Roadway gas inspection device based on inertial navigation system

Abstract

The invention belongs to the technical field of gas inspection, and discloses a roadway gas inspection device based on an inertial navigation system, which comprises an inspection main body, an advancing mechanism is mounted in the inspection main body, an inertial navigation mechanism is fixed at the top end of the inspection main body, and a searchlight is fixed on the side wall of the inspection main body. The searchlights are symmetrically distributed about the central axis of the inspection main body, a gas collection mechanism is arranged on the side wall of the inspection main body, and through cooperation of a servo motor, a first gear, a second gear and other structures, the device can lay a track in a roadway, the device is installed on the track, the servo motor is started, and the gas collection mechanism is started; the two sets of walking wheels close to the track are driven to rotate, the arrangement device can walk on the track, then the gas content of multiple nodes in the roadway can be collected and recorded by controlling the device to move, and therefore the purpose that the device can conveniently collect and record the gas content of the multiple nodes in the roadway is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of gas inspection, and in particular is a tunnel gas inspection device based on an inertial navigation system. Background Art

[0002] When monitoring the gas content in the tunnel, it is necessary to connect the carbon dioxide absorption tube and the moisture absorption tube to the measuring gas circuit, place the inspection stick at the position to be tested, squeeze the balloon to absorb the gas at that position into the device for reading, and record the data after the reading is completed, so as to monitor the gas content in this part of the tunnel.

[0003] However, the existing gas inspection devices still have drawbacks in actual use: including but not limited to the following situations: 1. The staff is required to manually calibrate the measurement position and operate it handheld throughout the process, which is too cumbersome; 2. It is impossible to measure the gas content of multiple nodes set in the tunnel, and it is impossible to accurately control the environment in the tunnel and the location of the device; 3. It is impossible to quickly replace the internal particles of the carbon dioxide absorption tube and the moisture absorption tube; 4. It is too cumbersome to inhale the gas.

[0004] Tracks can be laid in the tunnel, and the inspection device can be installed on the tracks and equipped with a walking mechanism so that the device can monitor the gas content at most nodes in the tunnel. It is also necessary to set up a device that can quickly replace and add absorption particles inside the moisture absorption tube and the carbon dioxide absorption tube, and enable the device to collect and detect the gas in the tunnel more conveniently. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a tunnel gas inspection device based on an inertial navigation system.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a tunnel gas inspection device based on an inertial navigation system, comprising an inspection body, a traveling mechanism is installed inside the inspection body, an inertial navigation mechanism is fixed to the top of the inspection body, a searchlight is fixed to the side wall of the inspection body, the searchlight is provided with two groups symmetrically distributed about the central axis of the inspection body, and a gas collection mechanism is provided on the side wall of the inspection body;

[0007] The travel mechanism includes a servo motor, a first gear and a second gear. The servo motor is fixed at the top of the inspection body, the first gear is fixed to the bottom of the servo motor, the first travel wheel is fixed to the bottom of the first gear, the second gear is provided on the side wall of the first gear, the second travel wheel is fixed to the bottom of the second gear, and a travel sensor is fixed to the bottom of the inspection body.

[0008] Preferably, the outer wall of the first gear is provided with several groups of teeth with equal spacing, the outer wall of the second gear is provided with several groups of teeth with equal spacing, the first gear and the second gear are meshingly connected, the first gear and the second gear are symmetrically distributed about the central axis of the inspection body, the first walking wheel is rotatably connected to the inner wall of the inspection body, and the second walking wheel is rotatably connected to the inner wall of the inspection body.

[0009] Preferably, the inertial navigation mechanism includes an inertial navigation shell, a data reading interface and a data processing module, the inertial navigation shell is fixed at the top of the inspection body, the side wall of the inertial navigation shell is installed with a data reading interface, the inner wall of the inertial navigation shell is fixed with a data processing module, the inner wall of the inertial navigation shell is movably connected with a first angle sensor, one end of the first angle sensor is movably connected with an external navigation frame, the inner wall of the external navigation frame is movably connected with a second angle sensor, one end of the second angle sensor is movably connected with an inner navigation frame, the top of the inner navigation frame is movably connected with a third angle sensor, and the bottom end of the third angle sensor is movably connected with a platform.

