Gas monitoring inspection robot

Abstract

This invention belongs to the field of gas detection technology, specifically a gas monitoring and inspection robot. It includes an inspection body, a safety gas monitoring module, a life detection module, an image acquisition module, and an intelligent control module. The inspection body has a tracked walking mechanism at its bottom, and a tilt detection sensor is installed on its lower surface. The image acquisition module and the life detection module are mounted at the front of the inspection body. This invention can conduct inspections in various areas around the construction site. The life detection module, located at the front of the inspection body, can detect whether trapped personnel are buried in collapsed areas during rescue operations, improving the efficiency of rescuing potentially trapped individuals. The safety gas monitoring module, through gas detection sensors, can promptly detect changes in the concentration of hazardous gases and provide timely warnings, preventing casualties caused by excessive concentrations of hazardous gases.

Description

Technical Field

[0001] This invention belongs to the field of gas detection technology, specifically a gas monitoring and inspection robot. Background Technology

[0002] During tunnel construction, various toxic and harmful gases may be generated on the construction site as multiple processes such as rock excavation, blasting, and equipment operation are carried out, posing a potential threat to workers' health. For example, carbon monoxide is a common toxic gas, mainly released during combustion processes, such as those involving internal combustion engines and generators. High concentrations of carbon monoxide can cause poisoning, manifesting as headaches, nausea, vomiting, and even death. Secondly, potential gas leaks in mine tunnels can cause a rapid increase in gas concentration in the construction environment. This flammable and explosive gas can easily cause explosions, resulting in personnel and equipment losses.

[0003] Therefore, regular air quality monitoring is also a crucial step. However, currently, the monitoring of toxic and harmful gases in tunnels is mostly carried out by technicians walking inside the tunnel with toxic and harmful gas monitoring sensors. This is not only time-consuming and labor-intensive, but also makes it difficult for humans to detect toxic and harmful gases that accumulate at the top of the tunnel due to their low density. As a result, the continuous accumulation of toxic and harmful gases in the top area leads to an increase in concentration, which will pose a life-threatening danger to the monitoring personnel. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a gas monitoring and inspection robot.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention proposes a gas monitoring and inspection robot, including an inspection body, a safety gas monitoring module, a life detection module, an image acquisition module and an intelligent control module. The feature is that: the bottom of the inspection body is provided with a tracked walking mechanism, and the lower surface of the bottom is provided with an inclination detection sensor. The front end of the inspection body is equipped with an image acquisition module and a life detection module.

[0006] The inspection unit has a detection chamber located near the top, containing multiple detection tubes. Different gas detection sensors from the safety gas monitoring module are deployed in different detection tubes. The detection tubes also have a purification layer inside to filter and purify the air samples flowing towards the gas detection sensors.

[0007] The top of the inspection machine is equipped with an adjustment rod, the end of which is connected to the output end of the rotating equipment on the top of the inspection machine. The adjustment rod is composed of multiple telescopic rods, and a collection tube is installed on the adjustment rod. Multiple collection ports are evenly arranged on the side wall of the collection tube, and the collection tube communicates with the detection chamber.

[0008] Preferably, the gas detection sensors include a methane detection sensor, a carbon dioxide detection sensor, a carbon monoxide detection sensor, and an oxygen detection sensor; the life detection module includes a pyroelectric human infrared sensor.

[0009] Preferably, an adjustment cavity is provided inside the inspection machine body at the lower side of the detection chamber, and the adjustment cavity is provided with a movable slide rail. The extension direction of the movable slide rail is the same as the extension direction of the track in the tracked walking mechanism.

[0010] A counterweight trolley is slidably mounted on the movable slide rail. The counterweight trolley is filled with counterweights. The movement of the counterweight trolley on the movable slide rail is used to adjust the center of gravity of the entire inspection machine.

[0011] Preferably, a gas guiding chamber is provided on the side wall of the detection chamber near the gas detection sensor, and a gas guiding fan is provided inside the gas guiding chamber. The outlet of the gas guiding fan is connected to the outside, and the inlet is connected to the inside of the gas guiding chamber. A gas guiding hole is provided on the inner wall of the detection tube near the working end of the gas detection sensor, and the gas guiding hole is connected to the gas guiding chamber.

