Intelligent inspection robot

Abstract

The invention discloses an intelligent inspection robot, and relates to the technical field of robots. An intelligent inspection robot comprises an internally sealed robot shell and a monitoring module arranged at the end of the robot shell, and further comprises a fluid counter-acting force driving part rotationally arranged on the side wall of the robot shell; the storage box is arranged in the robot shell; the moving wheel set is arranged at the bottom of the robot shell; when the fluid reaction force driving part is parallel to the horizontal plane, the robot shell is driven to fly in the air; when the interior of the storage box is in an empty box state, the robot shell falls into water and floats on the water surface; the robot has four working modes of flying, ground walking, water surface moving and diving moving, so that the robot can be suitable for various complex inspection environments, the application range of the robot is greatly expanded through the multi-mode moving capacity, the flexibility and comprehensiveness of inspection are improved, and meanwhile the inspection cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and more specifically, relates to an intelligent inspection robot. Background Art

[0002] An intelligent inspection robot is based on intelligent technology, has programmability, can simulate manual operations, and replace traditional manual inspections. It is equipped with various sensors (such as infrared, temperature and humidity, gas concentration, etc.) and a navigation system, and combines algorithms to achieve autonomous decision-making and task execution, and is widely used in fields such as power, petrochemical, and rail transit.

[0003] Traditional inspection equipment includes unmanned aerial vehicles, underwater robots, and ground robots. Among them, unmanned aerial vehicles can only perform aerial tasks and cannot handle underwater or ground scenarios; underwater robots rely on thrusters and buoyancy adjustment devices (such as compressed gas storage tanks or mechanical pistons), with complex structures and cannot operate outside the water; ground robots are limited by terrain obstacles and are difficult to cover water areas or high-altitude areas. Therefore, multiple devices need to cooperate for multi-scenario tasks, resulting in high costs, cumbersome operations, and low response efficiency in complex environments (such as floods, chemical plant leaks). In view of the above problems, an intelligent inspection robot is proposed here. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an intelligent inspection robot that can overcome the above problems or at least partially solve the above problems.

[0005] To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] An intelligent inspection robot includes a robot housing with an internal seal and a monitoring module provided at the end of the robot housing, and further includes: a fluid reaction force driving part rotatably provided on the side wall of the robot housing; a storage tank provided inside the robot housing; a moving wheel set provided at the bottom of the robot housing; when the fluid reaction force driving part is parallel to the horizontal plane, it drives the robot housing to fly in the air; when the storage tank is in an empty state, the robot housing falls into the water and floats on the water surface; when the storage tank is pumped with liquid, the robot housing sinks into the water from the water surface; when the fluid reaction force driving part rotates 90° downward from the horizontal state, the fluid reaction force driving part drives the robot housing to move in the water; when the fluid reaction force driving part rotates 90° upward from the horizontal state and the moving wheel set lands on the ground, the fluid reaction force driving part drives the robot housing to move on the ground.

[0007] As a preferred embodiment of the present invention: the monitoring module includes a transparent cone head fixedly mounted on the end of the robot shell, a guide tube is fixedly mounted on the transparent cone head, the guide tube is Y-shaped, a detection sensor is fixedly mounted on the guide tube, and a visual detector is fixedly mounted in the closed chamber of the transparent cone head.

[0008] As a preferred embodiment of the present invention: the fluid reaction force driving unit includes a front driving unit and a rear driving unit respectively arranged at the front and rear ends of the robot shell, and the front driving unit and the rear driving unit both include: mounting arms rotatably installed on both sides of the robot shell, a sealing sleeve is fixedly installed in the mounting arm, a mounting frame is fixedly installed on the mounting arm, and an electric drive propeller is fixedly installed on the mounting frame; two groups of the mounting arms extend into the robot shell and are fixed by a rotating shaft, a driving motor is fixedly installed in the robot shell, and the output shaft of the driving motor is connected to the rotating shaft through a gear set.

