Explosion-proof inspection robot

Abstract

The utility model discloses an anti-explosion inspection robot, and relates to the technical field of inspection robots. The anti-explosion inspection robot comprises an anti-explosion carriage, a four-wheel drive system, an information acquisition system, an autonomous navigation system and a wireless charging system. The explosion-proof carriage is used for protecting the battery assembly and the control module; the four-wheel drive system is arranged below the explosion-proof carriage; the information acquisition system is used for video information acquisition, laser methane detection and infrared thermal imaging; the autonomous navigation system adopts multi-sensor fusion and combines a map and a positioning algorithm to realize autonomous navigation of the robot; and the wireless charging system is arranged in the explosion-proof carriage and connected with the battery assembly, and the wireless charging system is used for wirelessly charging a battery in the battery assembly. The explosion-proof inspection robot provided by the utility model can autonomously detect the environment and equipment of a production area, realizes the inspection of equipment in a key area and a high-risk area, and promotes the digital and intelligent management level and development process of a chemical plant more quickly.

Description

Technical Field

[0001] The present application relates to the technical field of inspection robots, and in particular to an explosion-proof inspection robot. Background Art

[0002] The working environment of petrochemical enterprises is mostly high temperature, high pressure, flammable and explosive. Some petrochemical enterprises use traditional manual inspection methods and rely on manual recording of relevant data. The inspection efficiency is low and personal safety cannot be guaranteed. Utility Model Content

[0003] In view of this, the present application provides an explosion-proof inspection robot, the purpose of which is to solve one of the technical problems in the prior art.

[0004] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides an explosion-proof inspection robot, comprising:

[0006] An explosion-proof carriage, comprising a cabin, a battery assembly and a control module, wherein the cabin is used to protect the battery assembly and the control module;

[0007] A four-wheel drive system is arranged below the explosion-proof carriage and is used to drive the explosion-proof carriage. The four-wheel drive system includes four wheels and four drive assemblies, and each wheel is connected to a corresponding drive assembly;

[0008] An information collection system is arranged in the explosion-proof carriage and connected to the control module, and the information collection system is used to collect video information, laser methane detection, and infrared thermal imaging;

[0009] An autonomous navigation system, disposed in the explosion-proof carriage and connected to the control module;

[0010] A wireless charging system is arranged in the explosion-proof compartment and connected to the battery assembly. The wireless charging system is used to wirelessly charge the batteries in the battery assembly.

[0011] In one embodiment of the first aspect, the cabin is a closed cabin, the battery assembly is disposed in the cabin to separate the cabin to form a front cabin and a rear cabin, and the control module is arranged in the front cabin and the rear cabin at intervals.

[0012] In one embodiment of the first aspect, the explosion-proof carriage further comprises:

[0013] An explosion-proof casing, the explosion-proof casing comprises a shell and a navigation sensor, the shell comprises a top shell and a side shell, the top shell covers the top surface of the cabin, and the side shell covers the side surface of the cabin; the navigation sensor is arranged on the top shell and connected to the control module.

[0014] In one embodiment of the first aspect, the drive assembly comprises:

[0015] Driving parts;

[0016] A transmission member is connected to the output end of the driving member and the wheel.

[0017] In one of the embodiments of the first aspect, the top shell is provided with a first mounting hole, the information acquisition system comprises a bracket, a plurality of cameras and a plurality of detectors, the bracket is passed through the first mounting hole and is connected to the cabin, the bracket is located above the battery assembly, the plurality of cameras are respectively connected to the top end of the bracket, and the detector is connected to the camera.

[0018] In one embodiment of the first aspect, the autonomous navigation system comprises:

[0019] A laser radar, which is arranged on the top shell and located above the front cabin;

[0020] An obstacle avoidance component, the obstacle avoidance component includes a depth camera and a plurality of rangefinders, the depth camera is arranged at the end of the front cabin body away from the rear cabin body, the side shell body is provided with a second mounting hole corresponding to the depth camera, the camera head of the depth camera faces the second mounting hole, the rangefinder is arranged on the side shell body and located between the two wheels, and / or the rangefinder is arranged on both sides of the mounting hole of the side shell body.

[0021] In one embodiment of the first aspect, the explosion-proof inspection robot further includes:

[0022] A speaker, the speaker is connected to the top shell and is located above the rear cabin;

[0023] A microphone is connected to the top shell and is located above the front cabin body, and the laser radar is arranged above the microphone.

[0024] In one embodiment of the first aspect, the wireless charging system includes:

[0025] A mounting plate connected to an end of the rear cabin body away from the front cabin body;

[0026] a charging coil, wherein the charging coil is disposed on the mounting plate;

[0027] A touch switch is arranged on the mounting plate and connected to the charging coil.

