Robot inspection method and device with 360-degree holder

Abstract

The invention relates to the technical field of inspection robots, in particular to an inspection method and device for a robot with a 360-degree holder, and the device comprises a mounting box, a main control box, a track driving disc and an inspection holder, and further comprises a matching assembly; the matching assembly comprises an adjusting support, a connecting frame, a regulating and controlling component and a gravity center adjusting component. The adjusting support is slidably mounted on one mounting box, the connecting frame is slidably mounted on the adjusting support, the other mounting box is connected with the connecting frame, the lifting component is connected with the connecting frame and used for driving the adjusting support and the connecting frame to move, and the gravity center adjusting component is connected with the mounting boxes and used for adjusting the weight of the two mounting boxes. The corresponding mounting box is ensured to ascend stably, and the inspection robot can stably cross steps through the arranged corresponding driving structure, so that the efficiency is higher during actual inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular, to a robot inspection method and device with a 360-degree pan-tilt head. Background Art

[0002] An inspection robot is a mobile device for special industries that can replace humans for inspection and operation. Generally, it has functions such as path planning and motion control, and can realize full-line monitoring in special scenarios and automatic inspection by timed movement;

[0003] Existing inspection robots can achieve automatic cruising through advanced navigation technologies, sensor systems, data processing capabilities, and preset inspection task planning, and then conduct inspections within a set range. The inspection robot first uses devices such as lidar and vision sensors to scan and perceive the working environment. Through the collected environmental data, the robot can create a map of the working environment, which is the basis for realizing autonomous navigation and automatic circulation. With the map, the robot can plan the optimal inspection path according to the preset inspection tasks. During the traveling process, the robot will analyze the sensor data in real time, identify obstacles, and automatically adjust the traveling path to ensure that the task can be completed safely and efficiently;

[0004] When an inspection robot conducts cruising, it is generally driven by a power structure arranged at the bottom. Common driving methods include rail driving, wheel driving, and crawler driving. Since rail driving requires the prior setting of rails, it is often applicable to some special scenarios, such as the inspection of railway tracks. Due to the driving flexibility of wheel driving and crawler driving, they can be more widely applied to various scenarios;

[0005] During the mobile cruising process of existing inspection robots, situations such as stairs or steps often appear between two cruising areas. However, the existing common driving methods cannot cross relatively high steps, resulting in the need to set redundant cruising routes or use multiple inspection robots for inspection, thereby leading to a relatively low actual inspection efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a robot inspection method and device with a 360-degree pan-tilt head, which can enable the inspection robot to stably cross steps through a corresponding driving structure provided, thereby making the actual inspection more efficient.

[0007] To achieve the above purpose, the present invention provides a robot inspection method and device with a 360-degree pan-tilt head, including an installation box, a main control box, a crawler drive disk, and an inspection pan-tilt head. The crawler drive disks are installed on both of the two installation boxes, the main control box is arranged on the back side of one of the installation boxes, the inspection pan-tilt head is installed on the other installation box, and a matching component is further included;

[0008] The cooperating assembly includes an adjusting bracket, a connecting frame, a regulating member, and a center-of-gravity adjusting member;

[0009] The adjusting bracket is slidably mounted on one of the mounting boxes, the connecting frame is slidably mounted on the adjusting bracket, the other mounting box is connected to the connecting frame, the lifting member is connected to the connecting frame and is used to drive the adjusting bracket and the connecting frame to move, and the center-of-gravity adjusting member is connected to the mounting box and is used to adjust the weight of the two mounting boxes themselves to ensure the stability of the corresponding mounting box during ascent.

[0010] Among them, the regulating member includes a pushing screw, a pushing motor, and a lifting component. The pushing screw is threadedly connected to the adjusting bracket and is rotatably mounted on the corresponding mounting box; the output shaft of the pushing motor is connected to the pushing screw, and the pushing motor is fixedly mounted on the corresponding mounting box; the lifting component is connected to the connecting frame and is used to drive the connecting frame to move on the adjusting bracket.