[0010] Preferably, the output end of the data reading interface is electrically connected to a data processing module, the first angle sensor is provided with two groups symmetrically distributed about the central axis of the inertial navigation shell, and the surface of the platform is installed with an x-axis gyroscope, a y-axis gyroscope and a z-axis gyroscope.

[0011] Preferably, the gas collection mechanism includes a transmission fan rod, a screw rod and an air hole, the side wall of the inspection body is provided with an air inlet, the transmission fan rod is rotatably connected to the inner wall of the inspection body, the outer wall of the transmission fan rod is provided with a screw rod, and the surface of the transmission fan rod is provided with an air hole.

[0012] Preferably, the output end of the air hole is connected to a moisture absorption tube, a disassembly and assembly mechanism is provided at the output end of the moisture absorption tube, a carbon dioxide absorption tube is connected to the output end of the moisture absorption tube, a limiting mechanism is installed on the side wall of the inspection body, and a control panel is fixed to the side wall of the inspection body.

[0013] Preferably, the disassembly and assembly mechanism includes a torsion groove, a limit block and a limit bead, the torsion groove is opened on the side wall of the moisture absorption tube, the limit block is fixed on the side wall of the carbon dioxide absorption tube, the inner wall of the limit block is slidably connected to the limit bead, the side wall of the limit bead is fixed with a first return spring, the inner wall of the torsion groove is opened with a limit groove, the side wall of the moisture absorption tube is fixed with a sealing ring, and the side wall of the carbon dioxide absorption tube is opened with an installation groove.

[0014] Preferably, the torsion grooves are provided with four groups that are equally spaced about the central axis of the moisture absorption tube, the limit blocks are provided with four groups that are equally spaced about the central axis of the carbon dioxide absorption tube, the first return spring is used to squeeze the limit bead and keep it moving toward the moisture absorption tube, and the shape of the limit groove is a hemisphere with the same diameter as the limit bead.

[0015] Preferably, the limiting mechanism includes a limiting plate, a connecting rod and a limiting disk, the connecting rod is rotatably connected to the inner wall of the inspection body, the side wall of the connecting rod is fixed with the limiting plate, the side wall of the connecting rod is fixed with the limiting disk, the side wall of the limiting disk is slidably connected to the limiting column, the outer wall of the limiting column is sleeved with a second return spring, the side wall of the limiting column is rotatably connected to the first connecting rod, one end of the first connecting rod is hinged to the second connecting rod, one end of the second connecting rod is hinged to the third connecting rod, and the side wall of the second connecting rod is fixed with a shift block.

[0016] Preferably, the limit plate, connecting rod and limit plate are provided with two groups of connection points about the moisture absorption tube and the carbon dioxide absorption tube which are symmetrically distributed. The second return spring is used to squeeze the limit column and keep it moving toward the inspection body. The first connecting rod and the third connecting rod are symmetrically distributed about the central axis of the second connecting rod.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention arranges a servo motor, a first gear, a second gear and other structures to enable the device to lay tracks in the lane, install the device on the tracks, start the servo motor, drive two sets of running wheels close to the tracks to rotate, and set the device to be able to travel on the tracks. Then, by controlling the movement of the device, the gas content of multiple nodes in the lane can be collected and recorded, thereby achieving the purpose of facilitating the device to collect and record the gas content of multiple nodes in the lane.

[0019] The present invention arranges the cooperation of structures such as a transmission fan rod, a screw rod, and an air vent so that when the device is moving, the transmission fan rod can drive itself to rotate and then drive the screw rod to rotate due to its own shape contacting the air. When the screw rod rotates, it can drive the mixed gas to move and prevent its backflow, so that the mixed gas in the lane passes through the screw rod and the air vent, and then passes through the moisture absorption tube and the carbon dioxide absorption tube and contacts the gas sensor. The collected gas is analyzed to obtain the gas content of the current node, thereby achieving the purpose of monitoring the gas content when the device is moving.

[0020] The present invention arranges the coordination of structures such as an inertial navigation shell, a data reading interface, and a data processing module, so that the device can monitor the shaking degree of the platform inside the inertial navigation shell through a first angle sensor, a second angle sensor, and a third angle sensor, and then obtain the acceleration of the entire device on three coordinate axes. The three gyroscopes on the platform are used to measure the angular velocity of the object. According to the measured acceleration and angular velocity signals, the data processing module calculates the speed and position data of the moving body through integral operation, thereby achieving the purpose of facilitating the calculation and recording of the position of the device.

