Intelligent inspection robot for gas tunnel

Abstract

The invention relates to an intelligent inspection robot for a gas tunnel, and belongs to the field of tunnel inspection technologies, the intelligent inspection robot comprises a base, a walking mechanism, a gas detector, an alarm, a control panel, a ventilation mechanism and a power supply, the walking mechanism is arranged on the base and used for walking in the tunnel; the gas detector is arranged on the base and used for detecting the gas concentration of gas, the alarm is arranged on the base, and the control panel is arranged on the base and electrically connected with the gas detector, the alarm and the ventilation mechanism; the ventilation mechanism is arranged on the base and is used for blowing air to a high position with relatively high gas concentration; the power source is arranged on the base and used for supplying power to the walking mechanism, the gas detector, the alarm, the control panel and the ventilation mechanism. The method has the advantages that the gas concentration of the gas in the local area is reduced, and the problem that the local gas content of the tunnel is prone to exceeding the standard during tunnel construction is effectively solved.

Description

Technical Field

[0001] The present application relates to the field of tunnel inspection technology, and in particular to an intelligent inspection robot for gas tunnels. Background Art

[0002] During the construction of high-speed railway tunnels, gas is easily excavated as the tunnel is excavated, causing the gas content in the tunnel to exceed the standard. Although the tunnel is usually equipped with a ventilation system to deliver fresh air into the tunnel, as gas is continuously produced, the gas will accumulate in local areas of the tunnel, causing the local gas content to still exceed the standard. Sparks can easily cause an explosion, posing a huge safety hazard.

[0003] At present, during the tunnel construction process, special personnel are usually arranged to conduct inspections. The content of harmful gases such as gas in the tunnel is detected by detection instruments. If the gas content is detected to be excessive, an alarm will be issued in time, and the handling personnel will be notified to ventilate the area where the gas content exceeds the standard in time to reduce the concentration of gas in the local area. However, the manual inspection in the tunnel has a high labor intensity for the inspectors, and the inspection interval is long, making it difficult to conduct frequent inspections, which leads to the problem that the gas content in the local area of ​​the tunnel is still easily exceeded during tunnel construction. Summary of the invention

[0004] In order to improve the problem that the local gas content in the tunnel is prone to exceed the standard during tunnel construction, the present application provides a gas tunnel intelligent inspection robot.

[0005] The intelligent inspection robot for gas tunnels provided in this application adopts the following technical solution: A gas tunnel intelligent inspection robot comprises a base, a walking mechanism, a gas detector, an alarm, a control panel, a ventilation mechanism and a power supply, wherein the walking mechanism is arranged on the base and is used for walking in the tunnel, the gas detector is arranged on the base and is used for detecting the gas concentration of the gas, the alarm is arranged on the base, the control panel is arranged on the base and is electrically connected to the gas detector, the alarm and the ventilation mechanism; the ventilation mechanism is arranged on the base and is used for blowing air to places with higher gas concentration; the power supply is arranged on the base and is used for supplying power to the walking mechanism, the gas detector, the alarm, the control panel and the ventilation mechanism.

[0006] By adopting the above technical scheme, the walking mechanism drives the base to move back and forth in the tunnel along the length direction of the tunnel, and the base then drives the gas detector to move back and forth in the tunnel along the length direction of the tunnel. The gas detector can frequently and periodically detect the gas concentration of the gas at different positions in the tunnel, replacing the manual inspection method, and the gas detector can also send the detected data to the control panel. If the gas detector detects that the gas concentration of the gas in the tunnel is higher than the set value, the control panel controls the alarm to sound an alarm to remind the construction personnel in the tunnel. At the same time, the control panel controls the ventilation mechanism to blow air to the place with higher gas concentration to reduce the gas concentration of the gas in the local area, effectively improving the problem of excessive gas content in the local area of ​​the tunnel during tunnel construction.

[0007] Optionally, the ventilation mechanism includes a fan, a ventilation hose and an extension arm, the fan is arranged on a base and is electrically connected to a power supply and a control panel, the ventilation hose is connected to an air outlet of the fan, the extension arm is arranged on the base and connected to the ventilation hose, and the extension arm is used to transport one end of the ventilation hose away from the fan to an area with higher gas concentration.