[0011] Among them, the center-of-gravity adjusting member includes a water tank, a water pump, and a gravity sensing mechanism. The water tank is provided in each mounting box, and the two water pumps are respectively installed in the two mounting boxes and are used to alternately pump the liquid stored in the two water tanks; the impact sensing mechanism is provided below each water tank and is used to monitor the weight of the specified water tank.

[0012] Among them, the lifting component includes a fixed rack, a driving gear, and a driving motor. The fixed rack is fixedly mounted on the connecting frame; the driving gear is engaged with the fixed rack and is rotatably mounted on the adjusting bracket; the output shaft of the driving motor is connected to the driving gear, and the driving motor is fixedly mounted on the adjusting bracket.

[0013] Among them, the cooperating assembly further includes a mounting bracket, a photographing device, a flipping motor, and a connecting member. The mounting bracket is connected to one of the mounting boxes through the connecting member; the photographing device is rotatably mounted on the mounting bracket; the output shaft of the flipping motor is connected to the photographing device, and the flipping motor is fixedly mounted on the mounting bracket; the connecting member is connected to the mounting box and is used to adjust the position of the mounting bracket.

[0014] Among them, the connection member includes a lifting bracket, a lifting drive mechanism and a secondary adjustment member. The lifting bracket is connected to the mounting bracket through the secondary adjustment member, and the lifting bracket is slidably mounted on the mounting box; the lifting drive mechanism is connected to the lifting bracket and is used to drive the lifting bracket to move up and down on the mounting box; the secondary adjustment member is connected to the mounting bracket and is used to drive the mounting bracket.

[0015] Among them, the secondary adjustment member includes a moving guide frame, a moving mechanism and a lateral adjustment mechanism. The moving guide frame is slidably connected to the lifting bracket and is also slidably connected to the mounting bracket; the moving mechanism is connected to the moving guide frame and is used to drive the mounting bracket to move on the moving guide frame; the lateral adjustment mechanism is connected to the lifting bracket and is used to drive the moving guide frame to move on the lifting bracket.

[0016] In a robot inspection method and device with a 360-degree pan-tilt head according to the present invention, the crawler drive discs provided at the bottoms of the two mounting boxes are both controlled by crawlers independently driven on both sides. In this way, during driving, steering or even rotation can be achieved through the different movements of the crawlers on both sides, making the robot more flexible during inspection driving.

[0017] The two mounting boxes provided with the crawler drive discs are arranged one in front of the other. The inspection pan-tilt head is installed on the top of the mounting box arranged at the front side. The inspection pan-tilt head is a 360-degree pan-tilt head. A 360-degree pan-tilt head is a photographic or video shooting auxiliary device that can rotate 360 degrees. It is usually used in various shooting scenarios to achieve omnidirectional shooting and tracking. Its working principle is relatively simple. It fixes the camera or camera through a rotatable platform, thereby achieving omnidirectional rotation and tilting. This design enables the shooter to capture images from different angles and heights, greatly enriching the shooting possibilities. In this way, the inspection within the set range can be completed through the inspection pan-tilt head arranged at the front side.

[0018] The adjustment bracket is slidably mounted on the mounting box arranged at the rear side. The connecting frame is slidably mounted on the adjustment bracket. At the same time, the connecting frame is fixedly connected to the mounting box arranged at the front side. When climbing a step, the mounting box at the front side can be lifted by moving the connecting frame on the adjustment bracket. Then, the crawler drive disc provided at the bottom of the mounting box at the rear side drives the lifted mounting box at the front side to move to the corresponding step surface. After that, the weight relationship between the mounting box at the front side and the mounting box at the rear side is changed through the center-of-gravity adjustment member, so that the mounting box at the rear side can be lifted to the same height as the mounting box at the front side by moving the adjustment bracket on the connecting frame, thereby realizing the climbing of the step.

