Inspection device

Abstract

The invention relates to the technical field of inspection devices, and particularly provides an inspection device. The inspection device comprises a driving assembly, a top mounting assembly, a passive adjusting assembly, an active adjusting assembly and a sensing assembly. According to the invention, the positions of the active adjusting assembly and the visual sensor can be synchronously adjusted according to the ground undulation degree, so that environment information can be effectively captured under different topographic conditions to adapt to various complex topographic conditions, the stability of the visual sensor is ensured, data errors are reduced, an efficient working state is kept in the inspection process, and the inspection efficiency is improved. Repeated inspection caused by inaccurate data is reduced, the overall inspection efficiency is improved, meanwhile, impact caused by uneven ground can be effectively absorbed, sensitive elements in equipment are protected, and the service life of the equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol inspection devices, and in particular provides a patrol inspection device. Background Art

[0002] Intelligent inspection equipment within underground caverns is designed to provide efficient, accurate, and safe inspection services for all types of underground caverns. By integrating advanced sensor technology, navigation technology, artificial intelligence algorithms, and 3D real-world reconstruction technology, it enables comprehensive, real-time monitoring of the cavern environment and equipment status, as well as fault diagnosis, to improve operational safety and reliability. However, because the underground environment can be affected by geological activity (such as earthquakes and subsidence), the topography within the cavern can change, creating irregular ground surfaces. This can cause the visual sensors or lidar sensors within the intelligent inspection equipment to tilt or swing while in motion, causing changes in their angle and height relative to the ground. This, in turn, can lead to sudden changes in their perspective and field of view relative to the target object. This can prevent certain areas from being effectively detected or identified, thus affecting the accuracy of the inspection data. Summary of the Invention

[0003] Based on this, it is necessary to provide a patrol inspection device to solve at least one technical problem in the background technology.

[0004] A patrol device includes a traveling component, a top mounting component, a passive adjustment component, an active adjustment component and a sensor component. The traveling component includes a vehicle bottom frame, two adjustment horizontal bars, an inspection compartment, a central bottom plate and four traveling buffer elements. Adjustment mounting bars are respectively convex on both sides of the middle of the bottom surface of the vehicle bottom frame, and tilt adjustment sliders are respectively convex at both ends of the middle of each adjustment mounting bar. A tilt adjustment slot is recessed in the middle of the tilt adjustment slider. The top ends of the two adjustment horizontal bars are respectively mounted on the two ends of the bottom surfaces of the two adjustment mounting bars, and the adjustment horizontal bars are perpendicular to the adjustment mounting bars. A longitudinal slot is recessed on both sides of each adjustment horizontal bar. The bottom of the inspection compartment is mounted on the top of the vehicle bottom frame. A hollow cavity is formed in the interior of the inspection compartment, and ultrasonic mounting grooves are respectively provided on the tops of both sides of the hollow cavity, a mounting rotation hole is recessed in the middle of the top surface of the hollow cavity, and a preset through hole is recessed in the middle of the bottom surface of the hollow cavity. The center bottom plate is installed in the middle of the bottom surface of the vehicle frame, and a universal mounting vertical rod is convexly provided in the middle of the top surface of the center bottom plate. The inner sides of the four driving buffer elements are respectively installed at the four corners of the vehicle frame, the bottom plate of the top mounting assembly is installed in the mounting rotation hole, the passive adjustment assembly is installed in the vehicle frame, the universal mounting vertical rod and the top mounting assembly, the bottom of the active adjustment assembly is installed on the top of the passive adjustment assembly, and the sensor assembly is installed in the inspection compartment and the active adjustment assembly.

[0005] As a further improvement of the present invention, each traveling buffer element includes a traveling mounting inclined plate, a traveling motor, two traveling buffers and a Mecanum wheel. The inner end of the top surface of the traveling mounting inclined plate is rotatably mounted on one side of the bottom surface of the adjusting horizontal bar. A motor mounting plate is convexly provided in the middle of the top surface of the traveling mounting inclined plate. A motor mounting hole is concavely provided in the middle of the motor mounting plate. The traveling motor is installed in the motor mounting hole. An inclined connecting block is convexly provided at the inner end of the top surface of the traveling mounting inclined plate, and the inclined connecting block is arranged opposite to the longitudinal slide groove. A vertical spherical slide groove is concavely provided in the middle of the inner end of the inclined connecting block. Buffer mounting turntables are respectively convexly provided on both sides of the outer end of the top surface of the traveling mounting inclined plate. The bottom ends of the two traveling buffers are respectively rotatably mounted in the two buffer mounting turntables. The top ends of the two traveling buffers are rotatably mounted at the corners of the bottom surface of the vehicle chassis, and the Mecanum wheel is mounted on the output shaft of the traveling motor.

