An environmental protection monitoring and inspection robot

Abstract

The present application belongs to the technical field of environmental protection monitoring, and particularly relates to an environmental protection monitoring and inspection robot, which comprises a shell, a monitoring rotating module is installed at the upper end of the shell, and a high-definition camera and an infrared thermal imager are respectively installed at the left and right sides of the monitoring rotating module. The present application can realize the collection of omnibearing visible light and infrared images, and through visual intelligent algorithm analysis technology, the robot can autonomously identify various machines and equipment in a factory, automatically classify pollution source types, monitor various environmental indexes of an industrial enterprise production line in the process of robot intelligent inspection and monitoring, divide the early warning level based on good or extreme weather, and link with the equipment to assist in decision-making of whether the operation of each process of the industrial enterprise and the equipment continues, strengthen the supervision of the operation of the enterprise workshop, ensure the rationalization of production in the workshop, and improve the informatization and intelligentization level of the ecological environmental bureau in monitoring the environmental quality.

Description

Technical Field

[0001] This invention relates to the field of environmental monitoring technology, and in particular to an environmental monitoring and inspection robot. Background Technology

[0002] In recent years, the Ministry of Ecology and Environment has issued the "2021-2025 Ecological and Environmental Monitoring Plan," which proposes to further strengthen ecological civilization construction by consolidating environmental quality monitoring, strengthening pollution source monitoring, expanding ecological quality monitoring, and comprehensively promoting the transformation of ecological and environmental monitoring from a quantity- and scale-oriented model to a quality- and efficiency-oriented model, thereby improving the modernization level of ecological and environmental monitoring.

[0003] Environmental monitoring and management are key tasks for environmental protection departments at all levels. This includes monitoring industrial pollution sources and monitoring environmental quality such as air, surface water, acid rain, noise, and radiation. In the past, monitoring and management methods mainly relied on manual and wired methods, which could not meet the requirements of digital and grid-based environmental management. At present, industrial enterprises have heavy production tasks and the production environment monitoring data is growing larger and larger. The significance of remote real-time monitoring is becoming more prominent. Therefore, it is imperative to establish new environmental data supervision measures for industrial enterprises.

[0004] With the widespread and in-depth application of artificial intelligence and internet technology, science and technology are innovating, and intelligent production is driving progress. The country is also constantly putting forward new requirements for the production environment of industrial enterprises. Establishing an intelligent monitoring and management system for enterprise environmental quality monitoring and safe production plays a positive role in promoting the disclosure of environmental information, stimulating public participation in environmental protection, and promoting the intelligent and refined supervision of environmental protection departments. In the traditional sense, most ecological environment monitoring and management are carried out by manual labor, which is not only inefficient but also results in harsh working environments and extremely high work intensity. In addition, there are problems such as insufficient monitoring personnel's means and capabilities, leading to a variety of environmental problems. Therefore, an environmental monitoring and inspection robot is proposed. Summary of the Invention

[0005] In order to overcome the shortcomings of the existing technology, this invention proposes an environmental monitoring and inspection robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an environmental monitoring and inspection robot, comprising a shell, a monitoring rotation module mounted on the upper end of the shell, a high-definition camera and an infrared thermal imager mounted on the left and right sides of the monitoring rotation module respectively, a 3D LiDAR sensor mounted on the front outer wall of the shell, a noise detection module mounted on the lower inner wall of the 3D LiDAR sensor, a gas detection module mounted on the lower inner wall of the noise detection module, a vision sensor mounted on the lower outer wall of the gas detection module, an LED lighting module mounted on the left and right outer walls of the vision sensor respectively, and an obstacle avoidance sensor mounted on the rear side of the LED lighting module. An RTK positioning module is installed on the rear outer wall of the housing. A wireless communication module is installed below the RTK positioning module. A touch screen is installed on the lower outer wall of the wireless communication module. A central processing unit (CPU) is installed on the lower inner wall of the wireless communication module. A voice playback module is installed on the left and right inner walls of the front side of the CPU. A navigation controller is installed below the CPU. A power supply is installed below the navigation controller. A steering motor is installed on the lower inner wall of the housing. A driver is installed on the left side of the steering motor. A hub motor is installed below the driver. A cleaning component to prevent dirt from adhering to the lens is installed in front of the lens of the high-definition camera.

