Wheel type explosion-proof patrol robot

Abstract

This utility model discloses a wheeled explosion-proof inspection robot, which includes a vehicle body, a robot body, and a first explosion-proof motor. The vehicle body includes a frame and wheels mounted on the frame, with the wheels being driven by the first explosion-proof motor. The robot body includes an explosion-proof shell and an explosion-proof box, both of which are mounted on the frame. The explosion-proof shell has a receiving cavity, and the explosion-proof box is located within the receiving cavity. The explosion-proof box contains a power module and a control module. The first explosion-proof motor is mounted on the frame and located within the receiving cavity, and is electrically connected to the power module and communicatively connected to the control module. This utility model designs an integrated explosion-proof structural system on the inspection robot, ensuring the safe operation of core components in explosive environments, improving the explosion-proof level while ensuring effective inspection by the robot, and reducing manufacturing costs.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a wheeled explosion-proof patrol robot. Background Technology

[0002] In flammable and explosive high-risk industries such as petrochemicals and coal mines, traditional manual inspection methods require staff to enter the work site and check the equipment operating status and environmental safety indicators (such as gas concentration, temperature, pressure, etc.) through visual observation, manual testing, and simple instrument assistance. The core of this method relies on human labor. However, in practical applications, the above-mentioned manual inspection methods have many problems, such as: (1) High safety risk: Staff need to work in extreme environments such as flammable and explosive, toxic gases, and high temperatures (above 45°C), which can easily lead to safety accidents such as poisoning and explosions. (2) Insufficient efficiency and accuracy: Manual visual inspection is prone to missing the inspection of hidden areas (such as overlapping pipelines and high-altitude equipment), and manual inspection relies on personal experience and lacks real-time quantitative data support. (3) High cost and poor continuity: 24-hour manual duty is very costly and it is difficult to achieve continuous monitoring around the clock. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a wheeled explosion-proof inspection robot to solve the problems of high safety risks, low efficiency and high cost of existing manual inspection methods.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a wheeled explosion-proof patrol robot, comprising a vehicle body, a robot body, and a first explosion-proof motor; the vehicle body includes a frame and wheels mounted on the frame, the wheels being drivenly connected to the first explosion-proof motor; the robot body includes an explosion-proof shell and an explosion-proof box, both of which are mounted on the frame, the explosion-proof shell having a receiving cavity, the explosion-proof box being located within the receiving cavity, and the explosion-proof box containing a power module and a control module; the first explosion-proof motor is mounted on the frame and located within the receiving cavity, the first explosion-proof motor being electrically connected to the power module and communicatively connected to the control module.

[0005] Furthermore, the wheeled explosion-proof patrol robot described in this utility model also includes a multi-sensor fusion module, which includes an explosion-proof gimbal camera. The explosion-proof gimbal camera is mounted on the explosion-proof housing and is communicatively connected to the control module.

[0006] Furthermore, in the wheeled explosion-proof patrol robot described in this utility model, the multi-sensor fusion module also includes an ultrasonic sensor, a gas sensor, and a lidar disposed on the robot body, and the ultrasonic sensor, gas sensor, and lidar are all communicatively connected to the control module.

[0007] Furthermore, the wheeled explosion-proof patrol robot of this utility model also includes a communication module, which is installed in the explosion-proof box and is connected to the control module and an external management and control platform.

[0008] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the control module includes an industrial computer and a control board. The control board is communicatively connected to the first explosion-proof motor and the multi-sensor fusion module, and the industrial computer is communicatively connected to the control board.

[0009] Furthermore, the wheeled explosion-proof patrol robot of this utility model includes two sets of wheels, which are respectively installed on both sides of the frame. Each set of wheels includes a first wheel and a second wheel located on the same side of the frame.

[0010] Furthermore, the wheeled explosion-proof patrol robot of this utility model also includes a steering device, a first connecting mechanism, and a second connecting mechanism. The steering device is located in the receiving cavity and installed on the explosion-proof box. One end of the steering device is connected to the first wheel through the first connecting mechanism, and the other end of the steering device is connected to the second wheel through the first connecting mechanism.

