Police robot with gas detection function

Abstract

The application relates to the technical field of robots, and discloses a police robot with a gas detection function; the police robot is provided with a coarse detection corrugated cover and a fine detection cover, the coarse detection corrugated cover is a telescopic structure, the length of one-time detection of the coarse detection corrugated cover is relatively long, the coarse detection corrugated cover is used for quickly finding the approximate position of a gas leakage area, the fine detection cover is used for finely detecting the leakage area identified by the coarse detection corrugated cover, finding a specific leakage area, and sealing the leakage area through a sealing structure of adhesive tape, the design manner greatly improves detection efficiency, realizes a division strategy of first fast positioning and then accurate processing, improves the reliability of detection results through twice detection, avoids the false report of a single detection point caused by environmental interference or other factors, improves the detection precision of the device, and simultaneously guarantees the sealing integrity and operation safety of a gas pipeline.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a police robot with gas detection capabilities. Background Technology

[0002] A robot is a mechatronic device that can perform a series of complex tasks through programming and automatic control. It can typically sense the environment, make decisions, and perform actions to replace or assist humans in their work.

[0003] In Chinese Patent Publication No. CN118664620B, this invention discloses a gas detection robot for industrial safety inspection. The wheeled-legged robot has the advantage of strong obstacle-crossing ability. The ring detection component detects gas leaks through a gas leak detector. The wheeled-legged robot drives the ring detection component to check at different lengths of the pipeline. Multiple gas leak detectors rotate in a ring along the pipeline to check for gas leaks at different locations along the same length of the pipeline. This overcomes the problems of long walking distances, high labor intensity, and easy injury to workers at night or in bad weather when inspecting long pipelines. The ring detection component achieves its telescopic function through an arc-shaped bracket and a telescopic arm. When encountering obstacles such as flanges during the inspection, the ring detection component first retracts to both ends, and then the wheeled-legged robot squats down to separate the ring detection component from the pipeline. The wheeled-legged robot then moves to cross the obstacles such as flanges.

[0004] Regarding the above and existing related technologies, the inventors believe that the following defects often exist: When existing police robots with gas detection functions are used, sensors are used to inspect gas pipelines to accurately locate gas pipeline leaks. However, this detection method is time-consuming and affects the working efficiency of the device. Summary of the Invention

[0005] The technical problem to be solved by this invention is that the existing technology of police robots taking a long time to inspect gas pipelines has a disadvantage. To this end, we propose a police robot with gas detection function.

[0006] To achieve the above objectives, this application adopts the following technical solution: A police robot with gas detection function, comprising: a police robot body, a lifting mechanism fixedly connected to the top of the police robot body, a mounting base fixedly connected to the top of the lifting mechanism, a controller fixedly connected to the top of the mounting base, a fine detection cover fixedly connected to the side of the controller, a first electrochemical sensor fixedly connected to the top of the fine detection cover, an annular path fixedly connected inside the fine detection cover, a tape sealing structure movably connected to the outer wall of the annular path, a hollow detection groove opened at the top of the tape sealing structure, a coarse detection corrugated cover fixedly connected to the outer wall of the fine detection cover, a second electrochemical sensor fixedly connected to one side of the coarse detection corrugated cover, an inlet valve fixedly connected to the other side of the coarse detection corrugated cover, an outlet valve provided on the side of the inlet valve, a forward mechanism fixedly connected to one end of the coarse detection corrugated cover, a movable wheel movably connected inside the forward mechanism, a first fixing plate fixedly connected to the bottom of the forward mechanism, an electric telescopic rod fixedly connected to the side of the first fixing plate, a second fixing plate fixedly connected to one end of the electric telescopic rod, and a gas pipe slidably connected inside the coarse detection corrugated cover.

[0007] Preferably, the detection end of the first electrochemical sensor is located inside the hollow detection groove, and both the first electrochemical sensor and the hollow detection groove are located on the vertical central axis of the fine detection cover.

[0008] Preferably, a pair of annular paths are symmetrically arranged about the vertical central axis of the fine inspection hood, and the diameter of the annular paths is the same as the inner diameter of the fine inspection hood.

[0009] Preferably, the tape sealing structure moves along a circular path and is used to seal leak areas in the gas pipeline.

[0010] Preferably, the exhaust valve and the coarse inspection bellows are fixedly connected, and the intake valve and exhaust valve are symmetrically arranged about the vertical central axis of the coarse inspection bellows.

