Anti-explosion intelligent inspection robot

Abstract

The invention relates to the technical field of anti-explosion robots, in particular to an anti-explosion intelligent inspection robot. The inspection cabin comprises a cabin body, a transmission wheel set, a control module and an inspection sensor set, the cabin body is provided with an upper cabin and a lower cabin. A battery pack is arranged in the lower cabin. A control module is arranged in the upper cabin; partial components of the inspection sensor group are arranged in the upper cabin, and the rest components are arranged above the cabin body; the transmission wheel set comprises a walking mechanism and a steering mechanism. A cable channel penetrating through the steering shaft is formed in each steering mechanism, so that a power line or a signal line can penetrate through the cable channel and is not exposed outside; the bottom of the cabin body is provided with four butt joint sockets which are symmetrically distributed, and the butt joint sockets are connected with the butt joint plugs in a matched mode. According to the anti-explosion intelligent robot, rapid dismounting and mounting of the transmission wheel set and omni-directional movement of the anti-explosion intelligent robot can be achieved, the phenomena of cable abrasion, breakage and the like caused by frequent steering of the robot are effectively avoided, the service life of the cable and the service life of the robot are prolonged, and the maintenance cost of the robot is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of explosion-proof robots, and more particularly, to an explosion-proof intelligent inspection robot. Background Art

[0002] With the rapid development of industrial automation and intelligence, inspection robots are increasingly widely used in the industrial field. In special industries such as oil, natural gas, chemical engineering, and metallurgy, due to the existence of flammable and explosive gases or dust, extremely high requirements are imposed on the explosion-proof performance of inspection robots. However, existing inspection robots still have deficiencies in explosion-proof design, flexibility, and maintenance convenience. For example, the traditional four-wheel differential drive method is prone to problems such as position drift and poor control accuracy in complex environments, and the disassembly and assembly maintenance of the wheel set is relatively cumbersome, affecting the use efficiency and reliability of the robot. Summary of the Invention

[0003] The purpose of the present invention is to provide an explosion-proof intelligent inspection robot that can solve the above technical problems.

[0004] The present invention provides an explosion-proof intelligent inspection robot, which includes a cabin body, a transmission wheel set, a control module, and an inspection sensor set;

[0005] The cabin body has an upper cabin and a lower cabin. The lower cabin houses the battery pack for supplying power to the control module, the inspection sensor set, and the transmission wheel set; the upper cabin houses the control module, and the control module is signal-connected to the inspection sensor set and the transmission wheel set;

[0006] Some components of the inspection sensor set are arranged in the upper cabin, and the remaining components are arranged above the cabin body for detecting surrounding environment information;

[0007] The transmission wheel set includes a traveling mechanism and a steering mechanism;

[0008] The traveling mechanism includes a traveling motor, a speed reducer, a traveling housing, wheels, a first explosion-proof sleeve, and a steering limit block;

[0009] The traveling motor is connected to the speed reducer, and the output end of the speed reducer is connected to the wheels; the traveling housing is a hollow structure, and a part of the hollow structure is used to arrange the traveling motor, and the other part is used to lay cables; the steering limit block is installed at the upper end of the traveling housing for restricting the steering range of the traveling mechanism; the first explosion-proof sleeve is installed between the traveling housing and the speed reducer for realizing the explosion-proof function;

[0010] The steering mechanism includes a steering housing, a steering motor, a motor transmission shaft, a steering shaft, a second explosion-proof sleeve, and a docking plug;

[0011] The output end of the steering motor is connected to one end of the motor transmission shaft, the other end of the motor transmission shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the walking housing; the docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor for realizing the explosion-proof function;

[0012] A cable channel penetrating the steering shaft is provided inside the steering mechanism, enabling power lines or signal lines to pass through the cable channel without being exposed outside;

[0013] Four symmetrically distributed docking sockets are provided at the bottom of the cabin body, and the docking sockets cooperate with the docking plugs to realize the modular connection between the cabin body and the transmission wheel set.

[0014] In a preferred embodiment, a first guiding structure is provided at the circumferential edge of the docking socket, a second guiding structure matching the first guiding structure is provided around the docking plug, and the steering housing is detachably fixed to the docking socket through the cooperation of the second guiding structure and the first guiding structure.

