Detection robot

Abstract

The invention relates to a detection robot which comprises a mobile vehicle, a laser range finder, an alarm loudspeaker, a detection module and a control module. The detection module and the control module are both arranged in the moving vehicle, the laser range finder and the alarm loudspeaker are both arranged at the top of the moving vehicle, and the laser range finder is arranged close to the end of the moving vehicle; the detection module, the laser range finder, the alarm loudspeaker and the mobile vehicle are all connected with the control module, and the control module is connected with an external terminal controller; the detection module is used for collecting a temperature signal and a sound wave signal of a target area, processing the collected signals and sending the processed signals to the external terminal controller; the laser range finder is used for measuring the distance between the mobile vehicle and each boundary of the detection area; according to the arrangement, the laser range finder is cooperated with the detection module, and automatic, high-precision and damage-free detection and positioning of leakage water points of the floor heating pipeline and the building structure are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an inspection robot. Background Technology

[0002] Currently, underfloor heating systems are the mainstream method for winter heating. Their pipes are mostly buried beneath the floor covering (tiles, wood flooring, etc.), making them concealed works. If underfloor heating pipes leak, it not only wastes water but also causes the floor covering to warp and deform, walls to mold, and in severe cases, damages indoor furniture and appliances. Long-term leaks can also affect the normal operation of the underfloor heating system, reduce heating efficiency, and even cause safety hazards such as short circuits. Once a leak occurs in underfloor heating pipes, it is often necessary to remove some or all of the floor tiles to locate the leak and carry out repairs.

[0003] Currently, the technical deficiencies and industry pain points in the field of underfloor heating leak detection are mainly reflected in the following aspects:

[0004] 1. Traditional detection methods rely on human experience and have poor accuracy: Existing technologies mostly rely on manual observation of damp marks on the ground and pressing on the surface layer to judge hollowness to find leaks. These methods are greatly affected by the experience of the inspectors and are prone to missed or misjudgment. For minor leaks or leaks in hidden locations such as pipe joints, manual inspection is difficult to detect.

[0005] 2. The detection process is highly destructive and the repair cost is high: If a preliminary manual judgment indicates that there is leakage, it is necessary to remove the floor finish and move large furniture and appliances for further investigation. This is not only time-consuming and labor-intensive, but also damages the indoor decoration environment, increases the subsequent repair costs, and causes great inconvenience to users.

[0006] 3. Limited by single detection technology and narrow applicable scenarios: Some existing detection equipment only uses single acoustic detection or thermal imaging detection technology. For example, acoustic detectors are easily affected by indoor environmental noise, and the detection accuracy drops significantly in scenarios with frequent human activity; thermal imaging detectors have difficulty distinguishing between leakage areas and normal areas when the ground temperature is uniform (such as during the winter heating season) or when the environmental temperature difference is small, resulting in detection failure.

[0007] 4. Low testing efficiency, making it difficult to meet the needs of large-scale testing: Manual screening requires inspection of each area and each pipeline. For large indoor spaces (such as shopping malls and office buildings) or multi-room residences, the testing cycle is long and cannot meet the market demand for efficient testing.

[0008] Therefore, the development of an efficient and accurate integrated inspection robot is of great practical significance. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide a detection robot that has the advantages of enabling automated and high-precision detection of leaks in underfloor heating pipes and building structures, thereby improving detection efficiency.

[0010] The above-mentioned objective of this invention is achieved through the following technical solution: a detection robot, comprising a mobile vehicle, a laser rangefinder, an alarm speaker, a detection module, and a control module; the detection module and the control module are both disposed inside the mobile vehicle, the laser rangefinder and the alarm speaker are both disposed on the top of the mobile vehicle, and the laser rangefinder is disposed near the end of the mobile vehicle; the detection module, the laser rangefinder, the alarm speaker, and the mobile vehicle are all connected to the control module, and the control module is connected to an external terminal controller; the detection module is used to collect temperature signals and sound wave signals of the target area, process the collected signals, and send them to the external terminal controller; the laser rangefinder is used to measure the distance between the mobile vehicle and each boundary of the detection area.

[0011] Preferably, the detection robot provided by the present invention includes a detection module comprising a thermal imaging sensor and an acoustic wave sensor, both of which are installed inside the mobile vehicle and connected to the control module. The thermal imaging sensor is used to capture temperature change information of the target area and convert it into a clear thermal imaging image. The acoustic wave sensor is used to detect leakage inside the pipe by emitting and receiving acoustic wave signals.

[0012] Preferably, in the detection robot provided by the present invention, the control module includes a data integration and processing center and a data transmission center. The detection module, the laser rangefinder, the alarm speaker, and the mobile vehicle are all connected to the data integration and processing center. The data integration and processing center is connected to the external terminal controller through the data transmission center.

