Unmanned station intelligent inspection robot system

Abstract

The invention relates to the technical field of intelligent inspection, in particular to an unmanned station intelligent inspection robot system which comprises a moving mechanism. The device further comprises a detection mechanism and a processing mechanism, and the detection mechanism and the processing mechanism are both installed on the moving mechanism. The moving mechanism adjusts the detection position, the detection mechanism detects the interior of the natural gas station, and the processing mechanism processes leaked natural gas. The moving mechanism moves in the natural gas station, meanwhile, the detection mechanism detects the interior of the natural gas station, judges whether equipment in the natural gas station operates normally or not and judges whether natural gas leaks or not, and after natural gas leakage is found, the leaked natural gas is processed through the processing mechanism to prevent the natural gas from deflagration. And the practicability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection, and in particular to an unmanned station intelligent inspection robot system. Background Art

[0002] The main function of a natural gas station is to store and distribute natural gas, ensuring its safe supply and stable delivery. In order to ensure its stable operation, it needs to be inspected. The traditional way is to conduct inspections manually, which is time-consuming and labor-intensive, and when a natural gas leak occurs, it is easy to endanger the life and health of the inspectors.

[0003] Therefore, there have appeared inventions such as a remote control device for an explosion-proof wheeled inspection robot for an oil station disclosed in the invention patent with publication number CN113696176B and a tracked natural gas station inspection robot disclosed in the invention patent with publication number CN117921619A, which use robots to perform inspection work.

[0004] However, it was found during use that the existing inspection robots have a relatively simple structure. When other leakage situations occur, it is not convenient to carry out emergency treatment of leaked natural gas. In addition, since there are many large equipment in the natural gas station, the equipment can easily interfere with the signal of the inspection robot, affecting the stable operation of the inspection robot, resulting in poor practicality. Therefore, there is an urgent need for an unmanned station intelligent inspection robot system to improve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an unmanned station intelligent inspection robot system in which a mobile mechanism moves in a natural gas station, and a detection mechanism detects the natural gas station to determine whether the equipment in the natural gas station is operating normally and whether there is a natural gas leak. After the natural gas leak is found, the leaked natural gas is processed by the processing mechanism to prevent the occurrence of natural gas explosion, thereby improving the practicality of the equipment.

[0006] An unmanned station intelligent inspection robot system of the present invention comprises a mobile mechanism; a detection mechanism and a processing mechanism, both of which are installed on the mobile mechanism;

[0007] The moving mechanism adjusts the detection position, the detection mechanism detects the natural gas station, and the processing mechanism processes the leaked natural gas;

[0008] The mobile mechanism moves within the natural gas station, and the detection mechanism detects the natural gas station to determine whether the equipment in the natural gas station is operating normally and whether there is a natural gas leak. After the natural gas leak is found, the leaked natural gas is processed by the processing mechanism to prevent the occurrence of natural gas explosion, thereby improving the practicality of the equipment.

[0009] Preferably, the moving mechanism includes a guiding mechanism and a driving mechanism. The guiding mechanism is installed underground in the natural gas station, and the guiding mechanism guides the driving mechanism. The guiding mechanism sends a signal to guide the driving mechanism, so that the driving mechanism moves along the guiding mechanism in the natural gas station. At the same time, the driving mechanism transmits the detection results of the detection mechanism to the guiding mechanism, and then transmits the detection results to the monitoring room through the guiding mechanism, thereby improving the practicability of the equipment.

[0010] Preferably, the guiding mechanism comprises a connecting line, a plurality of groups of internally threaded pipes, a plurality of groups of externally threaded seats, a plurality of groups of signal transmitters and a plurality of groups of signal receivers; the connecting line is buried underground in the natural gas station; the plurality of groups of internally threaded pipes are installed on the connecting line; the plurality of groups of signal transmitters and a plurality of groups of signal receivers are respectively installed inside the plurality of groups of externally threaded seats; the plurality of groups of externally threaded seats are respectively threadedly installed in the plurality of groups of internally threaded pipes; and the tops of the plurality of groups of externally threaded seats are located on the ground; guide lights are arranged on the tops of the plurality of groups of externally threaded seats; the signal is transmitted through the connecting line, and then the signal is sent through the externally threaded seats to guide the driving mechanism; the signal sent by the driving mechanism is received through the signal transmitter, and then the signal received by the signal transmitter is transmitted to the monitoring room through the connecting line; after the detection mechanism detects a fault or a natural gas leak, the guide light on the top of the externally threaded seat is turned on to guide the staff, thereby improving the practicability of the equipment.

[0011] Preferably, the driving mechanism includes a body, a top cover, multiple sets of universal wheels, a differential, a first motor, two sets of drive wheels, a second motor, a signal receiver 1 and a signal transmitter 2. A chamber is provided inside the body, an opening is provided on the top of the body, the top cover is mounted on the top of the body, the multiple sets of universal wheels are rotatably mounted on the bottom of the body, the differential is rotatably mounted on the middle of the bottom end of the body through a mounting seat, the first motor is mounted on the differential, and the output shaft of the first motor is connected to the input end of the differential, the two sets of drive wheels are respectively mounted on the two sets of output shafts of the differential, and the second motor is mounted on the body. The machine body is supported by a plurality of sets of universal wheels, and the signal transmitter 1 receives the signal sent by the signal transmitter 1 through the signal receiver 1, and then the second motor runs to drive the differential to rotate and adjust the moving direction, and then the first motor is turned on, and the two sets of driving wheels are rotated through the differential transmission to move the equipment, and at the same time, the detection result of the detection mechanism is transmitted to the signal receiver 1 through the signal transmitter 2, thereby improving the practicality of the equipment.