[0015] In a preferred embodiment, the first guiding structure is a plurality of guiding holes, and the second guiding structure is a plurality of guiding columns;

[0016] Or,

[0017] The first guiding structure is a plurality of guiding columns, and the second guiding structure is a plurality of guiding holes;

[0018] The guiding columns and the guiding holes are in one-to-one matching.

[0019] In a preferred embodiment, anti-misconnection structures are provided at both the docking plug and the docking socket.

[0020] In a preferred embodiment, the cabin body and the walking wheel set are detachably connected by bolts.

[0021] In a preferred embodiment, the inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm. The probe of the gas detection sensor extends to the outside of the cabin body, and the detection end of the temperature and humidity sensor is arranged at the ventilation grille on the side wall of the lower cabin.

[0022] In a preferred embodiment, the inspection sensor group further includes an explosion-proof lidar, an explosion-proof TOF, an explosion-proof speaker, an explosion-proof integrated pan-tilt, an explosion-proof microphone, and an antenna arranged above the cabin body.

[0023] In a preferred embodiment, the explosion-proof lidar, inertial measurement unit, and vision system form a SLAM system.

[0024] In a preferred embodiment, the explosion-proof intelligent inspection robot further includes a wireless charging component, and the wireless charging component is connected to the battery pack.

[0025] In a preferred embodiment, a solid-state lidar is also provided in the upper cabin.

[0026] The beneficial effects of the embodiments of the present invention are as follows:

[0027] Modular connection between the drive wheel set and the cabin body enables rapid disassembly and assembly of the drive wheel set, facilitating on-site maintenance of the explosion-proof intelligent inspection robot; the cables are connected through the cooperation of four pairs of mating docking sockets and docking plugs; omnidirectional movement of the explosion-proof intelligent robot is achieved, improving the flexibility and passability of the robot; the cables of the drive wheel set are built-in, effectively avoiding problems such as cable wear and breakage caused by frequent turning of the robot, and increasing the service life of the cables and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 Schematic three-dimensional structure diagram of the explosion-proof intelligent inspection robot provided by the embodiment of the present invention;

[0030] Figure 2 Another perspective schematic three-dimensional structure diagram of the explosion-proof intelligent inspection robot provided by the embodiment of the present invention;

[0031] Figure 3 Schematic structure diagram of the cabin body of the explosion-proof intelligent inspection robot provided by the embodiment of the present invention;

[0032] Figure 4 For Figure 3 Local enlarged view of point A of

[0033] Figure 5 Schematic structure diagram of the walking wheel set of the explosion-proof intelligent inspection robot provided by the embodiment of the present invention;

[0034] Figure 6 Schematic structure diagram of the walking mechanism of the explosion-proof intelligent inspection robot provided by the embodiment of the present invention;

[0035] Figure 7 Cross-sectional view of the traveling mechanism of the explosion-proof intelligent inspection robot provided by an embodiment of the present invention (the section is in the vertical direction passing through the wheel axle);

[0036] Figure 8 Structural schematic diagram of the steering mechanism of the explosion-proof intelligent inspection robot provided by an embodiment of the present invention;

[0037] Figure 9 Cross-sectional view of the steering mechanism of the explosion-proof intelligent inspection robot provided by an embodiment of the present invention (the section is the same as the Figure 7 plane where it is located).

[0038] Icon: 1 - cabin; 2 - traveling wheel set; 3 - explosion-proof lidar; 4 - explosion-proof TOF; 5 - explosion-proof speaker; 6 - explosion-proof integrated pan-tilt; 7 - audible and visual alarm; 8 - explosion-proof microphone; 9 - gas detection device; 10 - antenna; 11 - upper cabin; 12 - lower cabin; 13 - docking socket; 14 - guide post; 15 - steering mechanism; 16 - traveling mechanism; 17 - docking plug; 18 - guide hole; 19 - traveling housing; 20 - wheel; 21 - steering limit block; 22 - hole cover; 23 - hub cover; 24 - tire; 25 - traveling motor; 26 - first explosion-proof sleeve; 27 - reducer; 28 - hub; 29 - steering housing; 30 - upper cover; 31 - steering motor; 32 - motor transmission shaft; 33 - steering shaft; 34 - bearing; 35 - second explosion-proof sleeve. Detailed implementation manners

