Intelligent inspection vehicle with hazardous chemical gas detection function and use method of intelligent inspection vehicle

Abstract

The invention relates to the technical field of gas sensing, in particular to an intelligent inspection vehicle with a hazardous chemical gas detection function, which comprises a movable chassis, a plurality of electric wheels are symmetrically mounted on the left side and the right side of the movable chassis, a mounting plate is fixedly arranged at the top of the movable chassis, and a control box is mounted on the front side of the mounting plate. A navigation sensor is arranged at the top of the control box, a rotating seat is arranged on the rear side of the top of the mounting plate and comprises a rotating disc rotationally connected to the mounting plate, and a rotating frame is rotationally arranged on the rotating disc. According to the invention, the flexible tentacle mechanism formed by connecting a plurality of conical joints in series is matched with the circumferentially arranged pull rope and the independent driving motor, so that local directional bending and posture adjustment can be realized aiming at dead angles which are difficult to cover by traditional detection, such as the back surface of a pipeline or a narrow area, under the instruction of a control system, and the tail end detection module flexibly extends into a detection position; the space limitation of a traditional detection probe is broken through.

Description

Technical Field

[0001] This invention relates to the field of gas sensing technology, specifically to an intelligent inspection vehicle with hazardous chemical gas detection function and its usage method. Background Technology

[0002] With the rapid development of the modern chemical industry, the types and quantities of hazardous chemicals involved in production processes are increasing daily, leading to a significant rise in safety risks. Leaks of hazardous gases (such as toxic, flammable, and explosive gases) can trigger major safety accidents such as fires and explosions. To improve safety management in chemical plant areas and reduce the risks and costs of manual inspections, intelligent inspection equipment is gradually being introduced into high-risk work environments. Currently, intelligent inspection vehicles can simulate human vision, hearing, smell, and temperature perception, to a certain extent replacing manual labor in automated inspections of chemical areas.

[0003] However, existing intelligent inspection vehicles still have some shortcomings in outdoor inspection applications. Especially in open-air chemical areas, minor leaks in blind spots such as the rear of pipelines or equipment cannot be directly observed by high-definition cameras. Furthermore, hazardous gases are easily dispersed outdoors due to wind direction. If the inspection vehicle fails to arrive near the leak point before the gas concentration is high and diluted, the gas sensors will struggle to detect the leak in time, leading to missed detections or delayed responses. In addition, the fixed sensor layout and unidirectional travel path limit the detection coverage and sensitivity of the inspection vehicle. Therefore, we propose an intelligent inspection vehicle with hazardous gas detection capabilities and its usage method to overcome the visual blind spot limitations of outdoor pipeline gas detection and improve the comprehensiveness and flexibility of gas detection by the intelligent inspection vehicle. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides an intelligent inspection vehicle with hazardous chemical gas detection function and its usage method.

[0005] Technical Solution: An intelligent inspection vehicle with hazardous gas detection function includes a mobile chassis. Multiple electric wheels are symmetrically mounted on the left and right sides of the mobile chassis. A mounting plate is fixedly installed on the top of the mobile chassis. A control box is mounted on the front side of the mounting plate. The control box houses the control system for the entire inspection vehicle. Navigation sensors (such as lidar and vision sensors) for controlling movement are mounted on the top of the control box. A rotating base is located on the rear side of the top of the mounting plate. The rotating base includes a turntable rotatably connected to the mounting plate. A rotating frame is rotatably mounted on the turntable. A first motor is fixedly installed inside the mobile chassis. The output shaft of the first motor is connected to the rotating shaft of the turntable. An adjusting component for adjusting the support angle of the rotating frame is also provided on the turntable. A pneumatic telescopic rod is fixedly installed on the rotating frame. An air compressor that provides pneumatic power to the pneumatic telescopic rod is installed on the rotating frame. A tentacles mechanism is installed on the pneumatic telescopic rod. The tentacles mechanism includes a mounting shaft rotatably mounted on the piston rod end of the pneumatic telescopic rod. A housing is fixedly mounted on the mounting shaft. Multiple conical sections are connected in series at the end of the mounting shaft away from the pneumatic telescopic rod. A detection module for detecting hazardous gases is installed on the last conical section. Pull ropes are connected in series in four directions around each conical section. Rotary wheels with the same number of pull ropes are rotatably connected circumferentially inside the housing. The pull ropes are wound around the corresponding rotary wheels. A motor is fixedly mounted circumferentially on the outer wall of the housing. The output shaft of the motor is connected to the rotation shaft of the corresponding rotary wheel.

