Spinning type micro detection robot

Abstract

The invention, which relates to the field of narrow space detection, discloses a self-rotating type micro detection robot comprising a first detection mechanism, a second detection mechanism and a power supply wire. The first detection mechanism comprises a first vehicle body, four self-rotating advancing wheels arranged on the two sides of the first vehicle body, an endoscope located at the front end of the first vehicle body, a control chip and a driving mechanism, wherein the control chip and the driving mechanism are located in the first vehicle body. The driving mechanism and the endoscope are electrically connected with the control chip. A defect detection module is arranged on the second detection mechanism and is used for detecting the defect condition of the to-be-detected area; the power supply wire is connected with the first detection mechanism and the second detection mechanism and used for providing power supply and pulling the first detection mechanism and / or the second detection mechanism back to a starting point when the first detection mechanism and / or the second detection mechanism breaks down. According to the invention, the system adapts to narrow space through miniaturization design and self-rotation type traveling wheels, high-definition camera shooting and laser imaging technologies ensure image quality, deep learning and an image algorithm improve data processing efficiency, and detection accuracy and efficiency are comprehensively improved.

Description

Technical Field

[0001] The invention relates to the field of narrow space detection, and in particular to a self-spinning micro detection robot. Background Art

[0002] In modern industry and energy, especially in critical infrastructure such as hydropower stations, the maintenance and inspection of equipment such as valves, pumps and pipelines are key to ensuring safe operation and efficiency. However, these equipment often face damage such as cavitation, cavitation and corrosion, which often occur in areas that are difficult to directly observe and detect, such as gates, sealing areas of valves or inside pipelines. Due to the complex structure and narrow space in these areas, traditional inspection methods are difficult to implement, resulting in potential safety risks and efficiency losses.

[0003] Take the Three Gorges Power Station as an example. During the A-level maintenance, the technicians found that the gap between the top cover and the runner was very narrow, only 22mm, which caused cavitation on the inner surface of the top cover. Cavitation not only caused the metal layer of the top cover to thin, but also formed a honeycomb-like loose and porous morphology on the surface of the metal structure. The cavitation depth ranged from a few millimeters to twenty millimeters. The irregularity and randomness of this damage made it difficult to predict and prevent, and due to space limitations, the top cover could not be effectively inspected in place. As an important component of the unit, the operating status of the top cover is directly related to the safety and stability of the entire unit and even the entire power plant.

[0004] In summary, the technical problem to be solved by the present invention is how to develop a micro robot that can perform efficient and accurate detection in a small and inaccessible space to achieve real-time monitoring and maintenance of critical infrastructure, thereby improving safety and operational efficiency. Such a robot needs to have miniaturization, high mobility, high-quality image acquisition capabilities, and powerful data processing capabilities to adapt to complex industrial environments and improve detection accuracy and efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a spinning micro-detection robot to solve the above-mentioned technical problems existing in the prior art.

[0006] To achieve the above-mentioned objectives, the present invention provides the following scheme: a self-spinning micro-inspection robot, comprising a first detection mechanism, a second detection mechanism and a power supply wire, wherein the first detection mechanism comprises a first body, four self-spinning traveling wheels arranged on both sides of the first body, an endoscope located at the front end of the first body, a control chip and a driving mechanism located in the first body, the driving mechanism and the endoscope are electrically connected to the control chip respectively; the second detection mechanism is provided with a defect detection module, the defect detection module is used to detect the defect condition of the area to be tested, and the defect detection module is electrically connected to the control chip; the power supply wire is connected to the first detection mechanism and the second detection mechanism for providing power supply, and when the first detection mechanism and / or the second detection mechanism fails, it will be pulled back to the starting point.

[0007] The above structure aims to provide a self-spinning micro-inspection robot, which can adapt to narrow spaces through miniaturized design and self-spinning traveling wheels. High-definition camera and laser imaging technology ensure image quality, and deep learning and image algorithms improve data processing efficiency, thereby comprehensively improving detection accuracy and efficiency.

[0008] Optionally, the self-spinning wheel is a flexible columnar body, which is coaxially arranged with the power supply wire, and the wheel body of the self-spinning wheel has a spiral gripping protrusion.

[0009] Optionally, the endoscope includes a camera, a fill light and a sensor.

