Multi-mode sewage plant inspection robot

Abstract

The invention provides a multi-mode sewage plant inspection robot which comprises a machine box and a convertible capsule wheel module connected with the machine box, and the convertible capsule wheel module comprises a ground inspection mode, a water surface inspection mode and an air inspection mode. The ground inspection mode and the water surface inspection mode are both realized by the convertible capsule wheel module in a manner of enabling capsule wheels to be parallel to the ground, and the aerial inspection mode is realized by the convertible capsule wheel module in a manner of enabling the capsule wheels to be perpendicular to the ground. According to the multi-mode sewage plant inspection robot provided by the invention, the case is connected with the convertible capsule wheel module, so that flexible switching of three motion modes including a ground inspection mode, a water surface inspection mode and an air inspection mode can be realized, and the all-terrain adaptive capacity of the inspection robot in a complex environment of a sewage plant can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multimodal sewage plant inspection robot. Background Art

[0002] Currently, sewage treatment plants are complex environments with diverse terrain, including obstacles, pools, ditches, and more. Traditional inspection robots typically use a single mode of movement, such as wheels, tracks, or underwater propulsion, which makes them difficult to meet the needs of all-terrain inspections.

[0003] Related technologies attempt to achieve both ground mobility and obstacle traversal through multimodal designs, but in practice, these robots still face challenges such as complex structures, inflexible mode switching, and insufficient surface and aerial inspection capabilities. For example, existing wheel-leg hybrid robots are inefficient at traversing obstacles, while robots equipped with buoyancy devices struggle to simultaneously achieve aerial traversal, resulting in poor adaptability in multimodal environments like sewage treatment plants. Summary of the Invention

[0004] The purpose of the present invention is to provide a multimodal sewage treatment plant inspection robot to solve one or more problems existing in the prior art of sewage treatment plant inspection robots, such as a single movement mode, weak environmental adaptability, and inflexible mode switching.

[0005] To achieve the above-mentioned objectives, the present invention is implemented through the following technical solutions: a multimodal sewage treatment plant inspection robot, comprising a chassis and a transformable capsule wheel module connected to the chassis, the transformable capsule wheel module comprising three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode, the ground inspection mode and the water surface inspection mode are both achieved by the transformable capsule wheel module by making the capsule wheel parallel to the ground, and the aerial inspection mode is achieved by the transformable capsule wheel module by making the capsule wheel perpendicular to the ground.

[0006] Optionally, the convertible capsule wheel module includes at least two pairs of convertible capsule wheel units, each pair of convertible capsule wheel units includes two convertible capsule wheel structures symmetrically arranged on both sides of the chassis; the convertible capsule wheel structure includes a first drive component, a first connecting shaft, a second drive component, a second connecting shaft, a capsule wheel, an air pressure regulating component and two wheel wing components; the first drive component is arranged in the chassis, and the output end of the first drive component is connected to the first connecting shaft, and the first drive component is used to drive the first connecting shaft to rotate; the end of the first connecting shaft away from the first drive component is located outside the chassis and connected to the fixed end of the second drive component, the rotating end of the second drive component is connected to the second connecting shaft, and the capsule wheel is fixed on the second connecting shaft. The second driving assembly is used to drive the second connecting shaft to rotate; the two wheel wing assemblies are respectively connected to the two ends of the second connecting shaft and are located at the two ends of the capsule wheel; the wheel wing assembly includes an extension part and a wheel wing part connected to the extension part and distributed in a ring around the axis of the second connecting shaft, the extension part is used to drive the wheel wing part to extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel is located or to drive the wheel wing part to retract to the inside of the cylindrical surface where the peripheral wall of the capsule wheel is located; the capsule wheel is connected to the air pressure regulating assembly, and the air pressure regulating assembly is used to inflate or deflate the capsule wheel; the convertible capsule wheel structure is configured to: in the ground inspection mode or the water surface inspection mode, make the capsule wheel parallel to the ground; in the aerial inspection mode, make the capsule wheel perpendicular to the ground.

[0007] Optionally, the first connecting shaft includes a first shaft segment connected to the output end of the first drive component and a second shaft segment fixedly connected to the first shaft segment, an end of the second shaft segment away from the first shaft segment is connected to the fixed end of the second drive component, and the first shaft segment is perpendicular to the second connecting shaft.

[0008] Optionally, the second drive assembly includes an annular hub motor, which is sleeved and fixed on the end of the first connecting shaft away from the chassis, and the rotor of the hub motor is fixedly connected to the second connecting shaft.

[0009] Optionally, the first connecting shaft and the second connecting shaft are both hollow, and the air pressure regulating assembly includes a gas transport device arranged in the chassis and used for bidirectional gas transport, an air pipe rotatably connected to the output end of the gas transport device, a first branch pipe connected to the air pipe, and a first valve arranged on the first branch pipe, the air pipe is located in the first connecting shaft, the first branch pipe is located in the second connecting shaft, and the first branch pipe is connected to the capsule wheel.