[0006] Furthermore, it is particularly preferred that the adjusting component includes an electric push rod, a traction frame, and a protruding rod. An electric push rod is fixedly installed on one side of the turntable, and a traction frame is fixedly connected to the push rod of the electric push rod. A protruding rod is fixedly provided on the side of the traction frame near the rotating frame. A straight sliding groove is opened on the rotating frame, and the protruding rod is located in the corresponding sliding groove of the rotating frame.

[0007] Furthermore, it is particularly preferred that the detection module consists of a gas detector, an infrared detector, and a camera, which are mounted side by side on a conical section at the very end of the tentacle mechanism. The infrared detector is used to scan and locate the leak point in the pipeline, the camera is used to capture an image of the leak point, and the gas detector detects the composition and concentration of the leaking gas.

[0008] Furthermore, it is particularly preferred that the piston rod of the pneumatic telescopic rod is provided with a driving component for driving the mounting shaft to rotate. The driving component includes a second motor, a gear, and a gear ring. The second motor is fixedly mounted on the piston rod of the pneumatic telescopic rod, and a gear is fixedly connected to the output shaft of the second motor. A gear ring is fixedly provided at one end of the mounting shaft near the pneumatic telescopic rod, and the gear and gear ring mesh with each other.

[0009] Furthermore, it is particularly preferred that the housing is provided with a telescopic airbag via a connecting plate on the side near the conical section. The telescopic airbag has a semi-circular cross-section and can extend to the detection module. An air pump is provided on the connecting plate, and the air inlet of the air pump is connected to the telescopic airbag. The telescopic airbag is used to reduce the interference of outdoor airflow on the detection module.

[0010] Furthermore, it is particularly preferred that a flange ring is fixedly provided on the periphery of some of the conical sections, wherein a slot is provided on the side of the flange ring near the detection module, and a locking rod is provided on the inner wall of the telescopic airbag near the conical section. The locking rod is adapted to and engages with the slot on the corresponding flange ring, and a notch is provided on the other flange rings for the locking rod to pass through.

[0011] Furthermore, it is particularly preferred that the detection end of the detection module is provided with a protective component, which includes a guide frame, a baffle and a spring. The guide frame is fixedly provided at the detection port of the gas detector, and the baffle is slidably connected to the guide frame. The baffle is in contact with the end of the telescopic airbag, and a spring is provided between the guide frame and the baffle. The baffle is used to shield and protect the gas detector.

[0012] Furthermore, it is particularly preferred that a protective cover is installed on the outer wall of the pneumatic telescopic rod cylinder, the protective cover shielding the air compressor and protecting the air compressor.

[0013] Furthermore, it is particularly preferred that the air compressor has a filter at its air inlet, the filter is used to filter the air drawn into the air compressor, a guide rod is fixedly installed at the air compressor's air inlet, and the filter has a slot for fitting the guide rod.

[0014] Furthermore, a particularly preferred method for using an intelligent inspection vehicle with hazardous gas detection capabilities is as follows: S1. Start the inspection vehicle, set the inspection route through the control system in the control box, the navigation sensor collects environmental data in real time and plans the travel trajectory in combination with the preset path, and the electric wheel drive mobile chassis automatically cruises along the chemical pipeline area. S2. During the inspection, the pneumatic telescopic rod extends, allowing the detection module at the front end of the contact mechanism to perform gas detection on the pipeline. When a blind spot is encountered, the motor is controlled to start and stop. The series of conical sections are bent by pulling the rope, which in turn drives the turntable to rotate. The adjustment component adjusts the angle of the rotating frame, and the second motor drives the mounting shaft to rotate, thus realizing multi-directional flexible detection of the detection module. S3. During testing, the air pump inflates the telescopic airbag, causing it to expand to the testing module. The clamping rod engages with the flange ring and bends accordingly. The telescopic airbag slows down the airflow at the testing point. After the inspection, the airbag deflates and resets, and the baffle closes under the action of the spring to protect the gas detector.

