Environment inspection robot based on chemical wharf

Abstract

The invention discloses an environment inspection robot based on a chemical wharf, which is applied to the technical field of environment inspection robots and comprises an inspection vehicle, a spraying assembly, a detection assembly and an inspection system, the detection assembly and the spraying assembly are arranged above the inspection vehicle, and a GPS positioning module is arranged in the inspection vehicle; the spraying assembly comprises a shell, a plurality of spraying holes are formed in the left side of the shell, and a spraying frame and a connecting base are fixedly connected to the interior of the shell; two sets of rotating fans are connected to the top of the connecting base through bearings, the other ends of the rotating fans are connected with the shell through bearings, air outlets are formed in the top of the connecting base and comprise a set of first air outlets and a set of second air outlets, and air outlet pipes are arranged at the first air outlets and the second air outlets correspondingly. And the gas and dust concentration at the leakage part can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of environmental inspection robots, and in particular to an environmental inspection robot based on a chemical terminal. Background Art

[0002] Chemical terminals are an important part of the chemical industry. Due to the large-scale loading and unloading and storage of various gases, liquids, and powdered raw materials, there are often slight leaks during the loading and unloading and storage process, which leads to environmental pollution. Therefore, environmental inspections are of vital importance for safe operation and the health of workers. In this context, environmental inspection robots have been widely used. The purpose of environmental inspections is to track the spatial distribution of pollutants and their impact on environmental quality, and to predict, forecast, and prevent them on this basis.

[0003] However, in the actual inspection process, when the robot finds an abnormality, it can only provide feedback and alarm prompts, but cannot handle the abnormal environment, especially when gas and powder raw materials leak. After the staff arrives at the abnormal area, they need to find the abnormal location and then handle it. However, due to the high concentration of leaked gas and dust at the leakage point, the staff must first reduce the gas and dust concentration at the leakage point, and then find the specific leakage location for targeted treatment. This not only increases the processing process and time, but also increases the handling risk of the staff.

[0004] Therefore, it is necessary to provide an environmental inspection robot based on a chemical terminal to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide an environmental inspection robot based on a chemical terminal, which can reduce the concentration of gas and dust at the leakage point to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an environmental inspection robot based on a chemical terminal, comprising an inspection vehicle, a spray component, a detection component and an inspection system, wherein the detection component and the spray component are arranged above the inspection vehicle, and a GPS positioning module is arranged inside the inspection vehicle, and the inspection vehicle is used to drive the detection component to inspect according to a set inspection route, and when the detection component detects an abnormal environment, it feeds back to the inspection system, and then the inspection system controls the spray component to spray the environment, thereby reducing the concentration of gas and dust in the air at the leakage location;

[0007] The spray assembly comprises a shell, a plurality of spray holes are opened on the front side of the shell, a spray frame and a connecting seat are fixedly connected inside the shell, and an air inlet 1 is opened on the rear side of the shell;

[0008] The top bearing of the connection seat is connected to two groups of rotating fans, and the other end of the rotating fan is connected to the housing bearing. The top of the connection seat is provided with an air outlet, and the air outlet includes a group of first air outlets and a group of second air outlets. The first air outlets and the second air outlets are both provided with air outlet pipes. One group of the first air outlets is located in the middle of the connection seat, and one group of the second air outlets is located at the edge of the connection seat.

[0009] The bottom of the housing is fixedly connected with a slide rail 1 and two sets of slide rails 2, the two sets of slide rails 2 are symmetrically arranged on both sides of the slide rail 1, the slide rail 1 is slidably connected with a slider 1, the slide rail 2 is slidably connected with a slider 2, the slider 1 is hinged with two sets of connecting rods, and the other ends of the connecting rods are hingedly connected with the sliders 2;

[0010] An electric telescopic rod is fixedly connected to the bottom of the rear side of the housing, and an output end of the electric telescopic rod is fixedly connected to the slider;

[0011] The electric telescopic rod can be used to drive the slider one to move left and right, and the connecting rod can be used to drive the two sets of sliders two to move closer or farther from each other, so as to block the first air outlet or the second air outlet, and perform small-scale precise spraying and dust reduction or large-scale spraying and dust reduction, which is convenient for quickly reducing the concentration of leaked gas and dust in the air, and saves the time of workers to find the leakage area and prepare for treatment.

