Explosion-proof robot for urban underground pipe gallery detection and operation method thereof

Abstract

The invention discloses an anti-explosion robot for urban underground pipe gallery detection and an operation method of the anti-explosion robot. The anti-explosion robot comprises a chassis control system, a mechanical arm mechanism arranged on a walking mechanism, a monitoring mechanism arranged on the mechanical arm mechanism and a fire extinguishing bomb storing and launching mechanism arranged on the mechanical arm mechanism, the chassis control system comprises a controller and the walking mechanism, the controller is connected with the walking mechanism, and the walking mechanism is used for bearing and transporting; the mechanical arm mechanism is connected with the controller and used for position adjustment. The monitoring mechanism is connected with the controller and used for monitoring the environment and transmitting environment data to the controller. A driving assembly capable of reciprocating, a transmission assembly and a launching assembly are arranged in the fire extinguishing bomb storage and launching mechanism, the driving assembly is connected with the controller, the transmission assembly telescopically abuts against the driving assembly, and the launching assembly is connected with the transmission assembly; and when the transmission assembly retracts to be separated from the driving assembly, the launching assembly resets and launches the fire extinguishing bomb. The explosion-proof robot is used in the operation method.

Description

Technical Field

[0001] This invention relates to the field of industrial directional inspection technology, and in particular to an explosion-proof robot for inspecting urban underground utility tunnels and its operating method. Background Technology

[0002] With the rapid development of society and economy and the rapid progress of science and technology, integrated utility tunnels are an important measure for innovative urban infrastructure construction. Underground urban pipeline corridors, which integrate tunnel space, power, communication, gas, heating, water supply and drainage pipelines, promote the construction of urban underground integrated utility tunnels. This can not only make full use of underground space resources, improve the comprehensive carrying capacity of the city, meet the needs of people's livelihood, promote effective investment, increase the supply of public goods, improve the quality of urban development, and add new impetus to economic development.

[0003] Many problems remain to be solved in the inspection of integrated utility tunnels. These tunnels are characterized by long inspection distances and numerous inspection items. They traverse cities and consist of multiple compartments, each with numerous inspection indicators. Traditional detection methods, such as fixed-point suspended cameras and gas concentration sensors, have relatively fixed monitoring areas. Deploying too many of these sensors leads to cost waste and difficulties in data processing, and lacks flexibility. In the event of an initial fire risk, it takes time for personnel to arrive on-site, potentially missing the optimal firefighting opportunity. Manual, scheduled inspections are prone to human error and omissions. Furthermore, in emergencies, manual inspections are highly dangerous, and escape is difficult during disasters. Summary of the Invention

[0004] The purpose of this invention is to provide an explosion-proof robot for the inspection of urban underground utility tunnels and its operation method, so as to solve at least one of the problems mentioned in the background art, such as cost waste, poor flexibility and easy to miss the best fire extinguishing time, high risk of human error and missed detection.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An explosion-proof robot for inspecting urban underground utility tunnels includes:

[0007] A chassis control system, comprising a controller and a walking mechanism, wherein the controller is connected to the walking mechanism, and the walking mechanism is used for load-bearing and transportation;

[0008] A robotic arm mechanism is mounted on the walking mechanism, and the robotic arm mechanism is connected to the controller for position adjustment;

[0009] A monitoring mechanism is provided on the robotic arm mechanism, and the monitoring mechanism is connected to the controller for monitoring the environment and transmitting environmental data to the controller;

[0010] A fire extinguishing grenade storage and launching mechanism is provided on the robotic arm mechanism. The fire extinguishing grenade storage and launching mechanism is provided with a reciprocating drive component, a transmission component and a launching component. The drive component is connected to the controller. The transmission component is retractable and abuts against the drive component. The launching component is connected to the transmission component.

[0011] When the transmission component retracts to disengage from the drive component, the launching component resets and launches the fire extinguishing projectile.

[0012] Optionally, the fire extinguishing grenade storage and launching mechanism includes a launching tube, a storage chamber, and a mounting base. The launching component is located at one end of the launching tube, and a launching port is located at the other end of the launching tube. The storage chamber is located on the launching tube, and a grenade release port is located between the storage chamber and the launching tube. The launching tube is connected to the mounting base, and a guide groove is located between the launching tube and the mounting base. The guide groove is parallel to the central axis of the launching tube. The mounting base is equipped with the driving component and the transmission component, and the transmission component can pass through the guide groove.

[0013] Optionally, the driving assembly includes an electric slide, a first limiting block, and a second limiting block. The electric slide is mounted on the mounting base and connected to the controller. The reciprocating trajectory of the slider of the electric slide is parallel to the central axis of the launching tube. The first limiting block is located at the end of the electric slide away from the launching port. The second limiting block is located on the slider of the electric slide. The side of the second limiting block closest to the first limiting block abuts against the transmission assembly. When the second limiting block moves toward the first limiting block, it drives the transmission assembly to move. When the transmission assembly moves to abut against the first limiting block, the transmission assembly retracts. When the transmission assembly retracts to disengage from the second limiting block, the launching assembly resets and launches the fire extinguishing projectile.

