CN107024565A - An intelligent gas detection device and method - Google Patents

Abstract

The invention discloses an intelligent gas detection device, which comprises a gas detection device, wherein the gas detection device is arranged on a first electric push rod and is placed in a top rod hole of a machine body, inclined crawler wheel concave storage cavities are arranged on two sides of the machine body, support leg storage cavities are arranged on the bottom surface of the machine body, a bottom crawler wheel concave storage cavity is arranged on the bottom surface of the machine body, a second electric push rod and an inclined crawler wheel assembly are arranged in the inclined crawler wheel concave storage cavity, a third electric push rod and a bottom crawler wheel assembly are arranged in the bottom crawler wheel concave storage cavity, a fourth electric push rod and support leg assemblies are arranged in the support leg storage cavity, an explosion-proof monitoring camera, a left explosion-proof lamp, a right explosion-proof lamp and an explosion-proof obstacle avoidance sensor are arranged in. The crawler belt and the support legs can be retracted, are not easy to damage, have small occupied area, are beneficial to storage and turnover, have three advancing modes, are suitable for different terrains, can detect gas at different heights, cover gas detection in all aspects, and have the functions of automatically surveying and mapping the terrains, selecting the advancing mode and positioning leakage points.

Description

An intelligent gas detection device and method

technical field

The invention relates to the field of gas detection, in particular to an intelligent gas detection device.

Background technique

With the acceleration of the industrialization process, the air environment safety situation is becoming more and more serious, and the air quality is not optimistic, especially in industries such as petroleum, metallurgy, cement, chemical industry, and coal mines, which will produce a large amount of harmful gases. Once harmful gas leakage or production safety accidents occur , will cause serious harm to the surrounding ecological environment and damage people's health; gas detection in high-risk industries usually adopts fixed type and inspection type, which can meet the needs of detection and early warning for normal working conditions, but once an accident occurs If the on-site detection device is damaged, it will not be effective. The existing disposal method adopts manual protection and close detection. The safety of the detection personnel is not very high. Remote control and unmanned detection equipment can also be used for detection. Human detection equipment has a single way of advancing and cannot adapt to some complex environments.

Contents of the invention

The purpose of the present invention is to provide an intelligent gas detection device, which solves the problem of low versatility and unsafety of existing gas detection devices in the face of safety accidents, and provides an intelligent, unmanned, mobile, A device that adapts to various terrain environments.