[0012] Preferably, the purification layer is a ring structure made of flexible material and is nested inside the opening of the detection tube. One end of the purification layer is fixedly connected to the end of the opening of the detection tube, and the other end is connected to the outer ring end of the circular fixing plate at the center of the inside of the detection tube.

[0013] The side surface of the fixing plate closest to the gas detection sensor is connected to the fixing ring that is slidably set on the inner wall of the detection tube by a fixing rod. The fixing rod is distributed circumferentially around the center of the fixing plate.

[0014] The purification layer includes an inner limiting layer and an outer filter layer, both of which are annular mesh structures, and the purification gap area between the limiting layer and the filter layer is filled with dry particles.

[0015] Preferably, a recovery chamber is provided on the inner wall of the detection chamber away from the detection tube. A recovery fan is provided inside the recovery chamber. The air outlet of the recovery fan is connected to the outside, and the air inlet is connected to the inside of the recovery chamber. The recovery chamber is also connected to the inside of the detection chamber.

[0016] The inner wall of the recovery chamber is equipped with a propulsion device. The telescopic end of the propulsion device slides through the side wall of the recovery chamber and connects to the center of the fixed plate.

[0017] Preferably, the fixed ring has a hollow interior forming an inflation chamber, a heater is installed inside the inflation chamber, and an air inlet is provided on the side of the fixed ring near the air guide hole. The fixed rod has a tubular structure and communicates with the interior of the inflation chamber, and a flushing hole is provided on the side wall of the fixed rod.

[0018] Preferably, one end of the fixing rod is rotatably connected to the fixing plate, and the other end is rotatably connected to the side wall of the fixing ring. The outer surface of the fixing rod is uniformly provided with arc-shaped impact blocks, and the ends of the impact blocks are rounded.

[0019] The beneficial effects of this invention are as follows:

[0020] The gas monitoring and inspection robot described in this invention can inspect various areas around the construction site. Equipped with a tracked walking mechanism, it has a strong ability to traverse complex terrains and can effectively overcome obstacles such as small slopes and pits. The life detection module configured on the front of the inspection body can use a pyroelectric infrared human body sensor to detect whether there are trapped people buried in the surrounding collapsed area during the rescue process, thereby improving the efficiency of rescuing potentially trapped people. The safety gas monitoring module can detect changes in the concentration of dangerous gases in a timely manner through gas detection sensors and issue timely warnings to avoid casualties caused by excessive concentration of dangerous gases. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a perspective view of the present invention;

[0023] Figure 2 This is a cross-sectional view of the present invention;

[0024] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0025] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle;

[0026] Figure 5 yes Figure 3 A magnified view of a section at point C;

[0027] Figure 6 This is a cross-sectional view of the fixing rod in this invention.

[0028] In the diagram: Inspection body 1, detection chamber 2, detection tube 21, gas detection sensor 22, purification layer 23, limiting layer 231, filter layer 232, purification gap 233, air guide chamber 24, air guide hole 241, fixing plate 25, fixing rod 251, flushing hole 252, impact block 253, fixing ring 26, inflation chamber 261, air inlet 262, recovery chamber 27, propulsion device 271, adjusting rod 3, collection tube 31, adjusting chamber 4, moving slide rail 41, counterweight trolley 42. Detailed Implementation

[0029] 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. 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.

[0030] Example 1:

[0031] As shown in the attached diagram of the instruction manual. Figures 1-6 As shown, in response to the need to promptly detect leaks and increases in concentration of hazardous gases such as methane during existing tunnel excavation construction and to promptly remind construction personnel to take measures to reduce the probability of casualties, this application proposes a gas monitoring and inspection robot, including an inspection body 1, a safety gas monitoring module, a life detection module, an image acquisition module, and an intelligent control module. The inspection body 1 is equipped with a tracked walking mechanism at the bottom and an inclination detection sensor is installed on the lower surface of the bottom. The front end of the inspection body 1 is equipped with an image acquisition module and a life detection module.