[0021] The present invention arranges the twist groove, the limit block, the limit bead and other structures so that the device can quickly remove and separate the moisture absorption tube and the carbon dioxide absorption tube by rotating the moisture absorption tube and the carbon dioxide absorption tube, thereby replacing the water absorbing particles and the carbon dioxide absorbing particles inside the moisture absorption tube and the carbon dioxide absorption tube, and by only arranging the moisture absorption tube or the carbon dioxide absorption tube at the position so that the water or carbon dioxide in the air is absorbed, the air humidity and the carbon dioxide content at the position can be obtained, thereby achieving the purpose of facilitating the device to replace the water absorbing particles and the carbon dioxide particles.

[0022] The present invention sets a limit plate, a connecting rod, a limit plate and other structures to cooperate, so that the device can limit the moisture absorption tube and the carbon dioxide absorption tube through the two groups of limit plates, pull the shift block to drive the two groups of limit posts to disengage from the slot, twist the shift block, can drive the second connecting rod to rotate, and then drive the first connecting rod and the third connecting rod to rotate, and then drive the two groups of limit posts to rotate, when the two groups of limit posts rotate and drive the limit plate to a vertical state, the moisture absorption tube and the carbon dioxide absorption tube can be limited to prevent them from falling off, because the second return spring can squeeze the limit post, so that the position of the limit post is stuck at the top inside the inspection body, thereby ensuring the limiting effect, when it is necessary to take them out, the shift block is pulled again to drive the limit post to disengage and rotate, and then it is stuck into the slot, so that the moisture absorption tube and the carbon dioxide absorption tube can be quickly taken out, thereby achieving the purpose of facilitating the device to quickly disassemble and fix the moisture absorption tube and the carbon dioxide absorption tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the overall right side structure of the present invention;

[0025] Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention;

[0026] Figure 4 For the present invention Figure 3 A partial cross-section at the center is an enlarged structural diagram;

[0027] Figure 5 It is a partial cross-sectional structural schematic diagram of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the absorption component of the present invention;

[0029] Figure 7 It is a schematic diagram of the disassembly and assembly mechanism structure of the present invention;

[0030] Figure 8 For the present invention Figure 7 A schematic diagram of the enlarged structure of the local section at B in the middle;

[0031] Fig. 9 It is a schematic diagram of the structure of the limiting mechanism of the present invention;

[0032] Fig.10 It is a schematic diagram of the limiting state structure of the limiting mechanism of the present invention;

[0033] Fig.11 It is a schematic diagram of the exploded structure of the inertial navigation mechanism of the present invention;

[0034] Fig.12 It is a schematic diagram of the structure of some components of the inertial navigation mechanism of the present invention.

[0035] In the figure: 1. Inspection body; 2. Travel mechanism; 201. Servo motor; 202. First gear; 203. Second gear; 204. First travel wheel; 205. Second travel wheel; 206. Travel sensor; 3. Inertial navigation mechanism; 301. Inertial navigation housing; 302. Data reading interface; 303. Data processing module; 304. First angle sensor; 305. External navigation frame; 306. Second angle sensor; 307. Internal navigation frame; 308. Third angle sensor; 309. Platform; 4. Searchlight; 5. Gas collection mechanism; 501 , transmission fan rod; 502, screw; 503, air vent; 6, moisture absorption tube; 7, carbon dioxide absorption tube; 8, disassembly and assembly mechanism; 801, torsion groove; 802, limit block; 803, limit bead; 804, first return spring; 805, limit groove; 806, sealing ring; 807, installation groove; 9, limit mechanism; 901, limit plate; 902, connecting rod; 903, limit plate; 904, limit column; 905, second return spring; 906, first connecting rod; 907, second connecting rod; 908, third connecting rod; 909, shift block; 10, control panel. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] like Figures 1 to 12 As shown, the present invention provides a tunnel gas inspection device based on an inertial navigation system, including an inspection body 1, a traveling mechanism 2 is installed inside the inspection body 1, an inertial navigation mechanism 3 is fixed to the top of the inspection body 1, a searchlight 4 is fixed to the side wall of the inspection body 1, the searchlight 4 is provided with two groups symmetrically distributed about the central axis of the inspection body 1, and a gas collection mechanism 5 is provided on the side wall of the inspection body 1.