[0010] Optionally, the extending portion includes a first disc, a second disc, a third disc and an annular airbag sleeved on the second connecting shaft and a support member rotatably connected to the second disc; the first disc and the third disc are both fixedly connected to the second connecting shaft, the second disc is slidably connected to the second connecting shaft, and the second disc is located between the first disc and the third disc, the third disc is located between the second disc and the capsule wheel, and the annular airbag is connected between the second disc and the third disc; the air pressure regulating assembly also includes a second branch connected to the air pipe and a second valve connected to the second branch, the second branch is located in the second connecting shaft, and the second branch is connected to the annular airbag; the wing portion includes a plurality of fixed blades rotatably connected to the first disc, the length of the fixed blades is a fixed value, and the support member includes a plurality of support rods corresponding to the plurality of fixed blades, and the end of each support rod away from the second disc is rotatably connected to the corresponding fixed blade.

[0011] Optionally, the extending portion further includes an elastic member sleeved on the second connecting shaft and located between the first disc and the second disc, and two ends of the elastic member are fixedly connected to the first disc and the second disc respectively.

[0012] Optionally, the wing portion includes a plurality of telescopic blades distributed in a ring around the axis of the second connecting shaft, the telescopic blade includes a first blade rod and a second blade rod slidingly connected to the first blade rod along the length extension direction of the first blade rod, one end of the first blade rod is fixed to the second connecting shaft, and the extension portion is used to drive the second blade rod to telescopically move along the length extension direction of the first blade rod to change the length of the telescopic blade.

[0013] Optionally, the first leaf rod is hollow, and the outer wall of the second leaf rod is slidingly connected to the inner wall of the first leaf rod; the extending part includes a first electric push rod correspondingly installed in the first leaf rod, and the output end of the first electric push rod is fixed to the corresponding second leaf rod.

[0014] Optionally, a sampling unit is provided in the chassis, and the sampling unit includes a sampling drive assembly and several sampling containers with top openings slidably connected to the sampling drive assembly, and a sampling port for the sampling containers to pass through is provided at the bottom of the chassis; the sampling drive assembly is used to drive each of the sampling containers to move to the top of the sampling port, and to drive the sampling containers located at the top of the sampling port to move up and down through the sampling port.

[0015] Compared with the existing technology, the multimodal sewage plant inspection robot provided by the present invention has the following beneficial effects:

[0016] The multimodal sewage treatment plant inspection robot provided by the present invention includes a chassis and a transformable capsule wheel module connected to the chassis. The transformable capsule wheel module includes three motion modes: ground inspection mode, water surface inspection mode, and aerial inspection mode. The ground inspection mode and the water surface inspection mode are both achieved by the transformable capsule wheel module by making the capsule wheel parallel to the ground, and the aerial inspection mode is achieved by the transformable capsule wheel module by making the capsule wheel perpendicular to the ground. Therefore, the multimodal sewage treatment plant inspection robot provided by the present invention can achieve flexible switching among the three motion modes of ground inspection mode, water surface inspection mode, and aerial inspection mode by connecting the transformable capsule wheel module to the chassis, thereby improving the all-terrain adaptability of the inspection robot in the complex environment of the sewage treatment plant. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the posture structure of a multimodal sewage treatment plant inspection robot in a ground inspection mode or a water surface inspection mode provided by one embodiment of the present invention;

[0018] Figure 2 for Figure 1 A schematic structural diagram of the transformable capsule wheel structure;

[0019] Figure 3 A specific example diagram of a wing assembly connected to both ends of a second connecting shaft according to one embodiment of the present invention;

[0020] Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 5 A schematic diagram of the posture structure of a multimodal sewage plant inspection robot in obstacle crossing mode provided by one embodiment of the present invention;

[0022] Figure 6 A schematic diagram of the posture structure of a multimodal sewage treatment plant inspection robot in an aerial inspection mode provided by one embodiment of the present invention;

[0023] Figure 7 Another specific example diagram of a wing assembly provided by one embodiment of the present invention connected to both ends of a second connecting shaft;

[0024] Figure 8 This is a schematic structural diagram of a sampling unit provided in one embodiment of the present invention installed in a chassis;

[0025] Figure 9 for Figure 8 Schematic diagram of the structure of the sampling unit;

[0026] Figure 10 for Figure 9 A schematic diagram of the structure of the sampling container;

[0027] Figure 11 for Figure 9 A schematic diagram of the structure of the cover plate;

[0028] The following are the descriptions of the reference numerals:

[0029] 1-chassis, 11-sampling port;

[0030] 2-convertible capsule wheel structure, 21-first drive assembly, 211-first rotating motor, 212-first gear, 213-second gear, 22-first connecting shaft, 221-first shaft section, 222-second shaft section, 23-second drive assembly, 24-second connecting shaft, 25-capsule wheel, 26-gas transport device, 27-wing assembly, 2711-first disc, 2712-second disc, 2713-third disc, 2714-annular airbag, 2715-support rod, 2716-fixed blade, 2717-elastic member, 2721-telescopic blade, 27211-first blade rod, 27212-second blade rod, 2722-first electric push rod;

[0031] 3-sampling unit, 31-sampling drive assembly, 311-second rotating motor, 312-connecting disk, 313-sliding rod, 314-connecting piece, 315-second electric push rod, 316-clamping block, 317-cover disk, 32-sampling container. DETAILED DESCRIPTION

[0032] The following is a further detailed description of the multimodal sewage treatment plant inspection robot proposed by the present invention, in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are not to exact scale, and are only used to facilitate and clearly illustrate the purpose of the embodiments of the present invention. To make the purposes, features, and advantages of the present invention more clearly understood, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in this specification for the understanding and reading of those familiar with the art, and are not intended to limit the conditions for the implementation of the present invention. Any structural modifications, changes in proportional relationships, or adjustments in size, as long as they produce the same or similar effects and achieve the same objectives as the present invention, should still fall within the scope of the technical content disclosed in this invention. The specific design features of the present invention disclosed herein, including, for example, specific dimensions, directions, positions, and shapes, will be determined in part by the specific application and use environment. Furthermore, in the embodiments described below, the same reference numerals may sometimes be used across different drawings to represent the same parts or parts with the same functions, and their repeated descriptions may be omitted.

