Automatic safety inspection robot and inspection process thereof

Abstract

The automatic safety inspection robot comprises a guide sliding seat, the guide sliding seat is assembled on an E-shaped guide rail in a rolling mode, and the E-shaped guide rail is fixedly installed on the wall face of the top of a warehouse or a machine room; a locking point fixing device is fixedly installed on the guide sliding seat, the locking point fixing device is located below the guide sliding seat, the locking point fixing device and the airflow propeller are installed together in a butt joint mode, and a gas detection module is installed below the airflow propeller through a lifting rod; and a left high-definition visual detection module and a right high-definition visual detection module are symmetrically arranged on the side surface of the gas detection module. The guide sliding seats are matched with the E-shaped guide rails, so that the guide performance and the stability are good. And the locking point fixing device is in magnetic attraction butt joint with the airflow propeller, rail-mounted flight and short-distance flight can be achieved, and maneuverability is high. Multiple detection modules are integrated, the detection range is wide, the precision is high, the braking structure is reliable, and the inspection efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of safety inspection, and in particular to an automatic safety inspection robot and an inspection process thereof. Background Art

[0002] In the daily operations of hazardous chemical production plants, safety inspections are crucial for ensuring production safety and preventing major accidents. Because production environments often present risks such as high temperatures, severe corrosion, and leaks of flammable and explosive gases, traditional manual inspections are not only inefficient but also pose a serious threat to the safety of inspectors. Consequently, safety inspection equipment or robots are increasingly becoming an important alternative to manual inspections.

[0003] Currently, the safety inspection equipment or robots on the market are primarily divided into two categories: ground-based and track-based. Ground-based inspection equipment typically incorporates an inspection module mounted on a four-wheel drive robot, which moves across the ground to inspect surrounding facilities. However, this type of equipment has significant drawbacks: in the complex factory floor environment, it is prone to collisions with other facilities, causing equipment damage or inspection interruptions; the inspection path debugging process is cumbersome, making it difficult to adapt to diverse inspection needs; and it is unable to effectively inspect high-altitude equipment, resulting in inspection blind spots. Track-based inspection equipment often integrates the inspection module onto H-shaped or other shaped steel beam guide rails, moving along a fixed inspection path. While this solves the ground-based mobility issue to some extent, its overreliance on the guide rail path results in limited inspection flexibility. This makes it difficult to fully cover areas within the factory where guide rails cannot be installed, such as narrow corridors and irregularly shaped spaces, and creates the risk of incomplete safety hazard detection. With the increasing safety requirements of hazardous chemical plants, existing safety inspection equipment or robots are no longer able to meet the stringent requirements for functionality, mobility, and reliability.

[0004] Therefore, it is very necessary to invent an automatic safety inspection robot and its inspection process. Summary of the Invention

[0005] The present invention provides an automatic safety inspection robot and its inspection process, and the present invention provides the following technical solutions: including a guide sliding seat, a mountain-shaped guide rail, a locking fixed point device, an airflow propeller, a lifting rod, a gas detection module, a left high-definition visual detection module and a right high-definition visual detection module, the guide sliding seat is rollingly assembled on the mountain-shaped guide rail, and the mountain-shaped guide rail is fixedly installed on the top wall of a warehouse or a machine room; a locking fixed point device is fixedly installed on the guide sliding seat, and the locking fixed point device is located below the guide sliding seat, and the locking fixed point device is docked and installed with the airflow propeller, and a gas detection module is installed below the airflow propeller through a lifting rod, and a left high-definition visual detection module and a right high-definition visual detection module are symmetrically installed on the side of the gas detection module.

[0006] Preferably, the mountain-shaped guide rail includes a vertical portion, a guide rail portion, an air hole groove and a brake pad. The upper end of the vertical portion is fixedly mounted on the top wall of a warehouse or a machine room. The vertical portion and the guide rail portion are integrally cast in a "mountain"-shaped structure. Two groups of air hole grooves are provided through the guide rail portion, and the two groups of air hole grooves are located on both sides below the vertical portion. A brake pad is installed in the middle below the guide rail portion and between the two groups of air hole grooves, and the guide sliding seat is rollingly assembled on the guide rail portion.

[0007] Preferably, the guide sliding seat includes a frame seat, guide rollers, a packaging side cover, a slot and an installation slot hole. A number of the guide rollers are symmetrically rotatably installed on the inner side of the frame seat, and the guide rollers are rollingly assembled on the upward bent vertical end of the guide rail part; the packaging side covers are fixedly installed on both sides of the frame seat by bolts, and the packaging side covers are penetrated with slots that allow the vertical part, guide rail part and brake pad to pass through. The center of the frame seat is fixedly connected to the locking fixator, and the center is penetrated with a mounting slot hole that allows the locking fixator to pass through.