[0010] Optionally, the camera uses multispectral imaging technology to capture different wavelengths of light to help identify different types of materials and damage.

[0011] Optionally, the camera uses high dynamic range technology to improve image contrast and details.

[0012] Optionally, the second detection mechanism includes a second vehicle body, a wire sleeve for cooperating with a power supply wire is fixedly connected to the second vehicle body, casters are rotatably connected on both sides of the second vehicle body, and the defect detection module is installed on the second vehicle body.

[0013] Optionally, the defect detection module includes a potentiometer and a detection contact piece. The potentiometer is fixedly connected to the second car body, and the detection contact piece is connected to its peripheral side. The end of the detection contact piece away from the potentiometer is connected to a contact probe, and the contact probe is elastically connected to the second car body.

[0014] Optionally, the potentiometer is a wire-wound potentiometer, and one end of the detection contact piece is rotatably connected to the peripheral side of the potentiometer.

[0015] Optionally, a return spring is provided between the contact probe and the second vehicle body.

[0016] Optionally, the power supply wire includes a conductor, an insulating layer, a shielding layer and a tensile element, the conductor is formed by twisting multiple strands of fine copper wires or copper wires, and the tensile element is located in the outermost layer to improve the tensile and compressive properties of the cable.

[0017] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0018] The self-spinning micro-inspection robot of the present invention solves the detection problem in narrow spaces by miniaturizing the design and using a self-spinning oblique forward spinning wheel to achieve flexible movement in complex structures. It is equipped with a high-definition camera, a fill light device, and laser-assisted imaging technology to ensure high quality image acquisition. At the same time, the robot uses efficient data transmission processing, deep learning, and image processing algorithms to improve data processing efficiency and comprehensiveness of detection. The potentiometer at the tail can detect the severity of the cavitation area and evaluate the cavitation situation by monitoring the change in resistance. Overall, this robot significantly improves detection efficiency and accuracy, providing important support for equipment maintenance and structural safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 An axonometric diagram of a self-spinning micro-detection robot provided by an embodiment of the present invention;

[0021] Figure 2 A front view of a self-spinning micro-detection robot provided by an embodiment of the present invention;

[0022] Figure 3 A top view of a spinning micro-detection robot provided by an embodiment of the present invention;

[0023] Figure 4 A left view of the self-spinning micro-detection robot provided by an embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the first detection mechanism in an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of a first detection mechanism in an embodiment of the present invention when its front end is bent;

[0026] Figure 7 It is a schematic diagram of the structure of the endoscope in the first detection mechanism of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the control chip in the first detection mechanism of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the second detection mechanism in an embodiment of the present invention;

[0029] Fig.10 A schematic diagram of the effect of using the self-spinning micro-inspection robot of an embodiment of the present invention to inspect the top cover of a hydro-generator set;

[0030] Fig.11 This is the effect picture of the self-spinning micro-inspection robot entering the inspection hole;

[0031] Fig.12 This is the effect picture after the spinning micro-inspection robot reaches the narrow gap to be tested;

[0032] Fig.13 This is a rendering of a self-spinning micro-inspection robot performing inspection operations in a narrow gap to be inspected.

[0033] In the figure: 1. first detection mechanism; 11. first vehicle body; 12. self-spinning traveling wheel; 13. endoscope; 14. control chip; 2. second detection mechanism; 21. potentiometer; 22. detection contact piece; 23. reset spring; 24. caster; 25. second vehicle body; 26. wire sleeve; 27. contact probe; 3. power supply wire; 100. top cover of hydro-turbine generator set; 101. narrow gap to be tested; 102. detection hole; 200. micro detection robot. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The sealing areas of valves and pumps, as well as the internal inspection of pipelines, are critical to ensuring industrial safety, improving efficiency, reducing costs and complying with regulations. Regular inspections can prevent potential failures and accidents, reduce unexpected downtime and repair costs. Through inspections, damage, leaks and blockages in the pipeline system can be discovered in a timely manner, so that corresponding maintenance and repair measures can be taken. Traditional manual inspection methods are inefficient and have great limitations. Robots can replace manual work, especially in small and dim environments, where robots can complete tasks more efficiently. The data collected by the sensors on the robot, combined with machine learning and artificial intelligence algorithms, can be used to evaluate the health status of the pipeline and perform predictive maintenance, providing scientific data support for pipeline maintenance.