[0015] The beneficial effects of this invention are: 1. This invention employs a flexible touch mechanism composed of multiple tapered sections connected in series, combined with circumferentially arranged pull ropes and independent drive motors. Under the command of the control system, it can achieve localized directional bending and posture adjustment for blind spots that are difficult to cover by traditional detection, such as the back of the pipeline or narrow areas. This allows the end detection module to flexibly extend into the detection position, breaking through the spatial limitations of traditional detection probes.

[0016] 2. This invention can drive the turntable to rotate horizontally via the first motor, and control the pitch angle of the rotating frame with the adjustment component. The second motor drives the mounting shaft and the entire touch mechanism to rotate around the shaft. In addition, the bending ability of the touch mechanism itself, through the multi-degree-of-freedom collaborative mechanism, effectively expands the working space of the detection module, enabling the inspection vehicle to adapt to the inspection needs of complex outdoor pipelines.

[0017] 3. The present invention can also inflate the telescopic airbag with an air pump, so that the telescopic airbag extends to the front end of the detection module, effectively isolating the external airflow from interfering with gas sampling and improving the reliability of outdoor hazardous gas detection data. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0019] Figure 2 This diagram shows the connection relationships of the turntable, rotating frame, and pneumatic telescopic rod of the present invention.

[0020] Figure 3 This is a schematic diagram showing the working relationship between the turntable, rotating frame, electric push rod, and traction frame of the present invention.

[0021] Figure 4 This is a schematic diagram of the specific components of the tentacle mechanism and driving element of the present invention.

[0022] Figure 5 This diagram illustrates the connection relationships between the mounting shaft, housing, tapered joint, pull rope, and detection module of this invention.

[0023] Figure 6 This is a schematic diagram of the specific components of the detection module of the present invention.

[0024] Figure 7 This is a schematic diagram of the components of the present invention, including the telescopic airbag, air pump, flange ring, and baffle.

[0025] Figure 8 This diagram shows the connection relationships of components such as the tapered joint, pull rope, and flange ring of the present invention.

[0026] Figure 9 This is a three-dimensional structural diagram of the telescopic airbag, connecting plate, and locking rod of the present invention.

[0027] Figure 10 This is a three-dimensional structural diagram of the pneumatic telescopic rod, air compressor, and protective cover of the present invention.

[0028] Figure 11 This is a schematic diagram of the air compressor, filter, and guide rod of the present invention.

[0029] The components in the diagram are labeled as follows: 1-Mobile chassis, 2-Electric wheel, 3-Mounting plate, 4-Control box, 5-Navigation sensor, 6-Rotating seat, 61-Turntable, 62-Rotating frame, 621-Slide groove, 63-First motor, 7-Pneumatic telescopic rod, 71-Air compressor, 8-Adjusting component, 81-Electric push rod, 82-Tethering frame, 83-Protruding rod, 9-Touch mechanism, 91-Mounting shaft, 92-Housing, 93-Conical section, 94-Pull rope, 95-Roller, 96-Motor, 10-Detection. Module, 101-Gas detector, 102-Infrared detector, 103-Camera, 11-Driver, 111-Second motor, 112-Gear, 113-Gear ring, 12-Telescopic airbag, 121-Connecting plate, 122-Air pump, 13-Flange ring, 131-Notch, 132-Bayonet, 133-Clamping rod, 14-Protective component, 141-Guide frame, 142-Baffle, 143-Spring, 15-Protective cover, 16-Filter, 161-Slot, 17-Guide rod. Detailed Implementation