[0008] Preferably, the locking point device includes a casing, a flange, a guide column, a brake coil, a brake disc and a disc spring. The flange is fixedly mounted on the upper end of the casing, and the casing is fixedly connected to the frame seat through the flange. The brake coil is slidably mounted on the guide column arranged in the center of the casing, and the brake disc is fixedly mounted on the outward surface of the brake coil, and its inward surface is fixedly connected to the inner ring of the disc spring. The outer ring of the disc spring is fixedly connected to the inner wall of the casing, and the disc spring is located below the brake coil.

[0009] Preferably, the upper end of the casing passes through the mounting slot hole in the center of the frame seat and is located below the guide rail portion, with a distance between the two. The brake coil and brake disc are located above the interior of the casing, and the brake disc is allowed to contact the brake pad fixedly installed below the guide rail portion.

[0010] Preferably, a docking coil is embedded in the bottom of the casing, and a docking positioning hole is opened. The docking positioning hole is opened at the lower center of the casing. The casing is magnetically docked and installed with the airflow propeller through the docking positioning hole and the docking coil.

[0011] Preferably, the airflow propeller includes a fuselage, a brushless axial motor, a positioning magnetic suction cup, a positioning column, a micro brushless motor, a wing arm, a driving brushless motor and blades. The fuselage is fixedly connected to the rotor output end of the brushless axial motor, and a positioning magnetic suction cup is fixedly installed on the base of the brushless axial motor. The positioning magnetic suction cup allows it to be magnetically attracted to the docking coil, and the positioning column installed by itself is inserted into the docking positioning hole; micro brushless motors are symmetrically fixedly installed at the angle of the fuselage, and the output end of each micro brushless motor is fixed to one end of the wing arm, and blades are installed on the driving brushless motor fixedly installed on the other end of the wing arm.

[0012] Preferably, 8 of the micro brushless motors are installed on the fuselage and are evenly and symmetrically arranged at the four corners of the fuselage. The micro brushless motors are used to control the axial movement of the wing arms, of which 4 are located directly below the mountain-shaped guide rail, and the other 4 are located on both sides below the mountain-shaped guide rail.

[0013] Preferably, a built-in controller unit is installed inside the fuselage, a lifting rod is fixedly installed below the center of the fuselage, a gas detection module fixedly installed at the lower end of the lifting rod is integrated with a micro air pump, an electrochemical sensor, an infrared sensor and a high-temperature sensor, and a left high-definition visual detection module and a right high-definition visual detection module of the same structure are installed on the gas detection module through an axial motor, both of which are integrated with a high-definition camera, a high-definition lens, a lighting module and an infrared temperature sensor.

[0014] Preferably, an inspection process of an inspection robot includes the following steps:

[0015] Initialization and self-test: The robot starts and performs a comprehensive test of all modules, such as the gas and visual inspection modules, as well as the mechanical components. At the same time, the assembly of the mountain guide rails and guide slides is checked.

[0016] Path planning: Based on the equipment distribution and inspection requirements of the warehouse or machine room, the moving path is planned based on the mountain guide rail and the inspection points are determined.

[0017] Track Movement: The brushless axial motors in the air thrusters activate, driving the robot's body to adjust its direction, causing the guide slide to roll along the mountain-shaped guide rail via guide rollers. During this process, the micro brushless motors adjust the angle of the wing arms, coordinating with the airflow generated by the blades to maintain the robot's stability and accuracy on the track, ensuring it follows the planned path.

[0018] Fixed-point hovering and test preparation: Upon reaching the test point, the brake coil of the locking device is energized, overcoming the disc spring force and allowing the brake disc and brake pad to contact, locking the robot. The air thrusters adjust the robot's posture and stabilize the lifting rod.

[0019] Environmental data collection:

[0020] Gas detection: The gas detection module uses a micro air pump to extract gas, the sensor analyzes, and the height is adjusted by a lifting rod for multi-point detection.

[0021] Visual inspection: The left and right high-definition visual inspection modules are activated, the camera cooperates with the lighting module to form an image, the infrared temperature sensor measures the temperature, and the axial motor adjusts the angle to collect data.

[0022] Data processing and analysis: The built-in controller unit in the fuselage processes gas and visual data in real time, compares the preset range with the algorithm, and determines equipment abnormalities.

[0023] Abnormal alarm: When an abnormality is detected, the alarm information including location, type and data details will be sent to the monitoring center wirelessly, and an audible and visual alarm will be sounded on site.

[0024] Task switching and battery life management: After the test is completed, the brake coil is de-energized, the disc spring resets and unlocks the robot, and the robot moves to the next point. The battery level is monitored in real time, and when the battery is low, the robot moves to the charging point according to the strategy.