[0038] like Figures 1 to 12 As shown, the traveling mechanism 2 includes a servo motor 201, a first gear 202 and a second gear 203. The servo motor 201 is fixed at the top inside the inspection body 1. The first gear 202 is fixed at the bottom end of the servo motor 201. The first walking wheel 204 is fixed at the bottom end of the first gear 202. The side wall of the first gear 202 is provided with a second gear 203. The bottom end of the second gear 203 is fixed with a second walking wheel 205. A stroke sensor 206 is fixed at the bottom end inside the inspection body 1. The outer wall of the first gear 202 is provided with a plurality of groups of equally spaced teeth. The outer wall of the second gear 203 is provided with a plurality of groups of equally spaced teeth. The first gear 202 and the second gear 203 are meshingly connected. The first gear 202 and the second gear 203 are symmetrically distributed about the central axis of the inspection body 1. The first walking wheel 204 is rotatably connected to the inner wall of the inspection body 1, and the second walking wheel 205 is rotatably connected to the inner wall of the inspection body 1.

[0039] The above scheme is adopted: by starting the servo motor 201, the servo motor 201 drives the first gear 202 to rotate, so that the first gear 202 drives the second gear 203 to rotate through its own shape, and then drives the first running wheel 204 and the second running wheel 205 to rotate. Since the first running wheel 204 and the second running wheel 205 are close to the outer wall of the track, they can drive the entire device to move when rotating, and the travel sensor 206 can record the distance moved by the device by observing the number of rotations of the first gear 202.

[0040] like Figures 1 to 12As shown, the inertial navigation mechanism 3 includes an inertial navigation housing 301, a data reading interface 302 and a data processing module 303. The inertial navigation housing 301 is fixed on the top of the inspection body 1. The side wall of the inertial navigation housing 301 is installed with the data reading interface 302. The inner wall of the inertial navigation housing 301 is fixed with the data processing module 303. The inner wall of the inertial navigation housing 301 is movably connected with a first angle sensor 304. One end of the first angle sensor 304 is movably connected with an external navigation frame 305. The inner wall of the external navigation frame 305 is movably connected with A second angle sensor 306, one end of the second angle sensor 306 is movably connected to an inner navigation frame 307, the top of the inner navigation frame 307 is movably connected to a third angle sensor 308, the bottom of the third angle sensor 308 is movably connected to a platform 309, the output end of the data reading interface 302 is electrically connected to a data processing module 303, the first angle sensor 304 is provided with two groups symmetrically distributed about the central axis of the inertial navigation shell 301, and an x-axis gyroscope, a y-axis gyroscope and a z-axis gyroscope are installed on the surface of the platform 309.

[0041] The above scheme is adopted: the shaking degree of the platform 309 inside the inertial navigation shell 301 is monitored by the first angle sensor 304, the second angle sensor 306 and the third angle sensor 308, and then the acceleration of the entire device on the three coordinate axes is obtained, and the three gyroscopes on the platform 309 are used to measure the angular velocity of the object. According to the measured acceleration and angular velocity signals, the data processing module 303 calculates the speed and position data of the moving body through integration operation.

[0042] like Figures 1 to 12 As shown, the gas collection mechanism 5 includes a transmission fan rod 501, a screw rod 502 and an air vent 503. An air inlet is provided on the side wall of the inspection body 1. The transmission fan rod 501 is rotatably connected to the inner wall of the inspection body 1. The outer wall of the transmission fan rod 501 is sleeved with a screw rod 502. An air vent 503 is provided on the surface of the transmission fan rod 501. The output end of the air vent 503 is connected to a moisture absorption tube 6. A disassembly mechanism 8 is provided at the output end of the moisture absorption tube 6.

[0043] The above scheme is adopted: the shape of the transmission fan rod 501 itself contacts the air and can drive itself to rotate and then drive the screw 502 to rotate. The screw 502 can drive the mixed gas to move when rotating and prevent it from flowing back, so that the mixed gas in the lane passes through the screw 502 and the air hole 503, and then passes through the moisture absorption tube 6 and the carbon dioxide absorption tube 7 and contacts the gas sensor. The collected gas is analyzed to obtain the gas content of the current node.

