A spin-type micro detection robot

Abstract

The present invention discloses a spin-type micro detection robot, which relates to the field of detection in narrow spaces. It includes a first detection mechanism, a second detection mechanism and a power supply wire. The first detection mechanism includes a first vehicle body, four spin travel wheels arranged on both 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 located inside the first vehicle 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 for detecting the defect condition of the area to be measured; 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. The present invention adapts to narrow spaces through miniaturized design and spin travel wheels, ensures image quality through high-definition camera and laser imaging technology, and improves data processing efficiency through deep learning and image algorithms, comprehensively improving the detection accuracy and efficiency.

Description

Technical Field

[0001] The present invention relates to the field of detection in narrow spaces, and particularly to a spin-type micro detection robot. Background Art

[0002] In modern industrial and energy fields, especially in key infrastructures such as hydropower stations, the maintenance and detection of equipment such as valves, pumps, and pipelines are crucial for ensuring safe operation and efficiency. However, these devices often face damages such as cavitation, erosion, and corrosion, which often occur in areas that are difficult to directly observe and detect, such as the sealing areas of gates and valves or the interiors of pipelines. Due to the complex structure and narrow space in these areas, traditional detection methods are difficult to implement, resulting in potential safety risks and efficiency losses.

[0003] Taking the Three Gorges Power Station as an example, during the Class A overhaul, technicians found that the gap between the top cover and the runner was extremely narrow, only 22 mm, which led to cavitation on the inner surface of the top cover. Cavitation not only caused the thinning of the metal layer of the top cover but also formed a honeycomb-like porous morphology on the surface of the metal structure, with the cavitation depth ranging from a few millimeters to twenty millimeters. The irregularity and randomness of this damage make prediction and prevention difficult, and due to space limitations, effective detection cannot be carried out in the in-situ state of the top cover. As an important part of the unit, the operating state of the top cover is directly related to the safety and stability of the entire unit and even the entire power generation 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 narrow and inaccessible spaces to achieve real-time monitoring and maintenance of key infrastructures, thereby improving safety and operating 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 the accuracy and efficiency of detection. Summary of the Invention

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

[0006] To achieve the above object, the present invention provides the following solution: a spin-type micro detection robot, including a first detection mechanism, a second detection mechanism and a power supply wire. Among them, the first detection mechanism includes a first vehicle body, four spin traveling wheels arranged on both 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 located inside the first vehicle body. The driving mechanism and the endoscope are respectively electrically connected to the control chip; a defect detection module is provided on the second detection mechanism, and 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; the power supply wire is connected to the first detection mechanism and the second detection mechanism, used to provide power supply, and when the first detection mechanism and / or the second detection mechanism fails, pull it back to the starting point.

[0007] The above structure aims to provide a spin-type micro detection robot, which adapts to narrow spaces through miniaturized design and spin traveling wheels, ensures image quality through high-definition camera and laser imaging technology, and improves data processing efficiency through deep learning and image algorithms, comprehensively improving detection accuracy and efficiency.

[0008] Optionally, the spin traveling wheel is a flexible columnar body, arranged coaxially with the power supply wire, and the wheel body of the spin traveling wheel has spiral gripping protrusions.

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

[0010] Optionally, the camera adopts multi-spectral imaging technology to capture light of different wavelengths, helping to identify different types of materials and damages.

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

[0012] Optionally, the second detection mechanism includes a second vehicle body, a wire sleeve for cooperating with the power supply wire is fixedly connected to the second vehicle body, casters are rotatably connected to 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 vehicle body, and the detection contact piece is connected to its circumference. One end of the detection contact piece away from the potentiometer is connected with a contact probe, and the contact probe is elastically connected to the second vehicle body.

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

[0015] Optionally, a return spring is arranged 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 stranding multiple strands of fine copper wires or copper wires. The tensile element is located in the outermost layer and is used to improve the tensile and compressive resistance of the cable.