[0025] Response to special scenarios:

[0026] Obstacle avoidance: When the guide rail encounters an obstacle or is away from the guide rail inspection, the locking point device and the airflow thruster disconnect the magnetic connection, and the airflow thruster drives the gas detection module and the left and right high-definition visual detection modules to fly a short distance through the lifting rod.

[0027] Multi-angle detection: In complex equipment areas, the lifting rod and axial motor adjust the height and angle of the detection module for all-round detection.

[0028] Inspection report generation and upload: After the inspection is completed, the data is summarized to generate a report including time, route, detection data and abnormal conditions, and uploaded to the monitoring center management system.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] This invention utilizes a unique guide slide that integrates with a mountain-shaped guide rail. The guide slide rolls along the guide rail via guide rollers. Compared to traditional rail-based inspection equipment, the special structure of the mountain-shaped guide rail provides better guidance and stability, reducing sway and deviation during movement. Furthermore, the magnetic docking design of the locking point and airflow thruster ensures that the robot can move stably on the guide rail and precisely lock onto the inspection point.

[0031] In addition, when the present invention encounters an area where the guide rail cannot be installed, the airflow propeller can be separated from the locking point device to achieve short-distance flight, which makes up for the defect of fixed inspection path of traditional rail-type equipment and greatly improves the maneuverability of the equipment and its adaptability to complex environments.

[0032] This invention uses pre-set inspection routes and autonomous route planning, combined with the flexible drive of airflow propellers, to quickly and efficiently complete inspection tasks. After the inspection, detailed reports are automatically generated and uploaded, allowing managers to keep abreast of equipment operating status. Compared to traditional inspection methods and existing equipment, this significantly improves inspection efficiency and intelligent management.

[0033] The present invention integrates a gas detection module, a left high-definition visual detection module and a right high-definition visual detection module. The gas detection module is equipped with a micro air pump and multiple sensors, which can realize multi-point detection of gases at different heights; the high-definition visual detection module has high-definition imaging and infrared temperature measurement functions. By adjusting the angle through the axial motor, it can detect the equipment in all directions and at multiple angles. Compared with existing equipment, it has a wider detection range and higher accuracy, and can effectively discover various safety hazards.

[0034] The present invention utilizes a brake structure in the locking device, which combines a disc spring with a brake coil. When power is off, the disc spring pushes the brake disc and brake pad into contact, locking them. When power is on, the electromagnetic force overcomes the disc spring's elastic force, unlocking the brake. This dual safeguard prevents the robot from accidentally sliding during inspections, improving operational reliability. Furthermore, in the event of an abnormality, an audible and visual alarm is promptly issued, transmitting the alarm information to a monitoring center, effectively ensuring safe production. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0036] Figure 2 It is another overall structural diagram of the present invention.

[0037] Figure 3 It is a structural schematic diagram of the guide sliding seat of the present invention.

[0038] Figure 4 It is a schematic diagram of the mountain-shaped guide rail structure of the present invention.

[0039] Figure 5 It is a structural schematic diagram of the locking point device of the present invention.

[0040] Figure 6 It is a schematic diagram of the half-section structure of the locking point device of the present invention.

[0041] Figure 7 It is a schematic diagram of the airflow propeller structure of the present invention.

[0042] In the picture:

[0043] Guide sliding seat 1, frame seat 11, guide roller 12, packaging side cover 13, notch 14, mounting slot 15, mountain guide rail 2, vertical part 21, guide rail part 22, air hole slot 23, brake pad 24, locking point device 3, casing 31, flange 32, guide column 33, brake coil 34, brake disc 35, disc spring 36, air flow propeller 4, fuselage 41, brushless axial motor 42, positioning magnetic suction cup 43, positioning column 44, micro brushless motor 45, wing arm 46, drive brushless motor 47, blade 48, lifting rod 5, gas detection module 6, left high-definition visual detection module 7, right high-definition visual detection module 8. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0045] As attached Figure 1-7 As shown:

[0046] The present invention provides an automatic safety inspection robot and its inspection process, which include a guide sliding seat 1, a mountain guide rail 2, a locking fixator 3, an airflow propeller 4, a lifting rod 5, a gas detection module 6, a left high-definition visual detection module 7 and a right high-definition visual detection module 8. The guide sliding seat 1 is rollingly assembled on the mountain guide rail 2, and the mountain guide rail 2 is fixedly installed on the top wall of a warehouse or a machine room; the guide sliding seat 1 is fixedly installed with a locking fixator 3, and the locking fixator 3 is located below the guide sliding seat 1, and the locking fixator 3 is docked and installed with the airflow propeller 4, and a gas detection module 6 is installed below the airflow propeller 4 through the lifting rod 5, and the left high-definition visual detection module 7 and the right high-definition visual detection module 8 are symmetrically installed on the sides of the gas detection module 6.