[0036] In order to meet the needs of internal pipeline inspection, researchers have developed miniaturized imaging systems. These systems are compact in size and high in resolution through careful selection of components, optimization of optical systems, and integration using 3D printing technology. They can provide detailed pipeline wall information for pipeline robots. Research and development of pipeline robots are carried out both at home and abroad. For example, the PIG-type pipeline robot developed by Weatherford in the United States uses the pressure difference of the medium in the pipeline to achieve movement, and has a polyurethane sealing bowl structure to amplify the pressure and improve the stability of movement. The KANTARO pipeline robot designed in Japan relies on battery power and has four independently driven drive wheels, which increases the flexibility of movement. In summary, pipeline inspection robot technology is developing towards higher precision, miniaturization, bionic design and intelligence to adapt to the complex and changing pipeline inspection environment and needs.

[0037] In order to solve the technical problem that existing detection equipment and methods are difficult to operate in a narrow space, an embodiment of the present invention proposes a spinning micro-inspection robot, which aims to overcome the three major difficulties of the small size of the internal top cover detection area of ​​a mixed flow turbine generator set, poor image acquisition quality, and large amounts of data analysis. The problem of difficult operation in a small space is solved through the miniaturized design of the equipment and the self-spinning oblique forward spinning traveling wheel. The high quality of image acquisition is ensured by high-definition cameras, fill light devices, and laser-assisted imaging technology. In addition, through efficient data transmission processing, deep learning and image processing algorithms, and multi-task detection capabilities, the data processing efficiency and comprehensiveness of detection are improved.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Reference Figures 1 to 13As shown, the present invention provides a self-spinning micro-detection robot, comprising a first detection mechanism 1, a second detection mechanism 2 and a power supply wire 3. The first detection mechanism 1 is mainly responsible for the control, detection and guide driving of the robot; the second detection mechanism 2 is equipped with a potentiometer 21, which is used to detect the health status or damage degree of the area; the power supply wire 3 provides power supply for the first detection mechanism 1 and the second detection mechanism 2. At the same time, when the robot fails, the first detection mechanism and the second detection mechanism 2 can be pulled back to the starting point by pulling the power supply wire 3.

[0040] In the above embodiment, the first detection mechanism 1 is specifically a head detection vehicle, which is equipped with a control unit, a detection unit and a drive unit. Specifically, the first detection mechanism 1 includes a first vehicle body 11, and a control chip 14 is arranged in the first vehicle body 11. The control chip 14, as a control unit, has three functions. On the one hand, it is used for the motion control of the entire first detection mechanism 1, responsible for one end of the robot on the predetermined path, and ensures its accurate positioning and movement in the detection area; on the other hand, it has the function of data acquisition and processing, which is used to collect data from the detection unit and perform preliminary analysis to extract useful information; on the other hand, it has the function of path planning and navigation, which is used to locate the exact position of the first vehicle body 11, plan the robot's route, avoid obstacles, and achieve efficient detection. It should be understood that the control chip 14 is powered by the power supply wire 3. Four self-spinning wheels 12 are connected to the front and rear ends of the first vehicle body 11, respectively, and the four self-spinning wheels 12 are connected to different drive motors respectively. The drive motors are arranged inside the first vehicle body 11. Each drive motor and the self-spinning wheel 12 together constitute a drive unit, which provides the necessary power for the robot and supports its movement in the detection area. In addition, the driving unit is electrically connected to the control unit to realize remote control operation, and the robot can be flexibly controlled and adjusted through devices such as remote controllers. The front end of the first vehicle body 11 is connected to an endoscope 13, which includes a camera, a fill light, and a sensor. The endoscope 13 is electrically connected to the control unit as a detection unit, and uses the camera and the sensor to perform real-time monitoring, identify and analyze the state of the target area, and conduct in-depth analysis of the visual detection data to determine the cavitation situation and degree.

[0041] In the above embodiment, the second detection mechanism 2 is specifically a tail detection trolley, which is equipped with a defect detection module to perform further detailed detection on the area to be tested. In this embodiment, the defect detection module is specifically a potentiometer 21, and the potentiometer 21 performs further detailed detection on the area to be tested. When the trolley passes through the cavitation area, the uneven surface of the environment or the presence of bubbles may change the resistance of the potentiometer 21 contact, causing the measured value of the potentiometer 21 to change. The larger the data difference, the more serious the cavitation.

