Utility tunnel inspection robot

Abstract

The invention discloses a comprehensive pipe gallery inspection robot, and relates to the field of intelligent inspection equipment, the comprehensive pipe gallery inspection robot comprises a machine body, an autonomous navigation system and an autonomous rescue module, two ends of the machine body are respectively provided with a front anti-collision frame and a rear anti-collision frame, the machine body is internally provided with a mounting cavity, and the mounting cavity is internally provided with a control panel and a power supply; the control panel is in circuit connection with a power supply, the power supply is connected with a power indicating lamp, the power indicating lamp is arranged on the machine body, and a pair of mechanical arms is arranged on the machine body; the output end of a third servo motor is controlled to work through a control panel, so that an extrusion block moves on a lead screw and an optical shaft, when the extrusion block extrudes a pressing spray head on a fire extinguisher, a fire extinguishing material in the fire extinguisher is sprayed out through a spray pipe, and due to the fact that a corrugated communicating hose is arranged in a mechanical arm in a penetrating mode and communicates with the spray pipe, the fire extinguishing material can be sprayed out through the spray pipe; and the mechanical arm can be controlled to realize autonomous fire extinguishing of a fire source occurrence point, so that further deterioration of dangerous conditions is avoided, and rescue is assisted.

Description

Technical Field

[0001] The present invention relates to the field of intelligent inspection equipment, and more specifically, to an integrated pipe gallery inspection robot. Background Art

[0002] At present, the urban integrated pipeline corridor is an underground space structure for laying various urban pipelines (such as electricity, telecommunications, water supply, drainage, gas, etc.). All kinds of municipal pipelines are laid in a unified pipeline corridor, which is conducive to unified management and maintenance, reducing repeated construction and resource waste. These completed and put into use pipeline corridors need to be inspected regularly to ensure the safe operation of the pipelines. However, the traditional manual inspection method has problems such as low work efficiency and high safety risks. In order to improve the efficiency and safety of inspections, intelligent inspection robots are usually required for automated inspections. Referring to its Chinese patent application with publication number CN117841028B, an integrated pipe gallery inspection robot based on artificial intelligence is disclosed, which collects equipment distribution data by setting a pipe gallery equipment information collection module, collects combustible probability training sample data and life decay training sample data corresponding to each equipment type by setting a safety prediction model training module to train a combustion probability prediction model, and uses life decay input data as input data and a life decay prediction model, sets an inspection environment data collection module to collect pipe gallery environment data and robot positioning data in real time, sets a safety analysis and early warning module to generate pipe gallery safety early warning and risk tracing instructions, and sets a risk tracing module to trace the safety risks in the urban integrated pipe gallery based on the risk tracing instructions; improves inspection efficiency and the safety of the integrated pipe gallery; However, in the complex and crowded tunnel environment, the existing tunnel inspection robots may not be able to effectively handle obstacles and movement, resulting in the inability to autonomously complete navigation and movement, and the inability to perform inspection operations during the initial construction of the tunnel. In the event of an emergency, they can only transmit the information to the control room through an alarm, and the control room personnel will have to deal with the emergency. They are unable to autonomously make the first rescue, which may lead to further deterioration of the dangerous situation. Summary of the invention

[0003] In view of the problems in the prior art that obstacles and movements cannot be effectively handled, resulting in the inability to autonomously complete navigation and movement; and when encountering an emergency and dangerous situation, the alarm can only be transmitted to the control room, and the emergency and dangerous situation is handled by the receiving personnel in the control room, and the first rescue cannot be made autonomously, which may cause the dangerous situation to further deteriorate. Therefore, the present invention provides a comprehensive pipeline corridor inspection robot.

[0004] To solve the above problems, the present invention adopts the following technical solutions.

