Subway station water leakage detection equipment

Abstract

The invention discloses subway station water leakage detection equipment, which comprises a fixed detection device, a mobile detection device and a control terminal, and is characterized in that the fixed detection device comprises an adjusting holder, a plurality of groups of first infrared acquisition cameras with different number information and a leakage pre-judgment module; the adjusting holders are arranged at different positions of a subway station to collect first infrared thermograms of different wall surfaces, and the leakage pre-judgment module is used for pre-judging whether water leakage occurs on the wall surfaces or not according to information of the first infrared thermograms. And the pre-judged water leakage information of each wall surface and the corresponding number information are sent to the control terminal.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a water leakage detection device for a subway station. Background Art

[0002] With the acceleration of urbanization, subways, as an important means of public transportation, are receiving increasing attention for their construction and maintenance. Water leakage has always been a difficult problem to ignore during subway station operations. It not only affects the structural safety of the station but also poses a threat to passengers' travel experience and safety. Currently, a variety of subway station water leakage detection equipment is available on the market. Most of these devices use sensor arrays combined with data analysis technology to monitor parameters such as groundwater levels and wall humidity to determine whether there is leakage.

[0003] However, the existing technical solutions have the following significant disadvantages: First, the detection accuracy is limited and is greatly affected by environmental factors such as temperature changes and soil moisture fluctuations, which can easily lead to false alarms or missed alarms; second, the installation is complicated and requires large-scale destruction of the station's decorative layer for wiring, which has high maintenance costs and affects normal operations. Summary of the Invention

[0004] The purpose of the present invention is to provide a subway station water leakage detection device to solve the above problems.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A water leakage detection device for a subway station, comprising a fixed detection device, a mobile detection device and a control terminal; The fixed detection device includes an adjustable pan-tilt platform, a first infrared acquisition camera, and a leakage prediction module. The first infrared acquisition camera includes a plurality of groups with different numbered information, and is respectively set at different locations in the subway station through the adjustable pan-tilt platform to collect first infrared thermal images of different wall surfaces. The leakage prediction module is used to predict whether water leakage occurs on each wall surface based on the first infrared thermal image information, and transmit the predicted water leakage information and corresponding number information of each wall surface to the control terminal for processing to generate wall surface information to be reviewed; The mobile monitoring device includes a mobile vehicle, a wall information acquisition module, a wall distance measurement module, a wall inclination angle measurement module, an adjustment module, a laser re-judgment module, a second infrared acquisition camera and a water leakage final judgment module. The wall information acquisition module is used to obtain the wall information to be reviewed and drive the mobile vehicle to move to a designated detection position to detect the designated wall; The top surface of the mobile vehicle is provided with a mounting cross bar arranged in a horizontal direction, and the front end of the mounting cross bar is located in the front of the mobile vehicle, and the front end of the mounting cross bar is provided with a base, and the base is provided with a rotating slot, and a rotating head is rotatably arranged in the rotating slot, and a rotating driving module is provided on one side of the base, and the rotating driving module confirms whether the wall type of the current wall to be measured is a ceiling surface, a side wall or a ground surface according to the wall surface information to be reviewed, and the three wall types are all parallel or vertical to the horizontal plane by default, and then drives the rotating head to rotate so that the device mounting surface of the rotating head is parallel to the default state of the wall to be measured; The wall distance measuring module and the wall inclination angle measuring module are arranged on the equipment installation surface of the rotating head. The wall distance measuring module is used to measure the distance between the mobile vehicle and the wall to be measured. The wall inclination angle measuring module is used to measure the inclination angle of the wall to be detected. The adjustment module is arranged on the mobile vehicle and adjusts the distance and angle of the laser re-judgment module and the second infrared acquisition camera in real time according to the measured distance and inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured; The laser re-judgment module is used to measure the reflection intensity of the laser point on the wall surface that is predicted to be leaking. If the reflection intensity of any laser point is lower than the preset reference reflection, the wall surface is re-judged to have water leakage, and the second infrared acquisition camera is activated to collect the second infrared thermal image of the wall surface. The leakage final judgment module is used to make a final judgment on whether the wall surface has water leakage based on the second infrared thermal image information. If the final judgment result is yes, an alarm message is sent to the control terminal.

