Pan-tilt robot dog inspection P20

1. Inspection Robot System Overview

The inspection robot system consists of the quadruped inspection robot, rail platform, power supply platform, communications platform, positioning module, and other subsystems. The system architecture is organized into three layers: the execution layer, communications layer, and management layer. The execution layer includes the intelligent quadruped inspection robot and autonomous charging module, enabling data acquisition, autonomous charging, and other functions.

1.1. Intelligent Quadruped Inspection Robot

As shown below, the quadruped inspection robot is equipped with a laser methane monitoring system, laser methane remote sensing system, and high-definition video. It is controlled by a high-performance embedded CPU and uses industrial-grade components throughout for reliable operation and comprehensive functionality.

2.1.1. Advanced Laser Methane Detection System

The advanced laser methane detection system uses TDLAS (Tunable Diode Laser Absorption Spectroscopy) technology to sample and analyze methane in the air. The detection limit can reach the 500 ppb level. By analyzing fluctuations in atmospheric methane concentration, the system determines whether a gas leak may be present in the vicinity. This enables early detection of abnormal conditions, helping prevent escalation into major incidents and reducing potential risks to property and personnel. Key performance parameters are as follows:

Advanced Laser Methane Detection System Performance:

1) Detection limit: 500 ppb

2) Full-range measurement supported

3) Rapid analysis, with one set of measurement data output every 0.5 s

4) Abnormal temperature alarm function; configurable warning/alarm thresholds with over-temperature alerts

2.1.2. High-Definition Visible-Light Camera

The industrial-grade high-definition color camera is a day/night network camera with 4 megapixels and a maximum resolution of 2688 × 1520. It supports functions such as exposure compensation and automatic white balance, enabling image capture and data transmission under a wide range of lighting conditions.

High-Definition Visible-Light Camera Specifications:

1) Maximum resolution: 2688 × 1520

2) Focal length: 5–160 mm; 32× optical zoom; 16× digital zoom

3) Maximum resolution: 2K; supports auto iris, autofocus, auto white balance, backlight compensation, wide dynamic range (WDR), 3D digital noise reduction, and day/night switching

4) Supports deep-learning-based intelligent functions:

2.1.3. Co-Axial Visible-Light Laser Methane Remote Sensing System

Through optical design, the co-axial visible-light laser methane remote sensing system maintains the same line of sight as the visible-light camera, enabling "what you see is what you measure." It serves as a visual sensing module for the robot and supports photo-based confirmation of leak locations.

Remote Sensing System Specifications:

1) Maximum detection distance: 100 m

2) Static detection limit: 5 ppm·m

3) Applicable technical standard: JJF-078

2.2. Power Supply Platform

        The intelligent quadruped inspection robot uses a combined power architecture featuring quick-release lithium batteries and distributed contactless charging.

       When the robot battery is low, it can charge at the nearest charging point. Each distributed charging station uses 220 VAC from the nearest distribution box as its power input, supporting reliable field operation. Before the robot confirms its position and docks with the charging station, the station remains de-energized to avoid energized docking. Once fully aligned, the robot transmits a signal and the charging station powers on to begin charging.

1) Distributed charging points use 220 VAC as the power input for reliable field operation

2) The quadruped inspection robot is battery-powered and uses a ternary lithium battery

3) Battery capacity supports more than 15 km of travel under full load on a single charge

4) The charging station is designed in principle to prevent spark generation for enhanced safety

5) The robot also supports rapid battery replacement; in an emergency, a spare battery can be installed quickly to support temporary missions

2.3. Positioning Module

The quadruped inspection robot operates along predefined routes. It builds navigation and positioning maps using 3D LiDAR and fuses data from 3D LiDAR, IMU, odometry, RTK, and other sensors to achieve precise localization and autonomous navigation.

2.4. Technical Specifications