[0032] The inspection unit 1 has a detection chamber 2 located near the top. Multiple detection tubes 21 are installed inside the detection chamber 2, with each gas detection sensor 22 in the safety gas monitoring module corresponding to a different detection tube 21. A purification layer 23 is installed inside each detection tube 21 to filter and purify the air sample flowing towards the gas detection sensor 22.

[0033] The top of the inspection unit 1 is equipped with an adjustment rod 3. The end of the adjustment rod 3 is connected to the output end of the rotating device on the top of the inspection unit 1. The rotating device includes a rotating table, which is connected to the horizontal motor device inside the inspection unit 1. The rotating table can drive the rotating table to rotate the adjustment rod 3 horizontally. The end of the adjustment rod 3 is connected to the output end of the vertical motor device on the rotating table, which can drive the adjustment rod 3 to rotate vertically up and down. The combination realizes the position adjustment of the adjustment rod 3. The adjustment rod 3 is composed of multiple telescopic rod devices. A collection tube 31 is installed on the adjustment rod 3. The collection tube 31 is connected to each detection chamber 2. In order to adapt to the change of length of the adjustment rod 3, the side wall of the collection tube 31 is fixed to the joint part of each telescopic rod device. The area of ​​the collection tube 31 between adjacent telescopic rod devices is a telescopic flexible tube structure, which can be extended and deformed.

[0034] Specific workflow: During normal tunnel excavation and emergency rescue operations in the event of a collapse, the gas monitoring and inspection robot provided in this application can be controlled to inspect various areas around the construction site. Because the inspection body 1 is equipped with a tracked walking mechanism, it has a strong ability to pass through complex terrain and can effectively overcome obstacles such as small slopes and pits. The life detection module configured on the front of the inspection body 1 can use a pyroelectric human infrared sensor to detect whether there are trapped people buried in the surrounding collapsed area during the rescue process, thereby improving the efficiency of rescuing potentially trapped people.

[0035] Furthermore, the image acquisition module located at the front end of the inspection unit 1 can use industrial cameras and 3D laser scanners to acquire image data and perform 3D scanning processing on the surrounding environment of the accident area during construction. In this way, after an accident occurs, the accident scene can be accurately reconstructed based on holographic imaging technology, and high-quality on-site audio and video data can be collected and transmitted to provide reliable basic data for the formulation of rescue and accident relief plans.

[0036] During tunnel construction, accidents involving the leakage of dangerous gases that threaten the safety of construction personnel are prone to occur. Therefore, in order to detect changes in the gas environment in the construction environment in a timely manner, the top rotating device of the inspection machine 1 can be controlled to drive the adjusting rod 3 to rotate, so that the adjusting rod 3 changes from a horizontal state to a vertical state. At this time, the collection tube 31 fixed on the adjusting rod 3 remains vertical, and the collection tube 31 has collection ports evenly arranged on its side wall. The collection ports are equipped with corresponding control valves. By opening the control valves of each collection port in sequence, the air from the outside environment enters the collection tube 31 from the collection port and is then introduced into the detection chamber 2, where it comes into contact with each detection tube 21 inside the detection chamber 2. Each detection tube 21 is equipped with different types of gas detection sensors 22, such as methane detection sensors, carbon dioxide detection sensors, carbon monoxide detection sensors, and oxygen detection sensors.

[0037] Various types of gas detection sensors 22 detect changes in the concentration of different gases in the external gas environment. When a dangerous gas concentration is detected to be too high, an alarm signal can be issued, and construction personnel can be notified to evacuate in time and take emergency measures to deal with the dangerous gas leak. After a tunnel collapse accident, the gas monitoring and inspection robot of this application can also use the safety gas monitoring module to monitor changes in the air environment in real time during the rescue process. When a dangerous gas concentration is too high, it can promptly remind rescue personnel to take measures to avoid further casualties. Furthermore, by detecting changes in carbon dioxide and oxygen concentrations in different areas through carbon dioxide and oxygen detection sensors, it can also work with the life detection module to promptly locate trapped personnel and improve rescue efficiency.