[0012] According to the above technical solution, a column is fixedly connected to the top of the rear side of the inspection vehicle, and the detection component is arranged on the column. The detection component includes a connecting column, and a wind vane is fixedly connected to the top of the connecting column. A base is connected to the connecting column through a clamp, and a gas detector, a camera and a dust detector are fixedly connected to the base from left to right in sequence. The detection component is used to detect wind speed and direction, leakage gas component concentration, inspection picture and inhalable particulate matter concentration during inspection.

[0013] According to the above technical solution, two groups of gas tanks and water tanks are fixedly connected inside the inspection vehicle, the water tank includes a box body, a partition is arranged inside the box body, a pump body is arranged at the bottom of the box body, the pump body and one group of gas tanks are connected to the nozzle pipeline, the other group of gas tanks is connected to the air inlet on the side of the shell, an air pump is fixedly connected to the top of the box body, and the air outlet end of the air pump is connected to the top of the box body, which can provide a spray water source for dust reduction, and at the same time avoid water shaking in the water tank, thereby improving the stability of the inspection vehicle during operation.

[0014] According to the above technical solution, a rotating platform is provided on the top of the inspection vehicle, a lifting seat is fixedly connected to the rotating platform, and the spray assembly is fixed on the top of the lifting seat, which can adjust the spray direction and height to improve the spray effect.

[0015] According to the above technical solution, the spray rack is arranged on the left side of the connecting seat, and a plurality of spray heads are fixedly connected to the spray rack.

[0016] According to the above technical solution, the air inlet 1 is located between the electric telescopic rod and the slider 1.

[0017] According to the above technical solution, an ultrasonic sensor is fixedly connected to the front side of the inspection vehicle to detect whether there are obstacles in the inspection direction to avoid collision of the inspection vehicle.

[0018] According to the above technical solution, the inspection system includes an acquisition module, an analysis module, a control module and a feedback module. The acquisition module is electrically connected to the inspection vehicle and the detection component. The acquisition module is used to collect and record the wind speed, wind direction, surrounding gas composition, concentration, inspection screen and inhalable particulate matter concentration during the inspection. The analysis module is internally provided with warning gas composition and corresponding concentration thresholds and inhalable particulate matter concentration thresholds. The analysis module is used to analyze environmental problems according to the collected data and the set thresholds. The control module is electrically connected to the inspection vehicle, the rotating table, the lifting seat, the spray component and the water tank. The control module is used to control the movement of the inspection vehicle and the spray angle, height and mode of the spray component. The feedback module is used for alarm prompts when the environment is abnormal, so as to facilitate the staff to handle it.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention, by providing the inspection vehicle and the detection component, can ensure that the inspection vehicle runs smoothly along the inspection route; when the inspection is abnormal, after giving priority to the alarm prompt, the scope of the leakage area is gradually checked and determined, and then the concentration of the leaked gas and dust in the leakage area is reduced by the carried equipment, thus saving the time of the staff in finding the leakage area and the risk of dealing with the problem;

[0020] By providing a spray assembly, the spray mode of the spray assembly can be changed by controlling the extension and retraction of the electric telescopic rod according to the size of the leakage area, thereby quickly reducing the concentration of leaked gas and dust and saving the staff's preparation work before handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a cross-sectional structural schematic diagram of the present invention;

[0024] Figure 3 The present invention Figure 3 A schematic diagram of the enlarged structure of the middle A area;

[0025] Figure 4 It is a schematic cross-sectional view of a portion of the structure of the spray assembly of the present invention;