[0006] As a further improvement of the present invention, the top mounting assembly includes a top mounting turntable and a closing cover. The top of the outer wall of the top mounting turntable is rotatably mounted in the mounting rotation hole. A middle universal rotation groove is recessed in the middle of the top surface of the top mounting turntable. The middle universal rotation groove is connected to the hollow cavity. Mounting rotation plates are protruded on both sides of the top surface of the top mounting turntable, and the top of the closing cover is mounted on the bottom of the top mounting turntable.

[0007] As a further improvement of the present invention, the passive adjustment assembly includes a passive adjustment turntable, a locking shaft, a universal adjustment ball, a passive connecting rod, a top adjustment turntable, a bottom passive adjustment element and four linkage adjustment elements, wherein adjustment turntables are respectively convexly provided on both sides of the bottom surface of the passive adjustment turntable, and the inner sides of the two adjustment turntables are respectively slidably installed in the outer sides of the two mounting turn plates. A locking turn block is provided at one end of the top of each adjusting turn plate, and the two ends of the locking shaft are respectively rotatably installed in the two locking turn blocks. A locking block is provided in the middle of the locking shaft, the universal adjustment turn ball is rotatably installed in the middle universal groove, the middle of the universal adjustment turn ball is concavely provided with a mounting slide groove, the middle of the passive connecting rod is slidably installed in the mounting slide groove, the top and bottom of the passive connecting rod are respectively provided with a top universal ball and a bottom universal ball, the middle surface of the passive adjustment turntable is concavely provided with a mounting adjustment groove, the top adjustment turntable is slidably installed in the mounting adjustment groove, the bottom passive adjustment element is installed in the universal mounting vertical rod, and the four linkage adjustment elements are respectively installed in the four tilt adjustment slide grooves and the four longitudinal slide grooves.

[0008] As a further improvement of the present invention, a top universal rotating groove is recessed in the middle of the bottom surface of the top adjusting turntable, and the top universal rotating ball is rotatably installed in the top universal rotating groove.

[0009] As a further improvement of the present invention, the bottom passive adjustment element includes a bottom adjusting cylinder, four universal slide rails and a bottom connecting universal shaft. A bottom universal mounting groove is recessed in the middle of the bottom surface of the bottom adjusting cylinder, and the top of the universal mounting vertical rod is rotatably installed in the bottom universal mounting groove. The interior of the bottom adjusting cylinder is hollow to form a circular cavity. The outer ends of the four universal slide rails are respectively installed in the middle of the inner wall of the circular cavity at intervals along the circumferential direction. The inner end of each universal slide rail is recessed with a radial spherical groove. The outer wall of the bottom connecting universal shaft is connected to the inner ends of the four universal slide rails. The bottom connecting universal shaft is recessed with a bottom universal rotating groove. The bottom universal rotating ball passes through a preset through hole and is rotatably installed in the bottom universal rotating groove.

[0010] As a further improvement of the present invention, four trigger communication grooves are recessed on the inner wall of the bottom universal rotating groove along the circumferential direction, and the four trigger communication grooves are respectively connected to the four radial spherical sliding grooves.

[0011] As a further improvement of the present invention, each linkage adjustment element includes a tilt trigger rod and a longitudinal connecting rod. The middle part of the tilt trigger rod is slidably installed in the tilt adjustment slide groove, and the inner end of the tilt trigger rod is abutted against the bottom of the outer wall of the bottom adjustment cylinder. The middle part of the longitudinal connecting rod is slidably installed in the longitudinal slide groove. The inner side of the inner end of the longitudinal connecting rod is recessed with a tilt connection sliding surface, and the outer end of the tilt trigger rod is slidably connected to the tilt connection sliding surface. The outer end of the longitudinal connecting rod is provided with a trigger universal ball, and the trigger universal ball is slidably installed in the vertical spherical slide groove.

[0012] As a further improvement of the present invention, the active adjustment component includes an active mounting base and a four-axis robotic arm. The bottom of the active mounting base is connected to the top of the top adjustment turntable, and the bottom of the four-axis robotic arm is installed in the middle of the top surface of the active mounting base.

[0013] As a further improvement of the present invention, the sensing assembly includes four ultrasonic sensors, two gas sensors and a visual sensor. The four ultrasonic sensors are respectively installed at the two ends of the two ultrasonic mounting grooves, the bottoms of the two gas sensors are respectively installed at the two ends of the middle part of the top surface of the inspection compartment, and the visual sensor is installed on the top of the four-axis robotic arm.

[0014] The beneficial effects of the present invention are as follows: 1. The present invention can synchronously adjust the position of the active adjustment component and the visual sensor according to the undulation of the ground, ensuring that environmental information can be effectively captured under different terrain conditions, so as to adapt to various complex terrain conditions, ensure the stability of the visual sensor, reduce data errors, and maintain an efficient working state during the inspection process, reduce repeated inspections caused by inaccurate data, and improve overall inspection efficiency. At the same time, it can effectively absorb the impact caused by uneven ground, protect sensitive components inside the equipment, and extend the service life of the equipment.