[0005] A comprehensive pipe gallery inspection robot comprises a body, an autonomous navigation system and an autonomous rescue module, wherein a front anti-collision frame and a rear anti-collision frame are respectively arranged at two ends of the body, an installation cavity is arranged in the body, a control board and a power supply are installed in the installation cavity, the control board is connected to the power supply circuit, the power supply is connected to a power indicator light, the power indicator light is arranged on the body, a pair of mechanical arms are arranged on the body, an end effector is arranged at one end of the mechanical arm away from the body, a plurality of second servo motors are arranged in the mechanical arm and the end effector, and the control board is respectively connected to the plurality of second servo motors by electrical signals; The autonomous navigation system is arranged on the body, and the autonomous navigation system is used to effectively handle obstacles and movement in a complex and crowded pipe gallery environment, and realize autonomous navigation and movement; The autonomous rescue module is arranged on the body, and is used to ensure that the inspection robot autonomously performs the first rescue when encountering an emergency dangerous situation, so as to avoid further deterioration of the dangerous situation.

[0006] Furthermore, the autonomous navigation system comprises: A group of ultrasonic rangefinders, a high-definition camera and a chassis part, wherein the group of ultrasonic rangefinders are respectively arranged at both ends of the machine body, the high-definition camera is arranged at the top of the machine body, the chassis part is arranged at the bottom of the machine body, and the control board is respectively connected with a group of ultrasonic rangefinders and a high-definition camera circuit; The chassis portion includes: a mounting frame, multiple groups of connecting rods, multiple mounting plates, multiple first servo motors, multiple shock-absorbing pull rods and multiple Mecanum wheels, the mounting frame is fixedly connected to the machine body, one end of a group of connecting rods is rotatably connected to the mounting frame, and the other ends are rotatably connected to the mounting plate, and one end of the shock-absorbing pull rod is rotatably connected to the mounting frame, and the other end is rotatably connected to the mounting plate, multiple first servo motors are respectively fixedly mounted on the mounting plates, and the output ends of multiple first servo motors are respectively coaxially fixedly connected to rotating shafts, the rotating shafts are coaxially fixedly connected to the Mecanum wheels, and the control panels are respectively connected to electrical signals of multiple first servo motors.

[0007] Furthermore, an infrared thermal imaging camera is provided on the top of the body, and the control board is electrically connected to the infrared thermal imaging camera.

[0008] Furthermore, an installation partition is provided in the installation cavity, a fire extinguisher is provided in the installation cavity, a push nozzle is provided on the fire extinguisher, the push nozzle is connected to the fire extinguisher, and the end of the push nozzle away from the fire extinguisher is connected to a nozzle, and the fire extinguisher is arranged below the installation partition.

[0009] Furthermore, the autonomous rescue module includes: A corrugated connecting hose, a nozzle, a lead screw, an optical axis, a stop block, a third servo motor, a first bevel gear, a second bevel gear and an extrusion block, wherein the corrugated connecting hose is inserted into the robot arm, the nozzle is arranged on the end effector, one end of the corrugated connecting hose is connected to the nozzle, and the other end is connected to the nozzle; One end of the screw rod is rotatably connected to the mounting partition, and the other end is rotatably connected to the limit block. The two ends of the optical axis are respectively fixedly connected to the mounting partition and the limit block. The push nozzle of the fire extinguisher is placed between the screw rod and the optical axis. A threaded hole matching the screw rod thread is provided on the extrusion block, and a circular hole matching the optical axis is provided on the extrusion block. The push nozzle of the fire extinguisher is placed between the mounting partition and the extrusion block. The third servo motor is fixedly mounted on the mounting partition, and the output end of the third servo motor is coaxially fixedly connected to the first bevel gear, the second bevel gear is coaxially fixedly connected to the screw rod, and the first bevel gear is meshed with the second bevel gear for transmission.

[0010] Furthermore, the control panel is configured as a pluggable modular structure.

[0011] Furthermore, a wireless communication module is provided on the machine body, and the control board is connected to the wireless communication module via electrical signals.

[0012] Furthermore, the machine body is provided with a chassis door, and the chassis door is provided with a door lock and a sealing rubber strip.

[0013] Furthermore, an installation frame is provided in the installation cavity, and the fire extinguisher is fixedly installed in the installation frame.