[0042] In a specific embodiment, the second detection mechanism 2 includes a second car body 25, on which is fixedly connected a wire sleeve 26 for cooperating with the power supply wire 3, four casters 24 are rotatably connected on both sides of the second car body 25, and a potentiometer 21 is fixedly connected above the second car body 25, wherein the peripheral side of the potentiometer 21 is rotatably connected to a detection contact piece 22, and one end of the detection contact piece 22 away from the potentiometer 21 is bent upward to form a contact probe 27, which is used to contact the inner wall of the narrow channel to realize the detection of the narrow channel, and a reset spring 23 is provided at the bottom of the contact probe 27, one end of the reset spring 23 is fixedly connected to the upper surface of the second car body 25, and the other end is supported and abutted against the bottom of the detection contact piece 22 to provide a reset force.

[0043] In the above embodiment, the power supply wire 3 provides a stable current and voltage for the robot, ensuring that the first detection mechanism 1 and the second detection mechanism 2 continue to obtain power during operation, and ensuring the normal operation of all electronic components and sensors. When the trolley (first detection mechanism 1 / second detection mechanism 2) fails or needs to be withdrawn, the power supply wire 3, as part of the pull-back mechanism, can drag the trolley from the detection area back to a safe position or the original starting point. The power supply wire 3 needs to have sufficient wear resistance and tensile resistance to withstand use under various working conditions. The length of the wire should be long enough to ensure that the trolley can move freely within the detection area, and the wire should have a certain flexibility to adapt to changes in the trolley during movement and prevent failures due to wire stiffness.

[0044] In a specific embodiment, the power supply wire 3 includes a conductor, an insulating layer, a shielding layer and a tensile element. The conductor is formed by twisting multiple strands of fine copper wires or copper wires to increase flexibility. The insulating layer is wrapped around the outside of the conductor to prevent current leakage and provide electrical isolation. The material can be PVC, silicone, TPE, XLPE, etc., selected according to the requirements of temperature resistance, chemical resistance and flexibility. The shielding layer is used to reduce electromagnetic interference (EMI) and radio frequency interference (RFI), and can be braided copper wire, aluminum foil or copper / steel composite tape. The tensile element is located in the outermost layer to improve the tensile and compressive properties of the cable, and can be made of Kevlar fiber or other types of synthetic fibers.

[0045] In the above embodiment, the potentiometer 21 is an electronic component mainly used to adjust the voltage or current in the circuit to realize the feedback of the detection signal. The release probe on the detection contact piece 22 contacts the inner wall of the narrow channel, and then the cavitation condition of the inner wall is converted into the change information of the position of the potentiometer 21 by the detection contact piece 22, so that the potentiometer 21 produces a change in voltage or current, thereby realizing detection.

[0046] In some optional embodiments, the potentiometer 21 is a wire-wound potentiometer, and the working principle is to adjust the current or voltage by rotating or sliding the resistor. When you turn the knob of the potentiometer 21, the internal resistance wire will be changed, thereby affecting the current passing through it. This is similar to adjusting the water flow of a faucet. The more you turn, the greater the water flow (or current). The wire-wound potentiometer can maintain good performance under different environmental conditions and can work stably even in high temperature or humidity. It is also very durable and can withstand long-term use without performance degradation.

[0047] In a specific embodiment, the four self-spinning wheels 12 are four flexible cylinders coaxial with the power supply wire 3, and the cylinder surface has spiral gripping protrusions. The four self-spinning wheels 12 are driven to rotate by a driving mechanism to achieve forward, backward, and turning movements. Since the four self-spinning wheels 12 are all flexible cylinders, they can achieve turning and free change of direction in a narrow channel, so as to better guide the robot forward.

[0048] The above-mentioned self-spinning micro-inspection robot design combines the control system, detection system, drive system and power supply system, and can perform comprehensive inspection and evaluation in the cavitation area, greatly improving the inspection efficiency and accuracy, and providing important support for equipment maintenance and structural safety.

