Intelligent four-footed inspection robot for coal bed gas conveying pipeline and system of intelligent four-footed inspection robot

Abstract

The invention relates to the technical field of robots, and particularly discloses an intelligent four-foot inspection robot for a coal bed gas conveying pipeline and a system of the intelligent four-foot inspection robot. A walking mechanism is placed in the pipeline body, a protection cover is installed at one end of the walking mechanism, an identification mechanism is installed at the other end of the protection cover, a cleaning mechanism is installed at the other end of the walking mechanism, and a controller is installed on the outer wall of the protection cover. The recognition mechanism comprises a mounting seat, a laser radar, a mounting plate, a recognition camera, a depth camera and a gas sensor; according to the invention, the detection range can be expanded and the three-dimensional point cloud data can be generated through the plurality of laser radars so as to realize comprehensive and accurate perception of the pipeline, and meanwhile, through combination of shooting and image identification functions of the identification camera and the depth camera, detection dead angles can be avoided, comprehensive detection of the inner wall of the pipeline is ensured, and the detection efficiency is improved. Therefore, potential problems can be found and early warned in time, and the comprehensiveness and reliability of a detection result are improved at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an intelligent four-legged inspection robot for coalbed methane transmission pipelines and a system thereof. Background Art

[0002] A coalbed methane transmission pipeline is a pipeline system specially designed to efficiently and safely transport coalbed methane from its mining site to its use site or storage facility. These pipelines usually have a larger diameter and a longer laying length, and are designed to withstand the high pressure and high temperature conditions that may be encountered during coalbed methane transmission, thereby ensuring that the coalbed methane can be stably and continuously transmitted to its destination. In order to ensure the long-term stable operation of the pipeline, modern coalbed methane transmission pipelines are equipped with inspection robots for regular inspections.

[0003] Since coalbed methane transmission pipelines may face safety hazards such as leakage, corrosion, and blockage during long-term use, inspection robots are needed to monitor and analyze the pipeline status in real time. However, existing inspection robots have certain limitations in the inspection process, such as blind spots in detection, which may affect the comprehensiveness and reliability of the detection results to a certain extent. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent four-legged inspection robot and a system thereof for coalbed methane transmission pipelines, which have the function of comprehensive identification and detection to solve the problem of blind spots in detection.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An intelligent four-legged inspection robot for coalbed methane transmission pipelines, comprising:

[0007] Pipeline body;

[0008] A walking mechanism is placed inside the pipeline body, a protective cover is installed at one end of the walking mechanism, an identification mechanism is installed at the other end of the protective cover, a cleaning mechanism is installed at the other end of the walking mechanism, and a controller is installed on the outer wall of the protective cover;

[0009] The identification mechanism includes a mounting seat, a laser radar, a mounting plate, an identification camera, a depth camera and a gas sensor. A plurality of laser radars are provided, and the plurality of laser radars are installed on one side of the outer surface of the mounting seat. Four mounting plates are provided, and the four mounting plates are installed on the other side of the outer surface of the mounting seat. The mounting seat is installed on the protective cover through the mounting plate, the identification camera is installed on the other end of the mounting seat, the depth camera is installed on the other end of the identification camera, and the gas sensor is installed on the top of the depth camera.

[0010] Preferably, the mounting base is configured as a polygonal structure, the laser radar, recognition camera, depth camera and gas sensor are all electrically connected to the controller, four cameras are arranged on the outer surface of the recognition camera, and multiple fill lights are arranged around the four cameras on the recognition camera.

[0011] Preferably, the walking mechanism includes an adjusting box, a limit slot, a forward and reverse screw rod, an adjusting block, a walking frame and a motor. Four limit slots and four walking frames are provided, and the four limit slots are opened on the outer surface of the adjusting box. The forward and reverse screw rods are installed between the inner walls on both sides of the adjusting box through bearings. Two adjusting blocks are provided, and the two adjusting blocks are respectively installed on both sides of the outer surface of the forward and reverse screw rods. The four walking frames are installed between the outer surfaces of the two adjusting blocks, and a motor is installed at one end of the adjusting box.