[0014] Furthermore, an elastic rubber sheet is provided on one end of the extrusion block close to the pressing nozzle.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) In an emergency, such as a fire, the present application can quickly locate the accident point, control the output end of the third servo motor to work through the control panel, so that the first bevel gear and the second bevel gear are meshed and transmitted, thereby causing the screw coaxially fixedly connected to the second bevel gear to rotate, so that under the rotation of the screw, the extrusion block moves on the screw and the optical axis, and when the extrusion block squeezes the push nozzle on the fire extinguisher, the fire extinguishing material in the fire extinguisher is sprayed out through the nozzle. Since the corrugated connecting hose is passed through the mechanical arm and the corrugated connecting hose is connected to the nozzle, the fire source can be autonomously extinguished by controlling the mechanical arm, thereby avoiding further deterioration of the dangerous situation and assisting in rescue.

[0016] (2) In the present application, when the inspection robot enters the integrated pipe gallery to be inspected, it creates an environmental map through SLAM technology and performs autonomous navigation according to the preset inspection path. During the inspection process, the four Mecanum wheels work together to generate movements in different directions. By controlling the rotation direction and speed of each Mecanum wheel, different effects can be achieved, so that the robot can move flexibly and shuttle freely in the integrated pipe gallery. At the same time, the robot cooperates with the robotic arm to effectively handle obstacles, so as to facilitate autonomous navigation and movement in complex spaces.

[0017] (3) This application equips the robot with a high-definition camera and a high-resolution infrared thermal imaging camera, which can collect images and video data in the tunnel in real time. It has a built-in high-performance processor and uses AI algorithms to centrally process and analyze inspection data, generate reports, support data mining and long-term trend analysis, and use AI algorithms to analyze inspection data and identify abnormal situations. Once an abnormal situation is detected, the system will immediately generate an alarm and notify relevant personnel through text messages, emails, etc. The control center sends instructions to the inspection robot based on the analysis results, or the inspection robot responds autonomously to conduct further inspection or processing. It can perform inspection tasks efficiently and safely, greatly improving the level of intelligence in tunnel maintenance and management.

[0018] (4) This application utilizes the infrared absorption spectrum characteristics of gas for non-contact passive imaging infrared detection, which can easily detect weak doses of target gas, thereby identifying and locating gas leaks. It can quickly and accurately detect harmful gases such as methane and sulfur hexachloride, as well as volatile organic compounds, etc., detect leaks from a long distance and promptly issue an alarm or perform repairs autonomously. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of a comprehensive pipe gallery inspection robot provided in an embodiment of the present application; Figure 2 A schematic diagram of the overall structure of a utility corridor inspection robot from another perspective provided in an embodiment of the present application; Figure 3 A schematic diagram of an upper chassis door of a utility corridor inspection robot provided in an embodiment of the present application being open; Figure 4 A schematic diagram of the chassis structure of a comprehensive pipe gallery inspection robot provided in an embodiment of the present application; Figure 5 A schematic diagram of the installation structure of a mechanical arm and a corrugated connecting hose of a comprehensive pipe gallery inspection robot provided in an embodiment of the present application; Figure 6 A schematic diagram of the installation structure of a fire extinguisher and an autonomous rescue module of a comprehensive pipe gallery inspection robot provided in an embodiment of the present application; Figure 7 for Figure 6 The enlarged schematic diagram of the middle A part; Figure 8 A module connection relationship diagram of a comprehensive pipeline corridor inspection robot provided in an embodiment of the present application.

