CN111061264A - Intelligent inspection robot - Google Patents

Abstract

The invention relates to an intelligent inspection robot, which comprises a body, wherein a charging connector is arranged on the front side of the body, infrared distance measuring sensors are respectively arranged on four sides of the body, a main case is arranged on the upper side of the body, heat dissipation holes are respectively formed in the front side and the rear side of the main case, a first electric telescopic rod is arranged in the middle of the main case, a spherical rotary joint is arranged on the upper side of the first electric telescopic rod, an infrared thermal imager is connected to the right side of the spherical rotary joint, a camera is connected to the left side of the spherical rotary joint, a lighting lamp is arranged on the left side of the camera, a temperature and humidity sensor is arranged on the upper side of the right part of the main case, crawler belts are arranged on two sides of the lower side of a sound sensor body on the upper side of the temperature and humidity sensor; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.

Description

Intelligent inspection robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an intelligent inspection robot.

Background

With the implementation of unattended transformer substations, the scheduling and monitoring information standardization system is deepened and improved continuously, and the importance of a remote vision system called 'thousand miles' of the transformer substation is highlighted increasingly. However, a substation remote viewing system is generally a primary device for monitoring outdoor equipment (such as a transformer, a switch, a bus, a capacitor, an indoor 10 kv switch cabinet, etc.), a screen cabinet device in a substation control room, and although a video monitoring device is also installed on an indoor wall, only one screen cabinet device is needed to be viewed, the device in the screen cabinet is almost not clearly viewed, a worker normally visits the device by an unattended substation operation team, and the monitoring authority hands over a dispatching monitoring team. However, for the appearance condition of important equipment in a control room cabinet of a transformer substation, the wiring connection condition of the equipment, whether the flicker condition of a signal lamp on the equipment is normal or not, including the name of a manufacturer on the equipment, the model of the equipment and the like, cannot be monitored, because the existing transformer substations are unattended stations, and some transformer substations are far in route (between 5 and 200 kilometers), if the equipment fault cannot be accurately judged or the models of the equipment with replacement are incompatible, the problem that the equipment fault cannot be accurately judged, the rush-repair time can be delayed, the working efficiency is reduced, the equipment fault cannot be timely found and an alarm is given out, so that a serious accident occurs; therefore, it is necessary to provide an intelligent inspection robot with long endurance, high intelligence, comprehensive inspection, multiple functions and comprehensive detection.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the intelligent inspection robot which is long in cruising time, highly intelligent, comprehensive in inspection, multifunctional and comprehensive in detection.

The purpose of the invention is realized as follows: the intelligent inspection robot comprises a body, wherein two sides of the lower side of the body are provided with tracks, the rear side of the body is provided with a charging connector, four sides of the body are respectively provided with an infrared distance measuring sensor, the upper side of the body is provided with a mainframe box, the front side and the rear side of the mainframe box are respectively provided with a heat dissipation hole, the middle part of the mainframe box is provided with a first electric telescopic rod, the upper side of the first electric telescopic rod is provided with a spherical rotary joint, the right side of the spherical rotary joint is connected with an infrared thermal imager, the left side of the spherical rotary joint is connected with a camera, the left side of the camera is provided with an illuminating lamp, the upper side of the right part of the mainframe is provided with a temperature and humidity sensor, the upper side of the temperature and humidity sensor is provided with an environment noise reduction pickup, the lower side of the body is provided with a dust raising brush, and, the novel dust collection brush is characterized in that a sealing ring is arranged between the motor and the body, a dust collection hole is formed in the rear side of the dust collection brush, a dust collection box is arranged on the rear side of the dust collection hole, a battery pack is arranged on the front side inside the body, a baffle is arranged on the upper side of the battery pack, motors are arranged on the left side and the right side inside the body, the motors are connected with transmission shafts, the transmission shafts respectively control tracks on the left side and the right side, and a controller is arranged on the right side inside the mainframe box.