[0012] Preferably, the walking frame includes an adjusting rod, a connecting frame, a supporting frame, walking wheels and a driver, two adjusting rods are provided, four connecting frames are provided, the four connecting frames are respectively installed on the upper outer surface and the lower outer surface of the two adjusting rods through connecting shafts, the bottom ends of the two lower connecting frames are respectively installed on the top ends of the two adjusting blocks, the supporting frame is installed on the top ends of the two upper connecting frames, the walking wheels are installed between the inner walls on both sides of the connecting frame through bearings, and the driver is installed on the outer wall of the support frame.

[0013] Preferably, the support frame is configured as a trapezoidal structure, the driver and the motor are both electrically connected to the controller, the adjustment block is configured as a cross-shaped structure, and the adjustment block is slidably connected to four limit grooves.

[0014] Preferably, the cleaning mechanism includes a dust box, a dust pipe, a dust head and a cleaning brush, the dust box is installed at the other end of the adjustment box, the dust pipe is installed at the other end of the dust box through a bearing, the dust head is installed at the top of the dust pipe, and the cleaning brush is installed between the inner walls on both sides of the dust head.

[0015] Preferably, electric telescopic rods are installed on both sides of the bottom end of the vacuum cleaner head, and the bottom ends of the two electric telescopic rods are installed on the vacuum cleaner tube, a rotating gear is installed on one side of the outer surface of the vacuum cleaner tube, a driving motor is installed at the lower part of the other end of the vacuum cleaner box, and an adjusting gear is installed at the output end of the driving motor.

[0016] Preferably, the driving motor, the electric telescopic rod and the dust collection box are all electrically connected to the controller, the rotating gear is meshed with the adjusting gear, the dust collection tube is configured as a T-shaped structure, and the upper outer surface of the dust collection tube is configured as a folding structure.

[0017] A system of an intelligent four-legged inspection robot for a coalbed methane pipeline, comprising:

[0018] Collection end, processing end, control end and maintenance end;

[0019] The acquisition end includes a camera unit, a temperature and humidity sensor unit, a gas sensor unit and a vibration sensor unit; the processing end includes a data processing unit, a data analysis unit and a communication unit; the control end includes a control unit, a navigation unit and a remote monitoring unit; the maintenance end includes an energy management unit, a fault warning unit and an emergency processing unit;

[0020] The camera unit is used to capture the video and image of the inside of the pipeline in real time for subsequent image analysis and recognition; the temperature and humidity sensor unit is used to monitor the temperature and humidity inside the pipeline; the gas sensor unit is used to detect the gas composition inside the coalbed methane transmission pipeline; the vibration sensor unit is used to monitor the vibration state of the pipeline and equipment in real time;

[0021] The data processing unit is used to receive and process various data from the acquisition end, the data analysis unit is used to use advanced data analysis algorithms to perform deep learning and pattern recognition on the processed data, and the communication unit is responsible for the communication between the robot and other systems or devices.

[0022] Preferably, the control unit is responsible for the overall control and scheduling of the robot, the navigation unit is used to intelligently plan the inspection path according to the environment and obstacles inside the pipeline, and the remote monitoring unit is used for the operator to monitor the status and inspection results of the robot in real time through a remote interface;

[0023] The energy management unit is responsible for the energy supply and management of the robot, the fault warning unit is used to analyze and process the collected data, can detect potential faults of the equipment in advance and issue warning signals, and the emergency processing unit is used to immediately activate the corresponding emergency plan and take corresponding measures.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The present invention sets an identification mechanism at one end of the protective cover, which can expand the detection range and generate three-dimensional point cloud data through multiple laser radars, thereby realizing comprehensive and accurate perception of the pipeline. At the same time, combined with the shooting and image recognition functions of the identification camera and the depth camera, it can avoid detection blind spots and ensure comprehensive detection of the inner wall of the pipeline, so as to timely discover and warn of potential problems, and also improve the comprehensiveness and reliability of the detection results.

[0026] (2) The present invention sets a walking mechanism inside the pipeline body. The motor drives the forward and reverse screws to rotate, which can drive the two adjustment blocks to move outward or inward together, thereby adjusting the positions of the four walking frames, and then making the four walking wheels contact the inner wall of the pipeline, so that the inspection robot can be applied to pipelines with different inner diameters, ensuring that it can walk stably in pipelines with different diameters, greatly expanding its scope of application.

