A multi-modal industrial line inspection robot and system

Abstract

The present invention relates to the field of industrial automation and intelligent detection technologies, and discloses a multi-modal industrial line inspection robot and system. The robot includes a crawler vehicle seat, on top of which a fuselage is installed. Mechanical arms are provided at both driving ends on both sides of the fuselage, which are used to control the detection component to contact the outer walls of rails and pipelines. A cleaning component is provided in front of the detection component, which is used to remove dirt on the outer wall of the component to be detected before detection. A system is also disclosed, including: a main control and navigation module, which is used for robot path monitoring, environment perception and dynamic obstacle avoidance, and realizes autonomous navigation and path adjustment in complex environments by combining GPS and IMU data. Through the division of labor and cooperation between the ground and the high altitude and multi-modal detection, all-round inspection in complex scenarios is achieved, the applicability, detection accuracy and inspection efficiency are improved, the problem of insufficient applicability in single scenarios in the prior art is solved, and an efficient solution is provided for the intelligent maintenance of industrial lines.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation and intelligent detection, and specifically provides a multi-modal industrial line inspection robot and system. Background Art

[0002] Industrial line inspection is an important part of the maintenance of modern industrial infrastructure, and is widely used in the daily monitoring and maintenance of pipelines, railways and power lines. With the continuous expansion of the scale of industrial facilities and the increasing complexity of environmental conditions, the requirements for accuracy, efficiency and safety of inspection tasks are also constantly improving. However, due to the harsh working environment, diverse detection targets and complex distribution, the traditional manual inspection method gradually exposes problems such as low efficiency and insufficient safety, and cannot meet the needs of modern industrial development.

[0003] Current inspection technologies mainly focus on the detection in specific environments. For example, for the detection of ground pipelines and railways, existing equipment mainly relies on manually carrying instruments for section-by-section inspection. Although the detection accuracy is improved to a certain extent, the efficiency is still low, especially in long-distance lines, which is time-consuming and laborious. For the detection of power lines in high-altitude environments, most rely on professional personnel to complete the inspection with the help of high-altitude operation equipment or drones. This not only increases the operation risk, but is also easily affected by external conditions such as weather. Traditional inspection means not only have low efficiency, but also cannot ensure full coverage of the detection area, and the risk of missed detection always exists.

[0004] In addition, with the diversification of industrial line types and the complexity of operating environments, the differences in the requirements of different inspection targets are gradually emerging. Pipelines, railways and power lines have different structures, distributions and inspection focuses. Single-function equipment is difficult to meet multiple detection needs at the same time. This technical limitation leads to the need for users to configure equipment separately for different tasks, which not only increases the maintenance cost, but also reduces the overall operation efficiency. Especially in the case of frequent switching of detection scenarios, the limitations of traditional technologies are more prominent.

[0005] Therefore, how to improve the inspection efficiency in complex industrial scenarios, reduce the safety risks brought by manual participation, and at the same time take into account the inspection needs of multiple line types has become an urgent technical problem in this field. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides a multi-modal industrial line inspection robot and system, which solves the problems that existing inspection equipment cannot take into account multi-scene detection on the ground and in the air, poor applicability and insufficient detection accuracy.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: A multi-modal industrial line inspection robot, comprising:

[0008] Tracked vehicle seat, with the body installed on its top. Mechanical arms are provided at both driving ends on the two sides of the body, which are used to control the detection component to contact the outer walls of the railway tracks and pipelines. A cleaning component is provided on the front side of the detection component, which is used to remove dirt on the outer wall of the component to be detected before detection. A camera is installed on the front side of the top of the tracked vehicle seat, and a radar is installed on the front side of the tracked vehicle seat;

[0009] An electromagnet seat is installed on the front side of the body. An iron block is arranged inside the electromagnet seat. A line detection mechanism is installed on the outer wall of the iron block, which is used for inspecting high-voltage transmission lines. The line detection mechanism includes a rotor frame, a clamping component, a moving component and a traction component. One side center of the outer wall of the rotor frame is installed on the outer wall of the iron block, and a U-shaped seat is installed on the other side of the outer wall of the rotor frame. The clamping component is installed in the middle of the U-shaped seat. The moving component is installed on both sides of the U-shaped seat. A weak magnetic detection device and a magnetic memory planning device are sequentially installed on the outer wall of the moving component from front to back. The traction component is installed on the top of the tracked vehicle seat, which is used to tow the rotor frame so that it can land around the robot main body device after working at high altitude.

