Rail inspection explosion-proof robot monitoring system

Abstract

The present application belongs to the technical field of inspection robots, and specifically discloses a track inspection explosion-proof robot monitoring system, which comprises a sliding groove, a support and a monitoring mechanism arranged on the support; the sliding groove is arranged on three sidewalls of a pipe gallery except the bottom; the support is in sliding connection with the sliding groove; the support comprises two vertical rods and a horizontal rod; the two ends of the horizontal rod are rotatably connected with the top of the two vertical rods; the vertical rods and the horizontal rod are telescopic; the bottom of the vertical rod is provided with a moving part for controlling the movement of the vertical rod along the sliding groove; the monitoring mechanism is connected with a track wheel; the vertical rods and the horizontal rod are provided with tracks which are in communication with each other on the sidewalls in the pipe gallery; the monitoring mechanism is connected with the tracks through the track wheel; and the track wheel is connected with a power source for controlling the movement of the track wheel along the tracks. By using the sliding groove and the support, the movement of the monitoring mechanism along the sliding groove is controlled, and the monitoring mechanism can move on each side rod of the support, so that the monitoring of each direction and different height positions in the pipe gallery is realized.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology and relates to a monitoring system for an explosion-proof robot for track inspection. Background Technology

[0002] With the rapid development of urban power grids, modern urban life and production have become more reliant on electricity than ever before. Modern urban construction places higher demands on power transmission, leading to the replacement of overhead power lines with underground high-voltage cables, whose numbers are rising dramatically. Therefore, monitoring underground high-voltage cables and the tunnel environment has become particularly important. Traditional monitoring methods rely on manual inspections, but these methods are costly in terms of manpower and resources, suffer from poor tunnel communication quality, fail to provide timely warnings of problems, and expose tunnels to poor air circulation, toxic, harmful, flammable, and explosive gases that pose a threat to human safety. Furthermore, real-time monitoring is not possible.

[0003] In the prior art, patent CN202310269881.6 discloses a track inspection robot, including a track and a robot body. The robot body includes a monitoring device, a power device, a guiding device, and a control device. The power device includes a battery, a motor, and a drive wheel, which is mounted on one side wall of the robot body. The drive wheel enables the robot body to move along the track. The guiding device includes a vertical floating support and / or a lateral positioning floating support. In this system, the robot runs on the track via the drive wheel and utilizes the monitoring device to perform on-site inspections.

[0004] However, when the inspection robot patrols along the track, the track's position is fixed. If it is located on one side of the utility tunnel, the robot cannot freely adjust its patrol position, nor can it move closer to the side of the emergency to collect more accurate information. Furthermore, the monitoring device on the robot is in a fixed position and cannot monitor various locations and heights within the utility tunnel, thus limiting its monitoring range. Summary of the Invention

[0005] The purpose of this invention is to provide a track inspection explosion-proof robot monitoring system to solve the problem of limited monitoring range due to the inability to monitor various locations and heights within the utility tunnel.

[0006] To achieve the above objectives, the basic solution of the present invention is: a monitoring system for an explosion-proof robot for track inspection, comprising a chute, a support, and a monitoring mechanism mounted on the support;

[0007] The chute is provided on the other three side walls of the pipe gallery except for the bottom, and the chute extends along the setting direction of the pipe gallery;

[0008] The bracket is slidably connected to the slide groove. The bracket includes two vertical rods and one horizontal rod. The two ends of the horizontal rod are respectively rotatably hinged to the tops of the two vertical rods. Both the vertical rods and the horizontal rods are telescopic. The bottom of the vertical rods is provided with a moving part to control their movement along the slide groove.

[0009] The monitoring mechanism is connected to a track wheel. The vertical and horizontal rods are provided with interconnected tracks on the side walls facing the pipe gallery. The monitoring mechanism is connected to the track wheel, and the track wheel is connected to a power source that controls its movement along the track.