[0033] One embodiment of the present invention provides a multi-modal sewage treatment plant inspection robot. Figures 1 to 6 , Figure 1 A schematic diagram of the posture structure of a multimodal sewage treatment plant inspection robot in a ground inspection mode or a water surface inspection mode provided by one embodiment of the present invention; Figure 2 for Figure 1 A schematic structural diagram of the transformable capsule wheel structure; Figure 3 A specific example diagram of a wing assembly connected to both ends of a second connecting shaft according to one embodiment of the present invention; Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0034] Figure 5 A schematic diagram of the posture structure of a multimodal sewage plant inspection robot in obstacle crossing mode provided by one embodiment of the present invention; Figure 6 This is a diagram showing the posture structure of a multimodal sewage treatment plant inspection robot in an aerial inspection mode provided by one embodiment of the present invention. Figures 1 to 6 It can be seen that the inspection robot includes a chassis 1 and a transformable capsule wheel module (not shown in the figure) connected to the chassis 1. The transformable capsule wheel module includes three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode. The ground inspection mode and the water surface inspection mode are both realized by the transformable capsule wheel module by making the capsule wheel 25 parallel to the ground. The aerial inspection mode is realized by the transformable capsule wheel module by making the capsule wheel 25 perpendicular to the ground.

[0035] Therefore, the multimodal sewage treatment plant inspection robot provided in this embodiment can realize flexible switching among three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode by connecting a transformable capsule wheel module to the chassis 1, thereby improving the inspection robot's all-terrain adaptability in the complex environment of the sewage treatment plant.

[0036] Specifically, the convertible capsule wheel module includes at least two pairs of convertible capsule wheel units (not shown in the figure), and each pair of convertible capsule wheel units includes two convertible capsule wheel structures 2 symmetrically arranged on both sides of the chassis 1; the convertible capsule wheel structure 2 includes a first drive component 21, a first connecting shaft 22, a second drive component 23, a second connecting shaft 24, a capsule wheel 25, an air pressure regulating component (including but not limited to a gas transport device 26) and two wheel wing components 27; the first drive component 21 is arranged in the chassis 1, and the output end of the first drive component 21 is connected to the first connecting shaft 22, and the first drive component 21 is used to drive the first connecting shaft 22 to rotate; the end of the first connecting shaft 22 away from the first drive component 21 is located outside the chassis 1 and is connected to the fixed end of the second drive component 23, and the rotating end of the second drive component 23 is connected to the second connecting shaft 24, and the capsule wheel 25 is sleeved and fixed on the chassis 1. On the second connecting shaft 24, the second driving assembly 23 is used to drive the second connecting shaft 24 to rotate; the two wheel wing assemblies 27 are respectively connected to the two ends of the second connecting shaft 24 and are located at the two ends of the capsule wheel 25; the wheel wing assembly 27 includes an extension portion (not shown in the figure) and a wheel wing portion (not shown in the figure) connected to the extension portion and distributed in a ring around the axis of the second connecting shaft 24, the extension portion is used to drive the wheel wing portion to extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located or to drive the wheel wing portion to retract to the inside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located; the capsule wheel 25 is connected to the air pressure regulating assembly, and the air pressure regulating assembly is used to inflate or deflate the capsule wheel 25; the convertible capsule wheel structure 2 is configured to: in the ground inspection mode or the water surface inspection mode, make the capsule wheel 25 parallel to the ground; in the aerial inspection mode, make the capsule wheel 25 perpendicular to the ground.

