Multi-mode industrial line inspection robot and system

Abstract

The invention relates to the technical field of industrial automation and intelligent detection, and discloses a multi-mode industrial line inspection robot and system.The robot comprises a crawler saddle, a machine body is installed at the top of the crawler saddle, and mechanical arms are arranged at the driving ends of the two sides of the machine body and used for controlling a detection assembly to make contact with the outer wall of a rail and the outer wall of a pipeline; a cleaning assembly is arranged on the front side of the detection assembly, the cleaning assembly is used for removing dirt on the outer wall of a to-be-detected part before detection, and the system comprises a main control and navigation module used for robot path monitoring, environment perception and dynamic obstacle avoidance and achieving autonomous navigation and path adjustment in a complex environment in combination with GPS and IMU data. Through ground and high-altitude division cooperation and multi-modal detection, all-directional inspection in a complex scene is realized, the applicability, the detection precision and the inspection efficiency are improved, the problem of insufficient applicability of a single scene in the prior art is solved, and an efficient scheme is provided for intelligent maintenance of industrial lines.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation and intelligent detection technology, and in particular to a multi-modal industrial line inspection robot and system. Background Art

[0002] Industrial line inspection is an important part of modern industrial infrastructure maintenance and is widely used in daily monitoring and maintenance of pipelines, railways and power lines. With the continuous expansion of industrial facilities and the increasing complexity of environmental conditions, the requirements for accuracy, efficiency and safety of inspection tasks are also increasing. However, due to the harsh working environment, diverse and complex detection targets, traditional manual inspection methods have gradually exposed problems such as low efficiency and insufficient safety, and cannot meet the needs of modern industrial development.

[0003] Current inspection technology is mainly focused on detection in specific environments. For example, for the inspection of ground pipelines and railways, existing equipment mainly relies on manual inspections of instruments. Although the inspection accuracy has been improved to a certain extent, the efficiency is still low, especially in long-distance lines, which is time-consuming and laborious. For power line inspections in high-altitude environments, most of them rely on professionals to complete inspections with the help of high-altitude working equipment or drones, which not only increases the risk of operations, but is also easily affected by external conditions such as weather. Traditional inspection methods are not only inefficient, but also cannot guarantee full coverage of the inspection area, and the risk of missed inspections always exists.

[0004] In addition, with the diversification of industrial line types and the complexity of operating environments, the differences in requirements for different inspection targets have gradually emerged. Pipelines, railways, and power lines differ in structure, distribution, and inspection focus, and single-function equipment is difficult to meet multiple inspection requirements at the same time. This technical limitation requires users to configure equipment for different tasks separately, which not only increases maintenance costs, but also reduces overall operating efficiency. In particular, when frequent switching of inspection scenes is required, the limitations of traditional technology are more prominent.

[0005] Therefore, how to improve inspection efficiency in complex industrial scenarios, reduce the safety risks brought by manual participation, and take into account the inspection needs of various line types has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a multi-modal industrial line inspection robot and system, which solves the problems that the existing inspection equipment cannot take into account multi-scene detection on the ground and in the air, has poor applicability and insufficient detection accuracy.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-modal industrial line inspection robot, comprising:

[0008] A crawler seat, on the top of which a fuselage is installed, and mechanical arms are provided at the driving ends on both sides of the fuselage, which are used to control the detection component to contact with the rail and the outer wall of the pipeline, and a cleaning component is provided on the front side of the detection component, which is used to clean the dirt on the outer wall of the component to be detected before detection, a camera is installed on the front side of the top of the crawler seat, and a radar is installed on the front side of the crawler seat;

[0009] An electromagnet seat is installed on the front side of the fuselage, an iron block is arranged inside the electromagnet seat, a line detection mechanism is installed on the outer wall of the iron block, which is used to inspect the high-voltage transmission line. The line detection mechanism includes a rotor frame, a clamping assembly, a moving assembly and a traction assembly. The center of one side of the outer wall of the rotor frame is installed on the outer wall of the iron block, and a U-shaped seat is installed on the other side of the outer wall of the rotor frame. The clamping assembly is installed in the middle of the U-shaped seat, and the moving assembly is installed on both sides of the U-shaped seat. A weak magnetic detection device and a magnetic memory planning device are installed on the outer wall of the moving assembly from front to back in sequence. The traction assembly is installed on the top of the crawler seat, and is used to tow the rotor frame so that it can land around the robot main body device after high-altitude operation.

