Robot driving device and inspection robot

Abstract

The present application discloses a robot driving device and a detection robot. The robot driving device includes a chassis, a lifting screw mechanism, and two propulsion mechanisms. The chassis is formed with a lifting hole penetrating through its upper surface and lower surface. The lifting screw mechanism is disposed in the lifting hole and is configured to drive the chassis to float or dive in water. The two propulsion mechanisms are arranged on both sides of the chassis. The propulsion mechanism includes a spiral drum and a driving part, and the driving part drives the spiral drum to rotate to drive the chassis to move forward. The technical solution provided by the present application can solve the problem that the existing detection robots cannot work in the silt environment and deep water environment.

Description

Technical Field

[0001] This application relates to the technical field of inspection robots, and more particularly, to a robot driving device and an inspection robot. Background Art

[0002] An inspection robot is a mechatronic system that can automatically walk inside or outside a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of a staff member or computer automatic control.

[0003] Existing inspection robots cannot work in muddy or deep - water environments due to structural defects. Summary of the Invention

[0004] This application provides a robot driving device and an inspection robot, which can solve the problem that existing inspection robots cannot work in muddy and deep - water environments.

[0005] In a first aspect, the present invention provides a robot driving device, including:

[0006] A chassis, which is formed with a lifting hole penetrating its upper surface and lower surface;

[0007] A lifting screw mechanism, which is arranged in the lifting hole and is configured to drive the chassis to float or dive in water;

[0008] Two propulsion mechanisms, which are arranged on both sides of the chassis. The propulsion mechanism includes a spiral drum and a driving part, and the driving part drives the spiral drum to rotate to drive the chassis to move forward.

[0009] In the above implementation process, the robot driving device can carry an inspection robot body to form an inspection robot. Through the robot driving device, the inspection robot can move in various environments;

[0010] When the robot driving device is on a hard walking surface, the propulsion mechanisms located on both sides of the chassis work, and their respective spiral drums rotate under the drive of the driving part, thereby jointly driving the inspection robot forward;

[0011] When the robot driving device is in a muddy environment or a water environment, the propulsion mechanism works, the driving part drives the spiral drum to rotate, and the propulsion threads on the surface of the spiral drum will perform a tunneling action in the mud, on the mud, in the water or on the water surface, thereby driving the entire inspection robot forward;

[0012] When the robot driving device is in a deep - water environment, the lifting screw mechanism works, and by controlling the rotation direction of the lifting propeller of the lifting screw mechanism, the inspection robot can be made to float or dive in water;

[0013] Meanwhile, by adjusting the rotation speed and direction of the screw drums of the two propulsion devices, the forward direction and speed of the inspection robot can be adjusted.

[0014] In an alternative embodiment, the propulsion mechanism includes two screw drums and two driving parts, and each screw drum is internally provided with a driving part;

[0015] In the propulsion mechanism, the two screw drums are arranged in a column along the side surface of the chassis, and the propulsion threads on the surfaces of the two screw drums are arranged in opposite directions.

[0016] In the above implementation process, two screw drums are arranged on one side surface of the chassis, and each screw drum corresponds to a driving part, which can ensure the effective walking of the robot driving device; at the same time, since the propulsion threads of the two screw drums on the same side of the chassis are in opposite directions, it can ensure the frictional force between the screw drum and its contact surface during the operation of the propulsion mechanism, which is beneficial for the robot driving device to walk on complex ground such as silt and sediment.

[0017] In an alternative embodiment, in the propulsion mechanism, one end of one screw drum is rotatably and floatingly fitted with the chassis, and the other end is rotatably and floatingly fitted with the other screw drum.

[0018] In the above implementation process, taking the two screw drums on the same side of the chassis as an example, the mutually approaching ends of the two screw drums are connected by a rotatable and mutually floating fitting relationship, and the other end of the screw drum is connected to the chassis by a rotatable and floating fitting relationship with the chassis, which ensures the normal rotation of the screw drum, also ensures the connection stability between the two screw drums and the chassis, and at the same time improves the obstacle-crossing ability of the robot driving device. When the screw drum tunnels into an obstacle or an uneven contact surface, due to the floating fitting connection relationship between the screw drum and the chassis and between the two screw drums, the screw drum can be adaptively adjusted in height according to the obstacle or the uneven contact surface, so as to better generate frictional force with the contact surface and achieve the purpose of smoothly crossing the obstacle.

