Inspection robot for poisonous gas environment

Abstract

The invention belongs to the technical field of special operation robots, and provides an inspection robot for a toxic gas environment, which comprises an anti-explosion bottom plate, a detachably connected bearing plate is arranged above the anti-explosion bottom plate, the front and rear ends of the top of the bearing plate are provided with baffles, and the front baffle is symmetrically provided with guide holes. The guide hole is provided with a rotationally connected covering plate, a multi-mode sensing monitoring piece is arranged at the top of the bearing plate and between the two blocking plates, and a data analysis display screen electrically connected with the multi-mode sensing monitoring piece is arranged above the bearing plate; the anti-collision plates are located at the front end and the rear end of the anti-explosion bottom plate, and an environment sensing part is arranged at the top of the anti-explosion bottom plate and located between the two anti-collision plates; through the designed inspection robot, toxic environment gas can be detected, the sensor and the camera are protected, collision damage is avoided, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of special operation robots, in particular to an inspection robot used in toxic gas environments. Background Art

[0002] In special operating environments such as chemical, oil, natural gas, and mining sites where there is a risk of leakage of toxic, flammable, and explosive gases, regular environmental inspections are a key link in ensuring personnel safety and the normal operation of facilities.

[0003] Traditional manual inspection methods face safety risks and can easily lead to poisoning or casualties. For this reason, inspection robot technology has been introduced. Existing toxic gas environment inspection robots are usually mobile and equipped with single or limited types of gas sensors for environmental detection. These robots serve as a means to replace or assist manual inspections, and to a certain extent reduce the risk of direct exposure of personnel to hazardous environments.

[0004] However, the key sensing components of existing inspection robots used in toxic gas environments, such as sensor probes and camera lenses, are often exposed or lack effective protection. They are easily damaged in harsh environments or collisions, affecting the reliability and service life of the equipment. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a patrol robot for toxic gas environments to solve the problems in the prior art that the sensor probes and camera lenses of the robot are exposed during patrol or lack effective protection, which can easily lead to collision damage.

[0006] A patrol robot for use in toxic gas environments, comprising an explosion-proof base plate, a detachably connected load-bearing plate disposed above the explosion-proof base plate, barrier plates disposed at the front and rear ends of the load-bearing plate, guide holes symmetrically disposed on the front barrier plate, and a rotatably connected cover plate disposed on the guide holes, a multimodal sensor monitoring component disposed on the top of the load-bearing plate and between the two barrier plates, a push protection assembly disposed at the bottom of the multimodal sensor monitoring component, and a data analysis display screen electrically connected to the multimodal sensor monitoring component disposed above the load-bearing plate;

[0007] It also includes anti-collision plates, which are located at the front and rear ends of the explosion-proof base plate. An environmental sensing component is provided on the top of the explosion-proof base plate and between the two anti-collision plates. Rotatably connected explosion-proof moving wheels are provided on both sides of the explosion-proof base plate. An emergency processing component is provided on the top of the load-bearing plate and behind the multi-modal sensor monitoring component.

[0008] Preferably, a processing control module of an external power supply is provided on the top of the explosion-proof base plate, heat dissipation holes are symmetrically provided on the explosion-proof base plate and located on both sides of the processing control module, heat dissipation fans of an external power supply are symmetrically provided on the explosion-proof base plate, the explosion-proof moving wheels are symmetrically installed in the heat dissipation holes front and back, each of the explosion-proof moving wheels is provided with a hub motor connected thereto, a processing control module is provided on the top of the explosion-proof base plate, and the processing control module is electrically connected to the hub motor and the multi-modal sensor monitoring component.

[0009] Preferably, the top of the explosion-proof base plate is provided with support columns distributed at intervals, the load-bearing plate is installed on the top of the support columns and is connected by threads, and heat dissipation holes are also provided on both sides of the load-bearing plate. The outer side of the heat dissipation hole is provided with a protective side plate connected to the load-bearing plate by bolts, and the bottom of the protective side plate is provided with guide positioning blocks distributed at intervals. After the load-bearing plate is connected to the explosion-proof base plate, the guide positioning blocks at the bottom of the protective side plate are inserted into the holes opened in advance in the explosion-proof base plate.