[0026] Figure 5 is a schematic rear view of a partial structure of a spray assembly of the present invention;

[0027] Figure 6 is a schematic cross-sectional view of a spray assembly of the present invention;

[0028] Figure 7 The present invention Figure 1 Schematic diagram of the enlarged structure of the middle B area;

[0029] Figure 8 is a schematic diagram of the second air outlet of the present invention in an open state;

[0030] Fig. 9 is a schematic diagram of the first air outlet of the present invention in an open state;

[0031] In the figure: 1. Inspection vehicle; 2. Rotating table; 3. Lifting seat;

[0032] 4. Spray assembly; 41. Shell; 42. Spray hole; 43. Spray rack; 44. Spray head; 45. Connecting seat; 46. Rotating fan; 47. Exhaust pipe; 48. Slide rail 1; 49. Slider 1; 410. Electric telescopic rod; 411. Slide rail 2; 412. Slider 2; 413. Connecting rod; 414. Inlet 1

[0033] 5. Column;

[0034] 6. Detection components; 61. Wind vane; 62. Gas detector; 63. Camera; 64. Dust detector;

[0035] 7. Ultrasonic sensor; 8. Gas tank; 9. Water tank; 91. Box body; 92. Partition; 93. Air pump; 94. Pump body. 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] See also Figure 1-9The present invention provides a technical solution: an environmental inspection robot based on a chemical terminal, comprising an inspection vehicle 1, a spray component 4, a detection component 6 and an inspection system. The detection component 6 and the spray component 4 are arranged above the inspection vehicle 1. A GPS positioning module is arranged inside the inspection vehicle 1. The inspection vehicle 1 is used to drive the detection component 6 to inspect according to a set inspection route. When the detection component 6 detects an environmental abnormality, it feeds back to the inspection system, and then the inspection system controls the spray component 4 to spray the environment to reduce the concentration of gas and dust in the air at the leakage point.

[0038] See also Figure 1 A rotating platform 2 is arranged on the top of the inspection vehicle 1, and a lifting seat 3 is fixedly connected to the rotating platform 2. The spray assembly 4 is fixed on the top of the lifting seat 3. The rotating platform 2 is preferably a rotating platform driven by a motor gear, and the rotation range is ±360°. The rotating platform 2 is used to drive the spray assembly 4 to adjust the rotation angle. The lifting seat 3 is preferably a multi-stage lifting column, and the lifting seat 3 is used to adjust the height of the spray assembly 4.

[0039] See also Figure 1 to Figure 6 The spray assembly 4 includes a shell 41, a plurality of spray holes 42 are provided on the front side of the shell 41, a spray frame 43 and a connecting seat 45 are fixedly connected inside the shell 41, the spray frame 43 is arranged on the front side of the connecting seat 45, and a plurality of spray heads 44 are fixedly connected to the spray frame 43, and the spray heads 44 are used to generate aerosol for dust reduction;

[0040] Two groups of rotating fans 46 are connected to the bearings at the top of the connecting seat 45. The other end of the rotating fan 46 is connected to the bearings of the shell 41. An air outlet is opened at the top of the connecting seat 45. The air outlet includes a group of first air outlets and a group of second air outlets. The first air outlet and the second air outlet are both provided with air outlet pipes 47. A group of first air outlets is located in the middle of the connecting seat 45, and a group of second air outlets is located at the edge of the connecting seat 45. The rotating fan 46 is used to evenly discharge the gas coming out of the air outlet pipes 47 to the front of the shell 41, and then discharge it from the spray hole 42.

[0041] The bottom of the housing 41 is fixedly connected with a slide rail 1 48 and two sets of slide rails 2 411. The two sets of slide rails 2 411 are symmetrically arranged on both sides of the slide rail 1 48. The slide rail 1 48 is slidably connected with a slider 1 49. The slide rail 2 411 is slidably connected with a slider 2 412. Two sets of connecting rods 413 are hinged on the slider 1 49. The other end of the connecting rod 413 is hinged with the slider 2 412. Pulling the slider 1 49 to the right can drive the two sets of sliders 2 412 to move to the side away from the slider 1 49 through the hinged connecting rod 413, so that the slider 2 412 blocks the second air outlet. Conversely, pushing the slider 1 49 to the left can block the first air outlet.