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0041] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0042] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is customarily placed. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0043] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0044] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0045] The following Figures 1-9 will be used to describe in detail some embodiments of the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0046] The present invention provides an explosion-proof intelligent inspection robot, as Figure 1 and Figure 2 shown, which includes a cabin 1, a transmission wheel set, a control module, and an inspection sensor set; the cabin 1 has an upper cabin 11 and a lower cabin 12, and the lower cabin 12 is internally provided with the battery pack for supplying power to the control module, the inspection sensor set, and the transmission wheel set; the upper cabin 11 is internally provided with the control module, and the control module is signal-connected to the inspection sensor set and the transmission wheel set; some components of the inspection sensor set are arranged in the upper cabin 11, and the rest of the components are arranged above the cabin 1 for detecting the surrounding environment information;

[0047] The drive wheel set includes a traveling mechanism 16 and a steering mechanism 15; the traveling mechanism 16 includes a traveling motor 25, a speed reducer 27, a traveling housing 19, wheels 20, a first explosion-proof sleeve 26 and a steering limit block 21; the traveling motor 25 is connected to the speed reducer 27, and the output end of the speed reducer 27 is connected to the wheels 20; the traveling housing 19 is of a hollow structure, a part of the hollow structure is used to arrange the traveling motor 25, and the other part is used to lay cables; the steering limit block 21 is installed at the upper end of the traveling housing 19 for limiting the steering range of the traveling mechanism 16; the first explosion-proof sleeve 26 is installed between the traveling housing 19 and the speed reducer 27 for realizing the explosion-proof function; the steering mechanism 15 includes a steering housing 29, a steering motor 31, a motor transmission shaft 32, a steering shaft 33, a second explosion-proof sleeve 35 and a docking plug 17; the output end of the steering motor 31 is connected to one end of the motor transmission shaft 32, the other end of the motor transmission shaft 32 is connected to one end of the steering shaft 33, and the other end of the steering shaft 33 is connected to the traveling housing 19; the docking plug 17 is installed on the steering housing 29 for docking with the socket of the robot body; the second explosion-proof sleeve 35 is installed between the steering housing 29 and the steering motor 31 for realizing the explosion-proof function; a cable channel penetrating the steering shaft 33 is provided inside the steering mechanism 15, enabling power lines or signal lines to pass through the cable channel without being exposed outside; four symmetrically distributed docking sockets 13 are provided at the bottom of the cabin 1, and the docking sockets 13 cooperate with the docking plugs 17 to realize the modular connection between the cabin 1 and the drive wheel set.

[0048] In this embodiment, the modular connection between the cabin 1 and the drive wheel set makes the drive wheel set easier to disassemble, assemble and maintain, improves the maintenance efficiency and reduces the maintenance cost.

[0049] In this embodiment, the modular connection method is to provide docking sockets 13 on the cabin 1 and docking plugs 17 on the steering housing 29 of the drive wheel set. Through the connection between the docking plugs 17 and the docking sockets 13, the electrical connection between the battery pack and the control module inside the cabin 1 and the drive wheel set is realized, facilitating the power supply and control of the drive wheel set.

[0050] In this embodiment, the traveling wheel set 2 includes a steering and traveling mechanism 16 and a steering mechanism 15. The steering housing 29 of the steering mechanism 15 is connected to the cabin 1, and the traveling mechanism 16 is connected to the steering mechanism 15, enabling steering under the action of the steering mechanism 15 and driving the explosion-proof intelligent inspection robot to turn; the movement of the traveling mechanism 16 itself can drive the explosion-proof intelligent inspection robot to move.

[0051] The four groups of traveling wheel sets 2 correspond to four docking sockets 13. Thus, with the cooperation of the traveling mechanism 16 and the steering mechanism 15, the all-directional movement of the robot is realized, enabling the robot to smoothly pass through narrow roads or complex road conditions with small turning spaces, and meeting the application requirements of multiple working scenarios.

[0052] Through modular setting, the overall structure of the robot is compact, with a small volume, excellent passing performance, flexible control, smooth driving and low noise.

