Pipe belt machine anti-explosion inspection robot and inspection method thereof

Abstract

The invention relates to the technical field of robots, in particular to a pipe belt conveyor anti-explosion inspection robot which comprises a robot body, a plurality of driving wheels, a plurality of holding wheels and a plurality of guide wheels are arranged in the robot body, and the driving wheels, the holding wheels and the guide wheels are symmetrically arranged; the driving wheels provide power for advancing of the robot, and the holding wheels are matched with the driving wheels to hold the track; the guide wheels are arranged between the driving wheels, so that the robot can stably run on the track; a plurality of functional modules are also integrated on the machine body and comprise an environment perception and visual identification module, a communication and indication module, a control and data processing module and an energy management module; the inspection robot can automatically inspect according to a preset route, monitors and records data in real time, reduces labor intensity and safety risks, and improves inspection efficiency through intelligent analysis and prediction of faults; meanwhile, the invention further provides an inspection method, data uploaded by the robot are deeply mined and analyzed, and the intelligent level of inspection is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an explosion-proof inspection robot for a belt conveyor and an inspection method thereof. Background Art

[0002] Belt conveyors are widely used in industrial production. The inspection of traditional belt conveyors mainly relies on manual labor, which has high labor intensity, low work efficiency and high safety risks. With the continuous development of automation and intelligent technology, it is particularly important to develop an explosion-proof inspection robot that can autonomously navigate and inspect, monitor in real time, has multiple detection functions, supports automatic alarm and handles abnormal situations. Summary of the invention

[0003] In order to solve some of the problems existing in the above-mentioned prior art, the present invention provides an explosion-proof inspection robot for a belt conveyor and an inspection method thereof.

[0004] To achieve the above-mentioned purpose, the present invention provides an explosion-proof inspection robot for a belt conveyor, comprising a body, wherein a driving wheel, a clamping wheel and a guide wheel are arranged in the body, and a plurality of the driving wheels, the clamping wheels and the guide wheels are symmetrically arranged; the driving wheel provides power for the movement of the robot, and the clamping wheel cooperates with the driving wheel to clamp the track; the guide wheel is arranged between the driving wheels to ensure that the robot runs stably on the track; the body also integrates multiple functional modules, which include an environmental perception and visual recognition module, a communication and indication module, a control and data processing module and an energy management module.

[0005] As a further improvement of the present invention, in order to monitor the operating status and surrounding environment of the belt conveyor in real time and improve the accuracy and reliability of obstacle avoidance; the environmental perception and visual recognition module includes a smoke sensor, a gas sensor and an obstacle avoidance radar, and the smoke sensor and the gas sensor are respectively arranged at the front and rear ends of the body; the obstacle avoidance radar is arranged at both ends of the body, and the obstacle avoidance radar adopts multi-beam radar technology; the environmental perception and visual recognition module also includes an industrial camera and a thermal imaging device, and the industrial camera and the thermal imaging device are both installed and connected to the lower end of the body; the outer side of the industrial camera is also provided with a fill light, and the fill light is evenly arranged.

[0006] As a further improvement of the present invention, in order to improve the communication capability of the robot and the clarity of the status indication, it is convenient for the operator to remotely monitor and debug; the communication and indication module includes an RFID antenna, a LoRa antenna and a WiFi antenna, the RFID antenna is arranged at the upper end of the body, and the LoRa antenna and the WiFi antenna are respectively installed on both sides of the body; the communication and indication module also includes a red indicator light, a yellow indicator light and a green indicator light arranged side by side, and different working states are indicated by the red indicator light, the yellow indicator light and the green indicator light.

[0007] As a further improvement of the present invention, in order to facilitate the program update, log query and remote debugging of the robot, the maintainability and scalability are improved; the control and data processing module includes a lower computer log query interface, a lower computer burning interface and an upper computer debugging interface, and the lower computer log query interface, the lower computer burning interface and the upper computer debugging interface are all arranged at the front end of the body, and are connected with corresponding devices to realize the reading of the lower computer operation log, the updating of the lower computer program and the debugging of the upper computer; a power switch and an emergency stop button are also arranged between the lower computer log query interface and the lower computer burning interface.

