Air-land intelligent four-foot risk inspection robot and risk assessment system

Abstract

The invention discloses an air-land intelligent four-footed risk inspection robot and a risk assessment system, and belongs to the technical field of air-land four-footed risk inspection robots, the air-land intelligent four-footed risk inspection robot comprises a shell, a control equipment center is mounted at the bottom of the shell, a bottom box is mounted at the bottom of the control equipment center, and four symmetrically arranged mounting seats are fixedly mounted on the outer side of the bottom box; the mounting seat is rotationally connected with a connecting seat, and the connecting seat is rotationally connected with a walking foot; the number of the flying supports is six, and the flying supports are fixedly installed on the outer side of the shell. Through combination of multiple rotors and a quadruped robot and cooperative detection of multiple sensors, dam dangerous cases can be identified and detected in multiple aspects, subsequent accurate dangerous case assessment is facilitated, meanwhile, through modular assembly, equipment installation, disassembly and maintenance are facilitated, the maintenance cost and difficulty are reduced, and the maintenance efficiency is improved. Meanwhile, the modules can be conveniently replaced or upgraded according to different task requirements, and the universality and flexibility of the robot are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of air-land quadruped danger-detecting robots, and in particular, relates to an air-land intelligent quadruped danger-detecting robot and a danger assessment system. Background Art

[0002] With the development of the economy and society and the need for a large number of infrastructure construction, traditional manual or ordinary mechanical methods are difficult to adapt to the increasingly complex working environment and meet the established needs. At the same time, multi-rotor drones are increasingly entering the fields of surveying and mapping, engineering monitoring, and disaster protection and relief, playing an important role in many large-scale projects and special applications. Among them, the detection, inspection and identification of drones is particularly important when detecting dangerous conditions such as embankment leakage, pipe bursts, and cracks.

[0003] However, current drone inspections can only be performed through non-contact detection via vision / infrared, and cannot obtain soil internal parameters (such as moisture content). Wheeled / tracked structures are prone to sinking in soft soil and have insufficient obstacle clearance, making it difficult to accurately assess the location of dangerous situations.

[0004] In order to solve the above problems, this application proposes an air-land intelligent quadruped danger inspection robot and a danger assessment system. Summary of the invention

[0005] In view of the problems in the related technology, the present invention proposes an air-land intelligent quadruped danger inspection robot and a danger assessment system to overcome the above-mentioned technical problems existing in the existing related technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An air-land intelligent four-legged danger-checking robot and a danger assessment system, comprising a shell, a control device center is installed at the bottom of the shell, a bottom box is installed at the bottom of the control device center, four symmetrically arranged mounting seats are fixedly installed on the outer side of the bottom box, a connecting seat is rotatably connected to the mounting seat, and a walking foot is rotatably connected to the connecting seat;

[0008] Six flight brackets are provided and fixedly mounted on the outer side of the shell, the flight brackets are hingedly connected to support frames, and the support frames are equipped with flight blades;

[0009] The folding mechanism comprises a pull rod, which is slidably mounted on the flight bracket and is transmission-connected to the corresponding support frame, and a folding motor is fixedly mounted on the top of the shell, and the output shaft of the folding motor is transmission-connected to the six pull rods;

[0010] The driving mechanism includes six positioning shafts. The six positioning shafts are respectively fixedly connected to corresponding connecting seats, and the positioning shafts are rotatably connected to corresponding mounting seats. Four driving motors are fixedly installed on the inner wall of the bottom of the bottom box. The output shaft of the driving motor is in transmission connection with the corresponding positioning shaft. A walking controller is installed on the inner wall of the bottom of the bottom box, and the walking controller is connected to the four driving motors and the walking feet.

[0011] The shock-absorbing mechanism includes a mounting plate. One end of the walking foot is equipped with a cylinder. The mounting plate is fixedly installed at the bottom end of the cylinder. A cushion plate is installed below the mounting plate. A positioning plate is installed on the piston of the cylinder, and four probes are installed at the bottom of the positioning plate.