[0007] Preferably, the cleaning assembly includes a self-cleaning mechanism installed on the lens detector, a cooling mechanism installed on the bottom of the HD camera, and a water pumping mechanism installed on the top of the HD camera. The self-cleaning mechanism includes a partition cover fixedly installed on the front side of the HD camera lens. The partition cover has an opening on the side closest to the HD camera and an observation port on the side furthest from the HD camera. Two symmetrically distributed guide rollers are rotatably installed inside the partition cover, and the same flexible annular belt is fitted on the two guide rollers. A motor is fixedly installed on the top of the partition cover, and the top of one of the guide rollers extends outside the partition cover and is fixedly connected to the output shaft of the motor. The same anti-shake block is fixedly installed between the top and bottom inner walls of the partition cover. The anti-shake block is located inside the flexible annular belt and is slidably connected to the inner wall of the flexible annular belt.

[0008] Preferably, a U-shaped box is fixedly installed through the partition cover. The side of the U-shaped box near the flexible annular belt is open. A collecting tube is fixedly installed between the top and bottom inner walls of the U-shaped box. The collecting tube has a through-hole. A vertical scraper that is slidably connected to the flexible annular belt is fixedly installed on the inner wall of the through-hole away from the observation port. A cleaning roller that is slidably connected to the flexible annular belt is rotatably installed inside the collecting tube. A drive shaft is fixedly installed at the top of the cleaning roller. The drive shaft passes through the U-shaped box and is rotatably connected to the U-shaped box. A drain pipe is fixedly installed at the top of the partition cover. The output shaft of the drain pipe is fixedly connected to the drive shaft. A drain pipe with the same inner diameter as the collecting tube is fixedly installed through the bottom of the U-shaped box.

[0009] Preferably, the cleaning roller is hollow inside, and a water supply pipe is rotatably mounted through the cleaning roller. The water supply pipe passes through a drain pipe and is fixedly connected to the drain pipe. Multiple sets of spirally distributed spray holes are opened on the inner wall of the cleaning roller. Multiple spiral plates arranged in a circumferential array are fixedly mounted on the outer side of the drive shaft. Spiral scrapers and anti-overflow plates are fixedly mounted on both sides of the spiral plates. During the rotation of the cleaning roller, the multiple drive shafts will intermittently scrape across the flexible annular belt. The water pumping mechanism includes a water tank fixedly mounted on the top of the high-definition camera. The water tank and the water supply pipe are connected by the same water delivery pipe.

[0010] Preferably, a second U-shaped box is fixedly installed through the partition cover. The side of the second U-shaped box near the flexible annular belt is open. Air holes are provided on the top and bottom inner walls of the second U-shaped box. Heat dissipation air inlets are provided on both sides of the high-definition camera. Multiple heat dissipation air outlets are provided at the bottom of the high-definition camera in a matrix arrangement. The cooling utilization mechanism includes a heat collection box fixedly installed at the bottom of the high-definition camera. The top of the heat collection box is open. Multiple heat dissipation air outlets are located inside the heat collection box. Multiple fans are fixedly installed through one side of the heat collection box. A heat collection cover is fixedly installed on the outer side of the heat collection box near the fans. An air supply pipe is fixedly installed through the heat collection cover. The top end of the air supply pipe is fixedly connected to the inner wall of the bottom air hole of the second U-shaped box.

[0011] Preferably, the inner wall of the partition cover is provided with an installation port one and an installation port two. The U-shaped box one is fixedly connected to the inner wall of the installation port one, and the U-shaped box two is fixedly connected to the inner wall of the installation port two. A sealing strip is fixedly installed on the inner wall of the observation port. The flexible annular belt is slidably connected to the sealing strip. The sealing strip is U-shaped, and both ends of the sealing strip are flush with the inner wall of the installation port two.

[0012] Preferably, a dust filter is fixedly installed inside the heat dissipation air inlet, and a semiconductor cooling chip is fixedly installed through the bottom of the partition cover.

