Gas Tunnel Intelligent Inspection Robot

Abstract

The application relates to a gas tunnel intelligent inspection robot, and belongs to the field of tunnel inspection technology. The 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 is used for walking in the tunnel. The gas detector is arranged on the base and is used for detecting the gas concentration of gas. The alarm is arranged on the base. The control panel is arranged on the base and is 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 to a place with high 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. The application can reduce the gas concentration of local gas, and effectively improve the problem that the local gas content of a tunnel is prone to exceeding the standard during tunnel construction.

Description

Technical Field

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

[0002] During the construction of high-speed railway tunnels, methane gas is easily unearthed as the tunnel is excavated, leading to excessive methane levels inside the tunnel. Although ventilation systems are usually installed inside the tunnel to deliver fresh air, as methane continues to be generated, it accumulates in certain areas of the tunnel, causing localized methane levels to still exceed the standard. This can easily cause an explosion when exposed to a spark, posing a significant safety hazard.

[0003] Currently, during tunnel construction, designated personnel conduct inspections, using detection instruments to monitor the levels of methane and other harmful gases within the tunnel. If excessive methane levels are detected, an alarm is triggered, and personnel are notified to ventilate the affected areas to reduce methane concentration. However, manual inspections within the tunnel are labor-intensive for personnel, and the long intervals between inspections make frequent checks difficult, leading to the problem of methane levels in some areas of the tunnel still exceeding safety limits during construction. Summary of the Invention

[0004] To address the issue of excessive methane levels in localized areas of tunnels during construction, this application provides an intelligent inspection robot for methane-contaminated tunnels.

[0005] The intelligent inspection robot for gas tunnels provided in this application adopts the following technical solution:

[0006] A smart inspection robot for gas tunnels includes a base, a walking mechanism, a gas detector, an alarm, a control panel, a ventilation mechanism, and a power supply. The walking mechanism is mounted on the base and used for moving within the tunnel. The gas detector is mounted on the base and used for detecting the concentration of gas. The alarm is mounted on the base. The control panel is mounted on the base and electrically connected to the gas detector, the alarm, and the ventilation mechanism. The ventilation mechanism is mounted on the base and used for blowing air towards areas with higher gas concentrations. The power supply is mounted on the base and used to supply power to the walking mechanism, the gas detector, the alarm, the control panel, and the ventilation mechanism.

[0007] By adopting the above technical solution, the traveling mechanism drives the base to reciprocate along the length of the tunnel, which in turn drives the gas detector to reciprocate along the length of the tunnel. The gas detector can then frequently and periodically detect the methane concentration at different locations within the tunnel, replacing manual inspection. Furthermore, the gas detector can send the detected data to the control panel. If the gas detector detects that the methane concentration in the tunnel is higher than the set value, the control panel will activate the alarm to alert the construction personnel inside the tunnel. At the same time, the control panel will control the ventilation mechanism to blow air towards the areas with higher methane concentrations, reducing the local methane concentration and effectively improving the problem of localized methane content exceeding the standard during tunnel construction.

[0008] Optionally, the ventilation mechanism includes a fan, a ventilation hose, and an extension arm. The fan is mounted on a base and electrically connected to a power supply and a control panel. The ventilation hose is connected to the air outlet of the fan. The extension arm is mounted on the base and connected to the ventilation hose. The extension arm is used to deliver the end of the ventilation hose away from the fan to a location with a higher gas concentration.

[0009] By adopting the above technical solution, the control panel controls the start of the fan, the air generated by the fan is introduced into the ventilation hose and blown out from the end of the ventilation hose away from the fan, and at the same time the extension arm delivers the end of the ventilation hose away from the fan to the place with higher gas concentration. The air blown out by the ventilation hose can then specifically disperse the gas in the place with higher gas concentration.