In order to achieve the above object, the present invention provides the following technical solutions: an intelligent gas detection device, including a gas detection device, the gas detection device includes a gas detection box, a gas sensor unit and an integrated circuit board, and the shape of the gas detection box is Cuboid, which includes a protective box and an automatic protective door assembly. The bottom of the protective box has a threaded hole that is coaxial with the center of the indexing circle. The gas sensor unit is installed in the protective box, which includes a general gas sensor and a poisonous gas sensor. , a flammable gas sensor, an explosive gas sensor and a dust gas sensor, the gas detection device is installed above the top push rod of the first electric push rod, and the top of the top push rod of the first electric push rod is a circular flange, There is an indexing circle equally divided through hole coaxial with the center, which matches the indexing circle equally divided threaded hole at the bottom of the protective box, and is connected by bolts. The base of the first electric push rod is fixed on the ejector hole above the body Here, the body is a scalene hexahedron, and the two sides connected to the top surface are inclined surfaces, their size and inclination angle are the same, the length is the same as that of the top surface, and the vertical surfaces are below the inclined surfaces on both sides. They are the same size, symmetrically distributed, the length is the same as the length of the top surface, the bottom is below the two vertical surfaces, its length is the same as the length of the top surface, and its width is greater than the width of the top surface. There is a hole in the middle of the surface, which is a countersunk hole, the countersunk part is a rectangular groove, the rectangular groove matches the gas detection box, the bottom of the countersunk hole is a flat hole, and there are two oblique crawlers on each slope of the body The concave storage cavity of the wheel is a rectangular parallelepiped concave cavity, which is perpendicular to the inclined plane. In the center of the bottom surface of the concave storage cavity of the oblique track wheel, there is a threaded hole equally divided by an indexing circle. Two oblique track wheels on each inclined surface The concave storage cavity is symmetrical to the ejector hole on the top surface. There are three storage cavities between each inclined surface and the vertical surface. The left side of the cavity and the right side of the concave track wheel are stored on the right side of the cavity, and there is a foot storage cavity in the middle of the two. There is also a graduated circular threaded hole under the inner surface of the foot storage cavity. The bottom surface of the machine body also has four bottom crawler concave storage cavities, which are cuboid concave cavities, perpendicular to the bottom surface, and the center of the bottom crawler concave storage cavity bottom surface has an indexing circle and equally divided threaded holes. The concave storage cavities of the track wheels at the bottom are symmetrically arranged front, rear, left, and right, and a second electric push rod is installed in each concave storage cavity of the oblique track wheels of the body, and the bottom of the second electric push rod is a flange structure. , there is an indexing circle equally divided through hole coaxial with the center, which matches the indexing circle equally divided threaded hole on the bottom surface of the concave storage cavity of the oblique track wheel, and is connected by bolts. The push rod of the second electric push rod The top is a flange plate with a through hole that is equally divided by the indexing circle coaxial with the center, and the inclined track wheel assembly is installed on it. The inclined track wheel assembly includes track wheels and guide blocks. The track wheel The left and right sides are crawlers protruding from the middle connecting seat. The two edges of the outer ring of the crawler are arc-shaped, and the crawler wheels are fixed above the guide block. There are threaded holes on the bottom of the guide block. It pushes with the second electric actuator The indexing circle on the rod flange is equally divided through holes and connected with bolts. The width of the guide block is the same as the width of the concave storage cavity of the oblique track wheel, and the concave storage cavity of the track wheel at each bottom of the body The third electric push rod is installed inside, and the bottom of the third electric push rod is a flange structure, and there is an indexing circle coaxial with the center, which is equally divided into through holes, and it is connected with the concave storage cavity of the track wheel at the bottom. The indexing circle on the bottom surface is equally divided into threaded holes, and is connected by bolts. The top of the push rod of the third electric push rod is a flange plate, and there is an indexing circle equally divided through hole coaxial with the center, and the bottom is installed on it The track wheel assembly, the bottom track wheel assembly includes the bottom track wheel and the bottom guide block, the left and right sides of the bottom track wheel are the bottom track protruding from the middle connecting seat, and the two edges of the bottom track outer ring are Arc-shaped, the bottom crawler wheel is fixed above the bottom guide block, and the bottom of the bottom guide block has a threaded hole equally divided by the index circle, which is consistent with the index circle on the push rod flange of the third electric push rod, etc. The through holes are matched and connected with bolts. The width of the bottom guide block is the same as the width of the concave storage cavity of the bottom crawler wheel. A fourth electric push rod is installed under the inner surface of each leg storage cavity of the body. The bottom of the fourth electric push rod is a flange structure, and there is an indexing circle equally divided through hole coaxial with the center, which is matched with the indexing circle equally divided threaded hole below the inner surface of the foot storage cavity, and passed through Bolt connection, the top of the push rod of the fourth electric push rod is a flange plate, which has a through hole that is equally divided by the index circle coaxial with the center, and a foot assembly is installed in front of the push rod flange of the fourth electric push rod. An explosion-proof monitoring camera, a left explosion-proof lamp, a right explosion-proof lamp and an explosion-proof obstacle avoidance sensor are all arranged on the front side and the rear side of the body, and a gas collector and a control unit are installed inside the body below.

Preferably, the automatic protective door assembly on the gas detection device includes a protective door, a door-opening shaft mechanism and an explosion-proof door-opening motor, and the door-opening shaft mechanism is installed at the shaft of the protective door.

Preferably, the motors on the oblique track wheel assembly and the bottom track wheel assembly are all explosion-proof motors.

Preferably, the leg assembly includes a leg guide box, which is cuboid in shape and has the same width as the leg storage cavity. There is a concave cuboid cavity on the right side, and there are graduations on the inner surface of the concave cuboid cavity. Circular equally divided threaded hole, which is matched with the indexing circle equally divided through hole on the fourth electric push rod push rod flange, is connected by bolts, and a rotating seat is installed on the left side of the top surface of the foot guide box. The top of the seat is a double lug, and the bottom is a shaft hole, which is connected with the first motor fixed on the guide box of the leg, and the first leg is installed in the double leg groove of the rotating seat, and the right side of the first leg is a The single lug of the hinge hole is installed in the double lug slot of the swivel base and connected with the second motor fixed on the swivel base. The left side of the first leg is a fork-shaped lug, and the second motor is installed in the fork-shaped slot. Legs, the width of the second leg is the same as the width of the fork groove of the first leg, the length of the fork groove is greater than the length of the second leg, and the right side of the second leg has a hinge hole, which is fixed to the left side of the first leg The third motor at the end is connected.

Preferably, the first motor, the second motor and the third motor are explosion-proof motors.

Preferably, the control unit includes an explosion-proof protection box, which contains a controller, a gas concentration tracker, a terrain analyzer, a storage unit, an integrated circuit board, an explosion-proof power supply, an explosion-proof positioning device and an explosion-proof wireless transmission device.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. The present invention arranges the oblique track wheel concave storage cavity and the bottom track wheel concave storage cavity on the body, fixes the second electric push rod and the third electric push rod respectively in the cavity, and The inclined track wheel assembly and the bottom track wheel assembly are respectively installed on the push rod and the third electric push rod, so that the inclined track wheel assembly and the bottom track wheel assembly can be extended or stored in the cavity, which is different from traditional crawler machines. In contrast, track wheels are added to the slopes on both sides of the top, which can run in the pipeline. At the same time, all the tracks can be retracted to avoid the problem of protruding and affecting the progress when the track cannot be used on rough terrain.