[0009] As a preferred embodiment of the present invention: an I-shaped frame is fixedly installed in the robot shell, the I-shaped frame divides the robot shell into a sealed cavity and an installation cavity, a battery and a mounting plate are fixedly installed in the sealed cavity, and a controller is fixedly installed on the mounting plate.

[0010] As a preferred embodiment of the present invention: the storage box is inserted into the installation cavity, an electrolysis cabin is provided on the storage box, a first socket connected to the electrolysis cabin is provided on the storage box, an electrolyzer is fixedly installed on the installation plate, the electrolysis end of the electrolyzer is inserted into the electrolysis cabin through the first socket, a first sealing ring for sealing the first socket is fixedly installed on the electrolysis cabin, a discharge pipe extending to the bottom of the robot housing is fixedly installed on the bottom of the storage box, and a discharge control valve is provided on the discharge pipe.

[0011] As a preferred embodiment of the present invention: a suction pump is fixedly installed in the robot shell, a suction pipe extending to the bottom of the robot shell is fixedly installed on the input end of the suction pump, a third control valve is fixedly installed on the discharge end of the suction pump, a fourth pipe is fixedly installed on the first output end of the third control valve, a second socket connected to the electrolysis cabin is provided on the storage box, the fourth pipe is inserted into the electrolysis cabin through the second socket, and a second sealing ring for sealing the second socket is fixedly installed on the fourth pipe.

[0012] As a preferred embodiment of the present invention: A plurality of sample chambers are provided on both sides of the storage box. Second control valves are fixedly installed at the discharge ends of the bottoms of the sample chambers. On the top of the storage box; An installation groove is provided on the storage box, and a first control valve with the same number as the sample chambers is fixedly installed in the installation groove; A third pipeline communicating with the electrolysis chamber is fixedly installed on each of the plurality of first control valves, and a second pipeline is fixedly installed at the bottom of each of the plurality of first control valves, and the plurality of second pipelines are respectively connected to a plurality of sample chambers.

[0013] As a preferred embodiment of the present invention: Among two adjacent first control valves, the output end of the first control valve at the front end is connected to the input end of the first control valve at the rear through a first pipeline. A sealing joint is fixedly installed at the input end of the first control valve at the head end. A fifth pipeline is fixedly installed at the second output end of the third control valve, and a sealing insertion tube is fixedly installed at the output end of the fifth pipeline, and the sealing insertion tube is connected to the sealing joint.

[0014] As a preferred embodiment of the present invention: A sealing cover is detachably connected to the bottom of the robot housing, and the sealing cover is fixed to the robot housing through an electric insertion rod.

[0015] As a preferred embodiment of the present invention: The mobile wheel set includes a straight wheel fixedly installed at the front end of the bottom of the robot housing, and a steering wheel is fixedly installed at the tail end of the bottom of the robot housing.

[0016] After adopting the above technical solutions, the present invention has the following beneficial effects compared with the prior art: The present invention has four working modes of flight, ground walking, water surface movement and diving movement, enabling it to be applicable to a variety of complex inspection environments. This multi-modal movement ability greatly expands the application range of the robot, improves the flexibility and comprehensiveness of inspection, and at the same time reduces the inspection cost.

[0017] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In the drawings:

[0019] Figure 1 is a three-dimensional structural schematic diagram of an intelligent inspection robot proposed by the present invention;

[0020] Figure 2 is a three-dimensional cross-section of an intelligent inspection robot proposed by the present invention Figure 1 ;

[0021] Figure 3 is a structural schematic diagram of part A in an intelligent inspection robot proposed by the present invention Figure 2 ;

[0022] Figure 4 A three-dimensional cross-section of an intelligent inspection robot proposed by the present invention Figure 2 ;

[0023] Figure 5 A Figure 4 structural schematic diagram of the B position in

[0024] Figure 6 An exploded structural schematic diagram of an intelligent inspection robot proposed by the present invention