[0037] Thus, the first drive assembly 21 can drive the first connecting shaft 22 to rotate, and the capsule wheel 25 can be adjusted to be parallel to or perpendicular to the ground, laying a good foundation for realizing flexible switching between the three motion modes of ground inspection mode, water surface inspection mode, and aerial inspection mode. By fixing the second drive assembly 23 to the first connecting shaft 22, the rotating end of the second drive assembly 23 is connected to the second connecting shaft 24, and the capsule wheel 25 is sleeved and fixed on the second connecting shaft 24, so that the second drive assembly 23 can drive the second connecting shaft 24 to rotate around its own axis, thereby driving the capsule wheel 25 to rotate. When the capsule wheel 25 is parallel to the ground, the capsule wheel 25 acts as a driving wheel, allowing the inspection robot to travel on the ground, and realizing the ground driving mode under the ground inspection mode. By connecting two wheel wing assemblies 27 at both ends of the second connecting shaft 24, the wheel wing assembly 27 includes an extension part and a wheel wing part connected to the extension part and distributed in a ring around the axis of the second connecting shaft 24. The wheel wing part is driven by the extension part to extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located. When the capsule wheel 25 is parallel to the ground, the capsule wheel 25 is not in contact with the ground, and the wheel wing part serves as a driving wheel, so that the inspection robot can cross obstacles and switch from the ground driving mode to the obstacle crossing mode; the wheel wing part is driven by the extension part to retract to the inside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located, so that the wheel wing part is not in contact with the ground, and the capsule wheel 25 serves as a driving wheel and can switch from the obstacle crossing mode to the ground driving mode. By connecting the capsule wheel 25 to the air pressure regulating assembly, the air pressure regulating assembly can inflate or deflate the capsule wheel 25. In the ground driving mode, the inflated capsule wheel 25 can serve as a driving wheel. In the obstacle crossing mode, the deflated capsule wheel 25 can increase the height difference between the capsule wheel 25 and the ground, thereby improving the inspection robot's obstacle crossing ability and improving its work efficiency during the obstacle crossing process. In addition, by connecting two wing assemblies 27 to both ends of the second connecting shaft 24, the second drive assembly 23 drives the second connecting shaft 24 to rotate, causing the wing assemblies 27 to rotate accordingly. When the capsule wheel 25 is parallel to the ground, the wheel wing rotates in the water to generate thrust. The air pressure regulating assembly can inflate the capsule wheel 25, allowing it to float on the water surface, thereby realizing a surface inspection mode. When the capsule wheel 25 is perpendicular to the ground, the wheel wing rotates in the air to generate lift. The air pressure regulating assembly can deflate the capsule wheel 25 to reduce wind resistance, thereby realizing an aerial inspection mode. The multimodal sewage treatment plant inspection robot provided by the present invention can automatically switch functional modes according to different usage environments, significantly improving the all-terrain adaptability of the inspection robot in the complex environment of the sewage treatment plant.

[0038] It should be noted that the present invention does not impose too many restrictions on the number of the convertible capsule wheel units. Figure 1 As shown, the transformable capsule wheel units can be provided in two pairs.

[0039] It should be noted that the ground inspection mode includes a ground driving mode and an obstacle crossing mode. In the ground driving mode, the capsule wheel 25 is in contact with the ground, and the capsule wheel 25 serves as a load-bearing wheel body, so that the inspection robot can drive by rolling on the ground through the capsule wheel 25; in the obstacle crossing mode, the capsule wheel 25 is not in contact with the ground, and the wheel wing part serves as a load-bearing wheel body, so that the inspection robot can drive by rolling on the ground through the wheel wing part. At the same time, there is a height difference between the capsule wheel 25 and the ground, so that the inspection robot can cross obstacles.

[0040] Please continue to see Figure 2 In some exemplary embodiments, the first connecting shaft 22 includes a first shaft segment 221 connected to the output end of the first drive assembly 21 and a second shaft segment 222 fixedly connected to the first shaft segment 221. The end of the second shaft segment 222, which is away from the first shaft segment 221, is connected to the fixed end of the second drive assembly 23. The first shaft segment 221 is perpendicular to the second connecting shaft 24. Thus, the first drive assembly 21 can drive the first shaft segment 221 to rotate. The first shaft segment 221 is perpendicular to the second connecting shaft 24, and the capsule wheel 25 is sleeved and fixed on the second connecting shaft 24, so that the capsule wheel 25 can be adjusted to be parallel to or perpendicular to the ground.

[0041] For example, Figure 1 and Figure 2 As shown, the first connecting shaft 22 is bent so that the second connecting shaft 24 is located outside the chassis 1 .

[0042] For example, in some embodiments, the linear direction of the rotation axis of the second driving assembly 23 is consistent with the linear direction of the second connecting shaft 24. Thus, the rotation stability of the second connecting shaft 24 can be improved.

[0043] For example, in some embodiments, the first driving assembly 21 includes a first rotating motor 211 fixedly installed in the chassis 1, a first gear 212 sleeved and fixed on the output shaft of the first rotating motor 211, and a second gear 213 meshing with the first gear 212. The second gear 213 is sleeved and fixed on the first shaft section 221 of the first connecting shaft 22. Thus, the first rotating motor 211 can drive the first gear 212 to rotate, so that the second gear 213 can rotate, thereby driving the first shaft section 221 to rotate around its own axis, thereby enabling the second connecting shaft 24 to quickly switch to a horizontal state or a vertical state.

[0044] Please continue to see Figure 2In some exemplary embodiments, the second drive assembly 23 includes an annular hub motor, which is fixed on the end of the first connecting shaft 22 away from the chassis 1, and the rotor of the hub motor is fixedly connected to the second connecting shaft 24.

[0045] It should be noted that the hub motor may be, but is not limited to, an IP68 waterproof servo hub motor.

[0046] It should be noted that the capsule wheel 25 is made of an elastic material. For example, in some exemplary embodiments, the capsule wheel 25 is annular and can be made of materials such as fluororubber, elastic rubber, and airtight coating composite materials.

[0047] For example, in some embodiments, the first connecting shaft 22 and the second connecting shaft 24 are both hollow. The gas pressure regulating assembly includes a gas transport device 26 disposed within the chassis 1 and configured to transport gas in both directions, an air pipe (not shown) rotatably connected to the output end of the gas transport device 26, a first branch pipe (not shown) connected to the air pipe, and a first valve (not shown) disposed on the first branch pipe. The air pipe is located within the first connecting shaft 22, the first branch pipe is located within the second connecting shaft 24, and the first branch pipe is connected to the capsule wheel 25. Thus, by opening the gas transport device 26 and the first valve, and then combining the air pipe and the first branch pipe, the capsule wheel 25 can be inflated or deflated. By rotatably connecting the air pipe to the output end of the gas transport device 26, interference with the air pipe caused by the rotation of the capsule wheel 25 can be avoided.

