An environmental inspection robot based on a chemical terminal

Abstract

The present invention discloses an environmental inspection robot based on a chemical terminal, which is applied to the technical field of environmental inspection robots. It includes an inspection vehicle, a spraying component, a detection component and an inspection system. The detection component and the spraying component are arranged above the inspection vehicle, and a GPS positioning module is arranged inside the inspection vehicle; the spraying component includes a housing, and a plurality of spraying holes are opened on the left side of the housing. A spraying rack and a connecting seat are fixedly connected inside the housing; two groups of rotating fans are connected to the top of the connecting seat by bearings, the other end of the rotating fan is connected to the housing by bearings, an air outlet is opened on the top of the connecting seat, and the air outlet includes a group of first air outlets and a group of second air outlets. Air pipes are arranged at the first air outlet and the second air outlet. In the present invention, the gas and dust concentrations at the leakage points can be reduced.

Description

Technical Field

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

[0002] As an important part of the chemical industry, chemical wharves often have slight leaks during the loading, unloading and storage processes due to the large amount of loading, unloading and storage of various gases, liquids and powdered raw materials, resulting in environmental pollution. Therefore, environmental inspection is of crucial significance for safe operation and the health of staff. In this context, environmental inspection robots have been widely used. The purpose of environmental inspection is to track the spatial distribution of pollutants and their impact on environmental quality, and on this basis, to carry out prediction, forecasting and prevention.

[0003] However, during the actual inspection process, when the robot discovers an abnormality, it can only give feedback and alarm prompts, and cannot handle the abnormal environment. Especially when gases and powdered raw materials leak, after the staff arrives at the abnormal area, they need to find the abnormal location before dealing with it. However, due to the high concentration of leaked gas and flying dust at the leakage point, the staff needs to first reduce the gas and dust concentration at that place, and then find the specific leakage location for targeted treatment. This not only increases the treatment process and time, but also increases the treatment risk for the staff.

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

[0005] The purpose of the present invention is to provide an environmental inspection robot based on a chemical wharf, which can reduce the gas and dust concentration at the leakage point, so as to solve the problems raised in the above background art.

[0006] To solve the above technical problems, the present invention provides the following technical solution: an environmental inspection robot based on a chemical wharf, including an inspection vehicle, a spraying component, a detection component and an inspection system. The detection component and the spraying component are arranged above the inspection vehicle. The interior of the inspection vehicle is provided with a GPS positioning module. The inspection vehicle is used to drive the detection component to conduct inspections according to a set inspection route. When the detection component detects an environmental abnormality, it feeds back to the inspection system, and then the inspection system controls the spraying component to spray the environment to reduce the gas and dust concentration in the air at the leakage point;

[0007] The spraying component includes a housing. A plurality of spraying holes are opened on the front side of the housing. A spraying rack and a connecting seat are fixedly connected inside the housing. An air inlet one is opened on the rear side of the housing;

[0008] Two groups of rotating fans are connected to the top bearing of the connecting seat. The other end of the rotating fan is connected to the shell through a bearing. An air outlet is opened at the top of the connecting seat. The air outlet includes a group of first air outlets and a group of second air outlets. Air outlet pipes are arranged at the first air outlet and the second air outlet. One group of the first air outlets is located in the middle of the connecting seat, and one group of the second air outlets is located at the edge of the connecting seat.

[0009] A first slide rail and two groups of second slide rails are fixedly connected to the bottom of the shell. The two groups of second slide rails are symmetrically arranged on both sides of the first slide rail. A first slider is slidably connected to the first slide rail, and a second slider is slidably connected to the second slide rail. Two connecting rods are hinged to the first slider, and the other ends of the connecting rods are hinged to the second slider.

[0010] An electric telescopic rod is fixedly connected to the bottom of the rear side of the shell, and the output end of the electric telescopic rod is fixedly connected to the first slider.

[0011] It can drive the first slider to move left and right through the telescopic movement of the electric telescopic rod, and then drive the two second sliders to approach or move away from each other through the connecting rods, so as to block the first air outlet or the second air outlet, and perform small-range precise spray dust suppression or large-range spray dust suppression, which is convenient for quickly reducing the concentration of leakage gas and dust in the air, and saving the time for the staff to find the leakage area and prepare before 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, a wind direction meter is fixedly connected to the top of the connecting column, a base is connected to the connecting column through a hoop, 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 the wind speed and wind direction, the component concentration of leakage gas, the inspection picture and the concentration of inhalable particles during the inspection.

[0013] According to the above technical solution, two gas cylinders and a water tank 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 inside the box body, the pump body and one gas cylinder are connected to the spray head through pipelines, and the other gas cylinder is connected to the first 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 the spray water source for dust suppression and avoid the water in the water tank from shaking, improving the stability of the inspection vehicle during operation.