[0015] 2. The present invention can efficiently complete inspections of underground cavern equipment, facilities, and gas leaks through preset inspection tasks and automatic detection functions, and simultaneously detect cracks, water seepage, and air quality on the cavern walls. At the same time, through the visualization of three-dimensional models and thermal imaging data and the connection of the wireless communication module with the remote control center, operators can conveniently monitor the cavern status, obtain abnormal information in a timely manner, and improve user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. 1 is a perspective schematic diagram of an embodiment of the present invention.

[0017] Figure 2 FIG. 1 is an internal schematic diagram of an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of an active adjustment component and a visual sensor in one embodiment of the present invention.

[0019] Figure 4 Schematic diagram of the interior of the travel assembly, bottom passive adjustment element and linkage adjustment element in one embodiment of the present invention.

[0020] Figure 5 Schematic diagram of the interior of the travel assembly, bottom passive adjustment element and linkage adjustment element in another embodiment of the present invention.

[0021] Figure 6 It is a three-dimensional schematic diagram of a top mounting assembly and a passive adjustment assembly in one embodiment of the present invention.

[0022] Figure 7 Schematic diagram of the interior of the top mounting assembly and the passive adjustment assembly in one embodiment of the present invention.

[0023] In the picture: 10. Travel assembly; 11. Underframe; 15. Adjustment bar; 12. Inspection compartment; 13. Center floor; 14. Travel buffer element; 111. Adjustment mounting bar; 112. Tilt adjustment slider; 113. Tilt adjustment chute; 131. Universal mounting vertical rod; 151. Longitudinal chute; 121. Hollow cavity; 122. Ultrasonic mounting slot; 123. Mounting hole; 124. Preset through hole; 141. Travel mounting inclined plate; 142. Travel Driving motor; 143, driving buffer; 144, Mecanum wheel; 145, motor mounting hole; 140, motor mounting plate; 146, buffer mounting turntable; 147, tilting connecting block; 148, vertical spherical slide; 20, top mounting assembly; 21, top mounting turntable; 22, closing cover; 211, middle universal groove; 212, mounting turntable; 30, passive adjustment assembly; 31, passive adjustment turntable; 37, locking shaft; 32, universal Adjusting ball; 33, passive connecting rod; 35, bottom passive adjusting element; 36, linkage adjusting element; 311, adjusting plate; 312, locking block; 371, locking block; 321, mounting groove; 331, top universal rotating ball; 332, bottom universal rotating ball; 314, mounting adjusting groove; 34, top adjusting turntable; 344, top universal rotating groove; 351, bottom adjusting cylinder; 352, universal slide rail; 353, bottom connecting universal shaft; 35 4. Bottom universal mounting slot; 355. Circular cavity; 356. Radial spherical slide; 357. Bottom universal rotating slot; 358. Trigger connecting slot; 361. Tilt trigger rod; 362. Longitudinal connecting rod; 363. Tilt connecting slide; 364. Trigger universal ball; 40. Active adjustment component; 41. Active mounting base; 42. Four-axis robotic arm; 50. Sensing component; 51. Ultrasonic sensor; 52. Gas sensor; 53. Visual sensor. DETAILED DESCRIPTION

[0024] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0025] In the description of the present invention, it should be noted that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are 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 cannot be understood as a limitation on the present invention.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] See also Figures 1 to 7 , a patrol inspection device includes a traveling component 10, a top mounting component 20, a passive adjustment component 30, an active adjustment component 40 and a sensor component 50. The traveling component 10 includes a vehicle bottom frame 11, two adjustment horizontal bars 15, an inspection compartment 12, a central bottom plate 13 and four traveling buffer elements 14. Adjustment mounting bars 111 are respectively convexly provided on both sides of the middle of the bottom surface of the vehicle bottom frame 11, and tilt adjustment sliders 112 are respectively convexly provided at both ends of the middle of each adjustment mounting bar 111. A tilt adjustment slide 113 is recessed in the middle of the tilt adjustment slider 112. The top ends of the two adjustment horizontal bars 15 are respectively mounted on the two ends of the bottom surfaces of the two adjustment mounting bars 111, and the adjustment horizontal bars 15 are perpendicular to the adjustment mounting bars 111. A longitudinal slide 151 is respectively recessed on both sides of each adjustment horizontal bar 15. The bottom of the inspection compartment 12 is mounted on the top of the vehicle bottom frame 11 A hollow cavity 121 is formed inside the inspection compartment 12, and ultrasonic mounting grooves 122 are respectively provided on the tops of both sides of the hollow cavity 121, a mounting rotation hole 123 is recessed in the middle of the top surface of the hollow cavity 121, and a preset through hole 124 is recessed in the middle of the bottom surface of the hollow cavity 121. The central bottom plate 13 is installed in the middle of the bottom surface of the vehicle bottom frame 11, and a universal mounting vertical rod 131 is protruded in the middle of the top surface of the central bottom plate 13. The inner sides of the four running buffer elements 14 are respectively installed at the four corners of the vehicle bottom frame 11, the bottom plate of the top mounting assembly 20 is installed in the mounting rotation hole 123, the passive adjustment assembly 30 is installed in the vehicle bottom frame 11, the universal mounting vertical rod 131 and the top mounting assembly 20, the bottom of the active adjustment assembly 40 is installed on the top of the passive adjustment assembly 30, and the sensor assembly 50 is installed in the inspection compartment 12 and the active adjustment assembly 40.

