An explosion-proof intelligent inspection robot

Abstract

This utility model relates to the field of explosion-proof robot technology, specifically to an explosion-proof intelligent inspection robot. It includes a cabin, a transmission wheel assembly, a control module, and an inspection sensor assembly. The cabin has an upper compartment and a lower compartment, with a battery pack housed in the lower compartment. The control module is housed in the upper compartment. Some components of the inspection sensor assembly are located in the upper compartment, while the remaining components are located above the cabin. The transmission wheel assembly includes a walking mechanism and a steering mechanism. Each steering mechanism has a cable channel running through the steering shaft, allowing power lines or signal lines to pass through the cable channel without being exposed. Four symmetrically distributed docking sockets are located at the bottom of the cabin, which mate with docking plugs. This utility model enables quick assembly and disassembly of the transmission wheel assembly, omnidirectional movement of the explosion-proof intelligent robot, effectively avoids cable wear and breakage caused by frequent turning, improves the service life of cables and the robot, and reduces robot maintenance costs.

Description

Technical Field

[0001] This utility model relates to the field of explosion-proof robot technology, and more specifically, to an explosion-proof intelligent inspection robot. Background Technology

[0002] With the rapid development of industrial automation and intelligence, inspection robots are being used more and more widely in the industrial field. In special industries such as oil, natural gas, chemical, and metallurgy, the presence of flammable and explosive gases or dust places extremely high demands on the explosion-proof performance of inspection robots. However, existing inspection robots still have shortcomings in terms of explosion-proof design, flexibility, and ease of maintenance. For example, traditional four-wheel differential drive systems are prone to problems such as position drift and poor control accuracy in complex environments, and the disassembly and maintenance of the wheel sets are relatively cumbersome, affecting the robot's efficiency and reliability. Utility Model Content

[0003] The purpose of this invention is to provide an explosion-proof intelligent inspection robot that can solve the above-mentioned technical problems.

[0004] This utility model provides an explosion-proof intelligent inspection robot, which includes a cabin, a transmission wheel set, a control module, and an inspection sensor set.

[0005] The cabin has an upper compartment and a lower compartment. The battery pack is housed in the lower compartment and is used to power the control module, the inspection sensor group, and the transmission wheel group. The control module is housed in the upper compartment and is signal-connected to the inspection sensor group and the transmission wheel group.

[0006] Some components of the inspection sensor group are located in the upper cabin, while the remaining components are located above the cabin body, for detecting information about the surrounding environment;

[0007] The transmission wheel set includes a walking mechanism and a steering mechanism;

[0008] The walking mechanism includes a walking motor, a reducer, a walking housing, wheels, a first explosion-proof sleeve, and a steering limit block;

[0009] The walking motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the walking housing is a hollow structure, a part of which is used to house the walking motor and the other part is used to arrange cables; the steering limit block is installed at the upper end of the walking housing to limit the steering range of the walking mechanism; the first explosion-proof sleeve is installed between the walking housing and the reducer to achieve explosion-proof function;

[0010] The steering mechanism includes a steering housing, a steering motor, a motor drive shaft, a steering shaft, a second explosion-proof sleeve, and a docking plug;

[0011] The output end of the steering motor is connected to one end of the motor drive shaft, the other end of the motor drive shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the walking housing; the docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor for explosion-proof function;

[0012] The steering mechanism is equipped with a cable channel that runs through the steering shaft, allowing power lines or signal lines to pass through the cable channel without being exposed.

[0013] The bottom of the cabin is provided with four symmetrically distributed docking sockets, which cooperate with the docking plug to realize the modular connection between the cabin and the transmission wheel assembly.

[0014] In a preferred embodiment, the circumferential edge of the docking socket is provided with a first guide structure, and the docking plug is provided with a second guide structure that matches the first guide structure. The steering housing is detachably fixed to the docking socket through the cooperation of the second guide structure and the first guide structure.

[0015] In a preferred embodiment, the first guide structure comprises multiple guide holes, and the second guide structure comprises multiple guide posts;

[0016] or,

[0017] The first guide structure comprises multiple guide posts, and the second guide structure comprises multiple guide holes;

[0018] The guide post is matched with the guide hole one by one.