[0010] Preferably, the bottom of the load-bearing plate and the top of the anti-collision plate are fitted together, the cross-sectional profile of the anti-collision plate is arc-shaped, and the arc openings of the two anti-collision plates are arranged opposite to each other, and the outer wall of the anti-collision plate is provided with annularly distributed buffer columns, and the environmental sensing component includes an infrared thermal imager, a high-definition camera and a laser radar. The number of the high-definition cameras is two and they are distributed in front and behind the load-bearing plate. The laser radar is adjacent to the front camera and faces the front of the body, and the infrared thermal imager is adjacent to the rear high-definition camera. Transparent parts are opened on the two anti-collision plates, and the detection parts of the infrared thermal imager, high-definition camera and laser radar are facing the transparent parts.

[0011] Preferably, the barrier plate is made of steel, and the multimodal sensing monitoring component includes an electrochemical sensor and an infrared sensor. One electrochemical sensor and one infrared sensor form a group, and two groups are designed on the load-bearing plate.

[0012] Preferably, the push protection assembly includes a displacement plate, a sliding block, a directional slide rail and a pushing cylinder, the displacement plate is installed at the tail end of the electrochemical sensor and the infrared sensor, the sliding block is installed at the bottom of the displacement plate, the directional slide rail is installed on the top of the load-bearing plate, the sliding block and the directional slide rail cooperate with each other, the pushing cylinder is located behind the displacement plate and is fixedly connected to the load-bearing plate, the piston rod of the pushing cylinder is parallel to the directional slide rail and the end is fixedly connected to the displacement plate, the guide hole is opposite to the electrochemical sensor and the infrared sensor, the front end face of the blocking plate is connected to a covering plate through a pivot, the covering plate covers the guide hole, and a leaf spring is installed on the pivot.

[0013] Preferably, a pad is provided above the load-bearing plate, and the pad is also threadedly connected to the load-bearing plate through a support column, and the data analysis display screen is installed on the top of the pad.

[0014] Preferably, the tops of the two blocking plates are provided with spaced-apart top rods, the tops of the front and rear top rods are provided with protective top plates, a mounting plate is provided between the load-bearing plate and the protective top plate, and support columns vertically connected to the load-bearing plate are also installed at the four corners of the mounting plate, a limit plate is provided on the top of the load-bearing plate and below the mounting plate, the number of the limit plates is multiple and they are combined into a "U" shape, a water tank with a built-in water pump is provided on the top of the load-bearing plate, and the limit plates surround the water tank.

[0015] Preferably, a bearing column with an opening at the top is provided on the top of the mounting plate, a rotating column that cooperates with the bearing column is provided inside the bearing column, a driving gear is provided on the top of the rotating column, a treatment water gun is provided on the top of the driving gear, the water pump in the water tank is connected to the treatment water gun through a water pipe, a driven gear that cooperates with the driving gear is provided above the mounting plate, the driven gear is provided with a main shaft that vertically passes through the mounting plate, a driving motor with an external power supply is provided at the bottom of the mounting plate, and the output shaft of the driving motor is connected to the main shaft through a coupling.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention provides an inspection robot with a multimodal sensor monitoring component installed on a load-bearing plate, which can monitor and analyze the air in a toxic environment. The analyzed air data can be calculated and sent to a data analysis display, thereby facilitating later personnel to understand the air composition in the toxic environment. The provided environmental sensing component senses the surrounding environment when the inspection robot enters the toxic environment and moves, so that outsiders can understand the on-site environmental conditions.

[0018] In addition, a collision-proof plate is set on the top of the explosion-proof bottom plate to hide the environmental sensing component at the rear. A blocking plate is set on the top of the load-bearing plate. A guide hole is set on the blocking plate. A covering plate that rotates and covers the guide hole is provided on the outside of the blocking plate. Only when gas is detected, the multimodal sensor monitoring component is extended to the outside through the guide hole by pushing the protection component. Under normal circumstances, the multimodal sensor monitoring component is located in the body, thereby avoiding damage to the multimodal sensor monitoring component and the environmental sensing component, and ensuring the normal operation of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the inspection robot for toxic gas environments of the present invention;

[0020] Figure 2 This is a schematic diagram of the bottom perspective structure of the explosion-proof bottom plate of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of components on the explosion-proof bottom plate of the present invention;

[0022] Figure 4 This is a schematic diagram of the framework structure of the explosion-proof bottom plate and load-bearing plate and other components of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the components on the load-bearing plate of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the multi-modal sensing monitoring component and the pushing cylinder and other components of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the emergency treatment component of the present invention.

