opening direction of the compartment door while advancing so as to push the compartment door open until the robot enters the compartment;

step S3, the robot opens the camera to detect the bolt and the flush button and controls the nozzle of the first lower arm to spray and sterilize;

step S4, the robot controls the first lower arm to spray disinfectant according to a preset motion track so as to disinfect air;

step S5, the robot retracts the first mechanical arm and exits the compartment, then retracts the second mechanical arm, and analyzes the service condition of the faucet through the information transmitted by the infrared sensor of the washbasin;

and step S6, the robot moves to a corresponding water faucet, the first mechanical arm and the second mechanical arm are unfolded, the camera is opened to detect the water faucet and sterilize, then the cleaning cloth is controlled to rotate and clean areas on two sides of the water faucet, and after cleaning is finished, the robot retracts the first mechanical arm and the second mechanical arm and returns to the base station.

7. A toilet disinfection method according to claim 6, characterized in that said robot is in a standby state when not in operation; in a standby state, the first lower arm and the second lower arm of the robot are folded upwards towards the back of the robot; when the first lower arm is in the stowed state, the camera remains closed.

8. The sterilization method for toilet according to claim 6, wherein in step S1, the robot determines the position of the compartment by the identification code of the infrared sensor.

9. The toilet sterilizing method of claim 7, wherein in the step S3, the method for the robot to open the camera to detect the door bolt and the flushing button and sterilize the toilet comprises:

after the robot enters the compartment, the first upper arm is lifted forwards, so that the camera positioned on the first lower arm can detect the door bolt backwards, the robot changes the angle between the first upper arm and the first lower arm through the joint motor and collects images, and meanwhile, the door bolt is identified by using template matching;

the robot adjusts the position of the camera until the bolt is positioned in the central area of the image, and then the micro water pump is started, so that the spray head sprays disinfectant to finish the disinfection of the bolt;

the robot deploys the first lower arm forward, continues to capture images and identify the flush button using template matching, and then disinfects it.

10. The method of claim 6, wherein the robot controls the cloth to rotate and clean the areas on both sides of the faucet in step S6, comprising: the robot passes through the camera and gathers the image, after discerning tap, plans its left and right sides scope of predetermineeing for clean region, then controls the rag and rotates and clean the clean region.