2. The present invention arranges the foot storage cavity on the body, fixes the fourth electric push rod in the cavity, installs the foot assembly on the fourth electric push rod, and passes the first motor, the second motor, and the second motor on the foot assembly. The three-motor and the first leg of the fork-shaped structure make the leg assembly retract to the minimum state and store it in the cavity. Compared with the traditional six-claw robot, all the legs can be retracted into the cabin when the legs are not in use, avoiding the need for legs The exposed legs are easy to be damaged by collision when not in use, and the exposed legs take up a lot of space, which is not conducive to the problem of storage and turnover.

3. The invention can scan the surrounding terrain through the front and rear explosion-proof monitoring cameras, and the controller automatically selects the forward mode. By extending the bottom track wheel assembly, the forward device retracted from other places can drive on flat ground at high speed. By extending the bottom crawler The wheel assembly and the oblique track wheel assembly, the tracks in three directions enable the device to advance in the pipeline, and the six legs can be stretched out by retracting all the tracks, so that it can move forward on rough terrain. Compared with traditional machine devices, it also has Three forward ways to adapt to different terrains.

4. The present invention installs the first electric push rod by opening a hole in the middle of the body, and installs a gas detection device above the push rod. The controller in the control unit automatically drives the detection device to move up and down, so that the gas with a lower density than air can be detected. The gas with higher density than air at high places avoids the problem that the fixed detection device cannot cover all aspects of gas detection.

5. The invention installs explosion-proof monitoring cameras and explosion-proof obstacle avoidance sensors at the front and back of the body, can scan the surrounding terrain images in real time, and automatically draw the front terrain map through the terrain analyzer. At the same time, after the gas sensor detects the gas, the gas concentration tracker can automatically Analyze the variation range of this gas concentration area, and automatically guide the device to advance to the place with high concentration, automatically find the leakage source, automatically locate the explosion-proof positioning device, and transmit it to the rear in real time through the explosion-proof wireless transmission device, the gas collector can collect the gas that the sensor cannot judge Gas, and brought back to the rear for analysis, compared with traditional gas detection machines, the device has the ability to automatically survey and map the terrain, automatically judge and choose a variety of forward methods, and can also automatically locate the leak point, avoiding the artificial remote control of the robot's repeated actions, which is inefficient The problem.

Description of drawings

Fig. 1 is the axial schematic diagram that crawler belt assembly of the present invention stretches out;

Fig. 2 is an axial schematic diagram of the protruding leg assembly of the present invention;

Fig. 3 is the conceptual diagram of the present invention;

Fig. 4 is A-A sectional view of Fig. 3;

Fig. 5 is the B-B sectional view of Fig. 3;

Fig. 6 is a schematic diagram of the oblique track wheel assembly of the present invention;

Fig. 7 is a schematic diagram of the leg assembly of the present invention;