[0014] Optionally, the transmission assembly includes a slide rail, a slider, and a locking tongue. The slide rail is disposed on the mounting base and parallel to the central axis of the launching tube. The slider is slidably disposed on the slide rail and passes through the guide groove. The slider is connected to the launching assembly. The locking tongue is retractably disposed on the slider and abuts against the driving assembly.

[0015] Optionally, the protruding end of the latch is a bevel, and the angle formed by the bevel and the drive assembly is away from the launching port, so that the latch and the drive assembly can be reset.

[0016] Optionally, the launching assembly includes a fixed block, a launching block, and a spring coaxial with the launching tube. The spring is provided between the fixed block and the launching block. The fixed block is located inside the end of the launching tube away from the launching port. The launching block is slidably located inside the launching tube. The launching block is connected to the transmission assembly.

[0017] Optionally, the monitoring mechanism includes an infrared vision sensor and a gas detection sensor. The infrared vision sensor is mounted on the robotic arm mechanism, and the gas detection sensor is mounted on the walking mechanism. Both the infrared vision sensor and the gas detection sensor are connected to the controller.

[0018] Optionally, it also includes a radar and a navigation system, wherein the radar is mounted on the walking mechanism, the navigation system is mounted on the controller, and the navigation system is connected to the radar.

[0019] Optionally, the walking mechanism includes a mounting platform, a four-wheel drive system, and a transmission mechanism. The mounting platform has a cavity and is surrounded by anti-collision strips. The transmission mechanism and the controller are located inside the mounting platform. The four-wheel drive system passes through the mounting platform and is connected to the controller.

[0020] A method for operating an explosion-proof robot for inspecting urban underground utility tunnels, utilizing the explosion-proof robot for inspecting urban underground utility tunnels provided in any of the above embodiments, includes:

[0021] The monitoring agency is used to monitor the environment, collect environmental data, and send it to the controller.

[0022] The controller receives instructions and analyzes environmental data, and controls the drive components of the walking mechanism, the robotic arm mechanism, the monitoring mechanism, and the fire extinguishing bomb storage and launching mechanism.

[0023] The controller, the robotic arm mechanism, the detection mechanism, and the fire extinguishing bomb storage and launching mechanism are carried and transported by a walking mechanism.

[0024] The robotic arm mechanism is used to change the posture, thereby expanding the monitoring range of the monitoring mechanism and adjusting the launch angle of the fire extinguishing bomb storage and launch mechanism;

[0025] The fire extinguishing bombs are stored using the fire extinguishing bomb storage and launching mechanism. When a fire is detected, the driving component drives the transmission component to move, which in turn causes the transmission component to retract. When the transmission component retracts to disengage from the driving component, the launching component resets and launches the fire extinguishing bomb to extinguish the fire.

[0026] The beneficial effects of this invention are:

[0027] The explosion-proof robot for urban underground utility tunnel inspection of this invention solves the technical problems of existing technologies, such as cost waste, poor flexibility leading to missed opportunities for optimal fire extinguishing, high risk of human error and missed detection, and achieves the following beneficial effects: 1) It adopts a structure that couples the walking mechanism and the monitoring mechanism, which has high economic value and replaces traditional manual inspection and fixed-point sensor detection. It can effectively reduce the number of fixed sensors in the utility tunnel, avoid cost waste, and reduce the possibility of missed detection due to human error; 2) It adopts a robotic arm mechanism to flexibly adjust the monitoring range of the monitoring mechanism; 3) It adopts intelligent control, which has strong safety and allows inspection personnel to operate it remotely. In case of an accident, it can help inspection personnel to escape quickly; 4) It adopts a mechanism that can store and launch fire extinguishing bombs, and designs a bomb-throwing function for the robot, which can automatically extinguish fires.

[0028] The present invention provides an operation method for an explosion-proof robot used for the inspection of urban underground utility tunnels. This method addresses the technical problems in existing technologies, such as cost waste, poor flexibility leading to missed opportunities for fire extinguishing, high risks associated with manual operation, and susceptibility to human error and missed detections. The invention achieves the following beneficial effects: 1) It utilizes a mobile and flexible robot to replace traditional manual or fixed-point sensor inspection, resulting in high reliability and reducing the likelihood of missed detections due to human error; 2) It effectively reduces the number of fixed sensors within the utility tunnel and integrates the function of dropping fire extinguishing bombs, enabling automatic fire suppression and high economic value; 3) It offers strong safety, allowing inspection personnel to remotely control the robot, facilitating rapid escape in case of emergencies. Attached Figure Description

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0030] Figure 1 This is a perspective view of an explosion-proof robot for inspecting urban underground utility tunnels, provided according to an embodiment of the present invention.

[0031] Figure 2 This is a side view of an explosion-proof robot for inspecting urban underground utility tunnels, provided according to an embodiment of the present invention.

[0032] Figure 3 This is a perspective view of the fire extinguishing grenade storage and launching mechanism of an explosion-proof robot for urban underground utility tunnel inspection, provided by an embodiment of the present invention.