[0012] Preferably, the folding mechanism further includes a positioning gear. The positioning gear is fixedly installed at the end of the support frame and is connected to the connecting shaft between the flight bracket and the support frame. A rack is fixedly installed on the pull rod. The rack meshes with the positioning gear, and a positioning box is slidably connected to the rack. The positioning box is rotatably connected to the connecting shaft between the flight bracket and the support frame.

[0013] The moving pull rod drives the rack to move. The rack meshes with the positioning gear, so as to drive the support frame to change the angle, and then it is convenient to fold and store the support frame, which is convenient for walking operation on the ground. At the same time, the setting of the positioning box can stabilize the meshing state of the rack and the positioning gear.

[0014] Preferably, an internal gear ring is rotatably connected to the inner wall of the top of the housing. A driving gear is fixedly installed on the output shaft of the folding motor. The driving gear meshes with the internal gear ring. Six arc-shaped grooves are formed on the internal gear ring. A movable shaft is slidably connected to the inner wall of the arc-shaped groove. The movable shaft is fixedly connected to the corresponding pull rod. A flight controller is installed on the inner wall of the housing, and a data transmission device is installed on the top of the housing.

[0015] The output shaft of the folding motor drives the driving gear to rotate. The driving gear meshes with the internal gear ring, so as to drive the internal gear ring to rotate. The rotating internal gear ring meshes with the movable shaft through the arc-shaped groove, so as to drive the movable shaft to move horizontally, and then push the pull rod to move. At the same time, the setting of the flight control can facilitate the control of the folding motor and the flight blades, so as to facilitate the control of the flight module of the device.

[0016] Preferably, six limiting holes are formed in the top of the housing, and the limiting holes are slidably connected to the corresponding movable shafts.

[0017] By the sliding connection between the limiting hole and the movable shaft, the moving direction of the movable shaft can be limited.

[0018] Preferably, the driving mechanism further includes a driving disk fixedly installed on the output shaft of the driving motor. A swing rod is fixedly installed at the bottom end of the positioning shaft, and the swing rod is in transmission connection with the corresponding driving disk.

[0019] The driving disk is driven to rotate by the output shaft of the driving motor. Through the transmission connection between the driving disk and the swing rod, the positioning shaft can be driven to change the angle, and then the walking foot can be driven to change the angle back and forth, so as to facilitate the walking of the device.

[0020] Preferably, an eccentric shaft is fixedly installed at the bottom end of the driving disk. An activity hole is formed in the swing rod, and the activity hole is movably connected with the eccentric shaft.

[0021] Through the movable connection between the activity hole and the eccentric shaft, when the rotating driving disk drives the eccentric shaft to rotate, the swing rod can be pushed to change the angle back and forth through the activity hole.

[0022] Preferably, the shock absorption mechanism further includes four buffer cylinders fixedly installed at the bottom of the mounting plate. A buffer rod is slidably connected to the bottom of the buffer cylinder. The four buffer rods are fixedly connected to the same backing plate, and a buffer spring is sleeved on the buffer rod. The buffer spring is located between the buffer cylinder and the backing plate.

[0023] Through the sliding connection between the buffer cylinder and the buffer rod, the connection between the mounting plate and the backing plate can be formed, and the backing plate can be buffered and reset through the buffer spring.

[0024] Preferably, the piston plate is slidably installed on the inner wall of the buffer cylinder. Six water through holes are formed in the piston plate. Three adjusting plugs are fixedly installed at the bottom of the piston plate. The adjusting plugs cooperate with the corresponding water through holes, and the piston plate is fixedly connected to the corresponding buffer rod.

[0025] Through the arrangement of the six water through holes, it is convenient to form a moving deceleration effect through the piston plate when the buffer rod moves up and down. Under the action of the adjusting plug located below the piston plate, when the piston plate is reset, the adjusting plug closes the corresponding water through hole, increasing the difficulty of the piston plate moving, and then forming a damping effect, so as to form shock absorption and buffering, facilitating the landing buffer of the UAV.

[0026] Preferably, an operation screen is installed on the control equipment center, and a visible light camera, an infrared thermal imager and a lidar are installed on the control equipment center.