[0019] In an alternative embodiment, end brackets are respectively formed at both ends of the chassis;

[0020] Between the two end brackets on the same side of the chassis, an intermediate bracket is further formed on the chassis;

[0021] The end bracket is formed with a strip-shaped hole extending in the vertical direction, the end of the screw drum is formed with a rotating shaft, and the rotating shaft is rotatably arranged in the strip-shaped hole and can slide along the extending direction of the strip-shaped hole;

[0022] The intermediate bracket is provided with a hinge shaft, and the extending direction of the hinge shaft is perpendicular to the extending direction of the strip-shaped hole;

[0023] Articulated brackets are arranged at the mutually approaching ends of the two spiral drums. The two articulated brackets are sleeved with each other and are articulated with an articulated shaft.

[0024] In the above implementation process, the two spiral drums can float up and down through the articulated shaft, and the spiral drums and the chassis can float up and down through the strip holes. Therefore, when the spiral drums pass through obstacles, they can float under the action of the strip holes and the articulated shaft to smoothly pass through the obstacles. At the same time, it should be noted that in a possible implementation manner, the spiral drum includes a rotatable spiral housing and a non-rotatable base. The spiral housing is rotatably arranged on the base. The driving part is built in the spiral housing and is fixed to the base to drive the spiral housing to rotate. The articulated bracket is arranged on the surface of the base to be connected with the articulated shaft, and the rotating shaft is arranged on the surface of the spiral housing to cooperate with the strip hole.

[0025] In an alternative embodiment, the end bracket is configured with a magnetic levitation module configured to act on the rotating shaft to drive the rotating shaft to levitate in the strip hole.

[0026] In the above implementation process, under the magnetic force provided by the magnetic levitation module, the spiral drum will be in a suspended state relative to the chassis to ensure the smoothness of the spiral drum and the stability of the robot driving device during walking.

[0027] In a second aspect, the present invention provides a detection robot, including a robot body and the robot driving device according to any one of the foregoing embodiments;

[0028] The robot body is arranged on the chassis, and the control module of the robot body is connected to the lifting spiral mechanism and the propulsion mechanism.

[0029] In the above implementation process, the detection robot can adapt to various complex terrains through the robot driving device, such as silt, grassland, sediment or water, etc., and obtain environmental features through the imaging device of the robot body. Exemplarily, when the detection robot is used for detecting a pipeline with silt and full of water, the robot driving device can travel in the silt and water through the propulsion mechanism, and can float up or dive in the water through the lifting spiral mechanism. During the process of the detection robot traveling in the pipeline, the inside of the pipeline is detected through the imaging device of the robot body.

[0030] In an alternative embodiment, the robot body includes a plurality of wide-angle cameras. The plurality of wide-angle cameras are arranged along the outer contour of the chassis and are all connected to the control module for obtaining image signals at various angles and transmitting the image signals at various angles to the control module to generate a panoramic image.

[0031] In the above implementation process, through the operation of the plurality of wide-angle cameras, the image pictures around the chassis are obtained and processed by the control module to generate a panoramic image, which is beneficial to improving the detection efficiency and detection quality of the detection robot.

[0032] In an alternative embodiment, the number of wide-angle cameras is six, which are evenly divided into three groups, respectively forming a front camera assembly, a rear camera assembly, and a side camera assembly;

[0033] The two wide-angle cameras of the front camera assembly are arranged side by side at the front end of the chassis, and the wide-angle cameras are used to obtain images in front of the chassis;

[0034] The two wide-angle cameras of the rear camera assembly are arranged side by side at the rear end of the chassis, and the wide-angle cameras are used to obtain images behind the chassis;

[0035] The two wide-angle cameras of the side camera assembly are respectively arranged on both sides of the chassis and face in opposite directions, and are respectively used to obtain images on the sides of the chassis.