In the figure: 1 machine body, 2 inclined track wheel assembly, 3 explosion-proof monitoring camera, 4 left explosion-proof light, 5 explosion-proof obstacle avoidance sensor, 6 right explosion-proof light, 7 first electric push rod, 8 gas detection device, 9 foot assembly, 10 gas collector, 11 control unit, 12 second electric push rod, 13 third electric push rod, 14 bottom track wheel assembly, 15 fourth electric push rod, 201 track wheel, 202 guide block, 901 foot guide box, 902 the first motor, 903 swivel seat, 904 the first leg, 905 the third motor, 906 the second leg, 907 the second motor.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1-7, a kind of intelligent gas detection device, comprises gas detection device 8, and it comprises gas detection box, gas sensor unit and integrated circuit board, and the shape of gas detection box is cuboid, and it comprises protective box and automatic protective door Assembly, the automatic protective door assembly includes a protective door, a door opening shaft mechanism and an explosion-proof door opening motor. The door opening shaft mechanism is installed at the shaft of the protective door. It is connected with the explosion-proof door opening motor to automatically open when detecting gas, and automatically close the protective gas sensor unit at ordinary times. , the bottom of the protective box has a threaded hole coaxial with the center, which is used to connect with the first electric push rod 7. The gas sensor unit is installed in the protective box, which includes general gas sensors, toxic gas sensors, flammable Gas sensor, explosive gas sensor and dust gas sensor, the sensor can be plugged into the integrated circuit board, adjust the sensor module according to the detection purpose, the gas detection device 8 is installed above the top push rod of the first electric push rod 7, the first electric push rod Push rod 7 The top of the top push rod is a circular flange with a through hole that is coaxial with the center of the index circle. It matches the index circle threaded hole at the bottom of the protective box and is connected by bolts. The base of the first electric push rod 7 is fixed in the ejector hole of the body 1, so that the gas detection device 8 can move up and down to detect gases of different densities. The body 1 is a scalene hexahedron, and the two sides connected to the top surface are inclined planes , their size and angle of inclination are the same, their length is the same as that of the top surface, and below the slopes on both sides is a vertical surface, their size is the same, symmetrically distributed, and their length is the same as that of the top surface, two Below the vertical surface is the bottom surface, its length is the same as that of the top surface, and its width is greater than the width of the top surface. There is a push rod hole in the middle of the top surface of the body 1, which is a countersunk hole, and the countersunk part is a rectangular groove , the rectangular groove is matched with the gas detection box, so that the gas detection device 8 can be retracted and stored. The bottom of the countersunk hole is a flat hole, and there are two concave storage cavities on each inclined surface of the body 1, which are rectangular parallelepiped Concave cavity, perpendicular to the inclined plane, there is an indexing circle equally divided threaded hole in the center of the bottom surface of the oblique track wheel concave storage cavity, and two oblique track wheel concave storage cavities on each inclined surface are relative to the top surface The ejector hole is left-right symmetrical, and there are three foot storage cavities between each inclined surface and the vertical surface, which are trapezoidal concave cavities, respectively arranged on the left and right oblique tracks of the concave storage cavity of the left oblique track wheel On the right side of the wheel concave storage cavity, there is a foot storage cavity in the middle of the two. There are also graduated circles and equally divided threaded holes under the inner surface of the foot storage cavity, and there are four bottom crawlers on the bottom surface of the body 1. The concave storage cavity of the wheel is a rectangular parallelepiped concave cavity, which is perpendicular to the bottom surface. In the center of the bottom surface of the concave storage cavity of the bottom track wheel, there are threaded holes equally divided by the indexing circle, and the four bottom track wheel concave storage cavities The front, back, left, and right are symmetrically arranged. A second electric push rod 12 is installed in each concave storage cavity of the oblique track wheel of the body 1. Its bottom is a flange structure, and there is an indexing circle coaxial with the center on the top. The through hole is matched with the threaded hole on the bottom surface of the concave storage cavity of the oblique track wheel, and is connected by bolts. The second electric The top of the push rod of the push rod 12 is a flange, and there are above the through holes that are equally divided by the indexing circle coaxial with the center, and the oblique track wheel assembly 2 is housed above, so that it can be stretched out or retracted. Cheng 2 includes a crawler wheel 201 and a guide block 202. The left and right sides of the track wheel 201 are crawlers protruding from the middle connecting seat. The two edges of its outer ring are arc-shaped, which is convenient for advancing in the pipeline. On the top of the guide block 202, there is an indexing circle equally divided threaded hole on the bottom of the guide block 202, which matches with the indexing circle equally divided through hole on the second electric push rod 12 push rod flange, and is connected with bolts, guiding The width of block 202 is identical with the width of oblique track wheel concave storage cavity, can guide, and the 3rd electric push rod 13 is all installed in each bottom track wheel concave storage cavity of body 1, its bottom It is a flange plate structure, with an indexing circle equalizing hole coaxial with the center, which matches the indexing circle equalizing threaded hole on the bottom surface of the concave storage cavity of the bottom crawler wheel, and is connected by bolts. The third electric motor The top of the push rod of the push rod 13 is a flange, and there are above the through holes that are equally divided by the indexing circle coaxial with the center, and the bottom track wheel assembly 14 is housed above, so that the bottom track wheel assembly 14 can be stretched out or retracted. Back, the bottom track wheel assembly 14 includes the bottom track wheel and the bottom guide block. The left and right sides of the bottom track wheel are the bottom track protruding from the middle connecting seat. Forward, the bottom crawler wheel is fixed on the top of the bottom guide block, and the bottom of the bottom guide block has an indexing circle equally divided threaded hole, which is equally divided with the indexing circle on the third electric push rod 13 push rod flange. Matched and connected with bolts, the width of the bottom guide block is the same as the width of the concave storage cavity of the bottom track wheel, which is used for guidance, and the fourth electric push rod is installed under the inner surface of each leg storage cavity of the body 1 15. Its bottom is a flange structure, and there is an indexing circle equally divided through hole coaxial with the center, which matches the indexing circle equally divided threaded hole under the inner surface of the foot storage cavity, and is connected by bolts. The top of the push rod of the fourth electric push rod 15 is a flange plate, which has a through hole equally divided by the indexing circle coaxial with the center, and a foot assembly 9 is installed in front of the push rod flange of the fourth electric push rod 15. It includes a leg guide box 901, the shape is cuboid, the width is the same as the width of the leg storage cavity, and is used for guiding. It has a concave cuboid cavity on the right side, and an indexing circle on the inner surface of the concave cuboid cavity. Divide threaded hole, it is matched with the indexing circle equally divided through hole on the 4th electric pushrod 15 pushrod flanges, is connected by bolt, and swivel seat 903 is housed on the left side of support foot guide box 901 top surface, above it It is a double-support lug, and the bottom is a rotating shaft hole. It is connected with the first motor 902 fixed on the support leg guide box 901, and can rotate 360 degrees. The first support leg 904 is installed in the double-support ear groove of the swivel seat 903. Its right The side is a single lug with a hinge hole, installed in the double lug groove of the swivel base 903, and connected with the second motor 907 fixed on the swivel base 903, driving the first leg 904 to rotate, the left side of the first leg 904 is Fork lug, in fork groove The second leg 906 is installed, and its width is the same as the width of the fork-shaped groove of the first leg 904. In the fork-shaped groove, there is a hinge hole on the right side of the second supporting foot 906, which links to each other with the third motor 905 fixed on the left end of the first supporting foot 904, drives the second supporting foot 906 to rotate, the first motor 902, the second motor 907 and the third motor 905 are explosion-proof motors, which can work safely in an explosive gas environment. An explosion-proof monitoring camera 3, a left explosion-proof lamp 4, a right explosion-proof lamp 6 and an explosion-proof avoidance camera are all arranged on the front side and the rear side of the body 1. The barrier sensor 5 is equipped with a gas collector 10 and a control unit 11 inside the lower part of the body 1. The gas collector 10 can collect the gas that the sensor cannot judge and bring it back for analysis. The control unit 11 includes an explosion-proof protection box with a control unit inside. detector, gas concentration tracker, terrain analyzer, storage unit, integrated circuit board, explosion-proof power supply, explosion-proof positioning device and explosion-proof wireless transmission device, explosion-proof monitoring camera 3 and explosion-proof obstacle avoidance sensor 5, which can scan the front terrain image in real time and pass through the terrain The analyzer automatically draws the topographic map ahead, the controller can automatically select and change the way forward, the gas concentration tracker can automatically analyze the range of changes in the gas concentration area, and automatically guide the device to advance to the place with high concentration, and automatically find the source of the leak.