[0048] Preferably, the gas transport device 26 may be a bidirectional air pump, thereby enabling bidirectional transport of gas.

[0049] For example, please see Figure 3 and Figure 4In some embodiments, the extending portion includes a first disc 2711, a second disc 2712, a third disc 2713 and an annular airbag 2714 sleeved on the second connecting shaft 24, and a support member (including but not limited to a support rod 2715) hinged to the second disc 2712; the first disc 2711 and the third disc 2713 are both fixedly connected to the second connecting shaft 24, the second disc 2712 is slidably connected to the second connecting shaft 24, and the second disc 2712 is located between the first disc 2711 and the third disc 2713, the third disc 2713 is located between the second disc 2712 and the capsule wheel 25, and the annular airbag 2714 is connected to the second The air pressure regulating assembly further comprises a second branch pipe (not shown) connected to the air pipe and a second valve (not shown) connected to the second branch pipe. The second branch pipe is located within the second connecting shaft 24 and is in communication with the annular airbag 2714. The wing portion comprises a plurality of fixed blades 2716 hinged to the first disk 2711. The length of the fixed blades 2716 is fixed. The support member comprises a plurality of support rods 2715 corresponding to the plurality of fixed blades 2716. The end of each support rod 2715, which is away from the second disk 2712, is hinged to the corresponding fixed blade 2716. Thus, by opening the air pressure regulating assembly, closing the first valve, and opening the second valve, and then combining the air pipe and the second branch pipe, the annular airbag 2714 can be inflated or deflated. When the annular airbag 2714 is inflated, the annular airbag 2714 pushes the second disc 2712 to slide and approach the first disc 2711. At the same time, the second disc 2712 drives the support rod 2715, the fixed block on the fixed blade 2716 (not shown in the figure) and the fixed blade 2716 to rotate, so that the fixed blade 2716 extends to the outside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located, laying a good foundation for achieving the obstacle crossing mode; when the annular airbag 2714 is deflated, the annular airbag 2714 pulls the second disc 2712 to slide and approach the third disc 2713. At the same time, the second disc 2712 drives the support rod 2715, the fixed block on the fixed blade 2716 and the fixed blade 2716 to rotate, so that the fixed blade 2716 shrinks to the inside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located, laying a good foundation for achieving the ground driving mode.

[0050] It should be noted that the annular airbag 2714 is made of elastic material; the number of the fixed blades 2716 is the same as the number of the support rods 2715.

[0051] For further information, please see Figure 3 and Figure 4,like Figure 3 and Figure 4 As shown, in some exemplary embodiments, the extending portion further includes an elastic member 2717 that is sleeved on the second connecting shaft 24 and positioned between the first circular disc 2711 and the second circular disc 2712. The ends of the elastic member 2717 are respectively fixedly connected to the first circular disc 2711 and the second circular disc 2712. Thus, when the annular airbag 2714 is deflated, the elastic member 2717 causes the second circular disc 2712 to rapidly approach the third circular disc 2713, thereby enabling the fixed blades 2716 to rapidly retract to the inner side of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located.

[0052] Illustratively, in some embodiments, the elastic member 2717 is a spring.

[0053] For example, in some embodiments, a power supply unit (not shown in the figure) for powering is provided in the chassis 1 , and a connection line between the power supply unit and the second drive assembly 23 is arranged in the first connecting shaft 22 .

[0054] Preferably, a panoramic camera (not shown) is installed on the top of the chassis 1. Thus, the 360-degree panoramic camera's ability to shoot around can effectively eliminate monitoring blind spots and provide the inspection robot with omnidirectional environmental perception.

[0055] In order to make the present invention easier to understand, Figures 1 to 6 , the working principle of the multimodal sewage treatment plant inspection robot provided in this embodiment in three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode is exemplified; wherein, the ground inspection mode includes a ground driving mode and an obstacle crossing mode.

[0056] When the inspection robot needs to switch to ground driving mode: first, the inspection robot is adjusted to the posture for ground driving mode, that is, the first drive assembly 21 drives the first shaft section 221 to rotate, so that the second connecting shaft 24 is adjusted to be parallel to the ground. The first drive assembly 21 is closed, and the air pressure regulating assembly is used to inflate the capsule wheel 25, causing the capsule wheel 25 to expand and increase in diameter. The air pressure regulating assembly then deflates the annular airbag 2714, causing the fixed blades 2716 to retract to the inner side of the cylindrical surface of the circumferential wall of the capsule wheel 25. Next, when the inspection robot with the adjusted posture is placed on the ground, the circumferential wall of the capsule wheel 25 contacts the ground, and the capsule wheel 25 serves as a load-bearing wheel. When the inspection robot needs to move, the second drive assembly 23 is opened to drive the second connecting shaft 24 to rotate about its own axis, thereby driving the capsule wheel 25 to rotate, thereby enabling the inspection robot to travel on the ground.