[0013] Preferably, the monitoring rotation module consists of two high-precision stepper motors, which can rotate freely 360° in the left and right direction and -20° to +90° in the up and down direction. The noise detection module is an industrial-grade capacitive noise sensor. The wireless communication module is an AP / client dual-mode wireless bridge. The obstacle avoidance sensor is an ultrasonic radar. The LED lighting module is an automatic control LED lighting and turn indicator module. The gas detection module is a multi-parameter environmental monitoring module.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. It can acquire visible light and infrared images from all directions. Then, through visual intelligent algorithm analysis technology, it can enable robots to autonomously identify various machines and equipment in the factory and automatically classify the types of pollution sources. During the robot's intelligent inspection and monitoring operation, it can monitor various environmental indicators of industrial enterprise production lines, classify warning levels based on good or extreme weather, and link with equipment to assist in decision-making on whether to continue operating each process and equipment in industrial enterprises, strengthen the supervision of workshop operations, ensure rational production in workshops, and improve the informatization and intelligentization level of environmental quality monitoring by the ecological environment bureau.

[0016] 2. The robot also has a security patrol function. During daily patrols, it can effectively monitor and warn of safety hazards that may arise during factory operations, such as smoke, fire, equipment status (identifying abnormal states), and violations such as not wearing a safety helmet. It can promptly identify potential hazards, prevent serious accidents, improve security management efficiency, reduce the number of manual inspections, and provide a guarantee for the safe production environment of enterprises.

[0017] 3. Real-time monitoring of the concentrations of various harmful substances such as PM2.5, PM10, carbon monoxide, sulfur dioxide, nitrogen dioxide, and ozone; real-time noise monitoring of various parts of the factory; and graphical display of various air quality data on a touch screen. Features include real-time data display, historical data presentation, and big data application experience. The monitored data can be transmitted to the back-end system of the Ecological and Environmental Protection Bureau in real time via the network, enabling the Bureau to conduct online monitoring and control of the environmental quality of industrial enterprises under its jurisdiction. All data is stored and managed in the cloud on the "Environmental Monitoring Cloud Platform".

[0018] 4. During operation, it can continuously clean the dirt in front of the lens of the cleaning component, and the cleaning operation can be carried out continuously without obstructing the shooting view in front of the lens of the cleaning component. Attached Figure Description

[0019] Figure 1 This is a front view of an environmental monitoring and inspection robot proposed in this invention;

[0020] Figure 2 This is a side view of an environmental monitoring and inspection robot proposed in this invention;

[0021] Figure 3 This is a schematic diagram of the structure of a high-definition camera and cleaning components in an environmental monitoring and inspection robot proposed in this invention. Figure 1 ;

[0022] Figure 4 This is a schematic diagram of the structure of a high-definition camera and cleaning components in an environmental monitoring and inspection robot proposed in this invention. Figure 2 ;

[0023] Figure 5 This is a partial structural diagram of the high-definition camera and cleaning components in an environmental monitoring and inspection robot proposed in this invention;

[0024] Figure 6 This is a schematic diagram of the cooling mechanism in an environmental monitoring and inspection robot proposed in this invention.

[0025] Figure 7 This is a schematic diagram of the self-cleaning mechanism in an environmental monitoring and inspection robot proposed in this invention;

[0026] Figure 8 This is a top sectional view of the self-cleaning mechanism in an environmental monitoring and inspection robot proposed in this invention;

[0027] Figure 9 for Figure 8 A magnified structural diagram of part A in the middle;

[0028] Figure 10 This is a partial structural diagram of the cleaning roller in an environmental monitoring and inspection robot proposed in this invention;

[0029] Figure 11 This is a top view of the collection tube in an environmental monitoring and inspection robot proposed in this invention;

[0030] Figure 12 This is a partial side sectional view of the self-cleaning mechanism in an environmental monitoring and inspection robot proposed in this invention;

[0031] Figure 13 This is a partial structural diagram of the self-cleaning mechanism in an environmental monitoring and inspection robot proposed in this invention.