[0010] The working principle and beneficial effects of this basic scheme are as follows: the monitoring mechanism is set in the track of the support, and the support is set in the grooves on the three side walls of the pipe gallery. In this way, the support drives the monitoring mechanism to move along the grooves to monitor the entire pipe gallery. At the same time, the monitoring mechanism slides in the track of the support to monitor information on different sides of the pipe gallery, realizing the monitoring of the orientation and different height positions of each side of the pipe gallery. The monitoring range is wider and more targeted, so as to detect dangerous situations in time and carry out explosion-proof treatment and maintenance and rectification.

[0011] The vertical and horizontal bars of the support frame are telescopic, allowing for height adjustment of the monitoring equipment and facilitating its use. For irregular structures within the utility tunnel, such as uneven wall heights on either side or a tilted top wall, the vertical and horizontal bars can be extended and swung to adapt to the structure, ensuring smooth equipment movement.

[0012] Furthermore, it also includes an angle control mechanism, which comprises a telescopic mechanism, a housing, and a mounting platform;

[0013] One end of the telescopic mechanism is connected to the track wheel, and the other end is rotatably connected to the mounting platform. The monitoring mechanism is mounted on the mounting platform.

[0014] The outer shell is made of transparent material and is placed outside the monitoring mechanism. One end of the outer shell is connected to the fixed end of the telescopic mechanism. A ball bearing is provided on one side of the mounting platform, and a spiral groove is provided on the inner wall of the outer shell. The ball bearing is slidably connected to the spiral groove.

[0015] The telescopic mechanism controls the installation platform and monitoring mechanism to extend and retract vertically or horizontally, thereby adjusting the relative position of the monitoring mechanism and the equipment in the pipe gallery, which is conducive to centralized signal acquisition and use.

[0016] Meanwhile, the mounting platform can slide along the spiral groove via ball bearings. When the telescopic mechanism pushes the mounting platform relative to the side where the telescopic mechanism is located, the mounting platform rotates along the direction of the threaded groove and moves away from the telescopic mechanism, so that the monitoring mechanism on the mounting platform rotates while moving up and down or left and right, realizing distance and angle adjustment, and can detect information from multiple directions.

[0017] Furthermore, the outer shell is made of transparent material, which will not affect the information collection of the monitoring agency, and the outer shell can also protect the monitoring agency.

[0018] Furthermore, the angle control mechanism also includes a gear and a gear post;

[0019] The monitoring mechanism is mounted on the end face of the gear, and the gear is hinged to the mounting platform;

[0020] The gear column passes through the center of the mounting platform and is connected to the end of the housing away from the telescopic mechanism. The gear column is provided with several annular toothed plates, and the gear always meshes with the annular toothed plates on the gear column.

[0021] By placing the gear post at the center of the mounting platform and connecting it to the housing, the movement of the mounting platform will not affect the gear post's position. As the mounting platform rotates and moves along the spiral groove of the housing, the gear meshes with the gear post. With the gear post stationary, the relative movement between the two causes the gear to rotate, driving the monitoring mechanism on it to adjust its angle. This allows for the collection of information from different angles, expanding the information acquisition range and facilitating its use.

[0022] Furthermore, the vertical rod includes rod one and rod two. Rod one is hollow inside, and its bottom is connected to a movable component. The bottom of rod two extends into rod one from its top and is slidably and sealed to the inner wall of rod one. The bottom of rod one is connected to an integrated inflation and deflation mechanism, which is installed on the outer wall of rod one.

[0023] The vertical rod has a simple structure. By inflating or deflating the rod through an integrated inflation and deflation mechanism, the extension or retraction of the second rod can be achieved, thereby adjusting the overall length of the vertical rod.

[0024] Furthermore, the telescopic mechanism includes a piston cylinder, a piston plate, and a piston rod. The top of the piston cylinder is connected to the integrated inflation and deflation mechanism. The piston plate is slidably connected to the piston cylinder on the side where the piston cylinder and the integrated inflation and deflation mechanism are connected. One end of the piston rod is rotatably connected to the bottom of the piston plate, and the other end is fixedly connected to the mounting platform.