[0036] In an alternative embodiment, the robot body further includes a three-dimensional imaging device. The three-dimensional imaging device is arranged on the surface of the chassis and is connected to the control module, and is used to obtain point cloud data of the detection environment and generate a three-dimensional image through the control module, and obtain image data and generate a panoramic image through the control module.

[0037] In an alternative embodiment, the three-dimensional imaging device includes a plurality of fish-eye lenses, a top-view camera, a mounting base, and a laser ring scanning module;

[0038] The laser ring scanning module is arranged on the surface of the chassis and is connected to the mounting base;

[0039] A plurality of fish-eye lenses are evenly arranged around the wall surface of the mounting base, and the top-view camera is arranged on the top surface of the mounting base. Brief Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a perspective view of the robot driving device in this embodiment;

[0042] Figure 2 It is a top view of the robot driving device in this embodiment;

[0043] Figure 3 It is a schematic diagram of the robot driving device in this embodiment after hiding some structures;

[0044] Figure 4 It is a schematic diagram of the chassis in this embodiment;

[0045] Figure 5 Schematic diagram of two spiral drums and the hinge shaft in this embodiment;

[0046] Figure 6 Top view of the inspection robot in this embodiment;

[0047] Figure 7 Schematic diagram of the three-dimensional imaging device in this embodiment.

[0048] Icons: 10 - chassis; 11 - lifting hole; 12 - end bracket; 13 - intermediate bracket; 14 - strip hole; 15 - hinge shaft; 20 - lifting screw mechanism; 30 - propulsion mechanism; 31 - spiral drum; 32 - propulsion thread; 33 - rotating shaft; 34 - hinge bracket; 40 - tail joint; 41 - wide-angle camera; 42 - three-dimensional imaging device; 43 - fisheye lens; 44 - top-view camera; 45 - mounting seat; 46 - laser ring scanning module. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the detailed description of the embodiments of the present application provided in the accompanying drawings below is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0051] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0052] In the description of the embodiments of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships when the product of this application is used in its usual placement, or the orientation or positional relationships commonly understood by those skilled in the art. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0053] In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "arrangement", "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0054] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0055] Next, the technical solutions in the present application will be described with reference to the accompanying drawings.

[0056] This embodiment provides a robot driving device, which can solve the problem that the existing inspection robots cannot work in muddy environments and deep-water environments.

[0057] Please refer to Figure 1 and Figure 2 , Figure 1 which is a perspective view of the robot driving device in this embodiment, Figure 2 and

[0058] which is a top view of the robot driving device in this embodiment.

[0059] The robot driving device includes a chassis 10, a lifting screw mechanism 20, and two propulsion mechanisms 30.

[0060] During the above implementation process, the robot driving device can carry the inspection robot body to form an inspection robot. Through the robot driving device, the inspection robot can walk in various environments.

[0061] When the robot driving device is on a hard walking surface, the propulsion mechanisms 30 located on both sides of the chassis 10 work, and their respective spiral drums 31 rotate under the drive of the drive part, thereby jointly driving the inspection robot forward.

[0062] When the robot driving device is in a muddy environment or a water environment, the propulsion mechanism 30 works, the drive part drives the spiral drum 31 to rotate, and the propulsion threads 32 on the surface of the spiral drum 31 will make tunneling movements in the mud, on the mud, in the water, or on the water surface, thereby driving the entire inspection robot forward;

[0063] When the robot driving device is in a deep - water environment, the lifting screw mechanism 20 operates. By controlling the rotation direction of the lifting propeller of the lifting screw mechanism 20, the detection robot can float or dive in the water.

[0064] At the same time, by adjusting the rotation speed and direction of the screw drums 31 of the two propulsion devices, the forward direction and speed of the detection robot can be adjusted.

[0065] In the present disclosure, the propulsion mechanism 30 includes two screw drums 31 and two driving parts, and each screw drum 31 is internally provided with a driving part.