Preferably, the camera include two main high definition cameras and a wide-angle camera, two main high definition cameras can satisfy and shoot the accurate condition of equipment, the wide-angle camera can satisfy and shoot closely or long-range zooming, shoot clear image, can let the controller discern equipment data and equipment situation.

Preferably, the middle part of ball-type rotary joint be provided with the radium-shine map scanner of RPS, the radium-shine map scanner of RPS set up the middle part at the ball-type connector, the radium-shine map scanner of RPS can scan along with the rotation of ball-type rotary joint, set up the middle part at ball-type rotary joint can form more comprehensive space map along with rotatory regional to patrolling and examining, provide comprehensive space map for the action route of robot.

Preferably, the upper portion rear side of mainframe box be provided with the pillar, the upside of pillar be connected with signal reception conveyer, signal reception conveyer receives the task instruction of patrolling and examining that the surveillance center was assigned on the one hand, on the other hand to patrol and examine the data and the image transmission that regional obtained and monitor the center.

The connection mode between pillar and mainframe box be the welding, mainframe box and body between the connection mode be the welding.

The controller is connected with the battery pack, the infrareddistance measuring sensor 10, the temperature and humidity sensor, the environmental noise reduction pickup, the control motors of the left and right tracks, the RPS laser map scanner, the camera, the infrared thermal imager, the first electric telescopic rod, the signal receiving and transmitting device and the large-capacity storage hard disk in a wired connection mode, various setting images collected by all the sensors in the routing inspection process are sent to the controller, the controller further processes the data and sends the data to the monitoring center, and meanwhile, the controller also controls the action of the robot.

The infrared distance measuring sensor is a GP2Y0A21YK0F type infrared distance measuring sensor, the temperature and humidity sensor is an HTU21 temperature and humidity sensor, the environment noise reduction pickup is an M1203P environment noise reduction pickup, the noise of the robot is effectively reduced, the running sound of each device in the transformer substation is clearly collected, and the dust fullness detector is a DT-618 wind speed measuring instrument to measure whether the dust and the garbage in the dust collecting box are too much through the wind speed of the dust filter screen.

The body inside still include dust extraction, dust extraction is by suction fan, dust collecting tube, dust filter screen, second electric telescopic handle, leading wheel, guide bar, extension rod, and the detector is full to the dirt is constituteed, the cylinder set up the upside in the dust absorption hole, the suction fan set up the upside at the collection box, the dust filter screen set up between dust collection box and suction fan, the dust collecting tube connect dust collection box and dust absorption hole, the left and right sides of dust collection box weld respectively the extension rod, the outside welding of extension rod have the leading wheel, the left and right sides of dust collection box be provided with the guide bar respectively, the upside of dust filter screen be provided with the detector of full dirt.

The guide rod is a cuboid, the dust collection box is welded at the top end of the second electric telescopic rod, and the dust collection box is a hollow cuboid box without a bottom plate.