[0027] The data in the control equipment center is debugged and observed through the operation screen, and danger situations are detected through the visible light camera, the infrared thermal imager and the lidar. At the same time, AI danger situation assessment is carried out through the control equipment center.

[0028] Preferably, mounting plates are fixedly installed on both the top and bottom of the control device center, and a plurality of bolts are provided on the mounting plates, and the bolts are respectively threadedly connected to the housing and the bottom box.

[0029] Through the arrangement of two mounting plates and a plurality of bolts, it is possible to facilitate the installation connection between the housing, the control device center and the bottom box, and thus enable the entire device to form a modular assembly.

[0030] To sum up, the technical effects and advantages of the present invention are as follows:

[0031] 1. Multi-mode movement

[0032] Strong terrain adaptability: In the quadruped walking mode, the walking feet are two arc-shaped rods connected by hinges, and the angle is changed by a pneumatic structure, which can flexibly cope with different terrains, such as rugged mountain roads, muddy wetlands, etc., improving the passing ability of the robot in complex environments and having better terrain adaptability than traditional wheeled or tracked robots.

[0033] The flight function expands the operation range: Equipped with six flight brackets and flight blades, it can be switched to the flight mode to achieve fast long-distance movement, break through the ground obstacle limit, and can quickly reach dangerous areas or places difficult for people to reach to perform tasks, greatly expanding the operation range of the robot.

[0034] 2. Efficient folding mechanism: The unique folding mechanism is ingeniously designed. The inner gear ring is rotated by a folding motor, and the cooperation of the arc groove and the movable shaft drives the pull rod to move, and then the folding and unfolding of the support frame and the flight blades are realized through the engagement of the rack and the positioning gear. This design has a compact structure, simple and efficient operation, is convenient for the robot to quickly switch between the ground walking mode and the flight mode, and the setting of the positioning box ensures the stability and reliability of the folding process.

[0035] 3. Reliable drive mechanism: The drive mechanism uses a drive motor to drive a drive disk, and through the cooperation of the eccentric shaft and the movable hole on the swing rod, the angle change of the positioning shaft and the walking feet is realized, so as to complete the walking action. This design has a simple structure and stable transmission, can provide reliable power output for the walking feet, and ensure the stability and power performance of the robot during walking.

[0036] 4. Intelligent detection function

[0037] Comprehensive soil detection: The probe at one end of the walking foot measures the soil moisture content of the surface layer of 0-10 cm (accuracy ±2%) by the capacitance method (frequency 100 MHz), and detects the abnormal deep seepage of 10-30 cm by the resistance method (electrode spacing 5 mm). And the upper surface of the probe is coated with a diamond-like carbon coating, which improves the accuracy and durability of the detection, can effectively obtain soil-related information, and provides data support for evaluating geological hazards.

[0038] 5. Multi-sensor collaborative detection: Equipped with a visible light camera, an infrared thermal imager, and a lidar, it can detect dangerous situations from different angles. The visible light camera is used to obtain clear on-site images, the infrared thermal imager can detect temperature anomalies, and the lidar can achieve environmental modeling and obstacle detection. Multiple sensors work together, combined with the AI dangerous situation assessment of the control equipment center, greatly improving the accuracy and comprehensiveness of dangerous situation judgment.

[0039] 6. Good shock absorption performance: The shock absorption mechanism uses multiple components such as cylinders, buffer cylinders, buffer rods, buffer springs, and piston plates with adjustment shims to work together. When the robot encounters bumps during landing or walking, the buffer spring provides initial buffering, and the water passing holes and adjustment shims on the piston plate form a moving deceleration and damping effect when the buffer rod moves up and down, effectively reducing the impact of vibration on the equipment, protecting the internal equipment, and improving the stability and equipment life of the robot during operation in complex environments.