[0033] Figure 4 This is a partial assembly diagram of the fire extinguishing bomb storage and launcher of an explosion-proof robot for urban underground utility tunnel inspection, provided according to an embodiment of the present invention.

[0034] Figure 5This is a perspective view of the infrared vision sensor and the first mounting frame of the explosion-proof robot for urban underground utility tunnel inspection provided in an embodiment of the present invention.

[0035] Figure 6 This is a perspective view of the gas detection sensor and the second mounting frame of an explosion-proof robot for inspecting urban underground utility tunnels, provided according to an embodiment of the present invention.

[0036] Figure 7 This is a schematic diagram of the fire extinguishing bomb storage and launching mechanism of the explosion-proof robot for urban underground utility tunnel inspection provided in an embodiment of the present invention in its initial state.

[0037] Figure 8 This is a schematic diagram of the fire extinguishing bullet storage and launching mechanism of the explosion-proof robot for urban underground pipe gallery inspection provided according to an embodiment of the present invention, when both the first limiting block and the second limiting block are in contact with the locking tongue.

[0038] Figure 9 This is a schematic diagram of the fire extinguishing bullet storage and launching mechanism of the explosion-proof robot for urban underground utility tunnel inspection provided by an embodiment of the present invention, when the locking tongue is about to disengage from the second limiting block.

[0039] Figure 10 This is a schematic diagram of the fire extinguishing ammunition storage and launching mechanism of the explosion-proof robot for urban underground utility tunnel inspection provided according to an embodiment of the present invention, when the launching is completed.

[0040] The components include: 1. Chassis control system; 2. Walking mechanism; 3. Robotic arm mechanism; 4. Monitoring mechanism; 5. Fire extinguishing grenade storage and launching mechanism; 6. Radar; 21. Mounting platform; 22. Four-wheel drive system; 23. Anti-collision strip; 41. Infrared vision sensor; 42. Gas detection sensor; 43. First mounting bracket; 44. Second mounting bracket; 51. Drive assembly; 52. Transmission assembly; 53. Launching assembly; 54. Launch tube; 55. Storage chamber; 56. Mounting base; 57. Connecting bracket; 511. Electric slide; 512. First limiting block; 513. Second limiting block; 521. Slide rail; 522. Slider; 523. Locking tongue; 531. Fixing block; 532. Launching block; 533. Spring; 541. Launch port; 542. Grenade launch port; 543. Guide groove. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0042] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0043] The following is for reference Figure 1-10 The present invention provides a detailed description of an explosion-proof robot for inspecting urban underground utility tunnels and its operation method, which are described in the embodiments of the present invention.

[0044] The first aspect of this invention provides an explosion-proof robot for inspecting urban underground utility tunnels, which will be described in detail below with reference to the accompanying drawings.

[0045] like Figure 1-10As shown, an explosion-proof robot for inspecting urban underground utility tunnels includes a chassis control system 1, a robotic arm mechanism 3 mounted on the walking mechanism 2, a monitoring mechanism 4 mounted on the robotic arm mechanism 3, and a fire extinguishing grenade storage and launching mechanism 5 mounted on the robotic arm mechanism 3. The chassis control system 1 includes a controller and the walking mechanism 2, the controller being connected to the walking mechanism 2, which is used for carrying and transporting. The robotic arm mechanism 3 is connected to the controller and is used for position adjustment. The monitoring mechanism 4 is connected to the controller and is used for monitoring the environment and transmitting environmental data to the controller. The fire extinguishing grenade storage and launching mechanism 5 is equipped with a reciprocating drive component 51, a transmission component 52, and a launching component 53. The drive component 51 is connected to the controller, the transmission component 52 is retractable and abuts against the drive component 51, and the launching component 53 is connected to the transmission component 52. When the transmission component 52 retracts to disengage from the drive component 51, the launching component 53 resets and launches the fire extinguishing grenade.

[0046] The controller is the brain of the entire robot, responsible for receiving information from monitoring agency 4 and remote control information. It can process and calculate data, make decisions, and control the operation of other mechanisms. The controller can be equipped with various software or hardware according to actual needs. In this embodiment, preferably, the controller is a wired controller, which is equipped with a control system, a remote system, and a navigation system. Specifically, the operator can remotely control the robot to collect data and manually plan the patrol route. The robot can move according to the navigation system and the inspection route, and make timely decisions through the control system.

[0047] The walking mechanism 2 can be any structure capable of bearing and moving; it can be tracked or wheeled. In this embodiment, preferably, the walking mechanism 2 includes a mounting platform 21, a transmission mechanism, and a four-wheel drive system 22. The controller and the transmission mechanism are housed within the mounting platform 21, and the four-wheel drive system 22 is mounted on the mounting platform 21. Specifically, the mounting platform 21 has a cavity, and anti-collision strips 23 are provided around the side wall of the mounting platform 21. The four-wheel drive system 22 and the transmission mechanism allow for 360° turning on the spot.