[0025] The telescopic mechanism has a simple structure. When the integrated inflation and deflation mechanism fills or deflates gas into the piston cylinder, the control piston plate and piston rod work together to move the mounting platform, making operation simple.

[0026] Furthermore, it also includes at least two temperature sensors, which are arranged on both sides of the monitoring mechanism relative to the vertical rod. The output terminals of the temperature sensors are respectively connected to the first and second input terminals of the temperature comparator. The output terminal of the temperature comparator is connected to the positive control terminal of the power source, and the output terminal of the temperature comparator is connected to the negative control terminal of the power source after passing through a NOT gate.

[0027] The monitoring unit is mounted on a bracket. By detecting the corresponding temperature signals through temperature sensors on both sides, the monitoring unit can be controlled to move to the side with a higher temperature, which is beneficial for collecting any possible abnormal information.

[0028] Furthermore, the transverse rod includes an outer rod and an inner rod, one end of the inner rod extends into the outer rod, and an elastic element is provided between this end of the inner rod and the inner wall of the outer rod.

[0029] The horizontal bar extends and retracts via an elastic element, resulting in a simple structure that is easy to use.

[0030] Furthermore, it also includes a remote terminal, which the monitoring agency connects to via a wireless communication module.

[0031] Data collected by monitoring agencies can be transmitted to remote terminals, enabling remote staff to obtain testing information in a timely manner. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the track inspection explosion-proof robot monitoring system of the present invention;

[0033] Figure 2 This is an enlarged schematic diagram of the monitoring mechanism of the track inspection explosion-proof robot monitoring system of the present invention.

[0034] The reference numerals in the accompanying drawings include: 1. Slide groove; 2. Bracket; 3. Monitoring mechanism; 4. Vertical rod; 5. Horizontal rod; 6. Moving part; 7. Track wheel; 8. Track; 9. Telescopic mechanism; 10. Housing; 11. Mounting platform; 12. Ball bearing; 13. Spiral groove; 14. Gear column; 15. Gear; 16. Inflator / evacuator integrated mechanism; 17. Piston cylinder; 18. Piston plate; 19. Piston rod; 20. Temperature sensor; 21. Annular groove. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0038] This invention discloses a monitoring system for an explosion-proof robot used for track inspection, such as... Figure 1 and Figure 2 As shown, the system includes a chute 1, a support 2, and a monitoring mechanism 3 mounted on the support 2. The chute 1 is installed on the three side walls of the pipe gallery (excluding the bottom, such as the left, right, and top) and extends along the direction of the pipe gallery. The monitoring mechanism 3 includes a camera, a temperature sensor, a noise sensor, a humidity sensor, and a gas concentration sensor, etc.

[0039] The support 2 is slidably connected to the slide 1. The support 2 includes two vertical rods 4 and one horizontal rod 5. The two ends of the horizontal rod 5 are rotatably hinged to the tops of the two vertical rods 4 respectively. Both the vertical rods 4 and the horizontal rod 5 are telescopic, allowing for height adjustment of the monitoring mechanism 3. The bottom of the vertical rods 4 is provided with a moving part 6 to control their movement along the slide 1. The moving part 6 can be an existing trolley, or a moving wheel and drive assembly (such as a bidirectional motor) that cooperates with the slide 1.

[0040] The monitoring mechanism 3 is connected to the track wheel 7. The vertical rod 4 and the horizontal rod 5 are provided with interconnected tracks 8 on the side wall facing the inside of the pipe gallery. The monitoring mechanism 3 is connected to the track 8 through the track wheel 7. The track wheel 7 is connected to a power source, such as a bidirectional motor, to control its movement along the track 8.

[0041] The monitoring mechanism 3 is set in the track 8 of the support 2, and the support 2 is set in the groove 1 on the three side walls of the pipe gallery. In this way, the support 2 drives the monitoring mechanism 3 to move along the groove 1 to monitor the entire pipe gallery. At the same time, the monitoring mechanism 3 slides in the track 8 of the support 2 to monitor the information of different sides of the pipe gallery, so as to realize the monitoring of the orientation and different height positions of each side of the pipe gallery, with a wider monitoring range and better targeting.