[0042] An electric telescopic rod 410 is fixedly connected to the bottom of the rear side of the shell 41, and the output end of the electric telescopic rod 410 is fixedly connected to the slider 49. An air inlet 414 is opened on the rear side of the shell 41, and the air inlet 414 is located between the electric telescopic rod 410 and the slider 49. The air inlet 414 is connected to an air supply part, which can be a compressed air tank or a fan. The electric telescopic rod 410 is used to drive the slider 49 to move left and right.

[0043] In actual operation, Figure 8 As shown, the electric telescopic rod 410 is extended, driving the slider 1 49 to the right, so that the slider 2 412 blocks the second air outlet, and the first air outlet is in an open state. Then the air supply part supplies air, and the gas flow coming out of the air outlet pipe 47 hits the edge of the rotating fan 46 close to each other, so that the two sets of rotating fans 46 rotate in opposite directions, which can improve the air flow dispersion. If the nozzle 44 generates aerosol at this time, it can reduce dust in a large area. This is mode 1; Fig. 9 As shown, the electric telescopic rod 410 contracts, driving the slider 1 49 to the left, so that the slider 2 412 blocks the first air outlet, and the second air outlet is in an open state. At this time, when the air supply part supplies air, the gas flow coming out of the air outlet pipe 47 impacts the edge of the rotating fan 46 away from each other on one side, so that the two groups of rotating fans 46 rotate in opposite directions, which can reduce the dispersion of air flow and facilitate the provision of precise air flow. If the nozzle 44 generates mist at this time, it can accurately reduce dust in a certain area or position. This is mode two.

[0044] See also Figure 1 and Figure 7 A column 5 is fixedly connected to the top of the rear side of the inspection vehicle 1, and a detection component 6 is arranged on the column 5. The detection component 6 includes a connecting column, a wind vane 61 is fixedly connected to the top of the connecting column, and a base is connected to the connecting column through a clamp. A gas detector 62, a camera 63 and a dust detector 64 are fixedly connected to the base from left to right. The gas detector 62 is a multi-gas detector for detecting the composition and concentration of the warning gas, and can be equipped with a variety of gas detection sensors, including at least C02, CO, and CH4. The camera 63 is used to take pictures during the inspection, and the dust detector 64 is used to detect the concentration of inhalable particulate matter in the environment during the inspection.

[0045] An ultrasonic sensor 7 is fixedly connected to the front side of the inspection vehicle 1 . The ultrasonic sensor 7 is used to detect whether there are obstacles in the inspection direction of the inspection route to prevent the inspection vehicle 1 from colliding.

[0046] See also Figure 2Two groups of gas tanks 8 and a water tank 9 are fixedly connected inside the inspection vehicle 1. The water tank 9 includes a box body 91. A partition 92 is arranged inside the box body 91. A pump body 94 is arranged at the bottom of the box body 91. The pump body 94 and a group of gas tanks 8 are connected to the nozzle 44 pipeline, and the other group of gas tanks 8 is connected to the air inlet 414 on the side of the shell 41. An air pump 93 is fixedly connected to the top of the box body 91, and the air outlet end of the air pump 93 is connected to the top of the box body 91.

[0047] In actual operation, the gas tank 8 may contain inert gas or compressed air. The nozzle 44 can generate aerosol for dust reduction by connecting the pump body 94 and the gas tank 8. The other group of gas tanks 8 is used to adjust the opening of the second gas outlet or the first gas outlet to control and adjust the gas outlet range. The air pump 93 is preferably a dual-purpose air pump that can be used for air supply or air extraction. When the nozzle 44 is spraying, the air pump 93 is used to supply air to the water tank 9 to ensure that the partition 92 is flush with the liquid level in the box body 91. When water is added to the water tank 9, the air pump 93 extracts air from the water tank 9 to keep the partition 92 flush with the liquid level in the box body 91, thereby maintaining a stable liquid level on the basis of providing a stable source of liquid to avoid shaking and affecting normal inspections.