[0030] 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 following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] A smart inspection vehicle with hazardous gas detection capabilities, see [link / reference] Figures 1-5As shown, the vehicle includes a mobile chassis 1, with multiple electric wheels 2 symmetrically mounted on its left and right sides. A mounting plate 3 is fixedly mounted on the top of the mobile chassis 1, and a control box 4 is mounted on the front of the mounting plate 3. The control box 4 houses the entire inspection vehicle's control system, and navigation sensors 5 (such as lidar and vision sensors) for controlling movement are mounted on the top of the control box 4. A rotating base 6 is mounted on the rear top of the mounting plate 3, including a turntable 61 rotatably connected to the mounting plate 3. A rotating frame 62 is rotatably mounted on the turntable 61. A first motor 63 is fixedly mounted inside the mobile chassis 1, and the output shaft of the first motor 63 is connected to the rotating shaft of the turntable 61. An adjusting component 8 for adjusting the support angle of the rotating frame 62 is also provided on the turntable 61. A pneumatic telescopic rod 7 is fixedly mounted on the rotating frame 62. An air compressor 71 is provided on the pneumatic telescopic rod 7 to provide pneumatic power; a contact mechanism 9 is provided on the pneumatic telescopic rod 7, the contact mechanism 9 includes a mounting shaft 91 rotatably mounted on the piston rod end of the pneumatic telescopic rod 7, a housing 92 is fixedly mounted on the mounting shaft 91, a plurality of conical sections 93 are connected in series at the end of the mounting shaft 91 away from the pneumatic telescopic rod 7, a detection module 10 for detecting hazardous gases is provided on the last conical section 93, a pull rope 94 is connected in series in four directions around each conical section 93, and a number of rotating wheels 95 with the same number of pull ropes 94 are rotatably connected to the inner circumference of the housing 92, the pull ropes 94 are wound around the corresponding rotating wheels 95, and a motor 96 is fixedly mounted on the outer wall of the housing 92, the output shaft of the motor 96 is connected to the rotation shaft of the corresponding rotating wheel 95.

[0032] Under the real-time navigation of the navigation sensor 5, the entire inspection vehicle is driven along the inspection route by the electric wheels 2. The detection module 10 at the front end of the touch mechanism 9 detects hazardous gases in the chemical pipeline. When the detection module 10 has difficulty detecting the blind spot on the back of the chemical pipeline, the control box 4 controls a set of motors 96 on the housing 92 corresponding to the blind spot to start. The motors 96 drive the rotating wheels 95 to rotate, causing the rotating wheel 95 on the side closer to the pipeline to wind up the pull rope 94, while the rotating wheel 95 on the side farther from the pipeline to unwind the pull rope 94. 4. At this time, the entire series of conical sections 93 can bend and swing towards the detection dead corner, so that the detection module 10 at the end of the touch mechanism 9 can flexibly extend into the dead corner area on the back of the pipe for detection. With the first motor 63 driving the turntable 61 to rotate, the pneumatic telescopic rod 7 on the rotating seat 6 can change its orientation. At the same time, the adjusting component 8 can also adjust the tilt angle of the pneumatic telescopic rod 7 on the rotating frame 62. Through the cooperation of the pneumatic telescopic rod 7 and the touch mechanism 9, the detection coverage of the detection module 10 is further expanded, improving the comprehensiveness of the inspection vehicle.

[0033] See Figure 2 and Figure 3As shown, the adjusting component 8 includes an electric push rod 81, a traction frame 82, and a protruding rod 83. The electric push rod 81 is fixedly installed on one side of the turntable 61. The traction frame 82 is fixedly connected to the push rod of the electric push rod 81. A protruding rod 83 is fixedly provided on the side of the traction frame 82 near the rotating frame 62. A straight groove 621 is opened on the rotating frame 62. The protruding rod 83 is located in the groove 621 corresponding to the rotating frame 62. The push rod of the electric push rod 81 extends and retracts, driving the traction frame 82 and the protruding rod 83 to move horizontally. The protruding rod 83 presses the groove 621 on the rotating frame 62, thereby pushing the rotating frame 62 to rotate around its connection point with the turntable 61, realizing the adjustment of the tilt angle of the pneumatic telescopic rod 7.