[0040] 7. Modular assembly: The control equipment center is connected to the housing and the bottom box through mounting plates and multiple bolts, making the entire device form a modular assembly. This design facilitates the installation, disassembly, and maintenance of the equipment, reduces the repair cost and difficulty, and at the same time is convenient for replacing or upgrading modules according to different task requirements, improving the versatility and flexibility of the robot. Description of the Drawings

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 It is a schematic diagram of the bottom view structure of the present invention;

[0043] Figure 3 It is a schematic diagram of the structure of the bottom box and the walking feet of the present invention;

[0044] Figure 4 It is a schematic diagram of the structure of the housing and the flight blades of the present invention;

[0045] Figure 5 It is a schematic diagram of the exploded structure of the folding mechanism of the present invention;

[0046] Figure 6 It is a schematic diagram of the structure of the driving mechanism of the present invention;

[0047] Figure 7 It is a schematic diagram of the structure of the control equipment center of the present invention;

[0048] Figure 8 It is a schematic diagram of the cross-sectional view of the buffer cylinder of the present invention;

[0049] Figure 9 It is a schematic diagram of the bottom view structure of the piston plate of the present invention;

[0050] Figure 10 For the present invention Figure 1 Schematic diagram of part A in the present invention;

[0051] Figure 11 For the present invention Figure 5 Schematic diagram of part B in the present invention.

[0052] In the figure:

[0053] 1. Housing; 2. Control equipment center; 3. Bottom box; 4. Connection seat; 5. Walking foot; 6. Folding mechanism; 61. Pull rod; 62. Rack; 63. Positioning gear; 64. Inner tooth ring; 65. Arc groove; 66. Moving shaft; 67. Limit hole; 68. Folding motor; 69. Driving gear; 7. Driving mechanism; 71. Positioning shaft; 72. Swing rod; 73. Driving motor; 74. Driving disc; 75. Eccentric shaft; 76. Moving hole; 8. Shock absorption mechanism; 81. Mounting plate; 82. Cushion plate; 83. Buffer cylinder; 84. Buffer rod; 85. Buffer spring; 86. Piston plate; 87. Water passing hole; 88. Adjusting plug; 89. Cylinder; 9. Flying blade; 10. Positioning plate; 11. Probe; 12. Control screen; 13. Visible light camera; 14. Infrared thermal imager; 15. LiDAR; 16. Mounting piece; 17. Flying bracket; 18. Support frame; 19. Flight control; 20. Mounting seat; 21. Walking controller; 22. Data transmission device. Specific embodiments

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0055] Referring to Figure 1-11 , an air-land intelligent quadruped risk detection robot and a risk assessment system, including a housing 1, a control equipment center 2 is installed at the bottom of the housing 1, a bottom box 3 is installed at the bottom of the control equipment center 2, four symmetrically arranged mounting seats 20 are fixedly installed on the outside of the bottom box 3, a connection seat 4 is rotatably connected to the mounting seat 20, a walking foot 5 is rotatably connected to the connection seat 4, the walking foot 5 is two arc-shaped rods connected by hinges, and the two arc-shaped rods are driven by a pneumatic structure to change the angle, thereby controlling the up and down angle flipping of the walking foot 5, so as to perform walking operations in response to different terrains;

[0056] Six flying brackets 17 are provided and fixedly installed on the outside of the housing 1. A support frame 18 is hinged to the flying bracket 17, and a flying blade 9 is installed on the support frame 18;

[0057] The folding mechanism 6 includes a pull rod 61. The pull rod 61 is slidably mounted on the flight bracket 17. The pull rod 61 is in transmission connection with the corresponding support frame 18. And a folding motor 68 is fixedly mounted on the top of the housing 1. The output shaft of the folding motor 68 is in transmission connection with the six pull rods 61;

[0058] The driving mechanism 7 includes six positioning shafts 71. The six positioning shafts 71 are respectively fixedly connected with the corresponding connecting seats 4. And the positioning shafts 71 are rotatably connected with the corresponding mounting seats 20. Four driving motors 73 are fixedly mounted on the bottom inner wall of the bottom box 3. The output shaft of the driving motor 73 is in transmission connection with the corresponding positioning shaft 71. A walking controller 21 is mounted on the bottom inner wall of the bottom box 3. The walking controller 21 is connected with the four driving motors 73 and the walking feet 5;