[0008] As a further improvement of the present invention, in order to realize automatic charging of the robot and improve the robot's endurance and ease of use; the energy management module includes a wired charging interface and a wireless charging device, which are respectively arranged at the front and rear ends of the body; the wireless charging device can be automatically charged by adopting an electromagnetic induction charging method.

[0009] As a further improvement of the present invention, in order to sound an alarm to alert operators to abnormal conditions and to provide more basis for fault diagnosis and emergency handling by collecting on-site sound information; an audio device is also provided on the machine body, which includes a side speaker arranged on the machine body and a pickup arranged on the outside of the thermal imaging device.

[0010] As a further improvement of the present invention, in order to improve the positioning accuracy and docking accuracy of the robot during the inspection process and ensure the accuracy of data collection and inspection; an in-place switch is also provided at the rear end of the body, and the in-place switch is used to detect whether the robot has reached the predetermined inspection position.

[0011] As a further improvement of the present invention, in order to keep the track clean, reduce the failure or jamming of the robot caused by track debris, and improve the operation stability and inspection efficiency of the robot; the machine body is also provided with a track cleaning brush, which can effectively clean the dust and debris on the track.

[0012] One of the beneficial effects of the present invention is that it can automatically perform inspections and real-time monitoring along a preset route, and accurately record inspection data without manual intervention, thereby improving inspection efficiency and accuracy; it replaces manual inspections, reduces labor intensity and safety risks, and ensures the safety of personnel; through the environmental perception and visual recognition module, it can monitor the operating status and surrounding environment of the belt conveyor in real time, detect abnormal situations in time and activate the alarm system, effectively preventing fire or equipment failure.

[0013] The present invention also provides an inspection method of a belt conveyor explosion-proof inspection robot, the inspection method comprising the following steps: Step 1: First, start the explosion-proof inspection robot for pipe belt machine through the power switch. At this time, the robot enters the self-test program to check the status of each component. At the same time, the robot establishes a communication connection with the control center through the LoRa antenna or WiFi antenna to ensure smooth data transmission; Step 2: After confirming that all components are in normal condition, the robot conducts autonomous navigation according to the preset inspection route. During the process, the obstacle avoidance radar monitors the surrounding environment in real time to avoid collision with obstacles. At the same time, the in-place switch ensures that the robot stops accurately at a specific location and conducts detailed inspection or data collection. During the navigation process, the robot also reads the RFID tag information along the way through the RFID antenna to obtain relevant data such as the operation status of the belt conveyor and historical maintenance records. Step 3: During the inspection, the robot uses industrial cameras and thermal imaging devices to monitor the operating status of the pipe belt machine in real time, and uses industrial cameras to capture high-definition images to check the appearance of the equipment and whether the connection parts are loose or damaged; the thermal imaging device can detect the temperature distribution of the equipment and promptly detect abnormally high or low temperature areas, thereby preventing fire or equipment failure; in addition, smoke sensors and gas sensors monitor the smoke concentration and harmful gas concentration in the air in real time. Once the concentration exceeds the standard, the robot immediately activates the alarm system, sounds an alarm through the speaker, and sends an alarm signal to the control center through the LoRa antenna or WiFi antenna; Step 4: When the robot detects an abnormal situation, it immediately starts the abnormality handling procedure. For minor abnormal situations, the robot can try to perform automatic repairs or adjustments, such as using a track cleaning brush to clean debris on the track. For serious abnormal situations that cannot be handled automatically, the robot will sound an alarm through a speaker and send detailed alarm information to the control center through a LoRa antenna or WiFi antenna. The alarm information includes but is not limited to the type of abnormality, location, severity, and recommended emergency measures. Step 5: After the inspection task is completed, the robot returns to the preset charging station, where it can be charged through a wired charging port or a wireless charging device to prepare for the next inspection task. During the charging process, the robot can also upload and download data, uploading the data collected during the inspection process to the control center for analysis and storage, and downloading new inspection tasks or updating programs.