[0010] Preferably, the robotic arm comprises a movable arm 1, a driving end of the movable arm 1 is mounted on the driving end of the outer wall of the fuselage, the other end of the movable arm 1 is connected to a movable arm 2, and the other end of the movable arm 2 is connected to a movable arm 3.

[0011] Preferably, the detection assembly includes a mounting seat and two pulley rods, the outer wall of the mounting seat is installed on the third driving end of the movable arm, a fixing frame is installed on the upper side of the inner wall of the mounting seat, the two pulley rods both penetrate and are slidably connected to the middle of the fixing frame, a spring is sleeved on the outside of the pulley rod at a position below the fixing frame, a detection module is installed on the upper side of the inner wall of the fixing frame, and clamping claw assemblies are arranged on both sides of the fixing frame.

[0012] Preferably, the clamping jaw assembly includes two movable clamps, the tops of the two movable clamps are respectively rotated on both sides of the fixed frame, two fixed seats are installed on both sides of the bottom of the fixed frame, an electric telescopic rod is rotated in the middle of each of the fixed seats, two connecting seats are installed on the outer walls of the two movable clamps, and each electric telescopic rod driving end is installed in the middle of the connecting seat through a rotating shaft, two pulley rods are slid on both sides of the middle of each movable clamp, and two springs are provided on the outer side of each of the two pulley rods.

[0013] Preferably, the cleaning assembly comprises two groups of dampers, one end of the two groups of dampers rotates in the outer groove of the fixing frame, the other end of the two groups of dampers rotates with a cleaning plate, and the two groups of dampers are arranged in a rectangular shape on top of the cleaning plate.

[0014] Preferably, the moving component includes two limit seats, the outer walls of the two limit seats are respectively installed on both sides of the U-shaped seat, a driving wheel, a second motor and a plurality of driven wheels are rotated in the top grooves of the two limit seats, a transmission wheel is fixed on the outer wall of the middle shaft of the driving wheel and the driving end of the second motor, and the outer sides of the two transmission wheels are provided with belts.

[0015] Preferably, the clamping assembly includes a motor 1, the outer wall of the motor 1 is installed on the outer wall of the U-shaped seat, a bidirectional screw is fixed to the driving end of the motor 1, and moving blocks are threadedly connected on both sides of the outer wall of the bidirectional screw, and one end of a movable rod is rotatably connected on both sides of the two moving blocks, the middle parts of the two movable rods on the same side are rotatably connected, and a sliding groove is penetrated at the bottom of the two limit seats, and the other ends of the two movable rods on the same side are slidably connected in the sliding groove.

[0016] Preferably, the weak magnetic detection device and the magnetic memory planning device are both installed on the top of the limit seat, which are used to establish a healthy magnetic field benchmark for the wire rope through the magnetic memory planning device, and the weak magnetic detection device accurately identifies and quantifies line damage in real time through magnetic energy potential differences.

[0017] Preferably, the traction assembly includes motor three, the outer wall of motor three is installed on the top of the crawler vehicle seat, a mounting seat two is installed on the top of the crawler vehicle seat, a reel is rotated in the middle of the mounting seat two, the driving end of motor three is fixed in the middle of the reel, a traction rope is wound around the outside of the reel, and the end of the traction rope is installed on the outer wall of the iron block.

[0018] A multi-modal industrial line inspection robot system, comprising:

[0019] The main control and navigation module is used for robot path monitoring, environmental perception and dynamic obstacle avoidance. It combines GPS and IMU data to achieve autonomous navigation and path adjustment in complex environments.

[0020] Power line detection module, used to detect fatigue, cracks, broken wires and corrosion damage inside the power line, and identify the health status of the line through abnormal changes in the magnetic memory field;

[0021] Industrial pipeline and railway inspection module, used to detect cracks, corrosion and temperature anomalies on the outer walls of industrial pipelines and railways;

[0022] Actuation and power modules, used for the operation of robot movement and detection components;

[0023] Data processing and communication module, used to collect multi-modal detection data, integrate and analyze and generate inspection reports, and realize remote data transmission and monitoring through wireless communication;

[0024] The task management and system terminal module is responsible for the dynamic planning and execution of inspection tasks, displays inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

[0025] The present invention provides a multi-modal industrial line inspection robot and system, which has the following beneficial effects:

[0026] 1. The present invention adopts a technical solution of division of labor and cooperation between ground walking and high-altitude detection, realizes the inspection of ground industrial pipelines and railways through the crawler seat, and drives the detection component to fit the outer wall of the pipeline or railway for inspection in combination with the movable arm. At the same time, an independent line detection mechanism is designed, which can be manually installed on the power line rack and then operated. Compared with the technical solution in the prior art that only detects a single environment, the present invention is flexibly applicable to complex and diverse industrial scenes, which not only expands the inspection scope, but also solves the technical limitation that the existing robots cannot take into account both high-altitude power line and ground pipeline railway inspections.