[0048] In order to improve the robot's flexibility, expand the monitoring range and the angle at which the fire extinguishing bombs are deployed, in this embodiment, preferably, the robotic arm mechanism 3 is a six-axis robotic arm, and the fire extinguishing bomb storage and launching mechanism 5 is located on the third arm of the six-axis robotic arm.

[0049] The monitoring mechanism 4 is any structure capable of monitoring the environment and collecting environmental data. The monitoring mechanism 4 is designed according to actual needs and can be various types of sensors or various types of measuring instruments. In this embodiment, the monitoring mechanism 4 includes an infrared vision sensor 41, a gas detection sensor 42, and a radar 6.

[0050] The fire extinguishing bomb storage and launching mechanism 5 can be any mechanism capable of storing and launching fire extinguishing bombs. The driving component 51 can be any structure capable of providing driving force, such as a motor or gas cylinder. The launching component 53 is a structure capable of launching and providing initial mechanical energy to the fire extinguishing bomb. The part of the fire extinguishing bomb storage and launching mechanism 5 used to store the fire extinguishing bomb can be closed or semi-open. In this embodiment, preferably, the driving component 51 includes an electric slide 511, a first limiting block 512, and a second limiting block 513. The transmission component 52 includes a slider 522, a slide rail 521, and a retractable locking tongue 523. The launching component 53 includes a fixing block 531, a spring 533, and a launching block 532. The fire extinguishing bomb storage and launching mechanism 5 includes a storage chamber 55, a launching tube 54, and a base. The fire extinguishing bomb storage and launching mechanism 5 is also provided with a connecting frame 57 for connecting the robotic arm mechanism 3. Specifically, a bomb release port 542 is provided between the storage chamber 55 and the launch tube 54; a guide groove 543 is provided between the launch tube 54 and the base; the base is provided with an electric slide 511 and a slide rail 521 parallel to the central axis of the launch tube 54; a first limiting block 512 is fixed on the electric slide 511; a second limiting block 513 is provided on the slider of the electric slide 511; a slider 522 is provided on the slide rail 521; the slider 522 passes through the guide groove 543; a retractable locking tongue 523 is provided on the side of the slider 522 near the electric slide 511; and a coaxial fixing block 531 is provided inside the launch tube 54. The device comprises a spring 533 and a launching block 532. In the initial state, the locking tongue 523 is located between the second limiting block 513 and the first limiting block 512. When the electric slide 511 drives the second limiting block 513 to move towards the first limiting block 512, the second limiting block 513 drives the locking tongue 523 to move, thereby compressing the spring 533. When the locking tongue 523 moves to abut against the first limiting block 512, the locking tongue 523 receives the reaction force of the first limiting block 512 and retracts. When the locking tongue 523 retracts to disengage from the second limiting block 513, the spring 533 is released, pushing the launching block 532 to launch the fire extinguishing bullet. This method incorporates a locking function for the transmission component 52. Before launch, the force is transmitted through the extended locking tongue 523. During launch, the spring 533 is released through the retracted locking tongue 523. This allows for precise control, reduces errors, and increases the stability of the device. At the same time, the elasticity of the spring 533 is used for energy storage and release, enabling convenient launch of the fire extinguishing projectile.

[0051] This achieves the following beneficial effects: the coupled structure of the walking mechanism 2 and the monitoring mechanism 4 offers high economic value, replacing traditional manual inspections and fixed-point sensor detection. This effectively reduces the number of fixed sensors in the integrated utility tunnel, avoiding cost waste and minimizing human error in missed detections; the robotic arm mechanism 3 allows for flexible adjustment of the monitoring range of the monitoring mechanism 4; intelligent control ensures high safety, allowing inspection personnel to operate remotely and facilitating rapid escape in case of emergencies; and the mechanism for storing and launching fire extinguishing bombs provides the robot with a bomb-throwing function, enabling automatic fire suppression.

[0052] like Figure 3-4 As shown, in one embodiment, the fire extinguishing grenade storage and launching mechanism 5 includes a launching tube 54, a storage chamber 55, and a mounting base 56. The launching component 53 is provided in one end of the launching tube 54, and a launching port 541 is provided on the other end of the launching tube 54. The storage chamber 55 is located on the launching tube 54, and a grenade release port 542 is provided between the storage chamber 55 and the launching tube 54. The launching tube 54 is connected to the mounting base 56, and a guide groove 543 is provided between the launching tube 54 and the mounting base 56. The guide groove 543 is parallel to the central axis of the launching tube 54. The mounting base 56 is provided with the driving component 51 and the transmission component 52, and the transmission component 52 can pass through the guide groove 543.

[0053] It should be noted that the launch tube 54 is the core component of the entire mechanism, responsible for carrying and guiding the launch of the fire extinguishing projectile. The launch tube 54 is cylindrical. The storage chamber 55 is used to store the fire extinguishing projectile, and the launch port 542 facilitates the transfer of the fire extinguishing projectile from the storage chamber 55 to the launch tube 54 for launch. In this embodiment, preferably, the launch port 542 is located at the end of the storage chamber 55 away from the launch port 541 and above the launch assembly 53. Initially, the launch assembly 53 closes the launch port 542. When the launch assembly 53 begins to move, the launch port 542 is gradually opened, allowing the fire extinguishing projectile to fall from the launch port 542 into the rocket launcher, completing the pre-launch preparation. The base provides a stable support platform for the entire launch mechanism and integrates the power source and transmission system to ensure the smooth operation of the launch process. This enables centralized storage and rapid replenishment of fire extinguishing bombs, ensuring a swift response and continuous firing in emergencies. Simultaneously, it ensures the fire extinguishing bombs maintain a stable trajectory and speed during launch, improving accuracy and reliability.