[0025] Figure 7 A Figure 6 structural schematic diagram of the C position in

[0026] Figure 8 A cross-sectional view of the storage box of an intelligent inspection robot proposed by the present invention

[0027] Figure 9 A rear cross-sectional view of an intelligent inspection robot proposed by the present invention

[0028] Figure 10 A cross-sectional view of the robot housing of an intelligent inspection robot proposed by the present invention

[0029] In the figure: 1. Robot housing; 11. Sealing cover; 12. Electric plug rod; 2. Front drive part; 21. Installation arm; 22. Installation frame; 23. Electric drive propeller; 24. Sealing sleeve; 25. Rotating shaft; 26. Driving motor; 27. Gear set; 3. Rear drive part; 4. Monitoring module; 41. Transparent cone head; 42. Visual detector; 43. Diversion pipe; 44. Detection sensor; 5. I-shaped frame; 51. Sealing cavity; 52. Installation cavity; 53. Installation plate; 54. Controller; 55. Storage battery; 6. Storage box; 61. Electrolysis chamber; 62. Sample chamber; 63. Installation groove; 64. First control valve; 65. First pipeline; 66. Second pipeline; 67. Second control valve; 68. Third pipeline; 69. First jack; 610. Second jack; 611. Discharge pipe; 612. Sealing joint; 7. Electrolyzer; 71. First sealing ring; 8. Suction pump; 81. Suction pipe; 82. Sealing plug; 83. Third control valve; 84. Fourth pipeline; 85. Second sealing ring; 86. Fifth pipeline; 9. Straight running wheel; 91. Steering wheel. Specific embodiments

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0031] Example: Refer to Figures 1 - 10 , an intelligent inspection robot, including a robot housing 1 with a sealed interior and a monitoring module 4 provided at the end of the robot housing 1, and further including: a fluid reaction force driving part rotatably provided on the side wall of the robot housing 1; a storage tank 6 provided inside the robot housing 1; a moving wheel set provided at the bottom of the robot housing 1; the robot has four working modes of flight, ground walking, water surface movement and diving movement, and can be applicable to a variety of inspection environments. Specifically:

[0032] Flight inspection mode:

[0033] The fluid reaction force driving part is parallel to the horizontal plane. After starting the fluid reaction force driving part, the fluid reaction force driving part uses the reaction force of driving the air flow to drive the whole robot to fly upward. During the flight, the inclination angle of the fluid reaction force driving part or the power of the front and rear two groups of driving modules can be adjusted to control the movement of the robot in the air and then perform flight inspection in the air; Floating inspection mode:

[0034] When the interior of the storage tank 6 is in an empty state, after the robot housing 1 falls into the water, it floats on the water surface under the action of buoyancy. At this time, the fluid reaction force driving part can be driven to rotate downward by 90°, and then the fluid reaction force driving part drives the water body to flow, and drives the whole robot to move on the water surface under the reaction force.

[0035] Diving inspection mode:

[0036] When it is necessary to check the internal state of a river channel, reservoir, etc., water is pumped into the storage tank 6 to increase the overall mass of the robot and increase the overall density, so that the whole robot sinks into the water. After the robot sinks into the water, the fluid reaction force driving part is driven to rotate downward by 90°, and then the fluid reaction force driving part drives the water body to flow, and drives the whole robot to move inside the water body under the reaction force.

[0037] Ground inspection mode:

[0038] When it is necessary to move and inspect on the ground, the fluid reaction force driving part is rotated upward by 90° from the horizontal state and the moving wheel set falls to the ground, and then the fluid reaction force driving part is started to drive the air flow by the fluid reaction force driving part, and then drive the whole robot to move on the ground to perform inspection while moving on the ground.