[0044] like Figures 1 to 12As shown, the disassembly and assembly mechanism 8 includes a twisting groove 801, a limiting block 802 and a limiting bead 803. The twisting groove 801 is provided on the side wall of the moisture absorption tube 6. The limiting block 802 is fixed to the side wall of the carbon dioxide absorption tube 7. The inner wall of the limiting block 802 is slidably connected to the limiting bead 803. The side wall of the limiting bead 803 is fixed with a first return spring 804. The inner wall of the twisting groove 801 is provided with a limiting groove 805. The side wall of the moisture absorption tube 6 is fixed with a sealing ring 806. The side wall of the carbon dioxide absorption tube 7 is provided with an installation groove 807. The twisting groove 801 Four groups of equal-spaced beads 802 are provided about the central axis of the moisture absorption tube 6, and the limit blocks 802 are provided about the central axis of the carbon dioxide absorption tube 7 and are equally-spaced. The first return spring 804 is used to squeeze the limit bead 803 and keep it moving toward the moisture absorption tube 6. The shape of the limit groove 805 is a hemisphere with the same diameter as the limit bead 803. The output end of the moisture absorption tube 6 is connected to the carbon dioxide absorption tube 7. The side wall of the inspection body 1 is installed with a limit mechanism 9, and the side wall of the inspection body 1 is fixed with a control panel 10.

[0045] The above scheme is adopted: by rotating the carbon dioxide absorption tube 7, the limit block 802 is turned into the inside of the twist groove 801, and the limit bead 803 can fall into the inside of the limit groove 805 after being squeezed by the first return spring 804, thereby achieving a connection effect. At this time, the sealing ring 806 is filled into the installation groove 807 to prevent the collected gas from leaking.

[0046] like Figures 1 to 12 As shown, the limiting mechanism 9 includes a limiting plate 901, a connecting rod 902 and a limiting disk 903, the connecting rod 902 is rotatably connected to the inner wall of the inspection body 1, the side wall of the connecting rod 902 is fixed with the limiting plate 901, the side wall of the connecting rod 902 is fixed with the limiting disk 903, the side wall of the limiting disk 903 is slidably connected to the limiting column 904, the outer wall of the limiting column 904 is sleeved with a second return spring 905, the side wall of the limiting column 904 is rotatably connected with a first connecting rod 906, one end of the first connecting rod 906 is hinged with a second Connecting rod 907, one end of the second connecting rod 907 is hinged with the third connecting rod 908, the side wall of the second connecting rod 907 is fixed with a shift block 909, the limiting plate 901, the connecting rod 902 and the limiting plate 903 are provided with two groups of connection points about the moisture absorption tube 6 and the carbon dioxide absorption tube 7 are symmetrically distributed, the second return spring 905 is used to squeeze the limiting column 904 and keep it moving toward the inspection body 1, the first connecting rod 906 and the third connecting rod 908 are symmetrically distributed about the central axis of the second connecting rod 907.

[0047] The above scheme is adopted: the moisture absorption tube 6 and the carbon dioxide absorption tube 7 are limited by two groups of limit plates 901, and the shift block 909 is pulled to drive the two groups of limit columns 904 to disengage from the slots. The shift block 909 is twisted to drive the second connecting rod 907 to rotate and then drive the first connecting rod 906 and the third connecting rod 908 to rotate, and then drive the two groups of limit columns 904 to rotate. When the two groups of limit columns 904 rotate and drive the limit plate 901 to a vertical state, the moisture absorption tube 6 and the carbon dioxide absorption tube 7 can be limited to prevent them from falling off. Since the second return spring 905 can squeeze the limit column 904, the position of the limit column 904 is stuck at the top inside the inspection body 1, thereby ensuring the limiting effect. When it is necessary to take them out, the shift block 909 is pulled again to drive the limit column 904 to disengage from the rotation and then stick it into the slot to quickly take out the moisture absorption tube 6 and the carbon dioxide absorption tube 7.