[0057] When the inspection robot needs to switch to obstacle-crossing mode, such as when encountering uneven terrain while driving, the following steps are performed: First, the second drive assembly 23 is suspended, and the air pressure regulating assembly is used to deflate the capsule wheel 25, causing it to contract and reduce its diameter. The air pressure regulating assembly then inflates the annular airbag 2714, causing the fixed blades 2716 to extend beyond the cylindrical surface of the capsule wheel 25, creating a height difference between the capsule wheel 25 and the ground. Then, the second drive assembly 23 is reactivated, driving the second connecting shaft 24 to rotate about its own axis, thereby driving the fixed blades 2716 to rotate, causing them to act as running wheels on the ground, and enabling the inspection robot to achieve obstacle-crossing functionality. Furthermore, by adjusting the length of the fixed blades 2716 extending beyond the cylindrical surface of the capsule wheel 25, the inspection robot's obstacle-crossing capability can be adjusted.

[0058] When the inspection robot needs to switch to surface inspection mode, the robot maintains the same posture in surface inspection mode as in ground driving mode. The robot is first adjusted to its ground driving mode posture and placed on the water surface. The symmetrically arranged multiple sac wheels 25 enable the robot to float on the water. Then, the second drive assembly 23 is activated to drive the second connecting shaft 24 to rotate about its own axis, thereby driving the sac wheels 25 and the fixed blades 2716 to rotate. The fixed blades 2716 paddle the water to generate thrust, thereby enabling the inspection robot to travel on the water surface.

[0059] When the inspection robot needs to switch to the aerial inspection mode: first, the inspection robot is adjusted to the posture in the aerial inspection mode, that is, the first drive component 21 drives the first shaft segment 221 to rotate, so that the second connecting shaft 24 is adjusted to be perpendicular to the ground. The first drive component 21 is closed, and the air pressure regulating component is used to deflate the capsule wheel 25, causing the capsule wheel 25 to shrink to its minimum state. The air pressure regulating component is then used to inflate the annular airbag 2714, so that the fixed blades 2716 extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located and the fixed blades 2716 are parallel to the ground. Then, the second drive component 23 is opened to drive the second connecting shaft 24 to rotate about its own axis, thereby driving the capsule wheel 25 and the fixed blades 2716 to rotate. The fixed blades 2716 act as lift rotors, thereby enabling the inspection robot to perform aerial inspections.

[0060] It should be noted that the present invention does not impose too many restrictions on the specific structures of the extension portion and the wing portion in the wing assembly 27.

[0061] For example, see Figure 7 , Figure 7 Another specific example diagram of the wing assembly provided in one embodiment of the present invention connected to both ends of the second connecting shaft. Figure 7 As shown, in other embodiments, the wheel wing portion in the wheel wing assembly 27 includes a plurality of telescopic blades 2721 distributed in a ring around the axis of the second connecting shaft 24, and the telescopic blade 2721 includes a first leaf rod 27211 and a second leaf rod 27212 slidingly connected to the first leaf rod 27211 along the length extension direction of the first leaf rod 27211, one end of the first leaf rod 27211 is fixed to the second connecting shaft 24, and the extending portion is used to drive the second leaf rod 27212 to telescopically move along the length extension direction of the first leaf rod 27211 to change the length of the telescopic blade 2721. Therefore, by providing a first leaf rod 27211 and a second leaf rod 27212 slidingly connected to the first leaf rod 27211, a good foundation is laid for changing the length of the telescopic blade 2721; by driving the second leaf rod 27212 to telescopically move along the length extension direction of the first leaf rod 27211 through the extension part, the extended length of the second leaf rod 27212 can be controlled, thereby changing the length of the telescopic blade 2721, and then the telescopic blade 2721 can be controlled to extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located or to retract to the inside of the cylindrical surface where the peripheral wall of the capsule wheel 25 is located, laying a good foundation for realizing the obstacle crossing mode.

[0062] Preferably, in some exemplary embodiments, the first leaf rod 27211 is hollow, and the outer wall of the second leaf rod 27212 is slidably connected to the inner wall of the first leaf rod 27211; the extending portion includes a first electric push rod 2722 correspondingly installed in the first leaf rod 27211, and the output end of the first electric push rod 2722 is fixed to the corresponding second leaf rod 27212. Therefore, by turning on the first electric push rod 2722, the first electric push rod 2722 can drive the second leaf rod 27212 to move telescopically along the length extension direction of the first leaf rod 27211, thereby controlling the extended length of the second leaf rod 27212.

[0063] For example, in some embodiments, one first electric push rod 2722 is installed in each of the first leaf rods 27211 .

[0064] Further, see Figures 8 to 10 , Figure 8 A schematic diagram of the structure of the sampling unit provided in this embodiment installed in a chassis; Figure 9 for Figure 8 Schematic diagram of the structure of the sampling unit; Figure 10 for Figure 9 Schematic diagram of the structure of the sampling container. Figures 8 to 10It can be seen that in some embodiments, a sampling unit 3 is provided in the chassis 1, and the sampling unit 3 includes a sampling drive component 31 and a plurality of sampling containers 32 with top openings slidably connected to the sampling drive component 31. The bottom of the chassis 1 is provided with a sampling port 11 for the sampling containers 32 to pass through; the sampling drive component 31 is used to drive each of the sampling containers 32 to move to the top of the sampling port 11, and to drive the sampling container 32 located at the top of the sampling port 11 to pass through the sampling port 11 for lifting and lowering. Therefore, when the inspection robot is in the water surface inspection mode, the sampling drive component 31 can be used to drive each sampling container 32 to move to the top of the sampling port 11, and then the sampling drive component 31 can be used to drive the sampling container 32 located at the top of the sampling port 11 to move downward through the sampling port 11 until the upper end surface of the sampling container 32 with the top opening is lower than the water surface, so that the liquid to be sampled enters the sampling container 32. After the sampling is completed, the sampling drive component 31 can be used to drive the sampling container 32 to move upward into the chassis 1.