[0006] Preferably, the leakage prediction module includes a temperature difference setting unit, a first image processing unit and a first leakage judgment unit. The temperature difference setting unit is used to preset the wall temperature difference and adjust the preset wall temperature difference according to the actual room temperature to generate a wall temperature judgment threshold. The first image processing unit is used to split the first infrared thermal image into multiple imaging areas and judge the regional imaging temperature information corresponding to each imaging area. The first leakage judgment unit is used to compare the wall temperature judgment threshold with the imaging temperature of each area. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is predicted that there is water leakage on the wall.

[0007] Preferably, the laser re-judgment module includes a laser transmitter, a laser receiver, a reflection threshold setting unit and a second leakage judgment unit, the laser transmitter is used to transmit a laser beam to the wall where water leakage is predicted, the laser receiver is used to receive the reflection intensity of the laser point in the laser beam, the reflection threshold setting unit is used to set the wall reference reflection intensity threshold, and the second leakage judgment unit is used to compare the reflection intensity of the laser point in the laser beam with the wall reference reflection intensity threshold. If the reflection intensity of any laser point is lower than the wall reference reflection intensity threshold, the wall is re-judged to have water leakage.

[0008] Preferably, the leakage final judgment module includes a second image processing unit and a second leakage judgment unit. The first image processing unit is used to split the second infrared thermal image into multiple imaging areas and judge the regional imaging temperature information corresponding to each image area. The second leakage judgment unit is used to compare the wall temperature judgment threshold and the imaging temperature of each area. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is finally judged that there is water leakage in the area of ​​the wall.

[0009] Preferably, the mobile vehicle includes a vehicle body, a map storage unit, a vehicle positioning unit, a route planning unit, an environment scanning radar, and an ultrasonic obstacle detection sensor. The map storage unit is used to store subway station map information, the vehicle positioning unit is used to obtain vehicle location information, the route planning unit is used to plan the vehicle movement route based on the subway station map information, the re-judged wall location information, and the vehicle location information. The environment scanning radar is used to scan the environment around the vehicle body to form real-time environmental information, and send it to the mobile vehicle to adjust the movement route in real time. The ultrasonic obstacle detection sensors include a plurality of sensors distributed around the vehicle body to monitor the distance between the vehicle body and obstacles during movement. Four sets of Mecanum wheels are provided at the bottom of the vehicle body to drive the vehicle body and adjust the movement direction of the vehicle body.

[0010] Preferably, the adjustment module includes a mounting seat, an adjustment swing arm and a swing arm control chip. A storage groove is provided on the top surface of the vehicle body for accommodating the adjustment swing arm. The bottom end of the adjustment swing arm is fixed in the storage groove. The mounting seat is arranged at the top end of the adjustment swing arm for installing the laser re-judgment module and the second infrared acquisition camera. The swing arm control chip is used to adjust the length and angle of the adjustment swing arm in real time according to the measured distance to the wall to be measured and the inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera at the top are parallel to the wall to be measured.

[0011] Preferably, the adjustment swing arm includes a first telescopic component, a first rotating component, a connecting rod, a second rotating component, a second telescopic component and a third rotating component. The mounting seat is arranged at the top of the first telescopic component for installing the laser re-judgment module and the second infrared acquisition camera. The two ends of the connecting rod are respectively rotatably connected to the bottom end of the first telescopic component and the top end of the second telescopic component through the first rotating component and the second rotating component. The bottom end of the second telescopic component is rotatably connected to the right groove wall of the storage groove through the third rotating component. The left groove of the storage groove passes through the left side wall of the vehicle body. The swing arm control chip is used to control the first telescopic component, the first rotating component, the second rotating component, the second telescopic component and the third rotating component according to the wall information to be measured, the wall distance to be measured and the inclination angle of the wall to be measured, so as to adjust the position and angle of the mounting seat so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured.

[0012] Preferably, the first telescopic assembly and the second telescopic assembly both include a cylinder, an upper cover, a sliding support rod, a sliding piston, a threaded rod, and a first servo motor. The sliding piston is slidably arranged in the cylinder, one end of the sliding support rod is connected to the sliding piston, and the other end thereof passes through the upper wall of the cylinder and is connected to the upper cover. The sliding piston is provided with a transmission nut that is threadably matched with the threaded rod, and the first servo motor drives the sliding piston to slide through the threaded rod.

