An explosion-proof robot for downhole roadway suspension line inspection

Abstract

The application discloses a kind of underground roadway suspension line inspection explosion-proof robot in the technical field of robot, including robot body and track, and the top of robot body is equipped with walking mechanism, and robot body is placed on track by walking mechanism;Control panel and battery are fixedly connected in the inside of robot body, and control panel is electrically connected with sound wave sensor, and sound wave sensor is fixedly connected on robot body;The real-time power of battery is detected by control panel, and the next inspection instruction of current time is received from task center, and the final destination point of the next inspection instruction is input into line model, the power consumption of robot executing the next inspection instruction of current time is judged, so as to facilitate robot to return charging pile and charge.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a suspended wire inspection explosion-proof robot for underground roadways. Background Technology

[0002] In the mining process, underground roadways contain hazardous environments such as toxic and harmful gases, making manual inspections extremely dangerous. Due to the complex road conditions and equipment in mines, it is difficult for surface inspection robots to move around. Therefore, overhead wire inspection robots are used for inspections on the top of the roadways.

[0003] For example, Chinese Patent Publication No. CN105666459B discloses an explosion-proof robot for overhead line inspection in underground roadways, including a monitoring robot body, an obstacle-crossing mechanism, and a walking mechanism. The obstacle-crossing mechanism includes an obstacle-crossing guide rod, a pre-tensioning wheel, a lower support, a guide sleeve, a pre-tensioning spring, a spring adjusting nut, a pin hole, and a guide groove; the walking mechanism includes a pull rope, a bearing seat at the free end of the drive shaft, an upper support, a diamond-shaped bearing seat, a drive wheel, and a drive shaft; the monitoring robot body includes a module mounting frame, an explosion-proof battery, an explosion-proof box, control circuitry within the explosion-proof box, and various sensor modules.

[0004] The robot in this design can crawl smoothly along the pre-set steel cable at the intended speed and has the ability to overcome obstacles such as slopes. However, the robot is still powered by a battery, and during the inspection process, the robot is limited by the battery's own power storage capacity and needs to return to the charging station for recharging in a timely manner. Summary of the Invention

[0005] To address the aforementioned issue of needing to return to a charging station for recharging in a timely manner, the present invention aims to provide an explosion-proof robot for overhead line inspection in underground roadways, capable of determining the power consumption of the robot in executing the next inspection command at the current time, thus facilitating the robot's return to the charging station for recharging.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] An explosion-proof robot for inspecting underground roadways by suspended wire includes a robot body and a track. The robot body is equipped with a walking mechanism on its top and is placed on the track through the walking mechanism. A control panel and a battery are fixedly connected inside the robot body. The control panel is electrically connected to an acoustic sensor, which is fixedly connected to the robot body.

[0008] The control panel is used to receive the next inspection instruction issued by the task center at the current time, input the final destination of the next inspection instruction into the route model, calculate the power consumption A required by the robot, obtain the remaining power of the robot to reach the final destination based on the current battery power, and calculate the power consumption B required between the final destination and the nearest charging pile.

[0009] The control panel compares the power consumption B with the remaining power. If the power consumption B is greater than the remaining power, the process terminates and the robot returns to the nearest charging station after executing the current inspection instruction. If the power consumption B is less than the remaining power, a pass instruction is sent to the control panel, which then executes the next inspection instruction based on the pass instruction.

[0010] Several radio frequency modules are fixedly connected to the track, and the radio frequency modules are electrically connected to the control panel.

[0011] The control panel is also used to continuously transmit radio frequency signals of a certain frequency through the transmitting antenna. When the radio frequency module enters the working area of ​​the transmitting antenna, the radio frequency module will generate an induced current, and the radio frequency module will be activated by obtaining energy. At the same time, the radio frequency module sends a deceleration signal to the control panel, and the control panel reduces the rotation speed of the walking mechanism based on the deceleration signal.

[0012] The above scheme achieves the following beneficial effects: (1) The radio frequency module on the track makes it easier for the robot to adjust its speed, make it easier for the robot to climb or go downhill, reduce power consumption during the inspection process, and improve battery life.

[0013] (2) The acoustic sensor helps to determine whether the track is broken or blocked (due to underground roadway collapse or other reasons), which makes it easier for the robot to change the inspection route and continue the inspection.

[0014] (3) By monitoring the battery power, the control panel can determine the power consumption of the robot in executing the next inspection command at the current time, and the rationality of the robot executing the next inspection command sent by the task center. This facilitates the robot to return to the charging station in time for charging and ensures the robot's cruise efficiency.