[0047] Furthermore, the mountain-shaped guide rail 2 includes a vertical portion 21 , a guide rail portion 22 , an air hole groove 23 and a brake pad 24 . Among them, the upper end of the vertical part 21 is fixedly installed on the top wall of the warehouse or machine room through an L bracket (Q235B steel material, hot-dip galvanized surface treatment), and the L bracket is connected to the wall through expansion bolts (M10×80), with a load-bearing capacity of ≥50kg; the vertical part 21 and the guide rail part 22 are die-cast into a "mountain" shape structure (aluminum alloy material, anodized surface treatment) through a mold, and two groups of the air hole grooves 23 (groove width 10mm, depth 8mm, edge rounding R2) are opened through the guide rail part 22. The two groups of air hole grooves 23 are located on both sides of the lower part of the vertical part 21, for the air flow generated by the air flow propeller 4 to pass through and act on the vertical end surface of the guide rail part 22, so as to realize simple cleaning of the auxiliary objects on the vertical end surface; a brake pad 24 (ferrite permanent magnet material, thickness 5mm, surface roughness Ra≤3.2μm) is installed in the middle of the lower part of the guide rail part 22 and between the two groups of air hole grooves 23, and the guide sliding seat 1 is rollingly assembled on the guide rail part 22.

[0048] Furthermore, the guide sliding seat 1 includes a frame seat 11, guide rollers 12, a packaging side cover 13, a notch 14 and a mounting slot 15. The frame seat 11 is milled from 6061-T6 aluminum alloy, and eight guide rollers 12 (polyurethane-coated steel core structure, outer diameter The guide roller 12 is connected to the frame seat through a deep groove ball bearing 6204, and the guide roller 12 is rollingly assembled on the vertical end of the guide rail part 22 (which is a U-shaped structure or an E-shaped structure) that is bent upward (the bending angle is 90°±2°); the two sides of the frame seat 11 are fixed with the package side cover 13 (Q235B steel plate stamping, surface spraying) by M5 stainless steel bolts, and the package side cover 13 is provided with a slot 14 (the width is 2mm wider than the guide rail part 22 and the height is 10mm lower than the vertical part 21), allowing the vertical part 21 (lower end part), the guide rail part 22 and the brake pad 24 to pass through; the center of the frame seat 11 is fixedly connected to the locking fixed point 3, and the center is penetrated by a slot 14. The mounting slot hole 15 (with a 2mm countersunk step on the edge of the hole)

[0049] Furthermore, the locking point device 3 includes a housing 31, a flange 32, a guide column 33, a brake coil 34, a brake disc 35 and a disc spring 36. The upper end of the housing 31 is welded with a flange 32 (stainless steel 304 material, thickness 5mm, outer diameter ), the housing 31 is fixed to the frame seat 11 through the flange 32 with four M4 countersunk screws; the guide column 33 (diameter) in the center of the housing 31 The brake coil 34 (ring electromagnetic coil, 2000 turns, resistance 5Ω) is slidably installed on the surface of the brake coil 34. The brake disc 35 (45# steel material, surface hardening HRC45-50, thickness 8mm) is fixed on the outer surface of the brake coil 34. The inner surface is fixed with the disc spring 36 (outer diameter inner diameter The inner ring of the disc spring 36 is fixed by a retaining ring and the outer ring of the disc spring 36 is fixed to the inner wall of the housing 31 by a retaining ring.

[0050] Furthermore, the upper end of the housing 31 passes through the mounting slot 15 in the center of the frame seat 11 and is located below the guide rail portion 22, with a 5mm gap between them. The brake coil 34 and brake disc 35 are located above the interior of the housing 31. The upper end surface of the brake disc 35 protrudes 2mm from the upper end surface of the housing 31, allowing the brake disc 35 to contact the brake pad 24 below the guide rail portion 22 (the parallelism error between the two is ≤0.05mm). The brake pad 24 is fixedly mounted on the guide rail portion 22 in the inspection area. The mounting holes of the housing 31 and the frame seat 11 adopt an H7 / g6 clearance fit to ensure coaxiality ≤0.03mm.

[0051] Furthermore, the bottom of the housing 31 is inlaid with a docking coil 38 and a docking positioning hole 37. The docking positioning hole 37 is opened at the center of the bottom of the housing 31 (aperture Depth 15mm, tolerance H7), used to cooperate with the positioning column 44 of the airflow propeller 4 (the shape of the positioning column 44 is determined according to needs, round or rectangular); the docking coil 38 (annular electromagnetic coil, 1000 turns, embedded in the groove at the bottom of the housing 31 and sealed with epoxy resin) is magnetically connected to the positioning magnetic suction cup 43 (NdFeB permanent magnet, suction force ≥100N) of the airflow propeller 4 to achieve mechanical positioning and docking.