When in use, after the device is brought to the monitoring area, the explosion-proof monitoring camera 3 and the explosion-proof obstacle avoidance sensor 5 on the device will automatically scan the front terrain image, and automatically draw the front terrain map through the terrain analyzer. After the controller receives the terrain map data, Automatically analyze the terrain ahead and choose the best forward route. When the road ahead is flat, the controller commands the third electric push rod 13 to push out the bottom track wheel assembly 14. The device can drive on flat ground at high speed. When the pipeline is narrow and narrow, the controller commands the second electric push rod 12 to push out the inclined track wheel assembly 2 so that the device can advance in the pipeline. 12 and the third electric push rod 13 retract the oblique track wheel assembly 2 and the bottom track wheel assembly 14 into the cavity, and then order the fourth electric push rod 15 to push out the leg assembly 9, and the controller drives the The first motor 902, the second motor 907 and the third motor 905 make the rotating base 903, the first leg 904, and the second leg 907 move forward in coordination; after the device advances to the area to be monitored, the controller will command the explosion-proof door opening motor to open The protective door makes the gas sensor contact with the gas to be measured, and at the same time the controller drives the first electric push rod 7 to move up and down, so that the gas sensor in the gas detection device 8 can collect gases of various densities, and the collected data will be stored in the control unit 11 In the storage unit in the storage unit, in the case of a wireless network, the data will be transmitted to the rear through the explosion-proof wireless transmission device in real time, and the gas concentration tracker in the control unit 11 can automatically analyze the change of the measured gas concentration in the detection area , and transmit the data to the controller, so that the controller advances to the place with high concentration, automatically finds the leakage source, and locates the geographical location information of the place through the explosion-proof positioning device, and at the same time, the explosion-proof monitoring camera collects the image information of the leakage point, and locates and image information will be stored in the storage unit. In the case of a wireless network, the data will be transmitted to the rear through the explosion-proof wireless transmission device in real time. For the gas that cannot be judged by the gas sensor, the gas collector 10 will collect a certain amount of the gas. When the device is stored and turned over, the gas detection device 8, the inclined track wheel assembly 2, the bottom track wheel assembly 14 and the foot assembly 9 will be retracted into the cavity, which is convenient for protection and turnover.