[0015] Furthermore, a battery is fixedly connected inside the robot body. The battery includes an inner shell and several cells. An outer shell is fixedly connected to the outer wall of the inner shell, and a gap is provided between the inner shell and the outer shell.

[0016] The outer casing contains several pipes arranged circumferentially on the casing. The end of each pipe away from the casing is connected to a liquid storage tank. The liquid storage tank contains substances including, but not limited to, fire-retardant adhesive of model F860. Each pipe is connected to a first pipe and a second pipe. The pipes are connected to a gap through the first pipe, and a first solenoid valve is connected to the first pipe. The second pipe is located inside the casing and is connected to a second solenoid valve. The first and second solenoid valves are normally closed and are electrically connected to the control panel.

[0017] A temperature sensor is fixedly connected to one side of the battery. The probe of the temperature sensor is located inside the battery, and the temperature sensor is electrically connected to the control panel.

[0018] The control panel compares the real-time temperature data detected by the temperature sensor with a set threshold. If the real-time temperature data is less than the threshold, the process terminates; if the real-time temperature data is greater than the threshold, the battery circuit switch is disconnected and the first solenoid valve is activated.

[0019] Beneficial effects: The temperature sensor detects the internal temperature of the battery, allowing the control panel to cut off power based on the internal temperature of the robot. During charging and inspection, the first solenoid valve is opened, and fire-retardant glue is injected into the cavity through the first pipe, preventing outside air from entering the battery and ensuring that the internal conditions for combustion are not met, thus preventing combustion and providing an explosion-proof function.

[0020] Furthermore, the control panel is also used to calculate the change value of real-time temperature data within a certain period of time. If the change value is greater than the set warning value, the first solenoid valve and the second solenoid valve are activated. If the change value is less than the set warning value, the real-time temperature data is compared with the set threshold. If the real-time temperature data is less than the threshold, the process is terminated. If the real-time temperature data is greater than the threshold, the first solenoid valve is activated.

[0021] Beneficial effects: The control panel can cut off power based on the internal temperature of the robot. At the same time, the control panel can also open the first and second solenoid valves based on the rate of battery heating. Fireproof glue is injected through the second pipe to fill the space inside the battery. The fireproof glue can isolate adjacent battery cells.

[0022] Furthermore, a charging pile is installed on one side of the track, and an inclined ramp is fixedly connected to the side of the track near the charging pile. The side of the ramp away from the track is lower than the side of the ramp near the track, and the side of the ramp away from the track is parallel to the ground.

[0023] Beneficial effects: The inclined ramp reduces the power required for the robot's return trip, making it easier for the robot to recharge during the return trip; the side of the ramp away from the track is parallel to the ground, making it easier for the robot's charging port to connect to the charging station.

[0024] Furthermore, the deceleration signal includes a climbing command, a descending command, and an arrival command. The control panel reduces the rotation speed of the walking mechanism based on the climbing and descending commands; the control panel sends a charging command to the task center based on the arrival command.

[0025] Beneficial effects: The climbing, descending, and arrival commands correspond to tracks with different inclines, which can reduce the robot's energy consumption during inspection and facilitate robot inspection; the arrival command indicates that the robot is charging, so the task center will not send the next inspection command to the robot.

[0026] Furthermore, several bristles are fixedly connected to the robot body, and the bristles are located above the track.

[0027] Beneficial effects: During robot inspection, the brush bristles facilitate the cleaning of dust on the track, preventing dust from sticking to the wheels of the walking mechanism, thus making it easier for the robot to perform inspections.

[0028] Furthermore, several patterns are engraved on the top of the track.

[0029] Beneficial effects: The pattern can increase the coefficient of friction between the wheels and the track of the walking mechanism, making it easier for the robot to move on the track.

[0030] Furthermore, a center of gravity detection mechanism is fixedly connected inside the robot body. The center of gravity detection mechanism includes a shell, and a central shaft is fixedly connected to the inner wall of the shell. The central shaft is located at one-quarter of the height of the shell, and a pull rope is rotatably engaged on the central shaft.

[0031] A striking block is fixedly connected to one end of the pull rope away from the central axis. The lower part of the housing is circular. A first pressure sensor and a second pressure sensor are fixedly connected to the inner wall of the housing. The first pressure sensor and the second pressure sensor are located on both sides of the striking block. When the striking block moves around the central axis to the farthest point, the striking block can contact the first pressure sensor and the second pressure sensor. The first pressure sensor and the second pressure sensor are electrically connected to the control panel.