[0019] When crossing an obstacle, first lift the front installation box, then drive the whole to move by the crawler drive disk at the bottom of the rear installation box, and then adjust the position of the lifted front installation box by moving the adjusting bracket on the installation box, so that the front installation box can directly cross the corresponding obstacle. Then lower the front installation box, and finally, through the cooperation of the center of gravity adjustment component with the mutual movement of the adjusting bracket and the connecting frame, the rear installation box can cross the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art.

[0021] Figure 1 It is a schematic structural diagram of the overall robot inspection method and device with a 360-degree pan-tilt head of the present invention.

[0022] Figure 2 It is of the present invention Figure 1 An enlarged view of part A.

[0023] Figure 3 It is a schematic structural diagram of the installation of the main control box of the present invention.

[0024] Figure 4 It is of the present invention Figure 3 An enlarged view of part B.

[0025] Figure 5 It is a schematic structural diagram of the installation of the push screw of the present invention.

[0026] Figure 6 It is a schematic structural diagram of a cut-open installation box of the present invention.

[0027] Figure 7 It is a schematic structural diagram of two cut-open installation boxes of the present invention.

[0028] Figure 8 It is a flowchart of the robot inspection method with a 360-degree pan-tilt head of the present invention.

[0029] In the figure: 1 - installation box, 2 - main control box, 3 - crawler drive disc, 4 - inspection pan-tilt, 5 - adjustment bracket, 6 - connecting frame, 7 - control component, 8 - center of gravity adjustment component, 9 - installation bracket, 10 - shooting device, 11 - flipping motor, 12 - connecting component, 701 - push screw, 702 - push motor, 703 - lifting component, 801 - water tank, 802 - water pump, 803 - gravity sensing mechanism, 1201 - lifting bracket, 1202 - lifting drive mechanism, 1203 - secondary adjustment component, 7031 - fixed rack, 7032 - driving gear, 7033 - driving motor, 12031 - moving guide frame, 12032 - moving mechanism, 12033 - lateral adjustment mechanism. Detailed implementation manners

[0030] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0031] In the description of the present invention, it should be understood that the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0032] Please refer to Figures 1 to 7 , the present invention provides a robot inspection method and device with a 360-degree pan-tilt: including an installation box 1, a main control box 2, a crawler drive disc 3, an inspection pan-tilt 4 and a matching component. The matching component includes an adjustment bracket 5, a connecting frame 6, a control component 7 and a center of gravity adjustment component 8. The control component 7 includes a push screw 701, a push motor 702 and a lifting component 703. The center of gravity adjustment component 8 includes a water tank 801, a water pump 802 and a gravity sensing mechanism 803. The lifting component 703 includes a fixed rack 7031, a driving gear 7032 and a driving motor 7033. By the foregoing solution, the problem that in the process of moving and cruising of the existing inspection robot, there are often situations such as stairs or steps between two cruising areas, and the existing common driving methods cannot cross relatively high steps, resulting in the need to set redundant cruising routes or use multiple inspection robots for inspection, and thus the actual inspection efficiency is relatively low, is solved.

[0033] Furthermore, the crawler drive discs 3 are installed on both of the two mounting boxes 1. A main control box 2 is arranged on the back side of one of the mounting boxes 1, and an inspection pan-tilt 4 is installed on the other mounting box 1. The adjusting bracket 5 is slidably installed on one of the mounting boxes 1, and the connecting frame 6 is slidably installed on the adjusting bracket 5. The other mounting box 1 is connected to the connecting frame 6. The lifting member is connected to the connecting frame 6 and is used to drive the adjusting bracket 5 and the connecting frame 6 to move. The center-of-gravity adjustment member 8 is connected to the mounting box 1 and is used to adjust the weight of the two mounting boxes 1 themselves to ensure the stability of the corresponding mounting box 1 during ascent.

[0034] Specifically, the crawler drive discs 3 provided at the bottoms of the two mounting boxes 1 are both controlled by independently driven crawlers on both sides. In this way, during driving, steering or even rotation can be achieved through the different movements of the crawlers on both sides, making the robot more flexible during inspection driving.