[0008] By adopting the above technical solution, the control panel controls the start of the fan, and the wind generated by the fan enters the ventilation hose and is blown out from the end of the ventilation hose away from the fan. At the same time, the extension arm transports the end of the ventilation hose away from the fan to an area with higher gas concentration. The wind blown out of the ventilation hose can specifically disperse the gas at the area with higher gas concentration.

[0009] Optionally, the extension arm includes a turntable, a rotating motor, a main arm, a first electric push rod, an extension arm and a second electric push rod. The turntable is rotatably arranged on the base, the rotating motor is arranged on the base and is used to drive the turntable to rotate, the rotating motor is electrically connected to a power supply and a control panel, the main arm is hinged on the turntable, the first electric push rod is hinged on the turntable and is electrically connected to a power supply and a control panel, the piston rod of the first electric push rod is hinged to the main arm, the extension arm is hinged on the main arm, the second electric push rod is hinged on the main arm and is electrically connected to the power supply and the control panel, the piston rod of the second electric push rod is hinged to the extension arm, and the end of the ventilation hose away from the fan is arranged on the extension arm.

[0010] By adopting the above technical scheme, the control panel controls the start of the rotating motor according to the position of the area with higher gas concentration in the gas, and the rotating motor drives the turntable to rotate, and the turntable drives the big arm to rotate. At the same time, the control panel controls the start of the first electric push rod, and the piston rod of the first electric push rod is extended and retracted, thereby causing the big arm to rotate. The control panel controls the start of the second electric push rod, and the piston rod of the second electric push rod is extended and retracted, driving the extension arm to rotate, and the extension arm drives the end of the ventilation hose away from the fan to move, thereby adjusting the angle, height and position of the end of the ventilation hose away from the fan, so that the end of the ventilation hose away from the fan can be conveniently and quickly adjusted to face the area with higher gas concentration in the gas.

[0011] Optionally, the base is provided with a plurality of support mechanisms for supporting the base, and the plurality of support mechanisms are respectively located on different sides of the base, and the support mechanisms include a support arm and a support foot, the support arm is laterally arranged on the base, and the length of the support arm is retractable, and the support foot is vertically arranged on the support arm, and the length of the support foot is retractable.

[0012] By adopting the above technical solution, before the extension arm is extended to adjust the position of the ventilation hose, the support arms of the multiple support mechanisms are extended respectively, and then the support feet on the support arms are extended to abut against the ground, thereby supporting different sides of the base, thereby improving the stability of the base and reducing the possibility of tipping over due to the center of gravity of the base being shifted due to the extension arm being extended.

[0013] Optionally, the support arm includes a guide sleeve, a sliding rod, a drive motor and a screw rod, the guide sleeve is arranged on the base, the sliding rod is slidably arranged on the inner wall of the guide sleeve, the supporting foot is arranged on the sliding rod, the drive motor is arranged on the base and is electrically connected to the power supply and the control panel, and the screw rod is coaxially arranged on the output shaft of the drive motor and is threadedly connected to the sliding rod.

[0014] By adopting the above technical solution, the control panel controls the drive motor to start, and the drive motor drives the screw to rotate. The screw can drive the slide bar to slide in the guide sleeve in a direction away from the guide sleeve, so as to drive the support arm to extend conveniently and quickly.

[0015] Optionally, a spray mechanism for spraying water mist is provided on the base, and the spray mechanism includes a water tank, a water pump and a spray head. The water tank is provided on the base, the water pump is provided on the base and connected to the water tank, the water pump is electrically connected to the power supply and the control panel, and the spray head is provided on the extension arm and connected to the water outlet end of the water pump.

[0016] By adopting the above technical solution, when the base moves to an area with a higher dust concentration in the tunnel, the control panel controls the water pump to start, and the water pump pumps water in the water tank into the sprinkler head, and the water is sprayed out of the sprinkler head to reduce dust in the area with a higher dust concentration in the tunnel, thereby reducing the dust concentration in the working environment of the construction workers in the tunnel.

[0017] Optionally, a temperature sensor and a humidity sensor are provided on the base, the temperature sensor is electrically connected to the power supply and the control panel, and the humidity sensor is electrically connected to the power supply and the control panel.

[0018] By adopting the above technical solution, when the walking mechanism drives the base to move, the temperature sensor on the base detects the temperature in the tunnel, and the humidity sensor detects the humidity in the tunnel, and then transmits the detection data to the control panel, which is convenient for construction personnel to monitor the temperature and humidity at different positions in the tunnel.