[0032] The control panel is also used to receive pressure data from the first pressure sensor and the second pressure sensor. If the pressure data is greater than a set threshold, the control panel will slow down the rotation speed of the walking mechanism; if the pressure data is less than the set threshold, the process will terminate.

[0033] At the same time, the control panel calculates the phase difference between the receiving times of the first and second pressure sensors. If the phase difference is greater than the blank time, the process terminates. If the phase difference is less than the blank time, the control panel marks the road segment and sends it to the task center. The control panel also slows down the rotation speed of the walking mechanism.

[0034] Beneficial effects: Since the robot moves on the track, the striking block remains vertical due to its own weight. By observing the pressure applied by the striking block to the first and second pressure sensors, it's possible to determine whether the robot is climbing or descending a slope. This allows the control panel to adjust the power of the walking mechanism, reducing energy consumption and improving the robot's cruising capability. Calculating the time difference between the reception values ​​of the first and second pressure sensors via the control panel helps determine if there are obstructions or unevenness on the track, prompting staff to make repairs and facilitating subsequent robot inspections. Attached Figure Description

[0035] Figure 1This is a schematic diagram of the suspended inspection explosion-proof robot according to an embodiment of the present invention.

[0036] Figure 2 for Figure 1 A cross-sectional view of a storage battery.

[0037] Figure 3 for Figure 1 A cross-sectional view of the center of gravity detection mechanism. Detailed Implementation

[0038] The following detailed description illustrates the specific implementation method:

[0039] The reference numerals in the accompanying drawings include: robot body 1, walking mechanism 2, brush 21, track 3, ramp 31, radio frequency module 32, battery 4, shell 41, battery cell 42, temperature sensor 43, control panel 5, center of gravity detection mechanism 6, central axis 60, first pressure sensor 61, second pressure sensor 62, pull rope 63, striking block 64, pipe 7, first tube 71, second tube 72.

[0040] The basic implementation examples are as follows: Figures 1 to 3 As shown: An explosion-proof robot for inspecting underground roadways by suspended wire includes a robot body 1 and a track 3. The top of the robot body 1 is equipped with a walking mechanism 2, and the robot body 1 is placed on the track 3 through the walking mechanism 2. A control panel 5 and a battery 4 are fixedly connected inside the robot body 1. The control panel 5 is electrically connected to an acoustic sensor, and the acoustic sensor is fixedly connected to the robot body 1.

[0041] The control panel 5 is used to receive the next inspection instruction issued by the task center at the current time, input the final destination of the next inspection instruction into the route model, calculate the power consumption A required by the robot, obtain the remaining power of the robot to reach the final destination based on the current power of the battery 4, and calculate the power consumption B required between the final destination and the nearest charging station; for example, if the remaining power of the battery 4 is 85% at the current time, the power of the battery 4 required by the next inspection instruction is 30%, the remaining power of the battery 4 after the robot completes the next inspection instruction is 55%, and the power of the battery 4 required by the robot to reach the nearest charging station is 20%, that is, the robot can still complete an inspection instruction for a short distance.

[0042] Control panel 5 compares the power consumption B with the remaining power. If the power consumption B is greater than the remaining power, the process terminates and the robot returns to the nearest charging station after executing the current inspection instruction. If the power consumption B is less than the remaining power, a pass instruction is sent to control panel 5, and control panel 5 executes the next inspection instruction based on the pass instruction.

[0043] Several radio frequency modules 32 are fixedly connected to the track 3, and the radio frequency modules 32 are electrically connected to the control panel 5.

[0044] The control panel 5 is also used to continuously transmit radio frequency signals of a certain frequency through the transmitting antenna. When the radio frequency module 32 enters the working area of ​​the transmitting antenna, the radio frequency module 32 will generate an induced current, and the radio frequency module will be activated by obtaining energy. At the same time, the radio frequency module 32 sends a deceleration signal to the control panel 5, and the control panel 5 reduces the rotation speed of the walking mechanism 2 based on the deceleration signal.

[0045] The specific implementation process is as follows:

[0046] The radio frequency module 32 on track 3 allows the robot to pre-adjust its travel speed, making it easier for the robot to climb or descend slopes, reducing power consumption during inspection and improving battery life.

