Gas leakage detection robot

Abstract

The invention relates to a gas leakage detection robot which comprises an unmanned aerial vehicle and a mobile detection device, the mobile detection device and the unmanned aerial vehicle are separably fixed, and the unmanned aerial vehicle is used for transporting the mobile detection device to equipment to be detected and transporting the mobile detection device away from the equipment to be detected. And the mobile detection device is arranged to be capable of moving on the to-be-detected equipment and carrying out gas leakage detection on the to-be-detected equipment. According to the gas leakage detection robot, the detection accuracy in a complex scene can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more particularly to a gas leakage detection robot. Background Art

[0002] In the industrial production process, gas leakage (such as fuel gas leakage) is a common and serious safety hazard. Timely and accurate detection and location of leakage points are of great significance to ensure production safety, prevent environmental pollution and reduce economic losses. At present, there are many technologies and equipment for gas leakage detection on the market, among which spectral imaging technology and laser scanning technology are the two most commonly used ones.

[0003] Spectral imaging technology can identify and quantify gas leaks, provide key information such as leak concentration, leak volume and leak location, and notify operators in a variety of ways. However, when the gas leak is small, due to the low concentration, spectral imaging technology may face challenges in long-distance detection and it is difficult to accurately capture the leak signal. In addition, in complex industrial sites, the pipelines are densely arranged, which can easily block the spectral imaging, thus affecting the detection effect.

[0004] Laser scanning technology detects gas leaks by emitting and receiving lasers, and determines whether there is leaking gas and the concentration of the leaked gas by attenuating the laser intensity. Although laser scanning technology has high detection accuracy, it is also limited by on-site environmental factors. When the pipeline layout is complex and severely obscured, laser scanning may find it difficult to cover all potential leak points, resulting in missed detection or false alarms.

[0005] In summary, the detection accuracy of the existing technology is not high in scenarios with complex pipeline layouts. Summary of the invention

[0006] The purpose of the present invention is to provide a gas leakage detection robot to improve the detection accuracy in complex scenarios.

[0007] Based on the above purpose, the present invention provides a gas leakage detection robot, comprising a drone and a mobile detection device, wherein the mobile detection device and the drone can be detachably fixed, the drone is used to transport the mobile detection device to a device to be detected and to transport the mobile detection device away from the device to be detected, and the mobile detection device is configured to be movable on the device to be detected and perform gas leakage detection on the device to be detected;

[0008] The mobile detection device includes a mobile bracket and a detection mechanical arm. The mobile bracket can be detachably fixed to the equipment to be detected and is configured to be movable on the equipment to be detected. The detection mechanical arm is fixed on the mobile bracket. The detection mechanical arm is provided with a detection element for detecting gas leakage. The detection mechanical arm is configured to be unfoldable and foldable to change the detection position of the detection element.

[0009] Furthermore, the detection robot arm is also provided with a first camera, and the first camera is located near the detection element.

[0010] Furthermore, the mobile bracket is provided with a first driving mechanism and a plurality of rollers, the rollers are used to roll on the outer surface of the device to be detected, and the first driving mechanism is connected to at least one roller and is used to drive the roller connected to the first driving mechanism to roll on the device to be detected.

[0011] Furthermore, the mobile bracket is also provided with an adsorption element and a second camera, the adsorption element is used to adsorb the device to be detected, and the second camera is used to observe the fixing status of the mobile detection device and the drone.

[0012] Further, the detection mechanical arm comprises a plurality of segment arms hinged in sequence, and one end of the segment arm closest to the mobile bracket is hinged to the mobile bracket;

[0013] A first motor is provided at the hinges between the segment arms and the mobile bracket and at the hinges between the segment arms. Each first motor is used to drive the rotation of each segment arm so as to unfold and fold the detection mechanical arm.

[0014] Furthermore, the detection element is arranged on the joint arm farthest from the movable bracket.