[0048] The inspection system includes an acquisition module, an analysis module, a control module and a feedback module. The acquisition module is electrically connected to the inspection vehicle 1 and the detection component 6. The acquisition module is used to collect and record the wind speed, wind direction, surrounding gas composition, concentration, inspection screen and inhalable particulate matter concentration during the inspection. The analysis module is internally provided with warning gas composition and corresponding concentration thresholds and thresholds for inhalable particulate matter concentration. The warning gases are collectively referred to as gases hereinafter. The analysis module is used to analyze environmental problems based on the collected data and set thresholds. The control module is electrically connected to the inspection vehicle 1, the rotating table 2, the lifting seat 3, the spray component 4 and the water tank 9. The control module is used to control the movement of the inspection vehicle 1 and the spraying angle, height and mode of the spray component 4. The feedback module is used for alarm prompts when the environment is abnormal, so as to facilitate the staff to handle it.

[0049] Working principle of environmental inspection robot:

[0050] The inspection vehicle 1 drives the detection component 6 to perform inspections according to the set inspection route. The wind vane 61 detects the wind speed and direction at different positions on the inspection route. The gas detector 62 detects the gas composition and gas concentration in the environment. The camera 63 captures the inspection picture. The dust detector 64 detects the concentration of inhalable particulate matter in the environment, and the collection module collects and records it.

[0051] When it is detected that the gas concentration reaches the concentration threshold, the inspection vehicle 1 stops inspecting along the set route, and the control module controls the inspection vehicle 1 to inspect along the incoming wind direction. At this time, the gas concentration is detected to increase, which means there is a gas leakage in the incoming wind direction. If the gas concentration is not detected to increase, the control module controls the inspection vehicle 1 to return to the inspection route; the inspection vehicle 1 is controlled to inspect in a direction perpendicular to the wind direction and with a small angle to the inspection route. At this time, the gas concentration is detected to increase, which means there is a leakage in the direction perpendicular to the wind direction and with a small angle to the inspection route. If the gas concentration is not detected to increase, the control module controls the inspection vehicle 1 to return to the first time the gas concentration was detected to reach the concentration threshold. Position; control the inspection vehicle 1 to inspect in the direction that is perpendicular to the wind direction and has a large angle with the inspection route. If the detected gas concentration increases at this time, there is a leak in the direction that is perpendicular to the wind direction and has a large angle with the inspection route. If it is detected that the gas concentration has not increased, the control module controls the inspection vehicle 1 to return to the position where the gas concentration was first detected to reach the concentration threshold; control the inspection vehicle 1 to inspect along the wind direction. If an increase in the gas concentration is detected, there is a leak in the windward direction. If the gas concentration is not increased, it is a detection abnormality. The control module controls the inspection vehicle 1 to return to the position where the gas concentration was first detected to reach the concentration threshold, and then continue to inspect along the inspection route.