[0019] In a preferred embodiment, both the mating plug and the mating socket are provided with error prevention structures.

[0020] In a preferred embodiment, the cabin and the wheel assembly are detachably connected by bolts.

[0021] In a preferred embodiment, the inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm. The probe of the gas detection sensor extends to the outside of the cabin, and the detection end of the temperature and humidity sensor is located at the ventilation grille on the side wall of the lower cabin.

[0022] In a preferred embodiment, the inspection sensor group further includes an explosion-proof lidar, an explosion-proof TOF, an explosion-proof speaker, an explosion-proof integrated gimbal, an explosion-proof microphone, and an antenna disposed above the cabin.

[0023] In a preferred embodiment, the explosion-proof lidar, together with the inertial measurement unit and the vision system, constitutes a SLAM system.

[0024] In a preferred embodiment, the explosion-proof intelligent inspection robot further includes a wireless charging component, which is connected to the battery pack.

[0025] In a preferred embodiment, a solid-state lidar is also installed in the upper cabin.

[0026] The beneficial effects of this utility model embodiment are:

[0027] Modular connection between the drive wheel assembly and the cabin allows for quick assembly and disassembly of the drive wheel assembly, facilitating on-site maintenance of the explosion-proof intelligent inspection robot. The cables are connected via four pairs of mating sockets and plugs, enabling omnidirectional movement of the explosion-proof intelligent robot and improving its flexibility and maneuverability. The internal cabling of the drive wheel assembly effectively prevents cable wear and breakage caused by frequent robot turning, thus extending the service life of both the cables and the robot. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A three-dimensional structural diagram of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model;

[0030] Figure 2 A three-dimensional structural schematic diagram of the explosion-proof intelligent inspection robot provided in an embodiment of this utility model from another perspective;

[0031] Figure 3 A schematic diagram of the cabin structure of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model;

[0032] Figure 4 for Figure 3 Enlarged view of a portion at point A;

[0033] Figure 5 A schematic diagram of the walking wheel assembly of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model;

[0034] Figure 6 A schematic diagram of the walking mechanism of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model;

[0035] Figure 7 A cross-sectional view of the walking mechanism of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model (the cross-section is in the vertical direction passing through the wheel axle);

[0036] Figure 8 A schematic diagram of the steering mechanism of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model;

[0037] Figure 9 A cross-sectional view (section and cross-section) of the steering mechanism of the explosion-proof intelligent inspection robot provided in this embodiment of the utility model. Figure 7 (Same as the plane).

[0038] Icons: 1-House; 2-Wheelset; 3-Explosion-proof LiDAR; 4-Explosion-proof TOF; 5-Explosion-proof speaker; 6-Explosion-proof integrated pan / tilt unit; 7-Audible and visual alarm; 8-Explosion-proof pickup; 9-Gas detection device; 10-Antenna; 11-Upper compartment; 12-Lower compartment; 13-Dating socket; 14-Guide column; 15-Steering mechanism; 16-Wheelset mechanism; 17-Dating plug; 18-Guide hole; 19-Wheelset housing; 20-Wheel; 21-Steering limit block; 22-Hole cover; 23-Hub cover; 24-Tire; 25-Wheelset motor; 26-First explosion-proof sleeve; 27-Reducer; 28-Hub; 29-Steering housing; 30-Upper cover; 31-Steering motor; 32-Motor drive shaft; 33-Steering shaft; 34-Bearing; 35-Second explosion-proof sleeve. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0044] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0045] The following is combined with Figures 1-9 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0046] This utility model provides an explosion-proof intelligent inspection robot, such as Figure 1 and Figure 2 As shown, it includes a cabin 1, a transmission wheel assembly, a control module, and a patrol sensor assembly. The cabin 1 has an upper compartment 11 and a lower compartment 12. The lower compartment 12 houses the battery pack for powering the control module, the patrol sensor assembly, and the transmission wheel assembly. The upper compartment 11 houses the control module, which is signal-connected to the patrol sensor assembly and the transmission wheel assembly. Some components of the patrol sensor assembly are located in the upper compartment 11, while the remaining components are located above the cabin 1 for detecting surrounding environmental information.