[0019] Optionally, a filter cloth is provided on the base, and the filter cloth covers the gas detector, the temperature sensor and the humidity sensor. The filter cloth is also connected to an exhaust fan, and the exhaust fan is electrically connected to the power supply and the control panel.

[0020] By adopting the above technical solution, the filter cloth filters the dust in the air, reducing the amount of dust adhering to the gas detector, temperature sensor and humidity sensor, thereby reducing the impact of dust on the detection of the gas detector, temperature sensor and humidity sensor, and the exhaust fan draws out the gas in the area where the filter cloth cover is set, making it easier for external gas to enter the filter cloth for circulation, thereby enabling the gas detector, temperature sensor and humidity sensor to detect gas at different positions in real time, thereby improving the detection accuracy of the gas detector, temperature sensor and humidity sensor.

[0021] Optionally, a camera is provided on the base, and the camera is electrically connected to the power supply and the control panel.

[0022] By adopting the above technical solution, when the base moves, the camera is driven to move, the camera takes pictures of the environment in the tunnel, and then transmits the data to the control panel, so that the construction personnel can control the situation in the tunnel.

[0023] Optionally, a protective mechanism for protecting the camera is provided on the base, and the protective mechanism includes a transparent protective cover, a cleaning frame, a scraper and a driving assembly. The transparent protective cover is provided on the base, and the camera cover is disposed inside the transparent protective cover. The cleaning frame is slidably provided on the base along a vertical direction, the scraper is provided on the cleaning frame and circumferentially abuts against the outer periphery of the protective cover, and the driving assembly is provided on the base and is used to drive the cleaning frame to slide.

[0024] By adopting the above technical solution, the transparent protective cover sets the camera cover inside, reducing the influence of dust on the camera imaging effect, and the driving component can drive the cleaning frame to slide in the vertical direction, and the cleaning frame drives the scraper to move in the vertical direction, and the scraper then cleans the dust adhering to the transparent protective cover, thereby ensuring the cleanliness of the transparent protective cover and thus ensuring the imaging effect of the camera.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. If the gas detector detects that the gas concentration in the tunnel is higher than the set value, the control panel controls the alarm to sound an alarm to remind the construction personnel in the tunnel. At the same time, the control panel controls the ventilation mechanism to blow air to the area with higher gas concentration to reduce the gas concentration in the local area, effectively improving the problem of excessive gas content in the local area of ​​the tunnel during tunnel construction; 2. The support arms of the multiple support mechanisms are extended respectively, and then the support feet on the support arms are extended and abut against the ground, thereby supporting different sides of the base, improving the stability of the base, and reducing the possibility of tipping over due to the center of gravity of the base being shifted due to the extension of the extension arms; 3. The water pump draws water from the water tank into the sprinkler head, and the water sprays out from the sprinkler head to reduce dust in areas with high dust concentration in the tunnel, thereby reducing the dust concentration in the working environment of construction workers in the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the intelligent inspection robot for gas tunnels according to an embodiment of the present application.

[0027] Figure 2 It is a structural schematic diagram of an embodiment of the present application from another perspective (the filter cloth and the transparent protective cover are partially cut away in the figure).

[0028] Figure 3 Schematic diagram of the structure of the camera and protective mechanism of the embodiment of the present application (the transparent protective cover is partially cut away in the figure).

[0029] Figure 4 It is a schematic diagram of the structure of the extension arm of an embodiment of the present application.

[0030] Figure 5 Schematic diagram of the structure of the support mechanism of the embodiment of the present application (the guide sleeve and the slide rod are partially cut away in the figure).

[0031] Figure numerals: 1, base; 2, walking mechanism; 3, gas detector; 4, alarm; 5, control panel; 6, ventilation mechanism; 61, fan; 62, ventilation hose; 63, extension arm; 631, turntable; 632, rotating motor; 633, big arm; 634, first electric push rod; 635, extension arm; 636, second electric push rod; 7, power supply; 8, support mechanism; 81, support arm; 811, guide sleeve; 812, slide rod; 813, drive motor; 814 , screw; 82, support foot; 821, vertical rod; 822, support motor; 823, support screw; 9, spray mechanism; 91, water tank; 92, water pump; 93, spray head; 10, temperature sensor; 11, humidity sensor; 12, filter cloth; 13, exhaust fan; 14, camera; 15, protection mechanism; 151, transparent protective cover; 152, cleaning rack; 153, scraper; 154, drive assembly; 1541, control motor; 1542, control screw. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-5 This application is described in further detail.