The invention has the beneficial effects that: the invention adopts a crawler type advancing mode, has enough traction force, can provide enough power support for the inspection robot, the robot is provided with a large amount of monitoring equipment and an independent host and an information collector, the enough traction force provided by the crawler type advancing mode is enough to drive the interior of the whole machine, meanwhile, the invention also carries an RPS laser map scanning technology, the area passed by is scanned by 360 degrees through a top laser scanner to generate a map, an inspection route is automatically planned, the robot can return to the place before charging and then inspect after each charging, the inspected place can not be repeatedly inspected, a main camera is a variable-focus camera, and a searchlight is matched, so that the data of various instruments and meters can be clearly observed even in a dark environment, and the condition of each equipment of a transformer substation can be clearly identified, the invention is provided with an infrared thermal imager, can send instrument temperature information to a monitoring center in an image form, monitors the running temperature of various instruments in real time, monitors temperature change, can clearly find people or wild animals appearing in a transformer substation, and provides acousto-optic warning and driving to the instruments in time by using a loudspeaker. The dust collecting box absorbs dust in a large area and stores the dust in the dust collecting box, the dust collecting box is also provided with an automatic processing device and is provided with a fixed garbage disposal pit, when the wind speed of the suction fan is reduced by a dust fullness detector, the dust in the dust collecting box is full, the robot can automatically navigate to the garbage disposal pit and push the garbage stored in the dust collecting box out of the robot through a guide wheel and a second electric telescopic rod, a bottom plate is not arranged at the bottom of the dust collecting box, when the dust collecting box is pushed out by the second electric telescopic rod, the garbage can be sent into the garbage disposal pit, the cleanness of indoor dust is improved, and a good working environment is provided for the stable operation of an electronic instrument. Performing acousto-optic warning on non-workers and sending the warning to a monitoring center, feeding back various information in time, performing intelligent control by a computer, intelligently planning a monitoring route for scientific inspection according to the prior laser map scanning technology, comparing various instrument data in time, judging whether a fault exists according to data change, and sending a data comparison result to the monitoring center; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.

Drawings

Fig. 1 is a schematic structural diagram of the intelligent inspection robot of the invention.

Fig. 2 is a rear view of the intelligent inspection robot of the present invention.

Fig. 3 is a bottom view of the intelligent inspection robot of the present invention.

Fig. 4 is a schematic diagram of the internal structure of the body of the intelligent inspection robot.

Fig. 5 is a schematic diagram of the internal structure of the main cabinet of the intelligent inspection robot.

Fig. 6 is a schematic view of the internal structure of the cleaning device of the intelligent inspection robot of the present invention.

Fig. 7 is a schematic structural view of a dust suction device of the intelligent inspection robot.

Fig. 8 is a schematic view of a heave brush structure of the intelligent inspection robot.

In the figure: 1. the device comprises anilluminating lamp 2, acamera 3, an RPSlaser map scanner 4, a sphericalrotary connector 5, an infraredthermal imager 6, a first electrictelescopic rod 7, a temperature andhumidity sensor 8, aheat dissipation hole 9, amain case 10, an infrareddistance measuring sensor 11, acrawler 12, abody 13, adusting brush 14, adust suction hole 15, adust collection box 16, an environmentalnoise reduction pickup 17, a signal receiving and transmittingdevice 18, asupport rod 19, acharging port 20, abattery pack 21, abaffle 22, amotor 23, atransmission shaft 24, acontroller 25, a storagehard disk 26, arotary joint 27, aloudspeaker 28, apositioning device 29, anair outlet 30, asuction fan 31, asecond motor 32, athird motor 33, asealing ring 34, adust filter screen 35, aguide wheel 36, aguide rod 37, a second electrictelescopic rod 38,A roller 39, adust collecting pipe 40, anextension rod 41 and a dust fullness detector.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Example 1

As shown in fig. 1-8, the intelligent inspection robot comprises abody 12, twocrawler belts 11 are arranged on two sides of the lower side of thebody 12, acharging port 19 is arranged on the rear side of thebody 12, infrareddistance measuring sensors 10 are respectively arranged on four sides of thebody 12, amain cabinet 9 is arranged on the upper side of thebody 12,heat dissipation holes 8 are respectively arranged on the front side and the rear side of themain cabinet 9, a first electrictelescopic rod 6 is arranged in the middle of themain cabinet 9, a sphericalrotary joint 4 is arranged on the upper side of the first electrictelescopic rod 6, an infraredthermal imager 5 is connected on the right side of the sphericalrotary joint 4, acamera 2 is connected on the left side of the sphericalrotary joint 4, anilluminating lamp 1 is arranged on the left side of thecamera 2, and a temperature andhumidity sensor 7 is arranged on the upper side of the right portion of themain cabinet 9, an environmentnoise reduction pickup 16 is arranged on the upper side of the temperature andhumidity sensor 7, adust brush 13 is arranged on the lower side of thebody 12, adust suction hole 14 is arranged at the rear side of thedust rise brush 13, adust collection box 15 is arranged at the rear side of thedust suction hole 14, the front side in thebody 12 is provided with abattery pack 20, the upper side of thebattery pack 20 is provided with abaffle 21, the left side and the right side of the inside of thebody 12 are provided withmotors 22, the center of the inside of thebody 12 is provided with a first electrictelescopic rod base 21, themotor 22 is connected with atransmission shaft 23, thetransmission shaft 23 respectively controls thecrawler belts 11 at the left and right sides, thecontroller 24 is arranged at the right side of the inside of themain case 9, thepositioning device 28 is arranged at the rear side of the inside of themain case 9, the left side of thecontroller 24 is connected with a storagehard disk 25, and the left side of the inside of themain cabinet 9 is provided with aloudspeaker 27.