[0010] Optionally, the extension arm includes a turntable, a rotating motor, a main arm, a first electric actuator, a telescopic arm, and a second electric actuator. The turntable is rotatably mounted on the base. The rotating motor is mounted on the base and is used to drive the turntable to rotate. The rotating motor is electrically connected to both the power supply and the control panel. The main arm is hinged to the turntable. The first electric actuator is hinged to the turntable and is electrically connected to both the power supply and the control panel. The piston rod of the first electric actuator is hinged to the main arm. The telescopic arm is hinged to the main arm. The second electric actuator is hinged to the main arm and is electrically connected to both the power supply and the control panel. The piston rod of the second electric actuator is hinged to the telescopic arm. The end of the ventilation hose furthest from the fan is mounted on the telescopic arm.

[0011] By adopting the above technical solution, the control panel controls the start of the rotary motor according to the location of the area with high methane concentration in the gas. The rotary motor drives the turntable to rotate, and the turntable drives the boom to rotate. At the same time, the control panel controls the start of the first electric actuator, and the piston rod of the first electric actuator extends and retracts, thereby causing the boom to rotate. The control panel also controls the start of the second electric actuator, and the piston rod of the second electric actuator extends and retracts, driving the extension arm to rotate. 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 as to conveniently and quickly adjust the end of the ventilation hose away from the fan to be aligned with the area with high methane concentration in the gas.

[0012] Optionally, the base is provided with a plurality of support mechanisms for supporting the base. The plurality of support mechanisms are located on different sides of the base. Each support mechanism includes a support arm and a support foot. The support arm is arranged horizontally on the base and its length is extendable. The support foot is arranged vertically on the support arm and its length is extendable.

[0013] By adopting the above technical solution, before the extension arm extends to adjust the position of the ventilation hose, the support arms of multiple support mechanisms extend respectively, and then the support feet on the support arms extend 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 shifting as the extension arm extends.

[0014] Optionally, the support arm includes a guide sleeve, a slide rod, a drive motor, and a screw. The guide sleeve is mounted on the base, the slide rod is slidably mounted on the inner wall of the guide sleeve, the support foot is mounted on the slide rod, the drive motor is mounted on the base and electrically connected to both the power supply and the control panel, and the screw is coaxially mounted on the output shaft of the drive motor and threadedly connected to the slide rod.

[0015] By adopting the above technical solution, the control panel controls the start of the drive motor, which drives the screw to rotate. The screw can then drive the slide rod to slide away from the guide sleeve within the guide sleeve, thus conveniently and quickly extending the support arm.

[0016] Optionally, the base is provided with a spraying mechanism for spraying water mist. The spraying mechanism includes a water tank, a water pump, and a spray head. The water tank is mounted on the base, the water pump is mounted on the base and communicates with the water tank, the water pump is electrically connected to a power supply and a control panel, and the spray head is mounted on an extension arm and communicates with the water outlet of the water pump.

[0017] By adopting the above technical solution, when the base moves to an area with high dust concentration in the tunnel, the control panel controls the water pump to start. The water pump draws water from the water tank into the spray head, and the water sprays out from the spray head to reduce dust in the area with high dust concentration in the tunnel, thereby reducing the dust concentration in the working environment of construction workers in the tunnel.

[0018] Optionally, the base is provided with a temperature sensor and a humidity sensor. The temperature sensor is electrically connected to both the power supply and the control panel, and the humidity sensor is electrically connected to both the power supply and the control panel.

[0019] By adopting the above technical solution, when the walking mechanism drives the base to move, the temperature sensor on the base detects the temperature inside the tunnel, and the humidity sensor detects the humidity inside the tunnel. Then, the detection data is transmitted to the control panel, which makes it convenient for construction personnel to monitor the temperature and humidity at different locations inside the tunnel.

[0020] Optionally, a filter cloth is provided on the base, which covers the gas detector, temperature sensor and humidity sensor, and an exhaust fan is connected to the filter cloth. The exhaust fan is electrically connected to the power supply and control panel.

[0021] By adopting the above technical solution, the filter cloth filters 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. In addition, the exhaust fan extracts the air from the area covered by the filter cloth, making it easier for external air to enter the filter cloth for circulation. This enables the gas detector, temperature sensor, and humidity sensor to detect the gas at different locations in real time, improving the detection accuracy of the gas detector, temperature sensor, and humidity sensor.

[0022] Optionally, a camera is provided on the base, and the camera is electrically connected to both the power supply and the control panel.