[0042] In a preferred embodiment of the present invention, the monitoring system of the track 8 inspection robot further includes an angle control mechanism, which includes a telescopic mechanism 9, a housing 10, and a mounting platform 11. The telescopic mechanism 9 can be a cylinder, hydraulic cylinder, or other similar mechanism, and the mounting platform 11 is made of transparent material. One end of the telescopic mechanism 9 is connected to the track wheel 7, and the other end is rotatably connected to the mounting platform 11. The monitoring mechanism 3 is mounted on the mounting platform 11, with the monitoring end of the monitoring mechanism 3 facing outward from the mounting platform 11.

[0043] The outer shell 10 is made of transparent material (such as transparent plastic), which will not affect the information collection of the monitoring mechanism 3. The outer shell 10 can also protect the monitoring mechanism 3 (dustproof and impact-proof). The outer shell 10 is placed on the outside of the monitoring mechanism 3. One end of the outer shell 10 is connected to the fixed end of the telescopic mechanism 9 (welded, glued, etc.). A ball bearing 12 is fixed on one side of the mounting platform 11 (such as glued, welded, etc.). A spiral groove 13 is provided on the inner wall of the outer shell 10, and the ball bearing 12 is slidably connected to the spiral groove 13.

[0044] The telescopic mechanism 9 controls the mounting platform 11 and the monitoring mechanism 3 to extend and retract vertically or horizontally. The mounting platform 11 can slide along the spiral groove 13 via ball bearings 12. When the telescopic mechanism 9 pushes or pulls the mounting platform 11 relative to the side where the telescopic mechanism 9 is located, the mounting platform 11 rotates along the direction of the threaded groove and moves away from the telescopic mechanism 9. This causes the monitoring mechanism 3 on the mounting platform 11 to rotate while moving vertically or horizontally, achieving distance and angle adjustment and enabling the detection of information from multiple directions.

[0045] More preferably, the angle control mechanism further includes a gear 15 and a gear post 14. The monitoring mechanism 3 is fixedly installed (e.g., bonded, welded, inlaid, etc.) on the end face of the gear 15, and the gear 15 is hinged to the mounting platform 11. The gear post 14 passes through the center of the mounting platform 11 and is connected to the end of the housing 10 away from the telescopic mechanism 9. The telescopic rod of the telescopic mechanism 9 is located on the side of the gear 15 and does not affect the movement of the gear 15. The gear post 14 is provided with several annular toothed plates, and the gear 15 always meshes with the annular toothed plates on the gear post 14. The gear post 14 is similar to a rack, but the gear 15 changes position as the mounting platform 11 rotates. Therefore, annular toothed plates are evenly arranged on the gear post 14 in sequence, so that the gear 15 can still mesh with the toothed plates on the gear post 14 when it rotates to any position, and the mounting platform 11 and the gear post 14 do not contact each other.

[0046] With the gear column 14 positioned at the center of the mounting platform 11 and connected to the housing 10, movement of the mounting platform 11 will not affect the setting of the gear column 14. During the rotation and movement of the mounting platform 11 along the spiral groove 13 of the housing 10, the gear 15 meshes with the gear column 14. While the gear column 14 remains stationary, the relative movement between the two causes the gear 15 to rotate, driving the monitoring mechanism 3 on it to adjust its angle, collecting information from different angles, expanding the information collection range, and facilitating its use.

[0047] In a preferred embodiment of the present invention, the vertical rod 4 includes a first rod and a second rod. The first rod is hollow inside, and its bottom is connected to the movable member 6. The bottom of the second rod extends into the first rod from its top and is slidably and sealingly connected to the inner wall of the first rod. The bottom of the first rod is connected to an integrated inflation and deflation mechanism 16 via an air pipe. The integrated inflation and deflation mechanism 16 is mounted on the outer wall of the first rod. The track 8 may be provided only on the second rod, and the integrated inflation and deflation mechanism 16 may be a bidirectional rotatable fan.