[0027] 2. During the inspection of industrial pipelines and railways, the present invention uses a cleaning component in conjunction with a pulley structure to achieve pre-cleaning of the target surface before inspection. The cleaning plate contacts the outer wall and moves synchronously, which can effectively remove surface dust, oil or other interferences, and provide a more stable inspection environment for the sensor in the inspection module. Compared with the problem of direct inspection of the target surface in the prior art, which may cause detection errors due to contamination, the pre-cleaning design of the present invention significantly improves the detection accuracy, while ensuring the long-term reliable operation of the sensor and avoiding the impact of accumulated pollutants on the detection life.

[0028] 3. The line detection mechanism of the present invention adopts a detachable design. The line detection component is separated from the robot body by a mechanical connection structure. The staff installs it on the power line rack and then works. During detection, the line detection component uses a bidirectional screw rod and a movable rod for cross-linking to achieve precise clamping and stable movement of the line. Compared with the problem of insufficient flexibility caused by the detection mechanism being fixed to the robot body in the prior art, the present invention, through a separate structural design, gives the line detection mechanism higher adaptability and independence, solving the problems of poor flexibility and complex operation of existing high-altitude inspections.

[0029] 4. After the power line inspection is completed, the rotor device designed in the present invention drives the detection mechanism to automatically land around the robot, and the staff can easily reset it to the robot body. The whole process is safe and reliable, and no complicated manual operation is required. In the prior art, the recovery of high-altitude detection mechanisms mostly relies on manual or simple mechanical operations, which are prone to low operating efficiency or insufficient safety due to the influence of the external environment. The present invention significantly improves the efficiency and safety of the line detection component recovery process through rotor-assisted design, while reducing the operational risks in high-altitude operations, ensuring the intelligence and automation of the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A perspective view of the present invention;

[0031] Figure 2 It is a bottom schematic diagram of the crawler vehicle seat of the present invention;

[0032] Figure 3 It is a schematic diagram of the railway detection form of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure in which the circuit detection mechanism of the present invention is separated from the fuselage;

[0034] Figure 5 It is a schematic diagram of the structure of the cleaning component of the present invention;

[0035] Figure 6 It is a structural schematic diagram of the detection module of the present invention;

[0036] Figure 7 It is a structural schematic diagram of the line detection mechanism of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0038] Fig. 9 It is a structural schematic diagram of the mobile assembly of the present invention;

[0039] Fig.10 It is a structural schematic diagram of the traction assembly of the present invention;

[0040] Fig.11 It is a framework diagram of the system of the present invention.

[0041] Among them, 1. crawler seat; 2. fuselage; 3. movable arm 1; 4. movable arm 2; 5. movable arm 3; 6. mounting seat 1; 7. fixed frame; 8. pulley rod 1; 9. spring 1; 10. movable splint; 11. pulley rod 2; 12. spring 2; 13. fixed seat; 14. electric telescopic rod; 15. connecting seat; 16. detection module; 17. damper; 18. cleaning plate; 19. camera; 20. radar; 21. electromagnetic Iron seat; 22. Iron block; 23. Rotor frame; 24. U-shaped seat; 25. Motor one; 26. Bidirectional screw; 27. Moving block; 28. Movable rod; 29. ​​Limit seat; 30. Slide; 31. Driving wheel; 32. Driven wheel; 33. Motor two; 34. Transmission wheel; 35. Belt; 36. Weak magnetic detection device; 37. Magnetic memory planning device; 38. Motor three; 39. Mounting seat two; 40. Reel; 41. Traction rope. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Please see attached Figure 1 -Attached Figure 4 , an embodiment of the present invention provides a multi-modal industrial line inspection robot, comprising:

[0044] A crawler seat 1 is provided with a body 2 on the top thereof, and mechanical arms are provided at both driving ends of the body 2, which are used to control the detection component to contact with the rail and the outer wall of the pipeline, and a cleaning component is provided at the front side of the detection component, which is used to clean the outer wall of the component to be detected before detection, and a camera 19 is installed at the front side of the top of the crawler seat 1, and a radar 20 is installed at the front side of the crawler seat 1;