The invention adopts abody 12, acamera 2, an infraredthermal imager 5, a temperature andhumidity sensor 7 and an environmentalnoise reduction pickup 16, mainly aims at comprehensively collecting equipment instrument information, the internal equipment of a transformer substation is numerous, a signal transmission device is arranged in an inspection area to provide signals for an inspection robot, thebody 12 is a main device, a main power device and a cleaning device are arranged in thebody 12, abattery pack 20 provides sufficient electric power support for the robot to newly work, thebattery pack 20 is provided with acharging port 19, when thecontroller 24 detects that the electric power per se is less than 20 percent, the battery pack automatically returns to a charging plug to automatically charge thecharging port 19, thecamera 2 arranged on a sphericalrotary connector 4 can clearly shoot equipment with different distances in a zooming way to obtain identifiable equipment data, the follow-up controller 24 is convenient for carrying out contrastive analysis on data, the infraredthermal imager 5 is positioned at the sphericalrotary connector 4 and rotates and moves along with the rotation of thecamera 2, the infraredthermal imager 5 converts infrared energy emitted by different objects due to heat into visible thermal images, whether the working temperature of equipment is in a safe interval or not is distinguished by observing the thermal images, wild animals in a substation arranged in the field can be conveniently found out, a cleaning device is arranged at the bottom of the robot, a polling area is swept by the bottom cleaning device while indoor polling is carried out, a travelling route is planned by thecontroller 24, the route is cleaned while polling is carried out in the substation, dust is often rapidly accumulated in the unattended substation, the equipment can be failed due to dust, the work of the substation is influenced, and the dust on the ground is lifted by the rotation of theheave brush 13, dust is carried to adust collecting pipe 39 which is generated with strong suction by theaspirator 30 through aroller 38 in thedust suction hole 14 in the air, the dust and the garbage are conveyed to thedust collecting box 15, the dust is filtered by adust filter screen 34 and is all remained in thedust collecting box 15, the dust collector is also provided with an automatic dumping function, when an internal dust fullness detector detects that the dust in thedust collecting box 15 is full, the dust collector automatically navigates to a designed garbage disposal pit, the garbage and the dust are dumped out, the working environment of equipment is ensured to be clean, aloudspeaker 27 is arranged to warn non-working personnel and wild animals, the danger is avoided, a storagehard disk 25 is arranged in the dust collector, routing inspection data is stored, routing inspection records are reserved, and comprehensive routing inspection data are stored; compared with the original inspection robot, the inspection robot can better detect the equipment in the transformer substation, is favorable for maintaining a good working environment and is safer; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.