[0034] When the inspection vehicle is detecting hazardous gases outdoors, it begins to collect real-time environmental data via navigation sensors 5 (LiDAR and vision sensors) on top of the control box 4. Simultaneously, the control system within the control box 4 analyzes and processes this environmental data, generating precise travel commands based on a pre-set inspection route. These commands control and drive multiple electric wheels 2 symmetrically mounted on both sides of the mobile chassis 1, enabling the entire inspection vehicle to cruise stably and autonomously along the chemical pipeline area. During this travel, the rotating seat 6 on the mounting plate 3 begins to rotate. Collaborative operation: The first motor 63 drives the turntable 61 to rotate horizontally, bringing the rotating frame 62 and the pneumatic telescopic rod 7 on the turntable 61 closer to the detection direction. At the same time, the adjusting component 8 on the turntable 61 starts to move, the push rod of the electric push rod 81 extends and retracts, and drives the traction frame 82 to move horizontally. The protruding rod 83 on the traction frame 82 presses against the sliding groove 621 opened on the rotating frame 62, thereby pushing the rotating frame 62 to rotate around its connection point with the turntable 61, realizing the precise adjustment of the pitch angle of the pneumatic telescopic rod 7 on the rotating frame 62, and preparing space for subsequent detection operations.

[0035] See Figure 5 and Figure 6 As shown, the detection module 10 consists of a gas detector 101, an infrared detector 102, and a camera 103. The gas detector 101, infrared detector 102, and camera 103 are mounted side by side on a conical section 93 at the very end of the tentacle mechanism 9. The infrared detector 102 is used to scan and locate the leak point of the pipeline, the camera 103 is used to capture an image of the leak point, and the gas detector 101 detects the composition and concentration of the leaking gas.

[0036] See Figure 1 and Figure 4As shown, the piston rod of the pneumatic telescopic rod 7 is equipped with a driving component 11 that drives the mounting shaft 91 to rotate. The driving component 11 includes a second motor 111, a gear 112, and a gear ring 113. The second motor 111 is fixedly mounted on the piston rod of the pneumatic telescopic rod 7. The gear 112 is fixedly connected to the output shaft of the second motor 111. The gear ring 113 is fixedly provided at one end of the mounting shaft 91 near the pneumatic telescopic rod 7. The gear 112 and the gear ring 113 mesh with each other. The second motor 111 drives the gear ring 113 to rotate through the meshing of the gear 112, so that the mounting shaft 91 can drive the entire tentacles 9 to rotate and adjust, thereby improving the flexibility of the detection module 10 on the tentacles 9 during detection.

[0037] When the inspection vehicle inspects a specific location on an outdoor pipeline, the air compressor 71 is activated first. The air compressor 71 provides pneumatic power to the pneumatic telescopic rod 7, causing the piston rod of the pneumatic telescopic rod 7 to extend. The extended piston rod delivers the detection module 10 on the contact mechanism 9 to the area to be inspected. If the detection module 10 encounters a blind spot such as the back of the pipeline, the control box 4 controls the motor 96 at the corresponding position on the outer wall of the housing 92 to start. The motor 96 drives the rotating wheel 95 to wind or unwind the pull rope 94 in the corresponding direction of each conical section 93, causing the multiple conical sections 93 arranged in series to bend in a specific direction. This allows the detection module 10 set on the last conical section 93 to be accurately delivered into an area that is difficult to reach by conventional means. Dead zone area; when the bend direction of the tentacles 9 is difficult to adjust precisely, the second motor 111 is activated. The second motor 111 drives the installation shaft 91 and the entire tentacles 9 to rotate circumferentially through the gear 112 on the output shaft meshing with the gear ring 113 at the end of the mounting shaft 91. The tentacles 9 can bend accurately to the dead zone on the back of the pipe for detection. During the detection process, the gas detector 101 in the detection module 10 performs quantitative analysis on the composition and concentration of the leaking gas, the infrared detector 102 performs infrared scanning on the surface of the pipe to locate the temperature anomaly point, and the camera 103 simultaneously captures a visual image of the leak point, realizing multi-dimensional and high-precision leak detection and status assessment.

