Precise path identification inspection robot and use method thereof

Abstract

The invention provides a precise path recognition inspection robot and a use method thereof, and relates to the technical field of inspection robots. A bottom groove seat is fixedly connected to the front end of the bottom of the self-propelled crawler chassis, a magnetic navigation sensor is connected to the interior of the bottom groove seat, and the magnetic navigation sensor is connected with a programming controller in the self-propelled crawler chassis through a wire plug; and two T-shaped pins are connected to the outer part of the bottom groove seat. When the magnetic navigation sensor is mounted in the bottom groove seat, the end part of the T-shaped pin is inserted into the inner connecting groove to fix the magnetic navigation sensor, so that the magnetic navigation sensor is simpler and more convenient to disassemble, assemble and fix, and the inspection module can be replaced according to different inspection types. The problems that a sensor arranged on an existing inspection robot is mostly fixed through screws and is inconvenient to disassemble, assemble and replace, the inspection robot is customized according to a single inspection type at the beginning of design and shaping and can only meet the inspection requirement of the type, and application is limited are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a precise path recognition inspection robot and a method for using the same. Background Art

[0002] Inspection robots are intelligent devices that integrate advanced sensors, autonomous navigation, artificial intelligence, and data analysis technologies. They are primarily used to replace human operators in performing inspection tasks in complex or hazardous environments. With the advancement of industrial automation and intelligentization, inspection robots have found widespread application in the power industry, petrochemicals, mining, public facilities, and other fields.

[0003] Currently, most inspection robots on the market are equipped with sensors that are fixed with screws, which makes the disassembly and replacement of sensors extremely inconvenient. Workers need to use tools to tighten or loosen the screws. The entire process is cumbersome and complicated. During the design and finalization stage, inspection robots are often customized for a single inspection type. Their hardware architecture and software systems lack flexibility, making it difficult to adaptively replace plug-ins. They can only be applied to specific types of inspection tasks and cannot flexibly adjust functions according to actual needs, which greatly limits their application scope and scenario expansion capabilities. Summary of the Invention

[0004] The present invention relates to a precise path recognition inspection robot and a method for using the same, which solves the problem that the sensors equipped on existing inspection robots are mostly fixed with screws, which makes disassembly, assembly and replacement inconvenient. At the beginning of the design, the inspection robot is customized according to a single inspection type and can only be applied to the requirements of this type of inspection, which has limitations in application.

[0005] The first aspect of the present invention provides a precise path recognition inspection robot and its use method, which specifically includes: a self-propelled crawler chassis, a bottom slot seat, a magnetic navigation sensor, a T-shaped pin, a U-shaped pull rod, a tension spring, a top connecting seat, a fixed seat, a movable seat, an inspection module and a screw; the front end of the bottom of the self-propelled crawler chassis is fixedly connected to the bottom slot seat, the bottom slot seat is internally connected to the magnetic navigation sensor, and the magnetic navigation sensor is connected to the programming controller inside the self-propelled crawler chassis through a wire plug; the bottom slot seat is externally connected to two T-shaped pins, T The T-shaped pin is connected to the magnetic navigation sensor; the outside of the bottom slot seat is connected to a U-shaped pull rod, the U-shaped pull rod is connected to the T-shaped pin, and the end of the U-shaped pull rod is connected to a tension spring; the bottom of the self-propelled crawler chassis is fixedly connected to a top connecting seat, the top of the top connecting seat is fixedly installed with a fixed seat, the top of the fixed seat is connected to an inspection module, the inspection modules are divided into different types, and the inspection module is connected to the internal programming controller of the self-propelled crawler chassis through a wire plug; the top of the top connecting seat is connected to a moving seat and a screw, the screw is connected to the moving seat, and the top of the moving seat is connected to the inspection module.

[0006] Furthermore, the bottom slot seat is provided with outer guide holes on two opposite sides, and the magnetic navigation sensor is provided with inner connecting slots on two opposite sides, and the inner connecting slots are connected with the outer guide holes.

[0007] Furthermore, the T-shaped pin is slidably connected to the outer guide hole, and the end of the T-shaped pin is inserted into the inner connecting groove.