[0059] The shock absorption mechanism 8 includes a mounting plate 81. One end of the walking foot 5 is provided with a cylinder 89. The mounting plate 81 is fixedly mounted at the bottom end of the cylinder 89. A cushion plate 82 is mounted below the mounting plate 81. A positioning plate 10 is mounted on the piston of the cylinder 89. Four probes 11 are mounted on the bottom of the positioning plate 10. The four probes 11 measure the soil moisture content of the surface layer of 0-10 cm with an accuracy of ±2% by the capacitance method at a frequency of 100 MHz, and detect deep seepage anomalies of 10-30 cm by the resistance method with an electrode spacing of 5 mm. And the upper surface of the probe 11 is coated with a diamond-like carbon coating.

[0060] Refer to Figure 1 and Figure 5, the folding mechanism 6 further includes a positioning gear 63. The positioning gear 63 is fixedly installed at the end of the support frame 18 and is connected to the connecting shaft between the flight bracket 17 and the support frame 18. A rack 62 is fixedly installed on the pull rod 61. The rack 62 meshes with the positioning gear 63. A positioning box is slidably connected to the rack 62. The positioning box is rotatably connected to the connecting shaft between the flight bracket 17 and the support frame 18. An internal gear ring 64 is rotatably connected to the inner wall of the top of the housing 1. A driving gear 69 is fixedly installed on the output shaft of the folding motor 68. The driving gear 69 meshes with the internal gear ring 64. Six arc-shaped grooves 65 are formed in the internal gear ring 64. A movable shaft 66 is slidably connected to the inner wall of the arc-shaped groove 65. The movable shaft 66 is fixedly connected to the corresponding pull rod 61. A flight controller 19 is installed on the inner wall of the housing 1. A data transmission device 22 is installed on the top of the housing 1. Six limiting holes 67 are formed in the top of the housing 1. The limiting holes 67 are slidably connected to the corresponding movable shafts 66. The output shaft of the folding motor 68 drives the driving gear 69 to rotate. The driving gear 69 drives the internal gear ring 64 to rotate through meshing with the internal gear ring 64. The rotating internal gear ring 64 drives the movable shaft 66 to move horizontally through meshing with the arc-shaped groove 65 and the movable shaft 66, and then can push the pull rod 61 to move. At the same time, the setting of the flight controller 19 can facilitate the control of the folding motor 68 and the flight blades 9, so as to facilitate the control of the flight module of the device. Through the sliding connection between the limiting hole 67 and the movable shaft 66, the moving direction of the movable shaft 66 can be limited. The moving pull rod 61 drives the rack 62 to move. The rack 62 drives the support frame 18 to change the angle through meshing with the positioning gear 63, so as to facilitate the folding and storage of the support frame 18 and facilitate walking operation on the ground. At the same time, the setting of the positioning box can stabilize the meshing state between the rack 62 and the positioning gear 63.

[0061] Referring to Figure 6 , the driving mechanism 7 further includes a driving disk 74. The driving disk 74 is fixedly installed on the output shaft of the driving motor 73. A swing rod 72 is fixedly installed at the bottom end of the positioning shaft 71. The swing rod 72 is in transmission connection with the corresponding driving disk 74. An eccentric shaft 75 is fixedly installed at the bottom end of the driving disk 74. A movable hole 76 is formed in the swing rod 72. The movable hole 76 is movably connected to the eccentric shaft 75. The output shaft of the driving motor 73 drives the driving disk 74 to rotate. The driving disk 74 drives the positioning shaft 71 to change the angle through transmission connection with the swing rod 72, and then can drive the walking foot 5 to change the angle back and forth, so as to facilitate the walking of the device. Through the movable connection between the movable hole 76 and the eccentric shaft 75, when the rotating driving disk 74 drives the eccentric shaft 75 to rotate, the swing rod 72 can be pushed to change the angle back and forth through the movable hole 76.