[0011] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the steering device includes a second explosion-proof motor, a steering wheel, a first elbow rod, and a second elbow rod. The second explosion-proof motor is mounted on the explosion-proof box, and the output shaft of the second explosion-proof motor is drivenly connected to the steering wheel. One end of the first elbow rod is drivenly connected to the steering wheel, and the other end of the first elbow rod is drivenly connected to the first connecting mechanism. One end of the second elbow rod is drivenly connected to the steering wheel, and the other end of the second elbow rod is drivenly connected to the second connecting mechanism.

[0012] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the steering wheel is provided with a first connecting member and a second connecting member, the first connecting member being connected to the first elbow rod, and the second connecting member being connected to the second elbow rod.

[0013] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the steering wheel is disc-shaped, and the first connecting member and the second connecting member are respectively located on both sides of the same radial direction of the steering wheel, and the radial distance between the two and the center of rotation of the steering wheel is equal.

[0014] The beneficial effects of this utility model are as follows: This utility model designs an integrated explosion-proof structure system for the patrol robot, which includes an explosion-proof shell, an explosion-proof box, and a first explosion-proof motor. The first explosion-proof motor directly drives the wheels, ensuring that the wheeled explosion-proof patrol robot can be driven in explosive environments, guaranteeing its basic mobility. Furthermore, through the nested design of the explosion-proof shell and the explosion-proof box (i.e., a complete cavity structure) for explosion-proof isolation, the power module and control module can be placed inside the explosion-proof box, ensuring the safe operation of core components in explosive environments. This improves the explosion-proof rating while ensuring effective inspection of the patrol robot, thereby reducing the use of specialized components (such as explosion-proof power modules and explosion-proof control modules) and lowering costs. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of the wheeled explosion-proof patrol robot described in this utility model from one perspective under one embodiment.

[0016] Figure 2 This is a structural schematic diagram of the wheeled explosion-proof patrol robot described in this utility model from another perspective under one embodiment.

[0017] Figure 3 This is a structural diagram of the wheeled explosion-proof patrol robot described in this utility model, with a portion of the structure hidden.

[0018] Figure 4 This is a structural schematic diagram of the wheeled explosion-proof patrol robot described in this utility model from a different perspective after concealing the explosion-proof shell and other structural components.

[0019] Figure 5 This is a structural schematic diagram of the wheeled explosion-proof patrol robot described in this utility model from a different perspective after concealing the explosion-proof shell and other structural components.

[0020] Figure 6 for Figure 5 A partial schematic diagram of point A of the wheeled explosion-proof patrol robot shown.

[0021] Figure 7 This is a structural schematic diagram of the wheeled explosion-proof patrol robot described in this utility model from another perspective after concealing the explosion-proof shell and other structural components.

[0022] Figure 8 for Figure 7 A partial schematic diagram of point B of the wheeled explosion-proof patrol robot shown.

[0023] Label Explanation:

[0024] 1. Vehicle body; 11. Vehicle frame; 12. First wheel; 13. Second wheel; 14. First explosion-proof motor;

[0025] 2. Explosion-proof enclosure;

[0026] 3. Explosion-proof box;

[0027] 4. Explosion-proof pan-tilt camera;

[0028] 5. Steering device; 51. Second explosion-proof motor; 52. Steering wheel; 53. First connecting piece; 54. Second connecting piece; 55. First elbow rod; 56. Second elbow rod;

[0029] 6. First connecting mechanism;

[0030] 7. Second connecting mechanism;

[0031] 8. First support component;

[0032] 9. Second support component. Detailed Implementation

[0033] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0034] In traditional high-risk industries (such as petrochemicals, coal mines, and gas pipelines), manual inspection has three major problems: (1) High safety risk: Workers need to work in extreme environments such as flammable and explosive materials, toxic gases, and high temperatures (above 45°C), which can easily lead to safety accidents such as poisoning and explosions. (2) Insufficient efficiency and accuracy: Manual visual inspection is prone to missing inspections of hidden areas (such as overlapping pipelines and high-altitude equipment), and manual inspection relies on personal experience and lacks real-time quantitative data support. (3) High cost and poor continuity: 24-hour manual monitoring is very costly and it is difficult to achieve continuous monitoring around the clock.