[0026] In the picture:

[0027] 1. Explosion-proof bottom plate; 2. Load-bearing plate; 3. Multimodal sensor monitoring component; 301. Electrochemical sensor; 302. Infrared sensor; 4. Data analysis display; 5. Environmental sensing component; 501. Infrared thermal imager; 502. High-definition camera; 503. LiDAR; 6. Explosion-proof moving wheel; 7. Heat dissipation hole; 8. Cooling fan; 9. Hub motor; 10. Processing control module; 11. Support column; 12. Protective side plate; 13. Guide positioning block; 14. Anti-collision plate; 1 5. Buffer column; 16. Transparent part; 17. Blocking plate; 18. Displacement plate; 19. Sliding block; 20. Directional slide rail; 21. Push cylinder; 22. Guide hole; 23. Covering plate; 24. Leaf spring; 25. Pad; 26. Push rod; 27. Protective top plate; 28. Mounting plate; 29. ​​Limiting plate; 30. Water tank; 31. Load-bearing column; 32. Rotating column; 33. Driving gear; 34. Treatment water gun; 35. Driven gear; 36. Spindle; 37. Drive motor. DETAILED DESCRIPTION

[0028] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0029] As attached Figure 1 To the attached Figure 7 As shown:

[0030] Embodiment 1: The present invention provides an inspection robot for use in a toxic gas environment, comprising an explosion-proof base plate 1, a detachably connected load-bearing plate 2 disposed above the explosion-proof base plate 1, a multimodal sensor monitoring element 3 for monitoring the environment symmetrically disposed on top of the load-bearing plate 2, and a data analysis display screen 4 electrically connected to the multimodal sensor monitoring element 3 disposed above the load-bearing plate 2;

[0031] It also includes an environmental sensing component 5, which is symmetrically located on the top of the explosion-proof base plate 1. Rotatably connected explosion-proof moving wheels 6 are provided on both sides of the explosion-proof base plate 1. An emergency processing component is provided on the top of the load-bearing plate 2 and behind the multimodal sensor monitoring component 3.

[0032] It should be noted that, through the inspection robot, the multimodal sensor monitoring component 3 is installed on the load-bearing plate 2, which can monitor and analyze the air in the toxic environment. The analyzed air data can be calculated and sent to the data analysis display, so that it is convenient for later personnel to understand the air composition in the toxic environment. The environmental sensing component 5 is set to sense the surrounding environment when the inspection robot enters the toxic environment and moves, so that outsiders can understand the on-site environmental conditions;

[0033] In addition, a collision-proof plate 14 is set on the top of the explosion-proof bottom plate 1 to hide the environmental sensing component 5 at the rear. A blocking plate 17 is set on the top of the load-bearing plate 2. A guide hole 22 is set on the blocking plate 17. A covering plate 23 is provided on the outside of the blocking plate 17 to rotate and cover the guide hole 22. Only when the gas is detected, the multimodal sensor monitoring component 3 is extended to the outside through the guide hole 22 by pushing the protection component. Under normal circumstances, the multimodal sensor monitoring component 3 is located in the body, thereby avoiding damage to the multimodal sensor monitoring component 3 and the environmental sensing component 5, and ensuring the normal operation of the inspection robot.

[0034] In this embodiment, a processing and control module 10 with an external power supply is provided on the top of the explosion-proof base plate 1, and heat dissipation holes 7 are symmetrically provided on the explosion-proof base plate 1 and located on both sides of the processing and control module 10. A heat dissipation fan 8 with an external power supply is symmetrically provided on the explosion-proof base plate 1, and the explosion-proof moving wheels 6 are symmetrically installed in the heat dissipation holes 7 front and back. Each explosion-proof moving wheel 6 is provided with a hub motor 9 connected thereto, and a processing and control module 10 is provided on the top of the explosion-proof base plate 1, and the processing and control module 10 is electrically connected to the hub electric and multimodal sensor monitoring component 3.

[0035] It should be noted that heat dissipation holes 7 are provided on the explosion-proof base plate 1. When inspections are carried out in some environments with relatively high temperatures, the heat dissipation fan 8 installed on the explosion-proof base plate 1 can be started. The heat dissipation fan 8 adopts a double-impeller method. When started, wind is blown into between the load-bearing plate 2 and the explosion-proof base plate 1, and the processing control module 10 dissipates heat and takes its heat away from the heat dissipation holes 7, thereby avoiding the situation where the inspection robot does not work due to the high temperature of the processing control module 10.