[0062] Referring to Figure 8 andFigure 9 Moreover, the shock absorption mechanism 8 further includes four buffer cylinders 83. The four buffer cylinders 83 are fixedly installed at the bottom of the mounting plate 81. A buffer rod 84 is slidably connected to the bottom of the buffer cylinder 83. The four buffer rods 84 are fixedly connected to the same backing plate 82. A buffer spring 85 is sleeved on the buffer rod 84. The buffer spring 85 is located between the buffer cylinder 83 and the backing plate 82. A piston plate 86 is slidably installed on the inner wall of the buffer cylinder 83. Six water through holes 87 are formed in the piston plate 86. Three adjusting shims 88 are fixedly installed at the bottom of the piston plate 86. The adjusting shims 88 cooperate with the corresponding water through holes 87. The piston plate 86 is fixedly connected to the corresponding buffer rod 84. Through the sliding connection between the buffer cylinder 83 and the buffer rod 84, a connection can be formed between the mounting plate 81 and the backing plate 82, and the backing plate 82 can be buffered and reset by the buffer spring 85. Through the arrangement of the six water through holes 87, it is convenient to form a moving deceleration effect through the piston plate 86 when the buffer rod 84 moves up and down. Under the action of the adjusting shim 88 located below the piston plate 86, when the piston plate 86 is reset, the adjusting shim 88 closes the corresponding water through hole 87, increasing the difficulty of the piston plate 86 moving, thereby forming a damping effect, and thus forming shock absorption and buffering, which is convenient for the landing buffer of the drone.

[0063] Refer to Figure 7 Moreover, an operation screen 12 is installed on the control equipment center 2. A visible light camera 13, an infrared thermal imager 14 and a lidar 15 are installed on the control equipment center 2. The data in the control equipment center 2 is debugged and observed through the operation screen 12, and danger detection is carried out through the visible light camera 13, the infrared thermal imager 14 and the lidar 15. At the same time, AI danger assessment is carried out through the control equipment center 2.

[0064] Refer to Figure 7 Moreover, mounting pieces 16 are fixedly installed at the top and bottom of the control equipment center 2. A plurality of bolts are provided on the mounting pieces 16. The bolts are respectively threadedly connected to the housing 1 and the bottom box 3. Through the arrangement of the two mounting pieces 16 and the plurality of bolts, it is convenient to form an installation connection between the housing 1, the control equipment center 2 and the bottom box 3, and thus the whole device is modularly assembled.

[0065] Working principle: When quadruped walking is required, the driving motor 73 and the walking foot 5 are driven by the walking controller 21. At the same time, the output shaft of the driving motor 73 drives the driving disc 74 to rotate. The driving disc 74 drives the positioning shaft 71 to change its angle through the transmission connection with the swing rod 72, and then drives the walking foot 5 to change its angle back and forth, thus facilitating the walking of the device. Through the movable connection between the movable hole 76 and the eccentric shaft 75, when the rotating driving disc 74 drives the eccentric shaft 75 to rotate, it can push the swing rod 72 to change its angle back and forth through the movable hole 76. The swing rod 72 drives the positioning shaft 71 to change its angle back and forth, and the positioning shaft 71 drives the connecting seat 4 and the walking foot 5 to swing back and forth, so that the walking foot 5 walks. Cooperating with the pneumatic structure on the walking foot 5, it is convenient to move on different terrains. When walking, the flying blades 9 need to be folded. The flying controller 19 controls the pneumatic folding motor 68. The output shaft of the folding motor 68 drives the driving gear 69 to rotate. The driving gear 69 drives the internal gear ring 64 to rotate through the meshing with the internal gear ring 64. The rotating internal gear ring 64 drives the movable shaft 66 to move horizontally through the meshing with the arc groove 65 and the movable shaft 66, and then can push the pull rod 61 to move. At the same time, the setting of the flying control 19 can facilitate the control of the folding motor 68 and the flying blades 9, so as to facilitate the control of the flying module of the device. Through the sliding connection between the limiting hole 67 and the movable shaft 66, the moving direction of the movable shaft 66 can be limited. The moving pull rod 61 drives the rack 62 to move. The rack 62 drives the support frame 18 to change its angle through the meshing with the positioning gear 63, and then can facilitate the folding and storage of the support frame 18, which is convenient for walking operation on the ground. At the same time, the setting of the positioning box can stabilize the meshing state of the rack 62 and the positioning gear 63. When the device lands, the buffer spring 85 buffers and resets the backing plate 82. Through the setting of six water through holes 87, it is convenient to form a moving deceleration effect through the piston plate 86 when the buffer rod 84 moves up and down. Under the action of the adjusting plug 88 located below the piston plate 86, when the piston plate 86 resets, the adjusting plug 88 closes the corresponding water through hole 87, increasing the moving difficulty of the piston plate 86, and then forming a damping effect, thus forming shock absorption and buffering, which is convenient for the landing buffer of the UAV. The data in the control equipment center 2 is debugged and observed through the control panel 12, and danger detection is carried out through the visible light camera 13, the infrared thermal imager 14 and the lidar 15. At the same time, AI danger assessment is carried out through the control equipment center 2. At the same time, through the setting of two mounting plates 16 and multiple bolts, it is convenient to form an installation connection between the housing 1, the control equipment center 2 and the bottom box 3, and then the whole device forms a modular assembly. When it is necessary to detect the soil, the pneumatic cylinder 89 is switched on, and the piston of the cylinder 89 drives the positioning plate 10 to move downward.While the positioning plate 10 drives the probe 11 to move downward, it is inserted into the soil to perform detection operations on the soil.