[0052] When the direction of gas leakage is determined, the feedback module issues an alarm prompt, feeds back the current position and displays the shooting picture of the camera 63, so that the staff can understand the abnormal position picture and find the abnormal area in the first time. At the same time, the control module first controls the inspection vehicle 1 to inspect 45° to the left of the abnormal direction. If an increase in gas concentration is detected, it is a leakage area. If the gas concentration does not increase, it is a non-leakage area. Then the inspection vehicle 1 is controlled to return to the direction where the gas leakage exists, and the inspection vehicle 1 is controlled to reduce the inspection angle along the left deviation from the abnormal direction. The angle reduced each time is a set value and a divisor of 90, until the inspection reaches 45° to the right of the abnormal direction. ° direction, when the angle range where the gas concentration is detected to be increased exceeds 30°, the control module selects mode 2 to promote the air flow in the leakage area on a large scale, and at the same time controls the rotating table 2 to rotate forward and reverse, and the lifting seat 3 to lift and lower, so as to increase the range of action and quickly reduce the gas concentration in the leakage area. When the angle range where the gas concentration is detected to be increased does not exceed 30°, the control module selects mode 1 to promote the air flow in the leakage area on a small scale, so as to reduce the gas concentration by promoting air flow when the staff arrives at the leakage site, saving the staff time in finding the specific leakage area and preparing for treatment.

[0053] The control method when it is detected that the concentration of inhalable particulate matter in the environment reaches the threshold of the inhalable particulate matter concentration is the same as the operation method when the warning gas concentration reaches the concentration threshold. The difference is that at this time, it is necessary to control the nozzle 44 to spray and reduce dust to avoid excessive concentration of gas and dust, avoid affecting the inspection effect and harming the health of the staff. This situation also applies to the case where the leaked gas is a water-soluble gas.

[0054] It should be noted that when there are multiple gas leaks, the inspection vehicle 1 first detects the gas leakage area where the warning gas concentration reaches the concentration threshold for the first time, and then checks from high to low according to the proportion of other gases exceeding the threshold when checking the leakage area. Dust reduction and promotion of air flow can exist at the same time.

[0055] Through the above steps, the automated inspection of the chemical terminal can be completed, reducing the labor intensity of the staff during manual inspection. At the same time, when the inspection finds an abnormal environment, the size of the leakage area can be judged based on the alarm prompt. According to the size of the leakage area, different spray modes can be selected to quickly disperse the leaked gas and reduce the dust concentration in the air, providing processing conditions for the staff and reducing the time and difficulty of the staff in dealing with the leakage.

[0056] 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.

[0057] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An environmental inspection robot based on a chemical terminal, comprising an inspection vehicle (1), a spray component (4), a detection component (6) and an inspection system, characterized in that: The detection component (6) and the spray component (4) are arranged above the inspection vehicle (1). A GPS positioning module is arranged inside the inspection vehicle (1). The inspection vehicle (1) is used to drive the detection component (6) to perform inspection according to a set inspection route. When the detection component (6) detects an abnormality in the environment, it feeds back to the inspection system, and the inspection system then controls the spray component (4) to spray the environment, thereby reducing the concentration of gas and dust in the air at the leakage location. The spray assembly (4) comprises a shell (41), a plurality of spray holes (42) are provided on the front side of the shell (41), a spray frame (43) and a connecting seat (45) are fixedly connected inside the shell (41), and an air inlet (414) is provided on the rear side of the shell (41); The top bearing of the connecting seat (45) is connected to two groups of rotating fans (46), and the other end of the rotating fans (46) is connected to the bearing of the shell (41). The top of the connecting seat (45) is provided with air outlets, and the air outlets include a group of first air outlets and a group of second air outlets. The first air outlets and the second air outlets are both provided with air outlet pipes (47). The group of the first air outlets is located in the middle of the connecting seat (45), and the group of the second air outlets is located at the edge of the connecting seat (45). The bottom of the shell (41) is fixedly connected with a slide rail 1 (48) and two sets of slide rails 2 (411), the two sets of slide rails 2 (411) are symmetrically arranged on both sides of the slide rail 1 (48), the slide rail 1 (48) is slidably connected with a slider 1 (49), the slide rail 2 (411) is slidably connected with a slider 2 (412), the slider 1 (49) is hinged with two sets of connecting rods (413), and the other end of the connecting rod (413) is hingedly connected to the slider 2 (412); An electric telescopic rod (410) is fixedly connected to the bottom of the rear side of the housing (41), and an output end of the electric telescopic rod (410) is fixedly connected to the slider 1 (49).