[0048] The working principle and use process of the present invention are as follows: by starting the servo motor 201, the servo motor 201 drives the first gear 202 to rotate, so that the first gear 202 drives the second gear 203 to rotate through its own shape, and then drives the first running wheel 204 and the second running wheel 205 to rotate. Since the first running wheel 204 and the second running wheel 205 are close to the outer wall of the track, they can drive the device as a whole to move when rotating. The travel sensor 206 can record the distance moved by the device by observing the number of revolutions of the first gear 202, and monitor the first angle sensor 304, the second angle sensor 306 and the third angle sensor 308. The shaking degree of the platform 309 inside the inertial navigation housing 301 is used to obtain the acceleration of the entire device on the three coordinate axes, and the three gyroscopes on the platform 309 are used to measure the angular velocity of the object. According to the measured acceleration and angular velocity signals, the data processing module 303 calculates the speed and position data of the moving body through integral operation. The shape of the transmission fan rod 501 itself contacts the air and can drive itself to rotate and then drive the screw 502 to rotate. When the screw 502 rotates, it can drive the mixed gas to move and prevent it from flowing back, so that the mixed gas in the lane passes through the screw 502 and the air vent 503 and then passes through the moisture absorption pipe 6 and the dioxygen After the carbon dioxide absorption tube 7 is connected, it contacts the gas sensor, analyzes the collected gas, and then obtains the gas content of the current node. By rotating the carbon dioxide absorption tube 7, the limit block 802 is turned into the inside of the twist groove 801, and the limit bead 803 can fall into the inside of the limit groove 805 after being squeezed by the first return spring 804, which plays a connecting effect. At this time, the sealing ring 806 is filled into the installation groove 807 to prevent the collected gas from leaking. The water absorption tube 6 and the carbon dioxide absorption tube 7 are limited by two groups of limit plates 901, and the shift block 909 is pulled to drive the two groups of limit columns 904 to disengage from the slot, and the shift block 909 is twisted. It can drive the second connecting rod 907 to rotate and then drive the first connecting rod 906 and the third connecting rod 908 to rotate, and then drive the two groups of limiting columns 904 to rotate. When the two groups of limiting columns 904 rotate and drive the limiting plate 901 to be in a vertical state, the moisture absorption tube 6 and the carbon dioxide absorption tube 7 can be limited to prevent them from falling off. Since the second return spring 905 can squeeze the limiting column 904, the position of the limiting column 904 is stuck at the top inside the inspection body 1, thereby ensuring the limiting effect. When it needs to be taken out, pull the shift block 909 again to drive the limiting column 904 to stop rotating and then stick it into the slot to quickly take out the moisture absorption tube 6 and the carbon dioxide absorption tube 7.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel gas inspection device based on an inertial navigation system, comprising an inspection body (1), characterized in that: A traveling mechanism (2) is installed inside the inspection body (1), an inertial navigation mechanism (3) is fixed on the top of the inspection body (1), a searchlight (4) is fixed on the side wall of the inspection body (1), and two groups of searchlights (4) are arranged symmetrically about the central axis of the inspection body (1), and a gas collection mechanism (5) is arranged on the side wall of the inspection body (1); The travel mechanism (2) comprises a servo motor (201), a first gear (202) and a second gear (203); the servo motor (201) is fixed at the top of the inspection body (1); the first gear (202) is fixed at the bottom of the servo motor (201); a first walking wheel (204) is fixed at the bottom of the first gear (202); a second gear (203) is provided on the side wall of the first gear (202); a second walking wheel (205) is fixed at the bottom of the second gear (203); and a travel sensor (206) is fixed at the bottom of the inspection body (1).

2. The tunnel gas inspection device based on the inertial navigation system according to claim 1 is characterized in that: The outer wall of the first gear (202) is provided with a plurality of groups of teeth with equal spacing, and the outer wall of the second gear (203) is provided with a plurality of groups of teeth with equal spacing. The first gear (202) and the second gear (203) are meshingly connected. The first gear (202) and the second gear (203) are symmetrically distributed about the central axis of the inspection body (1). The first running wheel (204) is rotatably connected to the inner wall of the inspection body (1), and the second running wheel (205) is rotatably connected to the inner wall of the inspection body (1).

3. The tunnel gas inspection device based on the inertial navigation system according to claim 1 is characterized in that: The inertial navigation mechanism (3) comprises an inertial navigation housing (301), a data reading interface (302) and a data processing module (303); the inertial navigation housing (301) is fixed on the top of the inspection body (1); the side wall of the inertial navigation housing (301) is provided with a data reading interface (302); the inner wall of the inertial navigation housing (301) is provided with a data processing module (303); the inner wall of the inertial navigation housing (301) is movably connected to a first angle sensor (304); one end of the first angle sensor (304) is movably connected to an outer navigation frame (305); the inner wall of the outer navigation frame (305) is movably connected to a second angle sensor (306); one end of the second angle sensor (306) is movably connected to an inner navigation frame (307); the top of the inner part of the inner navigation frame (307) is movably connected to a third angle sensor (308); the bottom end of the third angle sensor (308) is movably connected to a platform (309).