[0020] Description of the numbers in the figure: 1. Body; 11. Front anti-collision frame; 12. Rear anti-collision frame; 13. Ultrasonic rangefinder; 14. High-definition camera; 15. Infrared thermal imaging camera; 16. Wireless communication module; 17. Power indicator light; 2. Mounting frame; 21. Connecting rod; 22. Mounting plate; 23. First servo motor; 24. Shock-absorbing rod; 25. Mecanum wheel; 3. Robotic arm; 31. Fixed plate; 32. Corrugated connecting hose; 33. End effector; 34. Nozzle; 4. Installation cavity; 41. Chassis door; 42. Installation partition; 43. Screw; 44. Optical axis; 45. Limit block; 46. Third servo motor; 47. First bevel gear; 48. Second bevel gear; 49. Extrusion block; 5. Fire extinguisher; 51. Press-type nozzle; 52. Nozzle. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0022] See also Figures 1 to 8 A comprehensive pipe gallery inspection robot comprises a body 1, an autonomous navigation system and an autonomous rescue module, a front anti-collision frame 11 and a rear anti-collision frame 12 are respectively arranged at both ends of the body 1, a mounting cavity 4 is arranged in the body 1, a control board and a power supply are installed in the mounting cavity 4, the control board is connected to the power circuit, the power supply is connected to a power indicator light 17, the power indicator light 17 is arranged on the body 1, a pair of mechanical arms 3 are arranged on the body 1, the mechanical arms 3 are installed on the body 1 through a fixing plate 31, an end effector 33 is arranged at one end of the mechanical arms 3 away from the body 1, a plurality of second servo motors are arranged in the mechanical arms 3 and the end effector 33, and the control board is respectively connected to the plurality of second servo motors by electrical signals; The effect of this setting is that through the built-in high-performance processor on the control panel and the use of AI algorithms, inspection data can be centrally processed and analyzed, reports can be generated, data mining and long-term trend analysis can be supported, and AI algorithms can be used to analyze inspection data and identify abnormal situations. Once an abnormal situation is detected, the system will immediately generate an alarm and notify relevant personnel through text messages, emails, etc. The control center sends instructions to the inspection robot based on the analysis results, or the inspection robot responds autonomously for further inspection or processing. The image data captured by the camera is analyzed through a deep learning model to detect the status of the equipment. Inspection tasks can be performed efficiently and safely, greatly improving the level of intelligence in the maintenance and management of the tunnel.

[0023] like Figures 1 to 3 As shown, an infrared thermal imaging camera 15 is provided on the top of the body 1, and the control board is electrically connected to the infrared thermal imaging camera 15; a wireless communication module 16 is provided on the body 1, and the control board is electrically connected to the wireless communication module 16; By adopting the above technical solution, by equipping the inspection robot with a high-definition camera 14 and a high-resolution infrared thermal imaging camera 15, it is possible to collect images and video data in the pipe gallery in real time. The infrared thermal imaging gas leakage detection technology has high detection sensitivity, and uses the infrared absorption spectrum characteristics of the gas for non-contact passive imaging infrared detection, which can easily detect weak doses of target gas, thereby identifying and locating gas leaks, and can quickly and accurately detect harmful gases such as methane and sulfur hexachloride, as well as volatile organic compounds, etc. Leaks can be discovered from a long distance and repaired in time, such as installing a sealing filler in the installation cavity 4 to repair the leaking pipeline as soon as possible; It can respond quickly in the event of an emergency or dangerous situation; if an abnormal situation is detected, it will be fed back to the control center and an alarm signal will be issued immediately to ensure timely processing. At the same time, the inspection robot will respond autonomously. The wireless communication module 16 adopts advanced wireless communication technology to realize real-time data transmission between the inspection robot and the control center. It is also equipped with a two-way audio and video communication module to support remote voice commands and video monitoring, which is convenient for operators to view the environment of the inspection robot in real time through the control center and conduct remote command.

[0024] like Figure 1 and Figure 4 As shown, the autonomous navigation system is arranged on the body 1, and the autonomous navigation system is used to effectively handle obstacles and movement in a complex and crowded pipe gallery environment, and realize autonomous navigation and movement; the autonomous navigation system includes a group of ultrasonic rangefinders 13, a high-definition camera 14 and a chassis part, a group of ultrasonic rangefinders 13 are respectively arranged at both ends of the body 1, the high-definition camera 14 is arranged on the top of the body 1, the chassis part is arranged at the bottom of the body 1, and the control board is respectively connected to a group of ultrasonic rangefinders 13 and the high-definition camera 14 circuits; The chassis part includes: a mounting frame 2, a plurality of connecting rods 21, a plurality of mounting plates 22, a plurality of first servo motors 23, a plurality of shock-absorbing pull rods 24 and a plurality of Mecanum wheels 25, the mounting frame 2 is fixedly connected to the machine body 1, one end of a group of connecting rods 21 is rotatably connected to the mounting frame 2, and the other end is rotatably connected to the mounting plate 22, and one end of the shock-absorbing pull rod 24 is rotatably connected to the mounting frame 2, and the other end is rotatably connected to the mounting plate 22, a plurality of first servo motors 23 are respectively fixedly mounted on the mounting plate 22, the output ends of the plurality of first servo motors 23 are respectively coaxially fixedly connected to the rotating shaft, the rotating shaft is coaxially fixedly connected to the Mecanum wheel 25, and the control board is respectively connected to the electrical signals of the plurality of first servo motors 23; The effect of such a setting is that when the inspection robot enters the integrated pipe gallery to be inspected, it creates an environmental map through SLAM technology and performs autonomous navigation according to the preset inspection path. During the inspection process, when the four Mecanum wheels 25 rotate, the main wheel and the small roller of the Mecanum wheel 25 work together to produce movements in different directions. Different effects are achieved by controlling the rotation direction and speed of each Mecanum wheel 25. When all the Mecanum wheels 25 rotate in the same direction and at the same speed, forward and backward movement are achieved. The diagonal wheels rotate in opposite directions and at the same speed to achieve straight-line left and right movement on the plane. The adjacent wheels rotate at different speeds or directions to make the robot rotate around its own center and move flexibly and freely in the integrated pipe gallery. It is easy to complete navigation movement autonomously in a complex space. At the same time, it cooperates with the robotic arm 3 to effectively handle obstacles.