[0035] Therefore, please refer to Figures 1 to 8This utility model discloses a wheeled explosion-proof patrol robot, which includes a vehicle body 1, a robot body, and a first explosion-proof motor 14. The vehicle body 1 includes a frame 11 and wheels mounted on the frame 11, and the wheels are drivenly connected to the first explosion-proof motor 14. The robot body includes an explosion-proof shell 2 and an explosion-proof box 3, both of which are mounted on the frame 11. The explosion-proof shell 2 has a receiving cavity, and the explosion-proof box 3 is located in the receiving cavity. The explosion-proof box 3 contains a power module and a control module. The first explosion-proof motor 14 is mounted on the frame 11 and located in the receiving cavity. The first explosion-proof motor 14 is electrically connected to the power module and communicatively connected to the control module.

[0036] As described above, the beneficial effects of this utility model are as follows: This utility model designs an integrated explosion-proof structure system on the patrol robot, which includes an explosion-proof shell 2, an explosion-proof box 3, and a first explosion-proof motor 14. The first explosion-proof motor 14 directly drives the wheels, ensuring that the wheeled explosion-proof patrol robot can be driven in an explosive environment, guaranteeing its basic mobility. Furthermore, the nested design of the explosion-proof shell 2 and the explosion-proof box 3 (i.e., a complete cavity structure) provides explosion-proof isolation, allowing the power module and control module to be placed inside the explosion-proof box 3. This ensures the safe operation of core components in an explosive environment, improving the explosion-proof rating while ensuring effective inspection of the patrol robot, thereby reducing the use of dedicated components (i.e., explosion-proof power module and explosion-proof control module) and lowering costs.

[0037] In practical applications, the power module housing located in the explosion-proof enclosure 3 provides power to components such as the first explosion-proof motor 14, driving the wheeled explosion-proof inspection robot to move. Simultaneously, the control module located in the explosion-proof enclosure 3 can control the inspection strategy of the first explosion-proof motor 14 (such as inspecting according to a planned inspection path), ensuring that the wheeled explosion-proof inspection robot can perform inspections effectively. Based on this, the aforementioned explosion-proof housing 2, explosion-proof enclosure 3, and first explosion-proof motor 14 enhance the robot's waterproof, dustproof, and explosion-proof ratings, enabling the robot to be used without obstacles in rain, snow, and thunderstorms, thus eliminating the need for manual inspections, improving safety and efficiency, and reducing costs.

[0038] Furthermore, the wheeled explosion-proof patrol robot described in this utility model also includes a multi-sensor fusion module. This module includes an explosion-proof gimbal camera 4, which is mounted on the explosion-proof housing 2 and is communicatively connected to the control module. In practical applications, this multi-sensor fusion module can communicate with a communication module, thereby sending the corresponding sensor data to the control center. After acquiring the sensor data, it can be processed and distributed through a big data processing and analysis system to improve computing speed, reduce latency, and thus enhance response speed.

[0039] As described above, by setting up the corresponding explosion-proof PTZ camera 4, image acquisition in an explosion-proof environment can be achieved.

[0040] Furthermore, in the wheeled explosion-proof patrol robot described in this utility model, the multi-sensor fusion module also includes an ultrasonic sensor, a gas sensor, and a lidar mounted on the robot body. The ultrasonic sensor, gas sensor, and lidar are all communicatively connected to the control module. It should be noted that the ultrasonic sensor can be an explosion-proof ultrasonic sensor, the gas sensor can be an explosion-proof gas sensor, and the lidar can be an explosion-proof lidar. In practical applications, the sensors in the multi-sensor fusion module can all be Class II C explosion-proof.

[0041] In practical applications, the ultrasonic sensor can be used to detect obstacle distances in real time and generate obstacle avoidance signals, supporting dynamic obstacle avoidance. The gas sensor can be used to monitor parameters such as the concentration of combustible and harmful gases, as well as temperature and humidity in the environment, improving environmental perception capabilities. The lidar can be combined with SLAM technology to build high-precision maps, enabling accurate autonomous navigation.

[0042] As described above, based on the setup of the various sensors, various data (such as vision, distance, gas, temperature and humidity) can be effectively acquired, facilitating the wheeled explosion-proof patrol robot to monitor the surrounding environment.

[0043] Furthermore, the wheeled explosion-proof patrol robot of this utility model also includes a communication module, which is installed in the explosion-proof box 3 and is connected to the control module and an external management and control platform.

[0044] As described above, the communication module supports 5G / Wi-Fi dual-mode transmission, ensuring that data is transmitted back to the external management platform in real time.