[0053] In this embodiment, the traveling mechanism 16 includes a traveling motor 25, a speed reducer 27, a traveling housing 19, wheels 20, a hole cover 22, a first explosion-proof sleeve 26 and a steering limit block 21. Among them, the traveling motor 25 is fixed in the traveling housing 19 by bolts, and its output shaft is connected to the input end of the speed reducer 27; the output end of the speed reducer 27 is connected to the wheels 20, thereby transmitting power to the wheels 20 to drive the wheels 20 to rotate; the traveling housing 19 is a hollow structure, one part is used to accommodate the traveling motor 25, and the other part is used to arrange cables to ensure the neatness and safety of the cables; a maintenance hole is provided on the side of the traveling housing 19, and the hole cover 22 is fixed on the traveling housing 19 by bolts to cover the maintenance hole for daily maintenance and repair; the steering limit block 21 is installed on the upper end of the traveling housing 19 by bolts to limit the steering range of the traveling mechanism 16 and prevent excessive steering; the first explosion-proof sleeve 26 is installed between the traveling housing 19 and the speed reducer 27 and fixed by bolts to achieve the explosion-proof function and ensure safe use in explosion-proof places.

[0054] In this embodiment, the steering mechanism 15 includes a steering housing 29, a steering motor 31, a motor drive shaft 32, a steering shaft 33, a second explosion-proof sleeve 35, an upper cover 30 and a docking plug 17. Among them, the steering motor 31 is fixed in the steering housing 29 by bolts, and its output end is connected to one end of the motor drive shaft 32; the other end of the motor drive shaft 32 is connected to one end of the steering shaft 33, and the other end of the steering shaft 33 is connected to the traveling housing 19, thereby realizing the steering function; an observation hole is provided on the steering housing 29, and the upper cover 30 is fixed on the steering housing 29 by bolts to cover the observation hole for observing the operating state of the steering mechanism 15. The docking plug 17 is installed on the steering housing 29 for docking with the socket of the robot body to achieve electrical connection; the second explosion-proof sleeve 35 is installed between the steering housing 29 and the steering motor 31 and fixed by bolts to achieve the explosion-proof function and ensure safe use in explosion-proof places.

[0055] In this embodiment, the steering motor 31 is an integrated joint motor with a hollow interior that can be used for the passage of cables. At this time, the housing of the rotating motor is the steering housing 29, which cooperates with the traveling housing 19 to avoid cable exposure.

[0056] In this embodiment, the traveling motor 25, in combination with the speed reducer 27, provides effective driving force for the traveling mechanism 16; a steering limit block 21 is provided at the upper end of the traveling mechanism 16 to limit the steering range of the traveling mechanism 16 to within ±90° as a mechanical limit.

[0057] In this embodiment, the wheel 20 includes a hub 28, a tire 24, and a hub cap 23; the hub 28 is connected to the output end of the speed reducer 27, and the tire 24 is mounted on the hub 28; the hub cap 23 is mounted on the outside of the hub 28 to protect the connection part of the hub 28 and the speed reducer 27.

[0058] In this embodiment, the traveling mechanism 16 adopts an explosion-proof form of flameproof type with an explosion-proof grade of IIC; the traveling housing 19 and the hub 28 of the wheel 20 are made of aluminum alloy, which has high strength and light weight.

[0059] In this embodiment, the connection between the steering shaft 33 and the steering housing 29 adopts a bearing 34 connection method. This connection method not only improves the flexibility and accuracy of steering, but also enhances the reliability and durability of the entire module.

[0060] The steering shaft 33 is a key component of the steering mechanism 15, which is used to transmit the power of the steering motor 31 to realize the steering of the traveling housing 19. One end of the steering shaft 33 is connected to the motor drive shaft 32, and the other end is connected to the traveling housing 19 through the bearing 34.

[0061] The steering housing 29 is a hollow structure for accommodating the steering motor 31 and arranging cables. A bearing 34 mounting hole is provided at its lower part for mounting the bearing 34 to ensure that the steering shaft 33 can rotate smoothly therein.

[0062] In this embodiment, both the motor drive shaft 32 and the steering shaft 33 adopt a hollow shaft setting method. This setting method not only optimizes the space utilization, but also improves the reliability and maintenance convenience of the entire transmission module, reduces the weight, enhances the safety, and improves the performance of the entire module.

[0063] The bearing 34 is a key component connecting the steering shaft 33 and the traveling housing 19. The bearing 34 is usually a high-precision rolling bearing 34, which can withstand large radial and axial loads to ensure the stability and accuracy of the steering shaft 33 during high-speed operation. The outer ring of the bearing 34 is installed inside the steering housing 29 by interference fit and fixed by bolts, and the inner ring of the bearing 34 is fitted with the steering shaft 33 and fixed by bolts. In this embodiment, the bearing 34 is a crossed roller bearing 34.