[0033] An embodiment of the present application discloses an intelligent inspection robot for a gas tunnel.

[0034] Reference Figure 1 , Figure 2 The intelligent inspection robot for gas tunnels includes a base 1, a walking mechanism 2, a gas detector 3, an alarm 4, a control panel 5, a ventilation mechanism 6, a power supply 7, a supporting mechanism 8 and a spraying mechanism 9.

[0035] Reference Figure 1 , Figure 2 , a walking mechanism 2 is installed at the bottom of the base 1. The walking mechanism 2 is used for walking in the tunnel. The walking mechanism 2 can be a wheeled walking mechanism, a crawler walking mechanism, etc. In the present embodiment, the walking mechanism 2 is a crawler walking mechanism, which has the characteristics of good passability and high stability; a control panel 5 is installed on the base 1, and the control panel 5 is electrically connected to the walking mechanism 2. A power supply 7 is installed at the bottom of the base 1. The power supply 7 is electrically connected to the walking mechanism 2 and the control panel 5 to supply power to the control panel 5 and the walking mechanism 2. The power supply 7 can be a lithium iron phosphate battery, a ternary lithium battery, a lithium cobalt oxide battery, a lithium manganese oxide battery, etc. In the present embodiment, the power supply 7 is a lithium iron phosphate battery, which has the characteristics of high safety and long life.

[0036] Reference Figure 1 , Figure 2The gas detector 3 is installed on the base 1. The gas detector 3 is used to detect the gas concentration of the gas in the tunnel. The gas detector 3 is electrically connected to the power supply 7 and the control panel 5. In this embodiment, the gas detector 3 is a semiconductor gas detector, which can be effectively used for the detection of many gases such as methane, ethane, propane, butane, alcohol, formaldehyde, carbon monoxide, carbon dioxide, ethylene, acetylene, vinyl chloride, styrene, acrylic acid, etc.

[0037] Reference Figure 2 A temperature sensor 10 and a humidity sensor 11 are installed on the base 1. The temperature sensor 10 is used to detect the temperature in the tunnel. The temperature sensor 10 is electrically connected to the power supply 7 and the control panel 5. The humidity sensor 11 is used to detect the humidity in the tunnel. The humidity sensor 11 is electrically connected to the power supply 7 and the control panel 5.

[0038] The construction personnel control the walking mechanism 2 to move back and forth along the length direction of the tunnel in the tunnel through the control panel 5. The walking mechanism 2 can drive the base 1 to move back and forth along the length direction of the tunnel. The base 1 drives the gas detector 3, the temperature sensor 10 and the humidity sensor 11 to move back and forth along the length direction of the tunnel in the tunnel. The gas detector 3 can frequently and periodically detect the gas concentration of the gas in different positions in the tunnel. The temperature sensor 10 frequently and periodically detects the temperature in different positions in the tunnel. The humidity sensor 11 frequently and periodically detects the humidity in different positions in the tunnel, replacing the manual inspection method and increasing the inspection frequency of the tunnel. The data detected by the gas detector 3, the temperature sensor 10 and the humidity sensor 11 are transmitted to the control panel 5. The construction personnel can conveniently control the gas concentration, temperature, humidity, etc. in different positions in the tunnel through the control panel 5.

[0039] Reference Figure 1 , Figure 2 A filter cloth 12 is installed on the base 1, and the filter cloth 12 covers the gas detector 3, the temperature sensor 10 and the humidity sensor 11. The filter cloth 12 can be made of polyester, polypropylene, stainless steel and the like. In the present embodiment, the filter cloth 12 is woven from polyester, and a frame is installed on the base 1 to support the filter cloth 12, so that the filter cloth 12 can enclose and form a space for accommodating the gas detector 3, the temperature sensor 10 and the humidity sensor 11; an exhaust fan 13 is installed on the filter cloth 12, and the exhaust fan 13 is electrically connected to the power supply 7 and the control panel 5.