[0027] (3) The present invention sets a cleaning mechanism at the other end of the walking mechanism. By driving the motor and engaging the gears, the dust suction pipe drives the cleaning brush to rotate to clean the inner wall of the pipe, which can remove deposited impurities and keep the pipe unobstructed. At the same time, the dust suction box is started to generate suction to absorb the cleaned dust to prevent dust from spreading, thereby avoiding the decrease in transportation efficiency and safety hazards caused by impurity deposition, and extending the service life of the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A perspective view of the present invention;

[0029] Figure 2 is a cross-sectional view of the pipeline body of the present invention;

[0030] Figure 3 A three-dimensional diagram of the identification mechanism of the present invention;

[0031] Figure 4 It is a three-dimensional diagram of the walking mechanism of the present invention;

[0032] Figure 5 A three-dimensional diagram of a walking frame of the present invention;

[0033] Figure 6 A three-dimensional diagram of the cleaning mechanism of the present invention;

[0034] Figure 7 For the present invention Figure 6 A magnified view of middle;

[0035] Figure 8 is a system flow chart of the present invention;

[0036] In the figure: 1. Pipeline body; 2. Traveling mechanism; 3. Protective cover; 4. Identification mechanism; 5. Cleaning mechanism; 6. Controller;

[0037] 21. Adjustment box; 22. Limiting slot; 23. Forward and reverse screw rods; 24. Adjustment block; 25. Traveling frame; 26. Motor;

[0038] 251, adjusting rod; 252, connecting frame; 253, supporting frame; 254, walking wheel; 255, driver;

[0039] 41. Mounting seat; 42. LiDAR; 43. Mounting plate; 44. Recognition camera; 45. Depth camera; 46. Gas sensor;

[0040] 51. Dust box; 52. Dust pipe; 53. Dust head; 54. Cleaning brush; 55. Electric telescopic rod; 56. Rotating gear; 57. Driving motor; 58. Adjusting gear; DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Embodiment 1:

[0043] See also Figures 1 to 7 As shown, an intelligent four-legged inspection robot for coalbed methane transmission pipelines comprises:

[0044] Pipeline body 1;

[0045] A traveling mechanism 2 is placed inside the pipeline body 1, a protective cover 3 is installed at one end of the traveling mechanism 2, an identification mechanism 4 is installed at the other end of the protective cover 3, a cleaning mechanism 5 is installed at the other end of the traveling mechanism 2, and a controller 6 is installed on the outer wall of the protective cover 3;

[0046] The identification mechanism 4 includes a mounting seat 41, a laser radar 42, a mounting plate 43, an identification camera 44, a depth camera 45 and a gas sensor 46. A plurality of laser radars 42 are provided, and the plurality of laser radars 42 are installed on one side of the outer surface of the mounting seat 41. Four mounting plates 43 are provided, and the four mounting plates 43 are installed on the other side of the outer surface of the mounting seat 41. The mounting seat 41 is installed on the protective cover 3 through the mounting plate 43. The identification camera 44 is installed at the other end of the mounting seat 41. The depth camera 45 is installed at the other end of the identification camera 44. The gas sensor 46 is installed at the top of the depth camera 45.

[0047] Depend on Figures 1 to 5It can be seen that the walking mechanism 2 includes an adjustment box 21, a limit slot 22, a positive and negative screw rod 23, an adjustment block 24, a walking frame 25 and a motor 26. There are four limit slots 22 and four walking frames 25. The four limit slots 22 are all opened on the outer surface of the adjustment box 21. The positive and negative screw rods 23 are installed between the inner walls on both sides of the adjustment box 21 through bearings. There are two adjustment blocks 24. The two adjustment blocks 24 are respectively installed on both sides of the outer surface of the positive and negative screw rods 23. The four walking frames 25 are installed between the outer surfaces of the two adjustment blocks 24. The motor 26 is installed at one end of the adjustment box 21;

[0048] The walking frame 25 includes an adjusting rod 251, a connecting frame 252, a supporting frame 253, a walking wheel 254 and a driver 255. There are two adjusting rods 251 and four connecting frames 252. The four connecting frames 252 are respectively installed on the upper and lower outer surfaces of the two adjusting rods 251 through connecting shafts. The bottom ends of the two lower connecting frames 252 are respectively installed on the top ends of the two adjusting blocks 24. The supporting frame 253 is installed on the top ends of the two upper connecting frames 252. The walking wheel 254 is installed between the inner walls on both sides of the connecting frame 252 through bearings. The driver 255 is installed on the outer wall of the supporting frame 253.