[0014] Step 6: During the inspection process or after the task is completed, the operator of the control center can remotely monitor and debug the robot through the host computer debugging interface, so that the operator can view the robot's operating status, inspection screen and collected data in real time, and remotely control the robot and adjust parameters; for example, when the robot encounters an abnormal situation that it cannot handle autonomously, the operator can manually control the robot through the remote control interface to guide it to avoid obstacles or perform specific inspection tasks; in addition, when the robot needs to update the program or perform maintenance, the operator can also upload new programs or maintenance instructions to the robot for execution through the host computer debugging interface.

[0015] As a further improvement of the present invention, in order to timely discover and deal with potential safety risks, ensure the stable operation of the pipe and belt conveyor, and at the same time, improve the intelligence and efficiency of the inspection; in step six, the control center is also equipped with an intelligent analysis system, which can deeply mine and analyze the data uploaded by the robot. This system can predict potential equipment failures or safety hazards by identifying abnormal patterns or trends in the data, and send early warning information to the operator, prompting him to take corresponding preventive measures or perform emergency treatment; the introduction of intelligent analysis and early warning functions makes the inspection process more intelligent and efficient, and can timely discover and deal with potential safety risks to ensure the stable operation of the pipe and belt conveyor.

[0016] Another beneficial effect of the present invention is that the control center is equipped with an intelligent analysis system, which can conduct in-depth mining and analysis of the data uploaded by the robot, predict potential equipment failures or safety hazards, and issue early warning information to operators, thereby improving the intelligence level of inspections.

[0017] When the present invention is working, firstly, the driving wheel, the clamping wheel and the guide wheel are installed in the body, and the power connection of the driving wheel is checked to ensure that stable power is provided for the robot to move; the cooperation between the clamping wheel and the driving wheel is debugged so that it can clamp the track tightly to ensure that the robot runs stably on the track; then, the power switch is turned on to start the pipe belt machine explosion-proof inspection robot, and the robot enters the self-check program to check the status of each component; at the same time, the robot establishes a communication connection with the control center through the LoRa antenna or WiFi antenna to ensure smooth data transmission; then, after confirming that the status of each component is normal, the robot performs autonomous navigation according to the preset inspection route, During the process, the obstacle avoidance radar monitors the surrounding environment in real time to avoid collisions with obstacles; at the same time, the in-place switch ensures that the robot stops accurately at a specific location and conducts detailed inspections or data collection. During the navigation process, the robot also reads the RFID tag information along the way through the RFID antenna to obtain relevant data such as the operating status and historical maintenance records of the pipe conveyor; during the inspection process, the robot uses industrial cameras and thermal imaging devices to monitor the operating status of the pipe conveyor in real time, and uses industrial cameras to capture high-definition images to check the appearance of the equipment and whether the connection parts are loose or damaged; the thermal imaging device can detect the equipment In addition, the smoke sensor and gas sensor monitor the smoke concentration and harmful gas concentration in the air in real time. Once the concentration exceeds the standard, the robot immediately activates the alarm system, the speaker sounds an alarm, and sends an alarm signal to the control center through the LoRa antenna or WiFi antenna. When the robot detects an abnormal situation, it immediately starts the abnormality handling program. For minor abnormalities, the robot can try to automatically repair or adjust, such as cleaning the debris on the track with a track cleaning brush. For serious abnormalities that cannot be handled automatically, the robot sounds an alarm through the speaker and sends detailed alarm information to the control center through the LoRa antenna or WiFi antenna. The alarm information includes but is not limited to the type of abnormality, location, severity, and recommended emergency measures. After the inspection task is completed, the robot returns to the preset charging station, where it can be charged through a wired charging interface or a wireless charging device to prepare for the next inspection task. During the charging process, the robot can also upload and download data, uploading the data collected during the inspection process to the control center for analysis and storage, and downloading new inspection tasks or update programs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the accompanying drawings: Figure 1 It is the front view of the present invention.

[0019] Figure 2 It is a rear view of the present invention.

[0020] Figure 3 It is a top view of the present invention.

[0021] Figure 4 It is a left side view of the present invention.