[0035] The two mounting boxes 1 provided with the crawler drive discs 3 are arranged one in front of the other. The inspection pan-tilt 4 is installed on the top of the mounting box 1 at the front side. The inspection pan-tilt 4 is a 360-degree pan-tilt. A 360-degree pan-tilt is a photographic or videographic auxiliary device that can rotate 360 degrees. It is usually used in various shooting scenarios to achieve omnidirectional shooting and tracking. Its working principle is relatively simple. It fixes the camera or camera through a rotatable platform to achieve omnidirectional rotation and tilting. This design enables the shooter to capture images from different angles and heights, greatly enriching the possibilities of shooting. In this way, the inspection within the set range can be completed through the inspection pan-tilt 4 provided at the front side.

[0036] The adjusting bracket 5 is slidably installed on the mounting box 1 at the rear side, and the connecting frame 6 is slidably installed on the adjusting bracket 5. At the same time, the connecting frame 6 is fixedly connected to the mounting box 1 at the front side. When climbing stairs, the mounting box 1 at the front side can be lifted through the movement of the connecting frame 6 on the adjusting bracket 5. Then, the crawler drive disc 3 provided at the bottom of the mounting box 1 at the rear side drives the lifted mounting box 1 at the front side to move onto the corresponding stair surface. After that, the center-of-gravity adjustment member 8 is used to change the weight relationship between the mounting box 1 at the front side and the mounting box 1 at the rear side, so that the mounting box 1 at the rear side can be lifted to the same height as the mounting box 1 at the front side through the movement of the adjusting bracket 5 on the connecting frame 6, thereby achieving stair climbing.

[0037] When crossing an obstacle, first lift the front mounting box 1, then drive the whole to move through the crawler drive disk 3 at the bottom of the rear mounting box 1. After that, adjust the position of the lifted front mounting box 1 by moving the adjusting bracket 5 on the mounting box 1, so that the front mounting box 1 can directly cross the corresponding obstacle. Then lower the front mounting box 1, and finally, through the mutual movement of the center of gravity adjustment member 8, the adjusting bracket 5 and the connecting frame 6, the rear mounting box 1 can cross the obstacle.

[0038] Further, the push screw 701 is threadedly connected to the adjusting bracket 5 and is rotatably mounted on the corresponding mounting box 1; the output shaft of the push motor 702 is connected to the push screw 701, and the push motor 702 is fixedly mounted on the corresponding mounting box 1; the lifting member 703 is connected to the connecting frame 6 and is used to drive the connecting frame 6 to move on the adjusting bracket 5.

[0039] Further, the fixed rack 7031 is fixedly mounted on the connecting frame 6; the driving gear 7032 meshes with the fixed rack 7031 and is rotatably mounted on the adjusting bracket 5; the output shaft of the driving motor 7033 is connected to the driving gear 7032, and the driving motor 7033 is fixedly mounted on the adjusting bracket 5.

[0040] When this embodiment is in use, the push screw 701 matches the threaded hole provided on the rear side plate member of the adjusting bracket 5, and the output shaft of the push motor 702 is fixed to the push screw 701. So when the push motor 702 drives the push screw 701 to rotate, the adjusting bracket 5 can move under the drive of the push screw 701. When the adjusting bracket 5 is retracted, some areas coincide with the internal guide grooves of the corresponding mounting box 1, so that the overall volume of the device will not be too large after retraction, and at the same time, the normal extended length of the adjusting bracket 5 can be ensured, thus better realizing climbing steps and crossing obstacles during the inspection process;

[0041] The fixed rack 7031 is fixed in the groove on the side of the connecting frame 6, and the fixed rack 7031 cooperates with the driving gear 7032 rotatably provided on the adjusting bracket 5. The driving gear 7032 is driven by the driving motor 7033. In this way, the connecting frame 6 can be driven by driving the driving gear 7032 by the driving motor 7033. Using the cooperation of the rack and gear provided to realize the up and down movement can avoid the appearance of redundant structures below after the front mounting box 1 moves up, so as to ensure that there will be no influence due to redundant connection structures when climbing steps and crossing obstacles.