[0065] For example, please see Figure 9 ,like Figure 9As shown, in some embodiments, the sampling drive assembly 31 includes a second rotating motor 311, a connecting disk 312, a sliding rod 313, a connecting piece 314, a second electric push rod 315 and a clamping block 316, all of which are arranged in the chassis 1; the fixed end of the top of the second rotating motor 311 is fixedly connected to the top of the chassis 1, and the output shaft of the bottom of the second rotating motor 311 is vertically downward and connected to a rotating shaft (not shown in the figure) placed vertically downward; the connecting disk 312 is sleeved and fixed on the upper end of the rotating shaft, and the multiple vertically placed sliding rods 313 are annularly distributed on the outer ring of the bottom of the connecting disk 312, each Each of the slide bars 313 is slidably connected to a connector 314, and each connector 314 is detachably connected to a sampling container 32. The second electric push rod 315 is located above the sampling port 11 and is placed vertically downward. The fixed end of the top of the second electric push rod 315 is fixedly connected to the top of the chassis 1. The output end of the bottom of the second electric push rod 315 is fixedly connected to the clamping block 316. The clamping block 316 has a slot so that when the sampling container 32 moves to the top of the sampling port 11, one end of the connector 314 can be located in the slot. Therefore, by turning on the second rotary motor 311 to drive the rotating shaft to rotate, the connecting disk 312 can be driven to rotate, thereby driving the slide bars 313, connector 314 and sampling container 32 connected to the connecting disk 312 to rotate. When the sampling container 32 moves to the top of the sampling port 11 and one end of the connecting piece 314 is located in the card slot, by turning off the second rotating motor 311 and pushing the clamping block 316 downward by the second electric push rod 315, the connecting piece 314 and the sampling container 32 can be driven to move downward for sampling. When the sampling is completed, the clamping block 316 is pulled upward by the second electric push rod 315 until the sampling container 32 moves up into the chassis 1. By turning on the second rotating motor 311 to continue to drive the rotating shaft to rotate and drive the connecting disk 312 to rotate, the connecting piece 314 is moved out of the card slot.

[0066] Preferably, in some exemplary embodiments, the slide bar 313 is provided with a guide groove (not shown) that is slidably engaged with the connector 314. Thus, the guide groove can prevent the connector 314 from deviating from the axis of the slide bar 313, laying a good foundation for smooth sampling.

[0067] For further information, please see Figures 8 to 11 ,in, Figure 11 for Figure 9 Schematic diagram of the structure at the cover plate in FIG. Figures 8 to 11As shown, a cover plate 317 is fixedly mounted on the rotating shaft and is located below the connecting plate 312. The cover plate 317 is adapted to engage with the upper end surface of the sampling container 32. Thus, the cover plate 317 can seal the top opening of the sampling container 32, thereby preventing the liquid in the sampling container 32 from spilling during the movement of the inspection robot.

[0068] Preferably, in some exemplary embodiments, an annular baffle (not shown) is provided in the chassis 1, and the sampling port 11 and the sampling container 32 in the chassis 1 are both located on the inner side of the annular baffle. Thus, the sampling port 11 and the sampling container 32 can be effectively isolated from other components in the chassis 1 by the annular baffle.

[0069] In summary, the multimodal sewage treatment plant inspection robot provided by the present invention has the following advantages: the multimodal sewage treatment plant inspection robot provided by the present invention includes a chassis and a transformable capsule wheel module connected to the chassis, the transformable capsule wheel module includes three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode, the ground inspection mode and the water surface inspection mode are both achieved by the transformable capsule wheel module by making the capsule wheel parallel to the ground, and the aerial inspection mode is achieved by the transformable capsule wheel module by making the capsule wheel perpendicular to the ground. Therefore, the multimodal sewage treatment plant inspection robot provided by the present invention can realize flexible switching among the three motion modes of ground inspection mode, water surface inspection mode and aerial inspection mode by connecting the transformable capsule wheel module to the chassis, thereby improving the all-terrain adaptability of the inspection robot in the complex environment of the sewage treatment plant.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A multimodal sewage treatment plant inspection robot, characterized in that: It includes a chassis and a convertible capsule wheel module connected to the chassis. The convertible capsule wheel module includes three motion modes: ground inspection mode, water surface inspection mode and aerial inspection mode. The ground inspection mode and the water surface inspection mode are both realized by the convertible capsule wheel module by making the capsule wheel parallel to the ground. The aerial inspection mode is realized by the convertible capsule wheel module by making the capsule wheel perpendicular to the ground.