Example 2

As shown in fig. 1-8, the intelligent inspection robot comprises abody 12, twocrawler belts 11 are arranged on two sides of the lower side of thebody 12, acharging port 19 is arranged on the rear side of thebody 12, infrareddistance measuring sensors 10 are respectively arranged on four sides of thebody 12, amain cabinet 9 is arranged on the upper side of thebody 12,heat dissipation holes 8 are respectively arranged on the front side and the rear side of themain cabinet 9, a first electrictelescopic rod 6 is arranged in the middle of themain cabinet 9, a sphericalrotary joint 4 is arranged on the upper side of the first electrictelescopic rod 6, an infraredthermal imager 5 is connected to the right side of the sphericalrotary joint 4, acamera 2 is connected to the left side of the sphericalrotary joint 4, anilluminating lamp 1 is arranged on the left side of thecamera 2, and a temperature andhumidity sensor 7 is arranged on the upper side of the right of themain cabinet 9, temperature andhumidity sensor 7's upside be provided with the pick-up 16 of making an uproar of environment, the downside ofbody 12 be provided withdusting brush 13, dustingbrush 13's rear side be provided withdust absorption hole 14,dust absorption hole 14's rear side be provided withdust collection box 15, the inside front side ofbody 12 be provided withgroup battery 20,group battery 20's upside be provided withbaffle 21, the inside left and right sides ofbody 12 be provided withmotor 22, the inside center ofbody 12 be provided with first electrictelescopic handle base 21,motor 22connect transmission shaft 23,transmission shaft 23 control thetrack 11 of the left and right sides respectively, the inside right side ofmainframe box 9 be provided withcontroller 24, the inside left side ofmainframe box 9 be provided withspeaker 27.

Preferably, thecamera 2 is a zoom camera, and the zoom camera can capture a cleaning recognizable image for the equipment of the substation under the lighting of thelighting lamp 1, so that thecontroller 24 can recognize the equipment data.

Preferably, the middle part of ball-typerotary joint 4 be provided with the radium-shine map scanner ofRPS 3, the radium-shine map scanner of RPS set up 3 and put at the middle part of ball-type connector 4, radium-shine map scanner ofRPS 3 can scan along with the rotation of ball-typerotary joint 4, set up and can form more comprehensive space map along with rotatory the region of patrolling and examining in the middle part of ball-typerotary joint 4, provide comprehensive space map for the action route of robot.

Preferably, apillar 18 is arranged on the rear side of the upper portion of themain cabinet 9, a signal receiving and transmittingdevice 17 is connected to the upper side of thepillar 18, and the signal receiving and transmittingdevice 17 receives a polling task instruction issued by the monitoring center on one hand and transmits data and images obtained by polling an area to the monitoring center on the other hand.

The flexible limit of first electrictelescopic handle 6 can reach two meters at most, first electrictelescopic handle 6 can rise to higher with the camera, can shoot the actual conditions in higher region, comprehensive inspection detects the dead angle region.

Thestrut 18 and themain case 9 are connected by welding, and themain case 9 and themain body 12 are connected by welding.

Thecontroller 24 connectgroup battery 20, infrareddistance measuring sensor 10, temperature andhumidity sensor 7, thepickup 16 of making an uproar falls in the environment,control motor 22 of left andright tracks 11, RPS radium-shine map scanner 3,camera 2, infraredthermal imager 5, first electrictelescopic handle 6,signal reception conveyer 17, storagehard disk 25, the connected mode is the line connection, all sensors are patrolling and examining various institute's images of gathering of in-process and all will sending to the controller to by the controller with data further processing transmission to the surveillance center, the action of robot is still controlled to the controller simultaneously.

The infrareddistance measuring sensor 10 is a GP2Y0A21YK0F type infrared distance measuring sensor, the temperature andhumidity sensor 7 is an HTU21 temperature and humidity sensor, the environmentalnoise reduction pickup 16 is an M1203P environmental noise reduction pickup, noise of the robot is effectively reduced, running sound of each device in the transformer substation is clearly collected, and thedust fullness detector 41 is a DT-618 wind speed measuring instrument to measure whether dust and garbage in thedust collecting box 15 are excessive or not through wind speed of thedust filter screen 34.