[0039] This intelligent inspection robot not only improves the inspection efficiency, reduces manual intervention, but also reduces the risk of operation in complex environments. Its multi-modal movement ability and environmental adaptability make it suitable for inspections in multiple fields such as power, petrochemical, rail transit, river channels, reservoirs, and mountain forests.

[0040] The specific inspection methods for power grids, petrochemical plants, rail transit, river channels, reservoirs, mountain forests, etc. are as follows:

[0041] Power grid inspection:

[0042] Flight mode: Quickly fly over transmission lines to efficiently inspect the line status, such as broken strands, wear, foreign objects, etc.

[0043] Ground walking mode: Walk on the ground near substations or transmission towers for close-range and detailed inspections.

[0044] Water surface movement mode: Conduct water surface inspections in the waters near hydropower stations to ensure the safety of equipment such as water turbines and generators.

[0045] Petrochemical inspection:

[0046] Flight mode: Conduct long-distance monitoring of key facilities such as storage tanks and pipelines in petrochemical plants from the air.

[0047] Ground walking mode: Walk on the ground within the plant area to check the operating status of equipment such as pipelines, valves, and instruments.

[0048] Diving movement mode: Conduct diving inspections on the underwater parts of petrochemical facilities to ensure the integrity of underwater pipelines and equipment.

[0049] Rail transit inspection:

[0050] Ground walking mode: Walk along the track to check the status of infrastructure such as tracks, signal systems, and power supply systems.

[0051] Flight mode: Conduct an overall inspection of the rail transit line from the air to quickly detect abnormalities.

[0052] River channel and reservoir inspection:

[0053] Water surface movement mode: Move on the water surface of river channels and reservoirs to monitor parameters such as water quality, water flow velocity, and water level.

[0054] Diving movement mode: Dive underwater for inspections to check the structure and safety conditions of riverbeds, dams, underwater pipelines, etc.

[0055] Mountain forest inspection:

[0056] Ground walking mode: Walk on the ground in mountain forests to monitor natural disasters such as forest fires and pests.

[0057] Flight mode: Conduct a large-scale inspection of mountain forests from the air to quickly detect abnormalities.

[0058] Such as Figure 1 and Figure 5As shown in the figure, further, the monitoring module 4 includes a transparent cone head 41 fixedly installed at the end of the robot housing 1. A diversion pipe 43 is fixedly installed on the transparent cone head 41. The diversion pipe 43 is Y-shaped. A detection sensor 44 is fixedly installed on the diversion pipe 43. A vision detector 42 is fixedly installed in the closed chamber of the transparent cone head 41.

[0059] During the forward movement of the robot, the fluid medium (water and air) first flows into the diversion pipe 43, and then is detected by the detection sensor 44 to detect the components inside the fluid medium (for example, to detect whether the waste gas and sewage discharged from chemical plants meet the standards), and the vision detector 42 can capture the front image in real time for identifying obstacles, evaluating the equipment status, and recording visual evidence during the inspection process.

[0060] Among them, the detection sensor 44 includes:

[0061] A gas sensor for monitoring the concentration of harmful or flammable gases, such as carbon monoxide, hydrogen sulfide, etc., to warn of potential dangers in chemical plants or mines.

[0062] A pH sensor for monitoring the acidity and alkalinity of water bodies to ensure that the sewage treatment process is within an appropriate range.

[0063] An ammonia nitrogen sensor for real-time monitoring of the ammonia nitrogen content in water and giving early warnings of abnormal situations.

[0064] A turbidity sensor that uses the 90° scattered light principle to measure the concentration of suspended particles and reflect the clarity of water quality.

[0065] A heavy metal ion sensor for monitoring common heavy metal pollution in industrial wastewater.

[0066] In addition, the following sensors can also be installed on the robot:

[0067] A temperature sensor that detects abnormal equipment temperatures through infrared thermal imaging technology to prevent failures or fires caused by overheating.

[0068] A vibration sensor that monitors the operating status of equipment in real time and identifies abnormal vibrations to predict mechanical failures.