[0054] In one embodiment, the drive assembly 51 includes an electric slide 511, a first limiting block 512, and a second limiting block 513. The electric slide 511 is mounted on the mounting base 56 and connected to the controller. The reciprocating trajectory of the slider of the electric slide 511 is parallel to the central axis of the launch tube 54. The first limiting block 512 is located at the end of the electric slide 511 away from the launch port 541. The second limiting block 513 is located on the slider of the electric slide 511. The side of the second limiting block 513 closest to the first limiting block 512 abuts against the transmission assembly 52. ​​When the second limiting block 513 moves toward the first limiting block 512, it drives the transmission assembly 52 to move. When the transmission assembly 52 moves to abut against the first limiting block 512, the transmission assembly 52 retracts. When the transmission assembly 52 retracts to disengage from the second limiting block 513, the launch assembly 53 resets and launches the fire extinguishing projectile.

[0055] It should be noted that the electric slide 511 provides a stable and controllable power source, enabling precise control of the launching process by accurately controlling the moving distance and speed of the slider 522. The first limiting block 512 serves as a reference point for the starting and ending positions of the slider 522's movement. The first limiting block 512 and the second limiting block 513 together constitute a triggering mechanism, triggering the corresponding retraction action of the transmission component 52 through the limiting action, thereby achieving precise control and reset of the launching component 53. Thus, through the ingenious combination of physical contact and mechanical design, an integrated process of power transmission, action triggering, and launching reset is achieved, improving the automation level and response speed of the entire launching mechanism. At the same time, it also reduces the risk and error of human operation, improving the efficiency and safety of fire extinguishing projectile launching.

[0056] In one embodiment, the transmission assembly 52 includes a slide rail 521, a slider 522, and a locking tongue 523. The slide rail 521 is disposed on the mounting base 56 and parallel to the central axis of the launching tube 54. The slider 522 is slidably disposed on the slide rail 521 and passes through the guide groove 543. The slider 522 is connected to the launching assembly 53. The locking tongue 523 is retractably disposed on the slider 522 and abuts against the driving assembly 51.

[0057] It should be noted that the slide rail 521 provides a stable and low-resistance movement path for the slider 522, enabling the transmission assembly 52 to efficiently transmit power from the drive assembly 51 to the launching assembly 53, while reducing errors and wear caused by deviations in the movement path. As the core component of the transmission assembly 52, the slider 522 undertakes the important tasks of power transmission and action execution. Through precise movement along the slide rail 521, the slider 522 can convert the power from the drive assembly 51 into the displacement of the launching assembly 53, thereby triggering the launching process of the fire extinguishing projectile. The presence of the locking tongue 523 increases the flexibility and controllability of the transmission assembly 52. During launch, the locking tongue 523 serves a dual function of triggering and locking. When the drive assembly 51 pushes the locking tongue 523, its extension and retraction triggers the corresponding actions of the slider 522 and the launch assembly 53. After launch, the locking tongue 523 returns to its original state, ready for the next launch, while also preventing accidental sliding or movement during launch. This achieves efficient power transmission and precise motion control from the drive assembly 51 to the launch assembly 53. This design not only improves the automation and response speed of the fire extinguishing projectile launch but also ensures the stability and safety of the launch process.

[0058] In one embodiment, the protruding end of the latch 523 is an inclined surface, and the angle formed by the inclined surface and the drive assembly 51 is directed away from the launching port 541, allowing the latch 523 and the drive assembly 51 to reset. It should be noted that due to the inclined surface design, when the drive assembly 51 resets to abut against the inclined surface, the drive assembly 51 generates a relative displacement on the inclined surface. The force of the abutment pushes the latch 523 back. When the drive assembly 51 moves away from the inclined surface, the latch 523 re-extends, thus completing the reset. Therefore, this process requires no complex mechanical structure or additional power source; it can be completed solely through the interaction between the inclined surface and the drive assembly 51, making it both efficient and energy-saving.

[0059] In one embodiment, the launching assembly 53 includes a fixed block 531, a launching block 532, and a spring 533, coaxial with the launching tube 54. The spring 533 is disposed between the fixed block 531 and the launching block 532. The fixed block 531 is located inside the end of the launching tube 54 away from the launching port 541. The launching block 532 is slidably disposed inside the launching tube 54 and is connected to the transmission assembly 52. ​​It should be noted that the spring 533 is compressed and stores energy before launch. When the triggering mechanism is activated, the spring 533 rapidly releases energy, pushing the launching block 532 forward to launch the fire extinguishing projectile. Thus, the fixed block 531 provides a stable support base, the launching block 532 is responsible for transmitting energy and propelling the projectile, while the spring 533 serves as a power source, storing and releasing energy. This design not only improves the accuracy and controllability of the launch but also enhances the reliability and portability of the system.