[0028] In one embodiment of the first aspect, the explosion-proof inspection robot further includes:

[0029] A gas detector is connected to the mounting plate, and the touch switch is located between the gas detector and the charging coil.

[0030] In one embodiment of the first aspect, the explosion-proof inspection robot further includes:

[0031] An alarm is connected to the top shell and is located above the rear cabin. The alarm includes a warning light and a buzzer.

[0032] Compared with the prior art, the beneficial effects of the present application are as follows: the present application proposes an explosion-proof inspection robot including an explosion-proof carriage, a four-wheel drive system, an information collection system, an autonomous navigation system and a wireless charging system.

[0033] Among them, the explosion-proof carriage includes a cabin, a battery assembly and a control module. The cabin is used to protect the battery assembly and the control module. The four-wheel drive system is set under the explosion-proof carriage to drive the explosion-proof carriage. The four-wheel drive system includes four wheels and four drive assemblies, and each wheel is connected to a corresponding drive assembly. The information collection system is set in the explosion-proof carriage and connected to the control module. The information collection system is used to collect video information, laser methane detection, and infrared thermal imaging. The autonomous navigation system is set in the explosion-proof carriage and connected to the control module. The autonomous navigation system uses multi-sensor fusion, combined with maps and positioning algorithms, to achieve autonomous navigation of the robot; the wireless charging system is set in the explosion-proof carriage and connected to the battery assembly. The wireless charging system is used to wirelessly charge the batteries in the battery assembly. The explosion-proof inspection robot replaces manual labor to complete daily inspections in special environments, which improves inspection efficiency and ensures personal safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of an explosion-proof inspection robot in some embodiments of the present application is shown;

[0036] Figure 2 One of the structural schematic diagrams of the cabin in some embodiments of the present application is shown;

[0037] Figure 3 The second structural schematic diagram of the cabin in some embodiments of the present application is shown;

[0038] Figure 4 A schematic diagram of the structure of an explosion-proof housing in some embodiments of the present application is shown;

[0039] Figure 5 A schematic diagram of the structure of an explosion-proof inspection robot without an explosion-proof housing in some embodiments of the present application is shown;

[0040] Figure 6 A schematic diagram of the assembly structure of a drive assembly and a wheel in some embodiments of the present application is shown;

[0041] Figure 7 A schematic diagram of the assembled structure of a wireless charging component and a gas detector in some embodiments of the present application is shown.

[0042] Main component symbol description: 100- explosion-proof inspection robot;

[0043] 110-explosion-proof compartment; 111-cabin; 1111-front cabin; 1112-rear cabin; 112-battery assembly; 113-control module; 114-explosion-proof housing; 1141-housing; 1142-navigation sensor; 1113-slot; 11411-top housing; 11412-side housing; 11413-first mounting hole;

[0044] 120- four-wheel drive system; 121- wheel; 122- drive assembly; 1221- drive member; 12211- motor; 12212- reducer; 1222- transmission member; 12221- gear; 12222- transmission shaft;

[0045] 130-information collection system; 131-bracket; 132-camera; 133-detector;

[0046] 140-wireless charging system; 141-mounting plate; 142-charging coil; 143-touch switch; 1431-touch panel; 1432-antenna;

[0047] 151-LiDAR; 152-Depth Camera; 153-Range Finder;

[0048] 161-speaker; 162-pickup;

[0049] 171-Gas detector;

[0050] 181-Alarm. DETAILED DESCRIPTION

[0051] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] like Figure 1 As shown, an embodiment of the present application provides an explosion-proof inspection robot 100 , including an explosion-proof carriage 110 , a four-wheel drive system 120 , an information collection system 130 , an autonomous navigation system (not shown) and a wireless charging system 140 .

[0057] The explosion-proof carriage 110 includes a cabin 111, a battery assembly 112 and a control module 113. The battery is used to provide power support for the explosion-proof inspection robot 100 to improve the endurance. The cabin 111 is used to protect the battery assembly 112 and the control module 113, thereby improving the explosion-proof performance of the explosion-proof inspection robot 100 of the present application and improving the stability and reliability of the working performance.

[0058] The four-wheel drive system 120 is disposed below the explosion-proof carriage 110 and is used to drive the explosion-proof carriage 110. The four-wheel drive system 120 includes four wheels 121 and four drive assemblies 122, and each wheel 121 is connected to a corresponding drive assembly 122. Since each wheel 121 is connected to a corresponding drive assembly 122, four-wheel drive is realized, so that the explosion-proof inspection robot 100 of the present application has better mobility and stronger road adaptability.