[0069] A pressure sensor that monitors system pressure changes to ensure that the equipment operates within a safe range.

[0070] An ultrasonic sensor that measures distances through sound wave reflection for obstacle detection and precise positioning.

[0071] A temperature and humidity sensor that monitors the environmental temperature and humidity to ensure the normal operation of the equipment.

[0072] A light sensor that adjusts the lighting intensity to optimize the working environment.

[0073] Position sensor (GPS / IMU): provides precise positioning and navigation capabilities.

[0074] Laser Radar (LiDAR): realizes three-dimensional space scanning and obstacle avoidance functions.

[0075] These sensors work together to enable intelligent inspection robots to complete inspection tasks efficiently, detect and warn of potential problems in a timely manner, and are widely used in the fields of electricity, petrochemicals, rail transit, etc., significantly improving work efficiency and safety.

[0076] Reference Figures 1 - 5 The fluid reaction force driving part includes a front driving part 2 and a rear driving part 3 respectively arranged at the front and rear ends of the robot shell 1, and the front driving part 2 and the rear driving part 3 both include: mounting arms 21 rotatably mounted on both sides of the robot shell 1, a sealing sleeve 24 is fixedly mounted in the mounting arm 21, a mounting frame 22 is fixedly mounted on the mounting arm 21, and an electric drive propeller 23 is fixedly mounted on the mounting frame 22; two groups of mounting arms 21 extend into the robot shell 1 and are fixed by a rotating shaft 25, a driving motor 26 is fixedly mounted in the robot shell 1, and the output shaft of the driving motor 26 is connected to the rotating shaft 25 through a gear set 27.

[0077] Among them, the wires of the electric drive propeller 23 pass through the sealing sleeve 24 to prevent water from entering the interior of the robot housing 1 through the mounting arm 21. When in use, the electric drive propeller 23 is started, and the motor of the electric drive propeller 23 drives the propeller to rotate, thereby driving the gas or liquid to flow, thereby driving the robot to move as a whole.

[0078] By starting the driving motor 26 , the driving motor 26 drives the rotating shaft 25 to rotate through the gear set 27 , thereby driving the mounting arm 21 to rotate.

[0079] Reference Figure 3 A work-shaped frame 5 is fixedly installed in the robot housing 1, and the work-shaped frame 5 divides the robot housing 1 into a sealed chamber 51 and a mounting chamber 52. A battery 55 and a mounting plate 53 are fixedly installed in the sealed chamber 51, and a controller 54 is fixedly installed on the mounting plate 53.

[0080] The controller 54 uses sensors such as lidar and cameras to identify the surrounding environment and autonomously plan a route. It collects information such as temperature and gas concentration through devices such as infrared cameras and sound sensors, and uploads the collected data to the host. It processes the data through algorithms to detect abnormal situations. In addition, staff can view inspection data in real time and receive alerts through the cloud platform.

[0081] The robot uses SLAM technology to achieve real-time mapping and precise positioning, combines map and obstacle information, calculates the optimal route, and uses AI algorithms, computer vision and deep learning technology to identify equipment status and anomalies.

[0082] Refer to Figure 3 、 Figures 6 - 9 The storage tank 6 is plugged into the installation cavity 52. An electrolysis chamber 61 is provided on the storage tank 6. A first jack 69 communicating with the electrolysis chamber 61 is provided on the storage tank 6. An electrolyzer 7 is fixedly installed on the mounting plate 53. The electrolysis end of the electrolyzer 7 is inserted into the electrolysis chamber 61 through the first jack 69. A first sealing ring 71 for plugging the first jack 69 is fixedly installed on the electrolysis chamber 61. A discharge pipe 611 extending to the bottom of the robot housing 1 is fixedly installed at the bottom of the storage tank 6. A discharge control valve is provided on the discharge pipe 611.

[0083] When the robot needs to dive, water is sucked into the electrolysis chamber 61 to increase the weight of the robot and make it sink into the water.

