Underground inspection robot

Abstract

An underground inspection robot comprises a shell, an automatic lifting mechanism and an automatic flushing mechanism, the automatic lifting mechanism and the automatic flushing mechanism are arranged in the shell, a water outlet of the automatic flushing mechanism directly faces a shooting device, the shooting device is arranged at the top of a lifting plate, and the lifting plate can pass through a lifting opening formed in the top of the shell in the vertical direction. The bottom of the lifting plate is connected with the top of the automatic lifting mechanism, and the automatic lifting mechanism is connected with the shell. Walking wheels are arranged at the bottom of the shell. The inspection robot can enter a narrow space in a mine or a ship which is difficult to enter manually or has potential safety hazards for inspection, has a self-cleaning function, and prevents dust and stains from interfering with an image acquisition effect.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to an underground inspection robot, which is specifically suitable for inspecting spaces with potential safety hazards. Background Art

[0002] As an advanced mobile robot technology, inspection robots have demonstrated their strong application potential in many fields, especially when inspecting narrow spaces in mines or inside ships that are difficult to access manually or pose safety hazards (such as the bottom of the cabin, machinery room, etc.). Inspection robots can use the visible light camera, infrared thermal imager and other detection instruments on board, and achieve autonomous movement and autonomous inspection through multi-field information fusion technology, which greatly improves the efficiency of underground inspections and effectively reduces inspection safety risks.

[0003] However, when dealing with complex inspection environments, impurities such as dust and dirt can seriously interfere with the camera's performance. When an inspection robot enters a work site that's difficult for inspectors to reach, the surface of its camera easily absorbs large amounts of dust and dirt, resulting in blurred images and an inability to capture effective monitoring information. This not only reduces the inspection quality of the inspection robot, but can also cause serious problems such as false alarms or missed alarms, posing a potential safety risk. Inspection robots in existing technologies typically only employ simple dust-proofing measures, such as adding dust covers and using dust-proof materials. These measures have limited effectiveness in actual applications and cannot address the issue of dust affecting camera performance in harsh environments with high dust concentrations. Summary of the Invention

[0004] The purpose of the present utility model is to overcome the problem in the prior art that the camera of an inspection robot is easily interfered with by dust when inspecting narrow spaces inside mines or ships that are difficult for manual access or have safety hazards (such as the bottom of a cabin, a machinery room, etc.), and to provide an underground inspection robot with a self-cleaning function.

[0005] In order to achieve the above objectives, the technical solution of the present utility model is:

[0006] A downhole inspection robot, comprising a housing and an automatic lifting mechanism and an automatic flushing mechanism disposed within the housing, wherein a water outlet of the automatic flushing mechanism is disposed directly in the direction of a photographing device, the photographing device being disposed on the top of a lifting plate, the lifting plate being able to pass vertically through a lifting opening formed in the top of the housing, the bottom of the lifting plate being connected to the top of the automatic lifting mechanism, and the automatic lifting mechanism being connected to the housing;

[0007] The bottom of the shell is provided with running wheels.

[0008] Two groups of slide grooves are symmetrically arranged on the inner wall of the shell, and a group of sliders are arranged in each group of slide grooves. The sliders slide with the slide grooves in the vertical direction, and the two groups of sliders are fixedly arranged on both sides of the lifting plate.

[0009] The automatic lifting mechanism includes a bidirectional threaded rod, a first moving block, and a second moving block, wherein the bidirectional threaded rod is provided with two sections of external threads in opposite directions, and the two sections of external threads in opposite directions are respectively matched with the internal threads of the first moving block and the second moving block sleeved on the bidirectional threaded rod, the first moving block is hinged to the bottom of the first push rod, the top of the first push rod is hinged to the first clamping block, the second moving block is hinged to the bottom of the second push rod, the top of the second push rod is hinged to the second clamping block, and the first clamping block and the second clamping block are symmetrically fixed to the bottom of the lifting plate;

[0010] One end of the bidirectional threaded rod is rotationally matched with the side wall of the shell through a bearing, and the other end of the bidirectional threaded rod is transmission-matched with the output shaft of the motor, and the motor is fixedly arranged on the inner wall of the shell.