[0042] Furthermore, a water tank 801 is provided in each of the installation boxes 1, and two water pumps 802 are respectively installed in the two installation boxes 1 for alternately pumping the liquid stored in the two water tanks 801; a gravity sensing mechanism 803 is provided below each water tank 801 for monitoring the weight of the specified water tank 801.

[0043] When in use in this embodiment, corresponding water tanks 801 are provided in the two installation boxes 1, and the two water tanks 801 are respectively connected through corresponding conduits and the two water pumps 802 provided. One of the water pumps 802 is connected to the bottom of the front water tank 801 and the top of the rear water tank 801 through a conduit, and the other water pump 802 is connected to the top of the front water tank 801 and the bottom of the rear water tank 801 through a conduit, so that the mutual conversion of the liquid inside the two water tanks 801 on both sides can be realized through the two water pumps 802 provided. At the same time, a gravity sensing mechanism 803 is further provided at the bottom of each water tank 801. The gravity sensing mechanism 803 mainly weighs the water tank 801 placed on the surface through the provided sensor, so as to be able to monitor the weight of the two water tanks 801 on both sides in real time;

[0044] During normal operation, the weights of the two water tanks 801 on both sides can be distributed according to the actual situation. For example, all the weight can be concentrated in the front water tank 801, or all the weight can be concentrated in the rear water tank 801, or the weights of the two water tanks 801 can be maintained within the same range. However, when climbing stairs, during the upward movement of the front mounting box 1, the corresponding water pump 802 needs to transfer the liquid in the front water tank 801 to the rear water tank 801 to ensure that the center of gravity is transferred to the rear mounting box 1, so that the entire device can remain stable when the front mounting box 1 moves upward and makes corresponding position adjustments. After the front mounting box 1 moves up to the specified plane, the corresponding water pump 802 can transfer the liquid in the rear water tank 801 to the front water tank 801, so that the center of gravity is transferred to the front mounting box 1. Furthermore, when the two mounting boxes 1 move relative to each other, the rear mounting box 1 can smoothly move to the same height as the front mounting box 1. In this way, through the weight sensing mechanism, the two water pumps 802 and the two water tanks 801 filled with corresponding liquids, the transfer of the center of gravity on both sides of the entire device can be completed, thereby ensuring the stability of the entire device during the climbing and ascending operation. It should be noted that during actual operation, since the water pipes used for connection may affect the normal lifting and spacing adjustment of the two mounting boxes 1, the length of the water pipes can be set with a margin according to the actual situation. At the same time, the connected water pipes can also be guided by setting buckles to prevent the water pipes from affecting the normal operation of the two mounting boxes 1.

[0045] Preferably, the cooperation component provided by the present invention further includes a mounting bracket 9, a photographing device 10, a flipping motor 11 and a connecting member 12. The connecting member 12 includes a lifting bracket 1201, a lifting driving mechanism 1202 and a secondary adjusting component 1203. The secondary adjusting component 1203 includes a moving guide frame 12031, a moving mechanism 12032 and a lateral adjusting mechanism 12033.

[0046] Furthermore, the mounting bracket 9 is connected to one of the mounting boxes 1 through the connecting member 12; the photographing device 10 is rotatably mounted on the mounting bracket 9; the output shaft of the flipping motor 11 is connected to the photographing device 10, and the flipping motor 11 is fixedly mounted on the mounting bracket 9; the connecting member 12 is connected to the mounting box 1 and is used to adjust the position of the mounting bracket 9.

[0047] When in use, the photographing device 10 mainly consists of a corresponding camera. The outer frame for installing the photographing device 10 is rotatably arranged on the mounting bracket 9. The output shaft of the flipping motor 11 is connected to the mounting housing of the photographing device 10, enabling the user to drive the photographing device 10 to rotate through the flipping motor 11, thereby completing the photographing of images at different angles. Since both the automatic cruise and obstacle avoidance systems need to use corresponding cameras for image acquisition, the traditional method of using a single camera will result in a limited acquisition range and cannot comprehensively scan the surrounding environment. Using multiple cameras not only requires setting up an additional processing system to integrate and process different images collected subsequently, but also requires maintenance or replacement when one of the cameras has problems, which will also increase the usage cost to a certain extent.