The inside dust extraction that still includes of body, dust extraction is bysuction fan 30,dust collection pipe 39,dust filter screen 34, second electrictelescopic handle 37, leadingwheel 35,guide bar 36,extension rod 40, anddust fullness detector 41 constitutes,cylinder 38 set up the inside upside atdust absorption hole 14,suction fan 30 set up the upside atset box 15,dust filter screen 34 set up betweendust collection box 15 andsuction fan 30, the dust collection pipe connectdust collection box 15 anddust absorption hole 14, the left and right sides ofdust collection box 15 weld respectivelyextension rod 40, the outside welding ofextension rod 40 have leadingwheel 35, the left and right sides ofdust collection box 15 be provided withguide bar 36 respectively, the upside ofdust filter screen 34 be provided withdust fullness detector 41.

Theguide rod 36 is a cuboid, thedust collection box 15 is welded at the top end of the second electrictelescopic rod 37, and thedust collection box 15 is a hollow cuboid box without a bottom plate.

The invention adopts abody 12, acamera 2, an infraredthermal imager 5, a temperature andhumidity sensor 7 and an environmentalnoise reduction pickup 16, mainly aims at comprehensively collecting equipment instrument information, the internal equipment of a transformer substation is numerous, a signal transmission device is arranged in an inspection area to provide signals for an inspection robot, thebody 12 is a main device, a main power device and a cleaning device are arranged in thebody 12, abattery pack 20 provides sufficient electric power support for the robot to newly work, thebattery pack 20 is provided with acharging port 19, when thecontroller 24 detects that the electric power per se is less than 20 percent, the battery pack automatically returns to a charging plug to automatically charge thecharging port 19, thecamera 2 arranged on a sphericalrotary connector 4 can clearly shoot equipment with different distances in a zooming way to obtain identifiable equipment data, the follow-up controller 24 is convenient for carrying out contrastive analysis on data, the infraredthermal imager 5 is positioned at the sphericalrotary connector 4 and rotates and moves along with the rotation of thecamera 2, the infraredthermal imager 5 converts infrared energy emitted by different objects due to heat into visible thermal images, whether the working temperature of equipment is in a safe interval or not is distinguished by observing the thermal images, wild animals in a substation arranged in the field can be conveniently found out, a cleaning device is arranged at the bottom of the robot, a polling area is swept by the bottom cleaning device while indoor polling is carried out, a travelling route is planned by thecontroller 24, the route is cleaned while polling is carried out in the substation, dust is often rapidly accumulated in the unattended substation, the equipment can be failed due to dust, the work of the substation is influenced, and the dust on the ground is lifted by the rotation of theheave brush 13, dust is carried to adust collecting pipe 39 which is generated with strong suction by theaspirator 30 through aroller 38 in thedust suction hole 14 in the air, the dust and the garbage are conveyed to thedust collecting box 15, the dust is filtered by adust filter screen 34 and is all remained in thedust collecting box 15, the dust collector is also provided with an automatic dumping function, when an internal dust fullness detector detects that the dust in thedust collecting box 15 is full, the dust collector automatically navigates to a designed garbage disposal pit, the garbage and the dust are dumped out, the working environment of equipment is ensured to be clean, aloudspeaker 27 is arranged to warn non-working personnel and wild animals, the danger is avoided, a storagehard disk 25 is arranged in the dust collector, routing inspection data is stored, routing inspection records are reserved, and comprehensive routing inspection data are stored; compared with the original inspection robot, the inspection robot can better detect the equipment in the transformer substation, is favorable for maintaining a good working environment and is safer; the invention has the advantages of long endurance time, high intelligence, comprehensive examination, multiple functions and comprehensive detection.