[0064] When the steering shaft 33 is installed on the steering housing 29, the outer ring of the bearing 34 is fixed to the steering housing 29 by bolts, the inner ring of the bearing 34 is fixed to one end of the steering shaft 33 by bolts, and a sealing groove is provided on the end face of the steering shaft 33 for installing a sealing ring, ensuring the firmness and tightness of the connection. The other end of the steering shaft 33 is connected to the motor drive shaft 32, and power transmission is achieved through splines or bolts.

[0065] In a preferred embodiment, a first guiding structure is provided on the circumferential edge of the docking socket 13, a second guiding structure matching the first guiding structure is provided around the docking plug 17, and the steering housing is detachably fixed to the docking socket 13 through the cooperation of the second guiding structure and the first guiding structure.

[0066] In this embodiment, the first guiding structure and the second guiding structure are arranged in a matching manner, enabling the docking plug 17 to be smoothly docked with the docking socket 13 and ensuring the accuracy and stability of the connection.

[0067] In a preferred embodiment, the first guiding structure is a plurality of guiding holes 18, and the second guiding structure is a plurality of guiding posts 14; alternatively, the first guiding structure is a plurality of guiding posts 14, and the second guiding structure is a plurality of guiding holes 18; the guiding posts 14 are in one-to-one match with the guiding holes.

[0068] In this embodiment, the first guiding structure and the second guiding structure are respectively the guiding holes 18 and the guiding posts 14, which are respectively arranged on the cabin body 1 and the steering housing 29. The guiding posts 14 can be arranged on the cabin body 1, or on the steering housing 29, or there can be guiding holes 18 on both the cabin body 1 and the steering housing 29. As long as there are guiding holes 18 at relative positions such that the guiding holes 18 can be inserted into the guiding posts 14, the guiding and positioning between the docking plug 17 and the docking socket 13 can be achieved.

[0069] In this embodiment, the depth of the guiding holes 18 is greater than the depth of the docking socket 13, enabling the docking plug 17 to be completely inserted into the docking socket 13 and ensuring the stability of the connection.

[0070] In this embodiment, an anti-misconnection structure is also provided on the docking plug 17 for ensuring that the docking plug 17 can be correctly and safely connected to the docking socket 13 on the cabin body and preventing electrical failures or damages caused by misinsertion.

[0071] In this embodiment, the anti-misconnection structure can adopt the following several forms:

[0072] Shape anti-misconnection: The contact parts of the plug and the socket are designed with an asymmetric shape, such as rectangular, cross-shaped, or L-shaped, etc. Only when the shapes of the plug and the socket are completely matched can a correct connection be achieved. This design effectively prevents misinsertion through the limitation of the physical shape.

[0073] Slot and block: Slots and blocks are respectively arranged on the contact surfaces of the plug and the socket. The shapes and sizes of the slots and blocks match each other. Only when the slots and blocks are correctly docked can the plug be fully inserted into the socket. This design ensures the accuracy of the connection through the limitation of the mechanical structure.

[0074] Color identification: Different color identifications are respectively set on the plug and the socket to help the operator make a correct connection through visual cues. For example, the plug is red and the socket is blue. Only when the red plug is aligned with the blue socket can the connection be made. This design reduces misinsertion caused by visual errors through color differentiation.

[0075] In a preferred embodiment, anti-error structures are provided at both the docking plug and the docking socket.

[0076] The anti-error structure provided in this embodiment not only ensures the correct connection between the docking plug 17 and the docking socket 18 on the cabin body, but also improves the safety and reliability of the operation, simplifies the operation process, and enhances the durability of the entire system.

[0077] In a preferred embodiment, the cabin body 1 and the walking wheel set 2 are detachably connected by bolts.

[0078] After the docking plug 17 is inserted into the docking socket 18, the walking wheel set is fixed to the cabin body 1 by bolts, thereby ensuring the stability of the walking wheel set 2 during the walking process.

[0079] It can be understood that in this embodiment, the connection method between the cabin body 1 and the walking wheel set 2 is bolt connection, but it is not limited to only this bolt connection method. It can also be other fixed connection methods, such as snap connection, etc., as long as it can achieve the detachable connection between the cabin body 1 and the walking wheel set 2.