[0049] As can be seen from the above, after the entire inspection robot is placed inside the pipeline body 1, the motor 26 is started through the controller 6, and the motor 26 drives the forward and reverse screw rods 23 to rotate, thereby driving the two adjustment blocks 24 thereon to move toward the center at the same time. The adjustment block 24 moves stably under the guidance of the limit groove 22, and adjusts the distance between the two adjacent adjustment rods 251 close to the side of the adjustment box 21, thereby pushing the support frame 253 and the walking wheel 254 to expand outward, ensuring that the outer surfaces of the four walking wheels 254 are in close contact with the inner wall of the pipeline body 1. This adaptive adjustment mechanism enables the inspection robot to extend according to pipeline bodies 1 of different diameters, and then drive the walking wheels 254 to rotate through the driver 255, thereby ensuring the stable walking of the robot in various pipelines and significantly expanding its scope of application; when walking inside the pipeline body 1, the inspection robot The robot uses a gas sensor 46 to monitor the gas concentration and composition inside the pipeline body 1 in real time. At the same time, multiple laser radars 42 installed on the polygonal mounting base 41 emit laser beams and receive reflected signals in all directions to generate three-dimensional point cloud data, thereby achieving comprehensive and accurate perception of the pipeline body 1, helping to identify pipeline defects, obstacles, etc., and expanding the detection range. In addition, the recognition camera 44 takes multi-point photos of the pipeline body 1 to clearly capture the details and overall condition of the inner wall of the pipeline, avoiding blind spots in detection. Combined with the shooting of the depth camera 45 and the use of advanced image processing technology to identify the image, real-time monitoring and analysis of the status of the pipeline body 1 are achieved, further ensuring comprehensive detection of the inner wall of the pipeline body 1, and being able to promptly discover and warn of potential problems, while improving the comprehensiveness and reliability of the detection results.

[0050] Specifically, refer to Figures 1 to 5 As shown, the mounting seat 41 is configured as a polygonal structure, the laser radar 42, the recognition camera 44, the depth camera 45 and the gas sensor 46 are all electrically connected to the controller 6, the outer surface of the recognition camera 44 is provided with four cameras, and a plurality of fill lights are provided around the four cameras on the recognition camera 44; the support frame 253 is configured as a trapezoidal structure, the driver 255 and the motor 26 are both electrically connected to the controller 6, the adjustment block 24 is configured as a cross-shaped structure, and the adjustment block 24 is slidably connected to the four limit grooves 22.

[0051] As can be seen from the above, it is convenient to install multiple laser radars 42 on the mounting seat 41, so as to realize comprehensive detection of the pipeline body 1 and avoid detection blind spots. The controller 6 can receive the data collected by these devices, and process and analyze them to realize corresponding control functions. Multiple cameras provide a wider field of view and more accurate object recognition capabilities for the recognition camera 44. The fill light is used to provide lighting in an environment with insufficient light to enhance the recognition effect of the camera; the support frame 253 with a trapezoidal structure can provide stronger support and stability. The controller 6 can control the operation of the driver 255 and the motor 26. The cross shape can improve the stability of the adjustment block 24, and the sliding connection with the limit slot 22 can limit the movement range of the adjustment block 24 to ensure that it moves on a predetermined path.

[0052] Embodiment 2:

[0053] refer to Figure 6 and Figure 7 As shown, the cleaning mechanism 5 includes a dust box 51, a dust pipe 52, a dust head 53 and a cleaning brush 54. The dust box 51 is installed at the other end of the adjustment box 21, the dust pipe 52 is installed at the other end of the dust box 51 through a bearing, the dust head 53 is installed at the top of the dust pipe 52, and the cleaning brush 54 is installed between the inner walls on both sides of the dust head 53;

[0054] Electric telescopic rods 55 are installed on both sides of the bottom end of the vacuum head 53, and the bottom ends of the two electric telescopic rods 55 are installed on the vacuum tube 52. A rotating gear 56 is installed on one side of the outer surface of the vacuum tube 52. A driving motor 57 is installed at the lower part of the other end of the vacuum box 51, and an adjusting gear 58 is installed at the output end of the driving motor 57.