[0045] An electromagnet seat 21 is installed on the front side of the fuselage 2, and an iron block 22 is arranged inside the electromagnet seat 21. A line detection mechanism is installed on the outer wall of the iron block 22, which is used to inspect the high-voltage transmission line. The line detection mechanism includes a rotor frame 23, a clamping assembly, a moving assembly and a traction assembly. The center of one side of the outer wall of the rotor frame 23 is installed on the outer wall of the iron block 22, and a U-shaped seat 24 is installed on the other side of the outer wall of the rotor frame 23. The clamping assembly is installed in the middle of the U-shaped seat 24, and the moving assembly is installed on both sides of the U-shaped seat 24. A weak magnetic detection device 36 and a magnetic memory planning device 37 are installed on the outer wall of the moving assembly from front to back in sequence. The traction assembly is installed on the top of the crawler seat 1, which is used to tow the rotor frame 23 so that it can land around the robot main body device after high-altitude operation.

[0046] Please see attached Figure 1 The robot arm includes a movable arm 1 3, a driving end of the movable arm 1 3 is installed on the driving end of the outer wall of the fuselage 2, the other end of the movable arm 1 3 is connected to a movable arm 2 4, and the other end of the movable arm 2 4 is connected to a movable arm 3 5.

[0047] Specifically, the robot arm is composed of movable arm 1 3, movable arm 2 4, and movable arm 3 5, which are linked together. In another embodiment, the number of movable arms contained in the robot arm can be flexibly adjusted according to the actual production needs of the robot. The movable arm 1 3 is fixed to the outer wall of the fuselage 2 and is the basis of the entire robot arm. Through it, the robot arm can complete preliminary movement and rotation. The movable arm 2 4 is connected to the other end of the movable arm 1 3, like a flexible elbow, further expanding the range of motion of the robot arm. The movable arm 3 5 is the end part, which is used to accurately fit the target, such as a pipeline or a railway. Each section can adjust its posture independently and cooperate with each other, so that the robot arm can operate flexibly and complete the task steadily. After the end, the arm sections are gradually retracted and returned to their original positions, compact and clean.

[0048] Please refer to the attached Figure 5 -Attached Figure 6 The detection component includes a mounting seat 6, the outer wall of the mounting seat 6 is mounted on the driving end of the movable arm 3 5, a fixing frame 7 is installed on the upper side of the inner wall of the mounting seat 6, two pulley rods 8 are slidably arranged in the middle of the fixing frame 7, a spring 9 is sleeved on the outer side of the pulley rod 8 below the fixing frame 7, a detection module 16 is installed on the upper side of the inner wall of the fixing frame 7, and clamping claw assemblies are arranged on both sides of the fixing frame 7.

[0049] Specifically, when inspecting the outer wall of a pipeline or a railway track, the clamping jaw assembly can be adjusted first to make it fit the outer wall of the pipeline or the railway track, and then the mounting seat 6 can be pressed down by the robot arm to make the pulley rod 8 contact the outer wall of the pipeline or the railway track to be inspected. The pulley rod 8 can flexibly adapt to the outer wall of the pipeline or the railway track to be inspected through the spring 9. When the robot is driving, the sensor in the detection module 16 will detect the industrial pipeline or the outer wall of the railway, and its internal sensors such as ultrasonic and infrared sensors move along the outer wall of the pipeline or the railway to detect cracks, corrosion and temperature anomalies in real time, and collect surface and internal damage information. The multimodal data collected by the detection module 16 is transmitted to the system terminal for analysis through the data processing and communication module.

[0050] Please refer to the attached Figure 5 -Attached Figure 6 The clamping jaw assembly includes two movable splints 10, the tops of the two movable splints 10 are rotated on both sides of the fixed frame 7 respectively, two fixed seats 13 are installed on both sides of the bottom of the fixed frame 7, an electric telescopic rod 14 is rotated in the middle of each fixed seat 13, two connecting seats 15 are installed on the outer walls of the two movable splints 10, and the driving end of each electric telescopic rod 14 is installed in the middle of the connecting seat 15 through a rotating shaft. Pulley rods 11 are slid on both sides of the middle of each movable splint 10, and each pulley rod 11 is provided with a spring 12 on the outside.

[0051] Specifically, before inspecting the outer wall of the industrial pipeline or railway to be inspected, the inspection assembly needs to be fitted to its outer wall through the clamping claw assembly, mainly by starting the electric telescopic rods 14 on both sides to open the movable splints 10 on both sides, so that the pulley rod 1 8 and the two sets of pulley rods 2 11 fit the outer wall of the industrial pipeline or railway.