[0008] Furthermore, the U-shaped pull rod is in sliding contact with the bottom groove seat, guide blocks are provided on opposite sides of the bottom groove seat, and movable holes are provided on both sides of the U-shaped pull rod, and the guide blocks are slidably connected to the movable holes.

[0009] Furthermore, oblique holes are provided on both sides of the U-shaped pull rod, and the T-shaped pins are slidably connected in the oblique holes at opposite ends.

[0010] Furthermore, the bottom slot seat is provided with fixed connection holes on two opposite sides, one end of the tension spring is connected to the fixed connection hole, and the two ends of the U-shaped pull rod are provided with dynamic connection holes, the other end of the tension spring is connected to the dynamic connection hole.

[0011] Furthermore, fixed grooves are provided at both ends of the top of the fixed seat, four connecting blocks are provided outside the inspection module, two of which are connected to the fixed grooves, and moving grooves are provided at both ends of the top of the movable seat, and the other two connecting blocks are connected to the moving grooves.

[0012] Furthermore, column blocks are symmetrically arranged on the top of the top connecting seat, and sliding holes are symmetrically arranged inside the movable seat, and the column blocks are slidably connected to the sliding holes.

[0013] Furthermore, the screw is rotatably connected to the top connecting seat, a screw hole is provided on the top of the movable seat, and the screw is threadedly connected in the screw hole.

[0014] The present invention discloses a method for using a precise path recognition inspection robot, comprising the following steps:

[0015] 1) First, stick a magnetic strip on the ground of the preset inspection path. When the magnetic navigation sensor is installed inside the bottom slot, the inner connecting slot and the outer guide hole are connected. The U-shaped pull rod moves and resets under the influence of the tension spring. The U-shaped pull rod drives the two T-shaped pins to move inward, so that the ends of the T-shaped pins are inserted into the inner connecting slot to fix the magnetic navigation sensor.

[0016] 2) Replace the inspection module according to the inspection type. After the two connecting blocks of the inspection module are connected to the fixed groove, rotate the screw. The screw drives the movable seat to move inward, so that the other two connecting blocks of the inspection module are connected to the movable groove, which plays a fixing effect on the inspection module.

[0017] 3) The self-propelled crawler chassis drives the inspection module to move on the ground of the inspection path to realize the inspection operation. The magnetic navigation sensor detects the magnetic field strength of the magnetic strip to control the driving direction of the self-propelled crawler chassis;

[0018] 4) When the magnetic navigation sensor deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor. This voltage difference will cause the on-board programming controller to drive the steering motor, causing the self-propelled crawler chassis to automatically return to the correct path, thus completing the use process of the inspection robot.

[0019] The present invention provides a precise path recognition inspection robot and a method for using the same, which have the following beneficial effects:

[0020] When the present invention is in use, a magnetic strip is pasted on the ground of a preset inspection path, and the magnetic field strength of the magnetic strip is detected by a magnetic navigation sensor to control the driving direction of the self-propelled tracked chassis. When the magnetic navigation sensor deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor. This voltage difference will cause the on-board programmed controller to drive the steering motor, so that the self-propelled tracked chassis automatically returns to the correct path, and achieves an inspection effect through the inspection module on the top of the self-propelled tracked chassis.

[0021] In addition, when the magnetic navigation sensor is installed inside the bottom slot seat, the inner connecting slot and the outer guide hole are connected, and the U-shaped pull rod moves and resets under the influence of the tension of the tension spring, and the U-shaped pull rod drives the two T-shaped pins to move inward, so that the ends of the T-shaped pins are inserted into the inner connecting slot, thereby fixing the magnetic navigation sensor, making the disassembly and assembly of the magnetic navigation sensor easier; when the magnetic navigation sensor fails, the U-shaped pull rod is pulled in the opposite direction, the tension spring is stretched, and the two T-shaped pins of the U-shaped pull rod move outward, so that the ends of the T-shaped pins are separated from the inner connecting slot, and the magnetic navigation sensor can be taken out from the bottom slot seat for replacement, which is easy to operate and saves time.