[0014] According to the above technical solution, a rotating platform is arranged on the top of the inspection vehicle, a lifting seat is fixedly connected to the rotating platform, and the spray component is fixed on the top of the lifting seat, which can adjust the spray direction and height and 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 nozzles are fixedly connected to the spray rack.

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

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

[0018] According to the above technical solution, the inspection system includes a collection module, an analysis module, a control module and a feedback module. The collection module is electrically connected to the inspection vehicle and the detection component. The collection module is used to collect and record the wind speed, wind direction, surrounding gas components, concentration, inspection pictures and inhalable particulate matter concentration during inspection. The analysis module is internally provided with threshold values of warning gas components and corresponding concentrations and the threshold value of the inhalable particulate matter concentration. The analysis module is used to analyze environmental problems according to the collected data and the set threshold values. 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 spraying angle, height and mode of the spray component. The feedback module is used for alarm prompts when the environment is abnormal, which is convenient for the staff to handle.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by providing an inspection vehicle and a detection component, it can ensure the stable operation of the inspection vehicle along the inspection route. When an abnormality is detected during inspection, after giving a priority alarm prompt, the leakage area range is gradually checked and determined, and then the carried equipment is used to reduce the concentration of leakage gas and dust in the leakage area, saving the time for the staff to find the leakage area and the risk during problem handling;

[0020] By providing a spray component, it can control the telescopic movement of the electric telescopic rod according to the size of the leakage area to control and change the spraying mode of the spray component, quickly reducing the concentration of leakage gas and dust and saving the preparation work before the staff handle it. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The 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 to the present invention. In the drawings:

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the sectional structural schematic diagram of the present invention;

[0024] Figure 3 is of the present inventionFigure 3 Schematic diagram of the enlarged structure of area A;

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

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

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

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

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

[0030] Figure 9 It is a schematic diagram of the open state of the first air outlet of the present invention;

[0031] In the figure: 1, inspection vehicle; 2, rotating table; 3, lifting seat;

[0032] 4, spray component; 41, housing; 42, spray holes; 43, spray rack; 44, nozzles; 45, connecting seat; 46, rotating fan; 47, air outlet pipe; 48, slide rail 1; 49, slider 1; 410, electric telescopic rod; 411, slide rail 2; 412, slider 2; 413, connecting rod; 414, air inlet 1

[0033] 5, column;

[0034] 6, detection component; 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 board; 93, air pump; 94, pump body. Specific embodiments

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Please refer to Figures 1-9, the present invention provides a technical solution: an environmental inspection robot based on a chemical terminal, including an inspection vehicle 1, a spraying component 4, a detection component 6 and an inspection system. The detection component 6 and the spraying 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 conduct inspections according to a set inspection route. When the detection component 6 detects environmental anomalies, it feeds back to the inspection system, and then the inspection system controls the spraying component 4 to spray the environment to reduce the gas and dust concentrations in the air at the leakage point.

[0038] Please refer to Figure 1 , 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. The spraying component 4 is fixed to 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 spraying component 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 spraying component 4.

[0039] Please refer to Figures 1 to 6 , the spraying component 4 includes a housing 41. A plurality of spraying holes 42 are opened on the front side of the housing 41. A spraying frame 43 and a connecting seat 45 are fixedly connected inside the housing 41. The spraying frame 43 is arranged in front of the connecting seat 45. A plurality of spray nozzles 44 are fixedly connected to the spraying frame 43. The spray nozzles 44 are used to generate aerosol for dust reduction;

[0040] Two groups of rotating fans 46 are connected to the top of the connecting seat 45 by bearings. The other ends of the rotating fans 46 are connected to the housing 41 by bearings. An air outlet is opened on the top of the connecting seat 45. The air outlet includes a group of first air outlets and a group of second air outlets. Air pipes 47 are arranged at both the first air outlet and the second air outlet. A group of first air outlets are located in the middle of the connecting seat 45, and a group of second air outlets are located at the edge of the connecting seat 45. The rotating fans 46 are used to evenly discharge the gas coming out through the air pipes 47 to the front of the housing 41 and then discharge it from the spraying holes 42;

[0041] A slide rail 48 and two groups of slide rails 411 are fixedly connected to the bottom of the housing 41. The two groups of slide rails 411 are symmetrically arranged on both sides of the slide rail 48. A slide block 49 is slidably connected to the slide rail 48. A slide block 412 is slidably connected to the slide rail 411. Two groups of connecting rods 413 are hinged to the slide block 49. The other ends of the connecting rods 413 are hinged to the slide block 412. Pulling the slide block 49 to the right can drive the two groups of slide blocks 412 to move away from the slide block 49 through the hinged connecting rods 413, so that the slide block 412 blocks the second air outlet. On the contrary, pushing the slide block 49 to the left can make the slide block 412 block the first air outlet;