[0010] Preferably, the mechanical arm includes a movable arm one, the driving end of the movable arm one is installed on the driving end of the outer wall of the body, the other end of the movable arm one is connected to a movable arm two, and the other end of the movable arm two is connected to a movable arm three.

[0011] Preferably, the detection component includes a mounting seat one and two pulley rods one. The outer wall of the mounting seat one is installed on the driving end of the movable arm three. A fixing frame is installed on the upper side of the inner wall of the mounting seat one. Both of the two pulley rods one penetrate and are slidably connected to the middle of the fixing frame. A spring one is sleeved on the outside of the pulley rod one at the position below the fixing frame. A detection module is installed on the upper side of the inner wall of the fixing frame, and clamping jaw components are arranged on both sides of the fixing frame.

[0012] Preferably, the clamping jaw component includes two movable clamping plates. The tops of the two movable clamping plates are respectively rotated on both sides of the fixing frame. Two fixing seats are installed on both sides of the bottom of the fixing frame. An electric telescopic rod is rotated in the middle of each fixing seat. Two connecting seats are installed on the outer walls of the two movable clamping plates. The driving end of each electric telescopic rod is installed in the middle of the connecting seat through a rotating shaft. Two pulley rods two are slid on both sides of the middle of each movable clamping plate, and a spring two is sleeved on the outside of each pulley rod two.

[0013] Preferably, the cleaning component includes two groups of dampers. One end of the two groups of dampers is rotated in the outer groove of the fixing frame, and a cleaning plate is rotated at the other end of the two groups of dampers. The two groups of dampers are arranged in a rectangular shape on the top of the cleaning plate.

[0014] Preferably, the moving component includes two limiting seats, the outer walls of the two limiting seats are respectively installed on both sides of the U-shaped seat, a driving wheel, a second motor and a plurality of driven wheels are rotatably arranged in the top grooves of the two limiting seats, a transmission wheel is fixed on the outer wall of the shaft rod in the middle of the driving wheel and the driving end of the second motor, and a belt is sleeved outside the two transmission wheels.

[0015] Preferably, the clamping component includes a first motor, the outer wall of the first motor is installed on the outer wall of the U-shaped seat, a bidirectional lead screw is fixed to the driving end of the first motor, moving blocks are threadedly connected to both sides of the outer wall of the bidirectional lead screw, one ends of movable rods are rotatably connected to both sides of the two moving blocks, the middle parts of the two movable rods on the same side are rotatably connected, chutes penetrate through the bottoms of the two limiting seats, and the other ends of the two movable rods on the same side are slidably connected in the chutes.

[0016] Preferably, the weak magnetic detection device and the magnetic memory planning device are both installed on the top of the limiting seat, which is used to establish a healthy magnetic field reference for the steel wire rope through the magnetic memory planning device, and the weak magnetic detection device accurately identifies and quantifies the line damage in real time through the magnetic energy potential difference.

[0017] Preferably, the traction component includes a third motor, the outer wall of the third motor is installed on the top of the crawler vehicle seat, a second mounting seat is installed on the top of the crawler vehicle seat, a winding wheel is rotatably arranged in the middle of the second mounting seat, the driving end of the third motor is fixed in the middle of the winding wheel, a traction rope is wound outside the winding wheel, and the end of the traction rope is installed on the outer wall of the iron block.

[0018] A multi-modal industrial line inspection robot system includes:

[0019] The main control and navigation module is used for robot path monitoring, environment perception and dynamic obstacle avoidance, and realizes autonomous navigation and path adjustment in complex environments by combining GPS and IMU data;

[0020] The power line detection module is used for detecting fatigue, cracks, broken wires and corrosion damage inside the power line, and identifying the health state of the line through abnormal changes in the magnetic memory field;

[0021] The industrial pipeline and railway detection module is used for detecting cracks, corrosion and temperature anomalies on the outer walls of industrial pipelines and railways;

[0022] The execution and power module is used for the movement of the robot and the operation of the detection components;

[0023] The data processing and communication module is used for collecting multi-modal detection data, fusing and analyzing and generating an inspection report, and realizing remote data transmission and monitoring through wireless communication;

[0024] The task management and system terminal module is responsible for the dynamic planning and execution of inspection tasks, displays the inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

[0025] The present invention provides a multi-modal industrial line inspection robot and system. It has the following beneficial effects:

[0026] 1. The present invention adopts a technical solution of division of labor and cooperation between ground walking and high-altitude detection. It realizes the inspection of industrial pipelines and railways on the ground through a crawler vehicle seat, combines a movable arm to drive a detection component to fit the outer wall of the pipeline or railway for detection, and at the same time designs an independent line detection mechanism, which can be installed on the power line pole manually and then operate. Compared with the prior art that only detects a single environment, the present invention is flexibly applicable to complex and diverse industrial scenarios, not only expanding the inspection scope, but also solving the technical limitation that existing robots cannot take into account the inspection of high-altitude power lines and ground pipelines and railways.