[0038] For targeted detection of different height areas, the controller can open the control valve corresponding to the uppermost sampling port while keeping other control valves closed, and simultaneously draw in air from the uppermost area for targeted detection. Then, the control valves on the lower sides can be opened in sequence. By controlling the control valves of different sampling ports individually, targeted detection of different height areas can be achieved. This is beneficial for timely detection of the accumulation of hazardous gases in specific height areas, rapid determination of the leak location, and taking corresponding measures to reduce accident losses.

[0039] Furthermore, in order to expand the coverage of gas monitoring in the construction environment, the adjustment rod 3 of this application is composed of multiple telescopic rod devices. By activating the telescopic rod devices of each segment to adjust the length, the length of the entire adjustment rod 3 can be adjusted. This is suitable for tunnel areas with different heights, and provides more comprehensive coverage of the air environment in different areas in the vertical direction, which is conducive to more comprehensive monitoring.

[0040] Example 2:

[0041] Based on Embodiment 1, an adjustment cavity 4 is provided inside the inspection machine body 1 at the lower side of the detection cavity 2. The adjustment cavity 4 is provided with a movable slide rail 41, and the extension direction of the movable slide rail 41 is the same as the extension direction of the track in the tracked walking mechanism.

[0042] A counterweight trolley 42 is slidably mounted on the movable slide rail 41. The counterweight trolley 42 is filled with counterweights. The movement of the counterweight trolley 42 on the movable slide rail 41 realizes the adjustment of the center of gravity of the entire inspection machine body 1. The movement of the counterweight trolley 42 along the movable slide rail 41 can be achieved by the cooperation technology between the electric slide rail and the electric slider, so that the position of the counterweight trolley 42 along the movable slide rail 41 can be adjusted.

[0043] Specific workflow: Based on the specific workflow in Example 1, when the inspection machine 1 travels through a complex area and causes the inspection machine 1 to tilt, the tilt detection sensor located at the bottom of the inspection machine 1 can detect the tilt of the inspection machine 1. At this time, the inspection machine 1 may be at risk of tilting and overturning. At this time, the counterweight trolley 42 can be controlled to move along the moving slide rail 41 to adjust the center of gravity of the inspection machine 1 and achieve the balance of the inspection machine 1.

[0044] For example, when the inspection machine 1 is about to cross the slope, it is detected that the front of the inspection machine 1 is tilted upward. In order to ensure the balance of the inspection machine 1 and to cross the slope smoothly, the counterweight trolley 42 in the internal adjustment cavity 4 can be controlled to move along the moving slide rail 41, so that the counterweight trolley 42 moves to a position close to the front of the inspection machine 1. At this time, the center of gravity of the inspection machine 1 moves forward, and the front end is pressed down, increasing the friction with the slope, which helps the inspection machine 1 to cross the slope smoothly and ensures the stability of the movement of the inspection machine 1.

[0045] Furthermore, the counterweights stored inside the counterweight trolley 42 can be equipment and materials selected during construction. During rescue operations, rescue materials can also be placed inside the counterweight trolley 42 as counterweights, so that the gas monitoring and inspection robot of this application can share some of the rescue materials and reduce the difficulty of material load during the rescue process.

[0046] Example 3:

[0047] Based on Embodiment 2, a gas guiding chamber 24 is provided on the side wall of the detection chamber 2 near the gas detection sensor 22. A gas guiding fan is provided inside the gas guiding chamber 24, and the outlet of the gas guiding fan is connected to the outside, while the inlet is connected to the inside of the gas guiding chamber 24. A gas guiding hole 241 is provided on the inner wall of the detection tube 21 near the working end of the gas detection sensor 22, and the gas guiding hole 241 is connected to the gas guiding chamber 24.

[0048] Specific workflow: Based on the specific workflow in Example 2, in order to improve the efficiency of outside air entering the detection chamber 2, during the detection process, the air guide fan is activated to create negative pressure inside the air guide chamber 24, causing air from the outside environment to pass through the collection tube 31 and enter the detection chamber 2. The air is then distributed into each detection tube 21 and drawn into the air guide hole 241. During this process, the incoming air needs to penetrate the purification layer 23 to separate any dust or impurities that may be mixed in with the incoming air, preventing these dust and impurities from adhering to the working end of the gas detection sensor 22 and affecting its normal operation. During the process of air being drawn into the air guide hole 241, the air comes into full contact with the gas detection sensor 22, allowing it to be fully enveloped and accurately identify the concentration of components in the air, thereby improving the accuracy of detecting hazardous gases.