[0040] The filter cloth 12 covers the gas detector 3, the temperature sensor 10 and the humidity sensor 11, so that the gas in the tunnel is filtered by the filter cloth 12 to filter the dust, and then enters the space formed by the filter cloth 12 for detection by the gas detector 3, the temperature sensor 10 and the humidity sensor 11, thereby reducing the amount of dust adhering to the gas detector 3, the temperature sensor 10 and the humidity sensor 11, thereby reducing the impact of dust on the detection accuracy of the gas detector 3, the temperature sensor 10 and the humidity sensor 11. At the same time, the exhaust fan 13 can continuously discharge the gas in the space formed by the filter cloth 12, so that the space formed by the filter cloth 12 forms a negative pressure, and the outside air can easily enter the space formed by the filter cloth 12. When the base 1 moves to different positions in the tunnel, the gas at different positions in the tunnel can be circulated in the space formed by the filter cloth 12 in a timely manner, so that the gas detector 3, the temperature sensor 10 and the humidity sensor 11 can detect the gas at different positions in real time, effectively improving the detection accuracy of the gas detector 3, the temperature sensor 10 and the humidity sensor 11.

[0041] Reference Figure 2 , Figure 3 A camera 14 is installed on the base 1, and the camera 14 is electrically connected to the power supply 7 and the control panel 5; and a protective mechanism 15 for protecting the camera 14 is installed on the base 1, and the protective mechanism 15 includes a transparent protective cover 151, a cleaning frame 152, a scraper 153 and a driving component 154. The transparent protective cover 151 is installed on the base 1, and the transparent protective cover 151 covers the camera 14. The transparent protective cover 151 can be made of transparent materials such as glass and acrylic. In this embodiment, the transparent protective cover 151 is made of acrylic. The cleaning frame 152 is slidably installed on the base 1 along the vertical direction, and the cleaning frame 152 is enclosed on the outer periphery of the transparent protective cover 151. The scraper 153 is circumferentially installed on the cleaning frame 152. On one side close to the transparent protective cover 151, the scraper 153 is circumferentially abutted against the outer side wall of the transparent protective cover 151. In the present embodiment, the scraper 153 is made of rubber. The driving assembly 154 is mounted on the base 1. The driving assembly 154 is used to drive the cleaning frame 152 to move in the vertical direction. In the present embodiment, the driving assembly 154 includes a control motor 1541 and a control screw 1542. The control motor 1541 is mounted on the base 1. The control screw 1542 is vertically rotatably mounted on the base 1. The control screw 1542 is coaxially connected to the output shaft of the control motor 1541. The control screw 1542 is threadedly connected to the cleaning frame 152. The control motor 1541 is electrically connected to the power supply 7 and the control panel 5.

[0042] When the base 1 moves in the tunnel, the base 1 drives the camera 14 to move, and the camera 14 can shoot the environment in the tunnel, and then send an electrical signal to the control panel 5 to transmit the data to the control panel 5. The construction personnel can control the situation in the tunnel in real time through the control panel 5; and the camera 14 is covered by a protective cover, which blocks the dust and reduces the amount of dust adhering to the camera 14. The control motor 1541 can also be started through the control panel 5. The output shaft of the control motor 1541 drives the control screw 1542 to rotate forward or reverse. The control screw 1542 can drive the cleaning frame 152 to reciprocate in the vertical direction. The cleaning frame 152 drives the scraper 153 to scrape the outer wall of the transparent protective cover 151 to clean the dust on the transparent protective cover 151, ensure the cleanliness of the transparent protective cover 151, and then ensure the imaging effect of the camera 14.

[0043] Reference Figure 1 , Figure 2 , the alarm 4 is mounted on the base 1, and the alarm 4 is electrically connected to the power supply 7 and the control panel 5. In this embodiment, the alarm 4 is an audible and visual alarm. The base 1 drives the gas detector 3 to move in the tunnel, and the gas detector 3 detects the gas concentration of the gas, and then the gas detector 3 sends an electrical signal to the control panel 5. If the gas concentration detected by the gas detector 3 exceeds the set value, the control panel 5 sends an electrical signal to the alarm 4, and the alarm 4 starts to emit sound and light to alarm, reminding the construction personnel in the tunnel.