[0045] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the control module includes an industrial computer and a control board. The control board is communicatively connected to the first explosion-proof motor 14 and the multi-sensor fusion module, and the industrial computer is communicatively connected to the control board.

[0046] In practical applications, the control board is responsible for the overall system operation, explosion-proof motor control, sensor data, and peripheral interfaces, while the industrial computer is responsible for navigation and algorithms. Through this division of labor and collaboration between the industrial computer and the control board, the inspection capabilities of the patrol robot are effectively realized.

[0047] Furthermore, the wheeled explosion-proof patrol robot of this utility model includes two sets of wheels, which are respectively installed on both sides of the frame 11. Each set of wheels includes a first wheel 12 and a second wheel 13 located on the same side of the frame 11.

[0048] Furthermore, the wheeled explosion-proof patrol robot of this utility model also includes a steering device 5, a first connecting mechanism 6, and a second connecting mechanism 7. The steering device 5 is located in the receiving cavity and installed on the explosion-proof box 3. One end of the steering device 5 is connected to the first wheel 12 through the first connecting mechanism 6, and the other end of the steering device 5 is connected to the second wheel 13 through the first connecting mechanism 6.

[0049] In practical applications, such as Figure 8 As shown, the first connecting mechanism 6 can be mounted on the explosion-proof box 3 via a first support member 8. One end of the first support member 8 is mounted on the explosion-proof box 3, and the other end of the first support member 8 extends out and connects to the first connecting mechanism 6. The first connecting mechanism 6 can rotate around the first connecting rod, that is, the first connecting mechanism 6 is rotatably connected to the first connecting rod. Similarly, the second connecting mechanism 7 can be mounted on the explosion-proof box 3 via a second support member 9. One end of the second support member 9 is mounted on the explosion-proof box 3, and the other end of the second support member 9 extends out and connects to the second connecting mechanism 7. The second connecting mechanism 7 can rotate around the second connecting rod, that is, the second connecting mechanism 7 is rotatably connected to the second connecting rod.

[0050] Of course, in some other embodiments, the first connecting mechanism 6 may include a first rotating shaft that extends vertically and can rotate around its own axis, thereby steering the connected first wheel 12. Similarly, the second connecting mechanism 7 may include a second rotating shaft that extends vertically and can rotate around its own axis, thereby steering the connected second wheel 13.

[0051] As can be seen from the above description, by using the steering device 5 (a single explosion-proof motor) to drive the two wheels on the same side (compared to the traditional four-wheel steering system which requires a separate drive motor for each wheel), the number of motors can be effectively reduced, thus reducing the problems of high complexity and high mechanical system failure rate in four-wheel independent steering systems.

[0052] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the steering device 5 includes a second explosion-proof motor 51, a steering wheel 52, a first elbow 55, and a second elbow 56. The second explosion-proof motor 51 is mounted on the explosion-proof box 3, and the output shaft of the second explosion-proof motor 51 is drivenly connected to the steering wheel 52. One end of the first elbow 55 is drivenly connected to the steering wheel 52, and the other end of the first elbow 55 is drivenly connected to the first connecting mechanism 6. One end of the second elbow 56 is drivenly connected to the steering wheel 52, and the other end of the second elbow 56 is drivenly connected to the second connecting mechanism 7.

[0053] In practical applications, the steering wheel 52 is horizontally positioned, and the second explosion-proof motor 51 is mounted on the explosion-proof box 3. The output shaft of the second explosion-proof motor 51 extends vertically. When the output shaft of the third explosion-proof motor rotates around its own shaft axis, it drives the steering wheel 52 to rotate. Simultaneously, the steering wheel 52 also moves the first elbow lever 55 and the second elbow lever 56. The movement of the first elbow lever 55 sequentially drives the rotation of the first connecting mechanism 6 and the first wheel 12, thus steering the first wheel 12. Similarly, the movement of the second elbow lever 56 sequentially drives the rotation of the second connecting mechanism 7 and the second wheel 13, thus steering the second wheel 13. Specifically, when the first elbow lever 55 and the second elbow lever 56 perform corresponding forward and backward movements, the first elbow lever 55 drives the connected first connecting mechanism 6 to deflect, and the second elbow lever 56 drives the connected second connecting mechanism 7 to deflect. Based on this, the first connecting mechanism 6 can drive the first wheel 12 connected to it to turn, and the second elbow 56 will drive the second wheel 13 connected to it to turn.