[0049] Example 4:

[0050] Based on Embodiment 3, the purification layer 23 is a ring structure made of flexible material and is nested inside the opening of the detection tube 21. One end of the purification layer 23 is fixedly connected to the end of the opening of the detection tube 21, and the other end is connected to the outer ring end of the circular fixing plate 25 at the center of the inside of the detection tube 21. The surface of the fixing plate 25 near the gas detection sensor 22 is connected to the fixing ring 26 slidably disposed on the inner wall of the detection tube 21 through the fixing rod 251. The fixing rod 251 is circumferentially distributed around the central axis of the fixing plate 25.

[0051] The purification layer 23 includes an inner limiting layer 231 and an outer filter layer 232, both of which are annular mesh structures. The purification gap 233 area between the limiting layer 231 and the filter layer 232 is filled with dry particles, which can be silica gel dry particles. Both the filter layer 232 and the limiting layer 231 are filter screens or filter cloth structures. The pore size of the filter layer 232 is smaller than that of the limiting layer 231, while the pore size of the limiting layer 231 is larger. It is mainly used to restrict the dry particles surrounded inside, and has a small interception effect on dust in the intake air.

[0052] A recovery chamber 27 is provided on the inner wall of the detection chamber 2 away from the detection tube 21. A recovery fan is installed inside the recovery chamber 27. The air outlet of the recovery fan is connected to the outside, and the air inlet is connected to the inside of the recovery chamber 27. The recovery chamber 27 is also connected to the inside of the detection chamber 2. A propulsion device 271 is provided on the inner wall of the recovery chamber 27. The telescopic end of the propulsion device 271 slides through the side wall of the recovery chamber 27 and is connected to the center of the fixed plate 25. The propulsion device 271 is an electric telescopic rod device and is controlled by an external controller.

[0053] Specific workflow: Based on the specific workflow in Example 3, to address the problem that the purification layer 23 inside the detection tube 21 accumulates dust and moisture in the air during long-term detection, causing impurities to gather and clump together, affecting the permeability of the purification layer 23; firstly, the purification layer 23 is composed of a double-layer flexible material limiting layer 231 and a filter layer 232. After the outside air enters the area surrounded by the purification layer 23, it needs to penetrate outward in sequence through the limiting layer 231, the purification gap 233, and the filter layer 232. The moisture in the air is absorbed by the dry particles filled in the purification gap 233. The dried air separates the dust and impurities in the filter layer 232 during the process of penetrating the filter layer 232. In this way, the moisture and dust impurities in the air are treated separately, reducing the situation where moisture and dust impurities combine and clump together, hindering the overall permeability of the purification layer 23;

[0054] After working for a period of time, because the dust and impurities filtered out accumulate in the purification layer 23, in order to improve the overall permeability, the air guide fan can be turned off or the air guide fan can be controlled to start in reverse. At this time, a filter screen can be covered on the end of the air guide fan that communicates with the outside. The outside airflow is drawn in and filtered, and then clean airflow is injected into the detection tube 21 through the air guide hole 241. The airflow impacts the purification layer 23 from the inside out from the inside of the detection tube 21, which plays a role in cleaning the particulate impurities accumulated on the purification layer 23.

[0055] Simultaneously, the recovery fan and propulsion device 271 can be activated. The telescopic end of the propulsion device 271 drives the fixed plate 25 to move outward of the detection tube 21 and pulls the purification layer 23 to flip outward. When the purification layer 23 moves to the outside, the limiting layer 231, which was originally on the inside, moves to the outside, while the filter layer 232, which was originally on the outside, moves to the inside. This causes the part of the filter layer 232 that originally collected dust and impurities to be flipped to the outside. The activated air guide fan and recovery fan form a flow direction from the inside of the detection tube 21 to the outside, and then are sucked into the recovery chamber 27. This causes the airflow to continuously fill the interior of the flipped purification layer 23 and impact from the inside out. At this time, the dust and impurities filtered and enriched on the outer surface of the flipped filter layer 232 are impacted and flow out from the limiting layer 231 with a larger aperture, flow into the recovery chamber 27 and be guided to the external environment, thereby achieving effective cleaning of the dust and impurities originally enriched on the filter layer 232.