[0038] See Figure 1 and Figure 7 As shown, a telescopic airbag 12 is provided on the side of the housing 92 near the conical section 93 via a connecting plate 121. The telescopic airbag 12 has a semi-circular cross-section and can extend to the detection module 10. An air pump 122 is provided on the connecting plate 121. The air inlet of the air pump 122 is connected to the telescopic airbag 12. The telescopic airbag 12 is used to reduce the interference of outdoor airflow on the detection module 10, thereby improving the detection accuracy of the detection module 10.

[0039] See Figures 7-9As shown, a flange ring 13 is fixedly installed on the periphery of a portion of the conical section 93. A slot 132 is opened on one side of the flange ring 13 near the detection module 10. A locking rod 133 is provided on the inner wall of the telescopic airbag 12 near the conical section 93. The locking rod 133 is adapted to and latches onto the slot 132 on the corresponding flange ring 13. A notch 131 is opened on one side of the other flange rings 13, allowing the locking rod 133 to pass through. The telescopic airbag 12 is inflated by the air pump 122. When the inflated telescopic airbag 12 is fully extended and unfolded, the locking rod 133 on the inner wall of the telescopic airbag 12 will engage into the slot 132 of the corresponding flange ring 13, so that the telescopic airbag 12 can bend synchronously with the tentacles 9.

[0040] See Figure 1 and Figure 7 As shown, the detection end of the detection module 10 is equipped with a protective component 14, which includes a guide frame 141, a baffle 142, and a spring 143. A guide frame 141 is fixedly installed at the detection port of the gas detector 101. A baffle 142 is slidably connected to the guide frame 141, and the baffle 142 contacts the end of the telescopic airbag 12. A spring 143 is installed between the guide frame 141 and the baffle 142. The baffle 142 is used to shield and protect the gas detector 101. During inspection, the telescopic airbag 12... When inflated and extended, the telescopic airbag 12 overcomes the elastic force of the spring 143 and pushes the baffle 142. The baffle 142 opens the detection port of the gas detector 101 along the guide frame 141. When not being inspected, the telescopic airbag 12 deflates and shortens to its original position. The baffle 142, no longer compressed by the telescopic airbag 12, will return to its original position under the action of the spring 143 and block the detection port of the gas detector 101, preventing dust and impurities from entering the gas detector 101 and improving the service life of the gas detector 101.

[0041] See Figure 1-11 As shown, a protective cover 15 is installed on the outer wall of the cylinder of the pneumatic telescopic rod 7. The protective cover 15 covers the periphery of the air compressor 71 and is used to protect the air compressor 71.

[0042] See Figure 1-11 As shown, a filter 16 is provided at the air inlet of the air compressor 71. The filter 16 is used to filter the air drawn into the air compressor 71, thereby reducing dust entering the air compressor 71 and the pneumatic telescopic rod 7, and improving the service life of the pneumatic telescopic rod 7. A guide rod 17 is fixedly provided at the air inlet of the air compressor 71. The filter 16 has a slot 161 adapted to the guide rod 17. By rotating the filter 16, the slot 161 on the filter 16 is engaged with the guide rod 17, and the filter 16 can be easily installed at the air inlet of the air compressor 71.

[0043] To ensure data accuracy and long-term equipment reliability during the testing process, the air pump 122 on the connecting plate 121 is activated. The air pump 122 inflates the telescopic airbag 12, causing the semi-circular telescopic airbag 12 to extend from the housing 92 to the periphery of the final testing module 10, forming an effective airflow barrier and reducing interference from outdoor airflow to the testing module 10. Simultaneously, when the telescopic airbag 12 is fully extended, the locking rod 133 on the inner wall of the telescopic airbag 12 moves synchronously until it engages with the notch 132 on the flange ring 13 of the final conical section 93. The notches 131 on the flange rings 13 of the remaining conical sections 93 provide a path for the locking rod 133 to pass through, allowing the telescopic airbag 12 to deform synchronously with the bending of the series of conical sections 93 within the testing module 10. At the end, the protective component 14 works synchronously. During testing, the inflated telescopic airbag 12 pushes the baffle 142, causing the baffle 142 to overcome the elastic force of the spring 143 and slide along the guide frame 141, thereby opening the detection port of the gas detector 101. When the inspection ends and the telescopic airbag 12 deflates and retracts, the baffle 142 automatically resets under the action of the spring 143, and re-blocks the front of the detection port of the gas detector 101, effectively preventing dust and impurities from entering. In addition, the filter 16 detachably installed at the air inlet of the air compressor 71 filters the intake air, thereby reducing dust entering the pneumatic system. The protective cover 15 installed on the outer wall of the cylinder of the pneumatic telescopic rod 7 can also provide physical protection for the air compressor 71, together ensuring the long-term stable operation and testing reliability of the inspection vehicle in complex industrial environments.