[0027] 2. During the inspection of industrial pipelines and railways, the present invention realizes pre-cleaning of the target surface before detection through a cleaning component cooperating with a pulley structure. The cleaning plate contacts and moves synchronously with the outer wall, which can effectively remove surface dust, oil stains or other interfering substances, providing a more stable detection environment for the sensors in the detection module. Compared with the problem in the prior art that direct detection of the target surface may cause detection errors due to pollution, the pre-cleaning design of the present invention significantly improves the detection accuracy, and at the same time ensures the long-term reliable operation of the sensors, avoiding the influence of accumulated pollutants on the detection life.

[0028] 3. The line detection mechanism of the present invention adopts a separable design. The line detection component is separated from the robot body through a mechanical connection structure, and is installed on the power line pole by the staff and then works. During detection, the line detection component uses the cross-linkage of a bidirectional lead screw and a movable rod to realize precise clamping and stable movement of the line. Compared with the problem in the prior art that the detection mechanism is fixed to the robot body resulting in insufficient flexibility, the present invention endows the line detection mechanism with higher adaptability and independence through the separable structure design, and solves the problems of poor flexibility and complex operation in existing high-altitude inspections.

[0029] 4. After the inspection of the power line is completed, the designed rotor device of the present invention drives the detection mechanism to automatically land around the robot, and the staff can easily reset it into the robot body. The whole process is safe and reliable without complex manual operations. In the prior art, the recovery of high-altitude detection mechanisms mostly relies on manual or simple mechanical operations, which are prone to low operation efficiency or insufficient safety due to the influence of the external environment. The present invention significantly improves the efficiency and safety of the recovery process of the line detection component through the rotor-assisted design, reduces the operation risk in high-altitude operations at the same time, and ensures the intelligence and automation of the operation process. Brief Description of the Drawings

[0030] Figure 1 is a perspective view of the present invention;

[0031] Figure 2 is a schematic bottom view of the crawler seat of the present invention;

[0032] Figure 3 is a schematic view of the railway detection form of the present invention;

[0033] Figure 4 is a schematic structural view of the separation of the line detection mechanism and the fuselage of the present invention;

[0034] Figure 5 is a schematic structural view of the cleaning component of the present invention;

[0035] Figure 6 is a schematic structural view of the detection module of the present invention;

[0036] Figure 7 is a schematic structural view of the line detection mechanism of the present invention;

[0037] Figure 8 is a schematic structural view of the clamping component of the present invention;

[0038] Figure 9 is a schematic structural view of the moving component of the present invention;

[0039] Figure 10 is a schematic structural view of the traction component of the present invention;

[0040] Figure 11 is a framework diagram of the system of the present invention.

[0041] Among them, 1, crawler seat; 2, fuselage; 3, first movable arm; 4, second movable arm; 5, third movable arm; 6, first mounting seat; 7, fixing frame; 8, first pulley rod; 9, first spring; 10, movable clamping plate; 11, second pulley rod; 12, second spring; 13, fixed seat; 14, electric telescopic rod; 15, connecting seat; 16, detection module; 17, damper; 18, cleaning plate; 19, camera; 20, radar; 21, electromagnet seat; 22, iron block; 23, rotor frame; 24, U-shaped seat; 25, first motor; 26, bidirectional lead screw; 27, moving block; 28, movable rod; 29, limiting seat; 30, chute; 31, driving wheel; 32, driven wheel; 33, second motor; 34, driving wheel; 35, belt; 36, weak magnetic detection device; 37, magnetic memory planning device; 38, third motor; 39, second mounting seat; 40, winding wheel; 41, traction rope. Detailed Description of the Invention

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings 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.