[0015] Furthermore, part of each segment arm forms a first layer of robotic arm, and another part of each segment arm forms a second layer of robotic arm; when the detection robotic arm is fully unfolded, each segment arm extends in the same direction, and when the detection robotic arm is fully folded, the first layer of robotic arm and the second layer of robotic arm are stacked and both surround the movable bracket.

[0016] Furthermore, the mobile detection device further comprises at least one fixed mechanical arm, the fixed mechanical arm comprises a plurality of arms hinged in sequence, the arm closest to the mobile bracket is hinged to the mobile bracket, and a fixing element is provided on the arm farthest from the mobile bracket, and the fixing element is used to be detachably fixed to the drone;

[0017] A second motor is provided at the hinge between the arm and the mobile bracket and at the hinge between each arm. Each second motor is used to drive each arm to rotate so that the fixing element approaches or moves away from the drone, so as to be fixed to or separated from the drone.

[0018] Further, a support is provided on the mobile bracket, and the arm closest to the mobile bracket is hinged to the support;

[0019] The drone is provided with a connecting beam, and the fixing element is used for being detachably fixed to the connecting beam.

[0020] Furthermore, a limit frame is fixed on the mobile bracket, two limit bearings are provided on the UAV, and the limit frame is configured to be clamped between the two limit bearings to limit the movement of the limit frame.

[0021] In the gas leakage detection robot of the present invention, the detection element is fixed on the detection mechanical arm, and the detection mechanical arm is fixed on the mobile bracket. Through the movement of the mobile bracket on the device to be detected and the expansion and folding of the detection mechanical arm, the detection element can perform gas leakage detection on any position on the device to be detected, with a wide detection range and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of a gas leakage detection robot according to an embodiment of the present invention;

[0023] Figure 2 It is a structural schematic diagram of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of a mobile bracket of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the bottom structure of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention;

[0026] Figure 5 It is a schematic structural diagram of a detection mechanical arm of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention when it is completely folded;

[0027] Figure 6 It is a structural schematic diagram of a detection mechanical arm of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention when it is fully extended;

[0028] Figure 7 It is a structural schematic diagram of the eighth arm of the detection mechanical arm of the mobile detection device of the gas leakage detection robot according to an embodiment of the present invention;

[0029] Figure 8 It is a structural schematic diagram of a fixed mechanical arm of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention;

[0030] Fig. 9 It is a schematic structural diagram of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention after a fixed mechanical arm is connected to a support;

[0031] Fig.10 It is a structural schematic diagram of a support of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention;

[0032] Fig.11 A schematic structural diagram of a drone of a gas leak detection robot according to an embodiment of the present invention;

[0033] Fig.12 A schematic diagram of the top structure of a gas leakage detection robot according to an embodiment of the present invention;

[0034] Fig.13 It is a schematic structural diagram of a drone of a gas leakage detection robot according to an embodiment of the present invention when it is just fixed to a mobile detection device;

[0035] Fig.14 It is a structural schematic diagram of a mobile detection device of a gas leakage detection robot according to an embodiment of the present invention when performing detection on a device to be detected. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a gas leak detection robot, including a drone 100 and a mobile detection device 200. The mobile detection device 200 can be detachably fixed from the drone 100, so that the mobile detection device 200 can be transported to the device to be detected (such as a pipeline) by the drone 100, and then the drone 100 can be separated from the mobile detection device 200. The mobile detection device 200 is configured to be movable on the device to be detected and detect whether there is a gas leak in the device to be detected; after the detection is completed, the drone 100 can be fixed to the mobile detection device 200 again and transported away from the device to be detected. Since the mobile detection device 200 can be transported by the drone 100, it is suitable for long-distance detection operations, and the mobile detection device 200 can perform mobile detection on various pipelines waiting to be detected in complex scenes, so that all positions of the device to be detected can be traversed to accurately find the location of the leak.