[0012] Preferably, the detection mechanism includes a support ring, a gear ring, a third motor, a gear, a controller, a sound detector, a gas detector and a camera, the support ring is rotatably mounted on the machine body, the gear ring is fixedly mounted on the support ring, the third motor is fixedly mounted on the machine body, the gear is mounted on the output shaft of the third motor, and the gear and the gear ring are meshingly connected, the controller is mounted on the support ring, the sound detector, the gas detector and the camera are all mounted on the controller, and the camera is provided with a high-definition camera and a far-infrared camera; the third motor is turned on, and the support ring is driven to rotate through the meshing transmission of the gear and the gear ring, and the position of the controller is adjusted, so that the camera shoots the surroundings, the gas detector detects the surrounding air, and the sound detector detects the surrounding sounds, and then the detection results of the camera, the gas detector and the sound detector are analyzed by the controller to determine whether there are faults or leakages in the surrounding equipment and pipelines, thereby improving the practicality of the equipment.

[0013] Preferably, the controller is internally provided with a data receiving module, a data analysis module 1, a data analysis module 2, a data analysis module 3 and a data storage module; the data collected by the camera, the gas detector and the sound detector are received by the data receiving module, and the data collected by the camera is transmitted to the data analysis module 1 by the data receiving module, the data collected by the gas detector is transmitted to the data analysis module 2 by the data receiving module, and the data collected by the sound detector is transmitted to the data analysis module 3 by the data receiving module. At the same time, the data receiving module also transmits the received data to the signal transmitter 2 and the data storage module, and the convolutional neural network is used by the data analysis module 1 to analyze and process the image data using a qualified trained model, the BP neural network is used by the data analysis module 2 to analyze and process the gas data collected by the gas detector using a qualified trained model, and the recurrent neural network is used by the data analysis module 3 to analyze and process the sound data collected by the sound detector using a qualified trained model, and then the data analysis module 1, the data analysis module 2 and the data analysis module 3 transmit the data analysis results to the data storage module and the signal transmitter 2.

[0014] Preferably, the processing mechanism includes a recovery mechanism and an exhaust mechanism, both of which are installed in the machine body; the natural gas sprayed from the leakage is recovered by the recovery mechanism, and the natural gas around the leakage is discharged by the exhaust mechanism, thereby improving the safety of the equipment.

[0015] Preferably, the recovery mechanism includes a multi-stage electric cylinder 1, a bracket, a fourth motor, a multi-stage electric cylinder 2, a camera, an air intake pipe, an electric cylinder, a sliding sleeve, multiple groups of support rods, multiple groups of connecting rods, rubber sleeves, multiple groups of storage tanks, compressors, rotating joints, multiple groups of gas pipes, multiple groups of electric control valves and a connecting pipe 1. The multi-stage electric cylinder 1 is installed on the support ring, the bracket is rotatably installed on the top of the multi-stage electric cylinder 1, the fourth motor is fixedly installed on the top of the multi-stage electric cylinder 1, and the output shaft of the fourth motor is connected to the fourth motor, one end of the multi-stage electric cylinder 2 is fixedly installed on the bracket, and the camera is installed Installed on the other end of the multi-stage electric cylinder two, the suction pipe is fixedly installed on the other end of the multi-stage electric cylinder two, the electric cylinder is fixedly installed on the suction pipe, the sliding sleeve is slidably installed on the suction pipe, and one end of the electric cylinder is connected to the sliding sleeve, one end of multiple groups of support rods are rotatably installed on the suction pipe, one end of multiple groups of connecting rods are rotatably installed on the sliding sleeve, the other ends of multiple groups of connecting rods are respectively rotatably installed on multiple groups of support rods, rubber sleeves are installed on multiple groups of support rods, multiple groups of storage tanks are installed inside the body, the compressor is installed on the top cover, and the rotary joint is installed on the suction port of the compressor , one end of the multiple gas transmission pipes are installed on the exhaust port of the compressor, the multiple electric control valves are respectively installed on the multiple gas transmission pipes, and the multiple electric control valves are respectively connected to the multiple storage tanks through multiple hoses, one end of the connecting pipe is installed on the suction pipe, and the other end of the connecting pipe is installed on the rotary joint; the height of the suction pipe is adjusted by extending or contracting the multi-stage electric cylinder one, and then the fourth motor is turned on to drive the bracket to rotate to adjust the position of the suction pipe, and then the multi-stage electric cylinder two is extended or contracted to make the suction pipe close to the natural gas leakage, and When the natural gas leakage location is large, the electric cylinder is contracted to make the sliding sleeve slide on the suction pipe, and through multiple sets of connecting rods, multiple sets of support rods unfold the rubber sleeve to form a funnel structure, turn on the compressor, and the leak and a set of electric control valves. The leaked natural gas passes through the rubber sleeve, suction pipe, connecting pipe 1, rotary joint, compressor, a group of gas pipes and a group of electric control valves in turn into a group of storage tanks for storage. After one group of storage tanks is filled, close one group of electric control valves, open another group of electric control valves, and fill the other group of storage tanks, thereby improving the practicability of the equipment.