2. The multimodal sewage treatment plant inspection robot according to claim 1, characterized in that: The convertible capsule wheel module includes at least two pairs of convertible capsule wheel units, each pair of convertible capsule wheel units includes two convertible capsule wheel structures symmetrically arranged on both sides of the chassis; the convertible capsule wheel structure includes a first drive assembly, a first connecting shaft, a second drive assembly, a second connecting shaft, a capsule wheel, an air pressure regulating assembly, and two wheel wing assemblies; The first driving assembly is disposed in the chassis, and an output end of the first driving assembly is connected to the first connecting shaft, and the first driving assembly is used to drive the first connecting shaft to rotate; One end of the first connecting shaft away from the first driving assembly is located outside the chassis and connected to the fixed end of the second driving assembly. The rotating end of the second driving assembly is connected to the second connecting shaft. The capsule wheel is fixed on the second connecting shaft. The second driving assembly is used to drive the second connecting shaft to rotate. The two wheel wing assemblies are respectively connected to the two ends of the second connecting shaft and are located at the two ends of the capsule wheel; the wheel wing assembly includes an extension portion and a wheel wing portion connected to the extension portion and annularly distributed around the axis of the second connecting shaft, the extension portion is used to drive the wheel wing portion to extend to the outside of the cylindrical surface where the peripheral wall of the capsule wheel is located, or to drive the wheel wing portion to retract to the inside of the cylindrical surface where the peripheral wall of the capsule wheel is located; The capsule wheel is connected to the air pressure regulating component, and the air pressure regulating component is used to inflate or deflate the capsule wheel; The transformable capsule wheel structure is configured to: in the ground inspection mode or the water surface inspection mode, make the capsule wheel parallel to the ground; In the aerial inspection mode, the capsule wheel is made perpendicular to the ground.

3. The multimodal sewage treatment plant inspection robot according to claim 2, characterized in that: The first connecting shaft includes a first shaft segment connected to the output end of the first drive component and a second shaft segment fixedly connected to the first shaft segment, an end of the second shaft segment away from the first shaft segment is connected to the fixed end of the second drive component, and the first shaft segment is perpendicular to the second connecting shaft.

4. The multimodal sewage treatment plant inspection robot according to claim 2, characterized in that: The second driving assembly includes an annular hub motor, which is sleeved and fixed on one end of the first connecting shaft away from the chassis, and a rotor of the hub motor is fixedly connected to the second connecting shaft.

5. The multimodal sewage treatment plant inspection robot according to claim 2, characterized in that: The first connecting shaft and the second connecting shaft are both hollow, and the air pressure regulating assembly includes a gas transport device arranged in the chassis and used for bidirectional gas transport, an air pipe rotatably connected to the output end of the gas transport device, a first branch pipe connected to the air pipe, and a first valve arranged on the first branch pipe. The air pipe is located in the first connecting shaft, the first branch pipe is located in the second connecting shaft, and the first branch pipe is connected to the capsule wheel.

6. The multimodal sewage treatment plant inspection robot according to claim 5, characterized in that: The extending portion includes a first disc, a second disc, a third disc and an annular airbag sleeved on the second connecting shaft, and a supporting member rotatably connected to the second disc; The first disc and the third disc are both fixedly connected to the second connecting shaft, the second disc is slidably connected to the second connecting shaft, the second disc is located between the first disc and the third disc, the third disc is located between the second disc and the capsule wheel, and the annular airbag is connected between the second disc and the third disc; The air pressure regulating assembly further includes a second branch pipe connected to the air pipe and a second valve connected to the second branch pipe, wherein the second branch pipe is located in the second connecting shaft and is in communication with the annular airbag; The wing portion includes a plurality of fixed blades rotatably connected to the first disc, the length of the fixed blades is a fixed value, and the support member includes a plurality of support rods corresponding to the plurality of fixed blades, and an end of each support rod away from the second disc is rotatably connected to the corresponding fixed blade.

7. The multimodal sewage treatment plant inspection robot according to claim 6, characterized in that: The extending portion further includes an elastic member sleeved on the second connecting shaft and located between the first circular disc and the second circular disc, and two ends of the elastic member are fixedly connected to the first circular disc and the second circular disc respectively.

8. The multimodal sewage treatment plant inspection robot according to claim 2, characterized in that: The wheel wing portion includes a plurality of telescopic blades distributed in a ring around the axis of the second connecting shaft, the telescopic blade includes a first blade rod and a second blade rod slidingly connected to the first blade rod along the length extension direction of the first blade rod, one end of the first blade rod is fixed to the second connecting shaft, and the extending portion is used to drive the second blade rod to telescopically move along the length extension direction of the first blade rod to change the length of the telescopic blade.

9. The multimodal sewage treatment plant inspection robot according to claim 8, characterized in that: The first leaf rod is hollow, and the outer wall of the second leaf rod is slidably connected to the inner wall of the first leaf rod; the extending portion includes a first electric push rod correspondingly installed in the first leaf rod, and the output end of the first electric push rod is fixed to the corresponding second leaf rod.

10. The multimodal sewage treatment plant inspection robot according to any one of claims 1 to 9, characterized in that: A sampling unit is provided in the chassis, and the sampling unit includes a sampling drive assembly and a plurality of sampling containers with top openings slidably connected to the sampling drive assembly. A sampling port for the sampling containers to pass through is provided at the bottom of the chassis; the sampling drive assembly is used to drive each of the sampling containers to move to the top of the sampling port, and to drive the sampling containers located at the top of the sampling port to pass through the sampling port for lifting and lowering.

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