[0022] In addition, when two connecting blocks of the inspection module are connected to the fixed groove, the screw is rotated, and the screw drives the moving seat to move inward, so that the other two connecting blocks of the inspection module are connected to the moving groove, which has the effect of fixing the inspection module and making the disassembly, assembly and fixation of the inspection module easier. The inspection module can be replaced according to different inspection types, and has extremely strong applicability.

[0023] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below.

[0025] The drawings described below only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0026] In the attached figure:

[0027] Figure 1 Shows the overall top axis side structure schematic diagram of the present application;

[0028] Figure 2 Shows the overall bottom axis side structure schematic diagram of the present application;

[0029] Figure 3 It shows a schematic diagram of the split structure of the bottom slot seat and the magnetic navigation sensor of the present application;

[0030] Figure 4 A schematic diagram of the split structure of the bottom slot seat and the U-shaped pull rod of the present application is shown;

[0031] Figure 5 A schematic diagram of the disassembled structure of the T-shaped pin, U-shaped pull rod and tension spring of the present application is shown;

[0032] Figure 6 It shows a schematic diagram of the connection structure of the fixed seat, movable seat and inspection module of the present application;

[0033] Figure 7 The schematic diagram of the inspection module and the split structure of the fixed seat and the movable seat of the present application is shown;

[0034] Figure 8 A schematic diagram of the split structure of the top connecting seat and the dynamic seat of the present application is shown.

[0035] Reference numerals:

[0036] 1. Self-propelled crawler chassis; 2. Bottom groove seat; 201. External guide hole; 202. Guide block; 203. Fixed connecting hole; 3. Magnetic navigation sensor; 301. Internal connecting groove; 4. T-shaped pin; 5. U-shaped pull rod; 501. Movable hole; 502. Inclined hole; 503. Dynamic connecting hole; 6. Tension spring; 7. Top connecting seat; 701. Column block; 8. Fixed seat; 801. Fixed groove; 9. Dynamic seat; 901. Movable groove; 902. Sliding hole; 903. Screw hole; 10. Inspection module; 1001. Connecting block; 11. Screw. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Please refer to Figures 1 to 8 :Example 1:

[0039] The present invention proposes a precise path recognition inspection robot and a method for using the same, comprising: a self-propelled crawler chassis 1, a bottom slot seat 2, a magnetic navigation sensor 3, a T-shaped pin 4, a U-shaped pull rod 5, a tension spring 6, a top connecting seat 7, a fixed seat 8, a moving seat 9, an inspection module 10 and a screw 11; the front end of the bottom of the self-propelled crawler chassis 1 is fixedly connected to the bottom slot seat 2, the inside of the bottom slot seat 2 is connected to the magnetic navigation sensor 3, and the magnetic navigation sensor 3 is connected to the internal programming controller of the self-propelled crawler chassis 1 through a wire plug; the outside of the bottom slot seat 2 is connected to two T-shaped pins 4, and the T-shaped pin 4 is connected to the magnetic navigation sensor 3; the outside of the bottom slot seat 2 is connected to a U-shaped pull rod 5, the U-shaped pull rod 5 is connected to the T-shaped pin 4, and the end of the U-shaped pull rod 5 is connected to a tension spring 6; the bottom of the self-propelled crawler chassis 1 is fixedly connected to the top connecting seat 7, and the top of the top connecting seat 7 is fixedly installed It is equipped with a fixed seat 8, and a patrol module 10 is connected to the top of the fixed seat 8. The patrol modules 10 are divided into different types. The patrol module 10 is connected to the internal programming controller of the self-propelled crawler chassis 1 through a wire plug; the top of the top connecting seat 7 is connected to a moving seat 9 and a screw 11, the screw 11 is connected to the moving seat 9, and the top of the moving seat 9 is connected to the patrol module 10; a magnetic strip is pasted on the ground of the preset patrol path, and the magnetic field strength of the magnetic strip is detected by the magnetic navigation sensor 3 to control the driving direction of the self-propelled crawler chassis 1. When the magnetic navigation sensor 3 deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor 3. This voltage difference will cause the on-board programming controller to drive the steering motor, so that the self-propelled crawler chassis 1 automatically returns to the correct path, and through the patrol module 10 on the top of the self-propelled crawler chassis 1, the patrol effect is achieved.