[0023] By adopting the above technical solution, when the base moves, it moves the camera, which then captures images of the environment inside the tunnel and transmits the data to the control panel, allowing construction personnel to monitor the situation inside the tunnel.

[0024] Optionally, the base is provided with a protective mechanism for protecting the camera. The protective mechanism includes a transparent protective cover, a cleaning frame, a scraper, and a drive assembly. The transparent protective cover is disposed on the base and covers the camera inside. The cleaning frame is slidably disposed on the base in a vertical direction. The scraper is disposed on the cleaning frame and circumferentially abuts against the outer periphery of the protective cover. The drive assembly is disposed on the base and is used to drive the cleaning frame to slide.

[0025] By adopting the above technical solution, the transparent protective cover encloses the camera, reducing the impact of dust on the camera's imaging effect. Furthermore, the drive component can drive the cleaning frame to slide vertically, and the cleaning frame drives the scraper to move vertically. The scraper then cleans the dust adhering to the transparent protective cover, ensuring the cleanliness of the transparent protective cover and thus ensuring the imaging effect of the camera.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. If the gas detector detects that the methane concentration in the tunnel is higher than the set value, the control panel will control the alarm to sound an alarm and remind the construction personnel in the tunnel. At the same time, the control panel will control the ventilation mechanism to blow air to the area with higher methane concentration, thereby reducing the methane concentration in the local area and effectively improving the problem of local methane content easily exceeding the standard during tunnel construction.

[0028] 2. The support arms of multiple support mechanisms extend respectively, and then the support feet on the support arms extend and touch 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 shifting as the extension arms extend.

[0029] 3. The water pump draws water from the tank into the spray head, and the water sprays out from the spray 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. Attached Figure Description

[0030] Figure 1 This is a structural schematic diagram of the intelligent inspection robot for gas tunnels according to an embodiment of this application.

[0031] Figure 2 This is a structural schematic diagram from another perspective of an embodiment of this application (partial cross-section of the filter cloth and transparent protective cover in the figure).

[0032] Figure 3 This is a schematic diagram of the camera and protective mechanism according to an embodiment of this application (partial cross-section of the transparent protective cover is shown in the figure).

[0033] Figure 4 This is a schematic diagram of the structure of the extension arm according to an embodiment of this application.

[0034] Figure 5 This is a schematic diagram of the support mechanism according to an embodiment of this application (partial cross-sectional view of the guide sleeve and slide rod in the figure).

[0035] Reference 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. Rotary motor; 633. Main arm; 634. First electric actuator; 635. Extension arm; 636. Second electric actuator; 7. Power supply; 8. Support mechanism; 81. Support arm; 811. Guide sleeve; 812. Slide rod; 813. Drive motor; 814. 82. Screw; 82. Support foot; 821. Vertical rod; 822. Support motor; 823. Support screw; 9. Spraying 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. Protective mechanism; 151. Transparent protective cover; 152. Cleaning frame; 153. Scraper; 154. Drive assembly; 1541. Control motor; 1542. Control screw. Detailed Implementation

[0036] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0037] This application discloses an intelligent inspection robot for gas tunnels.

[0038] 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 support mechanism 8, and a spraying mechanism 9.

[0039] Reference Figure 1 , Figure 2 The walking mechanism 2 is installed at the bottom of the base 1. The walking mechanism 2 is used to move inside the tunnel. The walking mechanism 2 can be a wheeled walking mechanism, a tracked walking mechanism, etc. In this embodiment, the walking mechanism 2 is a tracked walking mechanism, which has the characteristics of good passability and high stability. The control panel 5 is installed on the base 1 and is electrically connected to the walking mechanism 2. The power supply 7 is installed at the bottom of the base 1 and is electrically connected to both 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 this embodiment, the power supply 7 is a lithium iron phosphate battery, which has the characteristics of high safety and long life.

[0040] Reference Figure 1 , Figure 2The gas detector 3 is installed on the base 1. The gas detector 3 is used to detect the methane concentration 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 to detect many gases such as methane, ethane, propane, butane, alcohol, formaldehyde, carbon monoxide, carbon dioxide, ethylene, acetylene, vinyl chloride, styrene, and acrylic acid.