[0025] like Figure 3 and Figure 5 As shown, the machine body 1 is provided with a chassis door 41, and the chassis door 41 is provided with a door lock and a sealing rubber strip; a mounting frame is provided in the mounting cavity 4, and the fire extinguisher 5 is fixedly installed in the mounting frame; a mounting partition 42 is provided in the mounting cavity 4, and a fire extinguisher 5 is provided in the mounting cavity 4, and a press-type nozzle 51 is provided on the fire extinguisher 5, and the press-type nozzle 51 is connected to the fire extinguisher 5, and the end of the press-type nozzle 51 away from the fire extinguisher 5 is connected to the nozzle 52, and the fire extinguisher 5 is arranged below the mounting partition 42; the control panel is arranged as a pluggable modular structure; The effect of this arrangement is that it is convenient to add or replace different sensor modules (such as advanced gas detectors, temperature and humidity sensors, etc.) as needed to adapt to changing inspection needs. By opening the chassis door 41 and placing the fire extinguisher 5 or the required additional instruments into the installation cavity 4, it is easy to upgrade and replace.

[0026] like Figures 3 to 7 As shown, the autonomous rescue module is arranged on the body 1. The autonomous rescue module is used to ensure that the inspection robot autonomously performs the first rescue when encountering an emergency dangerous situation to avoid further deterioration of the dangerous situation. The autonomous rescue module includes: The corrugated connecting hose 32, the nozzle 34, the screw 43, the optical axis 44, the limit block 45, the third servo motor 46, the first bevel gear 47, the second bevel gear 48 and the extrusion block 49, the corrugated connecting hose 32 is inserted into the robot arm 3, the nozzle 34 is arranged on the end effector 33, one end of the corrugated connecting hose 32 is connected to the nozzle 34, and the other end is connected to the nozzle 52; One end of the screw rod 43 is rotatably connected to the mounting partition 42, and the other end is rotatably connected to the limit block 45. The two ends of the optical axis 44 are fixedly connected to the mounting partition 42 and the limit block 45 respectively. The push nozzle 51 of the fire extinguisher 5 is placed between the screw rod 43 and the optical axis 44. A threaded hole matching the thread of the screw rod 43 is provided on the extrusion block 49, and a round hole matching the optical axis 44 is provided on the extrusion block 49. The push nozzle 51 of the fire extinguisher 5 is placed between the mounting partition 42 and the extrusion block 49. An elastic rubber sheet is provided on one end of the extrusion block 49 close to the push nozzle 51. The third servo motor 46 is fixedly mounted on the mounting partition 42. The output end of the third servo motor 46 is coaxially fixedly connected to the first bevel gear 47. The second bevel gear 48 is coaxially fixedly connected to the screw rod 43. The first bevel gear 47 and the second bevel gear 48 are meshed for transmission. The effect of such arrangement is that when a fire occurs, the output end of the third servo motor 46 is controlled to work so that the first bevel gear 47 and the second bevel gear 48 are meshed and transmitted, thereby causing the screw 43 coaxially fixedly connected to the second bevel gear 48 to rotate. Since the extrusion block 49 is provided with a threaded hole matched with the thread of the screw 43 and a round hole matched with the optical axis 44, the extrusion block 49 moves on the screw 43 and the optical axis 44 under the rotation of the screw 43. When the extrusion block 49 squeezes the pressing nozzle 51 on the fire extinguisher 5, the fire extinguishing material in the fire extinguisher 5 is sprayed out through the nozzle 52. Since the corrugated connecting hose 32 is penetrated in the mechanical arm 3 and the corrugated connecting hose 32 is connected to the nozzle 52, the fire source can be autonomously extinguished by controlling the mechanical arm 3 to avoid further deterioration of the dangerous situation.