[0040] In this embodiment, outer guide holes 201 are provided on opposite sides of the bottom slot seat 2, inner connecting grooves 301 are provided on opposite sides of the magnetic navigation sensor 3, the inner connecting groove 301 is communicated with the outer guide hole 201, the T-shaped pin 4 is slidably connected in the outer guide hole 201, the end of the T-shaped pin 4 is inserted in the inner connecting groove 301, the U-shaped pull rod 5 is in sliding contact with the bottom slot seat 2, guide blocks 202 are provided on opposite sides of the bottom slot seat 2, movable holes 501 are provided on both sides of the U-shaped pull rod 5, the guide blocks 202 are slidably connected in the movable holes 501, inclined holes 502 are provided on both sides of the U-shaped pull rod 5, and opposite ends of the T-shaped pin 4 are slidably connected in the inclined holes 502, fixed connecting holes 203 are provided on opposite sides of the bottom slot seat 2, one end of the tension spring 6 is connected in the fixed connecting hole 203, dynamic connecting holes 503 are provided at both ends of the U-shaped pull rod 5, and the other end of the tension spring 6 is connected in the dynamic connecting hole 503;

[0041] By adopting the above technical solution, when the magnetic navigation sensor 3 is installed inside the bottom slot seat 2, the inner connecting slot 301 and the outer guide hole 201 are in a connected state, and the U-shaped pull rod 5 moves and resets under the influence of the tension of the tension spring 6, and the U-shaped pull rod 5 drives the two T-shaped pins 4 to move inward, so that the ends of the T-shaped pins 4 are inserted into the inner connecting slot 301, thereby fixing the magnetic navigation sensor 3, making it easier to disassemble, assemble and fix the magnetic navigation sensor 3; when the magnetic navigation sensor 3 fails, the U-shaped pull rod 5 is pulled in the opposite direction, the tension spring 6 is stretched, and the two T-shaped pins 4 of the U-shaped pull rod 5 move outward, so that the ends of the T-shaped pins 4 are separated from the inner connecting slot 301, and the magnetic navigation sensor 3 can be taken out from the bottom slot seat 2 for replacement, which is simple and time-saving.

[0042] Embodiment 2, on the basis of embodiment 1, fixed grooves 801 are provided at both ends of the top of the fixed seat 8, four connecting blocks 1001 are provided on the outside of the inspection module 10, two of which are connected to the fixed grooves 801, movable grooves 901 are provided at both ends of the top of the movable seat 9, and the other two connecting blocks 1001 are connected to the movable grooves 901, column blocks 701 are symmetrically provided on the top of the top connecting seat 7, sliding holes 902 are symmetrically provided inside the movable seat 9, the column blocks 701 are slidably connected to the sliding holes 902, the screw 11 is rotatably connected to the top connecting seat 7, a screw hole 903 is provided on the top of the movable seat 9, and the screw 11 is threadedly connected to the screw hole 903;

[0043] By adopting the above technical solution, when two connecting blocks 1001 of the inspection module 10 are connected to the fixed groove 801, the screw 11 is rotated, and the screw 11 drives the movable seat 9 to move inward, so that the other two connecting blocks 1001 of the inspection module 10 are connected to the movable groove 901, which has the effect of fixing the inspection module 10, making the disassembly, assembly and fixation of the inspection module 10 easier. The inspection module 10 can be replaced according to different inspection types, and has extremely strong applicability.

[0044] The present invention discloses a method for using a precise path recognition inspection robot, comprising the following steps:

[0045] 1) First, stick a magnetic strip on the ground of the preset inspection path. When the magnetic navigation sensor 3 is installed inside the bottom slot seat 2, the inner connecting slot 301 is connected to the outer guide hole 201. The U-shaped pull rod 5 moves and resets under the influence of the tension spring 6. The U-shaped pull rod 5 drives the two T-shaped pins 4 to move inward, so that the ends of the T-shaped pins 4 are inserted into the inner connecting slot 301, thereby fixing the magnetic navigation sensor 3.