[0028] Each driving buffer element 14 includes a driving mounting inclined plate 141, a driving motor 142, two driving buffers 143 and a Mecanum wheel 144. The inner end of the top surface of the driving mounting inclined plate 141 is rotatably mounted on one side of the bottom surface of the adjustment horizontal bar 15. A motor mounting plate 140 is convexly provided in the middle of the top surface of the driving mounting inclined plate 141. A motor mounting hole 145 is concavely provided in the middle of the motor mounting plate 140. The driving motor 142 is mounted in the motor mounting hole 145. An inclined connecting block is convexly provided at the inner end of the top surface of the driving mounting inclined plate 141. 147, and the inclined connecting block 147 is arranged opposite to the longitudinal slide 151, and a vertical spherical slide 148 is recessed in the middle of the inner end of the inclined connecting block 147. Buffer mounting turntables 146 are respectively protruded on both sides of the outer end of the top surface of the traveling mounting inclined plate 141. The bottom ends of the two traveling buffers 143 are respectively rotatably mounted in the two buffer mounting turntables 146. The top ends of the two traveling buffers 143 are both rotatably mounted at the corners of the bottom surface of the vehicle frame 11, and the Mecanum wheel 144 is mounted on the output shaft of the traveling motor 142.

[0029] The top mounting assembly 20 includes a top mounting turntable 21 and a closing cover 22. The top of the outer wall of the top mounting turntable 21 is rotatably mounted in the mounting rotation hole 123. A middle universal rotation groove 211 is recessed in the middle of the top surface of the top mounting turntable 21. The middle universal rotation groove 211 is connected to the hollow cavity 121. Mounting rotation plates 212 are respectively protruded on both sides of the top surface of the top mounting turntable 21. The top of the closing cover 22 is mounted on the bottom of the top mounting turntable 21.

[0030] The passive adjustment assembly 30 includes a passive adjustment turntable 31, a locking shaft 37, a universal adjustment ball 32, a passive connecting rod 33, a top adjustment turntable 34, a bottom passive adjustment element 35 and four linkage adjustment elements 36. The bottom surface of the passive adjustment turntable 31 is respectively provided with an adjustment turntable 311 on both sides. The inner sides of the two adjustment turntables 311 are respectively slidably mounted on the outer sides of the two mounting turntables 212. A locking turn block 312 is provided at one end of the top of each adjustment turntable 311. The two ends of the locking shaft 37 are respectively rotatably mounted in the two locking turn blocks 312. A locking block 371 is provided in the middle of the locking shaft 37. The universal adjustment ball 32 rotates It is dynamically installed in the middle universal groove 211, and the middle part of the universal adjustment ball 32 is recessed with a mounting groove 321. The middle part of the passive connecting rod 33 is slidably installed in the mounting groove 321. The top and bottom of the passive connecting rod 33 are respectively provided with a top universal ball 331 and a bottom universal ball 332. The middle part of the bottom surface of the passive adjustment turntable 31 is recessed with a mounting adjustment groove 314. The top adjustment turntable 34 is slidably installed in the mounting adjustment groove 314. The bottom passive adjustment element 35 is installed in the universal mounting vertical rod 131. The four linkage adjustment elements 36 are respectively installed in the four tilt adjustment grooves 113 and the four longitudinal grooves 151.

[0031] A top universal rotating groove 344 is recessed in the middle of the bottom surface of the top adjusting turntable 34 , and the top universal rotating ball 331 is rotatably installed in the top universal rotating groove 344 .

[0032] The bottom passive adjustment element 35 includes a bottom adjustment cylinder 351, four universal slide rails 352 and a bottom connecting universal shaft 353. A bottom universal mounting groove 354 is recessed in the middle of the bottom surface of the bottom adjustment cylinder 351, and the top of the universal mounting vertical rod 131 is rotatably installed in the bottom universal mounting groove 354. The interior of the bottom adjustment cylinder 351 is hollow to form a circular cavity 355. The outer ends of the four universal slide rails 352 are respectively installed in the middle of the inner wall of the circular cavity 355 at intervals along the circumferential direction. The inner end of each universal slide rail 352 is recessed with a radial spherical groove 356. The outer wall of the bottom connecting universal shaft 353 is connected to the inner ends of the four universal slide rails 352. The bottom connecting universal shaft 353 is recessed with a bottom universal rotating groove 357. The bottom universal rotating ball 332 passes through the preset through hole 124 and is rotatably installed in the bottom universal rotating groove 357.