[0022] Among them, 1 RFID antenna, 2 driving wheel, 3 track cleaning brush, 4 speaker, 5 LoRa antenna, 6 smoke sensor, 7 wired charging interface, 8 industrial camera, 9 fill light, 10 lower computer log query interface, 11 power switch, 12 thermal imaging device, 13 pickup, 14 red indicator light, 15 yellow indicator light, 16 green indicator light, 17 lower computer burning interface, 18 upper computer debugging interface, 19 emergency stop button, 20 WiFi antenna, 21 obstacle avoidance radar, 22 gas sensor, 23 in-position switch, 24 wireless charging device, 25 holding wheel, 26 guide wheel. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution in this application, Figure 1-4 The present invention is further described. The following examples are only used to more clearly illustrate the technical solution of the present invention, and are not intended to limit the protection scope of the present invention.

[0024] As shown in the figure, a pipe belt machine explosion-proof inspection robot includes a body, in which a driving wheel 2, a clamping wheel 25 and a guide wheel 26 are arranged, and the driving wheel 2, the clamping wheel 25 and the guide wheel 26 are symmetrically arranged in a plurality; the driving wheel 2 provides power for the robot to move, and the clamping wheel 25 cooperates with the driving wheel 2 to clamp the track; the guide wheel 26 is arranged between the driving wheels 2 to ensure that the robot runs stably on the track; the body also integrates a plurality of functional modules, which include an environmental perception and visual recognition module, a communication and indication module, a control and data processing module and an energy management module; the environmental perception and visual recognition module includes a smoke sensor 6, a gas sensor 22 and an obstacle avoidance radar 2 1, the smoke sensor 6 and the gas sensor 22 are respectively arranged at the front and rear ends of the body; the obstacle avoidance radar 21 is arranged at both ends of the body, and the obstacle avoidance radar 21 adopts multi-beam radar technology; the environmental perception and visual recognition module also includes an industrial camera 8 and a thermal imaging device 12, and the industrial camera 8 and the thermal imaging device 12 are both installed and connected to the lower end of the body; the outer side of the industrial camera 8 is also provided with a fill light 9, and the fill light 9 is evenly provided with a plurality of lights; the communication and indication module includes an RFID antenna 1, a LoRa antenna 5 and a WiFi antenna 20, the RFID antenna 1 is arranged at the upper end of the body, and the LoRa antenna 5 and the WiFi antenna 20 are respectively installed at the two ends of the body side; the communication and indication module also includes a red indicator light 14, a yellow indicator light 15 and a green indicator light 16 arranged side by side, and the red indicator light 14, the yellow indicator light 15 and the green indicator light 16 indicate different working states; the control and data processing module includes a lower computer log query interface 10, a lower computer burning interface 17 and an upper computer debugging interface 18, the lower computer log query interface 10, the lower computer burning interface 17 and the upper computer debugging interface 18 are all arranged at the front end of the body, and are connected with the corresponding equipment to realize the reading of the lower computer operation log, the updating of the lower computer program and the debugging of the upper computer; the lower computer log query interface 10 and the lower computer burning interface 17 are also connected between A power switch 11 and an emergency stop button 19 are provided; the energy management module includes a wired charging interface 7 and a wireless charging device 24, which are respectively arranged at the front end and the rear end of the body; the wireless charging device 24 can be automatically charged by adopting an electromagnetic induction charging method; the body is also provided with an audio device, which includes a side speaker 4 arranged at the body and a pickup 13 arranged on the outside of the thermal imaging device 12; the rear end of the body is also provided with an in-position switch 23, and the in-position switch 23 is used to detect whether the robot has reached the predetermined inspection position; the body is also provided with a track cleaning brush 3, which can effectively clean dust and debris on the track.