[0011] A motor cover is provided on the outside of the motor, and the motor cover is fixedly connected to the inner wall of the shell.

[0012] The automatic flushing mechanism includes a water tank, a water pump, a water outlet pipe, and a high-pressure nozzle. The water tank is fixedly connected to the inner wall of the shell. The water outlet of the water tank is connected to the water inlet of the water pump. The water outlet of the water pump is connected to the water inlet of the water outlet pipe. The water outlet of the water outlet pipe is connected to the water inlet of the high-pressure nozzle. The water outlet of the high-pressure nozzle is arranged facing the direction of the shooting device.

[0013] The shooting device includes a first camera and a second camera;

[0014] The water outlet pipe includes a main pipe and a two-way pipe. The main pipe is fixedly connected to the inner wall of the shell through a pipe fixing bracket. The water inlet of the main pipe is connected to the water outlet of the water pump, and the water outlet of the main pipe is connected to the water inlet of the two-way pipe. The two water outlets of the two-way pipe are respectively connected to the water inlets of the two high-pressure nozzles, and the water outlets of the two high-pressure nozzles are respectively arranged facing the direction of the first camera and the second camera.

[0015] The water inlet of the water storage tank is connected to the water outlet of the water inlet pipe. The water inlet pipe runs through the side wall of the shell. The water inlet of the water inlet pipe is located outside the shell. A detachable plug is provided at the water inlet of the water inlet pipe.

[0016] A hot air blower is provided on the inner side wall of the shell, and the hot air blower is arranged facing the direction of the shooting device.

[0017] A power supply device is also provided inside the shell, and the power supply device supplies power to the automatic lifting mechanism, the automatic flushing mechanism and the hot air blower.

[0018] The traveling wheel comprises a roller and a roller seat. The roller is rotatably mounted on the bottom of the roller seat via a wheel axle. The top of the roller seat is fixedly connected to the bottom of the housing via a fastening bolt.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. In the utility model, a downhole inspection robot is provided with walking wheels at the bottom of the shell of the inspection robot so that it can move freely in the area to be inspected. An automatic lifting mechanism is provided inside the shell of the inspection robot, and a shooting device is provided on the top of the automatic lifting mechanism. The shooting device is controlled to rise by the automatic lifting mechanism, and the shooting device can be extended from the top of the shell to shoot the external environment to perform the inspection task. At the same time, since the height of the shooting device is adjustable, it is conducive to obtaining a better shooting field of view; when the inspection task is completed, the shooting device is controlled to descend by the automatic lifting mechanism, so that the shooting device is retracted into the interior of the shell, which can achieve protection of the shooting device and avoid damage to the camera. Therefore, the design sets the shooting device on the automatic lifting mechanism, and the shooting device can be retracted into the interior of the shell during non-inspection operations to achieve protection of the shooting device; during the inspection operation, the shooting device is controlled to extend from the top of the shell by the automatic lifting mechanism, and the height of the shooting device is adjusted to achieve the best shooting field of view, so as to achieve shooting and identification of the inspection environment.

