A multi-directional vision coverage inspection robot

Abstract

The present application relates to the technical field of industrial special robots, and discloses a multi-directional visual coverage inspection robot, which comprises a mobile chassis, a horizontal rotation mechanism is arranged on the top of the mobile chassis, a pitching scanning mechanism is arranged above the horizontal rotation mechanism, and a multispectral visual sensor is arranged on the pitching scanning mechanism; the horizontal rotation mechanism comprises a rotary support and a rotary base fixedly connected to the top of the rotary support; the pitching scanning mechanism comprises an arc-shaped guide rail beam in an arch shape and a sliding shell slidingly arranged on the arc-shaped guide rail beam, both ends of the arc-shaped guide rail beam are fixedly connected to the top of the rotary base through mounting foot bases, and the multispectral visual sensor is mounted on the sliding shell. Through the composite motion of horizontal rotation and arch-shaped spanning sliding, complete visual coverage of the hemispherical space above the device is realized, and the problems of zenith blind area and cable winding of the traditional holder are solved.

Description

Technical Field

[0001] This invention relates to the field of industrial special robot technology, specifically to a multi-directional vision coverage inspection robot. Background Technology

[0002] With the rapid development of urban underground utility tunnels and corridors, the use of intelligent robots to replace manual labor for daily inspections has become an industry trend. Currently, most inspection robots are equipped with pan-tilt-zoom (PTZ) cameras to monitor the environment. While they can acquire images at a normal eye level, they are limited by the blind spots and limited range of motion of traditional PTZ cameras when facing special areas such as tunnel arches and utility tunnel roof supports. This often makes it difficult to achieve large-angle vertical upward observations, resulting in a blind spot in the zenith area directly above the equipment, thus failing to fully capture the appearance of facilities at higher elevations.

[0003] Furthermore, to expand the vertical monitoring range, some robots employ lifting rods or sliding rail structures to adjust sensor height. However, existing lifting transmission mechanisms mostly use gear racks or belt direct drives. These structures rely on the continuous torque output of the motor to resist gravity during vertical climbing. Once the control system loses power or the motor malfunctions, the load components are prone to slipping uncontrollably along the track under gravity. This can not only cause damage to precision sensors but also, during stationary hovering and shooting, the gaps in ordinary transmission structures can easily cause lens tremors, affecting image quality.

[0004] On the other hand, the multi-degree-of-freedom motion of robots places high demands on the layout of power supply lines. Existing technologies typically use cable chains or direct cable traction to power moving parts. When faced with long-stroke reciprocating motion and multi-turn horizontal rotation, the cables are prone to tangling, twisting, or even fatigue breakage. This not only limits the unlimited continuous rotation capability of the gimbal but also increases the maintenance costs and potential for failures during long-term operation of the equipment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-directional visual coverage inspection robot, which solves the problems of blind spots in the zenith when existing inspection equipment observes the top of tunnels or utility tunnels, slippage and falls due to gravity when the vertical lifting mechanism loses power and locks, and the limitations of traditional cable power supply methods on continuous equipment rotation and the susceptibility to entanglement and breakage.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a multi-directional visual coverage inspection robot, including a mobile chassis, a horizontal rotation mechanism is provided on the top of the mobile chassis, a pitch scanning mechanism is provided above the horizontal rotation mechanism, and a multispectral visual sensor is provided on the pitch scanning mechanism. The horizontal slewing mechanism includes a slewing bearing and a rotating base fixedly connected to the top of the slewing bearing; The pitch scanning mechanism includes an arched arc-shaped guide beam and a sliding housing slidably disposed on the arc-shaped guide beam. Both ends of the arc-shaped guide beam are fixedly connected to the top of the rotating base by mounting feet. The multispectral vision sensor is mounted on the sliding housing. An arc-shaped rack is provided on the inner side of the arc-shaped guide beam along its length direction. A climbing transmission mechanism is provided inside the sliding housing. The climbing transmission mechanism meshes with the arc-shaped rack and is used to drive the sliding housing to perform reciprocating sliding motion along the arc-shaped guide beam.

[0007] Preferably, a support plate is fixedly connected to the top of the mobile chassis, and the outer ring of the slewing bearing is fixedly connected to the top of the support plate; The horizontal slewing mechanism also includes an orientation drive motor installed inside the mobile chassis. A pinion is fixedly connected to the output end of the orientation drive motor. The inner ring of the slewing bearing has teeth. The pinion passes through the bearing plate and meshes with the teeth of the inner ring of the slewing bearing. The rotating base is fixedly connected to the top of the inner ring of the slewing bearing.