[0056] Furthermore, because the fixing rod 251 contacts the inner surface of the flipped-up filter layer 232, it supports the filter layer 232, allowing its outer surface to be in close contact with the dry particles in the purification gap 233. The impact airflow from the inside out causes the dry particles located in the purification gap 233 to vibrate violently and scrape and impact the outer surface of the filter layer 232, which accelerates the separation of impurities accumulated in the gaps between the dry particles and on the surface of the filter layer 232, and they are discharged to the outside with the airflow, thereby improving the overall permeability of the reset purification layer 23.

[0057] Example 5:

[0058] Based on Embodiment 4, the fixed ring 26 has a hollow interior forming an inflation cavity 261. The inflation cavity 261 is equipped with a heater, such as a heating wire that heats up when energized, and is equipped with a power supply and a controller. The fixed ring 26 has an air inlet 262 on the side near the air guide hole 241. The fixed rod 251 is a tubular structure that communicates with the interior of the inflation cavity 261, and has a flushing hole 252 on it. One end of the fixed rod 251 is rotatably connected to the fixed plate 25, and the other end is rotatably connected to the side wall of the fixed ring 26.

[0059] The outer surface of the fixing rod 251 is uniformly provided with arc-shaped impact blocks 253. The impact blocks 253 are made of elastic material and the ends of the impact blocks 253 are rounded. The flushing holes 252 are located on the arc-shaped surface of the impact blocks 253 and communicate with the hollow area inside the fixing rod 251. The opening direction of the annularly distributed flushing holes 252 is in the same direction of rotation around the central axis of the fixing rod 251.

[0060] Specific workflow: Based on the specific workflow in Example 4, when the airflow from the air guide hole 241 flows to the outer flipped purification layer 23, it is intercepted by the fixing ring 26. Part of the airflow is concentrated and accelerated from the middle hole of the fixing ring 26 and impacts the inner side of the purification layer 23. Part of the airflow enters the inflation chamber 261 from the air inlet hole 262. At the same time, the heater inside the inflation chamber 261 is activated to heat the internal airflow. After forming a hot airflow, it enters the communicating fixing rod 251 and then flows from the flushing hole 252 on the side wall of the fixing rod 251 to the surface of the contacting filter layer 232. This heats up the dry particles in the purification gap 233 and releases the previously absorbed moisture to begin to recover.

[0061] Furthermore, since the annularly distributed flushing holes 252 are in the same direction of rotation, the airflow, while being released outward from the flushing holes 252, generates a reverse impact on the impact block 253, causing the fixing rod 251 to rotate in the opposite direction to the airflow. At this time, the fixing rod 251 drives the impact block 253 to impact the dry particles in the filter layer 232 and the purification gap 233 from the inside. The curved end of the impact block 253 contacts, squeezes, and pushes the dry particles on the surface and inside of the filter layer 232, accelerating the mutual flow of the dry particles and promoting the collision and scraping between the outer surface of the filter layer 232 and the dry particles, thereby enhancing the cleaning efficiency of the filter layer 232 and ensuring the overall passability of the purification layer 23. The rounded end of the elastic impact block 253 can also avoid scratching and damaging the filter layer 232 during the contact impact process.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gas monitoring and inspection robot, comprising an inspection body (1), a safety gas monitoring module, a life detection module, an image acquisition module, and an intelligent control module, characterized in that: The bottom of the inspection machine body (1) is equipped with a tracked walking mechanism, and the bottom surface is equipped with an inclination detection sensor. The front end of the inspection machine body (1) is equipped with an image acquisition module and a life detection module. The inspection unit (1) has a detection chamber (2) located near the top. Multiple detection tubes (21) are installed inside the detection chamber (2). Different gas detection sensors (22) in the safety gas monitoring module are deployed in different detection tubes (21). A purification layer (23) is installed inside the detection tubes (21) to filter and purify the air samples flowing towards the gas detection sensors (22). The top of the inspection machine body (1) is equipped with an adjustment rod (3). The end of the adjustment rod (3) is connected to the output end of the rotating device on the top of the inspection machine body (1). The adjustment rod (3) is composed of multiple telescopic rods. A collection tube (31) is installed on the adjustment rod (3). Multiple collection ports are evenly arranged on the side wall of the collection tube (31). The collection tube (31) is connected to the detection chamber (2).