[0038] like Figure 2As shown, in some embodiments, the mobile detection device 200 includes a mobile support 210, a detection mechanical arm 220 and at least one fixed mechanical arm 230. The detection mechanical arm 220 and the fixed mechanical arm 230 are both fixed on the mobile support 210. The detection mechanical arm 220 is provided with a detection element 240, and the detection element 240 is used to detect whether a gas leak occurs. The detection mechanical arm 220 is configured to be movable relative to the mobile support 210 to achieve unfolding and folding. The shape and length of the detection mechanical arm 220 can be changed by unfolding and folding. As the shape of the detection mechanical arm 220 changes, The detection element 240 will be located at different positions of the equipment to be detected, so that gas leakage detection can be performed at different positions of the equipment to be detected; the fixed mechanical arm 230 is used to be detachably fixed to the drone 100, so that the mobile detection device 200 can be detachably fixed to the drone 100; the mobile bracket 210 can be detachably fixed to the equipment to be detected and can be moved on the equipment to be detected. Through the movement of the mobile bracket 210 and the unfolding and folding of the detection mechanical arm 220, the detection element 240 can detect whether there is a leak at any position of the equipment to be detected, with a wide detection range and high accuracy.

[0039] The detection robot arm 220 may also be provided with a first camera 250 , which is located near the detection element 240 and is used to take photos or videos of the gas leakage point so that the staff can understand the specific leakage situation.

[0040] like Figure 3 and Figure 4 As shown, in some embodiments, the mobile bracket 210 is provided with a plurality of rollers 211, and the plurality of rollers 211 can roll on the outer surface of the device to be detected, so that the mobile bracket 210 can move on the device to be detected; the mobile bracket 210 can also be provided with a first driving mechanism (not shown in the figure), which is connected to at least one roller 211, and is used to drive the roller 211 to roll on the device to be detected, thereby driving the movement of the mobile bracket 210; the first driving mechanism may include a motor and a reversing device, the motor drives the roller 211 to roll, and the reversing device is used to control the direction of the roller 211, so that the mobile bracket 210 moves in any direction on the device to be detected. The mobile bracket 210 can be provided with an adsorption element 212, and the adsorption element 212 is used to adsorb the device to be detected, so that the mobile bracket 210 is fixed to the device to be detected, and the mobile bracket 210 is prevented from falling from the device to be detected during the movement; when the detection is completed, the mobile detection device 200 can be transported away from the device to be detected by the drone 100. The adsorption element 212 can be one or more, and its number can be set according to actual conditions.

[0041] The adsorption element 212 may be a suction cup, an electromagnet, or any other suitable element as long as it can make the movable bracket 210 and the device to be detected detachably fixed.

[0042] Exemplarily, the adsorption elements 212 are two magnets fixed to the bottom of the mobile bracket 210, and there are four rollers 211, which are respectively arranged at the four corners of the bottom of the mobile bracket 210 to form a mobile cart. When the drone 100 delivers the mobile detection device 200 to the equipment to be detected, the four rollers 211 contact the outer surface of the equipment to be detected, and the magnets will generate suction to fix the mobile bracket 210 to the equipment to be detected. Then, the drone 100 can be separated from the mobile detection device 200, and the first driving mechanism is started to drive the mobile detection device 200 to move on the equipment to be detected. During the movement, the detection robot arm 220 can be unfolded or folded to detect whether gas leakage occurs in the surrounding area.