To sum up: the intelligent gas detection device, by arranging the concave storage cavity of the oblique track wheel and the concave storage cavity of the bottom track wheel on the body, fixes the second electric push rod 12 and the third electric push rod 12 respectively in the cavity. Push rod 13, and install oblique track wheel assembly 2 and bottom track wheel assembly 14 on the second electric push rod 12 and the third electric push rod 13 respectively, make oblique track wheel assembly 2 and bottom track wheel assembly 14 It can be extended or stored in the cavity. Compared with the traditional crawler machine, the track wheels are added on the slopes on both sides of the top, which can run in the pipeline. At the same time, all the tracks can be retracted to avoid rough terrain. When the track cannot be used, it protrudes To solve the problems that affect the progress, by arranging the foot storage cavity on the body, the fourth electric push rod 15 is fixed in the cavity, the foot assembly 9 is installed on the fourth electric push rod 15, and the first motor 902 on the foot assembly 9 , the second motor 907, the third motor 905 and the first leg 904 of the fork-shaped structure make the leg assembly retract to the minimum state and store it in the cavity. Compared with the traditional six-claw robot, when the leg is not used, it can be All the feet are retracted into the cabin, which avoids the easy collision and damage of the exposed feet when the feet are not in use. The exposed feet occupy a large space, which is not conducive to storage and turnover. The front and rear explosion-proof surveillance cameras 3 can collect surrounding terrain images, and the controller automatically chooses to move forward Way, by extending the bottom track wheel assembly 14, retracting the advancing device in other places can run on flat ground at high speed, by extending the bottom track wheel assembly 14 and inclined track wheel assembly 2, the crawler belts in three directions make the device It can move forward in the pipeline. By retracting all the caterpillars and stretching out the six foot assemblies 9, it can move forward on rough terrain. Compared with traditional machine devices, it has three ways of advancing at the same time to adapt to different terrains. By opening in the middle of the body The first electric push rod 7 is installed in the hole, and the gas detection device 8 is installed above the push rod. The controller in the control unit automatically drives the detection device to move up and down. Gas, avoiding the problem that the detection device cannot be fully covered by the fixed detection device. By installing explosion-proof surveillance cameras 3 and explosion-proof obstacle avoidance sensors 3 on the front and rear of the body, the surrounding terrain can be scanned in real time, and the terrain map ahead can be automatically drawn through the terrain analyzer. At the same time After the gas sensor detects the gas, the gas concentration tracker can automatically analyze the variation range of the gas concentration area, and automatically guide the device to advance to the place with high concentration, automatically find the source of leakage, and the explosion-proof positioning device automatically locates, and real-time through the explosion-proof wireless transmission device Passing to the rear, the gas collector can collect the gas that the sensor cannot judge, and bring it back for analysis. Compared with the traditional gas detection machine, the device has the ability to automatically survey and map the terrain, automatically judge and choose a variety of forward methods, and can also automatically locate leaks point, avoiding the problem of artificial remote control of robot repetitive actions and low efficiency.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (8)