[0013] Preferably, the first rotating assembly, the second rotating assembly and the third rotating assembly all include a first rotating member, a second rotating member, a first fixed member and a second fixed member, the first rotating member is provided with a rotating ring, the second rotating member is provided with a rotating circular groove for accommodating the rotating ring, the upper end of the rotating ring is provided with a retaining ring for rotatably mounting the second rotating member on the rotating ring, the first rotating member is provided with a second driving motor for driving the second rotating member to rotate, the first fixed member and the second fixed member are respectively arranged on one side of the first rotating member and the second rotating member, the first fixed member is rotatably provided with a first mounting plate and a third servo motor for driving the first mounting plate to rotate, the second fixed member is rotatably provided with a second mounting plate and a fourth servo motor for driving the second mounting plate to rotate.

[0014] Preferably, the numbering information includes a camera number, an installation wall number, a predicted wall number, camera installation position information, and predicted wall position information.

[0015] After adopting the above technical solution, the present invention has the following advantages compared with the background technology: 1. The present invention provides a subway station water leakage detection device, which uses multiple groups of first infrared acquisition cameras to synchronously detect various walls in the station, preliminarily pre-judge whether there is water leakage on the wall. If it occurs, the control terminal controls the mobile vehicle to the detection position of the corresponding wall for re-judgment and final judgment. When the re-judgment and final judgment results both indicate that there is water leakage on the wall, an alarm message is sent to the control terminal for inspection and maintenance. The triple detection process improves the accuracy and stability of the detection, realizes the rapid and accurate identification of water leakage problems in subway stations, accurately locates the location of leaking walls, and ensures the efficiency of inspection and maintenance.

[0016] 2. The present invention provides a subway station water leakage detection device. The wall distance measurement module measures the distance between a mobile vehicle and the wall to be measured. The wall inclination angle measurement module measures the inclination angle of the wall to be measured. The adjustment module adjusts the distance and angle of the laser re-judgment module and the second infrared acquisition camera according to the measured distance and inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured.

[0017] 3. The present invention provides a water leakage detection device for a subway station. The device performs real-time detection on the conditions of each wall in the station through a fixed detection device, predicts the water leakage of the wall based on the detection results, and then mobilizes a mobile vehicle to move the mobile detection device to a designated position. The device adjusts the detection angle and position of the specific wall to be reviewed through an adjustment module to improve the accuracy of the detection.

[0018] 4. The present invention provides a subway station water leakage detection device. The mobile vehicle stores the map information of the subway station and can locate its own position. When the mobile detection device obtains the detection instruction of the control terminal, the vehicle movement route is planned according to the subway station map information, the re-judged wall position information and the vehicle position information, so that the vehicle can quickly reach the designated position. During the movement, the surrounding environment of the vehicle is scanned to form real-time environmental information, and the moving route is adjusted in real time to avoid delays in detection speed due to changes in the environment in the station, thereby improving the overall detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural block diagram of the detection system of the present invention; Figure 2 This is a flowchart of the vehicle body movement program of the present invention; Figure 3 This is a schematic diagram of the structure of the adjustment module of the present invention; Figure 4 This is a schematic diagram of the position structure of the wall distance measuring module and the wall inclination angle measuring module of the present invention; Figure 5 Schematic diagram of the structure of the first telescopic rod and the second telescopic rod of the present invention; Figure 6 It is a schematic structural diagram of the rotating assembly of the present invention; Figure 7 This is a schematic structural diagram of the first fixing member of the present invention; Figure 8 Schematic diagram of the second fixing member structure of the present invention DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] It should be noted that in the present invention, the terms "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are all based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element of the present invention must have a specific orientation, and therefore cannot be understood as a limitation on the present invention. Example