[0021] 2. The utility model provides an automatic flushing mechanism in an underground inspection robot, which includes a water tank, a water pump, a water outlet pipe, and a high-pressure nozzle arranged inside a shell. The water inlet pipe of the water tank passes through the side wall of the shell, and the water inlet of the water inlet pipe is located outside the shell. A detachable plug is provided at the water inlet of the water inlet pipe to facilitate the operator to add cleaning water to the water tank; at the same time, the water outlet of the water tank is connected to the high-pressure nozzle through the water pump and the water outlet pipe in sequence, and the water outlet of the high-pressure nozzle is arranged facing the direction of the shooting device. When the automatic lifting mechanism drives the shooting device to descend to the inside of the shell and is located at the same height as the high-pressure nozzle, the water pump is turned on, and the water pump draws the cleaning water in the water tank, and sprays the cleaning water to the shooting device through the water outlet pipe and the high-pressure nozzle to clean the shooting device; in addition, the cleaning of the shooting device by the flushing mechanism occurs inside the shell, which will not affect the circuit of the inspected equipment and has high safety. Therefore, in this design, automatic flushing mechanism and automatic lifting mechanism are used to realize automatic cleaning of the shooting device, so as to prevent the camera from being disturbed by dust and improve the reliability of inspection. At the same time, the cleaning occurs inside the shell and will not affect the circuit of the equipment being inspected.

[0022] 3. The shooting device of the underground inspection robot of the present invention includes a first camera and a second camera. The shooting device is based on binocular vision technology and can capture three-dimensional information of the surrounding environment in real time. When the inspection robot is performing positioning and navigation, it can more accurately identify key information such as obstacles and road signs, thereby achieving high-precision autonomous navigation and obstacle avoidance, and improving the efficiency and reliability of inspections. Therefore, the shooting device in this design is based on binocular vision technology, which can achieve high-precision autonomous navigation and obstacle avoidance, and improve the efficiency and reliability of inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of the present utility model.

[0024] Figure 2 This is a schematic diagram of the external structure of the underground inspection robot.

[0025] Figure 3 This is a schematic diagram of the internal structure of the underground inspection robot.

[0026] Figure 4 It is a structural diagram of the automatic lifting mechanism.

[0027] In the figure: shell 1, lifting port 11, slide groove 12, fan mounting hole 13, automatic lifting mechanism 2, bidirectional threaded rod 21, first moving block 22, second moving block 23, first push rod 24, first clamping block 25, second push rod 26, second clamping block 27, bearing 28, shooting device 3, first camera 31, second camera 32, automatic flushing mechanism 4, water tank 41, water pump 42, water outlet pipe 43, main pipe 431, two-way pipe 432, high-pressure nozzle 44, water inlet pipe 45, plug 46, lifting plate 5, slider 51, walking wheel 6, roller 61, roller seat 62, motor 7, motor cover 71, hot air blower 8. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0029] See also Figures 1 to 4A downhole inspection robot includes a shell 1 and an automatic lifting mechanism 2 and an automatic flushing mechanism 4 arranged inside the shell 1. The water outlet of the automatic flushing mechanism 4 is arranged in the direction of the shooting device 3. The shooting device 3 is arranged on the top of the lifting plate 5. The lifting plate 5 and the shooting device 3 can pass vertically in the lifting port 11 opened at the top of the shell 1. The bottom of the lifting plate 5 is connected to the top of the automatic lifting mechanism 2, and the bottom of the automatic lifting mechanism 2 is connected to the shell 1. The lifting and lowering of the shooting device 3 can be controlled by the automatic lifting mechanism 2. When performing the selection operation, the shooting device 3 is controlled to rise to a suitable position above the shell 1 to obtain the best inspection field of view; when the inspection operation is completed, the shooting device 3 is controlled to descend into the shell 1 to protect the shooting device 3; at the same time, when the shooting device 3 descends into the shell 1, the shooting device 3 can be flushed and cleaned by the automatic flushing mechanism 4.

[0030] Four walking wheels 6 are provided at the four corners of the bottom of the housing 1 , and the walking wheels 6 drive the entire inspection robot to move, thereby realizing unmanned inspection in the working area.

[0031] Two sets of slide grooves 12 are symmetrically arranged on the inner wall of the housing 1. A set of sliders 51 is arranged in each set of slide grooves 12. The sliders 51 slide with the slide grooves 12 in the vertical direction. The two sets of sliders 51 are fixed on both sides of the lifting plate 5. Figure 3 As shown, each group includes two slide grooves 12, and a slider 51 is set in each slide groove 12. The cooperation between the slider 51 and the slide groove 12 can make the lifting plate 5 and the shooting device 3 move more smoothly in the vertical direction.