[0046] 2) Replace the inspection module 10 according to the inspection type. After the two connecting blocks 1001 of the inspection module 10 are connected to the fixed groove 801, rotate the screw 11. The screw 11 drives the movable seat 9 to move inward, so that the other two connecting blocks 1001 of the inspection module 10 are connected to the movable groove 901, thereby fixing the inspection module 10.

[0047] 3) The self-propelled crawler chassis 1 drives the inspection module 10 to move on the ground of the inspection path to perform inspection operations. The magnetic navigation sensor 3 detects the magnetic field strength of the magnetic strip to control the driving direction of the self-propelled crawler chassis 1;

[0048] 4) When the magnetic navigation sensor 3 deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor 3. This voltage difference will cause the on-board programming controller to drive the steering motor, causing the self-propelled crawler chassis 1 to automatically return to the correct path, thus completing the use process of the inspection robot.

[0049] The working principle of this embodiment is as follows: a magnetic strip is pasted on the ground of a preset inspection path. When the magnetic navigation sensor 3 is installed inside the bottom slot seat 2, the inner connecting slot 301 is connected to the outer guide hole 201, and the U-shaped pull rod 5 moves and resets under the influence of the tension of the tension spring 6. The U-shaped pull rod 5 drives the two T-shaped pins 4 to move inward, so that the ends of the T-shaped pins 4 are inserted into the inner connecting slot 301, and the magnetic navigation sensor 3 is fixed, making the disassembly and assembly of the magnetic navigation sensor 3 easier; according to the different inspection types, the inspection module 10 is replaced. After the two connecting blocks 1001 of the inspection module 10 are connected to the fixed slot 801, the screw 11 is rotated, and the screw 11 drives the movable seat 9 to move inward, so that the other two connecting blocks 1001 of the inspection module 10 are connected to the movable slot 901, which plays a role in inspection. The module 10 has a fixing effect; the self-propelled tracked chassis 1 drives the inspection module 10 to move on the ground of the inspection path to realize the inspection operation, and the magnetic navigation sensor 3 detects the magnetic field strength of the magnetic strip to control the driving direction of the self-propelled tracked chassis 1; when the magnetic navigation sensor 3 deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor 3. This voltage difference will cause the on-board programming controller to drive the steering motor, so that the self-propelled tracked chassis 1 automatically returns to the correct path; when the magnetic navigation sensor 3 fails, the U-shaped pull rod 5 is pulled in the opposite direction, the tension spring 6 is stretched, and the two T-shaped pins 4 of the U-shaped pull rod 5 move outward, so that the end of the T-shaped pin 4 is separated from the inner connecting groove 301, and the magnetic navigation sensor 3 can be taken out from the inside of the bottom groove seat 2 for replacement, which is simple and time-saving to operate.

[0050] In this article, there are several points to note:

[0051] 1. The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention. Other structures may refer to conventional designs.

[0052] 2. In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to form new embodiments.

[0053] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A precise path recognition inspection robot, comprising: A self-propelled crawler chassis (1), a bottom groove seat (2), a magnetic navigation sensor (3), a T-shaped pin (4), a U-shaped pull rod (5), a tension spring (6), a top connecting seat (7), a fixed seat (8), a movable seat (9), an inspection module (10) and a screw (11); characterized in that the front end of the bottom of the self-propelled crawler chassis (1) is fixedly connected to the bottom groove seat (2), the bottom groove seat (2) is internally connected to the magnetic navigation sensor (3), and the magnetic navigation sensor (3) is connected to the internal programming controller of the self-propelled crawler chassis (1) through a wire plug; the bottom groove seat (2) is externally connected to two T-shaped pins (4), and the T-shaped pins (4) are connected to the magnetic navigation sensor (3); the bottom groove seat (2 ) is externally connected with a U-shaped pull rod (5), the U-shaped pull rod (5) is connected to a T-shaped pin (4), and the end of the U-shaped pull rod (5) is connected with a tension spring (6); the bottom of the self-propelled crawler chassis (1) is fixedly connected with a top connecting seat (7), the top of the top connecting seat (7) is fixedly installed with a fixed seat (8), the top of the fixed seat (8) is connected with an inspection module (10), the inspection module (10) is divided into different types, and the inspection module (10) is connected to the internal programming controller of the self-propelled crawler chassis (1) through a wire plug; the top of the top connecting seat (7) is connected with a moving seat (9) and a screw (11), the screw (11) is connected to the moving seat (9), and the top of the moving seat (9) is connected to the inspection module (10).