[0022] Please refer to Figures 1 to 8 As shown, the present invention discloses a subway station water leakage detection device, including a fixed detection device, a mobile detection device and a control terminal; The fixed detection device includes an adjustable pan-tilt platform, a first infrared acquisition camera, and a leakage prediction module. The first infrared acquisition camera includes several groups with different numbered information, and is respectively set at different locations in the subway station through the adjustable pan-tilt platform to collect first infrared thermal images of different wall surfaces. The leakage prediction module is used to predict whether water leakage occurs on each wall surface based on the first infrared thermal image information, and transmit the predicted water leakage information and corresponding number information of each wall surface to the control terminal for processing to generate wall surface information to be reviewed; The mobile monitoring device includes a mobile vehicle 1, a wall information acquisition module, a wall distance measurement module 2, a wall inclination angle measurement module 3, an adjustment module 4, a laser re-judgment module, a second infrared acquisition camera, and a water leakage final judgment module. The wall information acquisition module is used to obtain the wall information to be reviewed and drive the mobile vehicle 1 to move to a designated detection position to detect the designated wall; The top surface of the mobile vehicle 1 is provided with a mounting cross bar 11 arranged in the horizontal direction, and the front end of the mounting cross bar 11 is located in front of the mobile vehicle 1. The front end of the mounting cross bar 11 is provided with a base 12, and the base 12 is provided with a rotating groove, and a rotating head 13 is rotatably arranged in the rotating groove. A rotating drive module 14 is provided on one side of the base 12. The rotating drive module 14 confirms the wall type of the current wall to be measured according to the wall information to be reviewed, namely, the ceiling, the side wall or the ground, and the three wall types are all parallel or vertical to the horizontal plane by default, and then drives the rotating head 13 to rotate so that the device mounting surface of the rotating head 13 is parallel to the default state of the wall to be measured; The wall distance measuring module 2 and the wall inclination angle measuring module 3 are arranged on the equipment installation surface of the rotating head 13. The wall distance measuring module is used to measure the distance between the mobile vehicle 1 and the wall to be measured, and the wall inclination angle measuring module is used to measure the inclination angle of the wall to be detected. The adjustment module 4 is arranged on the mobile vehicle 1 and adjusts the distance and angle between the laser re-judgment module and the second infrared acquisition camera in real time according to the measured distance and inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured; The laser re-judgment module is used to measure the reflection intensity of the laser point on the wall surface that is predicted to be leaking. If the reflection intensity of any laser point is lower than the preset reference reflection, the wall surface is re-judged to have water leakage, and the second infrared acquisition camera is activated to collect the second infrared thermal image of the wall surface. The leakage final judgment module is used to make a final judgment on whether the wall surface has water leakage based on the second infrared thermal image information. If the final judgment result is yes, an alarm message is sent to the control terminal.

[0023] The leakage prediction module includes a temperature difference setting unit, a first image processing unit and a first leakage judgment unit. The temperature difference setting unit is used to preset the wall temperature difference and adjust the preset wall temperature difference according to the actual room temperature to generate a wall temperature judgment threshold. The first image processing unit is used to split the first infrared thermal image into multiple imaging areas and judge the regional imaging temperature information corresponding to each imaging area. The first leakage judgment unit is used to compare the wall temperature judgment threshold with the imaging temperature of each area. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is predicted that there is water leakage on the wall.

[0024] The laser re-judgment module includes a laser transmitter, a laser receiver, a reflection threshold setting unit and a second leakage judgment unit. The laser transmitter is used to transmit a laser beam to the wall where water leakage is predicted. The laser receiver is used to receive the reflection intensity of the laser point in the laser beam. The reflection threshold setting unit is used to set the wall reference reflection intensity threshold. The second leakage judgment unit is used to compare the reflection intensity of the laser point in the laser beam with the wall reference reflection intensity threshold. If the reflection intensity of any laser point is lower than the wall reference reflection intensity threshold, the wall is re-judged to have water leakage.

[0025] The leakage final judgment module includes a second image processing unit and a second leakage judgment unit. The first image processing unit is used to split the second infrared thermal image into multiple imaging areas and judge the regional imaging temperature information corresponding to each image area. The second leakage judgment unit is used to compare the wall temperature judgment threshold and the imaging temperature of each area. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is finally judged that there is water leakage in the area of ​​the wall.

[0026] The mobile vehicle 1 includes a vehicle body 15, a map storage unit, a vehicle positioning unit, a route planning unit, an environment scanning radar, and an ultrasonic obstacle detection sensor. The map storage unit is used to store subway station map information, the vehicle positioning unit is used to obtain vehicle location information, the route planning unit is used to plan the vehicle movement route based on the subway station map information, the re-judged wall location information, and the vehicle location information. The environment scanning radar is used to scan the environment around the vehicle body to generate real-time environmental information and send it to the mobile vehicle to adjust the movement route in real time. The ultrasonic obstacle detection sensors include several and are distributed around the vehicle body to monitor the distance between the vehicle body 15 and obstacles during movement. Four sets of Mecanum wheels 17 are provided at the bottom of the vehicle body 15 to drive the vehicle body 15 and adjust the movement direction of the vehicle body 15.