[0066] Embodiment 2

[0067] Step 1: Import the dike CAD drawing through the ground control station, automatically generate the inspection path flight mode to cover the whole area, and the quadruped mode focuses on high-risk points; during this process, set the sensor sampling frequency: infrared / visible light is collected every 5 seconds during the flight stage, and the foot sensor on the ground stage is triggered at each step.

[0068] Step 2: When the flight mode detects a suspected leakage area (temperature gradient > 2°C / m 2 ), it lands at the target point and switches to the quadruped mode; the foot probe is inserted into the soil body, walks along the seepage direction in a zigzag path, and draws the water content contour map; the data is uploaded to the cloud in real time and compared with the historical database to generate a risk assessment report.

[0069] Step 3: After the danger is confirmed, the robot uses acoustic and optical alarms (120dB buzzer + LED stroboscope) to prompt personnel and mark the GPS coordinates (accuracy ±10cm).

[0070] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An air-land intelligent quadruped risk detection robot and a risk assessment system, including a housing (1), characterized in that, A control device center (2) is installed at the bottom of the housing (1), a bottom box (3) is installed at the bottom of the control device center (2), four symmetrically arranged mounting seats (20) are fixedly installed on the outer side of the bottom box (3), a connecting seat (4) is rotatably connected to the mounting seat (20), and a walking foot (5) is rotatably connected to the connecting seat (4); Six flight brackets (17) are provided and fixedly mounted on the outer side of the housing (1); a support frame (18) is hingedly connected to the flight bracket (17); and a flight blade (9) is mounted on the support frame (18); The folding mechanism (6) comprises a pull rod (61) which is slidably mounted on the flight bracket (17), the pull rod (61) is transmission-connected to the corresponding support frame (18), and a folding motor (68) is fixedly mounted on the top of the housing (1), and the output shaft of the folding motor (68) is transmission-connected to the six pull rods (61); The driving mechanism (7) comprises six positioning shafts (71), the six positioning shafts (71) are respectively fixedly connected to the corresponding connecting seats (4), and the positioning shafts (71) are rotationally connected to the corresponding mounting seats (20); four driving motors (73) are fixedly installed on the bottom inner wall of the bottom box (3), the output shafts of the driving motors (73) are transmission-connected to the corresponding positioning shafts (71); a walking controller (21) is installed on the bottom inner wall of the bottom box (3), and the walking controller (21) is connected to the four driving motors (73) and the walking foot (5); The shock absorbing mechanism (8) comprises a mounting plate (81), a cylinder (89) is mounted on one end of the walking foot (5), the mounting plate (81) is fixedly mounted on the bottom end of the cylinder (89), a pad (82) is mounted below the mounting plate (81), a positioning plate (10) is mounted on the piston of the cylinder (89), and four probes (11) are mounted on the bottom of the positioning plate (10).