[0011] Preferably, the detection end of the second electrochemical sensor is located inside the coarse inspection bellows, and the model of the second electrochemical sensor is the same as that of the first electrochemical sensor.

[0012] Preferably, four movable wheels are arranged at equal angles to the horizontal central axis of the forward mechanism, and the movable wheels are in close contact with the gas pipe.

[0013] Preferably, a pair of electric telescopic rods are symmetrically arranged about the vertical central axis of the first fixed plate, and the moving distance of the electric telescopic rods is the same as the moving distance of the movable wheels.

[0014] Preferably, the second fixing plate is fixedly connected to the mounting base, and the top of the second fixing plate is fixedly connected to the fine inspection cover.

[0015] Preferably, a display screen is fixedly connected to the front of the controller, and operation buttons are provided at the bottom of the display screen. The operation buttons are fixedly connected to the controller.

[0016] The technical effects and advantages of this invention are as follows:

[0017] This invention includes a coarse inspection bellows cover and a fine inspection cover. The coarse inspection bellows cover is a telescopic structure with a relatively long inspection length for quickly locating the approximate location of the gas leak area. The fine inspection cover is used to perform detailed inspection on the leak area identified by the coarse inspection bellows cover, locating the specific leak area and sealing it with an adhesive tape sealing structure. This design greatly improves detection efficiency, realizing a division of labor strategy of first quickly locating and then accurately processing the leak. The two-stage inspection improves the reliability of the detection results, avoids false alarms at a single detection point caused by environmental interference or other factors, improves the accuracy of the device's detection, and ensures the sealing integrity and operational safety of the gas pipeline. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a front view structural diagram of the police robot with gas detection function according to the present invention;

[0020] Figure 2 This is a schematic diagram of the installation structure of the police robot with gas detection function according to the present invention;

[0021] Figure 3 This is an enlarged structural schematic diagram of the fine inspection cover portion of the present invention;

[0022] Figure 4 This is a cross-sectional structural diagram of the fine inspection cover portion of the present invention;

[0023] Figure 5 This is an enlarged structural schematic diagram of the coarse inspection corrugated cover portion of the present invention;

[0024] Figure 6 This is a cross-sectional structural diagram of the coarse inspection corrugated cover portion of the present invention;

[0025] Figure 7 This is an enlarged structural schematic diagram of the forward movement mechanism of the present invention;

[0026] Figure 8 This is a cross-sectional structural diagram of the forward mechanism portion of the present invention.

[0027] Legend: 1. Police robot body; 2. Lifting mechanism; 3. Mounting base; 4. Controller; 5. Fine inspection cover; 6. Electrochemical sensor No. 1; 7. Circular path; 8. Tape sealing structure; 9. Hollowed-out inspection groove; 10. Coarse inspection corrugated cover; 11. Electrochemical sensor No. 2; 12. Inlet valve; 13. Outlet valve; 14. Forward movement mechanism; 15. Playing wheels; 16. Fixed plate No. 1; 17. Electric telescopic rod; 18. Fixed plate No. 2; 19. Gas pipeline; 20. Display screen; 21. Operation buttons. Detailed Implementation

[0028] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0029] According to one embodiment of the present invention, Figures 1 to 8 As shown.

[0030] Existing police robots with gas detection capabilities are crucial equipment for preventing gas leaks. Their core function is to use onboard gas sensors to inspect various gas pipelines for leaks, accurately locating potential cracks, loose connections, and other leak points. However, in practical application, the current detection methods of these police robots still have significant efficiency limitations. Firstly, due to the limited detection range and sensitivity of gas sensors, the robot must move slowly along the outer wall of the pipeline segment by segment, and the sensor probe must maintain a close distance to the pipeline surface to ensure accuracy. When encountering bends, branch interfaces, or external obstructions in the pipeline, the robot needs to frequently adjust its posture and probe position, further prolonging the detection time for a single segment. Secondly, to avoid misjudgments caused by momentary false alarms from the sensor, existing... The detection process typically involves multiple sampling and verification steps. When the sensor initially detects an abnormal gas concentration, the robot must remain in the area for three to five minutes and repeat sampling three to five times. Only after the data stabilizes can the leak location be preliminarily determined. This process significantly increases the overall detection time, especially in scenarios with complex pipeline layouts and numerous potential leak points. These factors combined mean that existing detection methods often require several hours to complete a comprehensive inspection of a medium-length gas pipeline 19. This not only drastically reduces the efficiency of police robots but may also delay rapid sealing and risk control of leak sources in emergency leak events due to excessive detection time. This makes it difficult to meet the actual needs of rapid response and efficient handling in high-risk scenarios, affecting the device's efficiency. To address this issue, this invention incorporates the following design into a police robot with gas detection capabilities:

[0031] A police robot with gas detection function includes: a police robot body 1, a lifting mechanism 2 fixedly connected to the top of the police robot body 1, the lifting mechanism 2 being a core functional component that achieves controllable lifting, height adjustment, or spatial position switching of an object through the coordinated action of a mechanical structure and a power device, and is widely used in industrial equipment, civilian products, transportation machinery, and other fields. Its core objective is to meet the needs of changing the vertical position of an object in different scenarios through stable and precise mechanical movements. A mounting base 3 is fixedly connected to the top of the lifting mechanism 2, and a controller 4 is fixedly connected to the top of the mounting base 3. The controller 4 is a device that collects external information, executes preset logic or algorithms, and outputs control commands to control equipment, systems, or processes. The core component of automated and precise control is equivalent to the brain and command center of the system, converting input signals into action commands to ultimately achieve the preset control objectives. A fine inspection cover 5 is fixedly connected to the side of the controller 4, and an electrochemical sensor 6 is fixedly connected to the top of the fine inspection cover 5. An annular path 7 is fixedly connected inside the fine inspection cover 5, and a tape sealing structure 8 is movably connected to the outer wall of the annular path 7. The tape sealing structure 8 is a functional structure that uses sealing tape as the core medium and achieves precise tape delivery, adhesion, pressurization, and reliable sealing through mechanical components. Its core objective is to tightly bond the tape to the pipeline, blocking the leakage path of gas, liquid, or dust. After the fine inspection cover 5 locates the leak, it can quickly complete the emergency sealing of the leak area. The top of structure 8 has a perforated detection groove 9. A coarse detection corrugated cover 10 is fixedly connected to the outer wall of the fine detection cover 5. A second electrochemical sensor 11 is fixedly connected to one side of the coarse detection corrugated cover 10, and an inlet valve 12 is fixedly connected to the other side of the coarse detection corrugated cover 10. The inlet valve 12 is a switch and regulating device used to control the entry of gas into the equipment or system. Its core function is to allow gas to enter, block gas from entering, or regulate the gas flow rate through mechanical or automatic control. Essentially, it is a gas transport device. An outlet valve 13 is provided on the side of the inlet valve 12. The outlet valve 13 is a functional valve used to control the gas to be discharged from the inside of the pipeline system. Its core function is to allow gas to be discharged, block gas from being discharged, or regulate the gas flow rate through mechanical or automatic control. The throttling or overpressure protection is essentially a controllable gate in the gas flow chain responsible for outlet control. A forward mechanism 14 is fixedly connected to one end of the rough inspection bellows 10. The forward mechanism 14 is a mechanical component that converts energy into forward directional movement of the equipment through a power source, transmission system, and actuator action. Its core objective is to enable the equipment to achieve autonomous or controlled forward movement; it is essentially the core carrier of the equipment's mobility. The forward mechanism 14 has movable wheels 15 internally connected. A first fixed plate 16 is fixedly connected to the bottom of the forward mechanism 14, and an electric telescopic rod 17 is fixedly connected to the side of the first fixed plate 16. The electric telescopic rod 17 is a mechanical component that converts the rotational motion of a motor into linear telescopic motion through electrical energy.The core function is to achieve precise lifting, pushing, pulling, and position adjustment of objects. One end of the electric telescopic rod 17 is fixedly connected to a second fixing plate 18, and a gas pipe 19 is slidably connected inside the coarse inspection corrugated cover 10.