[0054] As described above, the second explosion-proof motor 51 drives the steering wheel 52 to rotate, which in turn drives the first transmission device (i.e., the first elbow 55 and the first connecting mechanism 6) and the second transmission device (i.e., the second elbow 56 and the second connecting mechanism 7) located on both sides of the steering wheel 52, thereby driving the first wheel 12 and the second wheel 13 to turn synchronously. Based on this symmetrical elbow transmission design, the two wheels on the same side can achieve synchronous steering under the drive of a single motor.

[0055] Furthermore, in the wheeled explosion-proof patrol robot of this utility model, the steering wheel 52 is provided with a first connecting member 53 and a second connecting member 54. The first connecting member 53 is connected to the first elbow 55, and the second connecting member 54 is connected to the second elbow 56.

[0056] Furthermore, in the wheeled explosion-proof patrol robot described in this utility model, the steering wheel 52 is disc-shaped, the first connecting member 53 and the second connecting member 54 are respectively located on both sides of the same radial direction of the steering wheel 52, and the radial distance between the two and the center of rotation of the steering wheel 52 is equal.

[0057] In practical applications, such as Figure 3 , Figure 4 as well as Figure 6 As shown, when the steering wheel 52 rotates clockwise, the first elbow 55 will push forward accordingly, and the second elbow 56 will push backward synchronously. The forward push of the first elbow 55 drives the first connecting mechanism 6 to deflect and rotate, and the backward push of the second elbow 56 drives the second connecting mechanism 7 to deflect and rotate, so that the two wheels on the same side are linked through the same second explosion-proof motor 51, ensuring that the two wheels turn synchronously when turning (such as deflecting in the opposite direction).

[0058] Please refer to Figures 1 to 8 Embodiment 1 of this utility model is: a wheeled explosion-proof inspection robot, suitable for Class II explosive gas environments such as petrochemical plants, coal mines, and gas pipelines. This wheeled explosion-proof inspection robot includes a vehicle body 1, a robot body, a multi-sensor fusion module, and a first explosion-proof motor 14. The vehicle body 1 includes a frame 11 and four wheels mounted on the frame 11. Each wheel corresponds to one of the first explosion-proof motors 14. These four wheels can be divided into two groups, each group located on the same side of the vehicle body 1. Each group includes a first wheel 12 and a second wheel 13 located on the same side of the vehicle body 1.

[0059] In this embodiment, as Figure 1 as well as Figure 2As shown, the robot body is mounted on the frame 11. The robot body includes an explosion-proof shell 2 and an explosion-proof enclosure 3, both mounted on the frame 11. The explosion-proof shell 2 has a receiving cavity with its opening facing downwards, and the explosion-proof enclosure 3 is housed within this cavity. The explosion-proof enclosure 3 contains a power module (i.e., a power supply system) and a control module. The power module provides a power source to supply power to the four first explosion-proof motors 14. The control module includes an industrial computer and a control board. The control board is communicatively connected to the first explosion-proof motors 14 and the multi-sensor fusion module, and the industrial computer is communicatively connected to the control board. Furthermore, the explosion-proof enclosure 3 also includes a communication module, which is communicatively connected to both the control module and an external management platform.

[0060] In this embodiment, the multi-sensor fusion system (i.e., multi-sensor fusion module) on the wheeled explosion-proof patrol robot can perform environmental perception and data acquisition during the inspection process. In this embodiment, the multi-sensor fusion system includes an explosion-proof ultrasonic sensor, an explosion-proof gas sensor, an explosion-proof lidar, and an explosion-proof gimbal camera 4. The multi-sensor fusion system is communicatively connected to the control module to send the acquired data to the control module for processing. The explosion-proof gimbal camera 4 is mounted on top of the explosion-proof housing 2 and is used to capture image data of the surrounding environment. The explosion-proof ultrasonic sensor, explosion-proof gas sensor, and explosion-proof lidar are all mounted on the robot body. The explosion-proof ultrasonic sensor is used to detect obstacle distances in real time and generate obstacle avoidance signals. The explosion-proof gas sensor is used to monitor parameters such as the concentration of combustible and harmful gases, as well as temperature and humidity in the environment. The explosion-proof lidar is used to construct a high-precision environmental map and achieve SLAM autonomous navigation.