[0047] The transmission wheel set includes a walking mechanism 16 and a steering mechanism 15; the walking mechanism 16 includes a walking motor 25, a reducer 27, a walking housing 19, wheels 20, a first explosion-proof sleeve 26, and a steering limit block 21; the walking motor 25 is connected to the reducer 27, and the output end of the reducer 27 is connected to the wheel 20; the walking housing 19 has a hollow structure, a part of which is used to house the walking motor 25, and another part is used to arrange cables; the steering limit block 21 is installed at the upper end of the walking housing 19 to limit the steering range of the walking mechanism 16; the first explosion-proof sleeve 26 is installed between the walking housing 19 and the reducer 27 to achieve explosion-proof function; the steering mechanism 15 includes a steering housing 29, a steering motor 31, a motor drive shaft 32, a steering shaft 33, and a second… The system includes an explosion-proof sleeve 35 and a docking plug 17; the output end of the steering motor 31 is connected to one end of the motor drive shaft 32, the other end of the motor drive shaft 32 is connected to one end of the steering shaft 33, and the other end of the steering shaft 33 is connected to the walking housing 19; the docking plug 17 is installed on the steering housing 29 for docking with the socket of the robot body; the second explosion-proof sleeve 35 is installed between the steering housing 29 and the steering motor 31 to achieve explosion-proof function; each steering mechanism 15 has a cable channel passing through the steering shaft 33, allowing power lines or signal lines to pass through the cable channel without being exposed; the bottom of the cabin 1 has four symmetrically distributed docking sockets 13, which cooperate with the docking plug 17 to realize the modular connection between the cabin 1 and the transmission wheel set.

[0048] In this embodiment, the cabin 1 and the transmission wheel assembly are modularly connected, which makes the transmission wheel assembly easier to disassemble and maintain, improves maintenance efficiency, and reduces maintenance costs.

[0049] In this embodiment, the modular connection method is to provide a docking socket 13 on the cabin 1 and a docking plug 17 on the steering shell 29 of the transmission wheel assembly. Through the connection between the docking plug 17 and the docking socket 13, the electrical connection between the battery pack, control module and transmission wheel assembly inside the cabin 1 is realized, which facilitates the power supply and control of the transmission wheel assembly.

[0050] In this embodiment, the walking wheel set 2 includes a steering walking mechanism 16 and a steering mechanism 15. The steering housing 29 of the steering mechanism 15 is connected to the cabin 1, and the walking mechanism 16 is connected to the steering mechanism 15. It can turn under the action of the steering mechanism 15 and drive the explosion-proof intelligent inspection robot to turn. The movement of the walking mechanism 16 itself can drive the explosion-proof intelligent inspection robot to move.

[0051] The four sets of walking wheels 2 correspond to four docking sockets 13, thereby enabling the robot to move in all directions with the cooperation of the walking mechanism 16 and the steering mechanism 15. This allows the robot to move smoothly on narrow roads or complex road conditions with little turning space, meeting the application needs of multiple work scenarios.

[0052] The modular design makes the robot's overall structure compact and small in size, with excellent performance, flexible control, smooth operation, and low noise.

[0053] In this embodiment, the walking mechanism 16 includes a walking motor 25, a reducer 27, a walking housing 19, wheels 20, a hole cover 22, a first explosion-proof sleeve 26, and a steering limit block 21. The walking motor 25 is bolted to the walking housing 19, and its output shaft is connected to the input end of the reducer 27. The output end of the reducer 27 is connected to the wheels 20, thereby transmitting power to the wheels 20 and driving them to rotate. The walking housing 19 has a hollow structure; one part is used to house the walking motor 25, and the other part is used to arrange cables, ensuring the neatness and safety of the cables. The side of the walking housing 19 has an inspection hole, and the hole cover 22 is bolted to the walking housing 19 to cover the inspection hole for easy daily inspection and maintenance. The steering limit block 21 is bolted to the upper end of the walking housing 19 to limit the steering range of the walking mechanism 16 and prevent over-steering. The first explosion-proof sleeve 26 is installed between the walking housing 19 and the reducer 27 and is bolted to achieve explosion-proof function, ensuring safe use in explosion-proof environments.