[0032] In the diagram: 1. Housing; 2. Monitoring rotation module; 3. High-definition camera; 31. Heat dissipation air inlet; 32. Heat dissipation air outlet; 4. Cleaning components; 41. Self-cleaning mechanism; 411. Separator cover; 412. Observation port; 413. Guide roller; 414. Flexible annular belt; 415. Motor 1; 416. Anti-shake block; 417. U-shaped box 1; 418. Gathering pipe; 4181. Through-hole; 4182. Vertical scraper; 419. Cleaning roller; 4191. Drive shaft; 4192. Spiral plate; 4193. Spiral scraper; 4194. Overflow plate; 4195. Spray nozzle; 420. U-shaped box 2; 421. Sewage pipe; 422. Water supply pipe; 423. Sealing strip; 424. Installation port 1; 425, Installation port 2; 42, Pumping mechanism; 4201, Water tank; 4202, Water supply pipe; 43, Cooling utilization mechanism; 431, Heat collection box; 432, Fan; 433, Heat collection cover; 434, Gas supply pipe; 5, Vision sensor; 6, Driver; 7, Steering motor; 8, Obstacle avoidance sensor; 9, 3D LiDAR sensor; 10, Noise detection module; 11, Gas detection module; 12, Infrared thermal imager; 13, Voice playback module; 14, Navigation controller; 15, Hub motor; 16, Power supply; 17, Central processing unit; 18, Touch screen; 19, Wireless communication module; 20, RTK positioning module; 21, LED lighting module. Implementation

[0033] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please refer to Figures 1-13This invention provides a technical solution: an environmental monitoring and inspection robot, comprising a shell 1, a monitoring rotation module 2 mounted on the upper end of the shell 1, a high-definition camera 3 and an infrared thermal imager 12 mounted on the left and right sides of the monitoring rotation module 2 respectively, a 3D LiDAR sensor 9 mounted on the front outer wall of the shell 1, a noise detection module 10 mounted on the lower inner wall of the 3D LiDAR sensor 9, a gas detection module 11 mounted on the lower inner wall of the noise detection module 10, a vision sensor 5 mounted on the lower outer wall of the gas detection module 11, an LED lighting module 21 mounted on the left and right outer walls of the vision sensor 5 respectively, an obstacle avoidance sensor 8 mounted on the rear side of the LED lighting module 21, and the rear outer wall of the shell 1... An RTK positioning module 20 is installed on the top, a wireless communication module 19 is installed below the RTK positioning module 20, a touch screen 18 is installed on the lower outer wall of the wireless communication module 19, a central processing unit 17 is installed on the lower inner wall of the wireless communication module 19, a voice playback module 13 is installed on the left and right inner walls of the front side of the central processing unit 17, a navigation controller 14 is installed below the central processing unit 17, a power supply 16 is installed below the navigation controller 14, a steering motor 7 is installed on the lower inner wall of the housing 1, a driver 6 is installed on the left side of the steering motor 7, a hub motor 15 is installed below the driver 6, and a cleaning component 4 is installed on the front side of the lens of the high-definition camera 3 to prevent dirt from adhering to the lens.

[0035] The cleaning component 4 includes a self-cleaning mechanism 41 installed on the lens detector, a cooling utilization mechanism 43 installed on the bottom of the HD camera 3, and a water pumping mechanism 42 installed on the top of the HD camera 3. The self-cleaning mechanism 41 includes a partition cover 411 fixedly installed on the front side of the lens of the HD camera 3. The partition cover 411 has an opening on the side close to the HD camera 3 and an observation port 412 on the side away from the HD camera 3. Two symmetrically distributed guide rollers 413 are rotatably installed inside the partition cover 411. The same flexible annular belt 414 is fitted on the two guide rollers 413. A motor 415 is fixedly installed on the top of the partition cover 411. The top of one of the guide rollers 413 extends outside the partition cover 411 and is fixedly connected to the output shaft of the motor 415. The same anti-shake block 416 is fixedly installed between the top and bottom inner walls of the partition cover 411. The anti-shake block 416 is located inside the flexible annular belt 414 and is slidably connected to the inner wall of the flexible annular belt 414.

[0036] Furthermore, the anti-shake block 416 is located on the flexible annular belt 414, which is made of colorless and transparent material.