[0016] Preferably, the exhaust mechanism includes a recovery pipe, an exhaust pump, a shutdown platform, a winding shaft, a transfer pipe, a fifth motor, an air supply pipe, a drone, a nozzle and two connecting pipes, the recovery pipe is installed at the bottom of the machine body, and a plurality of air suction holes are provided at the bottom of the recovery pipe, the exhaust pump is installed on the top cover, the shutdown platform is fixedly installed on the exhaust pump, the winding shaft is rotatably installed on the exhaust pump, and a rotating connecting port is provided at one end of the winding shaft, a connecting port is provided in the middle of the winding shaft, the exhaust port of the exhaust pump is connected to the rotating connecting port of the winding shaft through the transfer pipe, the fifth motor is fixedly installed on the exhaust pump, and the output shaft of the fifth motor is connected to the other end of the winding shaft, the air supply pipe is wound on the winding shaft, and one end of the air supply pipe It is connected to the connection port in the middle of the reel and collection shaft, the UAV is parked on the parking platform, the nozzle is installed at the bottom of the UAV, and the other end of the air supply pipe is installed on the nozzle, one end of the connecting pipe 2 is communicated with the inside of the recovery pipe, and the other end of the connecting pipe 2 is connected to the air intake of the exhaust pump; by turning on the fifth motor, the air supply pipe is loosened, and the UAV takes off at the same time and flies to the explosion-proof ventilation port position on the top of the natural gas station, and turns on the exhaust pump to make the natural gas around the leakage flow through the recovery pipe, connecting pipe 2, exhaust pump, transfer pipe, reel and collection shaft and air supply pipe in turn, and then sprays the natural gas through the nozzle, so that the ventilation system of the natural gas station discharges the natural gas to prevent natural gas accumulation, thereby improving the practicability of the equipment.

[0017] Preferably, a slotted opening is provided on the top of the external thread seat, which facilitates the rotation of the external thread seat and the replacement of the external thread seat, thereby improving the practicability of the equipment.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Through the cooperation between the mobile mechanism and the detection mechanism, automatic inspection is realized, the inspection efficiency is improved, and the data is quickly transmitted, which reduces the impact of the operation of surrounding equipment on data transmission;

[0020] 2. Recover and discharge leaked natural gas through treatment facilities to reduce the accumulation of natural gas and prevent explosions;

[0021] 3. Improve the accuracy of equipment analysis on faults and leaks through neural network analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view structural schematic diagram of the present invention;

[0023] Figure 2 It is a first axonometric enlarged schematic diagram of the structures of the detection mechanism and the processing mechanism of the present invention;

[0024] Figure 3 It is a second axonometric enlarged schematic diagram of the structures of the detection mechanism and the processing mechanism of the present invention;

[0025] Figure 4 It is a third axonometric enlarged schematic diagram of the structures of the detection mechanism and the processing mechanism of the present invention;

[0026] Figure 5 It is an enlarged schematic diagram of an axonometric section of the machine body of the present invention;

[0027] Figure 6 It is an axonometric enlarged schematic diagram of the storage tank and compressor structures of the present invention;

[0028] Figure 7 It is an axonometric enlarged schematic diagram of the detection mechanism and the multi-stage electric cylinder first mechanism of the present invention;

[0029] Figure 8 The present invention Figure 7 A schematic diagram of the enlarged structure of part A;

[0030] Fig. 9 It is an axonometric enlarged schematic diagram of the exhaust pump and the transfer pipe and other structures of the present invention;

[0031] Fig.10 It is an axonometric enlarged schematic diagram of the exhaust pump and the unmanned aerial vehicle structure of the present invention;

[0032] Fig.11 It is an axonometric enlarged schematic diagram of the structure of the internally threaded tube and the guide light of the present invention;

[0033] Fig.12 It is an enlarged schematic front view of the cross section of the internal threaded pipe and the external threaded seat of the present invention;

[0034] Fig.13 It is a schematic diagram of the internal structure of the controller of the present invention.

[0035] Markings in the attached drawings: 1, connecting line; 2, internal threaded pipe; 3, external threaded seat; 4, signal transmitter 1; 5, signal receiver 1; 6, guide light; 7, body; 8, top cover; 9, universal wheel; 10, differential; 11, first motor; 12, driving wheel; 13, second motor; 14, signal receiver 1; 15, signal transmitter 2; 16, support ring; 17, gear ring; 18, third motor; 19, gear; 20, controller; 21, sound detector; 22, gas detector; 23, camera; 24, data receiving module; 25, data analysis module 1; 26, data analysis module 2; 27, Data analysis module three; 28. Data storage module; 29. ​​Multi-stage electric cylinder one; 30. Bracket; 31. Fourth motor; 32. Multi-stage electric cylinder two; 33. Camera; 34. Suction pipe; 35. Electric cylinder; 36. Sliding sleeve; 37. Support rod; 38. Connecting rod; 39. Rubber sleeve; 40. Storage tank; 41. Compressor; 42. Rotary joint; 43. Air pipe; 44. Electric control valve; 45. Connecting pipe one; 46. Recovery pipe; 47. Exhaust pump; 48. Stop platform; 49. Reel shaft; 50. Transfer pipe; 51. Fifth motor; 52. Air pipe; 53. UAV; 54. Nozzle; 55. Connecting pipe two. DETAILED DESCRIPTION

[0036] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0037] Example 1

[0038] An unmanned station intelligent inspection robot system includes a mobile mechanism, a detection mechanism and a processing mechanism, both of which are installed on the mobile mechanism;

[0039] The moving mechanism adjusts the detection position, the detection mechanism detects the natural gas station, and the processing mechanism processes the leaked natural gas;

[0040] The moving mechanism includes a guiding mechanism and a driving mechanism, wherein the guiding mechanism is installed underground in the natural gas station, and the guiding mechanism guides the driving mechanism;