[0008] Preferably, the side of the arc-shaped guide beam is provided with an insulated sliding contact line, the sliding housing is provided with a power receiving frame, the power receiving frame has a limiting groove inside, a conductive component is slidably disposed in the limiting groove, the conductive component slides in contact with the insulated sliding contact line, and is used to supply power to the electrical components inside the sliding housing.

[0009] Preferably, the conductive component includes a conductive carbon brush, which is slidably connected within the limiting groove. The front end of the conductive carbon brush abuts against the insulating sliding contact line. A tail end cap is slidably connected within the limiting groove, and the tail end cap abuts against the rear end of the conductive carbon brush. A compression spring is provided inside the power receiving frame, with one end abutting against the inner wall of the power receiving frame and the other end abutting against the tail end cap. The spring force of the compression spring is transmitted to the conductive carbon brush through the tail end cap.

[0010] Preferably, the climbing transmission mechanism includes a climbing drive motor disposed within the sliding housing. The sliding housing also contains a worm and a rotating shaft, both of which are rotatably supported within the sliding housing. A worm wheel and a climbing gear are fixedly connected to the rotating shaft. The worm wheel meshes with the worm, and the climbing gear meshes with the arc-shaped rack on the arc-shaped guide beam.

[0011] Preferably, the climbing transmission mechanism further includes a drive gear and a driven gear. The drive gear is fixedly connected to the output end of the climbing drive motor, and the driven gear is fixedly connected to one end of the worm gear. The drive gear and the driven gear mesh with each other.

[0012] Preferably, the arc-shaped guide beam has an I-shaped cross-section with two side flanges, and the inner side of the sliding housing is provided with multiple sets of guide rollers. The guide rollers roll in cooperation with the two side flanges of the arc-shaped guide beam to prevent the sliding housing from detaching from the arc-shaped guide beam.

[0013] Preferably, an electric slip ring is provided at the rotation center of the horizontal rotary mechanism. The stator end of the electric slip ring is fixedly connected to the top of the bearing plate, and the rotor end is fixedly connected to the bottom of the rotating base for connecting electrical circuits.

[0014] Preferably, the mobile chassis is equipped with a navigation radar at the front end and a communication control module at the rear end. The communication control module protrudes from the surface of the bearing plate, and a rubber pad is provided at the connection between the arc-shaped guide rail beam and the mounting feet.

[0015] Preferably, the multispectral vision sensor is located on the outer and bottom surfaces of the sliding housing, and moves with the sliding housing on the arc-shaped guide beam.

[0016] This invention provides a multi-directional vision coverage inspection robot. It has the following beneficial effects: 1. This invention achieves complete visual coverage of the hemispherical space above the device by cooperating with the horizontal rotation mechanism and the arc-shaped guide beam of the arch structure; the rotating base drives the overall structure to rotate 360 ​​degrees horizontally, and cooperates with the sliding shell to make a 180-degree spanning sliding motion along the arc-shaped guide beam, so that the multispectral vision sensor can look up vertically and observe the zenith blind spot that is difficult to cover by traditional gimbals, which is suitable for close-range inspection of tunnel arches, pipe gallery tops and high-altitude suspended equipment.

[0017] 2. This invention employs a worm gear transmission assembly in the climbing transmission mechanism. Utilizing the mechanical self-locking characteristics of the worm gear and worm, it ensures that the sliding housing can immediately lock and suspend at any height on the arc-shaped guide beam in the event of a motor power failure or control system malfunction. This prevents the sliding housing from slipping along the track due to gravity, thus avoiding damage to the precision sensor. It also eliminates the vibration caused by gear backlash, ensuring the stability of the sensor during point scanning operations.