[0052] Please refer to the attached Figure 5 -Attached Figure 6 The cleaning assembly includes two groups of dampers 17, one end of the two groups of dampers 17 rotates in the outer groove of the fixing frame 7, and the other end of the two groups of dampers 17 rotates with a cleaning plate 18, and the two groups of dampers 17 are arranged in a rectangular shape on the top of the cleaning plate 18.

[0053] Specifically, when the detection component contacts the industrial pipeline or the outer wall of the railway to be detected, the cleaning plate 18 in the cleaning component contacts the detection area in advance, and when in contact, the damper 17 will deform, and then the cleaning plate 18 will adapt to the industrial pipeline or the outer wall of the railway. When the robot is driving, the cleaning component moves synchronously with the detection component to clean the detection area in advance.

[0054] Please refer to the attached Figure 4 and attached Figure 7 -Attached Fig. 9 The moving component includes two limit seats 29, the outer walls of the two limit seats 29 are respectively installed on both sides of the U-shaped seat 24, and a driving wheel 31, a second motor 33 and a plurality of driven wheels 32 are rotated in the top grooves of the two limit seats 29. A transmission wheel 34 is fixed to the outer wall of the shaft in the middle of the driving wheel 31 and the driving end of the second motor 33, and a belt 35 is provided on the outside of the two transmission wheels 34.

[0055] The clamping assembly includes a motor 25, the outer wall of the motor 25 is installed on the outer wall of the U-shaped seat 24, a bidirectional screw rod 26 is fixed to the driving end of the motor 25, and moving blocks 27 are threadedly connected to the outer walls of the bidirectional screw rod 26 on both sides, and one end of a movable rod 28 is rotatably connected to both sides of the two moving blocks 27, and the middle parts of the two movable rods 28 on the same side are rotatably connected, and a slide groove 30 is penetrated at the bottom of the two limit seats 29, and the other ends of the two movable rods 28 on the same side are slidably connected in the slide groove 30.

[0056] Specifically, when the robot is used to inspect industrial power lines, the electromagnet seat 21 can be started to separate the iron block 22 from the electromagnet seat 21, and the motor three 38 can be started synchronously to lay the line. The staff will carry the line detection mechanism to the power line rack and use the clamping assembly to clamp the line detection mechanism on the outside of the power line. The main method is to start the motor one 25 to drive the bidirectional screw rod 26 to rotate, so that the two groups of intersecting movable rods 28 on both sides can cross and move, thereby driving the clamping assemblies on both sides to operate, so that the two groups of driving wheels 31 and driven wheels 32 can clamp the power line, and then start the motor two 33, use two transmission wheels 34 and belts 35 to transmit, so that the driving wheel 31 rotates, and then drive the entire line detection mechanism to move along the power line.

[0057] Please refer to the attached Fig. 9 The weak magnetic detection device 36 and the magnetic memory planning device 37 are both installed on the top of the limit seat 29. They are used to establish a healthy magnetic field benchmark for the wire rope through the magnetic memory planning device 37, and the weak magnetic detection device 36 accurately identifies and quantifies line damage in real time through the difference in magnetic energy potential.

[0058] Specifically, during the movement, the weak magnetic detection device 36 and the magnetic memory planning device 37 are used to perform non-destructive detection. During the detection process, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together:

[0059] The magnetic memory planning device 37 establishes a magnetic memory field for the line as a reference for the health status.

[0060] The weak magnetic detection device 36 collects the magnetic energy change information of the line in real time and identifies fatigue, cracks, broken wires and corrosion damage inside the line.

[0061] Please refer to the attached Fig.10 The traction assembly includes a motor 38, the outer wall of the motor 38 is installed on the top of the crawler vehicle seat 1, a mounting seat 2 39 is installed on the top of the crawler vehicle seat 1, a reel 40 is rotated in the middle of the mounting seat 2 39, the driving end of the motor 38 is fixed in the middle of the reel 40, a traction rope 41 is wound around the outside of the reel 40, and the end of the traction rope 41 is installed on the outer wall of the iron block 22.

[0062] Specifically, after the aerial inspection is completed, the motor 38 drives the reel 40 to rotate to reel in the line, and the rotor on the synchronous rotor frame 23 runs, so that the line detection component descends to the periphery of the robot, and the staff reinstalls it on the electromagnet seat 21.