[0025] A patrol method for a pipe conveyor explosion-proof patrol robot, the patrol method comprising the following steps: Step 1: First, the explosion-proof inspection robot for the belt conveyor is started by the power switch 11. At this time, the robot enters the self-checking program to check the status of each component. At the same time, the robot establishes a communication connection with the control center through the LoRa antenna 5 or the WiFi antenna 20 to ensure smooth data transmission; Step 2: After confirming that each component is in normal condition, the robot performs autonomous navigation according to the preset inspection route. During the process, the obstacle avoidance radar 21 monitors the surrounding environment in real time to avoid collision with obstacles. At the same time, the in-place switch 23 ensures that the robot stops accurately at a specific location and performs detailed inspection or data collection. During the navigation process, the robot also reads the RFID tag information along the way through the RFID antenna 1 to obtain relevant data such as the operating status of the belt conveyor and historical maintenance records. Step 3: During the inspection, the robot uses the industrial camera 8 and the thermal imaging device 12 to monitor the running status of the pipe belt machine in real time, and captures high-definition images through the industrial camera 8 to check the appearance of the equipment and whether the connection parts are loose or damaged; the thermal imaging device 12 can detect the temperature distribution of the equipment and find abnormally high or low temperature areas in time to prevent fire or equipment failure; in addition, the smoke sensor 6 and the gas sensor 22 monitor the smoke concentration and harmful gas concentration in the air in real time. Once the concentration exceeds the standard, the robot immediately activates the alarm system, sounds an alarm through the speaker 4, and sends an alarm signal to the control center through the LoRa antenna 5 or the WiFi antenna 20; Step 4: When the robot detects an abnormality, it immediately starts the abnormality handling program. For minor abnormalities, the robot can try to perform automatic repair or adjustment, such as cleaning debris on the track with the track cleaning brush 3. For serious abnormalities that cannot be handled automatically, the robot will sound an alarm through the speaker 4, and send detailed alarm information to the control center through the LoRa antenna 5 or the WiFi antenna 20; the alarm information includes but is not limited to the abnormality type, location, severity, and recommended emergency measures; Step 5: After the inspection task is completed, the robot returns to the preset charging station. At the charging station, the robot can be charged through the wired charging interface 7 or the wireless charging device 24 to prepare for the next inspection task; during the charging process, the robot can also upload and download data, upload the data collected during the inspection process to the control center for analysis and storage, and download new inspection tasks or update programs.

[0026] Step 6: During the inspection process or after the task is completed, the operator of the control center can remotely monitor and debug the robot through the host computer debugging interface 18, so that the operator can view the robot's operating status, inspection screen and collected data in real time, and remotely control the robot and adjust parameters; for example, when the robot encounters an abnormal situation that it cannot handle autonomously, the operator can manually control the robot through the remote control interface to guide it to avoid obstacles or perform specific inspection tasks; in addition, when the robot needs to update the program or perform maintenance, the operator can also upload the new program or maintenance instructions to the robot for execution through the host computer debugging interface 18; In step six, the control center is also equipped with an intelligent analysis system that can conduct in-depth mining and analysis of the data uploaded by the robot. This system can predict potential equipment failures or safety hazards by identifying abnormal patterns or trends in the data, and send early warning information to operators, prompting them to take corresponding preventive measures or perform emergency treatment; the introduction of intelligent analysis and early warning functions makes the inspection process more intelligent and efficient, and can timely discover and deal with potential safety risks to ensure the stable operation of the pipe and belt conveyor.

[0027] When the present invention is working, firstly, the driving wheel 2, the clamping wheel 25 and the guide wheel 26 are installed in the body, and the power connection of the driving wheel 2 is checked to ensure that stable power is provided for the robot to move; the cooperation between the clamping wheel 25 and the driving wheel 2 is debugged so that it can clamp the track tightly to ensure that the robot runs stably on the track; then, the power switch 11 is turned on to start the pipe belt machine explosion-proof inspection robot, and the robot enters the self-inspection program to check the status of each component; at the same time, the robot establishes a communication connection with the control center through the LoRa antenna 5 or the WiFi antenna 20 to ensure smooth data transmission; then, after confirming that the status of each component is normal, the robot performs self-inspection according to the preset inspection route. During the main navigation, the obstacle avoidance radar 21 monitors the surrounding environment in real time to avoid collision with obstacles; at the same time, the in-place switch 23 ensures that the robot stops accurately at a specific location and conducts detailed inspection or data collection. During the navigation process, the robot also reads the RFID tag information along the way through the RFID antenna 1 to obtain the operating status, historical maintenance records and other relevant data of the pipe belt machine; during the inspection process, the robot uses the industrial camera 8 and the thermal imaging device 12 to monitor the operating status of the pipe belt machine in real time, and captures high-definition images through the industrial camera 8 to check the appearance of the equipment and whether the connection parts are loose or damaged; through the thermal imaging device 12 The temperature distribution of the equipment can be detected, and abnormally high or low temperature areas can be found in time, so as to prevent fire or equipment failure. In addition, the smoke sensor 6 and the gas sensor 22 monitor the smoke concentration and harmful gas concentration in the air in real time. Once the concentration exceeds the standard, the robot immediately activates the alarm system, the speaker 4 sounds an alarm, and sends an alarm signal to the control center through the LoRa antenna 5 or the WiFi antenna 20. When the robot detects an abnormal situation, it immediately starts the abnormality handling program. For minor abnormal situations, the robot can try to automatically repair or adjust, such as cleaning the debris on the track with the track cleaning brush 3. For serious abnormal situations that cannot be handled automatically, , the robot sounds an alarm through the speaker 4, and sends detailed alarm information to the control center through the LoRa antenna 5 or the WiFi antenna 20; the alarm information includes but is not limited to the abnormality type, location, severity, and recommended emergency measures; after the inspection task is completed, the robot returns to the preset charging station, where the robot can be charged through the wired charging interface 7 or the wireless charging device 24 to prepare for the next inspection task; during the charging process, the robot can also upload and download data, upload the data collected during the inspection process to the control center for analysis and storage, and download new inspection tasks or update programs.