[0047] The acoustic sensor helps determine whether track 3 is broken or blocked (due to underground tunnel collapse or other reasons), allowing the robot to change its inspection route and continue the inspection.

[0048] Control panel 5 monitors the battery level of battery 4, which can determine the power consumption of the robot in executing the next inspection command at the current time, and the rationality of the robot executing the next inspection command sent by the task center. This facilitates the robot's timely return to the charging station for charging, ensuring the robot's patrol efficiency.

[0049] Example 2

[0050] The difference from the above embodiments is that a battery 4 is fixedly connected inside the robot body 1. The battery 4 includes an inner shell and a number of battery cells 42. An outer shell 41 is fixedly connected to the outer wall of the inner shell, and a gap is provided between the inner shell and the outer shell 41.

[0051] The outer casing 41 has several pipes 7 connected inside, and the pipes 7 are arranged circumferentially on the outer casing 41. The end of the pipe 7 away from the outer casing 41 is connected to a liquid storage tank. The liquid storage tank contains substances including but not limited to fireproof adhesive of model F860. Each pipe 7 is connected to a first pipe 71 and a second pipe 72. The pipe 7 is connected to a gap through the first pipe 71, and a first solenoid valve is connected to the first pipe 71. The second pipe 72 is located inside the outer casing 41, and a second solenoid valve is connected to the second pipe 72. The first solenoid valve and the second solenoid valve are normally closed. The first solenoid valve and the second solenoid valve are electrically connected to the control panel 5.

[0052] A temperature sensor 43 is fixedly connected to one side of the battery 4. The probe of the temperature sensor 43 is located inside the battery 4, and the temperature sensor 43 is electrically connected to the control panel 5.

[0053] The control panel 5 compares the real-time temperature data detected by the temperature sensor 43 with a set threshold. If the real-time temperature data is less than the threshold, the process is terminated. If the real-time temperature data is greater than the threshold, the circuit switch of the battery 4 is disconnected and the first solenoid valve is activated.

[0054] The specific implementation process is as follows: The temperature inside the battery 4 is detected by the temperature sensor 43, so that the control panel 5 can cut off the power according to the temperature inside the robot. During the charging process and the inspection process, the first solenoid valve is opened, and the pipe 7 injects fireproof glue into the cavity through the first pipe 71 to isolate the outside air from entering the battery 4, so that the internal conditions of the battery 4 do not meet the combustion conditions and the internal conditions of the battery 4 cannot be burned, thus playing a role in explosion prevention.

[0055] Example 3

[0056] The difference from the above embodiments is that the control panel 5 is also used to calculate the change value of real-time temperature data within a certain period of time. If the change value is greater than the set warning value, the first solenoid valve and the second solenoid valve are activated. If the change value is less than the set warning value, the real-time temperature data is compared with the set threshold. If the real-time temperature data is less than the threshold, the process is terminated. If the real-time temperature data is greater than the threshold, the first solenoid valve is activated.

[0057] The specific implementation process is as follows: Control panel 5 can cut off power according to the internal temperature of the robot. At the same time, control panel 5 can also open the first solenoid valve and the second solenoid valve according to the heating rate of battery 4. Pipe 7 injects fireproof glue through the second pipe 72 to fill the space inside battery 4. The fireproof glue can isolate adjacent battery cells 42. The fireproof glue has two functions: first, it has an insulating effect; second, it prevents some abnormal battery cells 42 from affecting other battery cells 42. This can reduce the impact range of abnormal battery cells 42 and reduce the battery cell 42 loss caused by the influence of abnormal battery cells 42.

[0058] Example 4

[0059] The difference from the above embodiment is that a charging pile is provided on one side of the track 3, and an inclined ramp 31 is fixedly connected to the side of the track 3 near the charging pile. The side of the ramp 31 away from the track 3 is lower than the side of the ramp 31 near the track 3, and the side of the ramp 31 away from the track 3 is parallel to the ground.

[0060] The specific implementation process is as follows: The inclined ramp 31 can reduce the power required for the robot's return trip, making it easier for the robot to recharge during the return trip; the side of the ramp 31 away from the track 3 is parallel to the ground, making it easier for the robot's charging port to connect to the charging pile.

[0061] Example 5

[0062] The difference from the above embodiments is that the deceleration signal includes a climbing command, a descending command, and an arrival command. The control panel 5 reduces the rotation speed of the walking mechanism 2 based on the climbing command and the descending command; the control panel 5 sends a charging command to the task center based on the arrival command.