[0044] The specific steps for using an intelligent inspection vehicle with hazardous gas detection capabilities are as follows: S1. Start the inspection vehicle, set the inspection route through the control system in the control box 4, the navigation sensor 5 collects environmental data in real time and plans the travel trajectory in combination with the preset path, and the electric wheels 2 drive the mobile chassis 1 to automatically cruise along the chemical pipeline area. S2. During the inspection, the pneumatic telescopic rod 7 extends, allowing the detection module 10 at the front end of the contact mechanism 9 to perform gas detection on the pipeline. When a blind spot is encountered, the control motor 96 starts and stops, and the pull rope 94 is used to bend the series of conical sections 93. This, in conjunction with the first motor 63 driving the turntable 61 to rotate, the adjusting component 8 adjusting the angle of the rotating frame 62 and the second motor 111 driving the mounting shaft 91 to rotate, enables the detection module 10 to perform multi-directional flexible detection. S3. During the test, the air pump 122 inflates the telescopic airbag 12 to expand it to the test module 10. The clamp 133 engages with the flange ring 13, and the clamp 132 bends accordingly. The telescopic airbag 12 slows down the airflow of the test module 10 at the test point. After the inspection is completed, the airbag deflates and resets. The baffle 142 closes under the action of the spring 143 to protect the gas detector 101.

[0045] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. An intelligent inspection vehicle with hazardous gas detection function, comprising a mobile chassis (1), multiple electric wheels (2) installed on both sides of the mobile chassis (1), an installation plate (3) provided on the mobile chassis (1), a control box (4) installed on the installation plate (3), and a navigation sensor (5) provided on the top of the control box (4). Its characteristics are, The mounting plate (3) is provided with a rotating seat (6), the rotating seat (6) includes a turntable (61) rotatably connected to the mounting plate (3), a rotating frame (62) is rotatably provided on the turntable (61), a first motor (63) is installed in the movable chassis (1), the output shaft of the first motor (63) is connected to the rotating shaft of the turntable (61), and an adjusting component (8) for adjusting the rotating frame (62) is provided on the turntable (61). A pneumatic telescopic rod (7) is fixed on the rotating frame (62), and an air compressor (71) is provided on the rotating frame (62). The pneumatic telescopic rod (7) is provided with a tentacles (9). The tentacles (9) include a mounting shaft (91) rotatably mounted on the piston rod end of the pneumatic telescopic rod (7). A housing (92) is fixedly mounted on the mounting shaft (91). Multiple conical sections (93) are connected in series at the end of the mounting shaft (91). A detection module (10) is provided on the last conical section (93). Pull ropes (94) are connected in series in four directions around each conical section (93). Rotary wheels (95) with the same number of pull ropes (94) are rotatably mounted inside the housing (92). The pull ropes (94) are wound around the corresponding rotary wheels (95). Four motors (96) are fixedly mounted outside the housing (92). The output shaft of the motor (96) is connected to the rotation shaft of the corresponding rotary wheel (95).

2. The intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The adjusting component (8) includes an electric push rod (81), a traction frame (82), and a protruding rod (83). An electric push rod (81) is fixedly installed on one side of the turntable (61). A traction frame (82) is fixedly connected to the push rod of the electric push rod (81). A protruding rod (83) is fixedly provided on the side of the traction frame (82) near the rotating frame (62). A straight groove (621) is provided on the rotating frame (62). The protruding rod (83) is located in the groove (621) corresponding to the rotating frame (62).