[0054] In this embodiment, the steering mechanism 15 includes a steering housing 29, a steering motor 31, a motor drive shaft 32, a steering shaft 33, a second explosion-proof sleeve 35, a top cover 30, and a docking plug 17. The steering motor 31 is bolted into the steering housing 29, and its output end is connected to one end of the motor drive shaft 32. The other end of the motor drive shaft 32 is connected to one end of the steering shaft 33, and the other end of the steering shaft 33 is connected to the walking housing 19, thus realizing the steering function. An observation hole is provided on the steering housing 29, and the top cover 30 is bolted to the steering housing 29 to cover the observation hole, facilitating observation of the operating status of the steering mechanism 15. The docking plug 17 is installed on the steering housing 29 for docking with the socket of the robot body to achieve electrical connection. The second explosion-proof sleeve 35 is installed between the steering housing 29 and the steering motor 31 and is bolted to achieve explosion-proof function, ensuring safe use in explosion-proof environments.

[0055] In this embodiment, the steering motor 31 is an integrated joint motor with a hollow interior, which can be used for cable passage. At this time, the housing of the rotating motor is the steering housing 29, which cooperates with the walking housing 19 to prevent the cable from being exposed.

[0056] In this embodiment, the walking motor 25, together with the reducer 27, provides effective driving power to the walking mechanism 16; the upper end of the walking mechanism 16 is provided with a steering limit block 21, which serves as a mechanical limit to restrict the steering range of the walking mechanism 16 to within ±90°.

[0057] In this embodiment, the wheel 20 includes a hub 28, a tire 24, and a hub cover 23; the hub 28 is connected to the output end of the reducer 27, and the tire 24 is mounted on the hub 28; the hub cover 23 is mounted on the outside of the hub 28 to protect the connection between the hub 28 and the reducer 27.

[0058] In this embodiment, the walking mechanism 16 adopts an explosion-proof form with an IIC explosion-proof rating; the walking shell 19 and the wheel hub 28 of the wheel 20 are made of aluminum alloy, which is strong, high quality and lightweight.

[0059] In this embodiment, the connection between the steering shaft 33 and the steering housing 29 is achieved using a bearing 34. This connection method not only improves the steering flexibility and precision but also enhances the reliability and durability of the entire module.

[0060] The steering shaft 33 is a key component of the steering mechanism 15, used to transmit power from the steering motor 31 to enable the steering of the travel housing 19. One end of the steering shaft 33 is connected to the motor drive shaft 32, and the other end is connected to the travel housing 19 via a bearing 34.

[0061] The steering housing 29 is a hollow structure used to house the steering motor 31 and to route cables. Its lower part has bearing 34 mounting holes for installing the bearing 34, ensuring that the steering shaft 33 can rotate smoothly within it.

[0062] In this embodiment, both the motor drive shaft 32 and the steering shaft 33 are hollow shafts. This design not only optimizes space utilization but also improves the reliability and maintenance convenience of the entire transmission module, reduces weight, enhances safety, and improves the overall module performance.

[0063] The bearing 34 is a key component connecting the steering shaft 33 and the travel housing 19. The bearing 34 is typically a high-precision rolling bearing, capable of withstanding large radial and axial loads, ensuring the stability and accuracy of the steering shaft 33 during high-speed operation. The outer ring of the bearing 34 is installed inside the steering housing 29 with an interference fit and is fixed with bolts. The inner ring of the bearing 34 mates with the steering shaft 33 and is also fixed with bolts. In this embodiment, the bearing 34 is a crossed roller bearing 34.

[0064] When the steering shaft 33 is installed on the steering housing 29, the outer ring of the bearing 34 is fixed to the steering housing 29 by bolts, and the inner ring of the bearing 34 is fixed to one end of the steering shaft 33 by bolts. The end face of the steering shaft 33 is provided with a sealing groove for installing a sealing ring, which ensures the connection is firm and the sealing is good. The other end of the steering shaft 33 is connected to the motor drive shaft 32, and power is transmitted through splines or bolts.