[0036] Each hub motor 9 is interconnected with an explosion-proof moving wheel 6 and is individually controlled by the processing control module 10 to control the moving direction of the robot.

[0037] In this embodiment, the top of the explosion-proof base plate 1 is provided with support columns 11 distributed at intervals, the load-bearing plate 2 is installed on the top of the support columns 11 and is connected by threads, and heat dissipation holes 7 are also provided on both sides of the load-bearing plate 2. The outer side of the heat dissipation hole 7 is provided with a protective side plate 12 connected to the load-bearing plate 2 by bolts, and the bottom of the protective side plate 12 is provided with guide positioning blocks 13 distributed at intervals. After the load-bearing plate 2 is connected to the explosion-proof base plate 1, the guide positioning blocks 13 at the bottom of the protective side plate 12 are inserted into the holes opened in advance in the explosion-proof base plate 1.

[0038] It should be noted that the explosion-proof base plate 1 and the load-bearing plate 2 are connected by support columns 11. When the load-bearing plate 2 needs to be installed, it is aligned with the support columns 11 on the explosion-proof base plate 1 and then locked with bolts to achieve the disassembly connection between the explosion-proof base plate 1 and the load-bearing plate 2, which is convenient for later maintenance of the interior of the machine body. Protective side panels 12 are set on both sides of the load-bearing plate 2. On the one hand, the protective side panels 12 can protect both sides of the robot to prevent collapsed objects from entering the interior of the machine body from the side during inspection. The guide positioning blocks 13 at the bottom of the protective side panels 12 are inserted into the holes on the explosion-proof base plate 1 to improve the stability of the load-bearing plate 2 and the protective side panels 12 after installation.

[0039] In this embodiment, the bottom of the load-bearing plate 2 and the top of the anti-collision plate 14 are fitted together, the cross-sectional profile of the anti-collision plate 14 is arc-shaped, and the arc openings of the two anti-collision plates 14 are arranged opposite to each other, and the outer wall of the anti-collision plate 14 is provided with a circularly distributed buffer column 15, and the environmental sensing component 5 includes an infrared thermal imager 501, a high-definition camera 502 and a laser radar 503. There are two high-definition cameras 502 and they are distributed in front and behind the load-bearing plate 2. The laser radar 503 is adjacent to the front camera and faces the front of the body. The infrared thermal imager 501 is adjacent to the rear high-definition camera 502. A transparent part 16 is provided on the two anti-collision plates 14, and the detection parts of the infrared thermal imager 501, the high-definition camera 502 and the laser radar 503 are facing the transparent part 16.

[0040] It should be noted that the anti-collision plate 14 is made of steel. If it collides with an object or a wall during the inspection process, it can protect the body and prevent external objects from damaging the internal components of the body. The designed buffer column 15 can effectively absorb energy after colliding with an object, thereby reducing the impact force.

[0041] The infrared thermal imager 501, the high-definition camera 502 and the laser radar 503 are electrically connected to the processing control module 10. There are two high-definition cameras 502 and they are designed front and back. The external display device is interconnected with the high-definition camera 502, so that people can observe the robot's inspection situation through the high-definition camera 502, which is also convenient for checking the source of the leak.

[0042] The laser radar 503 can measure the obstacles in front of the robot through the transparent part 16, and can reduce the number of collisions of the robot in conjunction with the high-definition camera 502. The infrared thermal imager 501 can measure the temperature in the toxic environment through the transparent part 16, making it easy to understand the temperature of the inspection ring.

[0043] In this embodiment, the blocking plate 17 is made of steel, and the multimodal sensing monitoring component 3 includes an electrochemical sensor 301 and an infrared sensor 302 . One electrochemical sensor 301 and infrared sensor 302 form a group, and two groups are designed on the load-bearing plate 2 .

[0044] It should be noted that the barrier plate 17 provided can protect the multimodal sensing monitoring component 3 on the top of the load-bearing plate 2. The detection principle of the electrochemical sensor 301 is that the gas undergoes an oxidation-reduction reaction at the electrode to generate current, thereby being able to detect CO, H2S, SO2, NO2, and Cl2 gases, thereby realizing the detection of toxic gases. The infrared sensor 302 provided can detect CO2, CH4, and SF6 components in the air through the absorption of specific infrared wavelengths by the gas, thereby improving the detection accuracy of gas components in toxic environments.