[0041] 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 inside 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 inside the tunnel. The humidity sensor 11 is electrically connected to the power supply 7 and the control panel 5.

[0042] Construction workers control the walking mechanism 2 to move back and forth along the length of the tunnel via the control panel 5. The walking mechanism 2 then drives the base 1 to move back and forth along the length of the tunnel. The base 1 drives the gas detector 3, temperature sensor 10, and humidity sensor 11 to move back and forth along the length of the tunnel. The gas detector 3 can periodically detect the gas concentration in different areas of the tunnel, the temperature sensor 10 can periodically detect the temperature in different areas of the tunnel, and the humidity sensor 11 can periodically detect the humidity in different areas of the tunnel. This replaces manual inspection and increases the frequency of tunnel inspection. The data detected by the gas detector 3, temperature sensor 10, and humidity sensor 11 is transmitted to the control panel 5, allowing construction workers to easily monitor the gas concentration, temperature, and humidity in different areas of the tunnel via the control panel 5.

[0043] Reference Figure 1 , Figure 2 A filter cloth 12 is installed on the base 1, which covers the gas detector 3, temperature sensor 10, and humidity sensor 11. The filter cloth 12 can be made of polyester, polypropylene, stainless steel, or other materials. In this embodiment, the filter cloth 12 is made of 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 the gas detector 3, temperature sensor 10, and humidity sensor 11. An exhaust fan 13 is connected to the filter cloth 12, and the exhaust fan 13 is electrically connected to the power supply 7 and the control panel 5.

[0044] The filter cloth 12 encloses the gas detector 3, temperature sensor 10, and humidity sensor 11, allowing the gas in the tunnel to pass through the filter cloth 12 to filter dust before entering the space enclosed by the filter cloth 12 for detection by the gas detector 3, temperature sensor 10, and humidity sensor 11. This reduces the amount of dust adhering to the gas detector 3, temperature sensor 10, and humidity sensor 11, thereby reducing the impact of dust on the detection accuracy of the gas detector 3, temperature sensor 10, and humidity sensor 11. At the same time, the exhaust fan 13 can continuously exhaust the gas in the space enclosed by the filter cloth 12, creating a negative pressure in the space enclosed by the filter cloth 12, making it easier for outside air to enter the space enclosed by the filter cloth 12. When the base 1 moves to different positions in the tunnel, the gas in different positions in the tunnel can circulate in a timely manner in the space enclosed by the filter cloth 12, thereby enabling the gas detector 3, temperature sensor 10, and humidity sensor 11 to detect the gas at different positions in real time, effectively improving the detection accuracy of the gas detector 3, temperature sensor 10, and humidity sensor 11.

[0045] Reference Figure 2 , Figure 3 A camera 14 is mounted on the base 1, and the camera 14 is electrically connected to the power supply 7 and the control panel 5. A protective mechanism 15 for protecting the camera 14 is also mounted on the base 1. The protective mechanism 15 includes a transparent protective cover 151, a cleaning frame 152, a scraper 153, and a drive assembly 154. The transparent protective cover 151 is mounted on the base 1 and encloses the camera 14. The transparent protective cover 151 can be made of transparent materials such as glass or acrylic sheet. In this embodiment, the transparent protective cover 151 is made of acrylic sheet. The cleaning frame 152 is slidably mounted on the base 1 in a vertical direction, and the cleaning frame 152 surrounds the outer periphery of the transparent protective cover 151. The scraper 153 is circumferentially mounted on the cleaning frame 152. Near the transparent protective cover 151, the scraper 153 circumferentially abuts against the outer wall of the transparent protective cover 151. In this embodiment, the scraper 153 is made of rubber. The drive assembly 154 is mounted on the base 1. The drive assembly 154 is used to drive the cleaning frame 152 to move vertically. In this embodiment, the drive assembly 154 includes a control motor 1541 and a control screw 1542. The control motor 1541 is mounted on the base 1, and 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.