[0052] Furthermore, the airflow propeller 4 includes a fuselage 41, a brushless axial motor 42, a positioning magnetic chuck 43, a positioning column 44, a micro brushless motor 45, a wing arm 46, a driving brushless motor 47 and a blade 48. The fuselage 41 (mainly made of carbon fiber composite material with a density of 1.6g / cm3, and the area connected to the brushless axial motor 42 is made of Q235B steel) is fixed to the rotor output end of the brushless axial motor 42 (rated power 500W, speed 0-3000rpm) by a key connection, and the base of the brushless axial motor 42 is fixed with the positioning magnetic chuck 43 (diameter Thickness 10mm), positioning column 44 (diameter Length 15mm, material 40Cr nickel-plated) has an interference fit with the docking positioning hole 37; 8 micro brushless motors 45 (single unit power 20W, speed 0-6000rpm) are evenly and symmetrically installed at the four corners of the fuselage 41, and the output end of each micro brushless motor 45 is connected to one end of the wing arm 46 (carbon fiber material, length 150mm), and the other end of the wing arm 46 is installed with a driving brushless motor 47 (power 50W, speed 0-10000rpm) and a blade 48 (3-blade nylon + glass fiber propeller, diameter 100mm).

[0053] Furthermore, eight brushless micromotors 45 are evenly and symmetrically arranged at the four corners of the fuselage 41. Four of these micromotors 45 control wing arms 46 located directly below the mountain-shaped guide rail 2, generating the airflow necessary to clean the surface of the guide rail portion 22 (vertical end). Another four micromotors 45 control wing arms 46 located on either side of the mountain-shaped guide rail 2, generating forward thrust or adjusting the yaw angle. (The drive brushless motors 47 and blades 48 on the other four wing arms 46 can also generate lateral thrust to assist in operation.) The connecting shafts between the micromotors 45 and the wing arms 46 are equipped with torque limiters (slip torque 2N·m) to prevent overload damage.

[0054] Furthermore, a built-in controller unit is installed inside the fuselage 41, and a lifting rod 5 is fixedly mounted at the center lower portion of the fuselage 41. A gas detection module 6 (integrated with a micro air pump, electrochemical sensor, infrared gas sensor, and high-temperature sensor, housed in 316L stainless steel, with an IP67 protection rating) is fixed at its lower end. A left high-definition visual detection module 7 and a right high-definition visual detection module 8 (both integrated with a 1080P camera, macro lens, LED lighting module, and infrared temperature sensor) are mounted on the gas detection module 6 via an axial motor (torque 0.5 N·m, speed 360° / s). These modules can rotate 360° and scan with a detection range of 0.1 to 5 meters.

[0055] The inspection process of the inspection robot is as follows:

[0056] Initialization and self-test: The robot starts and comprehensively tests all modules, such as the gas and visual inspection modules and various mechanical components. At the same time, the assembly of the mountain guide rail 2 and the guide slide 1 is checked.

[0057] Path planning: Based on the equipment distribution and inspection requirements of the warehouse or machine room, plan the moving path based on the mountain guide rail 2 and determine the inspection points.

[0058] Guide rail movement: Activating the brushless axial motor 42 of the airflow propeller 4 drives the body 41 to adjust its direction, causing the guide slide 1 to roll along the guide rail portion 22 of the mountain-shaped guide rail 2 via the guide rollers 12. During this process, the micro brushless motor 45 adjusts the angle of the wing arm 46, which, in conjunction with the airflow generated by the blades 48, maintains the robot's stability and accuracy on the guide rail, ensuring that it follows the planned path.

[0059] Fixed-point hovering and test preparation: Upon reaching the test point, the brake coil 34 of the locking fixture 3 is energized, overcoming the force of the disc spring 36 and allowing the brake disc 35 to contact the brake pad 24, locking the robot. The airflow thruster 4 adjusts the posture and stabilizes the lifting rod.

[0060] Environmental data collection:

[0061] Gas detection: The gas detection module 6 uses a micro air pump to extract gas, and the sensor analyzes the gas. The height is adjusted by the lifting rod 5 to perform multi-point detection.

[0062] Visual inspection: The left and right high-definition visual inspection modules are activated, the camera cooperates with the lighting module to form an image, the infrared temperature sensor measures the temperature, and the axial motor adjusts the angle to collect data.