[0049] like Figures 10 to 13 As shown, an embodiment of the present invention also provides an application scenario of a self-spinning micro-inspection robot. The self-spinning micro-inspection robot described in the above embodiment is used to perform inspection operations on the sealing area of ​​pumps with complex structures and narrow spaces or the inside of some pipes, such as the top cover 100 of the hydro-turbine generator set. The cavitation is more serious at the contact position between the upper crown of the impeller and the lower part of the top cover of the hydro-turbine generator set top cover 100. The degree of cavitation in this part directly affects whether the unit needs to undergo Class A maintenance, and this part is relatively closed. At present, the cavitation situation cannot be detected during the operation of the unit. The currently planned maintenance method is adopted, and the cost of lifting the top cover for Class A maintenance is high, the efficiency is low, and the guidance is poor. The self-spinning micro-inspection robot of this embodiment has a minimum slit height of 10 mm, which can perfectly perform this inspection work. The workflow of using the self-spinning micro-inspection robot of this embodiment for inspection includes:

[0050] S1, manually control the micro inspection robot 200 to be lowered into the narrow gap 101 to be inspected through the inspection hole 102;

[0051] S2, the front end self-spinning wheel 12 of the micro-inspection robot 200 bends through the gap when encountering the bend of the gap;

[0052] S3, after the micro-inspection robot 200 arrives at the narrow gap 101 to be inspected, it conducts inspection autonomously. Relying on the special structural design of the self-spinning traveling wheel 12, the micro-inspection robot 200 can stably move forward against the wall;

[0053] S4. The micro-detection robot 200 transmits the image inside the narrow gap 101 to be detected in real time and records it. The potentiometer 21 on the second detection mechanism 2 measures the narrow gap 101 to be detected. When passing through the cavitation area, the measured value will change. The larger the data difference, the more serious the cavitation.

[0054] In some optional implementations, the first detection mechanism 1 is further provided with a number of environment perception sensors, such as a laser radar (LIDAR), an ultrasonic sensor, an infrared sensor, etc., to achieve more accurate environment perception and obstacle detection.

[0055] In some optional embodiments, the control chip 14 is equipped with a machine learning algorithm, which uses the machine learning algorithm, especially deep learning, to improve the robot's understanding and adaptability to complex environments, including automatic identification and classification of different types of damage.

[0056] In some optional embodiments, the camera in the endoscope 13 has a multispectral imaging function, and a multispectral imaging technology is introduced to capture light of different wavelengths, which helps to identify different types of materials and damage. Specifically, the multispectral imaging technology described in a chip-level satellite-borne hyperspectral imaging detector and its spectral imaging method disclosed in publication number CN112345074B can be used.

[0057] In some optional embodiments, the camera in the endoscope 13 uses high dynamic range (HDR) technology to better handle environments with large light changes and improve the contrast and details of the image. For example, the camera of this embodiment uses a high dynamic range image acquisition camera, based on a dual camera, including a first camera and a second camera, and also includes a generation module, a determination module and an acquisition module. The generation module is used to generate a preview image based on the image captured by the first camera; the determination module is used to adjust the exposure value of the second camera, and determine the corresponding underexposure compensation value and overexposure compensation value when the histogram of each color channel corresponding to the image captured by the second camera meets the preset conditions; the acquisition module is used to acquire a high dynamic range image of the current scene according to the underexposure compensation value and the overexposure compensation value. The acquisition module is specifically used to acquire a high dynamic range image of the current scene using the first camera and / or the second camera according to the underexposure compensation value and the overexposure compensation value; the acquisition module is also used to acquire an underexposed image of the current scene using the first camera, and at the same time acquire an overexposed image of the current scene using the second camera; the normal exposure image, the underexposure image and the overexposure image of the current scene are fused and processed to generate a high dynamic range image of the current scene.

[0058] In some optional embodiments, the first detection mechanism 1 and the second detection mechanism 2 may be modularly designed with a modular drive system, and different drive units, such as wheeled, tracked or magnetically adsorbed, may be quickly replaced according to different detection environments.

[0059] It should be understood that, in practical applications, in addition to the detection function, the robot of the present invention may also integrate maintenance or cleaning tools on the first detection mechanism 1 or the second detection mechanism 2, or set up a separate third maintenance and cleaning mechanism, so that the robot can perform simple maintenance work while detecting.