[0027] From the above, we can see that the working principle of this application is as follows: First, the inspection robot enters the integrated pipe gallery to be inspected, creates an environmental map through SLAM technology, and performs autonomous navigation according to the preset inspection path. During the inspection process, when the four Mecanum wheels 25 rotate, the main wheel and the small roller of the Mecanum wheel 25 work together to produce movements in different directions. Different effects are achieved by controlling the rotation direction and speed of each Mecanum wheel 25. When all Mecanum wheels 25 rotate in the same direction and at the same speed, forward and backward movement is achieved. The diagonal wheels rotate in opposite directions and at the same speed to achieve straight-line left and right movement on the plane. The adjacent wheels rotate at different speeds or directions to make the robot rotate around its own center, move flexibly in the integrated pipe gallery, and shuttle freely; it is convenient to complete autonomous navigation movement in a complex space; and at the same time, cooperate with the robot arm 3 to effectively handle obstacles; By equipping the robot with a high-definition camera 14 and a high-resolution infrared thermal imaging camera 15, it is possible to collect images and video data in the tunnel in real time, and to respond quickly to emergency situations. If an abnormal situation is detected, it is fed back to the control center and an alarm is immediately issued. If a fire occurs, the output end of the third servo motor 46 is controlled to work so that the first bevel gear 47 and the second bevel gear 48 are meshed and transmitted, thereby causing the screw 43 coaxially fixedly connected to the second bevel gear 48 to rotate. Since the extrusion block 49 is provided with a threaded hole matched with the thread of the screw 43 and a round hole matched with the optical axis 44, the extrusion block 49 moves on the screw 43 and the optical axis 44 under the rotation of the screw 43. When the extrusion block 49 squeezes the pressing nozzle 51 on the fire extinguisher 5, the fire extinguishing material in the fire extinguisher 5 is sprayed out through the nozzle 52. Since the corrugated connecting hose 32 is inserted into the mechanical arm 3 and the corrugated connecting hose 32 is connected to the nozzle 52, the fire source point can be autonomously extinguished by controlling the mechanical arm 3.