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

[0018] The spin-type micro inspection robot of the present invention addresses the inspection challenges in narrow spaces. Through miniaturization design and spin-type obliquely forward spinning wheels, it realizes flexible movement in complex structures. It is equipped with a high-definition camera, a light supplement device, and laser-assisted imaging technology to ensure high-quality image acquisition. At the same time, the robot uses efficient data transmission and processing, deep learning, and image processing algorithms to improve data processing efficiency and the comprehensiveness of inspection. The potentiometer at the tail can detect the severity of the cavitation area and evaluate the cavitation situation by monitoring the resistance change. Overall, this robot significantly improves the inspection efficiency and accuracy, providing important support for equipment maintenance and structural safety. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 Isometric view of the spin-type micro inspection robot provided by the embodiment of the present invention;

[0021] Figure 2 Front view of the spin-type micro inspection robot provided by the embodiment of the present invention;

[0022] Figure 3 Top view of the spin-type micro inspection robot provided by the embodiment of the present invention;

[0023] Figure 4 Left view of the spin-type micro inspection robot provided by the embodiment of the present invention;

[0024] Figure 5 Structural schematic diagram of the first inspection mechanism in the embodiment of the present invention;

[0025] Figure 6 Schematic diagram when the front end of the first inspection mechanism in the embodiment of the present invention is bent;

[0026] Figure 7 Structural schematic diagram of the endoscope in the first inspection mechanism of the present invention;

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

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

[0029] Figure 10 It is a schematic diagram of the effect of using the spin-type micro detection robot of the embodiment of the present invention to detect the top cover of the water turbine generator set;

[0030] Figure 11 It is an effect diagram when the spin-type micro detection robot enters the detection hole;

[0031] Figure 12 It is an effect diagram after the spin-type micro detection robot reaches the narrow gap to be measured;

[0032] Figure 13 It is an effect diagram of the spin-type micro detection robot performing detection operations in the narrow gap to be measured.

[0033] In the figure: 1. First detection mechanism; 11. First vehicle body; 12. Spin traveling wheel; 13. Endoscope; 14. Control chip; 2. Second detection mechanism; 21. Potentiometer; 22. Detection contact piece; 23. Return spring; 24. Caster; 25. Second vehicle body; 26. Wire sleeve; 27. Contact probe; 3. Power supply wire; 100. Top cover of water turbine generator set; 101. Narrow gap to be measured; 102. Detection hole; 200. Micro detection robot. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] The sealing areas of valves and pumps, as well as the internal inspection of pipelines, are crucial for ensuring industrial safety, improving efficiency, reducing costs, and complying with regulations. Regular inspections can prevent potential failures and accidents, and reduce unexpected downtime and maintenance costs. Through inspections, damage, leaks, and blockages in the pipeline system can be detected in a timely manner, and corresponding maintenance and repair measures can be taken. Traditional manual inspection methods are inefficient and have many limitations. Robots can replace humans in performing operations. Especially in narrow and dim environments, robots can complete tasks more efficiently. Through the data collected by the sensors carried by the robots, combined with machine learning and artificial intelligence algorithms, the health status assessment and predictive maintenance of pipelines can be carried out, providing scientific data support for pipeline maintenance.

[0036] To meet the needs of internal pipeline inspection, researchers have developed miniaturized imaging systems. These systems are integrated through carefully selecting components, optimizing the optical system, and using 3D printing technology, making the system compact in size and high in resolution, and capable of providing detailed pipeline wall information for pipeline robots. There are researches and developments on pipeline robots both at home and abroad. For example, the PIG-type pipeline robot developed by Weatherford Company in the United States uses the pressure difference of the medium inside the pipeline to achieve movement, and has a polyurethane sealing bowl structure to amplify the pressure and improve the movement stability. The KANTARO pipeline robot designed in Japan relies on battery power and has four independently driven driving wheels, increasing the flexibility of movement. To sum up, the technology of pipeline inspection robots is developing towards higher precision, more miniaturization, bionic design, and intelligence to adapt to the complex and changeable pipeline inspection environment and requirements.