[0066] In the propulsion mechanism 30, the two screw drums 31 are arranged in a row along the side surface of the chassis 10, and the propulsion threads 32 on the surfaces of the two screw drums 31 are arranged in opposite directions. Exemplarily, the propulsion thread 32 of one screw drum 31 is a clockwise helix, and the propulsion thread 32 of the other screw drum 31 is a counter - clockwise helix.

[0067] In the above - mentioned implementation process, two screw drums 31 are arranged on one side surface of the chassis 10, and each screw drum corresponds to a driving part, which can ensure the effective walking of the robot driving device. At the same time, since the directions of the propulsion threads 32 of the two screw drums 31 on the same side of the chassis 10 are opposite, it can ensure the friction force between the screw drum 31 and its contact surface when the propulsion mechanism 30 is working, which is beneficial for the robot driving device to walk on complex ground such as mud and sediment.

[0068] It should be noted that in the present disclosure, the driving part is built into the screw drum 31. In the figure, the driving part is hidden by the screw drum 31, so it is not numbered. At the same time, the structure of the driving part built into the screw drum 31 is prior art. Therefore, the technical solution of the driving part driving the screw drum 31 to rotate will not be elaborated in this article.

[0069] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the robot driving device in this embodiment after hiding some structures.

[0070] In the propulsion mechanism 30, one end of one screw drum 31 is rotatably and floatingly fitted with the chassis 10, and the other end is rotatably and floatingly fitted with the other screw drum 31.

[0071] In the above implementation process, taking two spiral drums 31 on the same side of the chassis 10 as an example, the mutually approaching ends of the two spiral drums 31 are connected by a rotatable and mutually floating mating relationship. The other end of the spiral drum 31 is connected to the chassis 10 by a rotatable and floating mating relationship with the chassis 10. This ensures the normal rotation of the spiral drum 31, also ensures the connection stability between the two spiral drums 31 and the chassis 10, and at the same time improves the obstacle-crossing ability of the robot drive device. When the spiral drum 31 tunnels to an obstacle or an uneven contact surface, due to the floating mating connection relationship between the spiral drum 31 and the chassis 10 and between the two spiral drums 31, the spiral drum 31 can adaptively adjust its height with the obstacle or the uneven contact surface, so as to better generate friction with the contact surface and achieve the purpose of smoothly crossing the obstacle.

[0072] Combined with Figure 4 and Figure 5 , Figure 4 is a schematic diagram of the chassis 10 in this embodiment. Figure 5 is a schematic diagram of the two spiral drums 31 and the hinge shaft 15 in this embodiment.

[0073] End brackets 12 are respectively formed at both ends of the chassis 10. Between the two end brackets 12 on the same side of the chassis 10, an intermediate bracket 13 is further formed on the chassis 10.

[0074] The end bracket 12 is formed with a strip-shaped hole 14 extending in the vertical direction. A rotating shaft 33 is formed at the end of the spiral drum 31, and the rotating shaft 33 is rotatably arranged in the strip-shaped hole 14 and can slide along the extending direction of the strip-shaped hole 14. It should be noted that the end of the rotating shaft 33 passing through the strip-shaped hole 14 is fixed by a fastener or other fixing structure to ensure that the spiral drum 31 and the end bracket 12 do not come off.

[0075] The intermediate bracket 13 is provided with a hinge shaft 15, and the extending direction of the hinge shaft 15 is perpendicular to the extending direction of the strip-shaped hole 14.

[0076] Articulated brackets 34 are arranged at the mutually approaching ends of the two spiral drums 31, and the two articulated brackets 34 are sleeved with each other and are articulated with the hinge shaft 15.

[0077] In the above implementation process, the two spiral drums 31 can float up and down through the hinge shaft 15, and the spiral drum 31 and the chassis 10 can float up and down through the strip holes 14. Therefore, when the spiral drum 31 passes through an obstacle, it can float under the action of the strip holes 14 and the hinge shaft 15 to smoothly pass through the obstacle. At the same time, it should be noted that in a possible implementation manner, the spiral drum 31 includes a rotatable spiral housing and a non-rotatable base. The spiral housing is rotatably arranged on the base. The driving part is built in the spiral housing and fixed to the base to drive the spiral housing to rotate. The hinge bracket 34 is arranged on the surface of the base to connect with the hinge shaft 15, and the rotating shaft 33 is arranged on the surface of the spiral housing to cooperate with the strip hole 14.