[0028] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A comprehensive pipe gallery inspection robot, characterized in that: include: A machine body (1), an autonomous navigation system and an autonomous rescue module, wherein a front anti-collision frame (11) and a rear anti-collision frame (12) are respectively provided at two ends of the machine body (1), a mounting cavity (4) is provided in the machine body (1), a control panel and a power supply are installed in the mounting cavity (4), the control panel is connected to a power circuit, the power supply is connected to a power indicator light (17), the power indicator light (17) is arranged on the machine body (1), a pair of mechanical arms (3) are provided on the machine body (1), an end effector (33) is provided at one end of the mechanical arm (3) away from the machine body (1), a plurality of second servo motors are provided in the mechanical arm (3) and the end effector (33), and the control panel is respectively connected to the plurality of second servo motors by electrical signals; The autonomous navigation system is arranged on the body (1), and is used to effectively handle obstacles and movement in a complex and crowded pipe gallery environment, and realize autonomous navigation and movement; The autonomous rescue module is arranged on the body (1), and is used to ensure that the inspection robot autonomously performs the first rescue when encountering an emergency dangerous situation, so as to avoid further deterioration of the dangerous situation; A mounting partition (42) is provided in the mounting cavity (4), a fire extinguisher (5) is provided in the mounting cavity (4), a push nozzle (51) is provided on the fire extinguisher (5), the push nozzle (51) is connected to the fire extinguisher (5), and an end of the push nozzle (51) away from the fire extinguisher (5) is connected to a nozzle (52), and the fire extinguisher (5) is arranged below the mounting partition (42); The autonomous rescue module comprises: a corrugated connecting hose (32), a nozzle (34), a screw (43), an optical axis (44), a limit block (45), a third servo motor (46), a first bevel gear (47), a second bevel gear (48) and an extrusion block (49); the corrugated connecting hose (32) is inserted into the mechanical arm (3); the nozzle (34) is arranged on the end effector (33); one end of the corrugated connecting hose (32) is connected to the nozzle (34), and the other end is connected to the nozzle (52); One end of the screw rod (43) is rotatably connected to the mounting baffle (42), and the other end is rotatably connected to the limit block (45); both ends of the optical axis (44) are respectively fixedly connected to the mounting baffle (42) and the limit block (45); the pressing nozzle (51) of the fire extinguisher (5) is placed between the screw rod (43) and the optical axis (44); a threaded hole matching the thread of the screw rod (43) is provided on the extrusion block (49); and a threaded hole matching the thread of the optical axis (44) is provided on the extrusion block (49). 44), the push nozzle (51) of the fire extinguisher (5) is placed between the mounting partition (42) and the extrusion block (49), the third servo motor (46) is fixedly mounted on the mounting partition (42), the output end of the third servo motor (46) is coaxially fixedly connected to the first bevel gear (47), the second bevel gear (48) is coaxially fixedly connected to the screw rod (43), and the first bevel gear (47) and the second bevel gear (48) are meshed for transmission.

2. The integrated pipe gallery inspection robot according to claim 1, characterized in that: The autonomous navigation system comprises: A group of ultrasonic rangefinders (13), a high-definition camera (14) and a chassis, wherein the group of ultrasonic rangefinders (13) are respectively arranged at two ends of the machine body (1), the high-definition camera (14) is arranged at the top of the machine body (1), the chassis is arranged at the bottom of the machine body (1), and the control panel is respectively connected to the group of ultrasonic rangefinders (13) and the high-definition camera (14) circuits; The chassis portion comprises: a mounting frame (2), a plurality of connecting rods (21), a plurality of mounting plates (22), a plurality of first servo motors (23), a plurality of shock-absorbing pull rods (24) and a plurality of Mecanum wheels (25), wherein the mounting frame (2) is fixedly connected to the machine body (1), one end of a group of connecting rods (21) is rotatably connected to the mounting frame (2) and the other end is rotatably connected to the mounting plate (22), one end of the shock-absorbing pull rod (24) is rotatably connected to the mounting frame (2) and the other end is rotatably connected to the mounting plate (22), the plurality of first servo motors (23) are respectively fixedly mounted on the mounting plate (22), the output ends of the plurality of first servo motors (23) are respectively coaxially fixedly connected to a rotating shaft, the rotating shaft is coaxially fixedly connected to the Mecanum wheel (25), and the control board is respectively connected to the plurality of first servo motors (23) via electrical signals.

3. The integrated pipe gallery inspection robot according to claim 1 is characterized in that: An infrared thermal imaging camera (15) is provided on the top of the machine body (1), and the control panel is connected to the infrared thermal imaging camera (15) by electrical signals.

4. The integrated pipe gallery inspection robot according to claim 1 is characterized in that: The control panel is configured as a pluggable modular structure.

5. The integrated pipe gallery inspection robot according to claim 4 is characterized in that: The machine body (1) is provided with a wireless communication module (16), and the control panel is connected to the wireless communication module (16) via electrical signals.

6. The integrated pipe gallery inspection robot according to claim 1, characterized in that: The machine body (1) is provided with a machine case door (41), and the machine case door (41) is provided with a door lock and a sealing rubber strip.

7. The integrated pipe gallery inspection robot according to claim 1, characterized in that: A mounting frame is provided in the mounting cavity (4), and the fire extinguisher (5) is fixedly mounted in the mounting frame.

8. The integrated pipe gallery inspection robot according to claim 1, characterized in that: An elastic rubber sheet is provided on one end of the extrusion block (49) close to the pressing nozzle (51).

Images