[0048] The integrated inflation and deflation mechanism 16 inflates rod one with gas, which enters from the bottom and gradually pushes rod two towards the top of rod one, causing rod two to extend beyond rod one. The mechanism then deflates rod one, reducing the amount of gas inside. Under its own weight, rod two retracts back into rod one. This allows for the extension or retraction of rod two, thereby adjusting the overall length of the vertical rod 4.

[0049] More preferably, the telescopic mechanism 9 includes a piston cylinder 17, a piston plate 18, and a piston rod 19. The top of the piston cylinder 17 is connected to the integrated inflation and deflation mechanism 16. The piston plate 18 is slidably connected to the piston cylinder 17 on the side opposite to the connection between the piston cylinder 17 and the integrated inflation and deflation mechanism 16. An electric valve can also be installed at the connection between the piston cylinder 17 and the integrated inflation and deflation mechanism 16 to facilitate control of gas discharge from the piston cylinder 17. One end of the piston rod 19 is rotatably connected to the bottom of the piston plate 18. For example, if the bottom of the piston plate 18 is provided with an annular groove 21, the end of the piston rod 19 is slidably connected to the annular groove 21. The piston rod 19 is located on the side of the center position of the mounting platform 11, and the annular groove 21 surrounds the center position of the mounting platform 11. The other end of the piston rod 19 is fixedly connected to the mounting platform 11 (e.g., by welding, bonding, etc.). The piston rod 19 moves synchronously with the mounting platform 11. The gear column 14 is offset from the piston rod 19 and does not affect each other.

[0050] When the integrated inflation and deflation mechanism 16 fills the piston cylinder 17 with gas, it controls the piston plate 18 to move toward the side where the mounting platform 11 is located. The piston plate 18 drives the piston rod 19 to move synchronously, and the piston rod 19 pushes the mounting platform 11 toward the side of the outer casing 10 away from the piston cylinder 17. When the integrated inflation and deflation mechanism 16 extracts the gas from the piston cylinder 17, a negative pressure is formed inside the piston cylinder 17, which drives the piston plate 18 and piston rod 19 to reset, thereby driving the mounting platform 11 to reset and move toward the side where the telescopic mechanism 9 is located.

[0051] In a preferred embodiment of the present invention, the monitoring system of the track 8 inspection robot further includes at least two temperature sensors 20 (such as PT100). The temperature sensors 20 are disposed on both sides of the monitoring mechanism 3 relative to the vertical rod 4. The temperature sensors 20 are fixedly connected to the two side walls of the piston cylinder 17 via brackets 2. The temperature sensors 20 are welded to the brackets 2, and the brackets 2 are welded to the piston cylinder 17. The output terminals of the temperature sensors 20 are electrically connected to the first and second input terminals of a temperature comparator, respectively. The output terminal of the temperature comparator is electrically connected to the positive (e.g., left) control terminal of the power source, and the output terminal of the temperature comparator is electrically connected to the negative (e.g., right) control terminal of the power source after passing through a NOT gate.

[0052] The monitoring mechanism 3 is mounted on the bracket 2. Temperature sensors 20 on both sides detect the corresponding temperature signals and transmit them to a temperature comparator. The comparator compares the temperature signals on both sides. When the temperature signal value on the left is greater than that on the right, the comparator outputs a control signal to the positive control terminal of the power source, starting the power source and controlling the track wheel 7 to move forward. Conversely, when the temperature signal value on the left is greater than that on the right, the comparator outputs a control signal through a NOT gate to the negative control terminal of the power source, controlling the track wheel 7 to move in the opposite direction. Controlling the monitoring mechanism 3 to move towards the side with the higher temperature facilitates the collection of any potential abnormal information.

[0053] In a preferred embodiment of the present invention, the transverse rod 5 includes an outer rod and an inner rod. One end of the inner rod extends into the outer rod, and an elastic element is provided between this end of the inner rod and the inner wall of the outer rod. The elastic element is a spring, with one end of the spring welded to the end of the inner rod and the other end welded to the inner wall of the outer rod. The transverse rod 5 extends and retracts through the elastic element, resulting in a simple structure and ease of use.