[0043] like Figure 5 and Figure 6 As shown, in some embodiments, the detection robot arm 220 may include a first section arm 221, a second section arm 222, a third section arm 223, a fourth section arm 224, a fifth section arm 225, a sixth section arm 226, a seventh section arm 227 and an eighth section arm 228, one end of the first section arm 221 is hinged to the mobile bracket 210, the other end of the first section arm 221 is hinged to one end of the second section arm 222, the other end of the second section arm 222 is hinged to one end of the third section arm 223, and the third section arm 22 The other end of the first arm 221 is hinged to one end of the fourth arm 224, the other end of the fourth arm 224 is hinged to one end of the fifth arm 225, the other end of the fifth arm 225 is hinged to one end of the sixth arm 226, the other end of the sixth arm 226 is hinged to one end of the seventh arm 227, the other end of the seventh arm 227 is hinged to one end of the eighth arm 228, the other end of the eighth arm 228 is suspended, and the detection element 240 and the camera 250 are both fixed to the suspended end of the eighth arm 228. The hinges of the first arm 221 and the mobile bracket 210 and the hinges between the arms are provided with a first motor (not shown in the figure), which is used to drive the rotation of each arm to unfold and fold the detection mechanical arm 220, so that the detection element 240 can be located at different positions to achieve leakage detection at different positions. For example, the first motor at the hinge between the first arm 221 and the movable bracket 210 is used to drive the first arm 221 to rotate relative to the movable bracket 210, the first motor at the hinge between the first arm 221 and the second arm 222 is used to drive the second arm 222 to rotate relative to the first arm 221, the first motor at the hinge between the second arm 222 and the third arm 223 is used to drive the third arm 223 to rotate relative to the second arm 222, and so on.

[0044] In some embodiments, the first arm 221, the second arm 222, the third arm 223, and the fourth arm 224 form a first layer of mechanical arms, and the fifth arm 225, the sixth arm 226, the seventh arm 227, and the eighth arm 228 form a second layer of mechanical arms. The first motor drives each arm to rotate, and the first layer of mechanical arms and the second layer of mechanical arms can be unfolded and folded. When the detection mechanical arm 220 is fully unfolded, each arm extends in the same direction, and the detection mechanical arm 220 is formed as follows. Figure 6 When the detection robot arm 220 is fully folded, as shown in FIG. Figure 5 As shown, the first layer of robotic arms and the second layer of robotic arms both form a quadrilateral and surround the movable bracket 210 , and the first layer of robotic arms and the second layer of robotic arms are stacked, so that the occupied space of the detection robotic arm 220 can be reduced.

[0045] When detection is not needed, the detection robot arm 220 can be placed in a completely folded state through each first motor to reduce the space occupied by the detection robot arm 220, so that the drone 100 can easily transport the mobile detection device 200; and when the drone 100 moves the mobile detection device 200 to the equipment to be detected, the detection robot arm 220 can be unfolded (fully unfolded if necessary) through each first motor, so that the detection element 240 can perform leakage detection on any position of the equipment to be detected.

[0046] like Figure 7 As shown, in some embodiments, the detection element 240 can be fixed at the suspended end of the eighth arm 228 (i.e., the end away from the seventh arm 227), and the camera 250 is also fixed on the eighth arm 228. Since the eighth arm 228 is farthest from the mobile bracket 210 when unfolded, this arrangement can increase the detection range of the detection element 240.

[0047] In some embodiments, the detection element 240 may be a gas sensor, which is used to detect gas concentration. When the gas concentration exceeds a set threshold, it can be considered that a gas leak has occurred.

[0048] It is understandable that although Figure 5 and Figure 6 It is shown in the figure that the detection robot arm 220 is composed of eight arms, but the embodiments of the present invention are not limited to this. The detection robot arm 220 can be provided with more or fewer arms as needed, and each arm can be hinged in turn to form a foldable whole, one end of which is hinged to the mobile bracket 210, and the other end is suspended to detect the element; the number of layers formed by each arm after folding is not limited to two layers, and can also be three layers, four layers or more layers. The specific number of layers can be set according to the number of arms, so as to reduce the occupied space of each arm after folding.