[0063] Please refer to the attached Fig.11 , a multi-modal industrial line inspection robot system, comprising:

[0064] The main control and navigation module is used for robot path monitoring, environmental perception and dynamic obstacle avoidance. It combines GPS and IMU data to achieve autonomous navigation and path adjustment in complex environments.

[0065] Power line detection module, used to detect fatigue, cracks, broken wires and corrosion damage inside the power line, and identify the health status of the line through abnormal changes in the magnetic memory field;

[0066] Industrial pipeline and railway inspection module, used to detect cracks, corrosion and temperature anomalies on the outer walls of industrial pipelines and railways;

[0067] Actuation and power modules, used for the operation of robot movement and detection components;

[0068] Data processing and communication module, used to collect multi-modal detection data, integrate and analyze and generate inspection reports, and realize remote data transmission and monitoring through wireless communication;

[0069] The task management and system terminal module is responsible for the dynamic planning and execution of inspection tasks, displays inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

[0070] Specifically, the system relies on the main control and navigation modules for path planning and environmental perception. The camera 19 and radar 20 monitor the path conditions during the robot's movement, and at the same time, combined with GPS and IMU data, adjust the robot's route in real time to ensure that the robot accurately reaches the target location in a complex environment.

[0071] After arriving at the detection area, the system starts the corresponding detection module according to the task type. For power line detection, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together to first establish a health benchmark through the magnetic memory field, and then use weak magnetic signals to capture fatigue, cracks, broken wires or corrosion inside the line. Problems, and real-time analysis of data to accurately locate abnormal areas. In industrial pipeline or railway inspections, the robotic arm is deployed, the detection component fits the surface of the pipeline or railway, and the cleaning component simultaneously cleans the surface to ensure detection accuracy. The detection module 16 uses infrared sensors to identify temperature anomalies, and uses ultrasonic sensors to deeply detect cracks, corrosion and wear, completing full coverage detection of the outer wall and hidden defects.

[0072] The entire inspection process is supported by the execution and power module. The crawler seat 1 ensures the stable movement of the robot. The multi-section linkage of the mechanical arm adjusts the position and posture of the inspection component. The clamping device ensures the stability of high-altitude inspection, and the cleaning component pre-processes the inspection area. The data collected by all sensors is transmitted to the data processing module. The system integrates multi-modal data for analysis, generates inspection reports, and issues real-time alarms when abnormalities are found.

[0073] The task management module dynamically adjusts the inspection path and target according to the inspection plan, feeds back the inspection progress and results to the user through the terminal, provides detailed inspection reports and stores historical data, and supports subsequent trend analysis and fault prevention. The entire system modules are highly coordinated to ensure that the robot can operate efficiently and accurately in the inspection tasks of power lines, industrial pipelines and railways.

[0074] Working principle: When using the multi-modal industrial line inspection robot system of the present invention for inspection, the robot integrates multiple modules to work together to achieve autonomous inspection and multi-modal detection in complex environments. The specific working principle is as follows:

[0075] The robot monitors the path through the main control and navigation module combined with the front-end camera 19 and radar 20, perceives the environment in real time, identifies obstacles, and uses GPS and IMU data to achieve autonomous navigation and path planning in complex terrain.

[0076] The crawler seat 1 realizes stable movement under the drive of the main control system. The robot can adapt to various terrains and conduct efficient inspections in complex industrial lines.

[0077] When the robot reaches the industrial pipeline or railway inspection area, the execution and power module drives the mechanical arm to unfold, and the detection module 16 is made to fit with the outer wall of the pipeline or railway through multiple movable arms.

[0078] The industrial pipeline and railway detection module starts working: the cleaning plate 18 in the cleaning component cleans the detection area in advance and contacts its outer wall. At the same time, the electric telescopic rods 14 on both sides are started, so that the movable splints 10 on both sides are opened, so that the pulley rod 1 8 and the two sets of pulley rods 2 11 are in contact with the outer wall of the industrial pipeline or railway. When the robot walks, the cleaning plate 18, the pulley rod 1 8 and the two sets of pulley rods 2 11 are synchronously driven to move along the outer wall of the industrial pipeline or railway. During the movement, the sensors in the detection module 16 will detect the outer wall of the industrial pipeline or railway. Its internal sensors such as ultrasonic and infrared sensors move along the outer wall of the pipeline or railway to detect cracks, corrosion and temperature anomalies in real time, and collect surface and internal damage information. The multimodal data collected by the detection module is transmitted to the system terminal through the data processing and communication module for analysis.