[0063] The specific implementation process is as follows: the climbing command, the descending command, and the arrival command correspond to different slopes of track 3, which can reduce the energy consumption of the robot during the inspection process and facilitate robot inspection; among them, the arrival command can indicate that the robot is charging, so that the task center will no longer send the next inspection command to the robot.

[0064] Example 6

[0065] The difference from the above embodiments is that a number of bristles 21 are fixedly connected to the robot body 1, and the bristles 21 are located above the track 3.

[0066] The specific implementation process is as follows: During the robot inspection process, the brush 21 facilitates the cleaning of dust on the track 3, so that the dust does not stick to the wheels of the walking mechanism 2, making it easier for the robot to carry out inspection.

[0067] Example 7

[0068] The difference from the above embodiment is that the top of track 3 is engraved with several patterns.

[0069] The specific implementation process is as follows: The pattern can increase the coefficient of friction between the wheels of the walking mechanism 2 and the track 3, making it easier for the robot to move on the track 3.

[0070] Example 8

[0071] The difference from the above embodiments is that a center of gravity detection mechanism 6 is fixedly connected inside the robot body 1. The center of gravity detection mechanism 6 includes a housing, and a central shaft 60 is fixedly connected to the inner wall of the housing. The central shaft 60 is located at one-quarter of the height direction of the housing, and a pull rope 63 is rotatably engaged on the central shaft 60.

[0072] A striking block 64 is fixedly connected to one end of the pull rope 63 away from the central axis 60. The lower part of the housing is circular. A first pressure sensor 61 and a second pressure sensor 62 are fixedly connected to the inner wall of the housing. The first pressure sensor 61 and the second pressure sensor 62 are located on both sides of the striking block 64. When the striking block 64 moves to the farthest point around the central axis 60, the striking block 64 can contact the first pressure sensor 61 and the second pressure sensor 62. The first pressure sensor 61 and the second pressure sensor 62 are electrically connected to the control panel 5.

[0073] The control panel 5 is also used to receive pressure data from the first pressure sensor 61 and the second pressure sensor 62. If the pressure data is greater than a set threshold, the control panel 5 will slow down the rotation speed of the walking mechanism 2; if the pressure data is less than the set threshold, it will terminate. For example, when the robot moves on the inclined track 3, the striking block 64 will be biased towards the first pressure sensor 61 and the second pressure sensor 62 on one side, where the first pressure sensor 61 corresponds to the downhill situation and the second pressure sensor 62 corresponds to the uphill situation.

[0074] Simultaneously, the control panel 5 calculates the phase difference between the receiving times of the first pressure sensor 61 and the second pressure sensor 62. If the phase difference is greater than the blank time, the process terminates; if the phase difference is less than the blank time, the control panel 5 marks the road segment and sends it to the task center. The control panel 5 also slows down the rotation speed of the walking mechanism 2. For example, when there are debris on the track 3 or the track 3 is uneven, the robot's movement is not linear, causing the striking block 64 to repeatedly strike the first pressure sensor 61 and the second pressure sensor 62, thereby achieving detection.

[0075] The specific implementation process is as follows: Since the robot moves on track 3, the striking block 64 remains vertical due to its own weight. By observing the pressure applied by the striking block 64 to the first pressure sensor 61 and the second pressure sensor 62, it is possible to determine whether the robot is climbing or descending a slope. This allows the control panel 5 to adjust the power of the walking mechanism 2, reducing energy consumption and improving the robot's cruising capability. The control panel 5 calculates the time difference between the reception of the first pressure sensor 61 and the second pressure sensor 62, which helps determine if there are any obstacles or unevenness on track 3, prompting staff to make repairs and facilitating subsequent robot inspections.