2. The gas monitoring and inspection robot according to claim 1, characterized in that: The gas detection sensor (22) includes a methane detection sensor, a carbon dioxide detection sensor, a carbon monoxide detection sensor, and an oxygen detection sensor; the life detection module includes a pyroelectric human infrared sensor.

3. The gas monitoring and inspection robot according to claim 2, characterized in that: An adjustment chamber (4) is provided inside the inspection body (1) at the lower part of the detection chamber (2). The adjustment chamber (4) is provided with a movable slide rail (41). The extension direction of the movable slide rail (41) is the same as the extension direction of the track in the tracked walking mechanism. A counterweight trolley (42) is slidably mounted on the movable slide rail (41). The counterweight trolley (42) is filled with counterweights. The center of gravity of the inspection machine body (1) is adjusted by moving the counterweight trolley (42) on the movable slide rail (41).

4. The gas monitoring and inspection robot according to claim 2, characterized in that: A gas guide chamber (24) is provided on the side wall of the detection chamber (2) near the gas detection sensor (22). A gas guide fan is provided inside the gas guide chamber (24), and the outlet of the gas guide fan is connected to the outside, while the inlet is connected to the inside of the gas guide chamber (24). A gas guide hole (241) is provided on the inner wall of the detection tube (21) near the working end of the gas detection sensor (22), and the gas guide hole (241) is connected to the gas guide chamber (24).

5. The gas monitoring and inspection robot according to claim 4, characterized in that: The purification layer (23) is a ring structure made of flexible material and is nested inside the opening of the detection tube (21). One end of the purification layer (23) is fixed to the end of the opening of the detection tube (21), and the other end is connected to the outer end of the circular fixing plate (25) at the center of the inside of the detection tube (21). The side surface of the fixing plate (25) near the gas detection sensor (22) is connected to the fixing ring (26) that is slidably set on the inner wall of the detection tube (21) through the fixing rod (251). The fixing rod (251) is circumferentially distributed around the center position of the fixing plate (25). The purification layer (23) includes an inner limiting layer (231) and an outer filter layer (232), both of which are annular mesh structures, and the purification gap (233) area between the limiting layer (231) and the filter layer (232) is filled with dry particles.

6. The gas monitoring and inspection robot according to claim 5, characterized in that: A recovery chamber (27) is provided on the inner wall of the detection chamber (2) away from the detection tube (21). A recovery fan is provided inside the recovery chamber (27). The air outlet of the recovery fan is connected to the outside, and the air inlet is connected to the inside of the recovery chamber (27). The recovery chamber (27) is connected to the inside of the detection chamber (2). The inner wall of the recovery chamber (27) is provided with a propulsion device (271). The telescopic end of the propulsion device (271) slides through the side wall of the recovery chamber (27) and is connected to the center of the fixed plate (25).

7. The gas monitoring and inspection robot according to claim 6, characterized in that: The fixed ring (26) is hollow inside to form an air chamber (261), and an air inlet (262) is provided on the side of the fixed ring (26) near the air guide hole (241). The fixed rod (251) is a tubular structure and communicates with the inside of the air chamber (261), and a flushing hole (252) is provided on the fixed rod (251).

8. The gas monitoring and inspection robot according to claim 7, characterized in that: One end of the fixing rod (251) is rotatably connected to the fixing plate (25), and the other end is rotatably connected to the side wall of the fixing ring (26). The outer surface of the fixing rod (251) is uniformly provided with arc-shaped impact blocks (253), and the flushing hole (252) is located on the arc surface of the impact block (253). The end of the impact block (253) is rounded.

Images