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

[0043] In actual operation, as Figure 8 shown, when the electric telescopic rod 410 extends, it drives the first slider 49 to the right, so that the second slider 412 blocks the second air outlet, and the first air outlet is in an open state. Then the gas supply part supplies gas, and the gas flow coming out through the air outlet pipe 47 impacts the edges of the mutually approaching sides of the rotating fans 46, causing the two groups of rotating fans 46 to rotate in opposite directions, which can improve the dispersion of the gas flow. If the nozzle 44 generates aerosol at this time, dust can be reduced in a large area. This is mode one; as Figure 9 shown, when the electric telescopic rod 410 contracts, it drives the first slider 49 to the left, so that the second slider 412 blocks the first air outlet, and the second air outlet is in an open state. At this time, when the gas supply part supplies gas, the gas flow coming out through the air outlet pipe 47 impacts the edges of the mutually distant sides of the rotating fans 46, causing the two groups of rotating fans 46 to rotate in opposite directions, which can reduce the dispersion of the gas flow and facilitate the provision of precise gas flow. If the nozzle 44 generates aerosol at this time, dust can be reduced precisely in a certain area or position. This is mode two.

[0044] Please refer to Figure 1 and Figure 7 , on the top of the rear side of the inspection vehicle 1, a column 5 is fixedly connected. The detection component 6 is arranged on the column 5. The detection component 6 includes a connecting column. At the top of the connecting column, a wind direction meter 61 is fixedly connected. A base is connected to the connecting column through a hoop. On the base, a gas detector 62, a camera 63 and a dust detector 64 are fixedly connected in sequence from left to right. The gas detector 62 is a multi-gas detector, which is used to detect the components and concentrations of warning gases and can be equipped with a variety of gas detection sensors, at least including CO2, CO, 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 on the inspection route to prevent the inspection vehicle 1 from colliding.

[0046] Please refer to Figure 2, inside the inspection vehicle 1, there are two groups of gas cylinders 8 and a water tank 9 fixedly connected. The water tank 9 includes a box body 91. Inside the box body 91, there is a partition 92. At the bottom inside the box body 91, there is a pump body 94. The pump body 94, one group of gas cylinders 8 and the nozzle 44 are connected by pipelines. The other group of gas cylinders 8 is connected to the first air inlet 414 on the side of the housing 41. At the top of the box body 91, there is an air pump 93 fixedly connected. 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 cylinders 8 can contain inert gases or compressed air. The nozzle 44 can generate aerosol for dust reduction by connecting the pump body 94 and the gas cylinders 8. The other group of gas cylinders 8 is used to adjust the opening of the second air outlet or the first air outlet to control and adjust the air outlet range. The air pump 93 is preferably a dual-purpose air pump that can be used for supplying air or pumping air. When the nozzle 44 is spraying, the air pump 93 is used to supply air to the water tank 9 to ensure that the liquid level between the partition 92 and the box body 91 is level. When adding water to the water tank 9, the air pump 93 pumps air from the water tank 9 to keep the liquid level between the partition 92 and the box body 91 level. Thus, it can maintain a stable liquid level on the basis of providing a stable liquid source, avoiding shaking and affecting normal inspection.

[0048] The inspection system includes 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 the wind speed, wind direction, surrounding gas components, concentration, inspection images and inhalable particulate matter concentration during inspection. Inside the analysis module, there are threshold values for warning gas components and corresponding concentrations and the threshold value of the inhalable particulate matter concentration. The warning gases are collectively referred to as gases hereinafter. The analysis module is used to analyze the problems existing in the environment according to the collected data and the set threshold values. The control module is electrically connected to the inspection vehicle 1, the rotating platform 2, the lifting seat 3, the spraying 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 spraying component 4. The feedback module is used for alarm prompts in case of environmental abnormalities to facilitate the staff to handle.

[0049] Working principle of the environmental inspection robot:

[0050] The inspection vehicle 1 drives the detection component 6 to conduct inspections according to the set inspection route. The wind vane 61 detects the wind speed and wind direction at different positions on the inspection route. The gas detector 62 detects the gas components and gas concentration in the environment. The camera 63 takes inspection images. The dust detector 64 detects the inhalable particulate matter concentration in the environment, and is collected and recorded by the collection module.