[0084] When the robot needs to float, start the electrolyzer 7 to electrolyze the water inside the electrolysis chamber 61. After electrolyzing the water, oxygen and hydrogen are generated. The hydrogen and oxygen rise. As the gas increases, the water in the electrolysis chamber 61 is pressed downward, so that the water is discharged from the electrolysis chamber 61 through the discharge pipe 611, and then the robot rises.

[0085] In addition, when the robot flies out of the water, the hydrogen in the electrolysis chamber 61 can provide auxiliary lift for the robot and reduce the energy consumption when the robot returns.

[0086] In addition, the robot has another floating mode. Specifically, the fluid reaction force driving part is made parallel to the horizontal plane, and the moving propeller rotates to generate an upward force to drive the robot to jump out of the water.

[0087] Refer to Figures 8 - 10 A suction pump 8 is fixedly installed inside the robot housing 1. An inlet pipe 81 extending to the bottom of the robot housing 1 is fixedly installed at the input end of the suction pump 8. A third control valve 83 is fixedly installed at the discharge end of the suction pump 8. A fourth pipe 84 is fixedly installed at the first output end of the third control valve 83. A second jack 610 communicating with the electrolysis chamber 61 is provided on the storage tank 6. The fourth pipe 84 is inserted into the electrolysis chamber 61 through the second jack 610. A second sealing ring 85 for plugging the second jack 610 is fixedly installed on the fourth pipe 84.

[0088] During use, start the suction pump 8. Controlled by the third control valve 83, the pumped water enters the fourth pipe 84 and is discharged into the electrolysis chamber 61 through the fourth pipe 84, so as to increase the weight of the robot and make the robot sink.

[0089] Refer to Figures 8 - 10, multiple groups of sample chambers 62 are provided on both sides of the storage tank 6. Discharge ends at the bottoms of the sample chambers 62 are fixedly installed with second control valves 67. At the top of the storage tank 6; an installation groove 63 is provided on the storage tank 6, and first control valves 64 with the same number as the sample chambers 62 are fixedly installed in the installation groove 63; third pipelines 68 communicating with the electrolysis chamber 61 are fixedly installed on multiple groups of first control valves 64, and second pipelines 66 are fixedly installed at the bottoms of multiple groups of first control valves 64. Multiple groups of second pipelines 66 are respectively connected to multiple sample chambers 62; among adjacent two groups of first control valves 64, the output end of the first control valve 64 at the front end is connected to the input end of the first control valve 64 at the rear through a first pipeline 65. A sealing joint 612 is fixedly installed at the input end of the first control valve 64 at the head end. The second output end of the third control valve 83 is fixedly installed with a fifth pipeline 86, and the output end of the fifth pipeline 86 is fixedly installed with a sealing insertion tube 82, and the sealing insertion tube 82 is connected to the sealing joint 612.

[0090] When in use, the medium sample can be stored in the sample chamber 62. Specifically:

[0091] Start the suction pump 8, and use the suction pump 8 to extract the medium and send it into the sample chamber 62. Among them, in order to facilitate sampling in multiple places and in multiple directions, each column of the sample chamber 62 can be provided with no less than five groups;

[0092] In order to prevent cross - contamination of samples, when in use, after the sample chamber 62 at the head end is full, when storing samples in the next sample chamber 62, first extract part of the sampling medium into the electrolysis chamber 61. After the pipeline is full of the samples at the location, then import the samples in the pipeline into the corresponding sample chamber 62 through the corresponding first control valve 64.

[0093] Refer to Figure 6 , a sealing cover 11 is detachably connected to the bottom of the robot housing 1. The sealing cover 11 is fixed to the robot housing 1 through an electric insertion rod 12. The sealing cover 11 and the storage tank 6 can be removed from the robot housing 1, which is convenient for collecting samples and cleaning the inside of the electrolysis chamber 61.