[0037] A U-shaped box 417 is fixedly installed through the partition cover 411. The side of the U-shaped box 417 near the flexible annular belt 414 is open. A collecting tube 418 is fixedly installed between the top and bottom inner walls of the U-shaped box 417. The collecting tube 418 has a through-hole 4181. A vertical scraper 4182, which is slidably connected to the flexible annular belt 414, is fixedly installed on the inner wall of the through-hole 4181 away from the observation port 412. A rotating part is installed inside the collecting tube 418. A cleaning roller 419 is slidably connected to a flexible annular belt 414. A drive shaft 4191 is fixedly installed at the top of the cleaning roller 419. The drive shaft 4191 passes through a U-shaped box 417 and is rotatably connected to the U-shaped box 417. A drain pipe 421 is fixedly installed at the top of the partition cover 411. The output shaft of the drain pipe 421 is fixedly connected to the drive shaft 4191. A drain pipe 421 is fixedly installed through the bottom of the U-shaped box 417. The drain pipe 421 has the same inner diameter as the collecting pipe 418.

[0038] The cleaning roller 419 is hollow inside, and a water supply pipe 422 is rotatably installed through the cleaning roller 419. The water supply pipe 422 passes through the sewage pipe 421 and is fixedly connected to the sewage pipe 421. Multiple sets of spirally distributed spray holes 4195 are opened on the inner wall of the cleaning roller 419. Multiple spiral plates 4192 distributed in a circumferential array are fixedly installed on the outer side of the drive shaft 4191. Spiral scraper 4193 and anti-overflow plate 4194 are fixedly installed on both sides of the spiral plate 4192, respectively. During the rotation of the cleaning roller 419, the multiple drive shafts 4191 will intermittently scrape across the flexible annular belt 414. The water pumping mechanism 42 includes a water tank 4201 fixedly installed on the top of the high-definition camera 3. The water tank 4201 and the water supply pipe 422 are connected by the same water supply pipe 4202.

[0039] Furthermore, a water pump is installed inside the water tank 4201, and the outlet of the water pump is connected to the water supply pipe 4202.

[0040] A U-shaped box 420 is fixedly installed through the partition cover 411. The side of the U-shaped box 420 near the flexible annular belt 414 is open. Air holes are opened on the top and bottom inner walls of the U-shaped box 420. Heat dissipation air inlets 31 are opened on both sides of the high-definition camera 3. Multiple heat dissipation air outlets 32 are arranged in a matrix at the bottom of the high-definition camera 3. The cooling utilization mechanism 43 includes a heat collection box 431 fixedly installed at the bottom of the high-definition camera 3. The top of the heat collection box 431 is open. Multiple heat dissipation air outlets 32 are located inside the heat collection box 431. Multiple fans 432 are fixedly installed through one side of the heat collection box 431. A heat collection cover 433 is fixedly installed on the outside of the heat collection box 431 near the fans 432. An air supply pipe 434 is fixedly installed through the heat collection cover 433. The top end of the air supply pipe 434 is fixedly connected to the inner wall of the bottom air hole of the U-shaped box 420.

[0041] The inner wall of the partition cover 411 is provided with an installation port 424 and an installation port 425. The U-shaped box 417 is fixedly connected to the inner wall of the installation port 424, and the U-shaped box 420 is fixedly connected to the inner wall of the installation port 425. A sealing strip 423 is fixedly installed on the inner wall of the observation port 412. A flexible annular belt 414 is slidably connected to the sealing strip 423. The sealing strip 423 is U-shaped, and both ends of the sealing strip 423 are flush with the inner wall of the installation port 425.

[0042] Furthermore, by tightly abutting the flexible annular belt 414 with the sealing strip 423, when the flexible annular belt 414 rotates, dirt on the flexible annular belt 414 can enter the U-shaped box 417 through the opening of the sealing strip 423, ensuring that dirt does not enter the interior of the partition cover 411.

[0043] A dust filter is fixedly installed inside the heat dissipation air inlet 31, and a semiconductor cooling chip is fixedly installed through the bottom of the partition cover 411.

[0044] Furthermore, by setting a dust filter, external dust can be prevented from entering the interior of the HD camera 3, ensuring the cleanliness of the interior of the HD camera 3. By setting a semiconductor cooling chip, the flexible annular belt 414 can be cooled, preventing the flexible annular belt 414 from stretching due to heat, and ensuring that the two guide rollers 413 can accurately convey the flexible annular belt 414.

[0045] The infrared thermal imager 12 has a maximum resolution of 640×480, a temperature measurement accuracy of ±2℃ or ±2% of the reading, and supports functions such as real-time point temperature measurement, multiple preset point temperature measurement, temperature alarm, and real-time temperature analysis.