[0032] The automatic lifting mechanism 2 includes a bidirectional threaded rod 21, a first moving block 22, and a second moving block 23. The bidirectional threaded rod 21 is provided with two sections of external threads in opposite directions. The two sections of external threads in opposite directions are respectively matched with the internal threads of the first moving block 22 and the second moving block 23 sleeved on the bidirectional threaded rod 21. The first moving block 22 is hinged to the bottom of the first push rod 24, the top of the first push rod 24 is hinged to the first clamping block 25, the second moving block 23 is hinged to the bottom of the second push rod 26, the top of the second push rod 26 is hinged to the second clamping block 27, and the first clamping block 25 and the second clamping block 27 are symmetrically fixed to the bottom of the lifting plate 5;

[0033] One end of the bidirectional threaded rod 21 is rotatably engaged with the side wall of the shell 1 through a bearing 28. The bearing 28 is provided to ensure the stable rotation of the bidirectional threaded rod 21. The other end of the bidirectional threaded rod 21 is driven by the output shaft of the motor 7. The motor 7 is fixedly arranged on the inner wall of the shell 1, and the motor 7 can provide rotational power for the bidirectional threaded rod 21.

[0034] Specifically, by controlling the forward and reverse rotation of the motor 7, the bidirectional threaded rod 21 can be driven to rotate forward and reverse, thereby causing the first moving block 22 and the second moving block 23 that cooperate with the two sections of external threads in opposite directions on the bidirectional threaded rod 21 to move closer to or away from each other, thereby changing the angle between the first push rod 24 and the second push rod 26 and the horizontal direction, thereby controlling the rise and fall of the lifting plate 5.

[0035] A motor cover 71 is provided on the outside of the motor 7 , and the motor cover 71 is fixedly connected to the inner wall of the housing 1 . The motor cover 71 can prevent dust accumulation or water ingress into the motor 7 .

[0036] The automatic flushing mechanism 4 includes a water tank 41, a water pump 42, a water outlet pipe 43, and a high-pressure nozzle 44. The water tank 41 is fixedly connected to the inner wall of the housing 1. The water outlet of the water tank 41 is connected to the water inlet of the water pump 42, the water outlet of the water pump 42 is connected to the water inlet of the water outlet pipe 43, and the water outlet of the water outlet pipe 43 is connected to the water inlet of the high-pressure nozzle 44. The water outlet of the high-pressure nozzle 44 is arranged directly in the direction of the photographing device 3. Clean water in the water tank 41 is extracted by the water pump 42, and the clean water is sprayed from the high-pressure nozzle 44 after passing through the water outlet pipe 43 to achieve automatic cleaning of the photographing device 3.

[0037] The shooting device 3 includes a first camera 31 and a second camera 32. Based on the first camera 31 and the second camera 32 and binocular vision technology, it can achieve high-precision autonomous navigation and obstacle avoidance, cope with complex and changeable environmental conditions, and thus improve the efficiency and reliability of inspections.

[0038] The water outlet pipe 43 includes a main pipe 431 and a two-way pipe 432. The main pipe 431 is fixedly connected to the inner wall of the shell 1 through a pipe fixing bracket. The water inlet of the main pipe 431 is connected to the water outlet of the water pump 42, and the water outlet of the main pipe 431 is connected to the water inlet of the two-way pipe 432. The two water outlets of the two-way pipe 432 are respectively connected to the water inlets of the two high-pressure nozzles 44. The water outlets of the two high-pressure nozzles 44 are respectively arranged facing the first camera 31 and the second camera 32.