[0044] Reference Figure 2 , Figure 4, the ventilation mechanism 6 is installed on the base 1, and the ventilation mechanism 6 is used to blow air to the place with higher gas concentration. The ventilation mechanism 6 includes a fan 61, a ventilation hose 62 and an extension arm 63. The fan 61 is installed on the base 1, and the fan 61 is electrically connected to the power supply 7 and the control panel 5. The ventilation hose 62 is connected and installed on the air outlet of the fan 61; the extension arm 63 is installed on the base 1, and the extension arm 63 is used to transport the end of the ventilation hose 62 away from the fan 61 to the place with higher gas concentration. The extension arm 63 includes a turntable 631, a rotating motor 632, a large arm 633, a first electric push rod 634, an extension arm 635 and a second electric push rod 636. The turntable 631 is rotatably installed on the base 1, the rotating motor 632 is installed on the base 1, and the rotating motor 6 The output shaft of 32 is coaxially connected to the turntable 631, the rotating motor 632 is electrically connected to the power supply 7 and the control panel 5, the upper arm 633 is hingedly mounted on the turntable 631 in the vertical direction, the first electric push rod 634 is hingedly mounted on the turntable 631, the piston rod of the first electric push rod 634 is hingedly mounted on the upper arm 633, the first electric push rod 634 is electrically connected to the power supply 7 and the control panel 5, the extension arm 635 is hingedly mounted on the end of the upper arm 633 away from the turntable 631, the end of the ventilation hose 62 away from the fan 61 is mounted on the extension arm 635, the second electric push rod 636 is hingedly mounted on the upper arm 633, the piston rod of the second electric push rod 636 is hingedly mounted on the extension arm 635, and the second electric push rod 636 is electrically connected to the power supply 7 and the control panel 5.

[0045] The control panel 5 controls the rotation motor 632, the first electric push rod 634 and the second electric push rod 636 to start, the output shaft of the rotation motor 632 drives the turntable 631 to rotate, the turntable 631 drives the big arm 633 and the extension arm 635 to rotate, and then the angle of the end of the ventilation hose 62 away from the fan 61 is adjusted, the piston rod of the first electric push rod 634 is extended and retracted, driving the big arm 633 to rotate in the vertical direction, and at the same time, the piston rod of the second electric push rod 636 is extended and retracted, driving the extension arm 635 to rotate in the direction close to the big arm 633 or away from the big arm 633, thereby adjusting the height and position of the end of the ventilation hose 62 away from the fan 61, and then the end of the ventilation hose 62 away from the fan 61 is transported to a place with higher gas concentration, the control panel 5 controls the fan 61 to start, and the wind blown out by the fan 61 is blown out from the end of the ventilation hose 62 away from the fan 61, so as to blow away the gas at the place with higher gas concentration, effectively reducing the gas concentration of the gas in the local area with higher gas concentration.

[0046] Reference Figure 2The spray mechanism 9 is installed on the base 1. The spray mechanism 9 is used to spray water mist. The spray mechanism 9 includes a water tank 91, a water pump 92 and a spray head 93. The water tank 91 is installed on the base 1. The water pump 92 is installed on the base 1. The water pump 92 is electrically connected to the power supply 7 and the control panel 5. The water inlet end of the water pump 92 is connected to the water tank 91. The spray head 93 is installed on the extension arm 635. The spray head 93 is connected to the water outlet end of the water pump 92 through a hose.

[0047] When the base 1 moves to an area with a higher dust concentration in the tunnel, the extension arm 635 transports the spray head 93 to the area with a higher dust concentration, and the control panel 5 controls the water pump 92 to start. The water pump 92 draws water from the water tank 91 and transports it to the spray head 93. The water is sprayed out from the spray head 93 to reduce dust in the area with a higher dust concentration in the tunnel, thereby reducing the dust concentration in the working environment of the construction workers in the tunnel; and the extension arm 635 can also drive the spray head 93 to move toward the transparent protective cover 151, and the spray head 93 sprays water toward the transparent protective cover 151, thereby improving the cleaning effect of the subsequent scraper 153 on the transparent protective cover 151.