[0028] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. An explosion-proof inspection robot for a pipe belt conveyor, comprising a body, characterized in that: The machine body is provided with a driving wheel (2), a clamping wheel (25) and a guide wheel (26), wherein a plurality of the driving wheels (2), the clamping wheel (25) and the guide wheel (26) are symmetrically arranged; the driving wheel (2) provides power for the robot to move, and the clamping wheel (25) cooperates with the driving wheel (2) to clamp the track; the guide wheel (26) is arranged between the driving wheels (2) to ensure that the robot runs stably on the track; and the machine body is also integrated with a plurality of functional modules, which include an environment perception and visual recognition module, a communication and indication module, a control and data processing module and an energy management module.

2. The explosion-proof inspection robot for a belt conveyor according to claim 1, characterized in that: The environment perception and visual recognition module comprises a smoke sensor (6), a gas sensor (22) and an obstacle avoidance radar (21), wherein the smoke sensor (6) and the gas sensor (22) are respectively arranged at the front and rear ends of the body; the obstacle avoidance radar (21) is arranged at both ends of the body, and the obstacle avoidance radar (21) adopts multi-beam radar technology; the environment perception and visual recognition module also comprises an industrial camera (8) and a thermal imaging device (12), wherein the industrial camera (8) and the thermal imaging device (12) are both installed and connected to the lower end of the body; and a fill light (9) is also arranged on the outer side of the industrial camera (8), wherein a plurality of fill lights (9) are evenly arranged.

3. The explosion-proof inspection robot for a belt conveyor according to claim 1, characterized in that: The communication and indication module comprises an RFID antenna (1), a LoRa antenna (5) and a WiFi antenna (20), wherein the RFID antenna (1) is arranged at the upper end of the body, and the LoRa antenna (5) and the WiFi antenna (20) are respectively installed on both sides of the body; the communication and indication module also comprises a red indicator light (14), a yellow indicator light (15) and a green indicator light (16) arranged side by side, and different working states are indicated by the red indicator light (14), the yellow indicator light (15) and the green indicator light (16).

4. The explosion-proof inspection robot for a belt conveyor according to claim 1, characterized in that: The control and data processing module comprises a lower computer log query interface (10), a lower computer burning interface (17) and an upper computer debugging interface (18); the lower computer log query interface (10), the lower computer burning interface (17) and the upper computer debugging interface (18) are all arranged at the front end of the machine body and are connected to corresponding devices to realize reading of the lower computer operation log, updating of the lower computer program and debugging of the upper computer; a power switch (11) and an emergency stop button (19) are also arranged between the lower computer log query interface (10) and the lower computer burning interface (17).

5. The explosion-proof inspection robot for belt conveyor according to claim 1, characterized in that: The energy management module comprises a wired charging interface (7) and a wireless charging device (24), the wired charging interface (7) and the wireless charging device (24) being arranged at the front end and the rear end of the machine body, respectively; the wireless charging device (24) can be automatically charged by adopting an electromagnetic induction charging method.