[0032] The detection end of the first electrochemical sensor 6 is located inside the hollow detection groove 9. Both the first electrochemical sensor 6 and the hollow detection groove 9 are located on the vertical central axis of the fine detection cover 5. An electrochemical sensor is a device that uses the principle of electrochemical reaction to convert the concentration of a target substance into a measurable electrical signal, thereby achieving accurate detection of the target substance. Its core logic is to generate an electrical signal proportional to the concentration through the specific chemical reaction between the target substance and the electrodes and electrolytes inside the sensor. After signal processing, the detection result is output. It is widely used in gas leakage, environmental monitoring, medical diagnosis, industrial safety and other scenarios. A pair of annular paths 7 are symmetrically arranged about the vertical central axis of the fine detection cover 5. The diameter of the annular path 7 is the same as the inner diameter of the fine detection cover 5. The tape sealing structure 8 moves around the annular path 7. The tape sealing structure 8 is used to seal the leakage area of ​​the gas pipeline 19. The gas outlet valve 13 and the coarse detection corrugation The covers 10 are fixedly connected. The inlet valve 12 and outlet valve 13 are symmetrically arranged about the vertical central axis of the coarse inspection corrugated cover 10. The detection end of the second electrochemical sensor 11 is located inside the coarse inspection corrugated cover 10. The model of the second electrochemical sensor 11 is the same as that of the first electrochemical sensor 6. There are four movable wheels 15 arranged at equal angles about the horizontal central axis of the forward mechanism 14. The movable wheels 15 are tightly fitted with the gas pipe 19. There is a pair of electric telescopic rods 17 symmetrically arranged about the vertical central axis of the first fixed plate 16. The moving distance of the electric telescopic rods 17 is the same as the moving distance of the movable wheels 15. The second fixed plate 18 is fixedly connected to the mounting base 3. The top of the second fixed plate 18 is fixedly connected to the fine inspection cover 5. The front of the controller 4 is fixedly connected to the display screen 20. The bottom of the display screen 20 is provided with the operation button 21. The operation button 21 is fixedly connected to the controller 4.

[0033] When the device is in use, the lifting mechanism 2 is activated to raise the detection area of ​​the device to a suitable height. Then, the gas pipe 19 is passed through the device. First, the forward mechanism 14 and the electric telescopic rod 17 are activated. At this time, the movable wheel 15 begins to rotate, and the forward mechanism 14 begins to move forward until the coarse inspection corrugated cover 10 is extended to its longest position. At this point, the second electrochemical sensor 11 detects the gas inside the coarse inspection corrugated cover 10. If no leak is detected, the police robot body 1 begins to move forward, driving the entire device forward a distance equal to the length of the coarse inspection corrugated cover 10. The coarse inspection corrugated cover 10 then covers the next area, and the second electrochemical sensor 11 continues to detect. When the second electrochemical sensor 11 detects a gas leak in the area, the forward mechanism 14 controls the movable wheel 15 to remain stationary. Simultaneously, the police robot body 1 slowly moves towards... The robot moves forward, with the distance being the width of the fine inspection hood 5. When the fine inspection hood 5 reaches an area, the first electrochemical sensor 6 begins to detect gas leaks inside the fine inspection hood 5. If no leak is found, the police robot body 1 continues to move forward a distance equal to the width of the fine inspection hood 5 until a leak is found in the area. When the first electrochemical sensor 6 detects a leak, the tape sealing structure 8 starts to work, rotating around the annular path 7 to seal the gas pipe 19 in the leak area with adhesive. During the forward movement of the police robot body 1, the coarse inspection corrugated hood 10 is compressed, and the electric telescopic rod 17 begins to retract. The coarse inspection corrugated hood 10 intermittently discharges the gas inside through the exhaust valve 13 by compression. When the fine inspection hood 5 has finished its work, the gas inside the coarse inspection corrugated hood 10 is discharged, achieving the effect of gas cleaning, and then the next coarse inspection can be carried out.