[0059] The information collection system 130 is arranged in the explosion-proof carriage 110 and connected to the control module 113. The information collection system 130 is used to collect video information, laser methane detection, and infrared thermal imaging. Among them, through the information collection function, the inspection site can be photographed or recorded; through the laser methane detection function, the methane concentration of the inspection site can be detected, which improves safety; the infrared thermal imaging function improves the reliability of night photography or video recording, and can also monitor the temperature of the imaging object in real time.

[0060] The autonomous navigation system is arranged in the explosion-proof carriage 110 and connected to the control module 113. The autonomous navigation system adopts multi-sensor fusion, combined with maps and positioning algorithms, to realize the autonomous navigation of the robot, realize autonomous navigation and obstacle avoidance, so that the explosion-proof inspection robot 100 can move autonomously, and improve the intelligence and automation level.

[0061] The wireless charging system 140 is disposed in the explosion-proof compartment 110 and connected to the battery assembly 112 . The wireless charging system 140 is used to wirelessly charge the batteries in the battery assembly 112 .

[0062] The explosion-proof inspection robot 100 of the present application replaces manual work to complete the detection and diagnosis of the equipment operation status in special environments, and replaces manual work to complete daily automatic inspections.

[0063] In some embodiments, the cabin 111 is a closed cabin 111 , which helps to improve the safety of the cabin 111 .

[0064] In some embodiments, Figure 3 As shown, the battery assembly 112 is arranged in the cabin 111 to separate the cabin 111 into a front cabin 1111 and a rear cabin 1112. The control module 113 is arranged in the front cabin 1111 and the rear cabin 1112 at intervals. The control modules 113 in the front cabin 1111 and the rear cabin 1112 are electrically connected, and the control module 113 is also electrically connected to the battery assembly 112.

[0065] In some embodiments, Figure 1 and Figure 4 As shown, the explosion-proof compartment 110 further includes an explosion-proof housing 114 .

[0066] The explosion-proof housing 114 includes a shell 1141 and a navigation sensor 1142 . The shell 1141 includes a top shell 11411 and a side shell 11412 . The top shell 11411 covers the top surface of the cabin 111 , and the side shell 11412 covers the side of the cabin 111 , thereby improving the explosion-proof reliability and safety of the explosion-proof compartment 110 .

[0067] The navigation sensor 1142 is disposed on the top shell 11411 and connected to the control module 113 .

[0068] Exemplarily, the navigation sensor 1142 includes multiple antennas 1432, wherein one antenna 1432 is a communication antenna 1432, and one antenna 1432 is a Beidou antenna 1432. By providing the communication antenna 1432, the explosion-proof inspection robot 100 is provided with a wireless communication function, so as to upload the inspection information to the upper computer or management platform. By providing the Beidou antenna 1432, the position of the explosion-proof inspection robot 100 can be accurately determined, thereby enhancing the functionality and automation of the explosion-proof inspection robot 100.

[0069] In some embodiments, Figure 6 As shown, the driving assembly 122 includes a driving member 1221 and a transmission member 1222 , and the transmission member 1222 connects the output end of the driving member 1221 and the wheel 121 .

[0070] Specifically, the driving member 1221 includes a motor 12211 and a reducer 12212 connected to an output end of the motor 12211 .

[0071] The transmission member 1222 includes a gear 12221 and a transmission shaft 12222. The transmission shaft 12222 connects the gear 12221 and the wheel 121. The output end of the reducer 12212 drives the gear 12221 to rotate, thereby causing the wheel 121 to rotate accordingly.

[0072] Please refer to Figure 2A slot 1113 is formed in the front cabin 1111 and the rear cabin 1112, respectively. The space of the slot 1113 and the internal space of the front cabin 1111 or the rear cabin 1112 are mutually closed and independent. The drive assembly 122 is arranged in the slot 1113, so that the drive assembly 122 and the control module 113 do not interfere with each other, thereby improving the safety and stability of the explosion-proof compartment 110.

[0073] In some embodiments, Figure 4 and Figure 5 As shown, the top shell 11411 is provided with a first mounting hole 11413, the information acquisition system 130 includes a bracket 131, multiple cameras 132 and multiple detectors 133, the bracket 131 is passed through the first mounting hole 11413 and is connected to the cabin 111, the bracket 131 is located above the battery assembly 112, the multiple cameras 132 are respectively connected to the top of the bracket 131, and the detector 133 is connected to the camera 132.