3. The intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The detection module (10) consists of a gas detector (101), an infrared detector (102) and a camera (103), which are mounted side by side on a conical section (93) at the very end of the tentacle mechanism (9).

4. The intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The piston rod of the pneumatic telescopic rod (7) is provided with a driving component (11) for driving the mounting shaft (91) to rotate. The driving component (11) includes a second motor (111), a gear (112) and a gear ring (113). The second motor (111) is fixedly installed on the piston rod of the pneumatic telescopic rod (7). The gear (112) is fixedly connected to the output shaft of the second motor (111). A gear ring (113) is fixedly provided at one end of the mounting shaft (91) near the pneumatic telescopic rod (7). The gear (112) and the gear ring (113) mesh with each other.

5. The intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The housing (92) is provided with a telescopic airbag (12) on the side near the conical section (93) via a connecting plate (121). The telescopic airbag (12) can extend to the detection module (10). An air pump (122) is provided on the connecting plate (121). The air inlet of the air pump (122) is connected to the telescopic airbag (12).

6. The intelligent inspection vehicle with hazardous gas detection function according to claim 5, characterized in that, A flange ring (13) is fixedly provided on the periphery of some of the conical sections (93). A slot (132) is provided on one side of the flange ring (13) near the detection module (10). A locking rod (133) is provided on the inner wall of the telescopic airbag (12) near the conical section (93). The locking rod (133) is adapted to and latches the slot (132) on the corresponding flange ring (13). A notch (131) is provided on one side of the other flange rings (13), and the notch (131) allows the locking rod (133) to pass through.

7. The intelligent inspection vehicle with hazardous gas detection function according to claim 3, characterized in that, The detection end of the detection module (10) is provided with a protective component (14). The protective component (14) includes a guide frame (141), a baffle (142) and a spring (143). The gas detector (101) is fixedly provided with a guide frame (141). A baffle (142) is slidably connected on the guide frame (141). The baffle (142) is in contact with the end of the telescopic airbag (12). A spring (143) is provided between the guide frame (141) and the baffle (142). The baffle (142) is used to protect the gas detector (101).

8. The intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The pneumatic telescopic rod (7) has a protective cover (15) installed on the outer wall of the cylinder.

9. An intelligent inspection vehicle with hazardous gas detection function according to claim 1, characterized in that, The air compressor (71) is provided with a filter (16) at the air inlet, and a guide rod (17) is fixedly provided at the air inlet of the air compressor (71). The filter (16) is provided with a slot (161) for the guide rod (17).

10. A method of using an intelligent inspection vehicle with hazardous gas detection function, comprising the intelligent inspection vehicle with hazardous gas detection function as described in claim 1, characterized in that, The specific steps are as follows: S1. Start the inspection vehicle and set the inspection route through the control system in the control box (4). The navigation sensor (5) collects environmental data in real time and plans the travel trajectory in combination with the preset path. The electric wheel (2) drives the mobile chassis (1) to automatically cruise along the chemical pipeline area. S2. During the inspection, the pneumatic telescopic rod (7) extends, so that the detection module (10) at the front end of the contact mechanism (9) performs gas detection on the pipeline. When a dead corner is encountered, the control motor (96) starts and stops, and the series of conical sections (93) bends by pulling the rope (94). The first motor (63) drives the turntable (61) to rotate, the adjustment component (8) adjusts the angle of the rotating frame (62), and the second motor (111) drives the mounting shaft (91) to rotate, so as to realize the multi-directional flexible detection of the detection module (10). S3. During the test, the air pump (122) inflates the telescopic airbag (12) to expand it to the test module (10). The clamp (133) engages with the flange ring (13) and the clamp (132) bends accordingly. The telescopic airbag (12) slows down the airflow of the test module (10) at the test point. After the inspection is completed, the airbag is deflated and reset. The baffle (142) closes under the action of the spring (143) to protect the gas detector (101).

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