[0046] As the base 1 moves within the tunnel, it moves the camera 14, allowing the camera 14 to capture images of the tunnel environment and transmit the data to the control panel 5. Construction personnel can then monitor the tunnel conditions in real time via the control panel 5. The camera 14 is encased in a protective cover, which blocks dust and reduces its adhesion. The control panel 5 also activates the control motor 1541, whose output shaft drives the control screw 1542 to rotate forward or backward. The control screw 1542 then drives the cleaning frame 152 to reciprocate vertically. The cleaning frame 152, along with the scraper 153, scrapes the outer wall of the transparent protective cover 151, removing dust and ensuring its cleanliness, thus guaranteeing the imaging effect of the camera 14.

[0047] Reference Figure 1 , Figure 2 Alarm 4 is mounted on base 1 and is electrically connected to power supply 7 and control panel 5. In this embodiment, alarm 4 is an audible and visual alarm. Base 1 moves gas detector 3 within the tunnel. Gas detector 3 detects the methane concentration and then sends an electrical signal to control panel 5. If the methane concentration detected by gas detector 3 exceeds a set value, control panel 5 sends an electrical signal to alarm 4, which then activates with an audible and visual alarm to alert construction workers inside the tunnel.

[0048] Reference Figure 2 , Figure 4A ventilation mechanism 6 is mounted on a base 1. The ventilation mechanism 6 is used to blow air to areas with higher methane concentrations. The ventilation mechanism 6 includes a fan 61, a ventilation hose 62, and an extension arm 63. The fan 61 is mounted on the base 1 and is electrically connected to a power supply 7 and a control panel 5. The ventilation hose 62 is connected to the air outlet of the fan 61. The extension arm 63 is mounted on the base 1 and is used to transport the end of the ventilation hose 62 away from the fan 61 to areas with higher methane concentrations. The extension arm 63 includes a turntable 631, a rotating motor 632, a large arm 633, a first electric actuator 634, an extension arm 635, and a second electric actuator 636. The turntable 631 is rotatably mounted on the base 1, and the rotating motor 632 is also mounted on the base 1. The output shaft of motor 632 is coaxially connected to turntable 631. Motor 632 is electrically connected to power supply 7 and control panel 5. Boom 633 is hinged to turntable 631 in the vertical direction. First electric actuator 634 is hinged to turntable 631. The piston rod of first electric actuator 634 is hinged to boom 633. First electric actuator 634 is electrically connected to power supply 7 and control panel 5. Extension arm 635 is hinged to the end of boom 633 away from turntable 631. Ventilation hose 62 is mounted on extension arm 635 at the end away from fan 61. Second electric actuator 636 is hinged to boom 633. Piston rod of second electric actuator 636 is hinged to extension arm 635. Second electric actuator 636 is electrically connected to power supply 7 and control panel 5.

[0049] Control panel 5 starts the rotating motor 632, the first electric actuator 634, and the second electric actuator 636. The output shaft of the rotating motor 632 drives the turntable 631 to rotate, which in turn drives the main arm 633 and the extension arm 635 to rotate, thereby adjusting the angle of the end of the ventilation hose 62 away from the fan 61. The piston rod of the first electric actuator 634 extends and retracts, driving the main arm 633 to rotate vertically. At the same time, the piston rod of the second electric actuator 636 extends and retracts, driving the extension arm 635 to rotate towards or away from the main arm 633, thereby adjusting the height and position of the end of the ventilation hose 62 away from the fan 61. This allows the end of the ventilation hose 62 away from the fan 61 to be delivered to the area with higher methane concentration. Control panel 5 starts the fan 61, and the air blown by the fan 61 is blown out from the end of the ventilation hose 62 away from the fan 61, which can specifically disperse the methane in the area with higher methane concentration, effectively reducing the methane concentration in the local area.

[0050] 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 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 of the water pump 92 through a hose.

[0051] When the base 1 moves to an area with high dust concentration inside the tunnel, the extension arm 635 delivers the spray head 93 to the area with high dust concentration. The control panel 5 controls the water pump 92 to start, and the water pump 92 draws water from the water tank 91 and delivers it to the spray head 93. The water sprays out from the spray head 93, which can reduce dust in areas with high dust concentration inside the tunnel, thereby reducing the dust concentration in the working environment of construction personnel inside the tunnel. In addition, the extension arm 635 can also move the spray head 93 to face the transparent protective cover 151. The spray head 93 sprays water onto the transparent protective cover 151, improving the cleaning effect of the subsequent scraper 153 on the transparent protective cover 151.