[0041] The guide mechanism includes a connecting line 1, multiple groups of internal threaded pipes 2, multiple groups of external threaded seats 3, multiple groups of signal transmitters 4 and multiple groups of signal receivers 5. The connecting line 1 is buried underground in the natural gas station. The multiple groups of internal threaded pipes 2 are installed on the connecting line 1. The multiple groups of signal transmitters 4 and multiple groups of signal receivers 5 are respectively installed inside the multiple groups of external threaded seats 3. The multiple groups of external threaded seats 3 are respectively threadedly installed in the multiple groups of internal threaded pipes 2, and the tops of the multiple groups of external threaded seats 3 are located on the ground. The tops of the multiple groups of external threaded seats 3 are provided with guide lights 6;

[0042] The driving mechanism includes a body 7, a top cover 8, multiple sets of universal wheels 9, a differential 10, a first motor 11, two sets of driving wheels 12, a second motor 13, a signal receiver 14 and a signal transmitter 2 15. A chamber is provided inside the body 7, an opening is provided on the top of the body 7, the top cover 8 is mounted on the top of the body 7, multiple sets of universal wheels 9 are rotatably mounted on the bottom of the body 7, the differential 10 is rotatably mounted on the middle part of the bottom end of the body 7 through a mounting seat, the first motor 11 is mounted on the differential 10, and the output shaft of the first motor 11 is connected to the input end of the differential 10, the two sets of driving wheels 12 are respectively mounted on the two sets of output shafts of the differential 10, the second motor 13 is mounted inside the body 7, and the output shaft of the second motor 13 is connected to the top of the mounting seat, the signal receiver 14 is mounted on the first motor 11, and the signal transmitter 2 15 is mounted on the differential 10;

[0043] The detection mechanism includes a support ring 16, a gear ring 17, a third motor 18, a gear 19, a controller 20, a sound detector 21, a gas detector 22 and a camera 23. The support ring 16 is rotatably mounted on the body 7, the gear ring 17 is fixedly mounted on the support ring 16, the third motor 18 is fixedly mounted on the body 7, the gear 19 is mounted on the output shaft of the third motor 18, and the gear 19 is meshingly connected with the gear ring 17. The controller 20 is mounted on the support ring 16, the sound detector 21, the gas detector 22 and the camera 23 are all mounted on the controller 20, and the camera 23 is provided with a high-definition camera and a far-infrared camera;

[0044] The controller 20 is internally provided with a data receiving module 24, a data analysis module 1 25, a data analysis module 2 26, a data analysis module 3 27 and a data storage module 28;

[0045] The processing mechanism includes a recovery mechanism and an exhaust mechanism, and the recovery mechanism and the exhaust mechanism are both installed in the machine body 7;

[0046] The recovery mechanism includes a multi-stage electric cylinder 29, a bracket 30, a fourth motor 31, a multi-stage electric cylinder 2 32, a camera 33, an air suction pipe 34, an electric cylinder 35, a sliding sleeve 36, multiple groups of support rods 37, multiple groups of connecting rods 38, a rubber sleeve 39, multiple groups of storage tanks 40, a compressor 41, a rotary joint 42, multiple groups of gas pipes 43, multiple groups of electric control valves 44 and a connecting pipe 1 45. The multi-stage electric cylinder 29 is installed on the support ring 16, the bracket 30 is rotatably installed on the top of the multi-stage electric cylinder 29, the fourth motor 31 is fixedly installed on the top of the multi-stage electric cylinder 29, and the output shaft of the fourth motor 31 is connected to the fourth motor 31, one end of the multi-stage electric cylinder 2 32 is fixedly installed on the bracket 30, the camera 33 is installed on the other end of the multi-stage electric cylinder 2 32, the air suction pipe 34 is fixedly installed on the other end of the multi-stage electric cylinder 2 32, the electric cylinder 35 is fixedly installed on the air suction pipe 34, and the sliding sleeve 36 is installed on the multi-stage electric cylinder 2 The sleeve 36 is slidably mounted on the air intake pipe 34, and one end of the electric cylinder 35 is connected to the sleeve 36, one end of multiple groups of support rods 37 are rotatably mounted on the air intake pipe 34, one end of multiple groups of connecting rods 38 are rotatably mounted on the sleeve 36, the other ends of multiple groups of connecting rods 38 are rotatably mounted on multiple groups of support rods 37, rubber sleeves 39 are mounted on multiple groups of support rods 37, multiple groups of storage tanks 40 are mounted inside the machine body 7, the compressor 41 is mounted on the top cover 8, the rotary joint 42 is mounted on the air intake port of the compressor 41, one end of multiple groups of air supply pipes 43 are mounted on the exhaust port of the compressor 41, multiple groups of electric control valves 44 are respectively mounted on multiple groups of air supply pipes 43, and multiple groups of electric control valves 44 are respectively connected to multiple groups of storage tanks 40 through multiple groups of hoses, one end of a connecting pipe 45 is mounted on the air intake pipe 34, and the other end of the connecting pipe 45 is mounted on the rotary joint 42;