2. The environmental inspection robot based on a chemical terminal according to claim 1 is characterized in that: A column (5) is fixedly connected to the top of the rear side of the inspection vehicle (1), and the detection component (6) is arranged on the column (5). The detection component (6) includes a connecting column, and a wind vane (61) is fixedly connected to the top of the connecting column. The connecting column is connected to a base via a clamp, and a gas detector (62), a camera (63) and a dust detector (64) are fixedly connected to the base from left to right in sequence.

3. The environmental inspection robot based on a chemical terminal according to claim 2 is characterized in that: Two groups of gas tanks (8) and a water tank (9) are fixedly connected inside the inspection vehicle (1); the water tank (9) comprises a box body (91); a partition (92) is arranged inside the box body (91); a pump body (94) is arranged at the bottom of the box body (91); the pump body (94) and a group of gas tanks (8) are connected to the nozzle (44) pipeline; the other group of gas tanks (8) is connected to an air inlet (414) on the side of the shell (41); an air pump (93) is fixedly connected to the top of the box body (91); and the air outlet end of the air pump (93) is connected to the top of the box body (91).

4. The environmental inspection robot based on a chemical terminal according to claim 3 is characterized in that: A rotating platform (2) is arranged on the top of the inspection vehicle (1), a lifting seat (3) is fixedly connected to the rotating platform (2), and the spray assembly (4) is fixed on the top of the lifting seat (3).

5. The environmental inspection robot based on a chemical terminal according to claim 4 is characterized in that: The spray rack (43) is arranged on the left side of the connecting seat (45), and a plurality of spray heads (44) are fixedly connected to the spray rack (43).

6. The environmental inspection robot based on a chemical terminal according to claim 5 is characterized in that: The air inlet one (414) is located between the electric telescopic rod (410) and the slider one (49).

7. The environmental inspection robot based on a chemical terminal according to claim 6 is characterized in that: An ultrasonic sensor (7) is fixedly connected to the front side of the inspection vehicle (1).

8. The environmental inspection robot based on a chemical terminal according to claim 7 is characterized in that: The inspection system comprises a collection module, an analysis module, a control module and a feedback module. The collection module is electrically connected to the inspection vehicle (1) and the detection component (6). The collection module is used to collect and record wind speed, wind direction, surrounding gas composition, concentration, inspection picture and inhalable particle concentration during inspection. The analysis module is provided with warning gas composition and corresponding concentration threshold and inhalable particle concentration threshold. The analysis module is used to analyze environmental problems according to the collected data and the set threshold. The control module is electrically connected to the inspection vehicle (1), the rotating platform (2), the lifting seat (3), the spray component (4) and the water tank (9). The control module is used to control the movement of the inspection vehicle (1) and the spray angle, height and mode of the spray component (4). The feedback module is used to give an alarm prompt when the environment is abnormal, so as to facilitate the staff to handle it.

9. The environmental inspection robot based on a chemical terminal according to claim 8, characterized in that: The inspection vehicle (1) drives the detection component (6) to perform inspections according to a set inspection route. The wind vane (61) detects wind speed and wind direction at different positions on the inspection route. The gas detector (62) detects gas composition and gas concentration in the environment. The camera (63) captures the inspection image. The dust detector (64) detects the concentration of inhalable particles in the environment, which is collected and recorded by the collection module. When it is detected that the gas concentration reaches a concentration threshold, the control module controls the inspection vehicle to determine the leakage direction.

10. The environmental inspection robot based on a chemical terminal according to claim 9, characterized in that: When the direction of gas leakage is determined, the feedback module issues an alarm prompt, feeds back the current position and displays the shooting picture of the camera (63), and at the same time the control module first controls the inspection vehicle (1) to inspect along the abnormal direction 45° to the left, and then reduces the angle of the abnormal direction to the left until the inspection reaches the abnormal direction 45° to the right, thereby determining the angle range corresponding to the leakage area to promote air flow in the leakage area.

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