[0046] The monitoring rotation module 2 consists of two high-precision stepper motors, which can rotate freely 360° in the left and right direction and -20° to +90° in the up and down direction to acquire visible light and infrared images.

[0047] The noise detection module 10 is an industrial-grade capacitive noise sensor.

[0048] The wireless communication module 19 is a dual-mode wireless bridge for both AP and client applications, supporting 2.4GHz and 5GHz dual-band frequencies and featuring wireless roaming functionality.

[0049] Obstacle avoidance sensor 8 is an ultrasonic radar.

[0050] The RTK positioning module 20 is equipped with a Beidou high-precision GNSS board, which can perform single-system positioning or multi-system joint positioning. It supports the joint application of B3DS+GPS+GLONASS+Galileo, which can increase the number of satellites and improve the availability and reliability of GNSS high-precision positioning, and can also accurately locate in areas with high obstruction.

[0051] LED lighting module 21 is an automatic control LED lighting and turn indicator module. It can automatically turn on and off the white LED lights according to the ambient light conditions, and automatically turn on the corresponding yellow LED lights to flash according to the actual turn.

[0052] Gas detection module 11 is a multi-parameter environmental monitoring module.

[0053] In this embodiment: The inspection task is set remotely in the background. The instructions are sent to the central processing unit (CPU) 17 via the factory's WIFI network and wireless communication module 19. The CPU 17 then sends control instructions to the navigation controller 14. The navigation controller 14 uses a 3D LiDAR sensor, RTK positioning module 20, vision sensor 5, etc., and a navigation algorithm to control the steering motor 7 and wheel hub motor 15 via the driver 6 for precise positioning and navigation based on the existing map and inspection point coordinates. After reaching the inspection point, the CPU 17 sends detection instructions to the noise detection module 10 and the gas detection module 11. After detection, the noise detection module 10 and the gas detection module 11 upload the data to the CPU 17. The CPU 17 compares the data with the set warning value. When the warning value is exceeded, the CPU 17 controls the voice playback module 13 to issue an alarm signal and sends control instructions to the two stepper motors with absolute encoders in the monitoring rotation module 2 to perform all-round visible light and infrared image acquisition. The CPU 17 uses a vision algorithm to intelligently analyze and determine which equipment produces excessive harmful gases during operation. The results are pushed to the background in real time via the wireless communication module 19 to remind the relevant equipment to be shut down.

[0054] During the inspection, the central processing unit 17 of the robot will intelligently analyze the collected images. If it finds smoke, fire, abnormal equipment status, or violations such as not wearing a safety helmet in the collected images, it will immediately control the voice playback module 13 to issue an alarm signal and report the information to the background management system through the wireless communication module 19, and issue an alarm notification to the management personnel for handling.

[0055] This solution enables human-computer interaction via a touchscreen display 18. Clicking different buttons accesses different functional interfaces. For example, clicking the "Real-time Data" button leads to the real-time data display interface, where data is transmitted to the central processing unit 17 via the noise detection module 10 and the gas detection module 11. The central processing unit 17 then graphically displays various air quality data on the touchscreen display 18. Clicking the "Historical Data" button leads to the historical data display interface, where the central processing unit 17 retrieves its stored historical data and displays it graphically on the touchscreen display 18. Clicking the "Data to Cloud" button leads to the cloud platform data upload settings interface. Through the set address and protocol, the central processing unit 17, via the wireless communication module 19, transmits the monitored data in real-time to the ecological environment bureau's backend system via the network, enabling the ecological environment bureau to monitor and control the environmental quality of various industrial enterprises within its jurisdiction online.

[0056] like Figure 4 , Figure 7 , Figure 8 and Figure 12 As shown, when the concentration of smoke and dust in the air is high or on rainy days, starting motor 415 drives one of the guide rollers 413 to rotate clockwise. This guide roller 413 then drives the flexible annular belt 414 to rotate clockwise. The dirt that originally passed through the observation port 412 and adhered to the flexible annular belt 414 will move from right to left with the rotating flexible annular belt 414. During this process, the water pump located in the water tank 4201 is started to pump the clean water in the water tank 4201 into the water supply pipe 4202 and through the water supply pipe 4 22 is injected into the cleaning roller 419. Then, clean water is sprayed onto the flexible annular belt 414 through the spray holes 4195 facing the flexible annular belt 414. During this process, the drain pipe 421 is activated to drive the cleaning roller 419 to rotate through the drive shaft 4191. The rotating spiral scrapers 4193 can scrape off the dirt that has been softened by clean water and is attached to the flexible annular belt 414. The dirt scraped off by the spiral scrapers 4193 will flow down the spiral plate 4192 and finally be discharged through the drain pipe 421.