[0051] When it is detected that the gas concentration reaches the concentration threshold, the inspection vehicle 1 stops patrolling according to the set route, and the control module controls the inspection vehicle 1 to patrol along the incoming wind direction. At this time, if the detected gas concentration increases, it means that there is a gas leak in the incoming wind direction. If the detected gas concentration does not increase, the control module controls the inspection vehicle 1 to return to the patrol route; the inspection vehicle 1 is controlled to patrol in a direction perpendicular to the wind direction and with a small included angle with the patrol route. At this time, if the detected gas concentration increases, it means that there is a leak at the position perpendicular to the wind direction and with a small included angle with the patrol route. If the detected gas concentration does not increase, the control module controls the inspection vehicle 1 to return to the position where the gas concentration first reached the concentration threshold; the inspection vehicle 1 is controlled to patrol in a direction perpendicular to the wind direction and with a large included angle with the patrol route. At this time, if the detected gas concentration increases, it means that there is a leak at the position perpendicular to the wind direction and with a large included angle with the patrol route. If the detected gas concentration does not increase, the control module controls the inspection vehicle 1 to return to the position where the gas concentration first reached the concentration threshold; the inspection vehicle 1 is controlled to patrol along the wind direction. If the detected gas concentration increases, it means that there is a leak in the outgoing wind direction. If the detected gas concentration does not increase, it means that the detection is abnormal. After the control module controls the inspection vehicle 1 to return to the position where the gas concentration first reached the concentration threshold, it continues to patrol according to the patrol route.

[0052] When determining the direction of the gas leak, the feedback module gives an alarm prompt, feedbacks the current position and displays the captured image of the camera 63, which is convenient for the staff to understand the abnormal position image and search for the abnormal area in the first time. At the same time, the control module first controls the inspection vehicle 1 to patrol at a 45° left deviation along the abnormal direction. If the detected gas concentration increases, it is the leakage area. If the gas concentration does not increase, it is the non-leakage area. Then the inspection vehicle 1 is controlled to return to the direction where the gas leak exists, and the inspection vehicle 1 is controlled to reduce the left deviation angle along the abnormal direction. The angle reduced each time is a set value and a divisor of 90, until it patrols to the 45° right deviation direction of the abnormal direction. When the detected angle range of the increased gas concentration 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 rotary table 2 to rotate forward and backward, and the lifting seat 3 to lift, so as to increase the action range and quickly reduce the gas concentration in the leakage area. When the detected angle range of the increased gas concentration 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 realize that when the staff arrives at the leakage site, the gas concentration is reduced by promoting the air flow, saving the time for the staff to search for the specific leakage area and make preparations before treatment.

[0053] When the concentration of inhalable particulate matter in the environment is detected to reach the threshold of the concentration of inhalable particulate matter, the control method is the same as the operation method when the concentration of warning gas reaches the concentration threshold. The difference is that at this time, it is necessary to control the sprinkler head 44 to spray and reduce dust, so as to avoid too high gas and dust concentrations and affect the inspection effect and harm the health of the staff. This situation also applies to the case where the leaked gas is a gas soluble in water.

[0054] It should be noted that when there are multiple gas leaks, the inspection vehicle 1 first follows the gas leakage area where the concentration of warning gas is detected to reach the concentration threshold for the first time, and then, when investigating the leakage area, it investigates from high to low according to the proportion of other gases exceeding the threshold. Dust reduction and promoting air flow can exist simultaneously.

[0055] Through the above steps, the automatic inspection of the chemical wharf can be completed, reducing the labor intensity of the staff during manual inspection. At the same time, when an environmental anomaly is detected during the inspection, based on the alarm prompt, the size of the leakage area is judged, and according to the size of the leakage area, different spraying modes are selected to quickly disperse the leaked gas and reduce the dust concentration in the air, providing treatment conditions for the staff and reducing the time and difficulty for the staff to handle the leakage.

[0056] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0057] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 inspections 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 connection seat (45) is connected to two groups of rotating fans (46), the other end of the rotating fans (46) is connected to the bearing of the housing (41), the top of the connection seat (45) is provided with air outlets, 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 connection seat (45), and the group of the second air outlets is located at the edge of the connection seat (45); The bottom of the shell (41) is fixedly connected with a slide rail 1 (48) and two groups of slide rails 2 (411), and the two groups 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), and the slide rail 2 (411) is slidably connected with a slider 2 (412). The slider 1 (49) is hinged with two groups of connecting rods (413), and the other end of the connecting rod (413) is hingedly connected to the slider 2 (412). Pulling the slider 1 (49) to the right can drive the two groups of sliders 2 (412) to move to a 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 cause the slider 2 (412) to block the first air outlet. 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) comprises 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 via a clamp, and a gas detector (62), a camera (63) and a dust detector (64) are fixedly connected to the base in sequence from left to right.

3. The environmental inspection robot based on a chemical terminal according to claim 2 is characterized in that: A plurality of spray heads (44) are fixedly connected to the spray rack (43); 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 spray heads (44) through pipelines; another 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 an 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).

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 provide 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 along 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 direction of leakage.

10. The environmental inspection robot based on a chemical terminal according to claim 9, characterized in that: When the direction of the 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.

Images