[0074] In some embodiments, the camera 132 is an infrared camera 132, and the detector 133 is a temperature detector 133, which is mounted on the infrared camera 132. The temperature detection function of the inspection site and the night infrared imaging function are realized.

[0075] In some embodiments, the camera 132 is a high-definition camera 132, and the detector 133 is a methane detector 133 or the methane detector 133 is installed on the high-definition camera 132. The methane gas detection function and the camera and imaging recognition function of the inspection site are realized.

[0076] The camera 132 can realize horizontal scanning and pitch rotation, and has the advantages of convenient operation and large range of activities. It can achieve the ability of omnidirectional monitoring. By controlling the bracket 131 to rotate horizontally and the camera 132 to rotate vertically, the comprehensiveness and reliability of the inspection are improved.

[0077] In some embodiments, Figure 4 and Figure 5 As shown, the autonomous navigation system includes a laser radar 151 and an obstacle avoidance component (not shown).

[0078] The laser radar 151 is arranged on the top shell 11411 and is located above the front cabin 1111. By arranging the laser radar 151 to perform navigation and positioning on the explosion-proof inspection robot 100, the functionality of the explosion-proof inspection robot 100 and the reliability of inspection are further enhanced.

[0079] The laser radar 151, the inertial measurement unit in the control module 113, and the camera 132 of the information acquisition system 130 form a SLAM (Simultaneous Localization And Mapping) system, which combines maps and positioning algorithms to achieve autonomous navigation of the robot.

[0080] The obstacle avoidance component includes a depth camera 152 and a plurality of rangefinders 153. The depth camera 152 is disposed at the end of the front cabin 1111 away from the rear cabin 1112. The side shell 11412 is provided with a second mounting hole (not shown) corresponding to the depth camera 152. The camera head 132 of the depth camera 152 faces the second mounting hole. The rangefinder 153 is disposed on the side shell 11412 and located between the two wheels 121, and / or the rangefinder 153 is disposed on both sides of the mounting hole of the side shell 11412. In this way, the rangefinders 153 are disposed on the front, left and right sides of the explosion-proof robot to detect obstacles and avoid or stop, so as to avoid collision and damage to the explosion-proof inspection robot 100.

[0081] In some embodiments, the rangefinder 153 is a TOF (Time of flight) rangefinder 153. The TOF rangefinder 153 is arranged on the shell 1141 of the robot and used in combination with the front-end depth camera 152, and is also combined with the SLAM algorithm of the SLAM system to realize the functions of automatic obstacle stopping, obstacle avoidance and preventing the explosion-proof inspection robot 100 from falling.

[0082] In some embodiments, Figure 1 , Figure 4 and Figure 5 As shown, the explosion-proof inspection robot 100 further includes a speaker 161 and a microphone 162 .

[0083] The speaker 161 is connected to the top shell 11411 and is located above the rear cabin 1112 ; the microphone 162 is connected to the top shell 11411 and is located above the front cabin 1111 .

[0084] The microphone 162 is used to pick up the sound of the inspection site, and the speaker 161 is used to play the sound of the inspection site so as to warn or remind the monitoring personnel, further enhancing the functionality and practicality.

[0085] In addition, by combining the loudspeaker 161, the microphone 162 and the navigation sensor 1142, the explosion-proof inspection robot 100 has an audio collection and playback device, thereby realizing the two-way voice intercom and voice broadcasting functions of the explosion-proof inspection robot 100.

[0086] The laser radar 151 is disposed above the microphone 162 so that the laser radar 151 is not blocked and has a wider detection range.

[0087] In some embodiments, Figure 7 As shown, the wireless charging system 140 includes a mounting plate 141 , a charging coil 142 and a touch switch 143 .

[0088] Specifically, the mounting plate 141 is connected to the end of the rear cabin 1112 away from the front cabin 1111; the charging coil 142 is arranged on the mounting plate 141; the touch switch 143 is arranged on the mounting plate 141 and connected to the charging coil 142, so that the explosion-proof inspection robot 100 has the ability of autonomous charging and enhances functionality.

[0089] The touch switch 143 includes a touch panel 1431 and an antenna 1432 . The touch panel 1431 is used to start the charging coil 142 , and the antenna 1432 is used to transmit an alignment signal between the charging coil 142 and the power supply end.

[0090] In some embodiments, Figure 7 As shown, the explosion-proof inspection robot 100 further includes a gas detector 171 .

[0091] The gas detector 171 is connected to the mounting plate 141, and the touch switch 143 is located between the gas detector 171 and the charging coil 142, so that the explosion-proof inspection robot 100 is smaller in size, more compact in structure, and more powerful in function. The gas detector 171 detects at least one gas, and the type of gas can be set according to actual needs without any special restrictions.