[0057] As the cleaning section of the flexible annular belt 414 moves from right to left, the vertical scraper 4182 scrapes the flexible annular belt 414, removing water droplets splashed on it. During the operation of the high-definition camera 3, multiple fans 432 are activated. At this time, external cold air enters the high-definition camera 3 through the heat dissipation inlet 31 and carries away the heat generated during operation, which is then discharged through the heat dissipation outlet 32. The hot air then passes through multiple fans 432 and is blown into the U-shaped box 420 through the fans 432 and the air supply pipe 434, and finally exits from the top of the U-shaped box 420. As hot air flows through the U-shaped box 420, it can heat the flexible annular belt 414, drying the damp parts of the belt. Therefore, during the continuous clockwise rotation of the flexible annular belt 414, not only are the dirty parts cleaned, but the cleaned parts also move from right to left to be exposed at the observation port 412, ensuring that the shooting effect of the high-definition camera 3 is not affected by dirt. Furthermore, the cleaning process of the flexible annular belt 414 does not obstruct the shooting angle of the high-definition camera 3.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An environmental monitoring and inspection robot, comprising a shell (1), characterized in that: A monitoring rotation module (2) is installed on the upper end of the housing (1). A high-definition camera (3) and an infrared thermal imager (12) are respectively installed on the left and right sides of the monitoring rotation module (2). A 3D laser radar sensor (9) is installed on the front outer wall of the housing (1). A noise detection module (10) is installed on the lower inner wall of the 3D laser radar sensor (9). A gas detection module (11) is installed on the lower inner wall of the noise detection module (10). A vision sensor (5) is installed on the lower outer wall of the gas detection module (11). An LED lighting module (21) is installed on the left and right outer walls of the vision sensor (5). An obstacle avoidance sensor (8) is installed on the rear side of the LED lighting module (21). An RTK positioning module (20) is installed on the rear outer wall of the housing (1). A wireless communication module (19) is installed below the K positioning module (20). A touch screen (18) is installed on the lower outer wall of the wireless communication module (19). A central processing unit (17) is installed on the lower inner wall of the wireless communication module (19). A voice playback module (13) is installed on the left and right inner walls of the front side of the central processing unit (17). A navigation controller (14) is installed below the central processing unit (17). A power supply (16) is installed below the navigation controller (14). A steering motor (7) is installed on the lower inner wall of the housing (1). A driver (6) is installed on the left side of the steering motor (7). A hub motor (15) is installed below the driver (6). A cleaning component (4) to prevent dirt from adhering to the lens is installed on the front side of the lens of the high-definition camera (3). The cleaning assembly (4) includes a self-cleaning mechanism (41) installed on the lens detector, a cooling utilization mechanism (43) installed on the bottom of the high-definition camera (3), and a water pumping mechanism (42) installed on the top of the high-definition camera (3). The self-cleaning mechanism (41) includes a partition cover (411) fixedly installed on the front side of the lens of the high-definition camera (3). The partition cover (411) has an opening on the side near the high-definition camera (3), and an observation port (412) is provided on the side of the partition cover (411) away from the high-definition camera (3). The partition cover (411) is rotatably installed inside the partition cover (411). There are two symmetrically distributed guide rollers (413), and the same flexible annular belt (414) is sleeved on the two guide rollers (413). A motor (415) is fixedly installed on the top of the partition cover (411). The top end of one of the guide rollers (413) extends to the outside of the partition cover (411) and is fixedly connected to the output shaft of the motor (415). The same anti-vibration block (416) is fixedly installed between the top and bottom inner walls of the partition cover (411). The anti-vibration block (416) is located inside the flexible annular belt (414) and is slidably connected to the inner wall of the flexible annular belt (414). A U-shaped box (417) is fixedly installed through the partition cover (411). The side of the U-shaped box (417) near the flexible annular belt (414) is open. A gathering tube (418) is fixedly installed between the top and bottom inner walls of the U-shaped box (417). A through-hole (4181) is provided on the gathering tube (418). A vertical scraper (4182) that is slidably connected to the flexible annular belt (414) is fixedly installed on the inner wall of the through-hole (4181) away from the observation port (412). A rotating part that is connected to the flexible annular belt (414) is installed inside the gathering tube (418). A cleaning roller (419) is slidably connected to an annular belt (414). A drive shaft (4191) is fixedly installed at the top of the cleaning roller (419). The drive shaft (4191) passes through a U-shaped box (417) and is rotatably connected to the U-shaped box (417). A drain pipe (421) is fixedly installed at the top of the partition cover (411). The output shaft of the drain pipe (421) is fixedly connected to the drive shaft (4191). A drain pipe (421) is fixedly installed through the bottom of the U-shaped box (417). The drain pipe (421) has the same inner diameter as the collecting pipe (418). The cleaning roller (419) is hollow inside. A water supply pipe (422) is rotatably mounted through the cleaning roller (419). The water supply pipe (422) passes through the sewage pipe (421) and is fixedly connected to the sewage pipe (421). Multiple sets of spirally distributed spray holes (4195) are opened on the inner wall of the cleaning roller (419). Multiple spiral plates (4192) arranged in a circumferential array are fixedly mounted on the outer side of the drive shaft (4191). Spiral scraper (4193) and anti-overflow plate (4194) are fixedly installed on both sides of the plate (4192). During the rotation of the cleaning roller (419), multiple drive shafts (4191) will intermittently scrape across the flexible annular belt (414). The water pumping mechanism (42) includes a water tank (4201) fixedly installed on the top of the high-definition camera (3). The water tank (4201) and the water delivery pipe (422) are connected by the same water supply pipe (4202).