[0080] In a preferred embodiment, the inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm 7. The probe of the gas detection sensor extends to the outside of the cabin body 1, and the detection end of the temperature and humidity sensor is arranged at the ventilation grille on the side wall of the lower cabin 12.

[0081] In this embodiment, the gas detection sensor is used to detect the concentration of the corresponding gas in the environment and timely discover potential safety hazards.

[0082] During installation, the gas detection sensor is fixed on the upper cabin 11 and is used to detect the concentration of corresponding gases in the external environment of the cabin body 1.

[0083] In this embodiment, the temperature and humidity sensor is used to detect the temperature and humidity of the gas in the external environment and provide real-time monitoring data.

[0084] In this embodiment, the audible and visual alarm 7 is used to give an alarm when there is a system failure, instrument abnormality, a high concentration of harmful gases in the environment, the environmental temperature is too high exceeding the set high-temperature threshold, etc., and notify the corresponding personnel to make timely responses.

[0085] In a preferred embodiment, the inspection sensor group further includes an explosion-proof lidar 3, an explosion-proof TOF 4, an explosion-proof speaker 5, an explosion-proof integrated pan-tilt 6, an explosion-proof microphone 8 and an antenna 10 arranged above the cabin body 1.

[0086] In this embodiment, the explosion-proof TOF 4 is arranged around the robot shell. Combined with the solid-state lidar installed at the front end of the robot, it can be used for robot obstacle avoidance and anti-falling.

[0087] In this embodiment, the explosion-proof speaker 5 cooperates with the explosion-proof microphone 8 to enable two-way voice intercom between the robot end and the remote control end, so that the operator can understand the on-site sound information in real time and communicate.

[0088] In this embodiment, the explosion-proof integrated pan-tilt 6 is installed on the top of the explosion-proof intelligent inspection robot and is used for collecting video information, laser methane detection, infrared thermal imaging, etc. It can achieve horizontal scanning and pitching rotation to achieve the ability of omnidirectional monitoring.

[0089] In this embodiment, the antenna 10 is fixed above the cabin body 1 and extends upward by a certain height, which can increase the transmission distance and transmission intensity of the control signal.

[0090] In a preferred embodiment, the explosion-proof lidar 3, the inertial measurement unit and the vision system form a SLAM system.

[0091] The full name of the SLAM system is Simultaneous Localization and Mapping, which is mainly used to solve the problems of robot positioning and map construction in an unknown environment. SLAM constructs an environmental map in real time by integrating multiple sensors (such as lidar, camera, etc.) and simultaneously determines the position and attitude of the robot itself.

[0092] The SLAM system realizes its functions through the following key modules:

[0093] Sensor data: Collect raw data in the environment, such as laser scan data, video image data, point cloud data, etc.

[0094] Visual odometry: Estimate the relative position of a moving object at different times.

[0095] Backend optimization: Improve the accuracy of positioning and mapping through optimization algorithms.

[0096] Mapping: Construct a map model of the environment.

[0097] Loop closure detection: Detect whether the robot has returned to a previously visited location to correct cumulative errors.

[0098] In this embodiment, the explosion-proof lidar 3 is installed on the top of the robot to scan the surrounding environment, obtain distance and angle information, and generate two-dimensional or three-dimensional point cloud data of the environment. It has explosion-proof function and can work safely in an environment with flammable and explosive gases; the inertial measurement unit is installed inside the robot to measure and report the acceleration and angular velocity of the robot itself, provide the attitude information of the robot, and help compensate for the deviation of the lidar data caused by the movement of the robot; the vision system includes multiple cameras installed at different positions of the robot to capture environmental images, provide rich visual feature information, and assist the lidar in environmental perception and positioning.

[0099] Through the SLAM system composed of the explosion-proof lidar 3, inertial measurement unit and vision system, the explosion-proof robot can achieve precise autonomous positioning and navigation in a complex environment, timely detect equipment abnormalities and gas leakage, and improve the inspection efficiency and safety.

[0100] In a preferred embodiment, the explosion-proof intelligent inspection robot further includes a wireless charging component, and the wireless charging component is connected to the battery pack.

[0101] In this embodiment, wireless charging of the battery pack in the lower cabin 12 is achieved through the wireless charging component, which can reduce the operation difficulty of charging and improve the usability.