[0039] The water inlet of the water tank 41 is connected to the water outlet of a water inlet pipe 45. The water inlet pipe 45 extends through the side wall of the housing 1 and is located outside the housing 1. A removable plug 46 is provided at the water inlet of the water inlet pipe 45. After the clean water in the water tank 41 is exhausted, the operator can remove the plug 46 and add water to the water tank 41 through the water inlet pipe 45. Locating the water inlet of the water inlet pipe 45 outside the housing 1 and providing a removable plug 46 at the entrance of the water inlet pipe 45 facilitates the operator to quickly add water to the water tank 41.

[0040] A hot air blower 8 is provided on the inner side wall of the housing 1 and is disposed directly opposite the camera 3. After the automatic washing mechanism 4 cleans the camera 3, the hot air blower 8 blows hot air toward the camera 3 to quickly dry the camera 3, thereby preventing water stains from affecting the image data captured by the camera 3.

[0041] A power supply device is also provided inside the housing 1 , and the power supply device supplies power to the automatic lifting mechanism 2 , the automatic flushing mechanism 4 , and the hot air blower 8 .

[0042] The travel wheel 6 includes a roller 61 and a roller seat 62. The roller 61 is rotatably mounted on the bottom of the roller seat 62 via a wheel axle. The top of the roller seat 62 is fixedly connected to the bottom of the housing 1 via a fastening bolt 63. Specifically, the roller 61 is rotatably mounted in the inverted U-shaped roller seat 62 via a wheel axle. The top of the roller seat 62 is fixedly connected to the bottom of the mounting plate. The four corners of the mounting plate are each connected to the bottom of the housing 1 via a fastening bolt 63.

[0043] The principle of this utility model is described as follows:

[0044] When the underground inspection robot is conducting an inspection, the automatic lifting mechanism 2 controls the shooting device 3 to rise to the outside of the shell 1, and then the walking wheels 6 are used to control the inspection robot to walk in the working area. At this time, the shooting device 3 captures the image data of the working area, and the background system further analyzes and processes the image data of the working area collected by the shooting device 3 to realize the inspection of the working area.

[0045] When it is necessary to clean the dust and stains on the shooting device 3, the automatic lifting mechanism 2 is used to control the shooting device 3 to descend to the inside of the shell 1, and the shooting device 3 and the high-pressure nozzle 44 of the automatic flushing mechanism 4 are placed at the same height. Then the water pump 42 is turned on, and the water pump 42 draws the cleaning water from the water tank 41, and sprays the cleaning water to the shooting device 3 through the water outlet pipe 43 and the high-pressure nozzle 44 to realize automatic cleaning of the shooting device.

[0046] Example 1:

[0047] The lifting mechanism 2 is a kind of underground inspection robot, and the said inspection robot comprises a shell 1 and an automatic lifting mechanism 2 and an automatic flushing mechanism 4 arranged inside the shell 1, the water outlet of the said automatic flushing mechanism 4 is arranged in the direction of the shooting device 3, the shooting device 3 is arranged on the top of the lifting plate 5, the said lifting plate 5 can pass in the vertical direction in the lifting port 11 opened at the top of the shell 1, the bottom of the lifting plate 5 is connected with the top of the automatic lifting mechanism 2, the said automatic lifting mechanism 2 is connected with the shell 1; the bottom of the said shell 1 is provided with walking wheels 6; two groups of slide grooves 12 are symmetrically provided on the inner wall of the said shell 1, each group of said slide grooves 12 is provided with a group of sliders 51, the sliders 51 and the slide grooves 12 are slidably matched in the vertical direction, and the two groups of sliders 51 are respectively fixed on both sides of the lifting plate 5; the said automatic lifting mechanism 2 comprises a bidirectional threaded rod 21, a first moving block 22, and a second moving block 23, the said bidirectional threaded rod 21 is provided with two sections of external threads in opposite directions, and the two sections of external threads in opposite directions are respectively connected with the said The internal threads of the first moving block 22 and the second moving block 23 sleeved on the bidirectional threaded rod 21 cooperate with each other. The first moving block 22 is hinged to the bottom of the first push rod 24, the top of the first push rod 24 is hinged to the first clamping block 25, the second moving block 23 is hinged to the bottom of the second push rod 26, the top of the second push rod 26 is hinged to the second clamping block 27, the first clamping block 25 and the second clamping block 27 are symmetrically fixed to the bottom of the lifting plate 5; one end of the bidirectional threaded rod 21 is connected to the bearing 28 is rotatably matched with the side wall of the shell 1, and the other end of the bidirectional threaded rod 21 is transmission-matched with the output shaft of the motor 7, and the motor 7 is fixedly set on the inner wall of the shell 1; a motor cover 71 is provided on the outside of the motor 7, and the motor cover 71 is fixedly connected to the inner wall of the shell 1; the walking wheel 6 includes a roller 61 and a roller seat 62, and the roller 61 is rotatably mounted on the bottom of the roller seat 62 through a wheel axle, and the top of the roller seat 62 is fixedly connected to the bottom of the shell 1 by a fastening bolt 63.