[0043] Please refer to the attached Figure 1 - attached Figure 4 , the embodiments of the present invention provide a multi-modal industrial line inspection robot, including:

[0044] A crawler vehicle seat 1, on the top of which a fuselage 2 is installed. Mechanical arms are arranged at both driving ends on both sides of the fuselage 2, which are used to control the detection component to contact the outer walls of the railway track and the pipeline. A cleaning component is arranged in front of the detection component, which is used to remove dirt from the outer wall of the component to be detected before detection. A camera 19 is installed on the front side of the top of the crawler vehicle seat 1, and a radar 20 is installed on the front side of the crawler vehicle seat 1;

[0045] An electromagnet seat 21 is installed on the front side of the fuselage 2. An iron block 22 is arranged inside the electromagnet seat 21. A line detection mechanism is installed on the outer wall of the iron block 22, which is used to inspect the high-voltage transmission line. The line detection mechanism includes a rotor frame 23, a clamping component, a moving component and a traction component. One side center of the outer wall of the rotor frame 23 is installed on the outer wall of the iron block 22, and a U-shaped seat 24 is installed on the other side of the outer wall of the rotor frame 23. The clamping component is installed in the middle of the U-shaped seat 24, and the moving component is installed on both sides of the U-shaped seat 24. A weak magnetic detection device 36 and a magnetic memory planning device 37 are installed on the outer wall of the moving component in sequence from front to back. The traction component is installed on the top of the crawler vehicle seat 1, which is used to tow the rotor frame 23 so that it can land around the robot main body device after working at high altitude.

[0046] Please refer to the attached Figure 1 , the mechanical arm includes a movable arm 1 3, the driving end of the movable arm 1 3 is installed on the driving end of the outer wall of the fuselage 2, the other end of the movable arm 1 3 is connected to a movable arm 2 4, and the other end of the movable arm 2 4 is connected to a movable arm 3 5.

[0047] Specifically, the robotic arm consists of the first movable arm 3, the second movable arm 4, and the third movable arm 5, which are interlocked. In another implementation, according to the actual production requirements of the robot, the number of movable arms included in the robotic arm can be flexibly adjusted. The first movable arm 3 is fixed on the outer wall of the fuselage 2 and is the basis of the entire robotic arm. Through it, the robotic arm can complete preliminary movement and rotation. The second movable arm 4 is connected to the other end of the first movable arm 3, like a flexible elbow, further expanding the movement range of the robotic arm. The third movable arm 5 is the end part, used to precisely fit the target, such as a pipeline or a railway. Each section can be independently adjusted in posture and cooperate with each other, enabling the robotic arm to not only operate flexibly but also complete tasks steadily. After completion, the arm sections gradually retract and return to their original positions, being compact and clean.

[0048] Please refer to the appendix Figure 5 - appendix Figure 6 , the detection component includes the first mounting seat 6. The outer wall of the first mounting seat 6 is mounted on the driving end of the third movable arm 5. On the upper side of the inner wall of the first mounting seat 6, a fixing frame 7 is mounted. Two first pulley rods 8 slide in the middle of the fixing frame 7. A first spring 9 is sleeved outside the first pulley rods 8 at a position below the fixing frame 7. On the upper side of the inner wall of the fixing frame 7, a detection module 16 is mounted. Claw assemblies are arranged on both sides of the fixing frame 7.

[0049] Specifically, when detecting the outer wall of a pipeline or a railway track, the claw assembly can be adjusted first to make it contact the outer wall of the pipeline or the railway track. Subsequently, the first mounting seat 6 is pressed down by the robotic arm, so that the first pulley rods 8 contact the outer wall of the pipeline or the railway track to be detected. The first pulley rods 8 can flexibly adapt to the outer wall of the pipeline or the railway track to be detected through the first spring 9. When the robot is moving, the sensors in the detection module 16 will detect the industrial pipeline or the outer wall of the railway. Its internal sensors, such as ultrasonic and infrared sensors, move along the outer wall of the pipeline or the railway, and detect cracks, corrosion, and temperature anomalies in real time, and collect surface and internal damage information. The multimodal data collected by the detection module 16 is transmitted to the system terminal through the data processing and communication module for analysis.

[0050] Please refer to the appendix Figure 5 - appendix Figure 6 , the claw assembly includes two movable clamping plates 10. The tops of the two movable clamping plates 10 are respectively rotatably mounted on both sides of the fixing frame 7. Two fixing seats 13 are mounted on both sides of the bottom of the fixing frame 7. An electric telescopic rod 14 is rotatably mounted in the middle of each fixing seat 13. Two connecting seats 15 are mounted on the outer walls of the two movable clamping plates 10. The driving end of each electric telescopic rod 14 is mounted in the middle of the connecting seat 15 through a rotating shaft. Two second pulley rods 11 slide on both sides of the middle of each movable clamping plate 10. A second spring 12 is sleeved outside each second pulley rod 11.