[0048] Reference Figure 2 , Figure 5 , a plurality of support mechanisms 8 are installed on the base 1, and the plurality of support mechanisms 8 are respectively located on different sides of the base 1. The support mechanisms 8 are used to support the base 1. The support mechanisms 8 include a support arm 81 and a support foot 82. The support arm 81 is installed on the base 1 in the horizontal direction. The length of the support arm 81 is retractable. The support arm 81 includes a guide sleeve 811, a slide rod 812, a drive motor 813 and a screw 814. The guide sleeve 811 is installed on the base 1. The guide sleeve 811 is hollow inside and has an opening at one end away from the base 1. The slide rod 812 is slidably installed on the inner wall of the guide sleeve 811. The drive motor 813 is installed on the base 1. The drive motor 813 is electrically connected to the power supply 7 and the control panel 5. The screw 814 is coaxially mounted on the output shaft of the driving motor 813, and the screw 814 extends into the guide sleeve 811 and is threadedly connected to the sliding rod 812; the supporting foot 82 is vertically mounted on the sliding rod 812, and the length of the supporting foot 82 is retractable. In this embodiment, the supporting foot 82 includes a vertical rod 821, a supporting motor 822 and a supporting screw 823, the vertical rod 821 is slidably mounted on the sliding rod 812 along the vertical direction, the supporting motor 822 is mounted on the sliding rod 812, the supporting motor 822 is electrically connected to the power supply 7 and the control panel 5, the supporting screw 823 is vertically coaxially mounted on the output shaft of the supporting motor 822, and the supporting screw 823 is threadedly connected to the vertical rod 821.

[0049] Before the extension arm 63 is extended to adjust the position of the ventilation hose 62 and the sprinkler head 93, the control panel 5 sends an electrical signal to the drive motor 813 and the support motor 822, the drive motor 813 is started, and the output shaft of the drive motor 813 drives the screw 814 to rotate, the screw 814 drives the slide bar 812 to slide in the direction away from the guide sleeve 811, and the slide bar 812 can drive the support foot 82 to move in the direction away from the base 1, and then the output shaft of the support motor 822 drives the support screw 823 to rotate, driving the vertical rod 821 to approach the ground and abut against the ground, and the support feet 82 on different sides of the base 1 extend from the base 1 and abut against the ground, so that different sides of the base 1 can be supported, thereby improving the stability of the base 1 and reducing the possibility of tipping over due to the center of gravity of the base 1 being shifted due to the expansion of the extension arm 63.

[0050] The implementation principle of the intelligent inspection robot for a gas tunnel in the embodiment of the present application is as follows: the walking mechanism 2 drives the base 1 to move back and forth in the tunnel along the length direction of the tunnel. During the movement, the camera 14 shoots the environment in the tunnel. At the same time, the gas detector 3, the temperature sensor 10 and the humidity sensor 11 frequently and periodically detect the gas concentration, temperature and humidity at different positions in the tunnel, replacing the original manual inspection method. After detection, the gas detector 3, the temperature sensor 10 and the humidity sensor 11 send an electrical signal to the control panel 5. If the gas detector 3 detects that the gas concentration of the gas in the tunnel is higher than the set value, the control panel 5 controls the alarm 4 to sound an alarm to promote the construction personnel in the tunnel. At the same time, the control panel 5 controls the fan 61 and the extension arm 63 to blow air to the gas with higher gas concentration in a targeted manner to reduce the gas concentration of the gas in the local area, effectively improving the problem that the local gas content of the tunnel is prone to exceed the standard during tunnel construction, and can also reduce dust in the area with higher dust concentration in the tunnel through the spraying mechanism 9, thereby reducing the dust concentration in the working environment of the construction personnel in the tunnel.

[0051] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A gas tunnel intelligent inspection robot, characterized by: The invention comprises a base (1), a walking mechanism (2), a gas detector (3), an alarm (4), a control panel (5), a ventilation mechanism (6) and a power supply (7), wherein the walking mechanism (2) is arranged on the base (1) and is used for walking in a tunnel, the gas detector (3) is arranged on the base (1) and is used for detecting the gas concentration of the gas, the alarm (4) is arranged on the base (1), the control panel (5) is arranged on the base (1) and is electrically connected to the gas detector (3), the alarm (4) and the ventilation mechanism (6); the ventilation mechanism (6) is arranged on the base (1) and is used for blowing air towards a place with a higher gas concentration; the power supply (7) is arranged on the base (1) and is used for supplying power to the walking mechanism (2), the gas detector (3), the alarm (4), the control panel (5) and the ventilation mechanism (6).

2. The intelligent inspection robot for gas tunnels according to claim 1 is characterized in that: The ventilation mechanism (6) comprises a fan (61), a ventilation hose (62) and an extension arm (63); the fan (61) is arranged on the base (1) and is electrically connected to the power supply (7) and the control panel (5); the ventilation hose (62) is arranged on the air outlet of the fan (61) in communication; the extension arm (63) is arranged on the base (1) and is connected to the ventilation hose (62); the extension arm (63) is used to transport the end of the ventilation hose (62) away from the fan (61) to a place with a higher gas concentration.