[0047] The signal is transmitted through the connecting line 1, and then sent through the external threaded seat 3. The signal is received by the signal receiver 14. The signal sent by the signal transmitter 4 is then operated, driving the differential 10 to rotate, adjusting the moving direction, and then turning on the first motor 11. The differential 10 transmits the signal to rotate the two sets of drive wheels 12 to move the equipment. At the same time, the third motor 18 is turned on, and the gear 19 is meshed with the gear ring 17 to drive the support ring 16 to rotate, and the position of the controller 20 is adjusted, so that the camera 23 shoots the surroundings, the gas detector 22 detects the surrounding air, and the sound detector 21 detects the surrounding sound. Then the camera 23 and the gas detector 22 are controlled by the controller 20. The detection results of the gas detector 22 and the sound detector 21 are analyzed to determine whether there are faults or leaks in the surrounding equipment and pipelines. Then, the data collected by the camera 23, the gas detector 22 and the sound detector 21 are received through the data receiving module 24, and the data collected by the camera 23 is transmitted to the data analysis module 1 25 through the data receiving module 24, the data collected by the gas detector 22 is transmitted to the data analysis module 2 26 through the data receiving module 24, and the data collected by the sound detector 21 is transmitted to the data analysis module 3 27 through the data receiving module 24. At the same time, the data receiving module 24 also transmits the received data to the signal transmitter 2 15 and the data storage module 28. The data analysis module 1 25 uses a convolutional neural network to analyze and process the image data using a trained model. The data analysis module 2 26 uses a BP neural network to analyze and process the gas data collected by the gas detector 22 using a trained model. The data analysis module 3 27 uses a recurrent neural network to analyze and process the sound data collected by the sound detector 21 using a trained model. After that, the data analysis module 1 25, the data analysis module 2 26 and the data analysis module 3 27 transmit the data analysis results to the data storage module 28 and the signal transmitter 2 15, and transmit the signal to the signal receiver 1 5 through the signal transmitter 2 15, and then transmit the signal to the signal receiver 1 5 through the connecting line. 1 transmits the signal received by the signal receiver 5 to the monitoring room and converts it into data so that the staff can understand the situation in the natural gas station in real time. After the natural gas leak is found, the multi-stage electric cylinder 1 29 is extended or contracted to adjust the height of the suction pipe 34, and then the fourth motor 31 is turned on to drive the bracket 30 to rotate and adjust the position of the suction pipe 34. After that, the multi-stage electric cylinder 2 32 is extended or contracted to make the suction pipe 34 close to the natural gas leak. When the natural gas leak is large, the electric cylinder 35 is contracted to make the sliding sleeve 36 slide on the suction pipe 34. Through the transmission of multiple sets of connecting rods 38, the multiple sets of support rods 37 unfold the rubber sleeve 39 to form a funnel structure, and the compressor 41 is turned on to close the leak and a set of electric control valves 44.The leaked natural gas passes through the rubber sleeve 39, the air intake pipe 34, the connecting pipe 45, the rotary joint 42, the compressor 41, a group of gas transmission pipes 43 and a group of electric control valves 44 to enter a group of storage tanks 40 for storage. After a group of storage tanks 40 are filled, a group of electric control valves 44 are closed, and another group of electric control valves 44 are opened to fill another group of storage tanks 40 to prevent the occurrence of natural gas explosion, thereby improving the practicality of the equipment.

[0048] Example 2

[0049] like Figures 1 to 13 As shown, an unmanned station intelligent inspection robot system includes a mobile mechanism; a detection mechanism and a processing mechanism, and the detection mechanism and the processing mechanism are both installed on the mobile mechanism;

[0050] The moving mechanism adjusts the detection position, the detection mechanism detects the natural gas station, and the processing mechanism processes the leaked natural gas;

[0051] The moving mechanism includes a guiding mechanism and a driving mechanism, wherein the guiding mechanism is installed underground in the natural gas station, and the guiding mechanism guides the driving mechanism;

[0052] The guide mechanism includes a connecting line 1, multiple groups of internal threaded pipes 2, multiple groups of external threaded seats 3, multiple groups of signal transmitters 4 and multiple groups of signal receivers 5. The connecting line 1 is buried underground in the natural gas station. The multiple groups of internal threaded pipes 2 are installed on the connecting line 1. The multiple groups of signal transmitters 4 and multiple groups of signal receivers 5 are respectively installed inside the multiple groups of external threaded seats 3. The multiple groups of external threaded seats 3 are respectively threadedly installed in the multiple groups of internal threaded pipes 2, and the tops of the multiple groups of external threaded seats 3 are located on the ground. The tops of the multiple groups of external threaded seats 3 are provided with guide lights 6;

[0053] The driving mechanism includes a body 7, a top cover 8, multiple sets of universal wheels 9, a differential 10, a first motor 11, two sets of driving wheels 12, a second motor 13, a signal receiver 14 and a signal transmitter 2 15. A chamber is provided inside the body 7, an opening is provided on the top of the body 7, the top cover 8 is mounted on the top of the body 7, multiple sets of universal wheels 9 are rotatably mounted on the bottom of the body 7, the differential 10 is rotatably mounted on the middle part of the bottom end of the body 7 through a mounting seat, the first motor 11 is mounted on the differential 10, and the output shaft of the first motor 11 is connected to the input end of the differential 10, the two sets of driving wheels 12 are respectively mounted on the two sets of output shafts of the differential 10, the second motor 13 is mounted inside the body 7, and the output shaft of the second motor 13 is connected to the top of the mounting seat, the signal receiver 14 is mounted on the first motor 11, and the signal transmitter 2 15 is mounted on the differential 10;

[0054] The detection mechanism includes a support ring 16, a gear ring 17, a third motor 18, a gear 19, a controller 20, a sound detector 21, a gas detector 22 and a camera 23. The support ring 16 is rotatably mounted on the body 7, the gear ring 17 is fixedly mounted on the support ring 16, the third motor 18 is fixedly mounted on the body 7, the gear 19 is mounted on the output shaft of the third motor 18, and the gear 19 is meshingly connected with the gear ring 17. The controller 20 is mounted on the support ring 16, the sound detector 21, the gas detector 22 and the camera 23 are all mounted on the controller 20, and the camera 23 is provided with a high-definition camera and a far-infrared camera;

[0055] The controller 20 is internally provided with a data receiving module 24, a data analysis module 1 25, a data analysis module 2 26, a data analysis module 3 27 and a data storage module 28;