[0063] Data processing and analysis: The fuselage 41 has a built-in controller unit, which is integrated into the fuselage 41 as an independent hardware module. It communicates with the gas detection module 6 and the left / right high-definition visual detection module in real time through the data acquisition interface, receives raw data such as gas concentration, image, and temperature, and uses the built-in embedded operating system and multi-threaded processing engine to simultaneously analyze analog signals and digital streams at a processing speed of ≥100MB / s. It also compares and analyzes data and determines the status of the equipment through a solidified preset threshold library and machine learning algorithms (such as a defect recognition model based on YOLO). In terms of information interaction, it can internally send braking instructions to the locking point device 3, send posture adjustment signals to the micro brushless motor 45, and send height adjustment signals to the lifting rod 5. Externally, it can send alarm data and inspection reports to the monitoring center management system via Wi-Fi / 5G, trigger on-site sound and light alarms via RS485, and exchange battery life management instructions with the charging base station via the CAN bus.

[0064] Abnormal alarm: When an abnormality is detected, the alarm information including location, type and data details will be sent to the monitoring center wirelessly, and an audible and visual alarm will be sounded on site.

[0065] Task switching and battery life management: After the test is completed, the brake coil 34 is de-energized and unlocked by the disc spring 36, and the robot moves to the next point. The battery level is monitored in real time, and when the battery is low, the robot moves to the charging point according to the strategy.

[0066] Response to special scenarios:

[0067] Obstacle avoidance: When the guide rail encounters an obstacle or is away from the guide rail inspection, the locking fixture 3 and the airflow propeller 4 are disconnected from the magnetic connection, and the airflow propeller 4 drives the gas detection module 6 and the left and right high-definition visual detection modules to fly short distances through the lifting rod 5.

[0068] Multi-angle detection: In complex equipment areas, the lifting rod 5 and the axial motor adjust the height and angle of the detection module for all-round detection.

[0069] Inspection report generation and upload: After the inspection is completed, the data is summarized to generate a report including time, route, detection data and abnormal conditions, and uploaded to the monitoring center management system.

[0070] Inspection process and working principle

[0071] First, the track sliding mode is activated: the eight guide rollers 12 of the guide sliding seat 1 roll along the vertical end of the guide rail portion 22, and the brushless axial motor 42 of the airflow propeller 4 is activated. By adjusting the direction of the fuselage 41, the horizontal and vertical thrust angles of the output are adjusted. During this process, four of the wing arms 46 (controlled by micro brushless motors 45) at the four corners of the fuselage 41 and located on both sides below the mountain-shaped guide rail 2 rotate synchronously. The axes of the blades 48 of these four wing arms 46 (located on both sides below the mountain-shaped guide rail 2) are perpendicular to the axes of the blades 48 on the other four wing arms 46 (located directly below the mountain-shaped guide rail 2). The brushless motor 47 drives the airflow generated by the blades 48 and achieves forward propulsion, maintaining the stability and accuracy of the robot's movement on the guide rail and ensuring that it moves according to the planned path. The eight wing arms 46 all adjust the angles of the wing arms 46 by controlling the micro brushless motor 45. In addition, when the guide rail portion 22 needs to be cleaned, the other four wing arms 46 located at the four corners of the fuselage 41 (located directly below the mountain-shaped guide rail 2) and the blades 48 (the rotation speed is lower than that of the other four blades 48) generate an upward airflow, which is blown to the vertical end surface of the guide rail through the air hole groove 23 of the guide rail portion 22 to achieve dust cleaning (air flow speed ≥ 5m / s).

[0072] When fixed-point detection is required, the locking point device 3 activates the brake: the brake coil 34 (2000 turns, 5Ω resistance) is energized, generating an electromagnetic force that overcomes the elastic force of the disc spring 36 (preload 50N), driving the brake disc 35 upward, contacting the brake pad 24 mounted on the guide rail 22, and braking through electromagnetic attraction. The guide slide 1 stops moving, and the distance between the housing 31 and the bottom surface of the guide rail 22 remains 5mm, preventing friction losses in the non-braking state.

[0073] The airflow thruster 4 switches to detection mode: the docking coil 38 of the locking point 3 is de-energized, separating from the positioning magnetic chuck 43, and the positioning post 44 is released from the docking positioning hole 37. The airflow thruster 4 activates the eight brushless drive motors 47 (power 50W, speed 0-10000rpm), and the eight blades 48 located below the guide rail generate vertical lift (the eight wing arms 46 are initialized by the micro brushless motor 45, so that the axes of the eight blades 48 are perpendicular to the ground). The eight blades 48 cooperate to control the rotation speed and adjust the yaw angle, so that the fuselage 41 can leave the orbit and hover in the air.

[0074] Detection module operation: Lifting rod 5 lowers gas detection module 6, a micro-air pump collects ambient gases, electrochemical sensors detect concentrations of CO, H2S, and other gases, infrared sensors detect CH4, and a high-temperature sensor (range -40°C to 500°C) simultaneously monitors temperature. The left / right high-definition vision modules 7 / 8 rotate via axial motors (360° / s). A 1080P camera (30 fps) and an infrared temperature sensor (accuracy ±2°C) scan the device 360°. A macro lens (detection distance 0.1 to 5m) captures surface defects, and an LED illumination module (brightness 1000 lux) ensures image clarity in low-light environments.