[0061] In practical applications, the aforementioned explosion-proof structural system (such as the explosion-proof housing 2, explosion-proof cavity, first explosion-proof motor 14, and explosion-proof gimbal camera 4) ensures that the robot meets explosion-proof standards and provides necessary protection. Based on this, the first explosion-proof motor 14 of the wheeled explosion-proof inspection robot serves as its basic drive mechanism, and can be combined with the power module to drive the wheels. The equipped multi-sensor fusion module is responsible for collecting and processing data such as images and gas samples. The processed data is transmitted to the control center via a communication module, such as a wireless network.

[0062] In this embodiment, to facilitate the steering of the wheeled explosion-proof patrol robot during movement, a corresponding steering device 5, a first connecting mechanism 6, and a second connecting mechanism 7 are also provided. The steering device 5 is located in the receiving cavity and installed on the explosion-proof box 3. One end of the steering device 5 is connected to the first wheel 12 through the first connecting mechanism 6, and the other end of the steering device 5 is connected to the second wheel 13 through the first connecting mechanism 6.

[0063] In this embodiment, as Figures 3 to 8 As shown, the steering device 5 includes a second explosion-proof motor 51, a steering wheel 52, a first elbow 55, and a second elbow 56. The second explosion-proof motor 51 is mounted on the explosion-proof box 3, and its output shaft is connected to the steering wheel 52. The steering wheel 52 is disc-shaped and horizontally arranged. A first connecting member 53 and a second connecting member 54 are provided on the steering wheel 52. The first connecting member 53 and the second connecting member 54 are located on opposite sides of the same radial direction of the steering wheel 52, and their radial distances from the center of rotation of the steering wheel 52 are equal. One end of the first elbow 55 is connected to the first connecting member 53 on the steering wheel 52, and the other end is connected to the first connecting mechanism 6. The first connecting mechanism 6 is connected to the first wheel 12. One end of the second elbow 56 is connected to the second connecting member 54 on the steering wheel 52, and the other end is connected to the second connecting mechanism 7. The second connecting mechanism 7 is connected to the second wheel 13. Furthermore, in this embodiment, an independent suspension and shock absorption device can be installed on the wheeled explosion-proof patrol robot to adapt to various complex road conditions. Of course, in some implementations, a corresponding speed reducer device can also be installed, which is connected in conjunction with the first and second explosion-proof motors to convert the high-speed, low-torque output of the first and second explosion-proof motors into a low-speed, high-torque output, thereby meeting the equipment's precise requirements for force and speed.

[0064] In summary, the wheeled explosion-proof patrol robot provided by this utility model has the following advantages: (1) Optimized drive system: The two wheels on the same side are driven to turn by the steering device 5 (a second explosion-proof motor 51), reducing the number of steering motors. That is, this utility model modifies the basic structure of four-wheel drive, and controls the first and second elbows to drive the first and second wheels to turn by the steering motor, reducing the number of motors and increasing the structural reliability. (2) Explosion-proof optimization: Explosion-proof shell + integrated explosion-proof cavity improves the explosion-proof level and reduces the application of special components. In this utility model, the robot body adopts a complete explosion-proof cavity for explosion-proof isolation, protecting the internal core components, improving the robot's waterproof, dustproof and explosion-proof level, so that the robot can be used without obstacles in rain, snow and thunderstorm weather; at the same time, ordinary components (such as non-explosion-proof power components) can be used, reducing the selection of special explosion-proof components, thereby reducing costs. (3) Improve detection accuracy and response speed: Apply deep learning-based target detection technology to improve detection technology. In practical applications, this wheeled explosion-proof patrol robot can improve the robot's response speed and obstacle avoidance efficiency based on intelligent control platform, artificial intelligence and machine learning technology, distributed computing technology, etc., thereby improving the robot's data analysis and processing speed and response speed. (4) Optimize inspection path: The integration and optimization of path planning algorithm improves the completeness and scientific nature of the robot's inspection route. (5) The drive chassis system of this utility model wheeled explosion-proof patrol robot consists of four-wheel drive, independent suspension shock absorption device, steering device 5 and first explosion-proof motor 14, etc. This system provides excellent drive adaptability, can cope with various complex road conditions, and solve the problems of high complexity and high mechanical system failure rate of four-wheel independent steering system. Based on the drive chassis system, this invention designs an explosion-proof structural system. The power module and core control module (including but not limited to batteries, network modules, control industrial computers, core control boards, etc.) of the wheeled explosion-proof patrol robot are installed inside the explosion-proof cavity and protected by the explosion-proof structural system. This complete cavity structure not only solves the problem of insufficient explosion-proof rating but also reduces the cost of some explosion-proof components and the use of specialized components. Furthermore, the multi-sensor fusion system of this wheeled explosion-proof patrol robot includes ultrasonic sensors, gas sensors, LiDAR SLAM navigation, a Wi-Fi module, and an explosion-proof pan-tilt camera, used to collect data on gas, smoke, temperature, harmful gases, and sound. After data collection, data analysis and distributed computing are performed through a big data processing and analysis system to improve computing speed, reduce latency, and thus enhance response speed.