[0018] 3. This invention employs an insulated sliding contact line combined with a power-collecting frame for power supply, replacing the traditional cable drag chain structure. Power is drawn through the sliding contact line embedded in the side of the guide rail via conductive carbon brushes. Combined with the electric slip ring design in the center of the chassis, this solves the problems of cable entanglement, wear, or breakage that occur during long-stroke reciprocating motion of the sliding housing and unlimited rotation of the base. This simplifies the mechanical structure while improving the long-term reliability of the equipment. Attached Figure Description

[0019] Figure 1 This is a perspective view of the multi-directional vision coverage inspection robot of the present invention; Figure 2 This is a schematic diagram of the communication control module structure of the present invention; Figure 3 This is a schematic diagram of the exploded structure of the horizontal rotary mechanism of the present invention; Figure 4 This is a schematic diagram of the arc-shaped guide beam structure of the present invention; Figure 5 This is a cross-sectional schematic diagram of the climbing transmission mechanism of the present invention; Figure 6 This is a schematic diagram of the structure of the conductive component of the present invention; Figure 7 This is a schematic diagram of the exploded structure of the electric slip ring of the present invention; Figure 8 This is a schematic diagram of the structure of the guide roller of the present invention.

[0020] The components include: 1. Mobile chassis; 2. Navigation radar; 3. Bearing plate; 4. Communication control module; 5. Slewing bearing; 6. Rotating base; 7. Arc-shaped guide beam; 8. Mounting feet; 9. Arc-shaped rack; 10. Insulated sliding contact line; 11. Sliding housing; 12. Multispectral vision sensor; 13. Azimuth drive motor; 14. Pinion; 15. Power take-up frame; 16. Rotating shaft; 17. Worm gear; 18. Climbing gear; 19. Worm; 20. Driven gear; 21. Drive gear; 22. Climbing drive motor; 23. Limiting groove; 24. Conductive carbon brush; 25. Compression spring; 26. Tail end cap; 27. Electric slip ring; 28. Rubber pad; 29. ​​Guide roller. Detailed Implementation

[0021] The technical solutions in 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.

[0022] Please see the appendix Figure 1 - Appendix Figure 5This invention provides a multi-directional visual coverage inspection robot, including a mobile chassis 1. A horizontal rotation mechanism is provided on the top of the mobile chassis 1, and a pitch scanning mechanism is provided above the horizontal rotation mechanism. A multispectral vision sensor 12 is provided on the pitch scanning mechanism. The horizontal rotation mechanism includes a slewing bearing 5 and a rotating base 6 fixedly connected to the top of the slewing bearing 5. The pitch scanning mechanism includes an arched arc-shaped guide beam 7 and a sliding housing 11 slidably disposed on the arc-shaped guide beam 7. Both ends of the arc-shaped guide beam 7 are fixedly connected to the top of the rotating base 6 through mounting feet 8. The multispectral vision sensor 12 is mounted on the sliding housing 11. An arc-shaped rack 9 is provided on the inner side of the arc-shaped guide beam 7 along its length direction. A climbing transmission mechanism is provided inside the sliding housing 11. The climbing transmission mechanism meshes with the arc-shaped rack 9 to drive the sliding housing 11 to perform reciprocating sliding motion along the arc-shaped guide beam 7.

[0023] Specifically, the mobile chassis 1 is the basic support platform for the inspection robot, responsible for the ground movement and positioning of the entire device. The horizontal rotation mechanism constitutes the robot's first dimension of motion, in which the outer ring of the slewing bearing 5 is fixed to the chassis, and the inner ring supports the rotating base 6. Through gear meshing, the rotating base 6 is driven to perform a 360-degree horizontal revolution, thereby achieving surround view coverage of the surrounding environment.

[0024] In the pitch scanning mechanism, the arc-shaped guide beam 7 adopts a spanning arch design, with its geometric center coinciding with the horizontal rotation center, providing the multispectral vision sensor 12 with a continuous motion path across the zenith from the horizontal plane. The mounting feet 8 are connectors that rigidly fix the arc-shaped guide beam 7 to the rotating base 6, ensuring the stability of the structure during rotation. The arc-shaped rack 9 is laid along the inner side of the guide rail and, in conjunction with the climbing gear 18 inside the sliding housing 11, overcomes the influence of gravity through rigid meshing, preventing the sliding housing 11 from slipping during the vertical climbing section. The multispectral vision sensor 12 is mounted on the sliding housing 11 and reciprocates along the track following the sliding housing 11. Combined with the horizontal rotation at the bottom, this synthesizes a complete field of view for the hemispherical space above the device.