1. An intelligent gas detection device, including a gas detection device (8), characterized in that: the gas detection device (8) includes a gas detection box, a gas sensor unit and an integrated circuit board, and the shape of the gas detection box is Cuboid, which includes a protective box and an automatic protective door assembly. The bottom of the protective box has a threaded hole that is coaxial with the center of the indexing circle. The gas sensor unit is installed in the protective box, which includes a general gas sensor and a poisonous gas sensor. , flammable gas sensor, explosive gas sensor and dust gas sensor, the gas detection device (8) is installed above the top push rod of the first electric push rod (7), and the top push rod of the first electric push rod (7) The top of the protective box is a circular flange with a through hole that is coaxial with the center of the indexing circle. It matches the threaded hole at the bottom of the protective box and is connected by bolts. The first electric push rod ( 7) The base of the body (1) is fixed in the ejector hole of the body (1). The body (1) is a scalene hexahedron, and the two sides connected to the top surface are slopes. The length of the top surface is the same, and there are vertical surfaces below the inclined surfaces on both sides. They are the same size, symmetrically distributed, and the length is the same as the length of the top surface. The length of the surface is the same, and the width is greater than that of the top surface. There is a hole for the ejector rod in the middle of the top surface of the body (1), which is a countersunk hole, and the countersunk part is a rectangular groove. The bottom of the head hole is a flat head hole. There are two concave storage cavities on each slope of the body (1). The center of the bottom surface of the cavity has a threaded hole equally divided by an indexing circle. The concave storage cavity of two oblique track wheels on each slope is symmetrical to the ejector hole on the top surface. There are three holes between each slope and the vertical surface. Two foot storage cavities, which are trapezoidal concave cavities, are respectively arranged on the left side of the concave storage cavity of the left oblique track wheel and the right side of the concave storage cavity of the right oblique track wheel. A foot storage chamber, there is a graduated circle and equally divided threaded holes under the inner surface of the foot storage chamber, and there are four bottom track wheel concave storage cavities on the bottom surface of the body (1), which are rectangular parallelepiped concave cavities, Perpendicular to the bottom surface, there is an indexing circle equally divided threaded hole in the center of the bottom surface of the concave storage cavity of the bottom crawler wheel. The second electric push rod (12) is installed in the concave storage cavity. The bottom of the second electric push rod (12) is a flange structure, and there is a through hole on the top of which is coaxial with the center of the indexing circle. , it is matched with the index circle equally divided threaded hole on the bottom surface of the concave storage cavity of the oblique track wheel, and is connected by bolts. The top of the push rod of the second electric push rod (12) is a flange with a center coaxial The indexing circle of the index circle equally divides the through hole, and the inclined track wheel assembly (2) is installed on it. The inclined track wheel assembly (2) includes the track wheel (201) and the guide block (202), and the track wheel ( 201) on the left and right sides are crawlers protruding from the middle connection seat, The two edges of the outer ring of the track are arc-shaped, and the track wheel (201) is fixed above the guide block (202). There is a threaded hole on the bottom of the guide block (202). The indexing circle on the push rod flange of the electric push rod (12) matches the through holes equally and is connected with bolts. The width of the guide block (202) is the same as the width of the concave storage cavity of the inclined track wheel. (1) A third electric push rod (13) is installed in the concave storage cavity of each bottom crawler wheel. The bottom of the third electric push rod (13) is a flange structure with a center coaxial The indexing circle equally divides the through hole, which matches the indexing circle equally divided threaded hole on the bottom surface of the concave storage cavity of the bottom crawler wheel, and is connected by bolts. The top of the push rod of the third electric push rod (13) is a flange The disc has a through hole that is equally divided by the indexing circle coaxial with the center, and the bottom track wheel assembly (14) is installed on it. The bottom track wheel assembly (14) includes the bottom track wheel and the bottom guide block. The left and right sides of the bottom track wheel are the bottom track protruding from the middle connecting seat. The two edges of the outer ring of the bottom track wheel are arc-shaped, and the bottom track wheel is fixed above the bottom guide block. The bottom of the bottom guide block There are threaded holes on which the indexing circle is equally divided, which matches the indexing circle equally divided through hole on the push rod flange of the third electric push rod (13), and is connected with bolts. The width of the bottom guide block is the same as that of the bottom track wheel. The width of the shaped storage cavity is the same, and the fourth electric push rod (15) is installed under the inner surface of each foot storage cavity of the body (1), and the bottom of the fourth electric push rod (15) is the French The blue plate structure has an indexing circle equally divided hole coaxial with the center, which matches the indexing circle equally divided threaded hole under the inner surface of the foot storage cavity, and is connected by bolts. The fourth electric push rod (15 ) is a flange at the top of the push rod, which has a through hole that is equally divided by the index circle coaxial with the center, and a foot assembly (9) is installed in front of the push rod flange of the fourth electric push rod (15). An explosion-proof monitoring camera (3), a left explosion-proof lamp (4), a right explosion-proof lamp (6) and an explosion-proof obstacle avoidance sensor (5) are arranged on the front side and the rear side of the body (1). A gas collector (10) and a control unit (11) are installed inside. 2. An intelligent gas detection device according to claim 1, characterized in that: the automatic protective door assembly on the gas detection device (8) includes a protective door, a door opening shaft mechanism and an explosion-proof door opening motor, and the door opening shaft The mechanism is installed at the rotating shaft of the protective door. 3. An intelligent gas detection device according to claim 2, characterized in that: the motors on the oblique track wheel assembly (2) and the bottom track wheel assembly (14) are explosion-proof motors. 4. An intelligent gas detection device according to claims 1-3, characterized in that: the leg assembly (9) includes a leg guide box (901), whose shape is a cuboid, and whose width is the same as the width of the leg storage cavity Yes, it has a concave rectangular parallelepiped cavity on the right side, and an indexing circle equally divided threaded hole on the inner surface of the concave rectangular parallelepiped cavity, which is connected with the indexing on the fourth electric push rod (15) The circles are equally divided through holes and are connected by bolts. A swivel seat (903) is installed on the left side of the top surface of the foot guide box (901). It is connected with the first motor (902) fixed on the foot guide box (901), and the first foot (904) is installed in the double support ear groove of the rotating seat (903), and the right side of the first foot (904) It is a single lug with a hinge hole, it is installed in the double lug groove of the swivel base (903), and is connected with the second motor (907) fixed on the swivel base (903), the left side of the first leg (904) It is a fork-shaped lug, and a second leg (906) is installed in the fork-shaped groove. The width of the second leg (906) is the same as the width of the fork-shaped groove of the first leg (904), and the length of the fork-shaped groove is longer than that of the second leg. The length of support pin (906), the right side of second support pin (906) has hinge hole, and it links to each other with the 3rd motor (905) that is fixed on the left end of first support pin (904). 