[0056] The processing mechanism includes a recovery mechanism and an exhaust mechanism, and the recovery mechanism and the exhaust mechanism are both installed in the machine body 7;

[0057] The recovery mechanism includes a multi-stage electric cylinder 29, a bracket 30, a fourth motor 31, a multi-stage electric cylinder 2 32, a camera 33, an air suction pipe 34, an electric cylinder 35, a sliding sleeve 36, multiple groups of support rods 37, multiple groups of connecting rods 38, a rubber sleeve 39, multiple groups of storage tanks 40, a compressor 41, a rotary joint 42, multiple groups of gas pipes 43, multiple groups of electric control valves 44 and a connecting pipe 1 45. The multi-stage electric cylinder 29 is installed on the support ring 16, the bracket 30 is rotatably installed on the top of the multi-stage electric cylinder 29, the fourth motor 31 is fixedly installed on the top of the multi-stage electric cylinder 29, and the output shaft of the fourth motor 31 is connected to the fourth motor 31, one end of the multi-stage electric cylinder 2 32 is fixedly installed on the bracket 30, the camera 33 is installed on the other end of the multi-stage electric cylinder 2 32, the air suction pipe 34 is fixedly installed on the other end of the multi-stage electric cylinder 2 32, the electric cylinder 35 is fixedly installed on the air suction pipe 34, and the sliding sleeve 36 is installed on the multi-stage electric cylinder 2 The sleeve 36 is slidably mounted on the air intake pipe 34, and one end of the electric cylinder 35 is connected to the sleeve 36, one end of multiple groups of support rods 37 are rotatably mounted on the air intake pipe 34, one end of multiple groups of connecting rods 38 are rotatably mounted on the sleeve 36, the other ends of multiple groups of connecting rods 38 are rotatably mounted on multiple groups of support rods 37, rubber sleeves 39 are mounted on multiple groups of support rods 37, multiple groups of storage tanks 40 are mounted inside the machine body 7, the compressor 41 is mounted on the top cover 8, the rotary joint 42 is mounted on the air intake port of the compressor 41, one end of multiple groups of air supply pipes 43 are mounted on the exhaust port of the compressor 41, multiple groups of electric control valves 44 are respectively mounted on multiple groups of air supply pipes 43, and multiple groups of electric control valves 44 are respectively connected to multiple groups of storage tanks 40 through multiple groups of hoses, one end of a connecting pipe 45 is mounted on the air intake pipe 34, and the other end of the connecting pipe 45 is mounted on the rotary joint 42;

[0058] The exhaust mechanism includes a recovery pipe 46, an exhaust pump 47, a stop table 48, a reel shaft 49, a transfer pipe 50, a fifth motor 51, an air supply pipe 52, a drone 53, a nozzle 54 and a second connecting pipe 55. The recovery pipe 46 is installed at the bottom of the machine body 7, and a plurality of air suction holes are provided at the bottom of the recovery pipe 46. The exhaust pump 47 is installed on the top cover 8, the stop table 48 is fixedly installed on the exhaust pump 47, the reel shaft 49 is rotatably installed on the exhaust pump 47, and a rotating connection port is provided at one end of the reel shaft 49, a connection port is provided at the middle of the reel shaft 49, and the exhaust port of the exhaust pump 47 is connected to the air outlet through the transfer pipe. 50 is connected to the rotating connection port of the winding shaft 49, the fifth motor 51 is fixedly installed on the exhaust pump 47, and the output shaft of the fifth motor 51 is connected to the other end of the winding shaft 49, the air supply pipe 52 is wound on the winding shaft 49, and one end of the air supply pipe 52 is connected to the connection port in the middle of the winding shaft 49, the drone 53 is parked on the parking platform 48, the nozzle 54 is installed at the bottom of the drone 53, and the other end of the air supply pipe 52 is installed on the nozzle 54, one end of the connecting pipe 55 is communicated with the inside of the recovery pipe 46, and the other end of the connecting pipe 55 is connected to the air intake port of the exhaust pump 47;

[0059] The top of the external thread seat 3 is provided with a straight opening;