[0065] In a preferred embodiment, the circumferential edge of the docking socket 13 is provided with a first guide structure, and the docking plug 17 is provided with a second guide structure that matches the first guide structure. The steering housing is detachably fixed to the docking socket 13 through the cooperation of the second guide structure and the first guide structure.

[0066] In this embodiment, the first guide structure and the second guide structure are matched to enable the docking plug 17 and the docking socket 13 to dock smoothly, ensuring the accuracy and stability of the connection.

[0067] In a preferred embodiment, the first guide structure is a plurality of guide holes 18, and the second guide structure is a plurality of guide posts 14; or, the first guide structure is a plurality of guide posts 14, and the second guide structure is a plurality of guide holes 18; the guide posts 14 are matched one-to-one with the guide holes.

[0068] In this embodiment, the first guide structure and the second guide structure are a guide hole 18 and a guide post 14, respectively, which are respectively disposed on the cabin 1 and the steering shell 29. The guide post 14 can be disposed on the cabin 1, or on the steering shell 29, or both the cabin 1 and the steering shell 29 can be provided with guide holes 18. As long as the guide holes 18 are provided in relative positions so that the guide holes 18 can be inserted into the guide post 14, the guiding and positioning between the docking plug 17 and the docking socket 13 can be achieved.

[0069] In this embodiment, the depth of the guide hole 18 is greater than the depth of the docking socket 13, so that the docking plug 17 can be fully inserted into the docking socket 13, ensuring the stability of the connection.

[0070] In this embodiment, the docking plug 17 is also provided with an error prevention structure to ensure that the docking plug 17 and the docking socket 13 on the cabin can be connected correctly and safely, preventing electrical faults or damage caused by mis-insertion.

[0071] In this embodiment, the error prevention structure can take the following forms:

[0072] Shape-based mis-insertion prevention: The contact parts of the plug and socket are designed with asymmetrical shapes, such as rectangles, crosses, or L-shapes. Correct connection can only be achieved when the shapes of the plug and socket perfectly match. This design effectively prevents mis-insertion through the constraint of physical shape.

[0073] Slots and blocks: Slots and blocks are provided on the contact surfaces of the plug and socket, respectively. The shapes and sizes of the slots and blocks are matched, and the plug can only be fully inserted into the socket when the slots and blocks are correctly aligned. This design ensures accurate connection through mechanical constraints.

[0074] Color coding: Different colors are used for the plug and socket to visually guide operators to make correct connections. For example, the plug is red and the socket is blue; connection can only be made when the red plug is aligned with the blue socket. This design reduces misconnections caused by visual errors through color differentiation.

[0075] In a preferred embodiment, both the mating plug and the mating socket are provided with error prevention structures.

[0076] The error-proof structure provided in this embodiment not only ensures the correct connection between the docking plug 17 and the docking socket 18 on the hull, but also improves the safety and reliability of operation, simplifies the operation process, and enhances the durability of the entire system.

[0077] In a preferred embodiment, the cabin 1 and the wheel set 2 are detachably connected by bolts.

[0078] After the docking plug 17 is inserted into the docking socket 18, the walking wheel set is fixed to the cabin 1 by bolts, thereby ensuring the stability of the walking wheel set 2 during the walking process.

[0079] It is understood that in this embodiment, the connection between the cabin 1 and the wheel set 2 is a bolt connection, but it is not limited to bolt connection. It can also be other fixed connection methods, such as snap-fit, as long as it can achieve a detachable connection between the cabin 1 and the wheel set 2.

[0080] In a preferred embodiment, the inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm 7. The probe of the gas detection sensor extends to the outside of the cabin 1, and the detection end of the temperature and humidity sensor is located at the ventilation grille on the side wall of the lower cabin 12.

[0081] In this embodiment, the gas detection sensor is used to detect the concentration of the corresponding gas in the environment and promptly identify potential safety hazards.