5. An intelligent gas detection device according to claims 1-4, characterized in that: the first motor (902), the second motor (907) and the third motor (905) are explosion-proof motors. 6. An intelligent gas detection device according to claims 1-5, characterized in that: the control unit (11) includes an explosion-proof protection box, which contains a controller, a gas concentration tracker, a terrain analyzer, and a storage unit , Integrated circuit board, explosion-proof power supply, explosion-proof positioning device and explosion-proof wireless transmission device. 7. The method of using an intelligent gas detection device according to claim 1, characterized in that: when in use, after the device is brought to the monitoring area, the explosion-proof monitoring camera 3 and the explosion-proof obstacle avoidance sensor 5 on the device will automatically scan The front terrain image is automatically drawn by the terrain analyzer. After receiving the terrain map data, the controller automatically analyzes the front terrain and selects the best forward route. When the front is a gentle road, the controller commands the third electric pusher Rod 13 pushes out bottom track wheel assembly 14, and the device can run on flat ground at high speed. When moving forward in the pipeline, when the rough terrain ahead is not suitable for track advancement, the controller commands the second electric push rod 12 and the third electric push rod 13 to retract the oblique track wheel assembly 2 and the bottom track wheel assembly 14 into the cavity , then command the fourth electric push rod 15 to push out the leg assembly 9, the controller drives the first motor 902, the second motor 907 and the third motor 905 on the leg assembly 9, so that the rotating base 903, the first leg 904, the second The coordinated action of the feet 907 continues to move forward; after the device advances to the area to be monitored, the controller will command the explosion-proof door opening motor to open the protective door, so that the gas sensor is in contact with the gas to be measured, and at the same time the controller drives the first electric push rod 7 to move up and down to detect the gas. The gas sensor in the device 8 can collect gases of various densities, and the collected data will be stored in the storage unit in the control unit 11. In the case of a wireless network, the data will be transmitted to the rear through the explosion-proof wireless transmission device in real time , the gas concentration tracker in the control unit 11 can automatically analyze the change of the measured gas concentration in the detection area, and transmit the data to the controller, so that the controller can advance to the place with high concentration, automatically find the leakage source, and pass the explosion-proof The positioning device locates the geographical location information of the place, and at the same time, the explosion-proof surveillance camera collects the image information of the leak point, and the positioning and image information will be stored in the storage unit. In the case of a wireless network, the data will also be transmitted in real time through the explosion-proof wireless The device is transmitted to the rear. For the gas that cannot be judged by the gas sensor, the gas collector 10 will collect a certain amount of this gas and bring it back for analysis; when the device is stored and turned over, the gas detection device 8, the inclined track wheel assembly 2, Bottom crawler wheel assembly 14 and leg assembly 9 can be withdrawn in the mold cavity, is convenient to protection and turnover. 8. An intelligent gas detection method, characterized in that: by arranging the oblique track wheel concave storage cavity and the bottom track wheel concave storage cavity on the body, the second electric push rod 12 and the second electric push rod 12 are respectively fixed in the cavity. Three electric push rods 13, and the oblique track wheel assembly 2 and the bottom track wheel assembly 14 are respectively installed on the second electric push rod 12 and the third electric push rod 13, so that the oblique track wheel assembly 2 and the bottom track wheel assembly Cheng 14 can be stretched out or stored in the cavity. Compared with the traditional crawler machine, track wheels are added on the slopes on both sides of the top, which can run in the pipeline. At the same time, all the tracks can be retracted to avoid rough terrain. When the track cannot be used, To protrude the problem of affecting the progress, by arranging the foot storage cavity on the body, fix the fourth electric push rod 15 in the cavity, install the foot assembly 9 on the fourth electric push rod 15, and pass the first on the foot assembly 9 The motor 902, the second motor 907, the third motor 905 and the first leg 904 of the fork-shaped structure make the leg assembly fold to the minimum state and store it in the cavity. Compared with the traditional six-claw robot, when not using the leg All the feet can be retracted into the cabin, which avoids the easy collision and damage of the exposed feet when the feet are not in use. The exposed feet occupy a large space, which is not conducive to storage and turnover. The surrounding terrain images can be collected through the front and rear explosion-proof surveillance cameras 3, and the controller automatically Select the way of advancing, by extending the bottom track wheel assembly 14, retracting the advancing device in other places can travel on flat ground at high speed, by extending the bottom track wheel assembly 14 and the inclined track wheel assembly 2, the crawler tracks in three directions The device can advance in the pipeline. By retracting all the crawler tracks and extending the six foot assemblies 9, it can advance on rough terrain. Compared with traditional machine devices, it has three advance modes at the same time to adapt to different terrains. The first electric push rod 7 is installed in the middle opening, and the gas detection device 8 is installed above the push rod. The controller in the control unit automatically drives the detection device to move up and down, which can detect the gas with a lower density than air at low places, and the gas with a density lower than air at high places. Large gas, avoiding the problem that the detection device cannot be fully covered by the fixed detection device. By installing explosion-proof surveillance cameras 3 and explosion-proof obstacle avoidance sensors 3 on the front and rear of the body, the surrounding terrain can be scanned in real time, and the front terrain map can be automatically drawn through the terrain analyzer. At the same time, after the gas sensor detects the gas, the gas concentration tracker can automatically analyze the range of the gas concentration area, and automatically guide the device to the place with high concentration, automatically find the source of the leak, and the explosion-proof positioning device automatically locates, through the explosion-proof wireless transmission The device transmits to the rear in real time. The gas collector can collect the gas that the sensor cannot judge and bring it back for analysis. Compared with the traditional gas detection machine, the device has the ability of automatic surveying and mapping of terrain, automatic judgment and selection of multiple forward modes, and can also automatically Locating the leak point avoids the problem of low efficiency due to manual remote control of the robot's repeated actions.