[0060] The signal is transmitted through the connecting line 1, and then sent through the external threaded seat 3. The signal is received by the signal receiver 14. The signal sent by the signal transmitter 4 is then operated, driving the differential 10 to rotate, adjusting the moving direction, and then turning on the first motor 11. The differential 10 transmits the signal to rotate the two sets of drive wheels 12 to move the equipment. At the same time, the third motor 18 is turned on, and the gear 19 is meshed with the gear ring 17 to drive the support ring 16 to rotate, and the position of the controller 20 is adjusted, so that the camera 23 shoots the surroundings, the gas detector 22 detects the surrounding air, and the sound detector 21 detects the surrounding sound. Then the camera 23 and the gas detector 22 are controlled by the controller 20. The detection results of the gas detector 22 and the sound detector 21 are analyzed to determine whether there are faults or leaks in the surrounding equipment and pipelines. Then, the data collected by the camera 23, the gas detector 22 and the sound detector 21 are received through the data receiving module 24, and the data collected by the camera 23 is transmitted to the data analysis module 1 25 through the data receiving module 24, the data collected by the gas detector 22 is transmitted to the data analysis module 2 26 through the data receiving module 24, and the data collected by the sound detector 21 is transmitted to the data analysis module 3 27 through the data receiving module 24. At the same time, the data receiving module 24 also transmits the received data to the signal transmitter 2 15 and the data storage module 28. The data analysis module 1 25 uses a convolutional neural network to analyze and process the image data using a trained model. The data analysis module 2 26 uses a BP neural network to analyze and process the gas data collected by the gas detector 22 using a trained model. The data analysis module 3 27 uses a recurrent neural network to analyze and process the sound data collected by the sound detector 21 using a trained model. After that, the data analysis module 1 25, the data analysis module 2 26 and the data analysis module 3 27 transmit the data analysis results to the data storage module 28 and the signal transmitter 2 15, and transmit the signal to the signal receiver 1 5 through the signal transmitter 2 15, and then transmit the signal to the signal receiver 1 5 through the connecting line. 1 transmits the signal received by the signal receiver 5 to the monitoring room and converts it into data so that the staff can understand the situation in the natural gas station in real time. After the natural gas leak is found, the multi-stage electric cylinder 1 29 is extended or contracted to adjust the height of the suction pipe 34, and then the fourth motor 31 is turned on to drive the bracket 30 to rotate and adjust the position of the suction pipe 34. After that, the multi-stage electric cylinder 2 32 is extended or contracted to make the suction pipe 34 close to the natural gas leak. When the natural gas leak is large, the electric cylinder 35 is contracted to make the sliding sleeve 36 slide on the suction pipe 34. Through the transmission of multiple sets of connecting rods 38, the multiple sets of support rods 37 unfold the rubber sleeve 39 to form a funnel structure, and the compressor 41 is turned on to close the leak and a set of electric control valves 44.The leaked natural gas passes through the rubber sleeve 39, the air intake pipe 34, the connecting pipe 1 45, the rotary joint 42, the compressor 41, a group of gas delivery pipes 43 and a group of electric control valves 44 to enter a group of storage tanks 40 for storage. After a group of storage tanks 40 are filled, a group of electric control valves 44 are closed, and another group of electric control valves 44 are opened to fill another group of storage tanks 40. At the same time, the fifth motor 51 is turned on to loosen the air delivery pipe 52. At the same time, the drone 53 takes off and flies to the explosion-proof vent position on the top of the natural gas station. The exhaust pump 47 is turned on to make the natural gas around the leak flow through the recovery pipe 46, the connecting pipe 2 55, the exhaust pump 47, the transfer pipe 50, the reel shaft 49 and the air delivery pipe 52 in turn, and then the natural gas is sprayed out through the nozzle 54, so that the ventilation system of the natural gas station discharges the natural gas, prevents the accumulation of natural gas, and prevents the occurrence of natural gas explosion, thereby improving the practicality of the equipment.

[0061] The main functions achieved by the present invention are:

[0062] 1. Through the cooperation between the mobile mechanism and the detection mechanism, automatic inspection is realized, the inspection efficiency is improved, and the data is quickly transmitted, which reduces the impact of the operation of surrounding equipment on data transmission;

[0063] 2. Recover and discharge leaked natural gas through treatment facilities to reduce the accumulation of natural gas and prevent explosions;

[0064] 3. Improve the accuracy of equipment analysis on faults and leaks through neural network analysis.

[0065] The installation method, connection method or setting method of the unmanned station intelligent inspection robot system of the present invention are all common mechanical methods, and can be implemented as long as they can achieve their beneficial effects; the electrical components on the unmanned station intelligent inspection robot system are all explosion-proof treated; the signal transmitter 14, signal receiver 15, guide light 6, differential 10, first motor 11, second motor 13, signal receiver 14, signal transmitter 215, third motor 18, controller 20, sound detector 21, gas detector 22, camera 23, multi-stage electric cylinder 1 29, multi-stage electric cylinder 2 32, electric cylinder 35, compressor 41, exhaust pump 47, fifth motor 51 and drone 53 of the unmanned station intelligent inspection robot system of the present invention are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for creative labor by technicians in this field.

[0066] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An unmanned station intelligent inspection robot system, comprising a mobile mechanism; characterized in that: It also includes a detection mechanism and a processing mechanism, both of which are installed on the mobile mechanism; The moving mechanism adjusts the detection position, the detection mechanism detects the natural gas station, and the processing mechanism processes the leaked natural gas.

2. The unmanned station intelligent inspection robot system according to claim 1, characterized in that: The moving mechanism includes a guiding mechanism and a driving mechanism. The guiding mechanism is installed underground in the natural gas station, and the guiding mechanism guides the driving mechanism.

3. The unmanned station intelligent inspection robot system according to claim 2, characterized in that: The guide mechanism comprises a connecting line (1), a plurality of groups of internally threaded pipes (2), a plurality of groups of externally threaded seats (3), a plurality of groups of signal transmitters (4) and a plurality of groups of signal receivers (5); the connecting line (1) is buried underground in a natural gas station; the plurality of groups of internally threaded pipes (2) are installed on the connecting line (1); the plurality of groups of signal transmitters (4) and the plurality of groups of signal receivers (5) are respectively installed inside the plurality of groups of externally threaded seats (3); the plurality of groups of externally threaded seats (3) are respectively threadedly installed in the plurality of groups of internally threaded pipes (2); the tops of the plurality of groups of externally threaded seats (3) are located on the ground; and guide lights (6) are provided at the tops of the plurality of groups of externally threaded seats (3).

4. The unmanned station intelligent inspection robot system according to claim 2, characterized in that: The driving mechanism comprises a body (7), a top cover (8), a plurality of sets of universal wheels (9), a differential (10), a first motor (11), two sets of driving wheels (12), a second motor (13), a first signal receiver (14) and a second signal transmitter (15); a chamber is arranged inside the body (7); an opening is arranged at the top of the body (7); the top cover (8) is mounted on the top of the body (7); the plurality of sets of universal wheels (9) are rotatably mounted on the bottom of the body (7); and the differential (10) is rotatably mounted on the body (7) via a mounting seat. ), a first motor (11) is mounted on the differential (10), and an output shaft of the first motor (11) is connected to an input end of the differential (10), two sets of driving wheels (12) are respectively mounted on two sets of output shafts of the differential (10), a second motor (13) is mounted inside the body (7), and an output shaft of the second motor (13) is connected to the top of the mounting seat, a signal receiver (14) is mounted on the first motor (11), and a signal transmitter (15) is mounted on the differential (10).