[0013] Preferably, the detection robot provided by the present invention includes a metal shell and a bottom walking module. The metal shell forms an accommodating cavity. The detection module and the control module are both disposed within the accommodating cavity. The bottom walking module is disposed at the bottom end of the metal shell and is used to drive the metal shell to move. The laser rangefinder and the alarm speaker are both disposed at the top end of the metal shell. The metal shell has an exhaust vent that communicates with the accommodating cavity.

[0014] Preferably, the inspection robot provided by the present invention includes a bottom walking module comprising two omnidirectional wheels, two drive wheels, a differential, and a power mechanism. The two omnidirectional wheels are symmetrically arranged at the bottom of a first end near the metal shell, and the two drive wheels are symmetrically arranged at the bottom of a second end near the metal shell. The differential is disposed between the two drive wheels, and each drive wheel is connected to the differential via a rotating shaft. The differential is connected to the power mechanism, which is located at the bottom end of the metal shell. The control module is connected to the power mechanism for control. The differential is used to adjust the speed difference between the two drive wheels.

[0015] Preferably, in the detection robot provided by the present invention, the outer surface of the metal shell is covered with a collision-resistant buffer pad, and multiple wall-following probes are provided on each outer side wall of the metal shell. The multiple wall-following probes are evenly distributed near the upper and lower ends of the outer side wall of the metal shell, and the wall-following probes are connected to the control module; the wall-following probes are used to collect the distance between the mobile vehicle and the wall in real time.

[0016] Preferably, in the detection robot provided by the present invention, the detection module further includes a gyroscope, which is disposed inside the mobile vehicle and connected to the control module; the gyroscope is used to collect the attitude parameters and motion state of the mobile vehicle and transmit the collected information to the control module.

[0017] Preferably, in the detection robot provided by the present invention, the acoustic wave sensor is a piezoelectric ceramic acoustic wave sensor.

[0018] Preferably, the thermal imaging sensor in the detection robot provided by the present invention is an uncooled infrared thermal imaging sensor.

[0019] Preferably, the gyroscope in the detection robot provided by the present invention is a six-axis gyroscope sensor.

[0020] In summary, the beneficial technical effects of this invention are as follows: The beneficial technical effects of the inspection robot provided in this application are: 1. Through the collaborative analysis of multiple technologies such as laser ranging, thermal imaging, and acoustic waves, combined with intelligent fusion algorithms, the robot can accurately identify and locate water leakage points; 2. Without removing the floor finish or moving furniture and appliances, the inspection robot can autonomously move and inspect in the already decorated indoor environment, avoiding the damage to the indoor environment caused by traditional inspection methods and significantly reducing subsequent repair costs; 3. It can autonomously plan inspection paths and achieve automatic scanning and inspection of the entire area, which improves inspection efficiency compared to manual inspection. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the detection robot provided in an embodiment of the present invention.

[0022] Figure 2 This is a bottom view of the inspection robot provided in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the internal structure of the detection robot provided in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the external terminal controller in the detection robot provided in an embodiment of the present invention.

[0025] In the diagram, 1. Inspection robot; 10. Mobile vehicle; 11. Metal shell; 111. Exhaust vent; 112. Anti-collision buffer pad; 113. Wall-mounted probe; 114. Communication port; 12. Bottom walking module; 121. Caster wheel; 122. Drive wheel; 123. Differential; 124. Power mechanism; 20. Laser rangefinder; 30. Alarm speaker; 43. Gyroscope; 50. Control module; 51. Data integration and processing center; 52. Data transmission center; 60. Rechargeable battery; 2. External terminal controller; 21. Numerical control button; 22. Digital display screen; 23. Data receiving port; 24. Rubber grip. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] Reference Figure 1 This invention discloses a detection robot 1, comprising a mobile vehicle 10, a laser rangefinder 20, an alarm speaker 30, a detection module, and a control module 50. The detection module and control module 50 are both located inside the mobile vehicle 10, while the laser rangefinder 20 and alarm speaker 30 are both located on the top of the mobile vehicle 10, with the laser rangefinder 20 positioned near the end of the mobile vehicle 10. The detection module, laser rangefinder 20, alarm speaker 30, and mobile vehicle 10 are all connected to the control module 50, which is connected to an external terminal controller 2. The detection module collects temperature and sound signals from the target area, processes the collected signals, and sends them to the external terminal controller 2. The laser rangefinder 20 measures the distance between the mobile vehicle 10 and the boundaries of the detection area. This configuration, with the laser rangefinder 20 and the detection module working together, enables automated, high-precision, and non-destructive detection and location of leaks in underfloor heating pipes and building structures.

[0028] Specifically, with Figure 1 Taking the indicated orientation as an example, the laser rangefinder 20 is positioned near the left end of the mobile vehicle 10.