2. The intelligent quadruped inspection robot and danger situation assessment system for air and land according to claim 1, characterized in that The folding mechanism (6) also includes a positioning gear (63), which is fixedly mounted on the end of the support frame (18) and connected to the connecting shaft between the flying support (17) and the support frame (18). A rack (62) is fixedly mounted on the pull rod (61), the rack (62) and the positioning gear (63) are meshed with each other, and a positioning box is slidably connected to the rack (62), and the positioning box is rotationally connected to the connecting shaft between the flying support (17) and the support frame (18).

3. The intelligent quadruped inspection robot and danger situation assessment system for air and land according to claim 2, characterized in that, An inner gear ring (64) is rotatably connected to the top inner wall of the shell (1), a driving gear (69) is fixedly installed on the output shaft of the folding motor (68), the driving gear (69) and the inner gear ring (64) are meshed with each other, and six arc grooves (65) are opened on the inner gear ring (64), a movable shaft (66) is slidably connected to the inner wall of the arc groove (65), and the movable shaft (66) is fixedly connected to the corresponding pull rod (61), a flight controller (19) is installed on the inner wall of the shell (1), and a data transmission device (22) is installed on the top of the shell (1).

4. The air-land intelligent quadruped risk detection robot and risk assessment system according to claim 3, characterized in that, The top of the housing (1) is provided with six limiting holes (67), and the limiting holes (67) are slidably connected to corresponding movable shafts (66).

5. The air-land intelligent quadruped risk detection robot and risk assessment system according to claim 1, characterized in that, The driving mechanism (7) further includes a driving disk (74), the driving disk (74) is fixedly installed on the output shaft of the driving motor (73), and a swing rod (72) is fixedly installed at the bottom end of the positioning shaft (71), and the swing rod (72) is in transmission connection with the corresponding driving disk (74).

6. The air-land intelligent quadruped inspection robot and danger situation assessment system according to claim 5, wherein, An eccentric shaft (75) is fixedly installed at the bottom end of the driving disk (74), and a movable hole (76) is formed in the swing rod (72), and the movable hole (76) is movably connected with the eccentric shaft (75).

7. The intelligent quadruped inspection robot and danger situation assessment system for air and land according to claim 1, characterized in that, The shock absorption mechanism (8) further includes four buffer cylinders (83), the four buffer cylinders (83) are fixedly installed at the bottom of the mounting plate (81), a buffer rod (84) is slidably connected to the bottom of the buffer cylinder (83), the four buffer rods (84) are fixedly connected to the same backing plate (82), and a buffer spring (85) is sleeved on the buffer rod (84), and the buffer spring (85) is located between the buffer cylinder (83) and the backing plate (82).

8. The intelligent quadruped risk detection robot and risk assessment system for air and land according to claim 7, characterized in that, The piston plate (86) is slidably installed on the inner wall of the buffer cylinder (83), and six water through holes (87) are formed in the piston plate (86), three adjusting plug pieces (88) are fixedly installed at the bottom of the piston plate (86), the adjusting plug pieces (88) cooperate with the corresponding water through holes (87), and the piston plate (86) is fixedly connected to the corresponding buffer rod (84).

9. The intelligent quadruped inspection robot and danger situation assessment system for air and land according to claim 1, characterized in that, An operation screen (12) is installed on the control equipment center (2), and a visible light camera (13), an infrared thermal imager (14) and a lidar (15) are installed on the control equipment center (2).

10. The intelligent quadruped inspection robot and danger situation assessment system for air and land according to claim 1, characterized in that, Mounting pieces (16) are fixedly installed at the top and bottom of the control equipment center (2), and a plurality of bolts are provided on the mounting pieces (16), and the bolts are respectively threadedly connected to the housing (1) and the bottom box (3).

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