[0033] Four trigger communication grooves 358 are recessed on the inner wall of the bottom universal groove 357 along the circumferential direction. The four trigger communication grooves 358 are respectively connected to the four radial spherical sliding grooves 356.

[0034] Each linkage adjustment element 36 includes a tilt trigger rod 361 and a longitudinal connecting rod 362. The middle part of the tilt trigger rod 361 is slidably installed in the tilt adjustment slide groove 113, and the inner end of the tilt trigger rod 361 is abutted against the bottom of the outer wall of the bottom adjustment cylinder 351. The middle part of the longitudinal connecting rod 362 is slidably installed in the longitudinal slide groove 151. The inner side of the inner end of the longitudinal connecting rod 362 is recessed with a tilt connection sliding surface 363, and the outer end of the tilt trigger rod 361 is slidably connected to the tilt connection sliding surface 363. The outer end of the longitudinal connecting rod 362 is provided with a trigger universal ball 364, which is slidably installed in the vertical spherical slide groove 148.

[0035] The active adjustment component 40 includes an active mounting base plate 41 and a four-axis robotic arm 42 . The bottom of the active mounting base plate 41 is connected to the top of the top adjustment turntable 34 , and the bottom of the four-axis robotic arm 42 is installed in the middle of the top surface of the active mounting base plate 41 .

[0036] The sensing assembly 50 includes four ultrasonic sensors 51, two gas sensors 52 and a visual sensor 53. The four ultrasonic sensors 51 are respectively installed at the two ends of the two ultrasonic mounting grooves 122, the bottoms of the two gas sensors 52 are respectively installed at the two ends of the middle of the top surface of the inspection compartment 12, and the visual sensor 53 is installed on the top of the four-axis robotic arm 42.

[0037] For example, in one embodiment, the passive adjustment assembly 30 is used to synchronously adjust the active adjustment assembly 40 and the sensor assembly 50 according to the cushioning conditions of the travel cushioning element 14 during travel. A locking adjustment motor is disposed on the outer side of one of the adjustment rotating plates 311, and the output shaft of the locking adjustment motor is connected to one end of the locking shaft 37.

[0038] For example, in one embodiment, when starting to travel, the four travel motors 142 will be started synchronously, thereby driving the device to perform inspection.

[0039] When the road encounters irregular ground, the raised part of the terrain will compress the driving buffer 143, thereby causing the driving mounting inclined plate 141 to rotate and move upward, causing the inclined connecting block 147 to move upward with the rotation. Since the middle part of the inner end of the inclined connecting block 147 is recessed with a vertical spherical groove 148, and the trigger universal ball 364 is slidably installed in the vertical spherical groove 148, the longitudinal connecting rod 362 is pushed to move inward along the longitudinal groove 151. Since the outer end of the tilt trigger rod 361 is slidably connected with the tilt connecting sliding surface 363, the tilt trigger rod 361 moves inward along the tilt adjustment groove 113, thereby pushing the bottom adjustment cylinder 351 to rotate around the top end of the universal mounting vertical rod 131 at the bottom, thereby causing the bottom universal rotating ball 332 to pass through the trigger connecting groove 358 and move away from the tilt trigger rod 361 moving inward. The universal slide rail 352 at one end moves and pulls the passive connecting rod 33 to move along, thereby making the top universal rotating ball 331 move along, thereby making the top adjusting turntable 34 move along, thereby making the two adjusting turntables 311 on the passive adjusting turntable 31 rotate around the mounting turntable 212 and move downward. At the same time, since the top of the outer wall of the top mounting turntable 21 is rotatably installed in the mounting turn hole 123, when the passive connecting rod 33 moves, it will drive the top mounting turntable 21 to rotate around the mounting turn hole 123, thereby making the top adjusting turntable 34 move along, thereby making the active adjustment component 40 and the visual sensor 53 move along, thereby making the device travel on irregular ground, and the visual sensor 53 can move synchronously according to the undulation of the ground, thereby slowing down the tilt or swing of the visual sensor 53 during inspection, affecting data collection.

[0040] For example, in one embodiment, a laser radar is also installed on top of the four-axis robotic arm 42. The laser radar has a measurement range of 0.5m to 100m and an accuracy of ±5cm, enabling three-dimensional map construction and autonomous navigation. Combined with a visual navigation system, it enables high-precision positioning and autonomous navigation of the device, with a positioning accuracy of up to ±10cm. The hollow cavity 121 houses a central processing unit (CPU), memory, communication interface, and power management module. The CPU utilizes a high-performance embedded processor for rapidly processing data from various sensors and executing algorithms and control logic. The memory includes a large-capacity random access memory (RAM), read-only memory (ROM), and a high-speed solid-state drive (SSD) for storing program code, data, and intermediate results, as well as collected images, videos, and other data. The communication interface includes an Ethernet interface, a USB interface, and a serial port. A wireless communication module is also provided for communication with a remote control center. The communication interface is used to exchange data with various sensors, actuators, and the wireless communication module. The power management module includes a battery, a power monitor, and a power distributor. The power management module manages the robot's power supply, ensuring stable operation and issuing an alarm when the battery is low.