[0051] Specifically, before detecting the outer wall of an industrial pipeline or a railway, the clamping jaw assembly is required to make the detection assembly fit the outer wall. This is mainly achieved by starting the electric telescopic rods 14 on both sides, which causes the movable clamping plates 10 on both sides to open, so that the first pulley rod 8 and the two groups of second pulley rods 11 fit the outer wall of the industrial pipeline or the railway.

[0052] Please refer to the attached Figure 5 - attached Figure 6 The cleaning assembly includes two groups of dampers 17. One end of each of the two groups of dampers 17 is rotatably connected to the outer groove of the fixed frame 7, and a cleaning plate 18 is rotatably connected to the other end of each of the two groups of dampers 17. The two groups of dampers 17 are arranged in a rectangular shape on the top of the cleaning plate 18.

[0053] Specifically, when the detection assembly contacts the outer wall of the industrial pipeline or railway to be detected, the cleaning plate 18 in the cleaning assembly contacts the detection area in advance. When contacting, the damper 17 will deform, and then the cleaning plate 18 will adapt to the outer wall of the industrial pipeline or railway. When the robot is moving, the cleaning assembly moves synchronously with the detection assembly to clean the detection area in advance.

[0054] Please refer to the attached Figure 4 and attached Figure 7 - attached Figure 9 The moving assembly includes two limit seats 29. The outer walls of the two limit seats 29 are respectively installed on both sides of the U-shaped seat 24. A driving wheel 31, a second motor 33 and a plurality of driven wheels 32 are rotatably connected in the top grooves of the two limit seats 29. A transmission wheel 34 is fixed to the outer wall of the central shaft of the driving wheel 31 and the driving end of the second motor 33. A belt 35 is sleeved outside the two transmission wheels 34.

[0055] The clamping assembly includes a first motor 25. The outer wall of the first motor 25 is installed on the outer wall of the U-shaped seat 24. A bidirectional lead screw 26 is fixed to the driving end of the first motor 25. Both sides of the outer wall of the bidirectional lead screw 26 are threadedly connected with moving blocks 27. One end of each of the two moving blocks 27 is rotatably connected to both sides of the two movable rods 28. The middle parts of the two movable rods 28 on the same side are rotatably connected. A chute 30 penetrates through the bottom of the two limit seats 29. The other ends of the two movable rods 28 on the same side are slidably connected in the chute 30.

[0056] Specifically, when using this robot to inspect industrial power lines, the electromagnet seat 21 can be activated to separate the iron block 22 from the electromagnet seat 21. At the same time, the third motor 38 is started to pay out the wire. The staff carries the line detection mechanism to the power line tower, and uses the clamping assembly to make the line detection mechanism clamp outside the power line. Mainly by starting the first motor 25, the bidirectional lead screw 26 is driven to rotate, so that the two sets of intersecting movable rods 28 on both sides carry out cross movement, thereby driving the clamping assemblies on both sides to operate, making the two driving wheels 31 and the driven wheels 32 clamp the power line. Subsequently, by starting the second motor 33, the two transmission wheels 34 and the belt 35 are used for transmission, so that the driving wheel 31 rotates, and then the whole line detection mechanism is driven to move along the power line.

[0057] Please refer to the appendix Figure 9 , the weak magnetic detection device 36 and the magnetic memory planning device 37 are both installed on the top of the limit seat 29, which is used to establish a healthy magnetic field reference for the steel wire rope through the magnetic memory planning device 37. The weak magnetic detection device 36 accurately identifies and quantifies the line damage in real time through the magnetic energy potential difference.

[0058] Specifically, during the movement, the weak magnetic detection device 36 and the magnetic memory planning device 37 are used to perform non-destructive testing on it. During the testing process, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together:

[0059] The magnetic memory planning device 37 establishes a magnetic memory field for the line as a reference for the healthy state.

[0060] The weak magnetic detection device 36 real-time collects the magnetic energy change information of the line, and identifies the fatigue, cracks, broken wires and corrosion damage inside the line.

[0061] Please refer to the appendix Figure 10 , the traction assembly includes the third motor 38. The outer wall of the third motor 38 is installed on the top of the crawler vehicle seat 1. The second mounting seat 39 is installed on the top of the crawler vehicle seat 1. A reel 40 is rotated in the middle of the second mounting seat 39. The driving end of the third motor 38 is fixed in the middle of the reel 40. A traction rope 41 is wound outside the reel 40. The end of the traction rope 41 is installed on the outer wall of the iron block 22.

[0062] Specifically, after the inspection at high altitude is completed, the third motor 38 drives the reel 40 to rotate to take up the wire. At the same time, the rotors on the rotor frame 23 operate, so that the line detection assembly descends to the periphery of the robot, and the staff reinstalls it on the electromagnet seat 21.