2. The precise path recognition inspection robot according to claim 1, characterized in that: The bottom slot seat (2) is provided with external guide holes (201) on two opposite sides, and the magnetic navigation sensor (3) is provided with internal connecting slots (301) on two opposite sides, and the internal connecting slots (301) are communicated with the external guide holes (201).

3. The precise path recognition inspection robot according to claim 2, characterized in that: The T-shaped pin (4) is slidably connected in the outer guide hole (201), and the end of the T-shaped pin (4) is inserted into the inner connecting groove (301).

4. The precise path recognition inspection robot according to claim 1, characterized in that: The U-shaped pull rod (5) is in sliding contact with the bottom groove seat (2), and guide blocks (202) are provided on opposite sides of the bottom groove seat (2). Movable holes (501) are provided on both sides of the U-shaped pull rod (5), and the guide blocks (202) are slidably connected in the movable holes (501).

5. The precise path recognition inspection robot according to claim 1, characterized in that: The U-shaped pull rod (5) is provided with oblique holes (502) on both sides, and the T-shaped pin (4) is slidably connected in the oblique holes (502) at opposite ends.

6. The precise path recognition inspection robot according to claim 1, characterized in that: The bottom slot seat (2) is provided with fixed connection holes (203) on opposite sides, one end of the tension spring (6) is connected to the fixed connection hole (203), and the two ends of the U-shaped pull rod (5) are provided with dynamic connection holes (503), and the other end of the tension spring (6) is connected to the dynamic connection hole (503).

7. The precise path recognition inspection robot according to claim 1, characterized in that: The fixed seat (8) is provided with fixed grooves (801) at both ends of the top, and the inspection module (10) is provided with four connecting blocks (1001) on the outside, two of which are connected to the fixed grooves (801). The movable seat (9) is provided with movable grooves (901) at both ends of the top, and the other two connecting blocks (1001) are connected to the movable grooves (901).

8. The precise path recognition inspection robot according to claim 1, characterized in that: The top of the top connecting seat (7) is symmetrically provided with column blocks (701), and the interior of the movable seat (9) is symmetrically provided with sliding holes (902), and the column blocks (701) are slidably connected in the sliding holes (902).

9. The precise path recognition inspection robot according to claim 1, characterized in that: The screw rod (11) is rotatably connected to the top connecting seat (7), and a screw hole (903) is provided on the top of the movable seat (9), and the screw rod (11) is threadedly connected to the screw hole (903).

10. A method for using a precise path recognition inspection robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: 1) First, a magnetic strip is pasted on the ground of the preset inspection path. When the magnetic navigation sensor (3) is installed inside the bottom slot seat (2), the inner connecting slot (301) and the outer guide hole (201) are in a connected state. The U-shaped pull rod (5) moves and resets under the influence of the tension of the tension spring (6). The U-shaped pull rod (5) drives the two T-shaped pins (4) to move inward, so that the ends of the T-shaped pins (4) are inserted into the inner connecting slot (301), thereby fixing the magnetic navigation sensor (3); 2) According to different inspection types, the inspection module (10) is replaced. After two connecting blocks (1001) of the inspection module (10) are connected to the fixed groove (801), the screw (11) is rotated, and the screw (11) drives the movable seat (9) to move inward, so that the other two connecting blocks (1001) of the inspection module (10) are connected to the movable groove (901), thereby fixing the inspection module (10); 3) The self-propelled crawler chassis (1) drives the inspection module (10) to move on the ground of the inspection path to realize the inspection operation, and the magnetic navigation sensor (3) detects the magnetic field strength of the magnetic strip to control the driving direction of the self-propelled crawler chassis (1); 4) When the magnetic navigation sensor (3) deviates from the magnetic strip, different induced voltages will be generated in the two coils in the magnetic navigation sensor (3). This voltage difference will cause the on-board programming controller to drive the steering motor, so that the self-propelled crawler chassis (1) automatically returns to the correct path, thus completing the use process of the inspection robot.

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