[0041] The present invention can automatically detect equipment, facilities and gas leaks in the cave according to preset inspection tasks and use the sensor component 50, and issue alarms in a timely manner. The alarm methods include sound alarms, light alarms and text message notifications; at the same time, the device will transmit the location information and detailed information of the abnormal situation to the control center to facilitate the operator to handle it.

[0042] For equipment appearance inspections, deep learning-based object detection algorithms, such as YOLOv5 or Faster R-CNN, are used. Convolutional neural network (CNN) algorithms are also used to analyze high-definition video images to identify anomalies such as cracks and leaks. 3D scene reconstruction utilizes a combination of the Structure from Motion and Multi-View Stereo algorithms. When equipment anomalies are detected, the 3D model can be used to quickly locate the device and visualize the surrounding environment, providing a reference for developing repair plans.

[0043] For temperature detection, thermal imaging data analysis algorithms, such as threshold segmentation-based methods, are used to detect overheated areas. For gas detection, machine learning algorithms, such as support vector machines (SVMs) or random forest algorithms, are used to build gas concentration prediction models to determine whether there are any hazardous gas leaks.

[0044] When an accident occurs in an underground cavern, the equipment can quickly enter the scene for investigation and provide accurate information and guidance to rescue personnel. For example, by using three-dimensional real-scene reconstruction technology, the situation at the accident scene can be better understood, providing a more intuitive basis for the formulation of rescue plans.

[0045] Installation process: Install the bottom of the inspection car 12 on the top of the vehicle chassis 11, install the center bottom plate 13 on the middle of the bottom surface of the vehicle chassis 11, and install the inner sides of the four travel buffer elements 14 at the four corners of the vehicle chassis 11 respectively. Rotate the inner end of the top surface of the travel installation inclined plate 141 to one side of the bottom surface of the adjustment bar 15, install the travel motor 142 in the motor installation hole 145, and rotate the bottom ends of the two travel buffers 143 to the two buffer installation turntables 146 respectively. The top ends of the two travel buffers 143 are both rotated and installed at the corners of the bottom surface of the vehicle chassis 11. The wheel 144 is installed on the output shaft of the driving motor 142, the top of the outer wall of the top mounting turntable 21 is rotated and installed in the mounting hole 123, the top of the closing cover 22 is installed on the bottom of the top mounting turntable 21, the inner sides of the two adjusting plates 311 of the passive adjustment turntable 31 are respectively slidably installed on the outer sides of the two mounting plates 212, the two ends of the locking shaft 37 are respectively rotated and installed in the two locking blocks 312, the middle part of the passive connecting rod 33 is slidably installed in the mounting slot 321, the top adjusting turntable 34 is slidably installed in the mounting adjustment slot 314, and the top universal rotating ball 331 is rotated and installed. Installed in the top universal rotating groove 344, the top of the universal mounting vertical rod 131 is rotated and installed in the bottom universal mounting groove 354, the outer ends of the four universal slide rails 352 are respectively installed in the middle of the inner wall of the circular cavity 355 along the circumferential direction, the outer wall of the bottom connecting universal shaft 353 is connected to the inner ends of the four universal slide rails 352, and the four trigger connecting grooves 358 are respectively connected to the four radial spherical slide grooves 356, the middle part of the tilt trigger rod 361 is slidably installed in the tilt adjustment slide groove 113, and the inner end of the tilt trigger rod 361 is abutted against the bottom of the outer wall of the bottom adjustment cylinder 351, and the longitudinal connecting rod 362 is connected to the outer wall of the bottom adjustment cylinder 351. The upper portion is slidably installed in the longitudinal slide groove 151, the outer end of the tilt trigger rod 361 is slidably connected to the tilt connecting slide surface 363, the trigger universal ball 364 is slidably installed in the vertical spherical slide groove 148, the bottom of the active mounting base plate 41 is connected to the top of the top adjustment turntable 34, the bottom of the four-axis robotic arm 42 is installed in the middle of the top surface of the active mounting base plate 41, the four ultrasonic sensors 51 are respectively installed at the two ends of the two ultrasonic mounting grooves 122, the bottoms of the two gas sensors 52 are respectively installed at the two ends of the middle of the top surface of the inspection compartment 12, and the visual sensor 53 is installed on the top of the four-axis robotic arm 42.

