The oil and gas industry faces complex and ever-changing inspection challenges, particularly in critical areas such as chemical plants, tank farms/warehouses, multi-story elevated pipe corridors, and natural gas terminals. These scenarios often involve hazardous environments such as IIB/IIC explosion-proof zones, flammable and explosive atmospheres, high temperatures, hidden dangers of working at heights, toxic environments, and dust pollution. As a result, there is a pressing need for highly adaptable and safe robotic inspection solutions to automate and intelligently replace or assist manual inspections, enhancing efficiency, reducing personnel safety risks, and ensuring the safe and stable operation of oil and gas facilities