[0094] Refer to Figure 6 , the mobile wheel set includes a straight - running wheel 9 fixedly installed at the front end of the bottom of the robot housing 1, and a steering wheel 91 is fixedly installed at the tail end of the bottom of the robot housing 1. By controlling the rotation speeds of the two electric drive propellers 23 of the rear drive part 3, the direction conversion of the robot in the ground patrol state is realized by using differential speed.

[0095] To sum up, this robot has the following advantages:

[0096] 1. The robot has four working modes: flight, ground walking, surface movement, and underwater movement, enabling it to be applicable to a variety of complex inspection environments, including but not limited to the fields of power, petrochemical, rail transit, river channels, reservoirs, and mountain forests. This multi-modal movement ability greatly expands the application scope of the robot and improves the flexibility and comprehensiveness of inspections.

[0097] 2. By being equipped with a variety of sensors (such as infrared, temperature and humidity, gas concentration, etc.) and an advanced navigation system, the robot can make autonomous decisions and execute inspection tasks, significantly improving the inspection efficiency. At the same time, the robot can monitor and record data during the inspection process in real time, providing strong support for subsequent analysis and decision-making.

[0098] The robot also has the ability to collect and process samples, and can extract and store the medium samples in the inspection environment, providing valuable data for subsequent analysis and research. At the same time, the robot can also clean the inside of the electrolysis chamber 61 to ensure the accuracy and reliability of the samples.

[0099] The design of the robot makes it easy to maintain and upgrade. For example, the sealing cover 11 and the storage box 6 can be removed from the robot housing 1, facilitating the collection of samples and the cleaning of the inside of the electrolysis chamber 61.

[0100] The above are only the preferred embodiments of the present invention, and there is no limitation to the present invention in any form. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of the present invention can make some changes or modifications to equivalent embodiments with the same changes within the scope of the technical solution of the present invention. However, as long as the content does not depart from the technical solution of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the present invention.

Claims

1. An intelligent inspection robot, comprising an internally sealed robot housing (1) and a monitoring module (4) arranged at the end of the robot housing (1), characterized in that: Also includes: Rotating a fluid reaction force driving part arranged on a side wall of the robot housing (1); A storage box (6) disposed inside the robot housing (1); A moving wheel set arranged at the bottom of the robot housing (1); When the fluid reaction force driving unit is parallel to the horizontal plane, the robot housing (1) is driven to fly in the air; When the interior of the storage box (6) is in an empty box state, the robot shell (1) falls into the water and floats on the water surface; When liquid is pumped into the storage box (6), the robot housing (1) sinks from the water surface into the water; When the fluid reaction force driving unit rotates downward (90) degrees from a horizontal state, the fluid reaction force driving unit drives the robot housing (1) to move in the water; When the fluid reaction force driving unit rotates upward (90) degrees from a horizontal state and the moving wheel set falls to the ground, the fluid reaction force driving unit drives the robot housing (1) to move on the ground.

2. The intelligent inspection robot according to claim 1, characterized in that: The monitoring module (4) comprises a transparent cone head (41) fixedly mounted on the end of the robot housing (1); a flow guide tube (43) is fixedly mounted on the transparent cone head (41); the flow guide tube (43) is Y-shaped; a detection sensor (44) is fixedly mounted on the flow guide tube (43); and a visual detector (42) is fixedly mounted in a closed chamber of the transparent cone head (41).

3. The intelligent inspection robot according to claim 1, characterized in that: The fluid reaction force driving unit comprises a front driving unit (2) and a rear driving unit (3) respectively arranged at the front and rear ends of the robot housing (1), and the front driving unit (2) and the rear driving unit (3) both comprise: The mounting arms (21) are rotatably mounted on both sides of the robot housing (1), a sealing sleeve (24) is fixedly mounted inside the mounting arms (21), a mounting frame (22) is fixedly mounted on the mounting arms (21), and an electric drive propeller (23) is fixedly mounted on the mounting frame (22); The two groups of mounting arms (21) extend into the robot housing (1) and are fixed via a rotating shaft (25). A driving motor (26) is fixedly installed in the robot housing (1). The output shaft of the driving motor (26) is transmission-connected to the rotating shaft (25) via a gear set (27).