3. The intelligent inspection robot for gas tunnels according to claim 2 is characterized in that: The extension arm (63) comprises a turntable (631), a rotating motor (632), a large arm (633), a first electric push rod (634), an extension arm (635) and a second electric push rod (636); the turntable (631) is rotatably arranged on the base (1); the rotating motor (632) is arranged on the base (1) and is used to drive the turntable (631) to rotate; the rotating motor (632) is electrically connected to the power supply (7) and the control panel (5); the large arm (633) is hingedly arranged on the turntable (631); the first electric push rod (634) The first electric push rod (634) is hinged on the turntable (631) and is electrically connected to the power supply (7) and the control panel (5); the piston rod of the first electric push rod (634) is hinged on the upper arm (633); the extension arm (635) is hinged on the upper arm (633); the second electric push rod (636) is hinged on the upper arm (633) and is electrically connected to the power supply (7) and the control panel (5); the piston rod of the second electric push rod (636) is hinged on the extension arm (635); and the end of the ventilation hose (62) away from the fan (61) is arranged on the extension arm (635).

4. The intelligent inspection robot for gas tunnels according to claim 1 is characterized in that: The base (1) is provided with a plurality of support mechanisms (8) for supporting the base (1); the plurality of support mechanisms (8) are respectively located on different sides of the base (1); the support mechanism (8) comprises a support arm (81) and a support foot (82); the support arm (81) is arranged transversely on the base (1); the length of the support arm (81) is retractable; the support foot (82) is arranged vertically on the support arm (81); the length of the support foot (82) is retractable.

5. The intelligent inspection robot for gas tunnels according to claim 4 is characterized in that: The support arm (81) comprises a guide sleeve (811), a slide rod (812), a drive motor (813) and a screw rod (814); the guide sleeve (811) is arranged on the base (1); the slide rod (812) is slidably arranged on the inner wall of the guide sleeve (811); the support foot (82) is arranged on the slide rod (812); the drive motor (813) is arranged on the base (1) and is electrically connected to the power supply (7) and the control panel (5); and the screw rod (814) is coaxially arranged on the output shaft of the drive motor (813) and is threadedly connected to the slide rod (812).

6. The intelligent inspection robot for gas tunnels according to claim 3 is characterized by: The base (1) is provided with a spray mechanism (9) for spraying water mist, the spray mechanism (9) comprising a water tank (91), a water pump (92) and a spray head (93), the water tank (91) being provided on the base (1), the water pump (92) being provided on the base (1) and being connected to the water tank (91), the water pump (92) being electrically connected to the power supply (7) and the control panel (5), and the spray head (93) being provided on the extension arm (635) and being connected to the water outlet of the water pump (92).

7. The intelligent inspection robot for gas tunnels according to claim 1 is characterized in that: The base (1) is provided with a temperature sensor (10) and a humidity sensor (11); the temperature sensor (10) is electrically connected to the power supply (7) and the control panel (5); and the humidity sensor (11) is electrically connected to the power supply (7) and the control panel (5).

8. The intelligent inspection robot for gas tunnels according to claim 7 is characterized in that: A filter cloth (12) is provided on the base (1), the filter cloth (12) covers the gas detector (3), the temperature sensor (10) and the humidity sensor (11), and an exhaust fan (13) is provided on the filter cloth (12) in communication, the exhaust fan (13) is electrically connected to the power supply (7) and the control panel (5).

9. The intelligent inspection robot for gas tunnels according to claim 1, characterized in that: A camera (14) is provided on the base (1), and the camera (14) is electrically connected to the power supply (7) and the control panel (5).

10. The intelligent inspection robot for gas tunnels according to claim 9, characterized in that: The base (1) is provided with a protection mechanism (15) for protecting a camera (14), the protection mechanism (15) comprising a transparent protection cover (151), a cleaning frame (152), a scraper (153) and a driving assembly (154); the transparent protection cover (151) is provided on the base (1), the transparent protection cover (151) covers the camera (14) inside; the cleaning frame (152) is slidably provided on the base (1) along a vertical direction; the scraper (153) is provided on the cleaning frame (152) and circumferentially abuts against the outer periphery of the protection cover; and the driving assembly (154) is provided on the base (1) and is used to drive the cleaning frame (152) to slide.

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