[0076] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A wire-guided inspection explosion-proof robot for underground roadways, characterized in that: The system includes a robot body and a track. The robot body has a walking mechanism on its top, and the robot body is placed on the track through the walking mechanism. A control panel and a battery are fixedly connected inside the robot body. The control panel is electrically connected to a sound wave sensor, and the sound wave sensor is fixedly connected to the robot body. The control panel is used to detect the real-time power of the battery, receive the next inspection instruction issued by the task center at the current time, input the final destination of the next inspection instruction into the route model, calculate the power consumption A required by the robot, obtain the remaining power of the robot to reach the final destination based on the current battery power, and calculate the power consumption B required between the final destination and the nearest charging pile. The control panel compares the power consumption B with the remaining power. If the power consumption B is greater than the remaining power, the process terminates and the robot returns to the nearest charging station after executing the current inspection instruction. If the power consumption B is less than the remaining power, a pass instruction is sent to the control panel, which then executes the next inspection instruction based on the pass instruction. Several radio frequency modules are fixedly connected to the track, and the radio frequency modules are electrically connected to the control panel. The control panel is also used to continuously transmit radio frequency signals of a certain frequency through the transmitting antenna. When the radio frequency module enters the working area of ​​the transmitting antenna, the radio frequency module will generate an induced current, and the radio frequency module will be activated by obtaining energy. At the same time, the radio frequency module sends a deceleration signal to the control panel, and the control panel reduces the rotation speed of the walking mechanism based on the deceleration signal. A battery is fixedly connected inside the robot body. The battery includes an inner shell and several cells. An outer shell is fixedly connected to the outer wall of the inner shell, and there is a gap between the inner shell and the outer shell. The outer casing contains several pipes arranged circumferentially on the casing. The end of each pipe away from the casing is connected to a liquid storage tank. Each pipe is connected to a first pipe and a second pipe. The pipes are connected to a gap through the first pipe, and a first solenoid valve is connected to the first pipe. The second pipe is located inside the casing and a second solenoid valve is connected to the second pipe. The first and second solenoid valves are electrically connected to the control panel. A temperature sensor is fixedly connected to one side of the battery. The probe of the temperature sensor is located inside the battery, and the temperature sensor is electrically connected to the control panel. The control panel compares the real-time temperature data detected by the temperature sensor with a set threshold. If the real-time temperature data is less than the threshold, the process terminates. If the real-time temperature data is greater than the threshold, the battery circuit switch is disconnected and the first solenoid valve is activated. The control panel is also used to calculate the change value of real-time temperature data within a certain period of time. If the change value is greater than the set warning value, the first solenoid valve and the second solenoid valve are activated. If the change value is less than the set warning value, the real-time temperature data is compared with the set threshold. If the real-time temperature data is less than the threshold, the process is terminated. If the real-time temperature data is greater than the threshold, the first solenoid valve is activated.

2. The explosion-proof robot for overhead line inspection of underground roadways according to claim 1, characterized in that: Charging piles are installed on one side of the track. An inclined ramp is fixedly connected to the side of the track closest to the charging pile. The side of the ramp away from the track is lower than the side of the ramp close to the track, and the side of the ramp away from the track is parallel to the ground.

3. The explosion-proof robot for overhead line inspection of underground roadways according to claim 1, characterized in that: The deceleration signals include climbing commands, descending commands, and arrival commands. The control panel reduces the rotation speed of the walking mechanism based on the climbing and descending commands; the control panel sends a charging command to the task center based on the arrival command.

4. The explosion-proof robot for overhead line inspection of underground roadways according to claim 1, characterized in that: Several bristles are fixedly connected to the robot body, and the bristles are located above the track.

5. The explosion-proof robot for overhead line inspection of underground roadways according to claim 1, characterized in that: Several patterns are engraved on the top of the track.

6. The explosion-proof robot for overhead line inspection of underground roadways according to claim 1, characterized in that: The robot body is fixedly connected to a center of gravity detection mechanism. The center of gravity detection mechanism includes a shell, and a central shaft is fixedly connected to the inner wall of the shell. The central shaft is located at one-quarter of the height of the shell, and a pull rope is rotatably engaged on the central shaft. A striking block is fixedly connected to one end of the pull rope away from the central axis. The lower part of the housing is circular. A first pressure sensor and a second pressure sensor are fixedly connected to the inner wall of the housing. The first pressure sensor and the second pressure sensor are located on both sides of the striking block. When the striking block moves around the central axis to the farthest point, the striking block can contact the first pressure sensor and the second pressure sensor. The first pressure sensor and the second pressure sensor are electrically connected to the control panel. The control panel is also used to receive pressure data from the first pressure sensor and the second pressure sensor. If the pressure data is greater than a set threshold, the control panel will slow down the rotation speed of the walking mechanism; if the pressure data is less than the set threshold, the operation will terminate. At the same time, the control panel calculates the phase difference between the receiving times of the first and second pressure sensors. If the phase difference is greater than the blank time, the process terminates. If the phase difference is less than the blank time, the control panel marks the road segment and sends it to the task center. The control panel also slows down the rotation speed of the walking mechanism.

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