5. The unmanned station intelligent inspection robot system according to claim 4, characterized in that: The detection mechanism comprises a support ring (16), a gear ring (17), a third motor (18), a gear (19), a controller (20), a sound detector (21), a gas detector (22) and a camera (23); the support ring (16) is rotatably mounted on the machine body (7); the gear ring (17) is fixedly mounted on the support ring (16); the third motor (18) is fixedly mounted on the machine body (7); the gear (19) is mounted on the output shaft of the third motor (18); the gear (19) and the gear ring (17) are meshingly connected; the controller (20) is mounted on the support ring (16); the sound detector (21), the gas detector (22) and the camera (23) are all mounted on the controller (20); and the camera (23) is provided with a high-definition camera and a far-infrared camera.

6. The unmanned station intelligent inspection robot system according to claim 5, characterized in that: The controller (20) is internally provided with a data receiving module (24), a data analysis module 1 (25), a data analysis module 2 (26), a data analysis module 3 (27) and a data storage module (28).

7. The unmanned station intelligent inspection robot system according to claim 4, characterized in that: The processing mechanism comprises a recovery mechanism and an exhaust mechanism, and both the recovery mechanism and the exhaust mechanism are installed in the machine body (7).

8. The unmanned station intelligent inspection robot system according to claim 7, characterized in that: The recovery mechanism comprises a multi-stage electric cylinder 1 (29), a bracket (30), a fourth motor (31), a multi-stage electric cylinder 2 (32), a camera (33), an air suction pipe (34), an electric cylinder (35), a sliding sleeve (36), a plurality of support rods (37), a plurality of connecting rods (38), a rubber sleeve (39), a plurality of storage tanks (40), a compressor (41), a rotary joint (42), a plurality of air delivery pipes (43), a plurality of electric control valves (44) and a connecting pipe 1 (45). The multi-stage electric cylinder 1 (29) is installed on the support ring (1 6), the bracket (30) is rotatably mounted on the top of the multi-stage electric cylinder (29), the fourth motor (31) is fixedly mounted on the top of the multi-stage electric cylinder (29), and the output shaft of the fourth motor (31) is connected to the fourth motor (31), one end of the multi-stage electric cylinder (32) is fixedly mounted on the bracket (30), the camera (33) is mounted on the other end of the multi-stage electric cylinder (32), the suction pipe (34) is fixedly mounted on the other end of the multi-stage electric cylinder (32), and the electric cylinder (35) is fixedly mounted on the suction pipe (3 4), a sleeve (36) is slidably mounted on the suction pipe (34), and one end of the electric cylinder (35) is connected to the sleeve (36), one end of a plurality of support rods (37) are rotatably mounted on the suction pipe (34), one end of a plurality of connecting rods (38) are rotatably mounted on the sleeve (36), the other ends of the plurality of connecting rods (38) are rotatably mounted on the plurality of support rods (37), rubber sleeves (39) are mounted on the plurality of support rods (37), a plurality of storage tanks (40) are mounted inside the machine body (7), and the compressor (41) is installed on the top cover (8), the rotary joint (42) is installed on the air intake port of the compressor (41), one end of the multiple air supply pipes (43) are installed on the exhaust port of the compressor (41), the multiple electric control valves (44) are respectively installed on the multiple air supply pipes (43), and the multiple electric control valves (44) are respectively connected to the multiple storage tanks (40) through multiple hoses, one end of the connecting pipe (45) is installed on the air intake pipe (34), and the other end of the connecting pipe (45) is installed on the rotary joint (42).

9. The unmanned intelligent inspection robot system for a station as claimed in claim 7, characterized in that: The exhaust mechanism comprises a recovery pipe (46), an exhaust pump (47), a stop platform (48), a reel shaft (49), a transfer pipe (50), a fifth motor (51), an air supply pipe (52), a drone (53), a nozzle (54) and a second connecting pipe (55); the recovery pipe (46) is mounted on the bottom of the machine body (7), and a plurality of air suction holes are arranged at the bottom of the recovery pipe (46); the exhaust pump (47) is mounted on the top cover (8), the stop platform (48) is fixedly mounted on the exhaust pump (47), the reel shaft (49) is rotatably mounted on the exhaust pump (47), and a rotating connection port is arranged at one end of the reel shaft (49), a connection port is arranged at the middle of the reel shaft (49), and the exhaust port of the exhaust pump (47) is connected to the exhaust port through the rotation. The connecting pipe (50) is connected to the rotating connection port of the winding shaft (49), the fifth motor (51) is fixedly mounted on the exhaust pump (47), and the output shaft of the fifth motor (51) is connected to the other end of the winding shaft (49), the air supply pipe (52) is wound on the winding shaft (49), and one end of the air supply pipe (52) is connected to the connection port in the middle of the winding shaft (49), the drone (53) is parked on the parking platform (48), the nozzle (54) is installed at the bottom of the drone (53), and the other end of the air supply pipe (52) is installed on the nozzle (54), one end of the connecting pipe (55) is communicated with the inside of the recovery pipe (46), and the other end of the connecting pipe (55) is connected to the air intake port of the exhaust pump (47).

10. The unmanned intelligent inspection robot system for a station as claimed in claim 3, characterized in that: The top of the external thread seat (3) is provided with a straight opening.

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