[0060] The self-spinning micro inspection robot of the embodiment of the present invention effectively copes with the challenge of inspecting the internal top cover of a Francis turbine generator set through the following innovative technologies and measures:

[0061] 1. Equipment miniaturization and self-spinning spinning traveling wheels 12: Through miniaturization design and self-spinning oblique forward spinning traveling wheels 12, the robot can operate flexibly in a small space, solving the problem of limited space.

[0062] 2. Image acquisition technology: Using high-definition cameras, fill light devices and laser-assisted imaging technology, the robot can ensure high-quality image acquisition in complex environments and improve the accuracy of detection.

[0063] 3. Data processing and analysis: Through efficient data transmission processing, deep learning and image processing algorithms, and multi-task detection capabilities, the robot can quickly process and analyze large amounts of data, improving the efficiency of data processing and the comprehensiveness of detection.

[0064] These innovative technologies enable the self-spinning micro-inspection robot to perform well in narrow and complex inspection environments, providing strong technical support for the maintenance and safety of hydro-turbine generator sets.

[0065] The details not described in detail in the present invention are all conventional technical means well known to those skilled in the art.

[0066] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0067] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A self-spinning micro-detection robot, characterized in that: include: A first detection mechanism (1), the first detection mechanism (1) comprising a first vehicle body (11), four self-spinning running wheels (12) arranged on both sides of the first vehicle body (11), an endoscope (13) located at the front end of the first vehicle body (11), a control chip (14) and a driving mechanism located inside the first vehicle body (11), the driving mechanism and the endoscope (13) being electrically connected to the control chip (14) respectively; A second detection mechanism (2), wherein the second detection mechanism (2) is provided with a defect detection module, the defect detection module is used to detect the defect condition of the area to be detected, and the defect detection module is electrically connected to the control chip (14); A power supply wire (3) is connected to the first detection mechanism (1) and the second detection mechanism (2) for providing power supply and pulling the first detection mechanism (1) and / or the second detection mechanism (2) back to the starting point when a failure occurs.

2. The self-spinning micro-detection robot according to claim 1, characterized in that: The self-spinning wheel (12) is a flexible columnar body, which is coaxially arranged with the power supply wire (3), and the wheel body of the self-spinning wheel (12) is provided with a spiral gripping protrusion.

3. The self-spinning micro-detection robot according to claim 1, characterized in that: The endoscope (13) comprises a camera, a fill light and a sensor.

4. The self-spinning micro-detection robot according to claim 3, characterized in that: The camera uses multispectral imaging technology to capture different wavelengths of light to help identify different types of materials and damage.

5. The self-spinning micro-detection robot according to claim 4, characterized in that: The camera uses high dynamic range technology to improve the contrast and details of the image.

6. The self-spinning micro-detection robot according to claim 1, characterized in that: The second detection mechanism (2) comprises a second vehicle body (25), a wire sleeve (26) for cooperating with a power supply wire (3) being fixedly connected to the second vehicle body (25), casters (24) being rotatably connected on both sides of the second vehicle body (25), and the defect detection module being mounted on the second vehicle body (25).

7. The self-spinning micro-detection robot according to claim 6, characterized in that: The defect detection module comprises a potentiometer (21) and a detection contact piece (22); the potentiometer (21) is fixedly connected to the second vehicle body (25), and the detection contact piece (22) is connected to the peripheral side of the potentiometer (21); an end of the detection contact piece (22) away from the potentiometer (21) is connected to a contact probe (27); and the contact probe (27) is elastically connected to the second vehicle body (25).

8. The self-spinning micro-detection robot according to claim 7, characterized in that: The potentiometer (21) is a wire-wound potentiometer, and one end of the detection contact piece (22) is rotatably connected to the peripheral side of the potentiometer (21).

9. The self-spinning micro-detection robot according to claim 7, characterized in that: A return spring (23) is provided between the contact probe (27) and the second vehicle body (25).

10. The self-spinning micro-detection robot according to claim 1, characterized in that: The power supply wire (3) comprises a conductor, an insulating layer, a shielding layer and a tensile element. The conductor is formed by twisting a plurality of thin copper wires or copper wires. The tensile element is located at the outermost layer and is used to improve the tensile and compressive properties of the cable.

Images