4. The intelligent inspection robot according to claim 1, characterized in that: An I-shaped frame (5) is fixedly installed in the robot housing (1), and the I-shaped frame (5) divides the robot housing (1) into a sealed chamber (51) and a mounting chamber (52). A storage battery (55) and a mounting plate (53) are fixedly installed in the sealed chamber (51), and a controller (54) is fixedly installed on the mounting plate (53).

5. The intelligent inspection robot according to claim 4, characterized in that: The storage box (6) is inserted into the installation cavity (52); an electrolysis chamber (61) is provided on the storage box (6); a first plug hole (69) connected to the electrolysis chamber (61) is provided on the storage box (6); an electrolyzer (7) is fixedly installed on the installation plate (53); an electrolysis end of the electrolyzer (7) is inserted into the electrolysis chamber (61) through the first plug hole (69); a first sealing ring (71) for sealing the first plug hole (69) is fixedly installed on the electrolysis chamber (61); a discharge pipe (611) extending to the bottom of the robot housing (1) is fixedly installed at the bottom of the storage box (6); and a discharge control valve is provided on the discharge pipe (611).

6. The intelligent inspection robot according to claim 5, characterized in that: A suction pump (8) is fixedly installed in the robot housing (1); a suction pipe (81) extending to the bottom of the robot housing (1) is fixedly installed at the input end of the suction pump (8); a third control valve (83) is fixedly installed at the discharge end of the suction pump (8); a fourth pipeline (84) is fixedly installed at the first output end of the third control valve (83); a second plug hole (610) connected to the electrolysis cabin (61) is provided on the storage box (6); the fourth pipeline (84) is inserted into the electrolysis cabin (61) through the second plug hole (610); and a second sealing ring (85) for sealing the second plug hole (610) is fixedly installed on the fourth pipeline (84).

7. The intelligent inspection robot according to claim 6, characterized in that: Multiple groups of sample chambers (62) are arranged on both sides of the storage box (6), and the discharge ends at the bottoms of the sample chambers (62) are fixedly mounted with second control valves (67), and the top of the storage box (6); The storage box (6) is provided with a mounting groove (63), and the mounting groove (63) is fixedly installed with the same number of first control valves (64) as the number of sample chambers (62); A third pipe (68) communicating with the electrolysis chamber (61) is fixedly installed on each of the plurality of first control valves (64), a second pipe (66) is fixedly installed at the bottom of each of the plurality of first control valves (64), and each of the plurality of second pipes (66) is respectively connected to a plurality of sample chambers (62).

8. The intelligent inspection robot according to claim 7, characterized in that: In two adjacent groups of the first control valves (64), the output end of the first control valve (64) at the front end is connected to the input end of the first control valve (64) at the rear end via a first pipe (65); the input end of the first control valve (64) at the head end is fixedly mounted with a sealing joint (612); the second output end of the third control valve (83) is fixedly mounted with a fifth pipe (86); the output end of the fifth pipe (86) is fixedly mounted with a sealing insert (82); and the sealing insert (82) is connected to the sealing joint (612).

9. The intelligent inspection robot according to claim 5, characterized in that: A sealing cover (11) is detachably connected to the bottom of the robot housing (1), and the sealing cover (11) is fixed to the robot housing (1) via an electric insertion rod (12).

10. The intelligent inspection robot according to claim 1, characterized in that: The mobile wheel group comprises a straight-moving wheel (9) fixedly mounted on the front end of the bottom of the robot housing (1), and a steering wheel (91) fixedly mounted on the rear end of the bottom of the robot housing (1).

Images