Claims (10)

Translated fromChinese

1.智能巡检机器人，它包括本体，其特征在于：所述的本体的下侧两边设置有履带，所述的本体的后侧设置有充电接头，所述的本体的四面分别设置有红外测距传感器，所述的本体的上侧设置有主机，所述的主机的前后两侧分别设置有散热孔，所述的主机的中部设置有第一电动伸缩杆，所述的第一电动伸缩杆的上侧设置有球型旋转接头，所述的球型旋转线接头的右侧连接有红外热成像仪，所述的球型旋转接头的左侧连接有摄像机，所述的摄像机的左侧设置有照明灯，所述的主机的右部上侧设置有温湿度传感器，所述的温湿度传感器的上侧设置有环境降噪拾音器，所述的本体的下侧设置有起沉刷，所述的起沉刷的上侧设置有第三电机，所述的电机与本体之间设置于密封圈，所述的起沉刷的后侧设置有吸尘孔，所述的吸尘孔的后侧设置有集尘盒，所述的本体内部后侧设置有电池组，所述的电池组的上侧设置有挡板，所述的本体内部左右两侧设置有第一电机，所述的第一电机连接传动轴，所述的传动轴分别控制左右两侧的履带，所述的主机箱的内部右侧设置有控制器，所述的主机箱的内部后侧设置有定位装置，所述的控制器的左侧连接有硬盘，所述的主机箱的内部左侧设置有扬声器。1. An intelligent inspection robot, which includes a body, characterized in that: the lower side of the body is provided with crawler belts on both sides, the rear side of the body is provided with a charging connector, and the four sides of the body are respectively provided with infrared detectors. Distance sensor, the main body is provided on the upper side of the main body, the front and rear sides of the main body are respectively provided with cooling holes, the middle part of the main body is provided with a first electric telescopic rod, the first electric telescopic rod The upper side is provided with a spherical rotary joint, the right side of the spherical rotary wire joint is connected with an infrared thermal imager, the left side of the spherical rotary joint is connected with a camera, and the left side of the camera is set There is a lighting lamp, a temperature and humidity sensor is arranged on the upper side of the right part of the main body, an environmental noise reduction pickup is arranged on the upper side of the temperature and humidity sensor, a lifting and sinking brush is arranged on the lower side of the main body, and the The upper side of the lifting and sinking brush is provided with a third motor, a sealing ring is arranged between the motor and the main body, the rear side of the lifting and sinking brush is provided with a dust suction hole, and the rear side of the dust suction hole is provided A dust collection box is provided, a battery pack is arranged on the rear side of the inside of the main body, a baffle plate is arranged on the upper side of the battery pack, a first motor is arranged on the left and right sides of the inside of the main body, and the first motor is arranged on the left and right sides of the inside of the main body. The motor is connected to the transmission shaft, and the transmission shaft controls the left and right crawlers respectively. The inner right side of the main box is provided with a controller, and the inner rear side of the main box is provided with a positioning device. The control The left side of the device is connected with a hard disk, and the inner left side of the main box is provided with a speaker.2.根据权利要求1所述的智能巡检机器人，其特征在于：所述的摄像机包括两个高清主摄像头和一个广角摄像头。2 . The intelligent inspection robot according to claim 1 , wherein the camera comprises two high-definition main cameras and a wide-angle camera. 3 .3.根据权利要求1所述的智能巡检机器人，其特征在于：所述的球型旋转接头的中部还设置有RPS镭射地图扫描仪，所述的RPS镭射地图扫描仪设置在球型连接头的中部，所述的RPS镭射地图扫描仪能够随着球型旋转连接头旋转进行扫描。3. The intelligent inspection robot according to claim 1, characterized in that: the middle of the spherical rotary joint is also provided with an RPS laser map scanner, and the RPS laser map scanner is arranged on the spherical connector In the middle, the RPS laser map scanner can scan with the rotation of the spherical rotary joint.4.根据权利要求1所述的智能巡检机器人，其特征在于：所述的主机箱的上部后侧设置有支柱，所述的支柱的上侧连接有信号接收传送装置。