[0078] It should be noted that in a possible implementation manner, the end bracket 12 is configured with a magnetic levitation module, which is configured to act on the rotating shaft 33 to drive the rotating shaft 33 to levitate in the strip hole 14. Under the magnetic force provided by the magnetic levitation module, the spiral drum 31 will be in a suspended state relative to the chassis 10 to ensure the smoothness of the spiral drum 31 and the stability of the robot driving device during walking.

[0079] It should be noted that the present disclosure also provides a detection robot. Refer to Figure 6 , Figure 6 which is the top view of the detection robot in this embodiment.

[0080] The robot body is arranged on the chassis 10, and the control module of the robot body is connected to the lifting spiral mechanism 20 and the propulsion mechanism 30.

[0081] The detection robot can adapt to various complex terrains through the robot driving device, such as silt, grassland, sediment or water, etc., and obtain environmental characteristics through the imaging device of the robot body. Exemplarily, when the detection robot is used for detecting a pipeline with silt and full of water, the robot driving device can travel in the silt and water through the propulsion mechanism 30, and can float up or down in the water through the lifting spiral mechanism 20. During the process of the detection robot traveling in the pipeline, the inside of the pipeline is detected through the imaging device of the robot body.

[0082] It should be noted that a tail joint 40 can be arranged under the chassis 10. The tail joint 40 is used to connect with a cable for power supply and signal transmission between the robot body and the robot body.

[0083] In the present disclosure, the robot body includes a plurality of wide-angle cameras 41. The plurality of wide-angle cameras 41 are arranged along the outer contour of the chassis 10 and are all connected to the control module. They are used to acquire image signals at various angles and transmit the image signals at various angles to the control module to generate a panoramic image. By the operation of the plurality of wide-angle cameras 41, the image scenes around the chassis 10 are acquired and processed by the control module to generate a panoramic image, which is beneficial to improving the detection efficiency and detection quality of the detection robot.

[0084] In the present disclosure, the number of wide-angle cameras 41 is six, which are evenly divided into three groups, respectively constituting a front camera assembly, a rear camera assembly, and a side camera assembly.

[0085] The two wide-angle cameras 41 of the front camera assembly are arranged side by side at the front end of the chassis 10, and the wide-angle cameras 41 are used to acquire images in front of the chassis 10.

[0086] The two wide-angle cameras 41 of the rear camera assembly are arranged side by side at the rear end of the chassis 10, and the wide-angle cameras 41 are used to acquire images behind the chassis 10.

[0087] The two wide-angle cameras 41 of the side camera assembly are respectively arranged on both sides of the chassis 10 and face in opposite directions, and are respectively used to acquire images on both sides of the chassis 10.

[0088] It should be noted that in this embodiment, the front camera assembly, the rear camera assembly, and the side camera assembly are all arranged on the upper surface of the chassis. In other specific embodiments, the front camera assembly, the rear camera assembly, and the side camera assembly may be arranged on the lower surface of the chassis.

[0089] Combined with Figure 7 , Figure 7 is a schematic diagram of the three-dimensional imaging device 42 in this embodiment.

[0090] The robot body further includes a three-dimensional imaging device 42. The three-dimensional imaging device 42 is arranged on the surface of the chassis 10 and is connected to the control module. It is used to acquire point cloud data of the detection environment and generate a three-dimensional image through the control module, and acquire image data and generate a panoramic image through the control module.

[0091] The three-dimensional imaging device 42 includes a plurality of fish-eye lenses 43, a top-view camera 44, a mounting seat 45, and a laser ring scanning module 46. The laser ring scanning module 46 is arranged on the surface of the chassis 10 and is connected to the mounting seat 45. The plurality of fish-eye lenses 43 are evenly arranged around the wall surface of the mounting seat 45, and the top-view camera 44 is arranged on the top surface of the mounting seat 45.