[0055] As can be seen from the above, when the inspection robot is inspecting inside the pipeline body 1, the following components can be started in sequence through the controller 6: first, the electric telescopic rod 55 is extended to push the dust head 53 to move, and at the same time, the folded pipe on the dust pipe 52 is unfolded to ensure that the bristles on the cleaning brush 54 are in close contact with the inner wall of the pipeline body 1; then, the drive motor 57 is started, and its rotation drives the adjustment gear 58 to rotate, and through the meshing transmission of the adjustment gear 58 and the rotating gear 56, the dust pipe 52, the electric telescopic rod 55 and the dust head 53 are driven to rotate together, so that the cleaning brush 54 rotates and effectively cleans the inner wall of the pipeline body 1, removes deposited impurities, and keeps the pipeline unobstructed; at the same time, the dust box 51 is started and generates suction, and the cleaned dust is sucked through the dust head 53 to prevent the dust from spreading in the pipeline. Subsequently, the dust is transported to the dust box 51 through the dust pipe 52 for centralized treatment. This series of operations not only avoids the reduction in transportation efficiency and safety hazards caused by the deposition of impurities, but also effectively prolongs the service life of the pipeline body 1.

[0056] Preferably, reference Figure 6 and Figure 7 As shown, the driving motor 57, the electric telescopic rod 55 and the dust collection box 51 are all electrically connected to the controller 6, the rotating gear 56 is meshed with the adjusting gear 58, the dust collection tube 52 is set to a T-shaped structure, and the upper outer surface of the dust collection tube 52 is set to a folding structure.

[0057] As can be seen from the above, the controller 6 can control the operation of the drive motor 57, the extension and retraction of the electric telescopic rod 55 and the dust collection function of the dust collection box 51 to achieve corresponding cleaning operations. Power can be transmitted through gear meshing, thereby driving the cleaning brush 54 to rotate and clean the inner wall of the duct body 1. The T-shaped structure facilitates the connection of the dust collection tube 52 to the dust collection box 51 and other dust collection components. The folding structure can increase the flexibility of the dust collection tube 52 and facilitate the extension and retraction adjustment of the dust collection tube 52.

[0058] Embodiment three:

[0059] refer to Figure 8 As shown, a system of an intelligent four-legged inspection robot for coalbed methane transmission pipelines includes:

[0060] Collection end, processing end, control end and maintenance end;

[0061] The acquisition end includes a camera unit, a temperature and humidity sensor unit, a gas sensor unit and a vibration sensor unit; the processing end includes a data processing unit, a data analysis unit and a communication unit; the control end includes a control unit, a navigation unit and a remote monitoring unit; the maintenance end includes an energy management unit, a fault warning unit and an emergency processing unit;

[0062] The camera unit is used to capture the video and image of the inside of the pipeline in real time for subsequent image analysis and recognition; the temperature and humidity sensor unit is used to monitor the temperature and humidity inside the pipeline; the gas sensor unit is used to detect the gas composition inside the coalbed methane transmission pipeline; the vibration sensor unit is used to monitor the vibration state of the pipeline and equipment in real time;

[0063] The data processing unit is used to receive and process various data from the acquisition end, the data analysis unit is used to use advanced data analysis algorithms to perform deep learning and pattern recognition on the processed data, and the communication unit is responsible for the communication between the robot and other systems or devices;

[0064] The control unit is responsible for the overall control and scheduling of the robot, the navigation unit is used to intelligently plan the inspection path according to the environment and obstacles inside the pipeline, and the remote monitoring unit is used for the operator to monitor the status and inspection results of the robot in real time through a remote interface;

[0065] The energy management unit is responsible for the energy supply and management of the robot, the fault warning unit is used to analyze and process the collected data, can detect potential faults of the equipment in advance and issue warning signals, and the emergency processing unit is used to immediately activate the corresponding emergency plan and take corresponding measures.