[0049] like Figure 8 As shown, in some embodiments, the fixed mechanical arm 230 may include a first arm 231, a second arm 232, a third arm 233 and a fourth arm 234 which are hinged in sequence, a fixing element 235 is provided on an end of the fourth arm 234 away from the third arm 233, and the fixing element 235 is used to be detachably fixed to the drone 100, an end of the first arm 231 away from the second arm 232 is hinged to the mobile bracket 210, and a second motor may be provided at the hinge between each arm and at the hinge between the first arm 231 and the mobile bracket 210, and each second motor is used to drive the rotation of each arm; for example, the second motor on the mobile bracket 210 may be connected to the first arm 231 to drive the first arm 231 to rotate relative to the mobile bracket 210, and the first arm 2 The second motor at the hinge between the second arm 231 and the second arm 232 can be connected to the second arm 232, and is used to drive the second arm 232 to rotate relative to the first arm 231. The second motor at the hinge between the second arm 232 and the third arm 233 is used to drive the third arm 233 to rotate relative to the second arm 232. The second motor at the hinge between the third arm 233 and the fourth arm 234 is used to drive the fourth arm 234 to rotate relative to the third arm 233. Thus, the rotation of each arm can be achieved through each second motor, thereby achieving the deployment and folding of the fixed robotic arm 230. Through the deployment and folding of the fixed robotic arm 230, the fixed element 235 can be moved close to or away from the drone 100, thereby fixing or separating the fixed robotic arm 230 from the drone 100.

[0050] like Fig. 9 and Fig.10 As shown, the fixed mechanical arm 230 can be hinged to the mobile bracket 210 through the support 260. The support 260 is fixed to the mobile bracket 210, and the end of the first arm 231 away from the second arm 232 is hinged to the support 260, so that the end of the first arm 231 away from the second arm 232 is hinged to the mobile bracket 210. The support 260 can be provided with a rotating shaft 261, and the end of the first arm 231 away from the second arm 232 is provided with an axis hole. The rotating shaft 261 passes through the axis hole and is rotatably connected to the first arm 231, so that the first arm 231 can rotate around the rotating shaft 261.

[0051] It is understandable that although Figure 8 and Fig. 9 The fixed robot arm 230 includes four arms, but is not limited to four arms, and may also include more or fewer arms, and the specific number may be set as needed.

[0052] like Fig.11As shown, the drone 100 may be provided with a connecting beam 110, and the fixing element 235 is used to be detachably fixed to the connecting beam 110. Specifically, the fixing element 235 has a receiving groove 2351, and the receiving groove 2351 is used to receive the connecting beam 110, so that the fixing element 235 is fixed to the connecting beam 110. When it is necessary to fix the fixing mechanical arm 230 to the drone 100, the fixing mechanical arm 230 can be unfolded and the fixing element 235 can be brought close to the connecting beam 110, so that the connecting beam 110 is inserted into the receiving groove 2351, thereby achieving the fixing of the fixing element 235 to the connecting beam 110; when it is necessary to separate the fixing mechanical arm 230 from the drone 100, the fixing mechanical arm 230 can be folded, and by folding, the connecting beam 110 can be separated from the receiving groove 2351, thereby separating the fixing element 235 from the connecting beam 110.

[0053] The number of fixed mechanical arms 230 can be set as needed, and accordingly, the number of connecting beams 110 can also be set as needed, and the two numbers are the same and correspond one to one. Exemplarily, there are two fixed mechanical arms 230 and two connecting beams 110, the two fixed mechanical arms 230 are arranged opposite to each other, and the two connecting beams 110 are also arranged opposite to each other, and each fixed mechanical arm 230 can be detachably fixed to the corresponding connecting beam 110.

[0054] In some embodiments, the drone 100 also includes two folding landing gears 120. When the drone 100 is flying, the folding landing gears 120 are folded to avoid collision with the equipment to be detected during flight; when the drone 100 lands, the folding landing gears 120 are unfolded to support the drone 100 through the folding landing gears 120 so that it can land smoothly.