[0046] The present invention can achieve: 1. The present invention can synchronously adjust the positions of the active adjustment component 40 and the visual sensor 53 according to the undulation of the ground, ensuring that environmental information can be effectively captured under different terrain conditions, so as to adapt to various complex terrain conditions, ensure the stability of the visual sensor 53, reduce data errors, and maintain an efficient working state during the inspection process, reduce repeated inspections caused by inaccurate data, and improve overall inspection efficiency. At the same time, it can effectively absorb the impact caused by uneven ground, protect sensitive components inside the equipment, and extend the service life of the equipment.

[0047] 2. The present invention can efficiently complete inspections of underground cavern equipment, facilities, and gas leaks through preset inspection tasks and automatic detection functions, and simultaneously detect cracks, water seepage, and air quality on the cavern walls. At the same time, through the visualization of three-dimensional models and thermal imaging data and the connection of the wireless communication module with the remote control center, operators can conveniently monitor the cavern status, obtain abnormal information in a timely manner, and improve user experience.

[0048] The above-described embodiments merely represent several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A patrol inspection device, characterized in that: The invention comprises a traveling component (10), a top mounting component (20), a passive adjustment component (30), an active adjustment component (40) and a sensor component (50), wherein the traveling component (10) comprises a vehicle bottom frame (11), two adjustment horizontal bars (15), an inspection compartment (12), a central bottom plate (13) and four traveling buffer elements (14), an adjusting mounting bar (111) is respectively provided on both sides of the middle of the bottom surface of the vehicle bottom frame (11), an inclination adjustment slider (112) is respectively provided at both ends of the middle of each adjusting mounting bar (111), an inclination adjustment slide (113) is respectively provided at the middle of the inclination adjustment slider (112), the top ends of the two adjustment horizontal bars (15) are respectively installed at the two ends of the bottom surface of the two adjustment mounting bars (111), and the adjustment horizontal bars (15) and the adjustment mounting bars (111) are arranged vertically, and a longitudinal slide (151) is respectively provided on both sides of each adjustment horizontal bar (15), the bottom of the inspection compartment (12) is installed on the top of the vehicle bottom frame (11), the inspection compartment (12) is provided on both sides of the central portion of the vehicle bottom frame (11), and the inspection compartment (12) is provided on both sides of the central portion of the vehicle bottom frame (11). The interior of the carriage (12) is hollowed to form a hollow cavity (121), and the tops of both sides of the hollow cavity (121) are respectively provided with ultrasonic mounting grooves (122), the middle of the top surface of the hollow cavity (121) is provided with a mounting rotation hole (123), and the middle of the bottom surface of the hollow cavity (121) is provided with a preset through hole (124). The center bottom plate (13) is installed in the middle of the bottom surface of the vehicle frame (11), and the center of the top surface of the center bottom plate (13) is provided with a universal mounting vertical rod (131). The four driving The inner sides of the buffer elements (14) are respectively mounted at the four corners of the vehicle bottom frame (11), the bottom plate of the top mounting assembly (20) is mounted in the mounting hole (123), the passive adjustment assembly (30) is mounted in the vehicle bottom frame (11), the universal mounting vertical rod (131) and the top mounting assembly (20), the bottom of the active adjustment assembly (40) is mounted on the top of the passive adjustment assembly (30), and the sensor assembly (50) is mounted in the inspection compartment (12) and the active adjustment assembly (40).

2. The inspection device according to claim 1, characterized in that: Each driving buffer element (14) includes a driving mounting inclined plate (141), a driving motor (142), two driving buffers (143) and a Mecanum wheel (144). The inner end of the top surface of the driving mounting inclined plate (141) is rotatably mounted on one side of the bottom surface of the adjusting horizontal bar (15). A motor mounting plate (140) is convexly provided in the middle of the top surface of the driving mounting inclined plate (141). A motor mounting hole (145) is concavely provided in the middle of the motor mounting plate (140). The driving motor (142) is mounted in the motor mounting hole (145). The inner end of the top surface of the driving mounting inclined plate (141) is convexly provided with an inclined connecting rod. The inclined connecting block (147) is arranged opposite to the longitudinal slide groove (151), and a vertical spherical slide groove (148) is recessed in the middle of the inner end of the inclined connecting block (147). Buffer mounting turntables (146) are respectively convexly provided on both sides of the outer end of the top surface of the driving mounting inclined plate (141). The bottom ends of the two driving buffers (143) are respectively rotatably mounted in the two buffer mounting turntables (146). The top ends of the two driving buffers (143) are both rotatably mounted at the corners of the bottom surface of the vehicle frame (11). The Mecanum wheel (144) is mounted on the output shaft of the driving motor (142).

3. The inspection device according to claim 2, characterized in that: The top mounting assembly (20) includes a top mounting turntable (21) and a closing cover (22). The top of the outer wall of the top mounting turntable (21) is rotatably mounted in the mounting rotation hole (123). A middle universal rotation groove (211) is recessed in the middle of the top surface of the top mounting turntable (21). The middle universal rotation groove (211) is connected to the hollow cavity (121). Mounting rotation plates (212) are respectively convexly provided on both sides of the top surface of the top mounting turntable (21). The top of the closing cover (22) is mounted on the bottom of the top mounting turntable (21).