[0075] After completing the inspection, the airflow thruster 4 returns to orbit: the fuselage 41 adjusts the angle of the wing arms 46 via the micro brushless motor 45, controlling the flight path to align with the guide rail. The positioning post 44 of the positioning magnetic chuck 43 is inserted into the docking positioning hole 37, and the docking coil 38 is energized to generate magnetic attraction, reconnecting the locking point 3 to the airflow thruster 4. The brushless axial motor 42 is restarted, driving the robot along the guide rail to the next inspection point. Simultaneously, the blades 48 continue to sweep the guide rail surface through the air hole slots 23, completing the "move-brake-test-reset" cycle.

[0076] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automatic safety inspection robot, characterized by: The invention comprises a guide sliding seat (1), a mountain-shaped guide rail (2), a locking fixed point device (3), an airflow propeller (4), a lifting rod (5), a gas detection module (6), a left high-definition visual detection module (7) and a right high-definition visual detection module (8); the guide sliding seat (1) is rollingly assembled on the mountain-shaped guide rail (2); the mountain-shaped guide rail (2) is fixedly mounted on the top wall of a warehouse or a machine room; the guide sliding seat (1) is fixedly mounted with a locking fixed point device (3); the locking fixed point device (3) is located below the guide sliding seat (1); the locking fixed point device (3) and the airflow propeller (4) are docked and mounted together; a gas detection module (6) is mounted below the airflow propeller (4) through a lifting rod (5); and the gas detection module (6) is symmetrically mounted on the side of the gas detection module (6).

2. The automatic safety inspection robot according to claim 1, characterized in that: The mountain-shaped guide rail (2) comprises a vertical portion (21), a guide rail portion (22), an air hole groove (23) and a brake pad (24). The upper end of the vertical portion (21) is fixedly mounted on the top wall of a warehouse or a machine room. The vertical portion (21) and the guide rail portion (22) are integrally cast to form a "mountain"-shaped structure. Two groups of air hole grooves (23) are provided through the guide rail portion (22). The two groups of air hole grooves (23) are located on both sides below the vertical portion (21). A brake pad (24) is installed in the middle below the guide rail portion (22) and between the two groups of air hole grooves (23). The guide sliding seat (1) is rollingly assembled on the guide rail portion (22).

3. The automatic safety inspection robot according to claim 2, characterized in that: The guide sliding seat (1) comprises a frame seat (11), a guide roller (12), a packaging side cover (13), a notch (14) and a mounting slot (15); a plurality of the guide rollers (12) are symmetrically mounted on the inner side of the frame seat (11); the guide rollers (12) are rollingly assembled on the upwardly bent vertical end of the guide rail portion (22); the packaging side covers (13) are fixedly mounted on both sides of the frame seat (11) by bolts; the packaging side covers (13) are penetrated with a notch (14) for allowing the vertical portion (21), the guide rail portion (22) and the brake pad (24) to pass through; the center of the frame seat (11) is fixedly connected to the locking fixed point device (3), and the center is penetrated with a mounting slot (15) for allowing the locking fixed point device (3) to pass through.

4. The automatic safety inspection robot according to claim 3, characterized in that: The locking point device (3) comprises a housing (31), a flange (32), a guide column (33), a brake coil (34), a brake disc (35) and a disc spring (36). The upper end of the housing (31) is fixedly mounted with a flange (32). The housing (31) is fixedly connected to the frame seat (11) through the flange (32). The brake coil (34) is slidably mounted on the guide column (33) arranged at the center of the housing (31). The brake disc (35) is fixedly mounted on the outward surface of the brake coil (34). The inward surface of the brake disc (35) is fixedly connected to the inner ring of the disc spring (36). The outer ring of the disc spring (36) is fixedly connected to the inner wall of the housing (31). The disc spring (36) is located below the brake coil (34).

5. The automatic safety inspection robot according to claim 4, characterized in that: The upper end of the housing (31) passes through the mounting slot (15) at the center of the frame seat (11) and is located below the guide rail portion (22), with a spacing therebetween. The brake coil (34) and the brake disc (35) are located above the interior of the housing (31), and the brake disc (35) is allowed to contact the brake pad (24) fixedly installed below the guide rail portion (22).

6. The automatic safety inspection robot according to claim 5, characterized in that: The bottom of the housing (31) is inlaid with a docking coil (38) and is provided with a docking positioning hole (37). The docking positioning hole (37) is opened at the center of the lower part of the housing (31). The housing (31) is docked and magnetically mounted with the airflow propeller (4) through the docking positioning hole (37) and the docking coil (38).