[0045] In this embodiment, the push protection assembly includes a displacement plate 18, a sliding block 19, a directional slide rail 20 and a pushing cylinder 21. The displacement plate 18 is installed at the tail end of the electrochemical sensor 301 and the infrared sensor 302, the sliding block 19 is installed at the bottom of the displacement plate 18, the directional slide rail 20 is installed on the top of the load-bearing plate 2, the sliding block 19 and the directional slide rail 20 cooperate with each other, the pushing cylinder 21 is located behind the displacement plate 18 and is fixedly connected to the load-bearing plate 2, the piston rod of the pushing cylinder 21 is parallel to the directional slide rail 20 and the end is fixedly connected to the displacement plate 18, the guide hole 22 is opposite to the electrochemical sensor 301 and the infrared sensor 302, and the front end surface of the blocking plate 17 is connected to the covering plate 23 through a pivot rotation. The covering plate 23 covers the guide hole 22, and a leaf spring 24 is installed on the pivot.

[0046] It should be noted that, by setting the displacement plate 18, a sliding block 19 is set at the bottom of the displacement plate 18, and the directional slide rails 20 of the sliding block 19 cooperate with each other. The position of the electrochemical sensor 301 and the infrared sensor 302 can be adjusted by pushing the cylinder 21. A guide hole 22 is set on the bearing plate 2, and the cover plate 23 is rotatably connected to the bearing plate 2. Under normal circumstances, the leaf spring 24 will drive the cover plate 23 to cover the guide hole 22. When it is necessary to monitor the gas composition in the toxic environment, the push cylinder 21 drives the electrochemical sensor 301 and the infrared sensor 3 02 moves toward the guide hole 22, and after contacting the covering plate 23, pushes the covering plate 23 to rotate, so that the electrochemical sensor 301 and the infrared sensor 302 pass through the guide hole 22 to monitor the air composition. When the monitoring is completed, the electrochemical sensor 301 and the infrared sensor 302 can be returned to the rear of the blocking plate 17, and the covering plate 23 overlaps to cover the guide hole 22, thereby protecting the electrochemical sensor 301 and the infrared sensor 302 when they do not need to work, thereby preventing the electrochemical sensor 301 and the infrared sensor 302 from being damaged.

[0047] In this embodiment, a pad 25 is provided above the load-bearing plate 2 , and the pad 25 and the load-bearing plate 2 are also threadedly connected through the support column 11 , and the data analysis display screen 4 is installed on the top of the pad 25 .

[0048] In this embodiment, the tops of the two blocking plates 17 are provided with spaced top rods 26, and the tops of the top rods 26 on the front and rear sides are provided with protective top plates 27. A mounting plate 28 is provided between the load-bearing plate 2 and the protective top plate 27. Support columns 11 vertically connected to the load-bearing plate 2 are also installed at the four corners of the mounting plate 28. A limit plate 29 is provided on the top of the load-bearing plate 2 and below the mounting plate 28. There are multiple limit plates 29 and they are combined into a "U" shape. A water tank 30 with a built-in water pump is provided on the top of the load-bearing plate 2, and the limit plates 29 surround the water tank 30.

[0049] It should be noted that the protective top plate 27 is detachably connected to the load-bearing plate 2 through the support column 11, so that when the water in the water tank 30 is consumed, the protective top plate 27 can be removed, and the water tank 30 can be taken out from the limit plate 29. The set limit plate 29 can fix the water tank 30 to prevent the water tank 30 from detaching during the movement of the machine.

[0050] In this embodiment, a bearing column 31 with an open top is provided on the top of the mounting plate 28, and a rotating column 32 that cooperates with each other is provided inside the bearing column 31. A driving gear 33 is provided on the top of the rotating column 32, and a treatment water gun 34 is provided on the top of the driving gear 33. The water pump in the water tank 30 is connected to the treatment water gun 34 through a water pipe. A driven gear 35 that cooperates with the driving gear 33 is provided above the mounting plate 28, and a main shaft 36 that vertically penetrates the mounting plate 28 is provided on the driven gear 35. A driving motor 37 with an external power supply is provided at the bottom of the mounting plate 28, and the output shaft of the driving motor 37 is connected to the main shaft 36 through a coupling.