[0055] like Figure 2 As shown, a limit frame 270 can also be fixed on the mobile bracket 210, and two limit bearings 130 are provided on the drone 100. The two limit bearings 130 are arranged relative to each other along the first direction, and the two connecting beams 110 are arranged relative to each other along the second direction. The limit frame 270 can be stuck between the two limit bearings 130 to prevent the limit frame 270 from moving along the first direction. The limit frame 270 can be trapezoidal, and its width increases from top to bottom. As the limit frame 270 gradually rises along the third direction, the two side walls of the limit frame 270 will gradually approach the two limit bearings 130 until they come into contact with the two limit bearings 130. The two limit bearings 130 will clamp the limit frame 270 and prevent it from continuing to rise. Fig.12 As shown; thus, the movement of the limit frame 270 along the first direction and the third direction can be limited by fixing the mechanical arm 230 and the connecting beam 110, and the movement of the limit frame 270 along the first direction can be limited by the limit bearing 130, so that the limit frame 270 remains fixed. The first direction, the second direction and the third direction are three orthogonal axis directions of the three-dimensional Cartesian coordinate system.

[0056] In some embodiments, the mobile bracket 210 may further be provided with at least one second camera 280 (eg, Figure 2 ), used to observe the docking condition of the fixed mechanical arm 230 and the connecting beam 110 to determine whether the two are completely fixedly connected.

[0057] The method of using the gas leak detection robot according to the embodiment of the present invention is as follows:

[0058] When not in use, the drone 100 and the mobile detection device 200 are both parked on the ground, the detection mechanical arm 220 of the mobile detection device 200 is in a completely folded state, and the fixed mechanical arm 230 is also in a folded state; when it is needed, the drone 100 takes off and flies above the mobile detection device 200, and then the fixed mechanical arm 230 can be driven to unfold by each second motor, and the fixed element 235 is fixed to the connecting beam 110 of the drone 100, such as Fig.13 After being fixed, the fixed mechanical arm 230 can be driven by each second motor to fold. Due to the folding of the fixed mechanical arm 230, the mobile detection device 200 will move upward along the third direction as a whole. During the rising process, the limit frame 270 will be stuck by the two limit bearings 130 and cannot continue to rise, such as Fig.12 As shown; the mobile detection device 200 can then be transported to the top of the device to be detected by the drone 100, and then the fixed mechanical arm 230 can be unfolded by each second motor. Due to the unfolding of the fixed mechanical arm 230, the mobile detection device 200 will descend along the third direction as a whole. When the mobile detection device 200 is about to contact the roller 211 with the device to be detected, it will stop descending and continue to unfold the fixed mechanical arm 230, so that the fixed mechanical arm 230 can be separated from the drone 100, and then the drone 100 can fly away from the device to be detected, and the mobile detection device 200 can be adsorbed on the device to be detected by the adsorption element 212; as shown Fig.14As shown, the detection mechanical arm 220 can then be partially or fully unfolded through each first motor, so that gas leakage detection can be performed on various positions on the device to be detected 300 through the detection element 240 on the detection mechanical arm 220. When a gas leak is detected, the camera 250 can take a photo or video of the leakage position; during the detection, the mobile detection device 200 can be moved on the device to be detected 300 through the first driving mechanism, so that the detection element 240 can traverse all positions on the device to be detected 300; when the detection is completed, the detection mechanical arm 220 can be completely folded through each first motor, and then the drone 100 can fly above the mobile detection device 200, and then the fixed mechanical arm 230 can be unfolded to fix it with the connecting beam 110 of the drone 100, and then the adsorption element 212 can be disconnected from the device to be detected, and then the fixed mechanical arm 230 can be folded to make the mobile detection device 200 rise. When it cannot continue to rise, the drone 100 can transport the mobile detection device 200 away from the device to be detected 300 and place the mobile detection device 200 on the ground.

[0059] In the gas leakage detection robot of the embodiment of the present invention, the detection element 240 is fixed on the detection robot arm 220, and the detection robot arm 220 is fixed on the mobile bracket 210. By moving the mobile bracket 210 on the device to be detected 300 and the detection robot arm 220 can be unfolded and folded, the detection element 240 can perform gas leakage detection at any position on the device to be detected 300, with a wide detection range and high accuracy.