[0102] The beneficial effects of the embodiments of the present invention are:

[0103] Modular connection between the transmission wheel set and the cabin 1 can achieve quick disassembly and assembly of the transmission wheel set, facilitating on-site maintenance of the explosion-proof intelligent inspection robot; through the cooperation of four pairs of mating docking sockets 13 and docking plugs 17, omnidirectional movement of the explosion-proof intelligent robot is achieved, improving the flexibility and passability of the robot; the cables of the transmission wheel set are built-in, which can effectively avoid problems such as cable wear and breakage caused by frequent turning of the robot, and improve the service life of the cables and the robot.

[0104] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An explosion-proof intelligent inspection robot, characterized in that: It includes a cabin, a transmission wheel set, a control module and a patrol sensor set; The cabin body has an upper cabin and a lower cabin, and the lower cabin has a built-in battery pack for supplying power to the control module, the inspection sensor group and the transmission wheel group; The control module is built into the upper cabin, and the control module is connected to the inspection sensor group and the transmission wheel group by signals; Some components of the inspection sensor group are arranged in the upper cabin, and the remaining components are arranged above the cabin body, for detecting surrounding environment information; The transmission wheel set includes a walking mechanism and a steering mechanism; The travel mechanism comprises a travel motor, a reducer, a travel housing, wheels, a first flameproof sleeve and a steering limit block; The travel motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the travel housing is a hollow structure, a part of which is used to set the travel motor, and the other part is used to arrange cables; the steering limit block is installed at the upper end of the travel housing to limit the steering range of the travel mechanism; the first flameproof sleeve is installed between the travel housing and the reducer to achieve the flameproof function; The steering mechanism comprises a steering housing, a steering motor, a motor transmission shaft, a steering shaft, a second flameproof sleeve and a docking plug; The output end of the steering motor is connected to one end of the motor transmission shaft, the other end of the motor transmission shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the traveling housing; The docking plug is installed on the steering housing and is used to dock with the socket of the robot body; the second flameproof sleeve is installed between the steering housing and the steering motor to achieve the flameproof function; The steering mechanism is provided with a cable channel penetrating the steering shaft, so that the power line or the signal line can pass through the cable channel without being exposed outside; The bottom of the cabin is provided with four symmetrically distributed docking sockets, and the docking sockets cooperate with the docking plugs to achieve a modular connection between the cabin and the transmission wheel set.

2. The explosion-proof intelligent inspection robot according to claim 1, characterized in that: A first guide structure is provided on the circumferential edge of the docking socket, a second guide structure matching the first guide structure is provided around the docking plug, and the steering housing is detachably fixed to the docking socket through the cooperation between the second guide structure and the first guide structure.

3. The explosion-proof intelligent inspection robot according to claim 2, characterized in that: The first guide structure is a plurality of guide holes, and the second guide structure is a plurality of guide posts; or, The first guide structure is a plurality of guide posts, and the second guide structure is a plurality of guide holes; The guide posts are matched one by one with the guide holes.

4. The explosion-proof intelligent inspection robot according to claim 2, characterized in that: The docking plug and the docking socket are both provided with error-proof structures.

5. The explosion-proof intelligent inspection robot according to claim 1, characterized in that: The cabin body and the running wheel set are detachably connected via bolts.

6. The explosion-proof intelligent inspection robot according to claim 1, characterized in that: The inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm. The probe of the gas detection sensor extends to the outside of the cabin, and the detection end of the temperature and humidity sensor is arranged at the ventilation grille of the side wall of the lower cabin.

7. The explosion-proof intelligent inspection robot according to claim 6, characterized in that: The inspection sensor group also includes an explosion-proof laser radar, an explosion-proof TOF, an explosion-proof speaker, an explosion-proof integrated pan / tilt, an explosion-proof microphone and an antenna, which are arranged above the cabin.

8. The explosion-proof intelligent inspection robot according to claim 7, characterized in that: The explosion-proof laser radar, inertial measurement unit and visual system form a SLAM system.

9. The explosion-proof intelligent inspection robot according to claim 1, characterized in that: It also includes a wireless charging component, which is connected to the battery pack.

10. The explosion-proof intelligent inspection robot according to claim 1, characterized in that: A solid-state laser radar is also provided in the upper cabin.

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