[0051] It should be noted that one end of the water pipe is connected to the treatment water gun 34, and the other end passes through the rotating column 32 and the supporting column 31 and is connected to the water pump in the water tank 30. The water pump is driven by the processing control module 10, and the water outlet of the treatment water gun 34 is facing the rear of the machine. Therefore, when a fire is encountered or the source of leakage is found during the inspection process, the water pump can be started to spray water through the treatment water gun 34, thereby improving the functionality of the inspection robot. At the same time, when the drive motor 37 is started, the driven gear 35 is driven to rotate, and the driven gear 35 cooperates with the driving gear 33 to drive the rotating column 32 to rotate in the supporting column 31, and the direction of the treatment water gun 34 is adjusted to better facilitate fire extinguishing or reduce the gas concentration in the toxic environment.

[0052] It should be supplemented that the processing control module 10 includes a microcontroller, a memory and a wireless communication unit.

[0053] The processing control module 10 receives data from the multimodal sensor monitoring element 3 and analyzes the concentration of toxic gases in real time; when the concentration exceeds a preset threshold, it triggers a local alarm and sends the data to a remote monitoring center via a wireless communication unit.

[0054] The processing and control module 10 receives data from the environmental perception unit, performs algorithm processing based on the point cloud data of the lidar 503 and the image of the high-definition camera 502, constructs an environmental map and plans the inspection path; at the same time, it monitors temperature anomalies through the infrared thermal imager 501 to achieve obstacle avoidance and autonomous navigation.

[0055] In emergency mode, when a fire or gas leak source is detected, the water pump in the water tank 30 is started, and the driven gear 35 and the driving gear 33 are adjusted by the drive motor 37 to drive the treatment water gun 34 to rotate to the target direction to spray water for fire extinguishing or gas dilution. The start and stop of the water pump and the water spraying direction are automatically controlled by the processing control module 10 according to the sensor data.

[0056] In addition, the data analysis display screen 4 displays gas concentration, temperature and environmental images in real time, and supports remote monitoring and data feedback through a wireless communication unit.

[0057] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A patrol robot for use in toxic gas environments, characterized in that: include: An explosion-proof base plate (1), wherein a detachably connected bearing plate (2) is provided above the explosion-proof base plate (1), baffle plates (17) are provided at the front and rear ends of the top of the bearing plate (2), a guide hole (22) is symmetrically provided on the front baffle plate (17), a rotatably connected cover plate (23) is provided on the guide hole (22), a multimodal sensor monitoring component (3) is provided at the top of the bearing plate (2) and between the two baffle plates (17), a push protection component is provided at the bottom of the multimodal sensor monitoring component (3), and a data analysis display screen (4) electrically connected to the multimodal sensor monitoring component (3) is provided above the bearing plate (2); The invention also includes anti-collision plates (14), which are located at the front and rear ends of the explosion-proof base plate (1); an environmental sensing component (5) is provided on the top of the explosion-proof base plate (1) and between the two anti-collision plates (14); explosion-proof moving wheels (6) that are rotatably connected are provided on both sides of the explosion-proof base plate (1); and an emergency processing component is provided on the top of the load-bearing plate (2) and behind the multi-modal sensing monitoring component (3).

2. The inspection robot for use in a toxic gas environment according to claim 1, characterized in that: The top of the explosion-proof base plate (1) is provided with a processing control module (10) for an external power supply, the explosion-proof base plate (1) is symmetrically provided with heat dissipation holes (7) on both sides of the processing control module (10), the explosion-proof base plate (1) is symmetrically provided with a heat dissipation fan (8) for an external power supply, the explosion-proof moving wheels (6) are symmetrically installed in the heat dissipation holes (7) front and back, each of the explosion-proof moving wheels (6) is provided with a hub motor (9) connected thereto, the top of the explosion-proof base plate (1) is provided with a processing control module (10), and the processing control module (10) is electrically connected to the hub motor and the multi-modal sensor monitoring component (3).

3. The inspection robot for use in a toxic gas environment according to claim 2, wherein: The top of the explosion-proof base plate (1) is provided with support columns (11) distributed at intervals, the bearing plate (2) is installed on the top of the support columns (11) and is connected by screw threads, and heat dissipation holes (7) are also provided on both sides of the bearing plate (2), and the outer side of the heat dissipation hole (7) is provided with a protective side plate (12) connected to the bearing plate (2) by bolts, and the bottom of the protective side plate (12) is provided with guide positioning blocks (13) distributed at intervals. After the bearing plate (2) is connected to the explosion-proof base plate (1), the guide positioning blocks (13) at the bottom of the protective side plate (12) are inserted into the holes previously opened in the explosion-proof base plate (1).