[0037] To solve the technical problem that it is difficult for existing detection equipment and methods to conduct inspections in narrow spaces, the embodiment of the present invention proposes a spin-type micro detection robot, aiming to overcome the three major difficulties of limited size in the narrow inspection area of the inner top cover of a Francis turbine generator set, poor image acquisition quality, and a large amount of data analysis. Through the miniaturized design of the equipment and the spin-type obliquely forward spinning traveling wheels, the problem of difficult operation in narrow spaces is solved. Through high-definition cameras, light supplement devices, and laser-assisted imaging technology, high-quality image acquisition is ensured. In addition, through efficient data transmission and processing, deep learning and image processing algorithms, and multi-task detection capabilities, the data processing efficiency and the comprehensiveness of detection are improved.

[0038] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Refer to Figures 1 to 13As shown in the figure, the present invention provides a spin-type micro detection robot, which includes 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 guiding drive of the robot; the second detection mechanism 2 is equipped with a potentiometer 21 for detecting 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 trolley, 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. A control chip 14 is arranged inside the first vehicle body 11. The control chip 14 serves as the control unit and 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, ensuring its precise positioning and movement within the detection area; on the other hand, it has the functions of data collection and processing, used to collect the data of the detection unit and perform preliminary analysis to extract useful information; on the other hand, it has the functions of path planning and navigation, used to locate the accurate position of the first vehicle body 11, plan the traveling route of the robot, avoid obstacles, and achieve efficient detection. It should be understood that the control chip 14 is powered through the power supply wire 3. Four spin traveling wheels 12 are respectively connected to the front and rear ends of the first vehicle body 11. The four spin traveling wheels 12 are respectively connected to different drive motors. The drive motors are arranged inside the first vehicle body 11. Each drive motor and the spin traveling wheels 12 together form a drive unit, providing necessary power for the robot to support its movement within the detection area. And the drive unit is electrically connected to the control unit, thereby realizing remote control operation and flexibly controlling and adjusting the robot through devices such as a remote controller. An endoscope 13 is connected to the front end of the first vehicle body 11. The endoscope 13 includes a camera, a fill light, and a sensor. The endoscope 13 serves as the detection unit and is electrically connected to the control unit. It uses the camera and the sensor for real-time monitoring, identifying and analyzing the state of the target area, deeply analyzing the visual detection data, and determining 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 for further detailed detection of the area to be measured. 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 measured. When the trolley passes through the cavitation area, the uneven surface or the presence of bubbles in the environment may change the resistance of the contact of the potentiometer 21, causing the measured value of the potentiometer 21 to change. The greater the data difference, the more serious the cavitation.

[0042] In a specific embodiment, the second detection mechanism 2 includes a second vehicle body 25. A wire sleeve 26 for cooperating and connecting with a power supply wire 3 is fixedly connected to the second vehicle body 25. Four casters 24 are rotatably connected to both sides of the second vehicle body 25. A potentiometer 21 is fixedly connected above the second vehicle body 25. A detection contact piece 22 is rotatably connected to the periphery of the potentiometer 21. One end of the detection contact piece 22 away from the potentiometer 21 is bent upward to form a contact probe 27 for contacting the inner wall of a narrow passage to detect the narrow passage. A return spring 23 is provided at the bottom of the contact probe 27. One end of the return spring 23 is fixedly connected to the upper surface of the second vehicle body 25, and the other end supports and abuts against the bottom of the detection contact piece 22 to provide a return force.

[0043] In the above embodiment, the power supply wire 3 provides stable current and voltage for the robot, ensuring that the first detection mechanism 1 and the second detection mechanism 2 continuously obtain power during operation and ensuring the normal operation of all electronic components and sensors. When the trolley (the first detection mechanism 1 / the second detection mechanism 2) has a fault or needs to be withdrawn, the power supply wire 3, as part of the pulling-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. The wire should have a certain flexibility to adapt to the changes of the trolley during movement and prevent failures caused by the stiffness of the wire.

[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 stranding multiple thin copper wires or copper wires to increase flexibility; the insulating layer is wrapped outside 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, etc.; the tensile element is located in the outermost layer to improve the tensile and compressive resistance of the cable, and Kevlar fiber or other types of synthetic fibers can be used.