[0029] Among them, the laser rangefinder 20 can be a pulsed laser rangefinder 20, with a measurement accuracy of ≤±2mm. It can accurately measure the distance between the mobile vehicle 10 and each boundary (wall, furniture, etc.) of the detection area, and output three-dimensional coordinate data, providing key data for the detection robot 1 to plan the optimal route.

[0030] In this embodiment, when the detection robot 1 detects a serious water leakage hazard (leakage ≥ 0.5L / h) or malfunctions (such as battery level below 10% or detection module abnormality), it will promptly issue an alarm sound of 85dB or higher. At the same time, the detection robot 1 will automatically stop moving and lock its current position, reminding the inspection personnel to focus on checking this area.

[0031] Furthermore, in this embodiment, the mobile vehicle 10 includes a metal shell 11 and a bottom walking module 12. The metal shell 11 forms an accommodating cavity. The detection module and the control module 50 are both disposed in the accommodating cavity. The bottom walking module 12 is disposed at the bottom end of the metal shell 11 and is used to drive the metal shell 11 to move. The laser rangefinder 20 and the alarm speaker 30 are both disposed at the top of the metal shell 11. The metal shell 11 has an exhaust vent 111, which is connected to the accommodating cavity.

[0032] Specifically, with Figure 1 Taking the indicated orientation as an example, the laser rangefinder 20 is positioned on the top surface near the left end of the metal casing 11, and the alarm speaker 30 is positioned on the top surface near the right end of the metal casing 11.

[0033] The exhaust vent 111 has a built-in temperature-controlled cooling fan that automatically starts when the internal temperature of the mobile vehicle 10 exceeds 45°C, effectively dissipating the heat generated during the operation of the inspection robot 1 and ensuring that the internal components of the inspection robot 1 operate at a suitable temperature (-10°C to 45°C), thus extending its service life.

[0034] In this embodiment, a communication port 114 is provided at the top of the metal casing 11. The communication port 114 integrates wired communication (USB-Type-C) and wireless communication (WiFi 6 + Bluetooth 5.2) dual modes. The detection module and the laser rangefinder 20 are both connected to the external terminal controller 2 through the communication port 114 to realize bidirectional data connection with the external terminal controller 2, and realize fast data transmission and sharing. The wireless transmission distance is ≥50m to ensure stable communication in complex indoor environments.

[0035] Continue to refer to Figure 2In this embodiment, the bottom walking module 12 includes two universal wheels 121, two drive wheels 122, a differential 123, and a power mechanism 124. The two universal wheels 121 are symmetrically arranged at the bottom of the first end near the metal shell 11, and the two drive wheels 122 are symmetrically arranged at the bottom of the second end near the metal shell 11. The differential 123 is disposed between the two drive wheels 122. Each drive wheel 122 is connected to the differential 123 through a rotating shaft. The differential 123 is connected to the power mechanism 124. The power mechanism 124 is disposed at the bottom end of the metal shell. The control module 50 is connected to the power mechanism 124. The differential 123 is used to adjust the speed difference between the two drive wheels 122.

[0036] It should be noted that, with Figure 2 Taking the orientation shown as an example, the first end of the metal shell is the upper end of the metal shell, and the second end of the metal shell is the lower end of the metal shell.

[0037] The differential 123 plays an important role when the inspection robot 1 turns. By reasonably distributing the rotational speed of the two power wheels 122, the inspection robot 1 can complete the turning action smoothly and steadily, avoiding problems such as rollover or slippage caused by turning too sharply.

[0038] It should be noted that the differential 123 is a component well known to those skilled in the art, and its structure will not be described in detail here.

[0039] Specifically, the power mechanism 124 provides stable forward power for the robot, ensuring that the inspection robot 1 moves at a uniform and stable speed during its movement. The power mechanism 124 includes a motor and a transmission mechanism. The motor is located at the bottom of the metal housing 11. The output shaft of the motor is connected to the differential 123 through the transmission mechanism. During use, the power output by the power mechanism 124 is distributed by the differential 123 and then transmitted to the two power wheels 122 through the rotating shaft, thereby adjusting the speed difference between the two power wheels 122 when turning.

[0040] It should be noted that the transmission mechanism includes, but is not limited to, gear sets. The structure of the transmission mechanism is well known to those skilled in the art, and will not be described in detail here.

[0041] The motor can be a DC brushless motor with a rated power of ≥20W and an adjustable speed range of 50~300rpm, providing stable forward power for the mobile vehicle 10 and ensuring that the inspection robot 1 moves at a uniform and stable speed.

[0042] In this embodiment, the drive wheel 122 can be made of rubber with anti-slip texture on the surface, and the universal wheel 121 can be a silent universal wheel 121. With the cooperation of the drive wheel 122 and the universal wheel 121, the inspection robot 1 has the ability to rotate flexibly in all directions with a minimum turning radius of ≤15cm, enabling the inspection robot 1 to move freely in complex terrain (such as ground seams and slight bumps), easily cope with various turning requirements, and adapt to various complex inspection environments.