[0027] The adjustment module 4 includes a mounting seat 41, an adjustment swing arm and a swing arm control chip. A storage slot 16 is provided on the top surface of the vehicle body 15 for accommodating the adjustment swing arm. The bottom end of the adjustment swing arm is fixed in the storage slot 16. The mounting seat 41 is provided at the top end of the adjustment swing arm for installing a laser re-judgment module and a second infrared acquisition camera. The swing arm control chip is used to adjust the length and angle of the adjustment swing arm in real time according to the measured distance to the wall to be measured and the inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera at the top are parallel to the wall to be measured.

[0028] The adjusting swing arm includes a first telescopic component 42, a first rotating component 43, a connecting rod 44, a second rotating component 45, a second telescopic component 46 and a third rotating component 47. The mounting seat 41 is arranged at the top of the first telescopic component 42 for installing the laser re-judgment module and the second infrared acquisition camera. The two ends of the connecting rod 44 are respectively rotatably connected to the bottom end of the first telescopic component 1 and the top end of the second telescopic component 2 through the first rotating component 3 and the second rotating component 5. The bottom end of the second telescopic component 2 is rotatably connected to the right groove wall of the storage groove 16 through the third rotating component 7. The left groove of the storage groove 16 passes through the left wall of the vehicle body 15. The swing arm control chip is used to control the first telescopic component 42, the first rotating component 43, the second rotating component 45, the second telescopic component 46 and the third rotating component 47 according to the wall information to be measured, the wall distance to be measured and the inclination angle of the wall to be measured, thereby adjusting the position and angle of the mounting seat so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured.

[0029] The first telescopic assembly 42 and the second telescopic assembly 46 both include a cylinder 421, an upper cover 422, a sliding support rod 423, a sliding piston 424, a threaded rod 425, and a first servo motor 426. The sliding piston 424 is slidably arranged in the cylinder 421. One end of the sliding support rod 423 is connected to the sliding piston 424, and the other end thereof passes through the upper wall of the cylinder 421 and is connected to the upper cover 422. The sliding piston 424 is provided with a transmission nut 427 that is threadably matched with the threaded rod 425. The first servo motor 426 drives the sliding piston 424 to slide through the threaded rod 425.

[0030] The first rotating assembly 43, the second rotating assembly 45 and the third rotating assembly 47 all include a first rotating member 431, a second rotating member 432, a first fixed member 433 and a second fixed member 434. The first rotating member 431 is provided with a rotating ring 4311, the second rotating member 432 is provided with a rotating circular groove 4321 for accommodating the rotating ring 4311, the upper end of the rotating ring 4311 is provided with a retaining ring 4312 for rotatably installing the second rotating member 432 on the rotating ring 4311, the first rotating member 431 is provided with a second driving motor 4313 for driving the second rotating member 432 to rotate, and the first fixed member 433 and the second fixed member 434 are respectively arranged on one side of the first rotating member 431 and the second rotating member 432. A first mounting plate 4331 and a third servo motor 4332 for driving the first mounting plate 4331 to rotate are rotatably provided on the first fixing member 433. A second mounting plate 4341 and a fourth servo motor 4342 for driving the second mounting plate 4341 to rotate are rotatably provided on the second fixing member 434. The first mounting plate 4331 and the second mounting plate 4441 are respectively used to connect the components that need to rotate at both ends.

[0031] The wall distance measurement module 2 uses a laser rangefinder, and the wall inclination angle measurement module includes a laser scanning radar and an inclination angle estimation unit. The inclination angle estimation unit estimates the inclination angle of the device mounting surface of the rotating head 13 relative to the wall based on the wall data scanned by the laser scanning radar, thereby calculating the inclination angle of the wall itself. The numbering information includes the camera number, the installation wall number, the predicted wall number, the camera installation position information, and the predicted wall position information.