[0054] In a preferred embodiment of the present invention, the track 8 inspection robot monitoring system further includes a remote terminal. The monitoring mechanism 3 is electrically connected to the remote terminal via a wireless communication module. The wireless communication module can use WiFi, Bluetooth, 5G networks, etc., and the remote terminal can be a staff member's mobile phone, a computer host in the remote monitoring room, etc. The data collected by the monitoring mechanism 3 can be transmitted to the remote terminal, facilitating timely access to detection information by remote staff.

[0055] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A monitoring system for an explosion-proof robot used for track inspection, characterized in that, Includes a chute, a support frame, and a monitoring mechanism mounted on the support frame; The chute is provided on the other three side walls of the pipe gallery except for the bottom, and the chute extends along the setting direction of the pipe gallery; The bracket is slidably connected to the slide groove. The bracket includes two vertical rods and one horizontal rod. The two ends of the horizontal rod are respectively rotatably hinged to the tops of the two vertical rods. Both the vertical rods and the horizontal rods are telescopic. The bottom of the vertical rods is provided with a moving part to control their movement along the slide groove. The monitoring mechanism is connected to a track wheel. The vertical and horizontal rods are provided with interconnected tracks on the side walls facing the pipe gallery. The monitoring mechanism is connected to the track wheel, and the track wheel is connected to a power source that controls its movement along the track. It also includes an angle control mechanism, which comprises a telescopic mechanism, a housing, and a mounting platform; One end of the telescopic mechanism is connected to the track wheel, and the other end is rotatably connected to the mounting platform. The monitoring mechanism is mounted on the mounting platform. The outer shell is made of transparent material and is placed outside the monitoring mechanism. One end of the outer shell is connected to the fixed end of the telescopic mechanism. A ball bearing is provided on one side of the mounting platform, and a spiral groove is provided on the inner wall of the outer shell. The ball bearing is slidably connected to the spiral groove. The angle control mechanism also includes gears and gear cylinders; The monitoring mechanism is mounted on the end face of the gear, and the gear is hinged to the mounting platform; The gear column passes through the center of the mounting platform and is connected to the end of the housing away from the telescopic mechanism. The gear column is provided with several annular toothed plates, and the gear always meshes with the annular toothed plates on the gear column.

2. The track inspection explosion-proof robot monitoring system as described in claim 1, characterized in that, The vertical rod includes rod one and rod two. Rod one is hollow inside and its bottom is connected to a movable component. The bottom of rod two extends into rod one from the top of rod one and is slidably and sealed to the inner wall of rod one. The bottom of rod one is connected to an integrated inflation and deflation mechanism, which is installed on the outer wall of rod one.

3. The track inspection explosion-proof robot monitoring system as described in claim 2, characterized in that, The telescopic mechanism includes a piston cylinder, a piston plate, and a piston rod. The top of the piston cylinder is connected to the inflation / deflation mechanism. The piston plate is slidably connected to the piston cylinder on the side where the piston cylinder and the inflation / deflation mechanism are connected. One end of the piston rod is rotatably connected to the bottom of the piston plate, and the other end is fixedly connected to the mounting platform.

4. The track inspection explosion-proof robot monitoring system as described in claim 1, characterized in that, It also includes at least two temperature sensors, which are arranged on both sides of the monitoring mechanism relative to the vertical rod. The output terminals of the temperature sensors are respectively connected to the first and second input terminals of the temperature comparator. The output terminal of the temperature comparator is connected to the positive control terminal of the power source, and the output terminal of the temperature comparator is connected to the negative control terminal of the power source after passing through a NOT gate.

5. The track inspection explosion-proof robot monitoring system as described in claim 1, characterized in that, The transverse rod includes an outer rod and an inner rod. One end of the inner rod extends into the outer rod, and an elastic element is provided between this end of the inner rod and the inner wall of the outer rod.

6. The track inspection explosion-proof robot monitoring system as described in claim 1, characterized in that, It also includes a remote terminal, which the monitoring agency connects to via a wireless communication module.

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