Aiming at the problems of high development cost and poor maintenance of disinfection robot in public health field, a control system scheme for disinfection robot was proposed based on robot operating system (ROS). Based on the concept of hierarchical control, the control system of the disinfection robot was divided into user layer, decisionmaking layer and executive layer. Each level had clear functions, low coupling, good reusability and high flexibility. The user layer was mainly used to receive the user’〖KG-*2〗s application instructions and play the role of humancomputer interaction. The decisionmaking layer was mainly used to undertake the core budget of robot voice recognition, positioning and navigation, path planning, etc. The executive layer was mainly used to carry out the control instructions sent by the decisionmaking layer, to control the robot movement and disinfection work. The test results show that the control system has the advantages of high reliability, good flexibility and low cost.