[0082] During installation, the gas detection sensor is fixed on the upper compartment 11 to detect the corresponding gas concentration in the external environment of the compartment 1.

[0083] In this embodiment, the temperature and humidity sensor is used to detect the temperature and humidity of the gas in the external environment and provide real-time monitoring data.

[0084] In this embodiment, the audible and visual alarm 7 is used to trigger an alarm in cases such as system failure, instrument malfunction, high concentration of harmful gases in the environment, or excessively high ambient temperature exceeding a set high temperature threshold, so as to notify the relevant personnel to respond in a timely manner.

[0085] In a preferred embodiment, the inspection sensor group further includes an explosion-proof lidar 3, an explosion-proof TOF 4, an explosion-proof speaker 5, an explosion-proof integrated gimbal 6, an explosion-proof microphone 8, and an antenna 10 disposed above the cabin 1.

[0086] In this embodiment, the explosion-proof TOF4 is arranged around the robot's shell, and combined with the solid-state LiDAR installed at the front of the robot, it can be used for obstacle avoidance and fall prevention.

[0087] In this embodiment, the explosion-proof speaker 5 and the explosion-proof microphone 8 work together to enable two-way voice communication between the robot and the remote control terminal, allowing operators to understand the on-site sound information and communicate in real time.

[0088] In this embodiment, the explosion-proof integrated gimbal 6 is installed on the top of the explosion-proof intelligent inspection robot for collecting video information, laser methane detection, infrared thermal imaging, etc. It can achieve horizontal scanning and pitch rotation, thus achieving omnidirectional monitoring capabilities.

[0089] In this embodiment, the antenna 10 is fixed above the cabin 1 and extends upward to a certain height, which can increase the transmission distance and transmission strength of the control signal.

[0090] In a preferred embodiment, the explosion-proof lidar 3, together with the inertial measurement unit and the vision system, forms a SLAM system.

[0091] SLAM stands for Simultaneous localization and mapping, and it is mainly used to solve the problem of robot localization and map building in unknown environments. SLAM integrates multiple sensors (such as LiDAR, cameras, etc.) to build an environmental map in real time and simultaneously determine the robot's own position and orientation.

[0092] The SLAM system achieves its functions through the following key modules:

[0093] Sensor data: Raw data collected from the environment, such as laser scan data, video image data, point cloud data, etc.

[0094] Visual odometry: Estimating the relative position of a moving target at different times.

[0095] Backend optimization: Improve the accuracy of localization and mapping by optimizing algorithms.

[0096] Map building: Constructing a map model of the environment.

[0097] Loopback detection: Detects whether the robot has returned to a previously visited position to correct accumulated errors.

[0098] In this embodiment, an explosion-proof lidar 3 is mounted on top of the robot to scan the surrounding environment, acquire distance and angle information, and generate two-dimensional or three-dimensional point cloud data of the environment. It is explosion-proof and can operate safely in flammable and explosive gas environments. An inertial measurement unit (IMU) is installed inside the robot to measure and report the robot's acceleration and angular velocity, providing attitude information and helping to compensate for deviations in lidar data caused by robot movement. The vision system includes multiple cameras installed at different locations on the robot to capture environmental images, providing rich visual feature information to assist the lidar in environmental perception and localization.

[0099] With the SLAM system consisting of explosion-proof lidar 3, inertial measurement unit and vision system, explosion-proof robot can achieve accurate autonomous positioning and navigation in complex environment, timely detect equipment abnormalities and gas leaks, and improve inspection efficiency and safety.

[0100] In a preferred embodiment, the explosion-proof intelligent inspection robot further includes a wireless charging component, which is connected to the battery pack.

[0101] In this embodiment, the battery pack in the lower compartment 12 is wirelessly charged using a wireless charging component, which reduces the difficulty of charging operations and improves ease of use.

[0102] The beneficial effects of this utility model embodiment are:

[0103] Modular connection between the drive wheel assembly and the cabin 1 allows for quick assembly and disassembly of the drive wheel assembly, facilitating on-site maintenance of the explosion-proof intelligent inspection robot. The four pairs of mating sockets 13 and plugs 17 enable omnidirectional movement of the explosion-proof intelligent robot, improving its flexibility and maneuverability. The internal cabling of the drive wheel assembly effectively prevents cable wear and breakage caused by frequent turning, extending the lifespan of both the cable and the robot.