[0048] Example 2:

[0049] Example 2 is basically the same as Example 1, except that:

[0050] The automatic flushing mechanism 4 includes a water tank 41, a water pump 42, a water outlet pipe 43, and a high-pressure nozzle 44. The water tank 41 is fixedly connected to the inner wall of the shell 1, and the water outlet of the water tank 41 is connected to the water inlet of the water pump 42. The water outlet of the water pump 42 is connected to the water inlet of the water outlet pipe 43, and the water outlet of the water outlet pipe 43 is connected to the water inlet of the high-pressure nozzle 44. The water outlet of the high-pressure nozzle 44 is arranged in the direction of the shooting device 3; the shooting device 3 includes a first camera 31 and a second camera 32; the water outlet pipe 43 includes a main pipe 431 and a two-way pipe 432, and the main pipe 431 is fixedly connected to the inner wall of the shell 1 through a pipe fixing bracket, and the water inlet of the main pipe 431 is connected to the water outlet of the water pump 42. 1 is connected with the water inlet of the two-way pipe 432, and the two water outlets of the two-way pipe 432 are respectively connected with the water inlets of the two high-pressure nozzles 44, and the water outlets of the two high-pressure nozzles 44 are respectively arranged facing the first camera 31 and the second camera 32; the water inlet of the water storage tank 41 is connected with the water outlet of the water inlet pipe 45, and the water inlet pipe 45 passes through the side wall of the shell 1, and the water inlet of the water inlet pipe 45 is located outside the shell 1, and a detachable plug 46 is provided at the water inlet of the water inlet pipe 45; a hot air blower 8 is provided on the inner wall of the shell 1, and the hot air blower 8 is arranged facing the shooting device 3; a power supply device is also provided inside the shell 1, and the power supply device supplies power to the automatic lifting mechanism 2, the automatic flushing mechanism 4, and the hot air blower 8.

[0051] The above description is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the content disclosed in the present invention should be included in the protection scope recorded in the claims.

Claims

1. An underground inspection robot, characterized by: The inspection robot comprises a shell (1) and an automatic lifting mechanism (2) and an automatic flushing mechanism (4) arranged inside the shell (1); the water outlet of the automatic flushing mechanism (4) is arranged in the direction of the shooting device (3); the shooting device (3) is arranged on the top of the lifting plate (5); the lifting plate (5) can pass in the vertical direction in the lifting port (11) opened on the top of the shell (1); the bottom of the lifting plate (5) is connected to the top of the automatic lifting mechanism (2), and the automatic lifting mechanism (2) is connected to the shell (1); Travel wheels (6) are provided at the bottom of the housing (1).

2. The underground inspection robot according to claim 1, characterized in that: Two groups of slide grooves (12) are symmetrically arranged on the inner wall of the shell (1), and a group of sliders (51) are arranged in each group of the slide grooves (12). The sliders (51) and the slide grooves (12) slide in a vertical direction. The two groups of sliders (51) are respectively fixed on both sides of the lifting plate (5).