7. The automatic safety inspection robot according to claim 6, characterized in that: The airflow propeller (4) comprises a fuselage (41), a brushless axial motor (42), a positioning magnetic chuck (43), a positioning column (44), a micro brushless motor (45), a wing arm (46), a driving brushless motor (47) and a blade (48). The fuselage (41) is fixedly connected to the rotor output end of the brushless axial motor (42). A positioning magnetic chuck (43) is fixedly installed on the base of the brushless axial motor (42). The positioning magnetic chuck (43) allows the positioning magnetic chuck (43) to be magnetically attracted to the docking coil (38), and the positioning column (44) installed on the positioning magnetic chuck is inserted into the docking positioning hole (37). Micro brushless motors (45) are symmetrically fixedly installed at the angle of the fuselage (41). The output end of each micro brushless motor (45) is fixed to one end of the wing arm (46). The driving brushless motor (47) fixedly installed on the other end of the wing arm (46) is equipped with a blade (48).

8. The automatic safety inspection robot according to claim 7, characterized in that: Eight micro brushless motors (45) are mounted on the fuselage (41) and are evenly and symmetrically arranged at the four corners of the fuselage (41). The micro brushless motors (45) are used to control the axial movement of the wing arms (46), wherein four of the wing arms (46) are located directly below the mountain-shaped guide rail (2), and the other four of the wing arms (46) are located on both sides below the mountain-shaped guide rail (2).

9. The automatic safety inspection robot according to claim 8, characterized in that: A built-in controller unit is installed inside the fuselage (41), a lifting rod (5) is fixedly installed at the center lower portion of the fuselage (41), a gas detection module (6) fixedly installed at the lower end of the lifting rod (5) is integrated with a micro air pump, an electrochemical sensor, an infrared sensor and a high-temperature sensor, and a left high-definition visual detection module (7) and a right high-definition visual detection module (8) of the same structure are installed on the gas detection module (6) via an axial motor, both of which are integrated with a high-definition camera, a high-definition camera lens, a lighting module and an infrared temperature sensor.

10. An inspection process using the inspection robot according to any one of claims 1 to 9, characterized in that: The process steps include: Initialization and self-test: The robot starts and comprehensively tests each module, such as the gas and visual detection modules and various mechanical structure components; at the same time, the assembly of the mountain guide rail (2) and the guide slide seat (1) is checked; Path planning: Based on the equipment distribution and inspection requirements of the warehouse or machine room, the moving path is planned based on the mountain guide rail (2) and the inspection points are determined; Guide rail movement: The brushless axial motor (42) of the airflow propeller (4) is started to drive the body (41) to move and adjust the direction, so that the guide sliding seat (1) rolls forward along the guide rail portion (22) of the mountain-shaped guide rail (2) through the guide roller (12); in this process, the angle of the wing arm (46) is adjusted by controlling the micro brushless motor (45), and the airflow generated by the blade (48) is coordinated to maintain the stability and accuracy of the robot's movement on the guide rail, ensuring that it moves according to the planned path; Fixed-point hovering and detection preparation: When the robot reaches the detection point, the brake coil (34) of the locking fixed-point device (3) is energized, the brake coil (34) overcomes the elastic force of the disc spring (36), and allows the brake disc (35) to contact the brake pad (24) to lock the robot; the airflow propeller (4) adjusts the posture to stabilize the lifting rod; Environmental data collection: Gas detection: The gas detection module (6) uses a micro air pump to extract gas, and the sensor analyzes it. The height is adjusted by the lifting rod (5) to perform multi-point detection; Visual inspection: The left and right high-definition visual inspection modules are activated, the camera cooperates with the lighting module to form an image, the infrared temperature sensor measures the temperature, and the axial motor adjusts the angle to collect data; Data processing and analysis: The built-in controller unit of the fuselage (41) processes gas and visual data in real time, compares the preset range with the algorithm, and determines equipment abnormalities; Task switching and endurance management: After the test is completed, the brake coil (34) is powered off, the disc spring (36) is reset and unlocked, and the robot moves to the next point; the power is monitored in real time, and when the power is low, the robot moves to the charging point according to the strategy; Special scenario response: Obstacle avoidance: When the guide rail encounters an obstacle or is far away from the guide rail inspection, the locking point device (3) and the airflow propeller (4) disconnect the magnetic connection, and the airflow propeller (4) drives the gas detection module (6) and the left and right high-definition visual detection modules to fly short distances through the lifting rod (5); Multi-angle detection: in complex equipment areas, the lifting rod (5) and the axial motor adjust the height and angle of the detection module for all-round detection; Inspection report generation and upload: After the inspection is completed, the data is summarized to generate a report including time, route, detection data and abnormal conditions, and uploaded to the monitoring center management system.

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