[0079] When the robot is used to inspect industrial power lines, the electromagnet seat 21 can be started to separate the iron block 22 from the electromagnet seat 21, and the motor three 38 can be started synchronously to lay out the line. The staff will carry the line detection mechanism to the power line rack, and use the clamping assembly to clamp the line detection mechanism on the outside of the power line. The two-way screw rod 26 is driven to rotate by starting the motor one 25, so that the two groups of intersecting movable rods 28 on both sides are cross-moved, thereby driving the clamping assemblies on both sides to operate, so that the two groups of driving wheels 31 and driven wheels 32 clamp the power line, and then the motor two 33 is started, and the two transmission wheels 34 and the belt 35 are used for transmission, so that the driving wheel 31 rotates, and then the overall line detection mechanism is driven to move along the power line. During the movement, the weak magnetic detection device 36 and the magnetic memory planning device 37 are used to perform non-destructive detection. During the detection process, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together:

[0080] The magnetic memory planning device 37 establishes a magnetic memory field for the line as a reference for the health status.

[0081] The weak magnetic detection device 36 collects the magnetic energy change information of the line in real time and identifies fatigue, cracks, broken wires and corrosion damage inside the line.

[0082] After the aerial inspection is completed, the motor 38 drives the reel 40 to rotate to reel in the line, and the rotor on the synchronous rotor frame 23 runs, so that the line detection component descends to the periphery of the robot, and the staff reinstalls it on the electromagnet seat 21.

[0083] During the inspection process, all data collected by the robot are integrated and analyzed in real time through the data processing and communication module.

[0084] Multimodal data includes:

[0085] Ultrasonic and infrared temperature information collected by industrial pipeline and railway inspection modules.

[0086] The power line detection module collects weak magnetic signals and magnetic memory field change information.

[0087] The data processing module performs fault identification and quantitative analysis on the collected information, generates inspection reports and sends them to the system terminal. Inspection tasks are dynamically planned and scheduled by the task management and system terminal modules. The terminal interface displays the test results and task progress in real time and supports user operations. The terminal module can generate and store inspection reports for subsequent maintenance management and data tracing.

[0088] After the task is completed, the robot returns to the original position through path planning, the system terminal updates the inspection data, and generates a plan for the next task. Users can check the inspection results through the terminal, including crack location, corrosion degree, fatigue damage trend, etc., and arrange further maintenance work based on the report.

[0089] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-modal industrial line inspection robot, characterized in that: include: A crawler vehicle seat (1) is provided with a body (2) mounted on the top thereof, and mechanical arms are provided at driving ends on both sides of the body (2) for controlling the detection component to contact with the rail and the outer wall of the pipe, and a cleaning component is provided on the front side of the detection component for cleaning dirt on the outer wall of the component to be detected before detection, and a camera (19) is installed on the front side of the top of the crawler vehicle seat (1), and a radar (20) is installed on the front side of the crawler vehicle seat (1); An electromagnet seat (21) is installed on the front side of the fuselage (2), an iron block (22) is arranged inside the electromagnet seat (21), and a line detection mechanism is installed on the outer wall of the iron block (22), which is used to inspect the high-voltage power transmission line. The line detection mechanism comprises a rotor frame (23), a clamping assembly, a moving assembly and a traction assembly. The center of one side of the outer wall of the rotor frame (23) is installed on the outer wall of the iron block (22), and a U-shaped seat (24) is installed on the other side of the outer wall of the rotor frame (23). The clamping assembly is installed in the middle of the U-shaped seat (24), and the moving assembly is installed on both sides of the U-shaped seat (24). A weak magnetic detection device (36) and a magnetic memory planning device (37) are installed on the outer wall of the moving assembly in sequence from front to back. The traction assembly is installed on the top of the crawler vehicle seat (1), and is used to traction the rotor frame (23) so that it can land around the robot main body device after high-altitude operation.

2. A multi-modal industrial line inspection robot according to claim 1, characterized in that: The mechanical arm comprises a movable arm 1 (3), a driving end of the movable arm 1 (3) being mounted on a driving end of an outer wall of a body (2), the other end of the movable arm 1 (3) being connected to a movable arm 2 (4), and the other end of the movable arm 2 (4) being connected to a movable arm 3 (5).

3. A multi-modal industrial line inspection robot according to claim 2, characterized in that: The detection assembly comprises a mounting seat (6) and two pulley rods (8); the outer wall of the mounting seat (6) is mounted on the driving end of the movable arm (5); a fixing frame (7) is mounted on the upper side of the inner wall of the mounting seat (6); the two pulley rods (8) are both inserted through and slidably connected to the middle of the fixing frame (7); a spring (9) is sleeved on the outer portion of the pulley rod (8) below the fixing frame (7); a detection module (16) is mounted on the upper side of the inner wall of the fixing frame (7); and clamping claw assemblies are arranged on both sides of the fixing frame (7).