[0063] Please refer to the appendix Figure 11 , a multi-modal industrial line inspection robot system, including:

[0064] The main control and navigation module is used for robot path monitoring, environmental perception, and dynamic obstacle avoidance. It combines GPS and IMU data to achieve autonomous navigation and path adjustment in complex environments;

[0065] The power line detection module is used to detect fatigue, cracks, broken wires, and corrosion damage inside power lines, and identify the health status of the lines through abnormal changes in the magnetic memory field;

[0066] The industrial pipeline and railway detection module is used to detect cracks, corrosion, and temperature anomalies on the outer walls of industrial pipelines and railways;

[0067] The execution and power module is used for the movement of the robot and the operation of the detection components;

[0068] The data processing and communication module is used to collect multi-modal detection data, fuse and analyze it to generate inspection reports, and achieve remote data transmission and monitoring through wireless communication;

[0069] The task management and system terminal module is responsible for the dynamic planning and execution of inspection tasks, displays the inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

[0070] Specifically, the system relies on the main control and navigation module for path planning and environmental perception. Cameras 19 and radars 20 monitor the path conditions during the movement of the robot. At the same time, combined with GPS and IMU data, the movement route of the robot is adjusted in real time to ensure that the robot accurately reaches the target position in complex environments.

[0071] After reaching the detection area, the system activates the corresponding detection module according to the task type. For power line detection, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together. First, a health benchmark is established through the magnetic memory field, and then weak magnetic signals are used to capture problems such as fatigue, cracks, broken wires, or corrosion inside the line, and the data is analyzed in real time to accurately locate the abnormal area. In the detection of industrial pipelines or railways, the robotic arm unfolds, and the detection components are attached to the surface of the pipeline or railway, and the cleaning components clean the surface synchronously to ensure the detection accuracy. The detection module 16 uses infrared sensors to identify temperature anomalies, and ultrasonic sensors to deeply detect cracks, corrosion, and wear, completing the full coverage detection of the outer wall and hidden defects.

[0072] The entire detection process is supported by the execution and power module. The crawler vehicle seat 1 ensures the stable movement of the robot. The multi-joint linkage of the robotic arm adjusts the position and posture of the detection components. The clamping device ensures the stability of high-altitude detection, and the cleaning components preprocess the detection area. The data collected by all sensors is transmitted to the data processing module. The system fuses multi-modal data for analysis, generates inspection reports, and gives real-time alarms when abnormalities are found.

[0073] The task management module dynamically adjusts the detection path and targets according to the inspection plan, feeds back the detection progress and results to the user through the terminal, provides detailed detection reports and stores historical data to support subsequent trend analysis and fault prevention. The modules of the entire system are highly coordinated to ensure the efficient and accurate operation of the robot in the inspection tasks of power lines, industrial pipelines and railways.

[0074] Working principle: When using the multi-modal industrial line inspection robot system of the present invention for inspection, the robot integrates multiple modules to work together to achieve autonomous inspection and multi-modal detection in complex environments. The specific working principle is as follows:

[0075] The robot combines the main control and navigation module with the front-end camera 19 and radar 20 for path monitoring, perceives the environment in real time, identifies obstacles, and uses GPS and IMU data to achieve autonomous navigation and path planning in complex terrains.

[0076] The crawler seat 1 realizes stable movement under the drive of the main control system, and the robot can adapt to various terrains and efficiently inspect in complex industrial lines.

[0077] When the robot reaches the industrial pipeline or railway detection area, the power module drives the manipulator to unfold, and the detection module 16 is attached to the outer wall of the pipeline or railway through multiple movable arms.

[0078] The industrial pipeline and railway detection module starts to work: The cleaning plate 18 in the cleaning component pre-cleans the detection area and contacts its outer wall. At the same time, the electric telescopic rods 14 on both sides are activated, causing the movable clamping plates 10 on both sides to open, so that the pulley rod one 8 and the two groups of pulley rod two 11 are attached to the outer wall of the industrial pipeline or railway. When the robot moves, it synchronously drives the cleaning plate 18, the pulley rod one 8 and the two groups of pulley rod two 11 to move along the outer wall of the industrial pipeline or railway. When moving, the sensors in the detection module 16 will detect the outer wall of the industrial pipeline or railway. Its internal sensors such as ultrasonic and infrared sensors move along the outer wall of the pipeline or railway to detect cracks, corrosion and temperature anomalies in real time, and collect surface and internal damage information. The multi-modal data collected by the detection module is transmitted to the system terminal through the data processing and communication module for analysis.