[0048] Furthermore, the lifting bracket 1201 is connected to the mounting bracket 9 through the secondary adjustment component 1203, and the lifting bracket 1201 is slidably installed on the mounting box 1; the lifting drive mechanism 1202 is connected to the lifting bracket 1201 and is used to drive the lifting bracket 1201 to move up and down on the mounting box 1; the secondary adjustment component 1203 is connected to the mounting bracket 9 and is used to drive the mounting bracket 9.

[0049] Furthermore, the moving guide frame 12031 is slidably connected to the lifting bracket 1201 and is also slidably connected to the mounting bracket 9; the moving mechanism 12032 is connected to the moving guide frame 12031 and is used to drive the mounting bracket 9 to move on the moving guide frame 12031; the lateral adjustment mechanism 12033 is connected to the lifting bracket 1201 and is used to drive the moving guide frame 12031 to move on the lifting bracket 1201.

[0050] When this embodiment is in use, the lifting bracket 1201 is slidably installed on the corresponding mounting box 1. The lifting bracket 1201 is driven by the provided lifting drive mechanism 1202. The lifting drive mechanism 1202 is a corresponding screw drive structure, and the lifting drive mechanism 1202 mainly consists of a corresponding screw and a motor, so as to drive the corresponding plate member to move by the rotation of the corresponding screw. The moving guide frame 12031 is slidably installed on the side of the lifting bracket 1201, and the mounting bracket 9 is slidably installed on the moving guide frame 12031. The moving mechanism 12032 and the lateral adjustment mechanism 12033 are both corresponding screw drive structures. By setting the moving mechanism 12032 and the lateral adjustment mechanism 12033, the corresponding moving guide frame 12031 can be driven to move on the lifting bracket 1201, and the mounting bracket 9 can be driven to move on the moving guide frame 12031, so as to expand the adjustment range of the mounting bracket 9 and the shooting range of the shooting device 10 through secondary movement, thereby better realizing the scanning of obstacles and the environment. In this way, the corresponding climbing structure can be better controlled to perform climbing inspection by scanning the obstacles and the corresponding step shapes.

[0051] Please refer to Figure 8 , a robot inspection method with a 360-degree pan-tilt head, using the robot inspection device with a 360-degree pan-tilt head, including the following steps:

[0052] S1: Drive the whole device to move through the track drive disc 3 arranged at the bottom of the mounting box 1, and then cooperate with the inspection pan-tilt head 4 arranged on the top of the mounting box 1 to conduct inspections;

[0053] S2: During the inspection process, the surrounding environment can be scanned and identified through the provided shooting device 10 and the connecting member 12, so as to conduct automatic inspections more stably;

[0054] S3: When the shooting device 10 detects a step or an obstacle ahead, one of the two mounting boxes 1 can be driven to move upward through the control member 7 and the center of gravity adjustment member 8;

[0055] S4: After the upward-moving mounting box 1 crosses the obstacle or lands on the corresponding step surface, the other mounting box 1 can cross and climb through the control member 7 and the center of gravity adjustment member 8, so as to realize the climbing of the step and the crossing of the obstacle, and complete the subsequent automatic inspection.

[0056] The above disclosure is only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A robot inspection device with a 360-degree pan-tilt platform, comprising an installation box, a main control box, a track drive disc and an inspection pan-tilt platform, wherein the track drive disc is installed on two installation boxes, the main control box is arranged on the back side of one of the installation boxes, and the inspection pan-tilt platform is installed on the other installation box, characterized in that: Also included are mating components; The matching assembly includes an adjustment bracket, a connecting frame, a regulating component and a center of gravity adjustment component; The adjusting bracket is slidably installed on one of the installation boxes, the connecting frame is slidably installed on the adjusting bracket, the other installation box is connected to the connecting frame, the lifting component is connected to the connecting frame and is used to drive the adjusting bracket and the connecting frame to move, and the center of gravity adjustment component is connected to the installation box and is used to adjust the weight of the two installation boxes themselves to ensure the stability of the rise of the corresponding installation box.