[0032] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A subway station water leakage detection device, characterized by: It includes a fixed detection device, a mobile detection device and a control terminal; The fixed detection device includes an adjustable pan-tilt, a first infrared acquisition camera and a leakage prediction module. The first infrared acquisition camera includes a plurality of groups with different number information, and is respectively arranged at different positions of the subway station through the adjustable pan-tilt to collect first infrared thermal images of different walls. The leakage prediction module is used to predict whether water leakage occurs on each wall according to the first infrared thermal image information, and send the predicted water leakage information of each wall and the corresponding number information to the control terminal for processing to generate wall information to be reviewed; The mobile monitoring device includes a mobile vehicle, a wall information acquisition module, a wall distance measurement module, a wall inclination angle measurement module, an adjustment module, a laser re-judgment module, a second infrared acquisition camera and a water leakage final judgment module. The wall information acquisition module is used to obtain the wall information to be reviewed and drive the mobile vehicle to move to a designated detection position to detect the designated wall; The top surface of the mobile vehicle is provided with a mounting cross bar arranged in a horizontal direction, and the front end of the mounting cross bar is located in front of the mobile vehicle, and the front end of the mounting cross bar is provided with a base, and the base is provided with a rotating slot, and a rotating head is rotatably arranged in the rotating slot, and a rotating driving module is provided on one side of the base, and the rotating driving module confirms which of the three types of wall surface to be tested is the ceiling surface, the side wall surface or the ground surface according to the wall surface information to be reviewed, and the three types of wall surface are all set to be parallel or vertical to the horizontal plane by default, and then the rotating head is driven to rotate so that the device mounting surface of the rotating head is parallel to the default state of the wall surface to be tested; The wall distance measuring module and the wall inclination angle measuring module are arranged on the equipment installation surface of the rotating head, the wall distance measuring module is used to measure the distance between the mobile vehicle and the wall to be measured, and the wall inclination angle measuring module is used to measure the inclination angle of the wall to be detected. The adjustment module is arranged on the mobile vehicle and adjusts the distance and angle of the laser re-judgment module and the second infrared acquisition camera in real time according to the measured distance of the wall to be measured and the inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured; The laser re-judgment module is used to measure the reflection intensity of the laser point of the predicted leaking wall. If the reflection intensity of any laser point is lower than the preset reference reflection, the wall is re-judged to have water leakage, and the second infrared acquisition camera is activated to collect the second infrared thermal image of the wall. The leakage final judgment module is used to make a final judgment on whether the wall has water leakage based on the second infrared thermal image information. If the final judgment result is yes, an alarm message is sent to the control terminal.

2. A subway station water leakage detection device as claimed in claim 1, characterized in that: The leakage prediction module includes a temperature difference setting unit, a first image processing unit and a first leakage judgment unit. The temperature difference setting unit is used to preset the wall temperature difference, and adjust the preset wall temperature difference according to the actual room temperature to generate a wall temperature judgment threshold. The first image processing unit is used to split the first infrared thermal image into multiple imaging areas, and judge the regional imaging temperature information corresponding to each imaging area. The first leakage judgment unit is used to compare the wall temperature judgment threshold with each regional imaging temperature. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is predicted that there is water leakage on the wall.

3. A subway station water leakage detection device as claimed in claim 2, characterized in that: The laser re-judgment module includes a laser transmitter, a laser receiver, a reflection threshold setting unit and a second leakage judgment unit. The laser transmitter is used to emit a laser beam to a wall surface predicted to be leaking. The laser receiver is used to receive the reflection intensity of a laser point in the laser beam. The reflection threshold setting unit is used to set a reference reflection intensity threshold of the wall surface. The second leakage judgment unit is used to compare the reflection intensity of the laser point in the laser beam with the reference reflection intensity threshold of the wall surface. If the reflection intensity of any laser point is lower than the reference reflection intensity threshold of the wall surface, the wall surface is re-judged to have water leakage.

4. A subway station water leakage detection device as claimed in claim 3, characterized in that: The leakage final judgment module includes a second image processing unit and a second leakage judgment unit. The first image processing unit is used to split the second infrared thermal image into multiple imaging areas and judge the regional imaging temperature information corresponding to each image area. The second leakage judgment unit is used to compare the wall temperature judgment threshold and the imaging temperature of each area. If there is a regional imaging temperature greater than the wall temperature judgment threshold, it is finally judged that there is water leakage in the area of ​​the wall.