4. The tunnel gas inspection device based on the inertial navigation system according to claim 3 is characterized in that: The output end of the data reading interface (302) is electrically connected to a data processing module (303); the first angle sensor (304) is provided with two groups symmetrically distributed about the central axis of the inertial navigation housing (301); and an x-axis gyroscope, a y-axis gyroscope and a z-axis gyroscope are installed on the surface of the platform (309).

5. The tunnel gas inspection device based on the inertial navigation system according to claim 1 is characterized in that: The gas collection mechanism (5) comprises a transmission fan rod (501), a screw rod (502) and an air vent (503); a side wall of the inspection body (1) is provided with an air inlet; the transmission fan rod (501) is rotatably connected to the inner wall of the inspection body (1); the outer wall of the transmission fan rod (501) is sleeved with a screw rod (502); and the surface of the transmission fan rod (501) is provided with an air vent (503).

6. The tunnel gas inspection device based on the inertial navigation system according to claim 5 is characterized in that: The output end of the air vent (503) is connected to a moisture absorption tube (6), the output end of the moisture absorption tube (6) is provided with a disassembly and assembly mechanism (8), the output end of the moisture absorption tube (6) is connected to a carbon dioxide absorption tube (7), a limiting mechanism (9) is installed on the side wall of the inspection body (1), and a control panel (10) is fixed to the side wall of the inspection body (1).

7. The tunnel gas inspection device based on the inertial navigation system according to claim 6 is characterized in that: The disassembly and assembly mechanism (8) comprises a twisting groove (801), a limiting block (802) and a limiting bead (803); the twisting groove (801) is provided on the side wall of the moisture absorption tube (6); the limiting block (802) is fixed on the side wall of the carbon dioxide absorption tube (7); the inner wall of the limiting block (802) is slidably connected to the limiting bead (803); the side wall of the limiting bead (803) is fixed with a first return spring (804); the inner wall of the twisting groove (801) is provided with a limiting groove (805); the side wall of the moisture absorption tube (6) is fixed with a sealing ring (806); and the side wall of the carbon dioxide absorption tube (7) is provided with a mounting groove (807).

8. The tunnel gas inspection device based on the inertial navigation system according to claim 7 is characterized in that: The twist groove (801) is provided with four groups of equally spaced portions about the central axis of the moisture absorption tube (6); the limit block (802) is provided with four groups of equally spaced portions about the central axis of the carbon dioxide absorption tube (7); the first return spring (804) is used to squeeze the limit bead (803) and keep it moving toward the moisture absorption tube (6); the limit groove (805) is in the shape of a hemisphere having the same diameter as the limit bead (803).

9. The tunnel gas inspection device based on the inertial navigation system according to claim 6 is characterized in that: The limiting mechanism (9) comprises a limiting plate (901), a connecting rod (902) and a limiting disk (903); the connecting rod (902) is rotatably connected to the inner wall of the inspection body (1); the side wall of the connecting rod (902) is fixed with the limiting plate (901); the side wall of the connecting rod (902) is fixed with the limiting disk (903); the side wall of the limiting disk (903) is slidably connected to the limiting column (904); the outer wall of the limiting column (904) is sleeved with a second return spring (905); the side wall of the limiting column (904) is rotatably connected with a first connecting rod (906); one end of the first connecting rod (906) is hinged with a second connecting rod (907); one end of the second connecting rod (907) is hinged with a third connecting rod (908); and the side wall of the second connecting rod (907) is fixed with a shifting block (909).

10. The tunnel gas inspection device based on the inertial navigation system according to claim 9 is characterized in that: The limiting plate (901), the connecting rod (902) and the limiting plate (903) are provided with two groups of connection points with respect to the moisture absorption tube (6) and the carbon dioxide absorption tube (7) which are symmetrically distributed. The second return spring (905) is used to squeeze the limiting column (904) and keep it moving toward the inspection body (1). The first connecting rod (906) and the third connecting rod (908) are symmetrically distributed with respect to the central axis of the second connecting rod (907).

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