4. The inspection robot for use in a toxic gas environment according to claim 1, wherein: The bottom of the load-bearing plate (2) and the top of the anti-collision plate (14) are fitted together, the cross-sectional profile of the anti-collision plate (14) is arc-shaped, and the arc openings of the two anti-collision plates (14) are arranged opposite to each other, and the outer wall of the anti-collision plate (14) is provided with a circularly distributed buffer column (15), and the environmental sensing component (5) includes an infrared thermal imager (501), a high-definition camera (502) and a laser radar (503), the number of the high-definition cameras (502) is two and they are distributed in front and behind the load-bearing plate (2), the laser radar (503) is adjacent to the front camera and faces the front of the machine body, the infrared thermal imager (501) is adjacent to the rear high-definition camera (502), and the two anti-collision plates (14) are provided with a transparent part (16), and the detection parts of the infrared thermal imager (501), the high-definition camera (502) and the laser radar (503) are facing the transparent part (16).

5. The inspection robot for use in a toxic gas environment according to claim 1, wherein: The blocking plate (17) is a component made of steel. The multimodal sensing monitoring component (3) includes an electrochemical sensor (301) and an infrared sensor (302). One electrochemical sensor (301) and one infrared sensor (302) form a group, and two groups are designed on the load-bearing plate (2).

6. The inspection robot for use in a toxic gas environment according to claim 5, characterized in that: The push protection assembly comprises a displacement plate (18), a sliding block (19), a directional slide rail (20) and a push cylinder (21), wherein the displacement plate (18) is mounted at the tail end of the electrochemical sensor (301) and the infrared sensor (302), the sliding block (19) is mounted at the bottom of the displacement plate (18), the directional slide rail (20) is mounted at the top of the bearing plate (2), the sliding block (19) and the directional slide rail (20) cooperate with each other, and the push cylinder (21) is positioned at the bottom of the displacement plate (18). The push cylinder (21) is located behind the displacement plate (18) and is fixedly connected to the load-bearing plate (2). The piston rod of the push cylinder (21) is parallel to the directional slide rail (20) and the end thereof is fixedly connected to the displacement plate (18). The guide hole (22) is opposite to the electrochemical sensor (301) and the infrared sensor (302). The front end surface of the blocking plate (17) is connected to a covering plate (23) through a pivot rotation. The covering plate (23) covers the guide hole (22), and a leaf spring (24) is installed on the pivot.

7. The inspection robot for use in a toxic gas environment according to claim 3, wherein: A pad (25) is provided above the load-bearing plate (2), and the pad (25) is also threadedly connected to the load-bearing plate (2) via a support column (11). The data analysis display screen (4) is mounted on top of the pad (25).

8. The inspection robot for use in a toxic gas environment according to claim 5, wherein: The tops of the two blocking plates (17) are provided with spaced top rods (26), the tops of the top rods (26) on the front and rear sides are provided with protective top plates (27), a mounting plate (28) is provided between the load-bearing plate (2) and the protective top plate (27), and the four corners of the mounting plate (28) are also provided with support columns (11) vertically connected to the load-bearing plate (2), a limiting plate (29) is provided on the top of the load-bearing plate (2) and below the mounting plate (28), the number of the limiting plates (29) is multiple and they are combined into a "U" shape, a water tank (30) with a built-in water pump is provided on the top of the load-bearing plate (2), and the limiting plates (29) surround the water tank (30).

9. The inspection robot for use in a toxic gas environment according to claim 8, characterized in that: The top of the mounting plate (28) is provided with a bearing column (31) with a top opening, and a rotating column (32) that cooperates with each other is provided in the bearing column (31). A driving gear (33) is provided on the top of the rotating column (32), and a treatment water gun (34) is provided on the top of the driving gear (33). The water pump in the water tank (30) is connected to the treatment water gun (34) through a water pipe. A driven gear (35) that cooperates with the driving gear (33) is provided above the mounting plate (28), and a main shaft (36) that vertically penetrates the mounting plate (28) is provided on the driven gear (35). A driving motor (37) with an external power supply is provided at the bottom of the mounting plate (28), and the output shaft of the driving motor (37) is connected to the main shaft (36) through a coupling.

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