[0052] Reference Figure 2 , Figure 5 Multiple support mechanisms 8 are installed on the base 1, and are located on different sides of the base 1. Each support mechanism 8 supports the base 1. Each support mechanism 8 includes a support arm 81 and a support foot 82. The support arm 81 is installed horizontally on the base 1 and is telescopic. 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 and is hollow inside with 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 and is connected to the power supply 7 and the control panel 5. The screw 814 is coaxially mounted on the output shaft of the drive motor 813, and extends into the guide sleeve 811 and is threadedly connected to the slide rod 812. The support foot 82 is vertically mounted on the slide rod 812, and the length of the support foot 82 is telescopic. In this embodiment, the support foot 82 includes a vertical rod 821, a support motor 822, and a support screw 823. The vertical rod 821 is slidably mounted on the slide rod 812 in the vertical direction. The support motor 822 is mounted on the slide rod 812 and is electrically connected to the power supply 7 and the control panel 5. The support screw 823 is vertically coaxially mounted on the output shaft of the support motor 822 and is threadedly connected to the vertical rod 821.

[0053] Before the extension arm 63 extends to adjust the position of the ventilation hose 62 and the spray head 93, the control panel 5 sends electrical signals to the drive motor 813 and the support motor 822. The drive motor 813 starts, and the output shaft of the drive motor 813 drives the screw 814 to rotate. The screw 814 drives the slide rod 812 to slide away from the guide sleeve 811. The slide rod 812 can then drive the support foot 82 to move away from the base 1. 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. By having the support feet 82 on different sides of the base 1 extend from the base 1 and abut against the ground, the base 1 can be supported on different sides, improving the stability of the base 1 and reducing the possibility of the base 1 tipping over due to the center of gravity of the base 1 shifting when the extension arm 63 is extended.

[0054] The implementation principle of the intelligent inspection robot for gas tunnels in this application embodiment is as follows: The walking mechanism 2 drives the base 1 to move back and forth along the length of the tunnel. During the movement, the camera 14 takes pictures of the environment inside the tunnel. At the same time, the gas detector 3, temperature sensor 10 and humidity sensor 11 frequently and periodically detect the gas concentration, temperature and humidity at different locations in the tunnel, replacing the original manual inspection method. After detection, the gas detector 3, temperature sensor 10 and humidity sensor 11 send electrical signals to the control panel 5. If the gas detector 3 detects that the gas concentration in the tunnel is higher than the set value, the control panel 5 controls the alarm 4 to sound an alarm, alerting 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 areas with high gas concentration, reducing the gas concentration in the local area. This effectively improves the problem of the gas content in the tunnel easily exceeding the standard during tunnel construction. In addition, the spraying mechanism 9 can also reduce dust in areas with high dust concentration in the tunnel, thereby reducing the dust concentration in the working environment of the construction personnel in the tunnel.