[0079] When using this robot to inspect industrial power lines, the electromagnet seat 21 can be activated to separate the iron block 22 from the electromagnet seat 21. At the same time, the third motor 38 is started to pay out the wire. The staff carries the line detection mechanism to the power line tower and uses the clamping assembly to clamp the line detection mechanism outside the power line. Mainly by starting the first motor 25, the bidirectional lead screw 26 is driven to rotate, so that the two sets of intersecting movable rods 28 on both sides move crosswise, thereby driving the clamping assemblies on both sides to operate, making the two driving wheels 31 and the driven wheels 32 clamp the power line. Subsequently, by starting the second motor 33, the two transmission wheels 34 and the belt 35 are used for transmission, so that the driving wheel 31 rotates, and then the whole line detection mechanism is driven to move along the power line. During the movement, the weak magnetic detection device 36 and the magnetic memory planning device 37 are used to perform non-destructive testing on it. During the testing process, the weak magnetic detection device 36 and the magnetic memory planning device 37 work together:

[0080] The magnetic memory planning device 37 establishes a magnetic memory field for the line as a benchmark for the health state.

[0081] The weak magnetic detection device 36 collects the magnetic energy change information of the line in real time to identify fatigue, cracks, broken wires and corrosion damage inside the line.

[0082] After the inspection at high altitude is completed, the third motor 38 drives the reel 40 to rotate to take in the wire. At the same time, the rotors on the rotor frame 23 operate, so that the line detection assembly descends to the periphery of the robot, and the staff reinstalls it on the electromagnet seat 21.

[0083] During the inspection process, all the data collected by the robot are fused and analyzed in real time through the data processing and communication module.

[0084] The multi-modal data includes:

[0085] The ultrasonic and infrared temperature information collected by the industrial pipeline and railway detection module.

[0086] The weak magnetic signal and the magnetic memory field change information collected by the power line detection module.

[0087] The data processing module performs fault identification and quantitative analysis on the collected information, generates an inspection report and sends it to the system terminal. The inspection task is dynamically planned and scheduled by the task management and system terminal module. The terminal interface displays the detection results and task progress in real time and supports user operations. The terminal module can generate and store inspection reports for subsequent maintenance management and data traceability.

[0088] After the task is completed, the robot returns to the original position through path planning. The system terminal updates the inspection data and generates a plan for the next task. The user can check the detection results through the terminal, including the crack location, corrosion degree, fatigue damage trend, etc., and arrange further maintenance work according to the report.

[0089] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-modal industrial circuit inspection robot, characterized in that Comprising: A crawler vehicle seat (1), on the top of which a fuselage (2) is installed. On both driving ends of the fuselage (2), robotic arms are provided, which are used to control the detection component to contact the outer wall of the railway track and the pipeline. In front of the detection component, a cleaning component is provided, which is used to remove dirt from the outer wall of the component to be detected before detection. A camera (19) is installed on the front side of the top of the crawler vehicle seat (1), and a radar (20) is installed on the front side of the crawler vehicle seat (1); The robotic arm includes a first movable arm (3), the driving end of the first movable arm (3) is installed on the driving end of the outer wall of the fuselage (2), the other end of the first movable arm (3) is connected to a second movable arm (4), and the other end of the second movable arm (4) is connected to a third movable arm (5); The detection component includes a first mounting seat (6) and two first pulley rods (8). The outer wall of the first mounting seat (6) is installed on the driving end of the third movable arm (5). On the upper side of the inner wall of the first mounting seat (6), a fixing frame (7) is installed. Both of the first pulley rods (8) penetrate and are slidably connected to the middle of the fixing frame (7). A first spring (9) is sleeved on the outer part of the first pulley rod (8) at a position below the fixing frame (7). A detection module (16) is installed on the upper side of the inner wall of the fixing frame (7), and clamping jaw components are provided on both sides of the fixing frame (7); The cleaning component includes two groups of dampers (17). One end of each of the two groups of dampers (17) rotates in the outer groove of the fixing frame (7), and a cleaning plate (18) is rotated at the other end of each of the two groups of dampers (17). The two groups of dampers (17) are arranged in a rectangle on the top of the cleaning plate (18); An electromagnet seat (21) is installed on the front side of the fuselage (2). An iron block (22) is arranged inside the electromagnet seat (21). An outer wall of the iron block (22) is installed with a line detection mechanism, which is used for inspecting high-voltage transmission lines. The line detection mechanism includes a rotor frame (23), a clamping component, a moving component and a traction component. The center of one side of the outer wall of the rotor frame (23) is installed on the outer wall of the iron block (22). A U-shaped seat (24) is installed on the other side of the outer wall of the rotor frame (23). The clamping component is installed in the middle of the U-shaped seat (24). The moving component is installed on both sides of the U-shaped seat (24). A weak magnetic detection device (36) and a magnetic memory planning device (37) are installed on the outer wall of the moving component in sequence from front to back. The traction component is installed on the top of the crawler vehicle seat (1), and is used to tow the rotor frame (23) so that it can land around the robot main body device after working at high altitude.