[0025] Please see the appendix Figure 3 The top of the mobile chassis 1 is fixedly connected to the bearing plate 3, and the outer ring of the slewing bearing 5 is fixedly connected to the top of the bearing plate 3. The horizontal slewing mechanism also includes an orientation drive motor 13 installed inside the mobile chassis 1. The output end of the orientation drive motor 13 is fixedly connected to a pinion 14. The inner ring of the slewing bearing 5 is provided with teeth. The pinion 14 passes through the bearing plate 3 and meshes with the teeth of the inner ring of the slewing bearing 5. The rotating base 6 is fixedly connected to the top of the inner ring of the slewing bearing 5.

[0026] Specifically, the load-bearing plate 3 serves as the load-bearing cover of the machine body structure, sealing the top opening of the mobile chassis 1 and providing a horizontal mounting reference surface for the slewing mechanism. The azimuth drive motor 13, as the power source for horizontal rotation, is placed inside the mobile chassis 1 to protect against external environmental interference and lower the overall center of gravity. The pinion 14, as the power output end, is responsible for transmitting the motor's torque to the rotating layer.

[0027] For the transmission logic of the horizontal slewing mechanism, the slewing bearing 5 is a toothed disc bearing, with its outer ring acting as a fixed base, bolted to the bearing plate 3 to bear the axial load and overturning moment of the upper structure. The inner ring integrates transmission teeth, forming a gear transmission pair with the pinion 14 extending from the bearing plate 3. When the azimuth drive motor 13 starts, it drives the pinion 14 to rotate, thereby pushing the inner ring of the slewing bearing 5 to rotate relative to the outer ring, driving the rotating base 6 fixed on the inner ring to achieve 360-degree omnidirectional horizontal adjustment, providing an omnidirectional observation angle for the upper vision components.

[0028] Please see the appendix Figure 4 and attached Figure 6 An insulated sliding contact line 10 is provided on the side of the arc-shaped guide beam 7, and a power take-up frame 15 is provided on the sliding housing 11. A limit groove 23 is opened inside the power take-up frame 15, and a conductive component is slidably arranged in the limit groove 23. The conductive component slides in contact with the insulated sliding contact line 10 and is used to supply power to the electrical components inside the sliding housing 11.

[0029] The conductive component includes a conductive carbon brush 24, which is slidably connected in a limiting groove 23. The front end of the conductive carbon brush 24 abuts against the insulated sliding contact line 10. A tail end cap 26 is slidably connected in the limiting groove 23 and abuts against the rear end of the conductive carbon brush 24. A compression spring 25 is provided inside the power collection frame 15. One end of the compression spring 25 abuts against the inner wall of the power collection frame 15, and the other end abuts against the tail end cap 26. The elastic force of the compression spring 25 is transmitted to the conductive carbon brush 24 through the tail end cap 26.

[0030] Specifically, the insulated sliding contact line 10, serving as the power supply medium on the stator side, is laid along the curvature of the arc-shaped guide beam 7, replacing the traditional cable drag chain structure and solving the cable traction problem when the sliding housing 11 moves across at large angles. The power take-up frame 15, as the power receiving assembly, is rigidly fixed to the side of the sliding housing 11, ensuring that the power take-up position is consistent with the movement trajectory.

[0031] For the internal elastic clamping mechanism, the limiting groove 23 provides a linear guide channel for the conductive components, limiting the radial displacement of the conductive carbon brush 24. The conductive carbon brush 24 is made of graphite, utilizing its self-lubricating properties to reduce frictional resistance with the sliding contact line. The clamping spring 25 acts as a wear compensation element, releasing elastic potential energy to push the tail end cap 26 forward when the conductive carbon brush 24 shortens due to friction. The tail end cap 26 acts as a force transmission medium, uniformly applying the spring's thrust to the rear end of the conductive carbon brush 24, forcing the front end of the conductive carbon brush 24 to always be tightly pressed against the surface of the insulated sliding contact line 10, preventing poor contact due to equipment vibration or carbon brush wear, and ensuring continuous power supply during the climbing process.

[0032] Please see the appendix Figure 5 and attached Figure 8 The climbing transmission mechanism includes a climbing drive motor 22 disposed in the sliding housing 11. The sliding housing 11 also contains a worm gear 19 and a rotating shaft 16, both of which are rotatably supported inside the sliding housing 11. A worm wheel 17 and a climbing gear 18 are fixedly connected to the rotating shaft 16. The worm wheel 17 meshes with the worm gear 19, and the climbing gear 18 meshes with the arc-shaped rack 9 on the arc-shaped guide beam 7.