[0092] In some embodiments, Figure 1 , Figure 4 and Figure 5 As shown, the explosion-proof inspection robot 100 further includes an alarm 181 .

[0093] The alarm 181 is connected to the top shell 11411 and is located above the rear cabin 1112. The alarm 181 includes a warning light and a buzzer. The alarm 181 is used to send out sound and light alarm signals when leakage or other accidents are detected.

[0094] The explosion-proof inspection robot 100 of the present application has a compact structure, a small size, good passability, and a wide inspection range. It can replace manual work to complete daily inspections in special environments, and has the functions of equipment operation status detection and diagnosis, equipment area full coverage inspection, meter identification, gas detection, equipment temperature measurement, over-temperature warning, fire identification, video live broadcast, etc., to improve work efficiency.

[0095] The explosion-proof inspection robot 100 provided in the present application performs autonomous inspections on the production area environment and equipment, realizes equipment inspections in key areas and high-risk areas, and more quickly advances the digital and intelligent management level and development process of chemical plants.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An explosion-proof inspection robot, characterized in that: include: An explosion-proof carriage, comprising a cabin, a battery assembly and a control module, wherein the cabin is used to protect the battery assembly and the control module; A four-wheel drive system is arranged below the explosion-proof carriage and is used to drive the explosion-proof carriage. The four-wheel drive system includes four wheels and four drive assemblies, and each wheel is connected to a corresponding drive assembly; An information collection system is arranged in the explosion-proof carriage and connected to the control module, and the information collection system is used to collect video information, laser methane detection, and infrared thermal imaging; An autonomous navigation system, disposed in the explosion-proof carriage and connected to the control module; A wireless charging system is arranged in the explosion-proof compartment and connected to the battery assembly. The wireless charging system is used to wirelessly charge the batteries in the battery assembly.

2. The explosion-proof inspection robot according to claim 1, characterized in that: The cabin is a closed cabin, the battery assembly is arranged in the cabin to separate the cabin to form a front cabin and a rear cabin, and the control module is arranged in the front cabin and the rear cabin at intervals.

3. The explosion-proof inspection robot according to claim 2, characterized in that: The explosion-proof carriage also includes: An explosion-proof casing, the explosion-proof casing comprises a shell and a navigation sensor, the shell comprises a top shell and a side shell, the top shell covers the top surface of the cabin, and the side shell covers the side surface of the cabin; the navigation sensor is arranged on the top shell and connected to the control module.

4. The explosion-proof inspection robot according to claim 2, characterized in that: The drive assembly comprises: Driving parts; A transmission member is connected to the output end of the driving member and the wheel.

5. The explosion-proof inspection robot according to claim 3, characterized in that: The top shell is provided with a first mounting hole, and the information acquisition system includes a bracket, multiple cameras and multiple detectors. The bracket is passed through the first mounting hole and connected to the cabin. The bracket is located above the battery assembly, and the multiple cameras are respectively connected to the top of the bracket, and the detectors are connected to the cameras.

6. The explosion-proof inspection robot according to claim 3, characterized in that: The autonomous navigation system comprises: A laser radar, which is arranged on the top shell and located above the front cabin; An obstacle avoidance component, the obstacle avoidance component includes a depth camera and a plurality of rangefinders, the depth camera is arranged at the end of the front cabin body away from the rear cabin body, the side shell body is provided with a second mounting hole corresponding to the depth camera, the camera head of the depth camera faces the second mounting hole, the rangefinder is arranged on the side shell body and located between the two wheels, and / or the rangefinder is arranged on both sides of the mounting hole of the side shell body.

7. The explosion-proof inspection robot according to claim 6, characterized in that: The explosion-proof inspection robot also includes: A speaker, the speaker is connected to the top shell and is located above the rear cabin; A microphone is connected to the top shell and is located above the front cabin body, and the laser radar is arranged above the microphone.

8. The explosion-proof inspection robot according to claim 3, characterized in that: The wireless charging system comprises: A mounting plate connected to an end of the rear cabin body away from the front cabin body; a charging coil, wherein the charging coil is disposed on the mounting plate; A touch switch is arranged on the mounting plate and connected to the charging coil.

9. The explosion-proof inspection robot according to claim 8, characterized in that: The explosion-proof inspection robot also includes: A gas detector is connected to the mounting plate, and the touch switch is located between the gas detector and the charging coil.

10. The explosion-proof inspection robot according to claim 3, characterized in that: The explosion-proof inspection robot also includes: An alarm is connected to the top shell and is located above the rear cabin. The alarm includes a warning light and a buzzer.

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