[0092] In the above implementation process, the number of fisheye lenses 43 can be four. The four fisheye lenses 43 and the top view camera 44 are used to collect image data, and a panoramic image is stitched through the calculation of the control module. The laser ring setting module can generate a three-dimensional image by collecting laser point cloud data.

[0093] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot driving device, characterized in that, comprising: a chassis, the chassis being formed with a lifting hole penetrating through its upper surface and lower surface; a lifting screw mechanism disposed in the lifting hole and configured to drive the chassis to float or dive in water; two propulsion mechanisms provided on both sides of the chassis, the propulsion mechanism including a spiral drum and a driving part, the driving part driving the spiral drum to rotate to drive the chassis to move forward; the propulsion mechanism includes two spiral drums and two of the driving parts, each of the spiral drums having one of the driving parts built therein, the spiral drum including a rotatable spiral housing and a non-rotatable base, the spiral housing being rotatably provided on the base, and the driving part being built in the spiral housing and fixed to the base to drive the spiral housing to rotate; in the propulsion mechanism, the two spiral drums are arranged in a column along the side surface of the chassis, and the propulsion threads on the surfaces of the two spiral drums are arranged in opposite directions; in the propulsion mechanism, one end of one of the spiral drums is rotatably and floatingly fitted with the chassis, and the other end is rotatably and floatingly fitted with the other spiral drum; both ends of the chassis are respectively formed with end brackets; between the two end brackets on the same side of the chassis, the chassis is further formed with an intermediate bracket; the end bracket is formed with a strip-shaped hole extending in the vertical direction, the end of the spiral drum is formed with a rotating shaft, and the rotating shaft is rotatably provided in the strip-shaped hole and can slide along the extending direction of the strip-shaped hole; the intermediate bracket is provided with a hinge shaft, and the extending direction of the hinge shaft is perpendicular to the extending direction of the strip-shaped hole; both ends of the two spiral drums close to each other are respectively provided with hinge brackets, and the two hinge brackets are sleeved with each other and hinged to the hinge shaft.

2. The robot driving device according to claim 1, characterized in that, the end bracket is provided with a magnetic levitation module configured to act on the rotating shaft to drive the rotating shaft to levitate in the strip-shaped hole.

3. A detection robot, characterized in that, comprising a robot body and the robot driving device according to any one of claims 1-2; the robot body is disposed on the chassis, and the control module of the robot body is connected to the lifting screw mechanism and the propulsion mechanism.

4. The detection robot according to claim 3, characterized in that, the robot body includes a plurality of wide-angle cameras, the plurality of wide-angle cameras are arranged along the outer contour of the chassis, and are all connected to the control module for acquiring image signals at various angles and transmitting the image signals at various angles to the control module to generate a panoramic image.

5. The detection robot according to claim 4, characterized in that, the number of the wide-angle cameras is six, which are evenly divided into three groups, respectively constituting a front camera assembly, a rear camera assembly and a side camera assembly; the two wide-angle cameras of the front camera assembly are arranged side by side at the front end of the chassis, and the wide-angle cameras are used to acquire images in front of the chassis; The two wide-angle cameras of the rear camera assembly are arranged side by side at the rear end of the chassis, and the wide-angle cameras are used to acquire images behind the chassis; The two wide-angle cameras of the side camera assembly are respectively arranged on both sides of the chassis and face in opposite directions, and are respectively used to acquire images on the sides of the chassis.

6. The inspection robot according to claim 5, characterized in that, The robot body further includes a three-dimensional imaging device, which is arranged on the surface of the chassis and is connected to the control module, and is used to acquire point cloud data of the inspection environment and generate a three-dimensional image through the control module, and acquire image data and generate a panoramic image through the control module.

7. The inspection robot according to claim 6, characterized in that, The three-dimensional imaging device includes a plurality of fish-eye lenses, a top-view camera, a mounting seat, and a laser ring scanning module; The laser ring scanning module is arranged on the surface of the chassis and is connected to the mounting seat; A plurality of the fish-eye lenses are evenly arranged around the wall surface of the mounting seat, and the top-view camera is arranged on the top surface of the mounting seat.

Images