2. The robot inspection device with a 360-degree pan-tilt platform as claimed in claim 1, characterized in that: The regulating component includes a pushing screw, a pushing motor and a lifting component. The pushing screw is threadedly connected to the adjusting bracket and is rotatably mounted on the corresponding mounting box. The output shaft of the pushing motor is connected to the pushing screw, and the pushing motor is fixedly mounted on the corresponding mounting box. The lifting component is connected to the connecting frame and is used to drive the connecting frame to move on the adjusting bracket.

3. The robot inspection device with a 360-degree pan-tilt platform as claimed in claim 1, characterized in that: The center of gravity adjustment component includes a water tank, a water pump and a gravity sensing mechanism. The water tank is arranged in each installation box. The two water pumps are respectively installed in the two installation boxes for alternately extracting the liquid stored in the two water tanks; the impulse sensing mechanism is arranged under each water tank for monitoring the specified weight of the water tank.

4. The robot inspection device with a 360-degree pan-tilt head according to claim 2, characterized in that: The lifting component includes a fixed rack, a driving gear and a driving motor, wherein the fixed rack is fixedly mounted on the connecting frame; the driving gear is meshed with the fixed rack and is rotatably mounted on the adjusting bracket; the output shaft of the driving motor is connected to the driving gear, and the driving motor is fixedly mounted on the adjusting bracket.

5. The robot inspection device with a 360-degree pan-tilt platform as claimed in claim 1, characterized in that: The mating component also includes a mounting bracket, a shooting device, a flip motor and a connecting component, wherein the mounting bracket is connected to one of the mounting boxes via the connecting component; the shooting device is rotatably mounted on the mounting bracket; the output shaft of the flip motor is connected to the shooting device, and the flip motor is fixedly mounted on the mounting bracket; the connecting component is connected to the mounting box for adjusting the position of the mounting bracket.

6. The robot inspection device with a 360-degree pan-tilt platform as claimed in claim 5, characterized in that: The connecting component includes a lifting bracket, a lifting drive mechanism and a secondary adjustment component. The lifting bracket is connected to the mounting bracket through the secondary adjustment component, and the lifting bracket is slidably installed on the mounting box; the lifting drive mechanism is connected to the lifting bracket, and is used to drive the lifting bracket to move up and down on the mounting box; the secondary adjustment component is connected to the mounting bracket, and is used to drive the mounting bracket.

7. The robot inspection device with a 360-degree pan-tilt platform as claimed in claim 6, characterized in that: The secondary adjustment component includes a movable guide frame, a movable mechanism and a lateral adjustment mechanism. The movable guide frame is slidably connected to the lifting bracket and is slidably connected to the mounting bracket. The movable mechanism is connected to the movable guide frame and is used to drive the mounting bracket to move on the movable guide frame. The lateral adjustment mechanism is connected to the lifting bracket and is used to drive the movable guide frame to move on the lifting bracket.

8. A robot inspection method with a 360-degree pan-tilt platform, using the robot inspection device with a 360-degree pan-tilt platform as claimed in claim 5, characterized in that: The following steps are included: The entire device is driven to move by a crawler drive disc arranged at the bottom of the installation box, and then the inspection is carried out in conjunction with the inspection pan-tilt platform arranged at the top of the installation box; During the inspection process, the surrounding environment can be scanned and identified by the set shooting equipment and the connecting components, so as to perform automatic inspection more stably; When the photographing device detects a step or an obstacle in front, the regulating member can cooperate with the gravity center adjusting member to drive one of the two installation boxes to move upward; After the upwardly moved installation box crosses the obstacle or falls onto the corresponding step surface, the other installation box can cross and climb on the regulating component and the center of gravity adjustment component, thereby climbing the steps and crossing the obstacles, and completing the subsequent automatic inspection.

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