4. A multi-modal industrial line inspection robot according to claim 3, characterized in that: The clamping jaw assembly comprises two movable clamping plates (10), the tops of the two movable clamping plates (10) are respectively rotated on both sides of the fixing frame (7), two fixing seats (13) are installed on both sides of the bottom of the fixing frame (7), and an electric telescopic rod (14) is rotated in the middle of each fixing seat (13), and two connecting seats (15) are installed on the outer walls of the two movable clamping plates (10), and the driving end of each electric telescopic rod (14) is installed in the middle of the connecting seat (15) through a rotating shaft. A pulley rod (11) is slidably provided on both sides of the middle of each movable clamping plate (10), and a spring (12) is provided on the outside of each pulley rod (11).

5. A multi-modal industrial line inspection robot according to claim 3, characterized in that: The cleaning assembly comprises two groups of dampers (17), one end of the two groups of dampers (17) being rotated in an outer groove of the fixing frame (7), and the other end of the two groups of dampers (17) being rotated with a cleaning plate (18), and the two groups of dampers (17) being arranged in a rectangular shape on top of the cleaning plate (18).

6. A multi-modal industrial line inspection robot according to claim 1, characterized in that: The moving assembly comprises two limit seats (29), the outer walls of the two limit seats (29) are respectively mounted on both sides of the U-shaped seat (24), a driving wheel (31), a second motor (33) and a plurality of driven wheels (32) are rotated in the top grooves of the two limit seats (29), a transmission wheel (34) is fixed to the outer wall of the middle shaft of the driving wheel (31) and the driving end of the second motor (33), and a belt (35) is sleeved on the outside of the two transmission wheels (34).

7. A multi-modal industrial line inspection robot according to claim 6, characterized in that: The clamping assembly comprises a motor 1 (25), the outer wall of the motor 1 (25) is mounted on the outer wall of the U-shaped seat (24), a bidirectional screw rod (26) is fixed to the driving end of the motor 1 (25), both sides of the outer wall of the bidirectional screw rod (26) are threadedly connected with moving blocks (27), both sides of the two moving blocks (27) are rotatably connected with one end of a movable rod (28), the middle parts of the two movable rods (28) on the same side are rotatably connected, and a slide groove (30) is penetrated at the bottom of the two limit seats (29), and the other ends of the two movable rods (28) on the same side are slidably connected in the slide groove (30).

8. The multi-modal industrial line inspection robot according to claim 6, characterized in that: The weak magnetic detection device (36) and the magnetic memory planning device (37) are both installed on the top of the limit seat (29), and are used to establish a healthy magnetic field benchmark for the wire rope through the magnetic memory planning device (37). The weak magnetic detection device (36) accurately identifies and quantifies line damage in real time through magnetic energy potential differences.

9. The multimodal industrial line inspection robot according to claim 1, characterized in that: The traction assembly comprises a third motor (38), the outer wall of the third motor (38) is mounted on the top of the crawler vehicle seat (1), a second mounting seat (39) is mounted on the top of the crawler vehicle seat (1), a reel (40) is rotatably disposed in the middle of the second mounting seat (39), a driving end of the third motor (38) is fixed to the middle of the reel (40), a traction rope (41) is wound around the outside of the reel (40), and an end of the traction rope (41) is mounted on the outer wall of the iron block (22).

10. A multi-modal industrial line inspection robot system, characterized in that: Used in conjunction with a multimodal industrial line inspection robot system as described in any one of claims 1 to 9, comprising: The main control and navigation module is used for robot path monitoring, environmental perception and dynamic obstacle avoidance. It combines GPS and IMU data to achieve autonomous navigation and path adjustment in complex environments. Power line detection module, used to detect fatigue, cracks, broken wires and corrosion damage inside the power line, and identify the health status of the line through abnormal changes in the magnetic memory field; Industrial pipeline and railway inspection module, used to detect cracks, corrosion and temperature anomalies on the outer walls of industrial pipelines and railways; Actuation and power modules, used for the operation of robot movement and detection components; Data processing and communication module, used to collect multi-modal detection data, integrate and analyze and generate inspection reports, and realize remote data transmission and monitoring through wireless communication; The task management and system terminal module is responsible for the dynamic planning and execution of inspection tasks, displays inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

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