[0060] like Figure 5-6 As shown, in one embodiment, the monitoring mechanism 4 includes an infrared vision sensor 41 and a gas detection sensor 42. The infrared vision sensor 41 is mounted on the robotic arm mechanism 3, and the gas detection sensor 42 is mounted on the walking mechanism 2. Both the infrared vision sensor 41 and the gas detection sensor 42 are connected to the controller. It should be noted that the infrared vision sensor 41 uses infrared technology to capture images or thermal radiation distribution maps of the surrounding environment; the gas detection sensor 42 is used to detect various gas indicators (including but not limited to oxygen, methane, temperature, and humidity) on site. Once a harmful or dangerous gas concentration is detected to exceed the standard, an alarm is immediately issued to prevent harm to personnel or equipment. The number and installation positions of the infrared vision sensor 41 and the gas detection sensor 42 are designed according to actual needs. In this embodiment, the infrared vision sensor 41 is mounted on the top of the robotic arm mechanism 3 via a first mounting bracket 43, and the gas detection sensor 42 is mounted on the walking mechanism 2 via a second mounting bracket 44. Therefore, by capturing images in real time, identifying and tracking objects at high temperatures or within a specific temperature range, the posture of the robotic arm mechanism 3 can be adjusted based on the position feedback of the flame in the spatial dimension, thereby achieving the purpose of adjusting the position of the fire extinguishing projectile launch port 541. At the same time, in the event of an emergency, it protects the safety of equipment and on-site personnel, not only enhancing the adaptability of the robotic arm and walking mechanism 2 in complex environments, but also greatly improving the safety and efficiency of the operation.

[0061] In one embodiment, the system further includes a radar 6 and a navigation system. The radar 6 is mounted on the walking mechanism 2, and the navigation system is mounted on the controller, connected to the radar 6. It should be noted that the radar 6 is an electronic device that uses electromagnetic waves to detect targets. It determines parameters such as the target's distance, speed, and orientation by emitting electromagnetic waves and receiving their echoes. It can detect obstacles in the surrounding environment in real time, including static obstacles (such as walls and trees) and dynamic obstacles (such as pedestrians and other vehicles), providing obstacle avoidance information for the device and helping it make accurate path planning and obstacle avoidance decisions in complex environments. The navigation system is used to determine the device's current position, plan its route, and guide it along a predetermined path. It can be GPS technology or Bluetooth positioning technology, etc. Therefore, by combining the radar 6 with the navigation system, the device's intelligence level and autonomous navigation capability can be significantly improved, enabling the device to achieve safe and efficient autonomous driving in complex and changing environments, realizing obstacle avoidance and obstacle stopping functions.

[0062] In one embodiment, the walking mechanism 2 includes a mounting platform 21, a four-wheel drive system 22, and a transmission mechanism. The mounting platform 21 has a cavity inside and a crash bar 23 is provided around the upper part of the mounting platform 21. The transmission mechanism and the controller are located inside the mounting platform 21. The four-wheel drive system 22 passes through the mounting platform 21, and both the four-wheel drive system 22 and the transmission mechanism are connected to the controller.

[0063] It should be noted that the mounting platform 21 is the main structure of the entire walking mechanism 2, providing a stable base to support and install other components. The cavity design not only reduces the overall weight of the mounting platform 21 but also provides additional space to accommodate key components such as the transmission mechanism and the controller, optimizing the internal layout. The anti-collision strip 23 is a structure capable of buffering and absorbing energy; it can be made of elastic material and has a certain buffering and energy-absorbing effect. Simultaneously, it can enable the robot to brake suddenly in the event of a collision, aiming to reduce the impact and damage to the walking mechanism 2 during a collision. The four-wheel drive mechanism provides power through four independently driven wheels, ensuring that the walking mechanism 2 has excellent passability and stability in various terrains and road conditions. Therefore, through reasonable structural design and advanced component configuration, the walking mechanism 2 achieves an organic combination of stability, flexibility, and safety, providing strong support for the normal operation of the entire system.

[0064] Therefore, the explosion-proof robot for urban underground utility tunnel inspection of the present invention solves the technical problems of existing technologies such as cost waste, poor flexibility leading to missed optimal fire extinguishing opportunities, high human risk, and easy human error resulting in missed detections, achieving the following beneficial effects: 1) The structure of the walking mechanism 2 and the monitoring mechanism 4 is coupled, which has high economic value and replaces traditional manual inspection and fixed-point sensor detection. It can effectively reduce the number of fixed sensors in the integrated utility tunnel, avoid cost waste, and reduce the possibility of missed detections due to human error; 2) The robotic arm mechanism 3 is used to flexibly adjust the monitoring range of the monitoring mechanism 4; 3) Intelligent control is adopted, which has strong safety and allows inspection personnel to operate remotely. In case of an accident, it is conducive to the rapid escape of inspection personnel; 4) The robot is designed with a mechanism that can store and launch fire extinguishing bombs, and can automatically extinguish fires.