5. The subway station water leakage detection device according to claim 1, characterized in that: The mobile vehicle includes a vehicle body, a map storage unit, a vehicle body positioning unit, a route planning unit, an environment scanning radar, and an ultrasonic obstacle detection sensor. The map storage unit is used to store subway station map information, the vehicle body positioning unit is used to obtain vehicle body location information, the route planning unit is used to plan the vehicle body movement route according to the subway station map information, the re-judged wall location information and the vehicle body location information, the environment scanning radar is used to scan the environment around the vehicle body to form real-time environmental information, and send it to the mobile vehicle body to adjust the movement route in real time, the ultrasonic obstacle detection sensors include a plurality of sensors distributed around the vehicle body to monitor the distance between the vehicle body and obstacles during movement, and four sets of Mecanum wheels are arranged at the bottom of the vehicle body to drive the vehicle body to move and adjust the movement direction of the vehicle body.

6. A subway station water leakage detection device as claimed in claim 5, characterized in that: The adjustment module includes a mounting seat, an adjustment swing arm and a swing arm control chip. The top surface of the vehicle body is provided with a storage groove for storing the adjustment swing arm. The bottom end of the adjustment swing arm is fixed in the storage groove. The mounting seat is arranged at the top end of the adjustment swing arm for installing the laser re-judgment module and the second infrared acquisition camera. The swing arm control chip is used to adjust the length and angle of the adjustment swing arm in real time according to the measured distance to the wall to be measured and the inclination angle of the wall to be measured, so that the laser re-judgment module and the second infrared acquisition camera at the top are parallel to the wall to be measured.

7. A subway station water leakage detection device as claimed in claim 6, characterized in that: The adjusting swing arm includes a first telescopic component, a first rotating component, a connecting rod, a second rotating component, a second telescopic component and a third rotating component. The mounting seat is arranged at the top of the first telescopic component for mounting the laser re-judgment module and the second infrared acquisition camera. The two ends of the connecting rod are rotationally connected to the bottom end of the first telescopic component and the top end of the second telescopic component through the first rotating component and the second rotating component respectively. The bottom end of the second telescopic component is rotationally connected to the right groove wall of the storage groove through the third rotating component. The left groove of the storage groove passes through the left side wall of the vehicle body. The swing arm control chip is used to control the first telescopic component, the first rotating component, the second rotating component, the second telescopic component and the third rotating component according to the wall information to be measured, the wall distance to be measured and the inclination angle of the wall to be measured, so as to adjust the position and angle of the mounting seat so that the laser re-judgment module and the second infrared acquisition camera are located at the optimal detection viewing angle and detection distance of the wall to be measured.

8. A subway station water leakage detection device as claimed in claim 7, characterized in that: The first telescopic assembly and the second telescopic assembly both include a cylinder, an upper cover, a sliding support rod, a sliding piston, a threaded rod, and a first servo motor. The sliding piston is slidably arranged in the cylinder. One end of the sliding support rod is connected to the sliding piston, and the other end thereof passes through the upper wall of the cylinder to connect to the upper cover. The sliding piston is provided with a transmission nut that threadably cooperates with the threaded rod. The first servo motor drives the sliding piston to slide via the threaded rod.

9. The subway station water leakage detection device according to claim 7, characterized in that: The first rotating assembly, the second rotating assembly and the third rotating assembly all include a first rotating member, a second rotating member, a first fixed member and a second fixed member. The first rotating member is provided with a rotating ring, the second rotating member is provided with a rotating circular groove for accommodating the rotating ring, the upper end of the rotating ring is provided with a retaining ring for rotatably mounting the second rotating member on the rotating ring, the first rotating member is provided with a second driving motor for driving the second rotating member to rotate, the first fixed member and the second fixed member are respectively arranged on one side of the first rotating member and the second rotating member, the first fixed member is rotatably provided with a first mounting plate and a third servo motor for driving the first mounting plate to rotate, and the second fixed member is rotatably provided with a second mounting plate and a fourth servo motor for driving the second mounting plate to rotate.

10. The subway station water leakage detection device according to claim 1, characterized in that: The numbering information includes the camera number, the installation wall number, the predicted wall number, the camera installation position information and the predicted wall position information.

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