[0034] The system is equipped with a coarse inspection bellows cover 10 and a fine inspection cover 5. The coarse inspection bellows cover 10 is a retractable structure with a relatively long single inspection length, used to quickly locate the approximate location of the gas leak area. The fine inspection cover 5 is used to perform detailed inspection of the leak area identified by the coarse inspection bellows cover 10, locating the specific leak area and sealing it with a tape sealing structure 8. This design greatly improves the detection efficiency, realizing a division of labor strategy of first quickly locating and then accurately processing. The two inspections improve the reliability of the detection results, avoiding false alarms at a single detection point due to environmental interference or other factors, thus improving the accuracy of the device's detection. At the same time, it ensures the sealing integrity and operational safety of the gas pipeline 19. The large-area inspection of the area covered by the coarse inspection bellows cover 10 can quickly filter out invalid detections in areas without leaks, and the coarse inspection time is relatively fast. The area covered by the fine inspection cover 5 only needs to be inspected within the area marked by the coarse inspection bellows cover 10. High-precision inspection is performed around the pipeline, avoiding the time wasted by traditional full-pipeline high-precision scanning. The tape sealing structure 8 and the fine inspection hood 5 are linked. Once the fine inspection hood 5 is positioned, the tape sealing structure 8 can seal the leak without the need for additional sealing equipment. During the operation of the fine inspection hood 5, the gas inside the coarse inspection bellows hood 10 is squeezed out. After the fine inspection hood 5 completes the fine inspection, the gas inside the coarse inspection bellows hood 10 is completely discharged, which can completely eliminate the residual interference of the gas detected last time, ensuring that the data of the next coarse inspection is absolutely accurate. At the same time, it shortens the preparation time and avoids the accumulation of residual leak gas inside the hood, which may cause the sensor to misjudge during the next coarse inspection. After emptying, the inside of the hood returns to a clean initial state. The gas collected when covering the pipeline next time is all the current pipeline ambient gas. The detection baseline is stable and the data is reliable. There is no need to wait for the residual gas to diffuse naturally. The next coarse inspection can be started immediately after the fine inspection, further improving the efficiency of continuous operation.

[0035] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A police robot with gas detection function, characterized in that, include: The police robot body has a lifting mechanism fixedly connected to its top, a mounting base fixedly connected to the top of the lifting mechanism, a controller fixedly connected to the top of the mounting base, a fine inspection cover fixedly connected to the side of the controller, a first electrochemical sensor fixedly connected to the top of the fine inspection cover, an annular path fixedly connected inside the fine inspection cover, a tape sealing structure movably connected to the outer wall of the annular path, a perforated detection groove on the top of the tape sealing structure, a coarse inspection corrugated cover fixedly connected to the outer wall of the fine inspection cover, a second electrochemical sensor fixedly connected to one side of the coarse inspection corrugated cover, and an air inlet fixedly connected to the other side of the coarse inspection corrugated cover. The system includes an inlet valve with an outlet valve on its side, a forward mechanism fixedly connected to one end of the coarse inspection bellows, a movable wheel movably connected inside the forward mechanism, a first fixed plate fixedly connected to the bottom of the forward mechanism, an electric telescopic rod fixedly connected to the side of the first fixed plate, a second fixed plate fixedly connected to one end of the electric telescopic rod, a gas pipe slidably connected inside the coarse inspection bellows, a pair of annular paths symmetrically arranged about the vertical central axis of the fine inspection hood, the diameter of the annular paths being the same as the inner diameter of the fine inspection hood, and a tape sealing structure moving around the annular paths to seal leaks in the gas pipes.

2. The police robot with gas detection function according to claim 1, characterized in that: The detection end of the No. 1 electrochemical sensor is located inside the hollow detection groove, and both the No. 1 electrochemical sensor and the hollow detection groove are located on the vertical central axis of the fine detection cover.

3. The police robot with gas detection function according to claim 1, characterized in that: The exhaust valve is fixedly connected to the coarse inspection bellows cover, and the intake valve and exhaust valve are symmetrically arranged about the vertical centerline of the coarse inspection bellows cover.

4. The police robot with gas detection function according to claim 1, characterized in that: The detection end of the second electrochemical sensor is located inside the coarse inspection corrugated cover, and the model of the second electrochemical sensor is the same as that of the first electrochemical sensor.

5. The police robot with gas detection function according to claim 1, characterized in that: The movable wheels are arranged at equal angles to the horizontal central axis of the forward mechanism, and the movable wheels are in close contact with the gas pipe.

6. The police robot with gas detection function according to claim 1, characterized in that: A pair of electric telescopic rods are symmetrically arranged about the vertical central axis of the first fixed plate, and the moving distance of the electric telescopic rods is the same as the moving distance of the movable wheels.

7. The police robot with gas detection function according to claim 1, characterized in that: The second fixing plate is fixedly connected to the mounting base, and the top of the second fixing plate is fixedly connected to the fine inspection cover.

8. The police robot with gas detection function according to claim 1, characterized in that: The controller has a display screen fixedly connected to the front, and operation buttons are provided at the bottom of the display screen. The operation buttons are fixedly connected to the controller.

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