3. The underground inspection robot according to claim 2, characterized in that: The automatic lifting mechanism (2) includes a bidirectional threaded rod (21), a first moving block (22), and a second moving block (23); the bidirectional threaded rod (21) is provided with two sections of external threads in opposite directions, and the two sections of external threads in opposite directions respectively cooperate with the internal threads of the first moving block (22) and the second moving block (23) sleeved on the bidirectional threaded rod (21); the first moving block (22) is hinged to the bottom of the first push rod (24); the top of the first push rod (24) is hinged to the first clamping block (25); the second moving block (23) is hinged to the bottom of the second push rod (26); the top of the second push rod (26) is hinged to the second clamping block (27); the first clamping block (25) and the second clamping block (27) are symmetrically fixed to the bottom of the lifting plate (5); One end of the bidirectional threaded rod (21) is rotationally engaged with the side wall of the housing (1) via a bearing (28), and the other end of the bidirectional threaded rod (21) is transmission-engaged with the output shaft of the motor (7), and the motor (7) is fixedly arranged on the inner wall of the housing (1).

4. The underground inspection robot according to claim 3, characterized in that: A motor cover (71) is provided on the outside of the motor (7), and the motor cover (71) is fixedly connected to the inner wall of the housing (1).

5. An underground inspection robot according to any one of claims 1 to 4, characterized in that: The automatic flushing mechanism (4) comprises a water tank (41), a water pump (42), a water outlet pipe (43), and a high-pressure nozzle (44). The water tank (41) is fixedly connected to the inner wall of the housing (1). The water outlet of the water tank (41) is connected to the water inlet of the water pump (42). The water outlet of the water pump (42) is connected to the water inlet of the water outlet pipe (43). The water outlet of the water outlet pipe (43) is connected to the water inlet of the high-pressure nozzle (44). The water outlet of the high-pressure nozzle (44) is arranged in the direction facing the shooting device (3).

6. The underground inspection robot according to claim 5, characterized in that: The photographing device (3) comprises a first camera (31) and a second camera (32); The water outlet pipe (43) comprises a main pipe (431) and a two-way pipe (432), wherein the main pipe (431) is fixedly connected to the inner wall of the housing (1) via a pipe fixing bracket, the water inlet of the main pipe (431) is connected to the water outlet of the water pump (42), the water outlet of the main pipe (431) is connected to the water inlet of the two-way pipe (432), and the two water outlets of the two-way pipe (432) are respectively connected to the water inlets of two high-pressure nozzles (44), and the water outlets of the two high-pressure nozzles (44) are respectively arranged in the direction of the first camera (31) and the second camera (32).

7. The underground inspection robot according to claim 5, characterized in that: The water inlet of the water storage tank (41) is connected to the water outlet of the water inlet pipe (45), the water inlet pipe (45) passes through the side wall of the shell (1), the water inlet of the water inlet pipe (45) is located outside the shell (1), and a detachable plug (46) is provided at the water inlet of the water inlet pipe (45).

8. The underground inspection robot according to claim 5, characterized in that: A hot air blower (8) is provided on the inner side wall of the housing (1), and the hot air blower (8) is arranged facing the direction of the shooting device (3).

9. The underground inspection robot according to claim 8, characterized in that: A power supply device is also provided inside the housing (1), and the power supply device supplies power to the automatic lifting mechanism (2), the automatic flushing mechanism (4), and the hot air blower (8).

10. The underground inspection robot according to claim 1, characterized in that: The traveling wheel (6) comprises a roller (61) and a roller seat (62), wherein the roller (61) is rotatably mounted on the bottom of the roller seat (62) via a wheel axle, and the top of the roller seat (62) is fixedly connected to the bottom of the housing (1) via a fastening bolt (63).

Images