[0033] The climbing transmission mechanism also includes a drive gear 21 and a driven gear 20. The drive gear 21 is fixedly connected to the output end of the climbing drive motor 22, and the driven gear 20 is fixedly connected to one end of the worm gear 19. The drive gear 21 and the driven gear 20 mesh with each other.

[0034] Specifically, the climbing drive motor 22 is the power source for the sliding assembly, and is installed inside the sliding housing 11 for follow-up operation. The drive gear 21 and the driven gear 20 constitute the first-stage reduction transmission group, which converts the high speed of the motor into the input speed required by the worm gear 19, while increasing the input torque.

[0035] In the self-locking transmission mechanism, the worm gear 19 drives the worm wheel 17 to rotate, realizing a change in transmission direction and two-stage speed reduction. Utilizing the reverse self-locking characteristics of the worm wheel 17 and worm gear 19 mechanism—meaning the worm wheel 17 cannot drive the worm gear 19 to rotate in the opposite direction—it ensures that when the climbing drive motor 22 stops working or encounters a power outage, the sliding housing 11 can overcome the influence of gravity and lock at any height position on the arc-shaped guide beam 7 without the need for an additional braking device. The rotating shaft 16 serves as the output shaft, synchronously transmitting the torque of the worm wheel 17 to the climbing gear 18. The climbing gear 18 rigidly meshes with the arc-shaped rack 9 fixed on the guide rail, converting the rotational torque into a moving force along the tangential direction of the guide rail, driving the sliding housing 11 to complete a stable climbing or descending motion.

[0036] The arc-shaped guide beam 7 has an I-shaped cross-section with two flanges. Multiple sets of guide rollers 29 are provided on the inner side of the sliding housing 11. The guide rollers 29 roll in cooperation with the two flanges of the arc-shaped guide beam 7 to prevent the sliding housing 11 from detaching from the arc-shaped guide beam 7.

[0037] Specifically, the curved guide beam 7 adopts an I-beam cross-section design, utilizing its high cross-sectional moment of inertia to ensure structural rigidity under long-span arched structures and prevent excessive elastic deformation during load movement. The outward-extending flanges on both sides form a continuous physical guide track, providing a stable contact plane for the rollers.

[0038] For the guiding and limiting mechanism, multiple sets of guide rollers 29 are arranged in a clustered manner inside the sliding housing 11, all abutting against the inner surface of the flange. Radial and axial geometric constraints are applied to the sliding housing 11, restricting its degree of freedom of movement to the tangential direction along the guide rail. Whether the sliding housing 11 is in a vertical climbing state or a top-hovering state, the guide rollers 29 can effectively resist the overturning moment caused by gravity, preventing the mechanism from derailing. At the same time, rolling friction is used instead of sliding friction, reducing mechanical resistance during movement.

[0039] Please see the appendix Figure 7 An electric slip ring 27 is provided at the rotation center of the horizontal rotary mechanism. The stator end of the electric slip ring 27 is fixedly connected to the top of the bearing plate 3, and the rotor end is fixedly connected to the bottom of the rotating base 6, for connecting electrical circuits.

[0040] Specifically, the electric slip ring 27 is the electrical transmission hub between the stationary chassis and the rotating superstructure. It is installed at the geometric center of the rotating base 6, solving the problems of entanglement and breakage caused by traditional cable connections during continuous equipment rotation. The stator end of the electric slip ring 27 is fixed to the stationary support plate 3 with screws, and the cable leads out to connect to the power supply and communication module inside the mobile chassis 1.

[0041] For the conduction logic in the rotating state, the rotor end of the slip ring 27 rotates synchronously with the rotating base 6, and contacts the brush filaments through the internal ring channel, transmitting current and signals to the upper insulated sliding contact line 10 and other electrical equipment. This enables the rotating base 6 to drive the pitch scanning mechanism to perform unlimited 360-degree continuous rotation, ensuring that the upper electrical components can obtain stable power supply and signal interaction at any azimuth angle.

[0042] Please see the appendix Figure 1 and attached Figure 2The mobile chassis 1 has a navigation radar 2 at its front end and a communication control module 4 at its rear end. The communication control module 4 protrudes from the surface of the support plate 3. A rubber pad 28 is provided at the connection between the arc-shaped guide beam 7 and the mounting feet 8. The multispectral vision sensor 12 is located on the outer and bottom surfaces of the sliding housing 11 and moves with the sliding housing 11 on the arc-shaped guide beam 7.