[0065] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A wheeled explosion-proof patrol robot, characterized in that, The system includes a vehicle body, a robot body, and a first explosion-proof motor. The vehicle body includes a frame and wheels mounted on the frame, with the wheels being driven by the first explosion-proof motor. The robot body includes an explosion-proof shell and an explosion-proof box, both mounted on the frame. The explosion-proof shell has a receiving cavity, and the explosion-proof box is located within the receiving cavity. The explosion-proof box contains a power module and a control module. The first explosion-proof motor is mounted on the frame and located within the receiving cavity. The first explosion-proof motor is electrically connected to the power module and communicatively connected to the control module.

2. The wheel-based explosion-prevention patrol robot according to claim 1, characterized in that, It also includes a multi-sensor fusion module, which includes an explosion-proof gimbal camera mounted on the explosion-proof housing and communicatively connected to the control module.

3. The wheel-based explosion-prevention patrol robot according to claim 2, characterized in that, The multi-sensor fusion module also includes an ultrasonic sensor, a gas sensor, and a lidar mounted on the robot body, all of which are communicatively connected to the control module.

4. The wheel-based explosion-prevention patrol robot according to claim 1, characterized in that, It also includes a communication module, which is installed in the explosion-proof box and is connected to the control module and an external management and control platform.

5. The wheel-based explosion-proof patrol robot according to claim 2, characterized in that, The control module includes an industrial computer and a control board. The control board is communicatively connected to the first explosion-proof motor and the multi-sensor fusion module, and the industrial computer is communicatively connected to the control board.

6. The wheel-based explosion-proof patrol robot according to claim 1, characterized in that, It includes two sets of wheels, which are respectively mounted on both sides of the frame. Each set of wheels includes a first wheel and a second wheel located on the same side of the frame.

7. The wheel-based explosion-proof patrol robot according to claim 6, characterized in that, It also includes a steering device, a first connecting mechanism, and a second connecting mechanism. The steering device is located in the receiving cavity and installed on the explosion-proof box. One end of the steering device is connected to the first wheel through the first connecting mechanism, and the other end of the steering device is connected to the second wheel through the first connecting mechanism.

8. The wheel-based explosion-proof patrol robot according to claim 7, characterized in that, The steering device includes a second explosion-proof motor, a steering wheel, a first elbow rod, and a second elbow rod. The second explosion-proof motor is mounted on the explosion-proof box, and the output shaft of the second explosion-proof motor is drivenly connected to the steering wheel. One end of the first elbow rod is drivenly connected to the steering wheel, and the other end of the first elbow rod is drivenly connected to the first connecting mechanism. One end of the second elbow rod is drivenly connected to the steering wheel, and the other end of the second elbow rod is drivenly connected to the second connecting mechanism.

9. The wheeled explosion-proof patrol robot according to claim 8, characterized in that, The steering wheel is provided with a first connector and a second connector. The first connector is connected to the first elbow rod, and the second connector is connected to the second elbow rod.

10. The wheel-based explosion-proof patrol robot according to claim 9, characterized in that, The steering wheel is disc-shaped, and the first connector and the second connector are located on both sides of the same radial direction of the steering wheel, and the radial distance between the two connectors and the center of rotation of the steering wheel is equal.

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