[0104] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An explosion-proof intelligent inspection robot, characterized in that, Includes the cabin, drive wheel assembly, control module, and inspection sensor assembly; The cabin has an upper compartment and a lower compartment. The lower compartment houses a battery pack for powering the control module, the inspection sensor group, and the transmission wheel group. The control module is located inside the upper cabin, and the control module is signal-connected to the inspection sensor group and the transmission wheel group; Some components of the inspection sensor group are located in the upper cabin, while the remaining components are located above the cabin body, for detecting information about the surrounding environment; The transmission wheel set includes a walking mechanism and a steering mechanism; The walking mechanism includes a walking motor, a reducer, a walking housing, wheels, a first explosion-proof sleeve, and a steering limit block; The walking motor is connected to the reducer, and the output end of the reducer is connected to the wheel; the walking housing is a hollow structure, a part of which is used to house the walking motor and the other part is used to arrange cables; the steering limit block is installed at the upper end of the walking housing to limit the steering range of the walking mechanism; the first explosion-proof sleeve is installed between the walking housing and the reducer to achieve explosion-proof function; The steering mechanism includes a steering housing, a steering motor, a motor drive shaft, a steering shaft, a second explosion-proof sleeve, and a docking plug; The output end of the steering motor is connected to one end of the motor drive shaft, the other end of the motor drive shaft is connected to one end of the steering shaft, and the other end of the steering shaft is connected to the running car body. The docking plug is installed on the steering housing for docking with the socket of the robot body; the second explosion-proof sleeve is installed between the steering housing and the steering motor to achieve explosion-proof function. The steering mechanism is equipped with a cable channel that runs through the steering shaft, allowing power lines or signal lines to pass through the cable channel without being exposed. The bottom of the cabin is provided with four symmetrically distributed docking sockets, which cooperate with the docking plug to realize the modular connection between the cabin and the transmission wheel assembly.

2. The explosion-proof intelligent inspection robot according to claim 1, characterized in that, The circumferential edge of the docking socket is provided with a first guide structure, and the docking plug is provided with a second guide structure that matches the first guide structure. The steering housing is detachably fixed to the docking socket through the cooperation of the second guide structure and the first guide structure.

3. The explosion-proof intelligent inspection robot according to claim 2, characterized in that, The first guide structure comprises multiple guide holes, and the second guide structure comprises multiple guide posts; or, The first guide structure comprises multiple guide posts, and the second guide structure comprises multiple guide holes; The guide post is matched with the guide hole one by one.

4. The explosion-proof intelligent inspection robot according to claim 2, characterized in that, Both the connector plug and the connector socket are equipped with error prevention structures.

5. The explosion-proof intelligent inspection robot according to claim 1, characterized in that, The cabin and the transmission wheel assembly are detachably connected by bolts.

6. The explosion-proof intelligent inspection robot according to claim 1, characterized in that, The inspection sensor group includes a gas detection sensor, a temperature and humidity sensor, and an audible and visual alarm. The probe of the gas detection sensor extends to the outside of the cabin, and the detection end of the temperature and humidity sensor is located at the ventilation grille on the side wall of the lower cabin.

7. The explosion-proof intelligent inspection robot according to claim 6, characterized in that, The inspection sensor group also includes an explosion-proof lidar, an explosion-proof TOF, an explosion-proof speaker, an explosion-proof integrated gimbal, an explosion-proof microphone, and an antenna, all mounted on the top of the cabin.

8. The explosion-proof intelligent inspection robot according to claim 7, characterized in that, The explosion-proof lidar, together with the inertial measurement unit and the vision system, forms a SLAM system.

9. The explosion-proof intelligent inspection robot according to claim 1, characterized in that, It also includes a wireless charging component, which is connected to the battery pack.

10. The explosion-proof intelligent inspection robot according to claim 1, characterized in that, The upper cabin is also equipped with a solid-state lidar.

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