4 . The intelligent inspection robot according to claim 1 , wherein the upper rear side of the main box is provided with a pillar, and the upper side of the pillar is connected with a signal receiving and transmitting device. 5 .5.根据权利要求1所述的智能巡检机器人，其特征在于：所述的第一电动伸缩杆的伸缩极限最高为两米。5 . The intelligent inspection robot according to claim 1 , wherein the telescopic limit of the first electric telescopic rod is at most two meters. 6 .6.根据权利要求1所述的智能巡检机器人，其特征在于：所述的支柱与主机箱之间的连接方式为焊接，所述的主机箱与本体之间的连接方式为焊接。6 . The intelligent inspection robot according to claim 1 , wherein the connection between the pillars and the main box is welding, and the connection between the main box and the main body is welding. 7 .7.根据权利要求1所述的智能巡检机器人，其特征在于：所述的控制器连接电池组、红外测距传感器、温湿度传感器、环境降噪拾音器、左右履带的控制电机、RPS镭射地图扫描仪、摄像机，红外热成像仪、第一电动伸缩杆、信号接收传送装置、大容量硬盘等，连接方式为线接。7. The intelligent inspection robot according to claim 1, wherein the controller is connected to a battery pack, an infrared ranging sensor, a temperature and humidity sensor, an environmental noise reduction pickup, a control motor for left and right tracks, and an RPS laser map Scanners, cameras, infrared thermal imagers, the first electric telescopic rod, signal receiving and transmitting devices, large-capacity hard drives, etc., are connected by wire.8.根据权利要求1所述的智能巡检机器人，其特征在于：所述的红外测距传感器为GP2Y0A21YK0F型红外测距传感器，所述的温湿度传感器为HTU21温湿度传感器，所述的环境降噪拾音器为M1203P环境降噪拾音器，所述的尘满检测器为DT-618风速测量仪。8. The intelligent patrol inspection robot according to claim 1, characterized in that: the infrared ranging sensor is a GP2Y0A21YK0F infrared ranging sensor, the temperature and humidity sensor is an HTU21 temperature and humidity sensor, and the environment drops. The noise pickup is M1203P environmental noise reduction pickup, and the dust full detector is DT-618 anemometer.9.根据权利要求1所述的智能巡检机器人，其特征在于：所述的本体内部还包括吸尘装置，吸尘装置由吸风机、集尘管、灰尘过滤网、第二电动伸缩杆、导向轮、导向杆、延长杆，风速测速器组成，所述的滚筒设置在吸尘孔的上侧，所述的吸风机设置在集合盒的上侧，所述的灰尘过滤网设置在集尘盒与吸风机之间，所述的集尘管连接集尘盒与集尘孔，所述的集尘盒的左右两侧分别焊接有延长杆，所述的延长杆的外侧焊接有导向轮，所述的集尘盒的左右两侧分别设置有导向杆，所述的灰尘过滤网的上侧设置有尘满检测器。9. The intelligent inspection robot according to claim 1, characterized in that: the inside of the main body further comprises a vacuuming device, and the vacuuming device is composed of a suction fan, a dust collecting pipe, a dust filter, a second electric telescopic rod, It is composed of a guide wheel, a guide rod, an extension rod, and an anemometer. The roller is arranged on the upper side of the dust suction hole, the suction fan is arranged on the upper side of the collection box, and the dust filter is arranged on the dust collecting hole. Between the box and the suction fan, the dust collecting pipe connects the dust collecting box and the dust collecting hole, the left and right sides of the dust collecting box are respectively welded with extension rods, and the outer side of the extension rod is welded with guide wheels. The left and right sides of the dust collecting box are respectively provided with guide rods, and the upper side of the dust filter is provided with a dust full detector.10.根据权利要求9所述的智能巡检机器人，其特征在于：所述的导向杆为长方体，所述的集尘盒焊接在第二电动伸缩杆的顶端，所述的集尘盒为没有底板的空心长方体盒子。10. The intelligent inspection robot according to claim 9, wherein the guide rod is a rectangular parallelepiped, the dust collecting box is welded on the top of the second electric telescopic rod, and the dust collecting box is not A hollow cuboid box with a base plate.

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