[0043] Specifically, the navigation radar 2, as an environmental perception unit, is positioned at the forefront of the travel direction to perform real-time laser scanning of the alleyway or utility tunnel environment, construct a SLAM map, and provide obstacle information to assist the mobile chassis 1 in completing autonomous path planning and obstacle avoidance. The communication control module 4 integrates the main control unit and wireless transmission components. Its protruding arrangement from the surface of the support plate 3 utilizes external air convection to assist in heat dissipation of the internal high-power processing chip, while also facilitating later maintenance and status monitoring.

[0044] Rubber pad 28 acts as a mechanical buffer, sandwiched between the rigid arc-shaped guide beam 7 and the mounting feet 8. At the moment of equipment operation or shutdown, rubber pad 28 absorbs the impact energy generated by inertia and blocks the transmission of chassis vibration to the precision guide rail, preventing fatigue cracks at the rigid connection due to stress concentration. Multispectral vision sensor 12 follows the trajectory of the sliding housing 11. Its combined arrangement on the outer and bottom surfaces, combined with the housing's arc-shaped climbing motion, expands the original linear scan into a fan-shaped scan, enabling multi-angle image acquisition of the target area directly above and to the side.

[0045] Working principle: When performing inspection tasks, the mobile chassis 1 uses navigation radar 2 to perceive the environment and carries the entire equipment to the designated inspection location.

[0046] When a horizontal azimuth scan is required, the azimuth drive motor 13 located inside the moving chassis 1 starts, driving the pinion 14 at its output end to rotate. The pinion 14 drives the inner ring of the slewing bearing 5 to rotate relative to the outer ring fixed on the support plate 3, thereby driving the rotating base 6 and the entire pitch scanning mechanism to perform a 360-degree horizontal rotation. During this process, the electric slip ring 27 located at the center of rotation maintains the electrical connection between the stator end and the rotor end, realizing the power and signal transmission between the moving chassis 1 and the rotating base 6.

[0047] When vertical tilt scanning or dome observation is required, the climbing drive motor 22 located inside the sliding housing 11 starts, driving the drive gear 21 to rotate. The drive gear 21 drives the driven gear 20 and worm 19 to rotate, and the worm 19 drives the worm wheel 17 and the rotating shaft 16 to rotate, which in turn drives the climbing gear 18 fixed on the rotating shaft 16 to rotate. The climbing gear 18 meshes with the arc-shaped rack 9 on the inner side of the arc-shaped guide beam 7, and the resulting reaction force drives the sliding housing 11 to reciprocate along the arc-shaped guide beam 7. When the climbing drive motor 22 stops working, the sliding housing 11 can overcome gravity and lock at any height on the arc-shaped guide beam 7 by utilizing the self-locking characteristics of the worm wheel 17 and worm 19.

[0048] During the movement of the sliding housing 11, the compression spring 25 inside the power take-up rack 15 releases its elastic force to push the tail end cap 26. The tail end cap 26 presses forward against the rear end of the conductive carbon brush 24, ensuring that the front end of the conductive carbon brush 24 remains tightly attached to the insulated sliding contact line 10 on the side of the arc-shaped guide beam 7, thereby providing continuous power to the electrical components inside the sliding housing 11. The multispectral vision sensor 12, mounted on the sliding housing 11, achieves complete scanning coverage of the hemispherical space above the device through the aforementioned combined movement of horizontal rotation and vertical sliding.

Claims

1. A multi-directional vision-covered inspection robot, characterized in that, Includes a mobile chassis (1), the top of which is provided with a horizontal rotation mechanism, and above which is provided a pitch scanning mechanism, and above which is provided a multispectral vision sensor (12). The horizontal slewing mechanism includes a slewing bearing (5) and a rotating base (6) fixedly connected to the top of the slewing bearing (5); The pitch scanning mechanism includes an arched arc guide beam (7) and a sliding housing (11) slidably disposed on the arc guide beam (7). Both ends of the arc guide beam (7) are fixedly connected to the top of the rotating base (6) by mounting feet (8). The multispectral vision sensor (12) is mounted on the sliding housing (11). An arc-shaped rack (9) is provided on the inner side of the arc-shaped guide beam (7) along its length direction. A climbing transmission mechanism is provided inside the sliding housing (11). The climbing transmission mechanism meshes with the arc-shaped rack (9) and is used to drive the sliding housing (11) to perform reciprocating sliding motion along the arc-shaped guide beam (7).