[0066] It can be seen from the above that when the intelligent four-legged inspection robot conducts inspections in the coalbed methane transmission pipeline, the various units of its system work together to ensure the safe operation of the pipeline. The camera unit has a high-definition camera function, which can capture and record abnormal conditions or illegal operations of the equipment inside the pipeline. The temperature and humidity sensor unit monitors the temperature and humidity inside the pipeline in real time, and provides accurate data for evaluating the internal environmental conditions of the pipeline. The gas sensor unit detects the gas concentration and composition inside the coalbed methane transmission pipeline in real time. Once it detects that the harmful gas exceeds the standard, the robot immediately alarms and initiates emergency measures. At the same time, the vibration sensor unit continuously monitors the vibration state of the pipeline and equipment, and identifies potential faults or abnormalities through data analysis; the data processing unit receives and processes images, videos, temperature, humidity, gas concentration, vibration and other data from the acquisition end, and the data analysis unit uses advanced algorithms to perform deep learning and pattern recognition on these data to predict the equipment operation status and potential problems. The communication unit is responsible for the robot and other systems or equipment. The control unit controls and dispatches the robot as a whole, including motion control, task allocation and status monitoring, while the navigation unit uses sensors and SLAM technology to realize autonomous navigation and obstacle avoidance functions, and intelligently plans inspection routes. The remote monitoring unit allows operators to monitor the robot's status and inspection results in real time through the remote interface, and make necessary interventions and adjustments. In addition, the energy management unit is responsible for the robot's energy supply and management, monitoring the battery status, formulating charging strategies and optimizing energy efficiency to ensure that the robot maintains sufficient power during long-term inspections. The fault warning unit analyzes and processes the collected data to detect potential equipment failures in advance and issue warning signals, so that operators can take timely measures to avoid failures. When an emergency or failure is detected, the emergency handling unit can quickly initiate the corresponding emergency plan and take immediate measures, such as closing valves, starting the ventilation system, etc., to ensure the safe operation of the pipeline.

[0067] Application examples:

[0068] The present invention is applied to underground pipeline environments for coalbed methane mining and transportation. By designing an adjustable four-legged walking mechanism 2, the robot can adaptively adjust according to the size of the inner diameter of the pipeline body 1 to ensure stable walking in pipelines of different diameters. At the same time, an identification mechanism 4 is provided to monitor and analyze the pipeline body 1, and can monitor the state of the inner wall of the pipeline in real time, such as the degree of corrosion, leakage points, etc., to achieve comprehensive detection of the pipeline body 1. The built-in data analysis algorithm of the identification mechanism 4 will process the monitoring data to promptly discover and warn of potential safety hazards. In addition, by providing a cleaning mechanism 5, a rotating cleaning brush 54 is used to clean the inner wall of the pipeline to remove deposited impurities and keep the pipeline unobstructed, thereby avoiding the decrease in transportation efficiency and safety hazards caused by impurity deposition and extending the service life of the pipeline. In the underground environment of coalbed methane transmission pipelines, the intelligent four-legged inspection robot of the present design can significantly improve the inspection efficiency and safety.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent four-legged inspection robot for coalbed methane pipelines, characterized in that: include: Pipe body (1); A walking mechanism (2) is placed inside the pipeline body (1); a protective cover (3) is installed at one end of the walking mechanism (2); an identification mechanism (4) is installed at the other end of the protective cover (3); a cleaning mechanism (5) is installed at the other end of the walking mechanism (2); and a controller (6) is installed on the outer wall of the protective cover (3); The identification mechanism (4) comprises a mounting seat (41), a laser radar (42), a mounting plate (43), an identification camera (44), a depth camera (45) and a gas sensor (46); a plurality of laser radars (42) are provided, and the plurality of laser radars (42) are installed on one side of the outer surface of the mounting seat (41); four mounting plates (43) are provided, and the four mounting plates (43) are installed on the other side of the outer surface of the mounting seat (41); the mounting seat (41) is installed on the protective cover (3) through the mounting plate (43); the identification camera (44) is installed on the other end of the mounting seat (41); the depth camera (45) is installed on the other end of the identification camera (44); and the gas sensor (46) is installed on the top of the depth camera (45).

2. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 1, characterized in that: The mounting seat (41) is configured as a polygonal structure; the laser radar (42), the recognition camera (44), the depth camera (45) and the gas sensor (46) are all electrically connected to the controller (6); four cameras are disposed on the outer surface of the recognition camera (44); and a plurality of fill lights are disposed around the four cameras on the recognition camera (44).

3. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 1, characterized in that: The walking mechanism (2) comprises an adjusting box (21), a limiting groove (22), a forward and reverse screw rod (23), an adjusting block (24), a walking frame (25) and a motor (26). The limiting groove (22) and the walking frame (25) are each provided with four, and the four limiting grooves (22) are each provided on the outer surface of the adjusting box (21). The forward and reverse screw rod (23) is installed between the inner walls on both sides of the adjusting box (21) through bearings. The adjusting blocks (24) are provided with two, and the two adjusting blocks (24) are respectively installed on both sides of the outer surface of the forward and reverse screw rod (23). The four walking frames (25) are each installed between the outer surfaces of the two adjusting blocks (24). The motor (26) is installed at one end of the adjusting box (21).

4. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 3 is characterized in that: The walking frame (25) comprises an adjusting rod (251), a connecting frame (252), a supporting frame (253), a walking wheel (254) and a driver (255). Two adjusting rods (251) are provided, and four connecting frames (252) are provided. The four connecting frames (252) are respectively mounted on the upper and lower outer surfaces of the two adjusting rods (251) through connecting shafts. The bottom ends of the two lower connecting frames (252) are respectively mounted on the top ends of the two adjusting blocks (24). The supporting frame (253) is mounted on the top ends of the two upper connecting frames (252). The walking wheel (254) is mounted between the inner walls on both sides of the connecting frame (252) through bearings. The driver (255) is mounted on the outer wall of the supporting frame (253).

5. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 4, characterized in that: The support frame (253) is configured as a trapezoidal structure, the driver (255) and the motor (26) are both electrically connected to the controller (6), the adjustment block (24) is configured as a cross-shaped structure, and the adjustment block (24) is slidably connected to the four limit slots (22).

6. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 1, characterized in that: The cleaning mechanism (5) comprises a dust collection box (51), a dust collection pipe (52), a dust collection head (53) and a cleaning brush (54); the dust collection box (51) is mounted on the other end of the adjustment box (21); the dust collection pipe (52) is mounted on the other end of the dust collection box (51) through a bearing; the dust collection head (53) is mounted on the top end of the dust collection pipe (52); and the cleaning brush (54) is mounted between the inner walls on both sides of the dust collection head (53).

7. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 6, characterized in that: Electric telescopic rods (55) are installed on both sides of the bottom end of the dust suction head (53), and the bottom ends of the two electric telescopic rods (55) are installed on the dust suction pipe (52). A rotating gear (56) is installed on one side of the outer surface of the dust suction pipe (52). A driving motor (57) is installed at the lower part of the other end of the dust suction box (51), and an adjusting gear (58) is installed at the output end of the driving motor (57).

8. The intelligent four-legged inspection robot for coalbed methane pipeline according to claim 7, characterized in that: The driving motor (57), the electric telescopic rod (55) and the dust collection box (51) are all electrically connected to the controller (6); the rotating gear (56) is meshed with the adjusting gear (58); the dust collection tube (52) is configured as a T-shaped structure; and the upper portion of the outer surface of the dust collection tube (52) is configured as a folding structure.

9. A system of an intelligent four-legged inspection robot for coalbed methane pipelines, applicable to the intelligent four-legged inspection robot for coalbed methane pipelines according to claims 1 to 8, characterized in that: include: Collection end, processing end, control end and maintenance end; The acquisition end includes a camera unit, a temperature and humidity sensor unit, a gas sensor unit and a vibration sensor unit; the processing end includes a data processing unit, a data analysis unit and a communication unit; the control end includes a control unit, a navigation unit and a remote monitoring unit; the maintenance end includes an energy management unit, a fault warning unit and an emergency processing unit; The camera unit is used to capture the video and image of the inside of the pipeline in real time for subsequent image analysis and recognition; the temperature and humidity sensor unit is used to monitor the temperature and humidity inside the pipeline; the gas sensor unit is used to detect the gas composition inside the coalbed methane transmission pipeline; the vibration sensor unit is used to monitor the vibration state of the pipeline and equipment in real time; The data processing unit is used to receive and process various data from the acquisition end, the data analysis unit is used to use advanced data analysis algorithms to perform deep learning and pattern recognition on the processed data, and the communication unit is responsible for the communication between the robot and other systems or devices.

10. The system of the intelligent four-legged inspection robot for coalbed methane pipeline according to claim 9, characterized in that: The control unit is responsible for the overall control and scheduling of the robot, the navigation unit is used to intelligently plan the inspection path according to the environment and obstacles inside the pipeline, and the remote monitoring unit is used for the operator to monitor the status and inspection results of the robot in real time through a remote interface; The energy management unit is responsible for the energy supply and management of the robot, the fault warning unit is used to analyze and process the collected data, can detect potential faults of the equipment in advance and issue warning signals, and the emergency processing unit is used to immediately activate the corresponding emergency plan and take corresponding measures.

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