4. The inspection device according to claim 3, characterized in that: The passive adjustment assembly (30) includes a passive adjustment turntable (31), a locking shaft (37), a universal adjustment ball (32), a passive connecting rod (33), a top adjustment turntable (34), a bottom passive adjustment element (35) and four linkage adjustment elements (36). Adjustment turntables (311) are respectively provided on both sides of the bottom surface of the passive adjustment turntable (31). The inner sides of the two adjustment turntables (311) are respectively slidably mounted on the outer sides of the two mounting turntables (212). A locking turn block (312) is provided at one end of the top of each adjustment turntable (311). The two ends of the locking shaft (37) are respectively rotatably mounted in the two locking turn blocks (312). A locking block (371) is provided in the middle of the locking shaft (37). The universal adjustment ball (32 ) is rotatably mounted in the central universal groove (211), the central portion of the universal adjustment ball (32) is recessed with a mounting groove (321), the central portion of the passive connecting rod (33) is slidably mounted in the mounting groove (321), the top and bottom portions of the passive connecting rod (33) are respectively provided with a top universal ball (331) and a bottom universal ball (332), the central portion of the bottom surface of the passive adjustment turntable (31) is recessed with a mounting adjustment groove (314), the top adjustment turntable (34) is slidably mounted in the mounting adjustment groove (314), the bottom passive adjustment element (35) is mounted in the universal mounting vertical rod (131), and the four linkage adjustment elements (36) are respectively mounted in the four tilt adjustment grooves (113) and the four longitudinal grooves (151).

5. The inspection device according to claim 4, characterized in that: A top universal rotating groove (344) is concavely provided in the middle of the bottom surface of the top adjusting turntable (34), and the top universal rotating ball (331) is rotatably installed in the top universal rotating groove (344).

6. The inspection device according to claim 5, characterized in that: The bottom passive adjustment element (35) includes a bottom adjustment cylinder (351), four universal slide rails (352) and a bottom connecting universal shaft (353). The bottom surface of the bottom adjustment cylinder (351) is concavely provided with a bottom universal mounting groove (354) in the middle, and the top end of the universal mounting vertical rod (131) is rotatably mounted in the bottom universal mounting groove (354). The bottom adjustment cylinder (351) is hollow inside to form a circular cavity (355). The outer ends of the four universal slide rails (352) are respectively They are installed at intervals along the circumferential direction in the middle of the inner wall of the circular cavity (355), and the inner end of each universal slide rail (352) is recessed with a radial spherical slide groove (356). The outer wall of the bottom connecting universal shaft (353) is connected to the inner ends of the four universal slide rails (352). The bottom connecting universal shaft (353) is recessed with a bottom universal rotating groove (357), and the bottom universal rotating ball (332) is passed through the preset through hole (124) and rotatably installed in the bottom universal rotating groove (357).

7. The inspection device according to claim 6, characterized in that: Four trigger communication grooves (358) are recessed on the inner wall of the bottom universal groove (357) along the circumferential direction, and the four trigger communication grooves (358) are respectively connected to the four radial spherical sliding grooves (356).

8. The inspection device according to claim 7, characterized in that: Each linkage adjustment element (36) includes a tilt trigger rod (361) and a longitudinal connecting rod (362). The middle portion of the tilt trigger rod (361) is slidably mounted in the tilt adjustment chute (113), and the inner end of the tilt trigger rod (361) is abutted against the bottom of the outer wall of the bottom adjustment cylinder (351). The middle portion of the longitudinal connecting rod (362) is slidably mounted in the longitudinal chute (151). The inner side of the inner end of the longitudinal connecting rod (362) is concavely provided with a tilt connection sliding surface (363), and the outer end of the tilt trigger rod (361) is slidably connected to the tilt connection sliding surface (363). The outer end of the longitudinal connecting rod (362) is provided with a trigger universal ball (364), and the trigger universal ball (364) is slidably mounted in the vertical spherical chute (148).

9. The inspection device according to claim 8, characterized in that: The active adjustment component (40) includes an active mounting base plate (41) and a four-axis robotic arm (42), wherein the bottom of the active mounting base plate (41) is connected to the top of the top adjustment turntable (34), and the bottom of the four-axis robotic arm (42) is mounted in the middle of the top surface of the active mounting base plate (41).

10. The inspection device according to claim 9, characterized in that: The sensing assembly (50) includes four ultrasonic sensors (51), two gas sensors (52) and a visual sensor (53). The four ultrasonic sensors (51) are respectively installed at the two ends of the two ultrasonic installation slots (122). The bottoms of the two gas sensors (52) are respectively installed at the two ends of the middle of the top surface of the inspection compartment (12). The visual sensor (53) is installed on the top of the four-axis robotic arm (42).

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