[0060] The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above embodiment of the present invention can also be modified in various ways. That is, all simple, equivalent changes and modifications made according to the claims and the description of the present invention fall within the scope of protection of the claims of the present invention. The contents not described in detail in the present invention are all conventional technical contents.

Claims

1. A gas leak detection robot, characterized in that: It comprises a drone and a mobile detection device, wherein the mobile detection device and the drone are detachably fixed, the drone is used to transport the mobile detection device to the equipment to be detected and to transport the mobile detection device away from the equipment to be detected, and the mobile detection device is configured to be movable on the equipment to be detected and to perform gas leakage detection on the equipment to be detected; The mobile detection device includes a mobile bracket and a detection mechanical arm. The mobile bracket can be detachably fixed to the equipment to be detected and is configured to be movable on the equipment to be detected. The detection mechanical arm is fixed on the mobile bracket. The detection mechanical arm is provided with a detection element for detecting gas leakage. The detection mechanical arm is configured to be unfoldable and foldable to change the detection position of the detection element.

2. The gas leak detection robot according to claim 1, characterized in that: The detection robot arm is also provided with a first camera, and the first camera is located near the detection element.

3. The gas leak detection robot according to claim 1, characterized in that: The mobile bracket is provided with a first driving mechanism and a plurality of rollers, wherein the rollers are used to roll on the outer surface of the device to be detected, and the first driving mechanism is connected to at least one roller and is used to drive the roller connected to the first driving mechanism to roll on the device to be detected.

4. The gas leak detection robot according to claim 1, characterized in that: The mobile bracket is also provided with an adsorption element and a second camera, wherein the adsorption element is used to adsorb the device to be detected, and the second camera is used to observe the fixation status of the mobile detection device and the drone.

5. The gas leak detection robot according to claim 1, characterized in that: The detection mechanical arm comprises a plurality of segment arms hinged in sequence, and one end of the segment arm closest to the mobile bracket is hinged to the mobile bracket; A first motor is provided at the hinges between the segment arms and the mobile bracket and at the hinges between the segment arms. Each first motor is used to drive the rotation of each segment arm so as to unfold and fold the detection mechanical arm.

6. The gas leak detection robot according to claim 5, characterized in that: The detection element is arranged on the joint arm farthest from the movable bracket.

7. The gas leak detection robot according to claim 5, characterized in that: Part of each arm segment forms a first-layer robotic arm, and another part of each arm segment forms a second-layer robotic arm; when the detection robotic arm is fully unfolded, each arm segment extends in the same direction, and when the detection robotic arm is fully folded, the first-layer robotic arm and the second-layer robotic arm are stacked and both surround the movable bracket.

8. The gas leak detection robot according to claim 1, characterized in that: The mobile detection device further comprises at least one fixed mechanical arm, the fixed mechanical arm comprising a plurality of arms hinged in sequence, the arm closest to the mobile bracket being hinged to the mobile bracket, and the arm farthest from the mobile bracket being provided with a fixing element, the fixing element being used to be detachably fixed to the drone; A second motor is provided at the hinge between the arm and the mobile bracket and at the hinge between each arm. Each second motor is used to drive each arm to rotate so that the fixing element approaches or moves away from the drone, so as to be fixed to or separated from the drone.

9. The gas leak detection robot according to claim 8, characterized in that: The movable bracket is provided with a support, and the arm closest to the movable bracket is hinged to the support; The drone is provided with a connecting beam, and the fixing element is used for being detachably fixed to the connecting beam.

10. The gas leak detection robot according to claim 1, characterized in that: A limit frame is fixed on the mobile bracket, two limit bearings are arranged on the UAV, and the limit frame is configured to be clamped between the two limit bearings to limit the movement of the limit frame.

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