[0045] In the above embodiment, as an electronic component, the potentiometer 21 is 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 passage, and then converts the cavitation condition of the inner wall into the change information of the position of the detection contact piece 22 relative to the potentiometer 21, causing a change in voltage or current of the potentiometer 21, 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-detection 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 inspections independently. Relying on the special structural design of the self-rotating traveling wheels 12, the micro inspection robot 200 can move forward stably along the wall.

[0053] S4. The micro inspection robot 200 transmits the images inside the narrow gap 101 to be inspected in real time and records them. The potentiometer 21 on the second inspection mechanism 2 measures the narrow gap 101 to be inspected. When passing through the cavitation area, the measured value will change. The greater the data difference, the more serious the cavitation.

[0054] In some alternative embodiments, the first inspection mechanism 1 is also provided with a number of environmental perception sensors, such as lidar (LIDAR), ultrasonic sensors, infrared sensors, etc., to achieve more accurate environmental perception and obstacle detection.

[0055] In some alternative embodiments, a machine learning algorithm is loaded in the control chip 14. The machine learning algorithm, especially deep learning, is used to improve the robot's understanding and adaptation ability to complex environments, including automatically identifying and classifying different types of damages.

[0056] In some alternative embodiments, the camera in the endoscope 13 has a hyperspectral imaging function. The hyperspectral imaging technology is introduced to capture light of different wavelengths, which helps to identify different types of materials and damages. Specifically, the hyperspectral imaging technology described in a chip-level spaceborne hyperspectral imaging detector and its spectral imaging method with the publication number of CN112345074B can be adopted.

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

[0058] In some optional embodiments, the first detection mechanism 1 and the second detection mechanism 2 can adopt a modular design, and are designed with a modular drive system, which can quickly replace different drive units according to different detection environments, such as wheeled, tracked, or magnetic adsorption type.

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

[0060] The spin-type micro detection robot of the embodiment of the present invention effectively meets the challenges of the inner cover detection of the Francis turbine generator set through the following innovative technologies and measures:

[0061] 1. Equipment miniaturization and spin-type forward-leaning spin travel wheel 12: Through miniaturization design and the spin-type forward-leaning spin travel wheel 12, the robot can flexibly operate in a narrow space, solving the problem of limited space.

[0062] 2. Image acquisition technology: By using a high-definition camera, a light supplement device, and laser-assisted imaging technology, the robot can ensure high-quality image acquisition in a complex environment and improve the accuracy of detection.

[0063] 3. Data Processing and Analysis: Through efficient data transmission processing, deep learning, image processing algorithms, and multitasking 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 spin-type micro-detection robot to perform excellently in narrow and complex detection environments, providing strong technical support for the maintenance and safety of hydro-generator units.

[0065] The details not described in this 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 orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying 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 construed as a limitation to the present invention.

[0067] The embodiments described above are only for describing the preferred mode of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall 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 drive mechanism located inside the first vehicle body (11), the drive 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 status of the area to be detected, and the defect detection module is electrically connected to the control chip (14); the second detection mechanism (2) comprises a second vehicle body (25), a wire sleeve (26) for cooperating with the power supply wire (3) is fixedly connected to the second vehicle body (25), casters (24) are rotatably connected on both sides of the second vehicle body (25), and the defect detection module is installed on the second vehicle body (25); the defect detection module comprises a potentiometer (21 ), a detection contact piece (22), the potentiometer (21) is fixedly connected to the second car body (25), the peripheral side of which is connected to the detection contact piece (22), the 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 car body (25); the potentiometer (21) is a wire-wound potentiometer, one end of the detection contact piece (22) is rotatably connected to the peripheral side of the potentiometer (21); a return spring (23) is provided between the contact probe (27) and the second car body (25); A power supply wire (3) is connected to the first detection mechanism (1) and the second detection mechanism (2) and is used to provide power supply and pull the first detection mechanism (1) and / or the second detection mechanism (2) back to the starting point when a failure occurs in the first detection mechanism (1) and / or the second detection mechanism (2).

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

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