[0055] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A smart inspection robot for gas tunnels, characterized in that: The utility model provides a tunnel gas concentration detection device, including base (1), walking mechanism (2), gas detector (3), alarm (4), control panel (5), ventilation mechanism (6) and power (7), walking mechanism (2) sets up on base (1) and is used to walk in the tunnel, gas detector (3) sets up on base (1) and is used to detect the gas concentration of gas, alarm (4) sets up on base (1), control panel (5) sets up on base (1) and is electrically connected with gas detector (3), alarm (4) and ventilation mechanism (6) all, ventilation mechanism (6) sets up on base (1) and is used to blow to the place where gas concentration is higher, power (7) sets up on base (1) and is used to power walking mechanism (2), gas detector (3), alarm (4), control panel (5) and ventilation mechanism (6), Ventilation mechanism (6) includes fan (61), ventilation hose (62) and extension arm (63), fan (61) sets up on base (1) and is electrically connected with power (7) and control panel (5) all, ventilation hose (62) is communicated and sets up on the air outlet of fan (61), extension arm (63) sets up on base (1) and is connected with ventilation hose (62), extension arm (63) is used to deliver the one end of ventilation hose (62) away from fan (61) to the place where gas concentration is higher, Extension arm (63) includes rotary table (631), rotation motor (632), big arm (633), first electric push rod (634), extension arm (635) and second electric push rod (636), rotary table (631) rotation sets up on base (1), rotation motor (632) sets up on base (1) and is used to drive rotary table (631) to rotate, rotation motor (632) is electrically connected with power (7) and control panel (5) all, big arm (633) is hingedly set up on rotary table (631), first electric push rod (634) is hingedly set up on rotary table (631) and is electrically connected with power (7) and control panel (5) all, the piston rod of first electric push rod (634) is hinged with big arm (633), extension arm (635) is hingedly set up on big arm (633), second electric push rod (636) is hingedly set up on big arm (633) and is electrically connected with power (7) and control panel (5) all, the piston rod of second electric push rod (636) is hinged with extension arm (635), one end of ventilation hose (62) away from fan (61) sets up on extension arm (635). 2.The gas tunnel intelligent inspection robot according to claim 1, characterized in that: The base (1) is provided with a plurality of support mechanisms (8) for supporting the base (1), and the plurality of support mechanisms (8) are respectively located at different sides of the base (1), the support mechanism (8) comprises a support arm (81) and a support leg (82), the support arm (81) is transversely arranged on the base (1), the length of the support arm (81) is telescopic, and the support leg (82) is vertically arranged on the support arm (81), and the length of the support leg (82) is telescopic. 3.The gas tunnel intelligent inspection robot according to claim 2, characterized in that: The support arm (81) comprises a guide sleeve (811), a sliding rod (812), a driving motor (813) and a screw rod (814), the guide sleeve (811) is arranged on the base (1), the sliding rod (812) is slidingly arranged on the inner wall of the guide sleeve (811), the support leg (82) is arranged on the sliding rod (812), the driving motor (813) is arranged on the base (1) and electrically connected with the power supply (7) and the control panel (5), and the screw rod (814) is coaxially arranged on the output shaft of the driving motor (813) and threadedly connected with the sliding rod (812).

4. The gas tunnel intelligent inspection robot according to claim 1, characterized in that: The base (1) is provided with a spraying mechanism (9) for spraying water mist, the spraying mechanism (9) comprises a water tank (91), a water pump (92) and a spraying head (93), the water tank (91) is arranged on the base (1), the water pump (92) is arranged on the base (1) and communicates with the water tank (91), the water pump (92) is electrically connected with the power supply (7) and the control panel (5), and the spraying head (93) is arranged on the stretching arm (635) and communicates with the water outlet end of the water pump (92).

5. The gas tunnel intelligent inspection robot according to claim 1, 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 with the power supply (7) and the control panel (5), and the humidity sensor (11) is electrically connected with the power supply (7) and the control panel (5). 6.The gas tunnel intelligent inspection robot according to claim 5, characterized in that: The base (1) is provided with a filter cloth (12), the filter cloth (12) covers the gas detector (3), the temperature sensor (10) and the humidity sensor (11), and the filter cloth (12) is provided with an exhaust fan (13) in communication, and the exhaust fan (13) is electrically connected with the power supply (7) and the control panel (5).

7. The gas tunnel intelligent inspection robot according to claim 1, characterized in that: The base (1) is provided with a camera (14), and the camera (14) is electrically connected with the power supply (7) and the control panel (5). 8.The gas tunnel intelligent inspection robot according to claim 7, characterized in that: The base (1) is provided with a protection mechanism (15) for protecting the camera (14), the protection mechanism (15) comprises a transparent protection cover (151), a cleaning frame (152), a scraper (153) and a driving assembly (154), the transparent protection cover (151) is arranged on the base (1), the transparent protection cover (151) covers the camera (14) inside, the cleaning frame (152) is arranged on the base (1) and slides in the vertical direction, the scraper (153) is arranged on the cleaning frame (152) and abuts the outer circumference of the protection cover in the circumferential direction, and the driving assembly (154) is arranged on the base (1) and drives the cleaning frame (152) to slide.

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