6. The explosion-proof inspection robot for belt conveyor according to claims 1 and 2, characterized in that: The machine body is also provided with an audio device, which comprises a speaker (4) arranged at the side end of the machine body and a microphone (13) arranged outside the thermal imaging device (12).

7. The explosion-proof inspection robot for a belt conveyor according to claim 1, characterized in that: The rear end of the machine body is also provided with an in-position switch (23), and the in-position switch (23) is used to detect whether the robot has reached a predetermined inspection position.

8. The explosion-proof inspection robot for a belt conveyor according to claim 1, characterized in that: The machine body is also provided with a track cleaning brush (3) which can effectively clean dust and debris on the track.

9. A method for inspecting a pipe conveyor explosion-proof inspection robot, characterized in that: The inspection method comprises the following steps: Step 1: First, the explosion-proof inspection robot for the belt conveyor is started by turning on the power switch (11). At this time, the robot enters a self-checking program to check the status of each component. At the same time, the robot establishes a communication connection with the control center through the LoRa antenna (5) or the WiFi antenna (20) to ensure smooth data transmission; Step 2: After confirming that all components are in normal condition, the robot performs autonomous navigation according to a preset inspection route. During the process, the obstacle avoidance radar (21) monitors the surrounding environment in real time to avoid collision with obstacles. At the same time, the in-position switch (23) ensures that the robot stops accurately at a specific location and performs detailed inspection or data collection. During the navigation process, the robot also reads the RFID tag information along the way through the RFID antenna (1) to obtain relevant data such as the operating status of the belt conveyor and historical maintenance records. Step 3: During the inspection, the robot uses an industrial camera (8) and a thermal imaging device (12) to monitor the operating status of the belt conveyor in real time, and uses the industrial camera (8) to capture high-definition images to check the appearance of the equipment and whether the connection parts are loose or damaged. The thermal imaging device (12) can detect the temperature distribution of the equipment and promptly detect abnormally high or low temperature areas, thereby preventing fire or equipment failure. In addition, the smoke sensor (6) and the gas sensor (22) monitor the smoke concentration and harmful gas concentration in the air in real time. Once the concentration exceeds the standard, the robot immediately activates the alarm system, sounds an alarm through the speaker (4), and sends an alarm signal to the control center through the LoRa antenna (5) or the WiFi antenna (20); Step 4: When the robot detects an abnormal situation, it immediately starts the abnormality handling program. For minor abnormal situations, the robot can attempt to perform automatic repair or adjustment, such as cleaning debris on the track with a track cleaning brush (3). For serious abnormal situations that cannot be handled automatically, the robot sounds an alarm through a speaker (4) and sends detailed alarm information to the control center through a LoRa antenna (5) or a WiFi antenna (20); the alarm information includes but is not limited to the type of abnormality, location, severity, and recommended emergency measures; Step 5: After the inspection task is completed, the robot returns to the preset charging station. At the charging station, the robot can be charged through the wired charging interface (7) or the wireless charging device (24) to prepare for the next inspection task. During the charging process, the robot can also upload and download data, upload the data collected during the inspection process to the control center for analysis and storage, and download new inspection tasks or update programs. Step 6: During the inspection process or after the task is completed, the operator of the control center can remotely monitor and debug the robot through the host computer debugging interface (18), so that the operator can view the robot's operating status, inspection screen and collected data in real time, and remotely control the robot and adjust its parameters; for example, when the robot encounters an abnormal situation that it cannot handle autonomously, the operator can manually control the robot through the remote control interface to guide it to avoid obstacles or perform specific inspection tasks; in addition, when the robot needs to update the program or perform maintenance, the operator can also upload the new program or maintenance instructions to the robot for execution through the host computer debugging interface (18).

10. The inspection method of the explosion-proof inspection robot for a belt conveyor according to claim 9, characterized in that: In step six, the control center is also equipped with an intelligent analysis system that can perform in-depth mining and analysis on the data uploaded by the robot. This system can predict potential equipment failures or safety hazards by identifying abnormal patterns or trends in the data, and send early warning information to the operator, prompting him to take corresponding preventive measures or perform emergency treatment; The introduction of intelligent analysis and early warning functions makes the inspection process more intelligent and efficient, and can timely discover and deal with potential safety risks to ensure the stable operation of the pipe and belt conveyor.

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