[0065] The second aspect of the present invention provides a method for operating an explosion-proof robot for inspecting urban underground utility tunnels, which will be described in detail below.

[0066] A method for operating an explosion-proof robot for inspecting urban underground utility tunnels, utilizing the explosion-proof robot for inspecting urban underground utility tunnels provided in any of the above embodiments, includes:

[0067] The monitoring device 4 monitors the environment, collects environmental data, and sends it to the controller;

[0068] The controller receives instructions and analyzes environmental data, and controls the walking mechanism 2, the robotic arm mechanism 3, the monitoring mechanism 4, and the fire extinguishing bomb storage and launching mechanism 5.

[0069] The driving assembly 51 is used to carry and transport the controller, the robotic arm mechanism 3, the detection mechanism, and the fire extinguishing bomb storage and launching mechanism 5 by the walking mechanism 2;

[0070] The robotic arm mechanism 3 is used to change its posture, thereby expanding the monitoring range of the monitoring mechanism 4 and adjusting the launch angle of the fire extinguishing bomb storage and launch mechanism.

[0071] The fire extinguishing bomb storage and launching mechanism 5 is used to store fire extinguishing bombs. When a fire is detected, the driving component 51 drives the transmission component 52 to move, thereby causing the transmission component 52 to retract. When the transmission component 52 retracts to disengage from the driving component 51, the launching component 53 resets and launches the fire extinguishing bomb to extinguish the fire.

[0072] It should be noted that the environmental data includes, but is not limited to, terrain data, imaging data, thermal radiation data, and various gas data; the instructions are those issued by staff through remote control; and the launch angle is calculated by the controller.

[0073] Therefore, the operation method of the explosion-proof robot for urban underground utility tunnel inspection of the present invention solves the technical problems of wasteful costs, poor flexibility and easy to miss the best fire extinguishing opportunity, high risk of human error and missed detection in the prior art, and achieves the following beneficial effects: 1) It uses a mobile and flexible robot to replace traditional manual or fixed-point sensor detection, which is highly reliable and reduces the possibility of missed detection due to human error; 2) It can effectively reduce the number of fixed sensors in the integrated utility tunnel, and at the same time integrates the function of fire extinguishing bombs, which can automatically extinguish fires and has high economic value; 3) It has strong safety, and the inspection personnel can remotely control it, which is conducive to the rapid escape of the inspection personnel in case of an accident.

[0074] like Figure 7-10 As shown, an optional working process of the explosion-proof robot and its operation method for inspecting urban underground utility tunnels in this invention is as follows:

[0075] Before the inspection begins, staff use a remote control to turn on the controller, which controls the radar 6 to collect point cloud data and complete the mapping work.

[0076] After the inspection route is manually marked on the map, the controller controls the movement mechanism to move according to the inspection route. During the inspection, the robotic arm mechanism 3 continuously changes its posture to increase the observation range of the infrared vision sensor 41 and the gas detection sensor 42. The controller determines whether there are any safety hazards in the area by detecting the environmental data collected by the infrared vision sensor 41 and the gas concentration detection sensor.

[0077] When a safety hazard is detected, the controller issues an alarm signal;

[0078] When an open flame is detected, the controller controls the robotic arm mechanism 3 to adjust the launching angle of the launching tube 54. The controller controls the electric slide 511 to move the second limiting block 513, which in turn moves the locking tongue 523. The spring 533 is compressed, and the launching block 532 moves to open the bomb release port 542, allowing the fire extinguishing bomb to fall into the launching tube 54. When the locking tongue 523 moves to abut against the first limiting block 512, the locking tongue 523 retracts. When the locking tongue 523 retracts to disengage from the second limiting block 513, the spring 533 is released. The spring 533 resets, causing the launching block 532 to launch the fire extinguishing bomb. The controller controls the slide to reset, completing one bomb release.

[0079] Furthermore, the terms "first" and "another" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0081] In the description of this specification, references to terms such as "an embodiment," "an example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0082] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An explosion-proof robot for inspecting urban underground utility tunnels, characterized in that, include: A chassis control system (1) includes a controller and a walking mechanism (2), wherein the controller is connected to the walking mechanism (2), and the walking mechanism (2) is used for carrying and transporting. A robotic arm mechanism (3) is mounted on the walking mechanism (2), and the robotic arm mechanism (3) is connected to the controller for position adjustment; A monitoring mechanism (4) is provided on the robotic arm mechanism (3), and the monitoring mechanism (4) is connected to the controller for monitoring the environment and transmitting environmental data to the controller; A fire extinguishing bomb storage and launching mechanism (5) is provided on the robotic arm mechanism (3). The fire extinguishing bomb storage and launching mechanism (5) is provided with a reciprocating drive assembly (51), a transmission assembly (52) and a launching assembly (53). The drive assembly (51) is connected to the controller. The transmission assembly (52) is retractable and abuts against the drive assembly (51). The launching assembly (53) is connected to the transmission assembly (52). When the transmission component (52) retracts to disengage from the drive component (51), the launching component (53) resets and launches the fire extinguishing projectile.

2. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 1, characterized in that, The fire extinguishing grenade storage and launching mechanism (5) includes a launching tube (54), a storage chamber (55), and a mounting base (56). The launching assembly (53) is provided in one end of the launching tube (54), and a launching port (541) is provided on the other end of the launching tube (54). The storage chamber (55) is located on the launching tube (54), and a grenade launching port (542) is provided between the storage chamber (55) and the launching tube (54). The launching tube (54) is connected to the mounting base (56), and a guide groove (543) is provided between the launching tube (54) and the mounting base (56). The guide groove (543) is parallel to the central axis of the launching tube (54). The mounting base (56) is provided with the driving assembly (51) and the transmission assembly (52), and the transmission assembly (52) can be inserted into the guide groove (543).

3. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 2, characterized in that, The drive assembly (51) includes an electric slide (511), a first limiting block (512), and a second limiting block (513). The electric slide (511) is mounted on the mounting base (56) and connected to the controller. The reciprocating trajectory of the slider of the electric slide (511) is parallel to the central axis of the launch tube (54). The first limiting block (512) is located at the end of the electric slide (511) away from the launch port (541), and the second limiting block (513) is located at the end of the electric slide (511) away from the launch port (541). On the block, the second limiting block (513) abuts against the transmission assembly (52) on the side near the first limiting block (512). When the second limiting block (513) moves toward the first limiting block (512), it drives the transmission assembly (52) to move. When the transmission assembly (52) moves to abut against the first limiting block (512), the transmission assembly (52) retracts. When the transmission assembly (52) retracts to disengage from the second limiting block (513), the launching assembly (53) resets and launches the fire extinguishing projectile.

4. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 2, characterized in that, The transmission assembly (52) includes a slide rail (521), a slider (522), and a locking tongue (523). The slide rail (521) is mounted on the mounting base (56) and is parallel to the central axis of the launching tube (54). The slider (522) is slidably mounted on the slide rail (521) and passes through the guide groove (543). The slider (522) is connected to the launching assembly (53). The locking tongue (523) is retractably mounted on the slider (522) and abuts against the driving assembly (51).

5. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 4, characterized in that, The protruding end of the latch (523) is a bevel, and the angle formed by the bevel and the drive assembly (51) is away from the launching port (541), so that the latch (523) and the drive assembly (51) can be reset.

6. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 2, characterized in that, The launching assembly (53) includes a fixed block (531), a launching block (532), and a spring (533) coaxial with the launching tube (54). The spring (533) is provided between the fixed block (531) and the launching block (532). The fixed block (531) is located inside the end of the launching tube (54) away from the launching port (541). The launching block (532) is slidably located inside the launching tube (54). The launching block (532) is connected to the transmission assembly (52).

7. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 1, characterized in that, The monitoring mechanism (4) includes an infrared vision sensor (41) and a gas detection sensor (42). The infrared vision sensor (41) is mounted on the robotic arm mechanism (3), and the gas detection sensor (42) is mounted on the walking mechanism (2). Both the infrared vision sensor (41) and the gas detection sensor (42) are connected to the controller.

8. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 1, characterized in that, It also includes a radar (6) and a navigation system, wherein the radar (6) is mounted on the walking mechanism (2) and the navigation system is mounted on the controller and is connected to the radar (6).

9. The explosion-proof robot for inspecting urban underground utility tunnels according to claim 1, characterized in that, The walking mechanism (2) includes a mounting platform (21), a four-wheel drive system (22), and a transmission mechanism. The mounting platform (21) has a cavity inside and a crash bar (23) is provided around the mounting platform (21). The transmission mechanism and the controller are located inside the mounting platform (21). The four-wheel drive system (22) passes through the mounting platform (21). The four-wheel drive system (22) and the transmission mechanism are both connected to the controller.

10. A method for operating an explosion-proof robot for inspecting urban underground utility tunnels, characterized in that, The explosion-proof robot for inspecting urban underground utility tunnels according to any one of claims 1-9 includes: The monitoring agency (4) monitors the environment, collects environmental data, and sends it to the controller; The controller receives instructions and analyzes environmental data, and controls the drive components (51) of the walking mechanism (2), the robotic arm mechanism (3), the monitoring mechanism (4), and the fire extinguishing bomb storage and launching mechanism (5); The walking mechanism (2) is used to carry and transport the controller, the robotic arm mechanism (3), the detection mechanism, and the fire extinguishing bomb storage and launching mechanism (5); The attitude is changed by using the robotic arm mechanism (3), the monitoring range of the monitoring mechanism (4) is expanded, and the launching angle of the fire extinguishing bomb storage and launching mechanism is adjusted. The fire extinguishing bombs are stored using the fire extinguishing bomb storage and launching mechanism (5). When a fire is detected, the driving component (51) drives the transmission component (52) to move, thereby causing the transmission component (52) to retract. When the transmission component (52) retracts to disengage from the driving component (51), the launching component (53) resets and launches the fire extinguishing bomb to extinguish the fire.

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