2. The environmental monitoring and inspection robot according to claim 1, characterized in that: A U-shaped box (420) is fixedly installed through the partition cover (411). The side of the U-shaped box (420) near the flexible annular belt (414) is open. Air holes are provided on the top and bottom inner walls of the U-shaped box (420). Heat dissipation air inlets (31) are provided on both sides of the high-definition camera (3). Multiple heat dissipation air outlets (32) are provided at the bottom of the high-definition camera (3) in a matrix distribution. The cooling utilization mechanism (43) includes a collection device fixedly installed at the bottom of the high-definition camera (3). The heat collection box (431) has an open top and multiple heat dissipation vents (32) are located inside the heat collection box (431). Multiple fans (432) are fixedly installed through one side of the heat collection box (431). A heat collection cover (433) is fixedly installed on the outside of the heat collection box (431) near the fans (432). A gas supply pipe (434) is fixedly installed through the heat collection cover (433). The top end of the gas supply pipe (434) is fixedly connected to the inner wall of the bottom air hole of the U-shaped box (420).

3. The environmental monitoring and inspection robot according to claim 2, characterized in that: The inner wall of the partition cover (411) is provided with an installation port one (424) and an installation port two (425). The U-shaped box one (417) is fixedly connected to the inner wall of the installation port one (424), and the U-shaped box two (420) is fixedly connected to the inner wall of the installation port two (425). A sealing strip (423) is fixedly installed on the inner wall of the observation port (412). The flexible annular belt (414) is slidably connected to the sealing strip (423). The sealing strip (423) is U-shaped, and both ends of the sealing strip (423) are flush with the inner wall of the installation port two (425).

4. The environmental monitoring and inspection robot according to claim 2, characterized in that: A dust filter is fixedly installed inside the heat dissipation air inlet (31), and a semiconductor cooling chip is fixedly installed through the bottom of the partition cover (411).

5. The environmental monitoring and inspection robot according to claim 1, characterized in that: The monitoring rotation module (2) consists of two high-precision stepper motors, which can rotate freely in the left and right directions (360°) and in the up and down directions (-20° to +90°). The noise detection module (10) is an industrial-grade capacitive noise sensor. The wireless communication module (19) is an AP and client dual-mode wireless bridge. The obstacle avoidance sensor (8) is an ultrasonic radar. The LED lighting module (21) is an automatic control LED lighting and steering indicator module. The gas detection module (11) is a multi-parameter environmental monitoring module.

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