2. The multimodal industrial line inspection robot according to claim 1, wherein The jaw assembly includes two movable clamping plates (10). The tops of the two movable clamping plates (10) are respectively rotatably connected to both sides of the fixed frame (7). Both sides of the bottom of the fixed frame (7) are provided with two fixed seats (13). An electric telescopic rod (14) is rotatably connected to the middle of each fixed seat (13). Two connecting seats (15) are installed on the outer walls of both movable clamping plates (10). The driving end of each electric telescopic rod (14) is installed in the middle of the connecting seat (15) through a rotating shaft. Two second pulley rods (11) are slidably connected to both sides of the middle of each movable clamping plate (10). A second spring (12) is sleeved outside each second pulley rod (11).

3. The multimodal industrial line inspection robot according to claim 1, wherein, The moving assembly includes two limit seats (29). The outer walls of the two limit seats (29) are respectively installed on both sides of the U-shaped seat (24). A driving wheel (31), a second motor (33) and a plurality of driven wheels (32) are rotatably connected in the top grooves of the two limit seats (29). A transmission wheel (34) is fixed to the outer wall of the central shaft of the driving wheel (31) and the driving end of the second motor (33). A belt (35) is sleeved outside the two transmission wheels (34).

4. The multimodal industrial line inspection robot according to claim 3, characterized in that, The clamping assembly includes a first motor (25). The outer wall of the first motor (25) is installed on the outer wall of the U-shaped seat (24). A bidirectional lead screw (26) is fixed to the driving end of the first motor (25). Moving blocks (27) are threadedly connected to both sides of the outer wall of the bidirectional lead screw (26). One ends of movable rods (28) are rotatably connected to both sides of the two moving blocks (27). The middles of the two movable rods (28) on the same side are rotatably connected. A chute (30) penetrates through the bottoms of the two limit seats (29). The other ends of the two movable rods (28) on the same side are slidably connected in the chute (30).

5. The multimodal industrial line inspection robot according to claim 1, wherein, The weak magnetic detection device (36) and the magnetic memory planning device (37) are both installed on the top of the limit seat (29). They are used to establish a healthy magnetic field reference for the line through the magnetic memory planning device (37). The weak magnetic detection device (36) accurately identifies and quantifies the line damage in real time through the magnetic potential difference.

6. The multimodal industrial line inspection robot according to claim 1, characterized in that, The traction assembly includes a third motor (38). The outer wall of the third motor (38) is installed on the top of the crawler vehicle seat (1). A second mounting seat (39) is installed on the top of the crawler vehicle seat (1). A winding wheel (40) is rotatably connected to the middle of the second mounting seat (39). The driving end of the third motor (38) is fixed to the middle of the winding wheel (40). A traction rope (41) is wound outside the winding wheel (40). The end of the traction rope (41) is installed on the outer wall of the iron block (22).

7. A multi-modal industrial line inspection robot system, characterized in that, For use in conjunction with the multi-modal industrial line inspection robot according to any one of the above claims 1-6, including: The main control and navigation module is used for robot path monitoring, environment perception and dynamic obstacle avoidance, and realizes autonomous navigation and path adjustment in complex environments by combining GPS and IMU data; The power line detection module is used to detect fatigue, cracks, broken wires and corrosion damage inside the power line, and identify the health status of the line through abnormal changes in the magnetic memory field; Industrial pipeline and railway detection module, which is used to detect cracks, corrosion and temperature anomalies on the outer walls of industrial pipelines and railways; Execution and power module, which is used for the movement of the robot and the operation of the detection components; Data processing and communication module, which is used to collect multi-modal detection data, fuse and analyze them to generate inspection reports, and realize remote data transmission and monitoring through wireless communication; Task management and system terminal module, which is responsible for the dynamic planning and execution of inspection tasks, displays the inspection results and progress through the terminal, generates and stores inspection reports, and supports user operations and task management.

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