2. The inspection robot with multi-directional visual coverage according to claim 1, characterized in that, The top of the mobile chassis (1) is fixedly connected to the bearing plate (3), and the outer ring of the slewing bearing (5) is fixedly connected to the top of the bearing plate (3); The horizontal slewing mechanism also includes an azimuth drive motor (13) installed inside the mobile chassis (1). The output end of the azimuth drive motor (13) is fixedly connected to a pinion (14). The inner ring of the slewing bearing (5) is provided with teeth. The pinion (14) passes through the bearing plate (3) and meshes with the teeth of the inner ring of the slewing bearing (5). The rotating base (6) is fixedly connected to the top of the inner ring of the slewing bearing (5).

3. The inspection robot with multi-directional visual coverage according to claim 1, characterized in that, An insulated sliding contact line (10) is provided on the side of the arc-shaped guide beam (7). A power take-up frame (15) is provided on the sliding housing (11). A limiting groove (23) is opened inside the power take-up frame (15). A conductive component is slidably arranged in the limiting groove (23). The conductive component is in sliding contact with the insulated sliding contact line (10) and is used to supply power to the electrical components inside the sliding housing (11).

4. The inspection robot with multi-directional vision coverage according to claim 3, characterized in that, The conductive component includes a conductive carbon brush (24), which is slidably connected in the limiting groove (23). The front end of the conductive carbon brush (24) abuts against the insulating sliding contact line (10). A tail end cap (26) is slidably connected in the limiting groove (23). The tail end cap (26) abuts against the rear end of the conductive carbon brush (24). A compression spring (25) is provided inside the power collection frame (15). One end of the compression spring (25) abuts against the inner wall of the power collection frame (15), and the other end abuts against the tail end cap (26). The elastic force of the compression spring (25) is transmitted to the conductive carbon brush (24) through the tail end cap (26).

5. The inspection robot with multi-directional visual coverage according to claim 1, characterized in that, The climbing transmission mechanism includes a climbing drive motor (22) disposed in the sliding housing (11). The sliding housing (11) is also provided with a worm (19) and a rotating shaft (16). The worm (19) and the rotating shaft (16) are rotatably supported inside the sliding housing (11). A worm wheel (17) and a climbing gear (18) are fixedly connected to the rotating shaft (16). The worm wheel (17) meshes with the worm (19), and the climbing gear (18) meshes with the arc-shaped rack (9) on the arc-shaped guide beam (7).

6. The inspection robot with multi-directional visual coverage according to claim 5, characterized in that, The climbing transmission mechanism also includes a drive gear (21) and a driven gear (20). The drive gear (21) is fixedly connected to the output end of the climbing drive motor (22), and the driven gear (20) is fixedly connected to one end of the worm (19). The drive gear (21) and the driven gear (20) mesh with each other.

7. The inspection robot with multi-directional visual coverage according to claim 1, characterized in that, The arc-shaped guide beam (7) has an I-shaped cross section with two side flanges. Multiple sets of guide rollers (29) are provided on the inner side of the sliding housing (11). The guide rollers (29) roll in cooperation with the two side flanges of the arc-shaped guide beam (7) to restrict the sliding housing (11) from detaching from the arc-shaped guide beam (7).

8. The inspection robot with multi-directional visual coverage according to claim 2, characterized in that, The horizontal rotary mechanism has an electric slip ring (27) at its rotation center. The stator end of the electric slip ring (27) is fixedly connected to the top of the bearing plate (3), and the rotor end is fixedly connected to the bottom of the rotating base (6) for connecting electrical circuits.

9. The inspection robot with multi-directional visual coverage according to claim 2, characterized in that, The mobile chassis (1) is provided with a navigation radar (2) at the front end and a communication control module (4) at the rear end. The communication control module (4) protrudes from the surface of the bearing plate (3). A rubber pad (28) is provided at the connection between the arc-shaped guide rail beam (7) and the mounting foot (8).

10. The inspection robot with multi-directional visual coverage according to claim 1, characterized in that, The multispectral vision sensor (12) is located on the outer and bottom surfaces of the sliding housing (11) and moves along the arc-shaped guide beam (7) with the sliding housing (11).

Images