[0043] Continue to refer to Figure 1 In this embodiment, the outer surface of the metal shell 11 is covered with a collision-resistant buffer pad 112. Multiple wall-following probes 113 are provided on each outer side wall of the metal shell 11. The multiple wall-following probes 113 are evenly distributed near the upper and lower ends of the outer side wall of the metal shell 11. The wall-following probes 113 are connected to the control module 50. The wall-following probes 113 are used to collect the distance between the mobile vehicle 10 and the wall in real time. By setting the collision-resistant buffer pad 112, when the inspection robot 1 accidentally collides with an obstacle, it can effectively absorb the impact force, avoid damage to the inspection robot 1, and ensure the continuous operation of the inspection work.

[0044] Specifically, the outer walls of the metal shell 11 are surrounded by anti-collision buffer pads 112. The anti-collision buffer pads 112 are made of high-elasticity EVA material with a thickness of 15-20mm. When the inspection robot 1 accidentally collides with an obstacle, it can effectively absorb ≥80% of the impact force, avoid damage to the shell and internal components of the inspection robot 1, and ensure the continuous operation of the inspection work.

[0045] Among them, such as Figure 1 As shown, each outer wall of the metal casing 11 is equipped with four wall-following probes 113. Two of the wall-following probes 113 are located near the upper end of the outer wall of the metal casing 11, and the other two are located near the lower end of the outer wall of the metal casing 11. The wall-following probes 113 adopt the ultrasonic ranging principle, with a detection distance range of 0-50cm and a detection accuracy of ≤±1mm. They can detect the distance between the inspection robot 1 and the wall in real time. When the distance is ≤5cm, a turning warning is triggered to ensure that the inspection robot 1 will not collide when it is close to the wall or other obstacles for inspection, while ensuring that no inspection area is missed and improving the comprehensiveness of the inspection.

[0046] During use, the wall-mounted probe 113 transmits the detected distance between the detection robot 1 and the wall to the control module 50. The control module 50 analyzes the detected data and then controls the operation of the power mechanism 124.

[0047] Continue to refer to Figure 3In this embodiment, the detection module includes a thermal imaging sensor and an acoustic sensor. Both the thermal imaging sensor and the acoustic sensor are installed inside the mobile vehicle 10 and are connected to the control module 50. The thermal imaging sensor is used to capture temperature change information of the target area and convert it into a clear thermal imaging image. The acoustic sensor is used to detect leakage inside the pipe by emitting and receiving acoustic signals.

[0048] Among them, the thermal imaging sensor can be an uncooled infrared thermal imaging sensor with a temperature measurement range of -20℃ to 150℃ and a temperature measurement accuracy of ±2℃. It can accurately capture the temperature change information of the target area and generate a clear thermal imaging image through a temperature gradient algorithm. It can identify a temperature difference of less than 0.5℃, so that the inspection personnel can intuitively find the location of water leakage (the temperature of the leakage area is lower than the surrounding area due to the heat absorption of water evaporation) or areas with abnormal temperature.

[0049] Of course, other types of thermal imaging sensors can also be used, as long as they can accurately capture temperature change information of the target area.

[0050] Specifically, the acoustic sensor uses a piezoelectric ceramic acoustic sensor with a transmission frequency range of 20–200 kHz and a receiving sensitivity of ≥-60 dB. By transmitting and receiving acoustic signals, and utilizing the principle of "leakage acoustic impedance difference," it can effectively detect leaks inside pipes (when water flows and rubs against the pipe wall, it generates specific frequency acoustic waves), as well as hidden defects in walls, floors, and other parts (such as hollow areas and cracks). The detection depth is ≤50 cm, providing reliable data for detection work.

[0051] Of course, other types of acoustic sensors can also be used, as long as they can effectively detect leaks inside the pipe.

[0052] Continue to refer to Figure 2 In this embodiment, the detection module also includes a gyroscope 43, which is installed inside the mobile vehicle 10 and connected to the control module 50. The gyroscope 43 is used to collect the attitude parameters and motion state of the mobile vehicle 10 and transmit the collected information to the control module 50.

[0053] Specifically, the gyroscope 43 is located inside the metal casing 11. The gyroscope 43 can be a six-axis gyroscope sensor with a sampling rate of ≥100Hz. It can sense the attitude (pitch angle, roll angle, yaw angle) and motion state (speed, acceleration) of the inspection robot 1 in real time, providing key data support for the stable walking and accurate positioning of the inspection robot 1. The positioning accuracy is ≤±3cm, ensuring the balance and accuracy of the inspection robot 1 during the inspection process.

[0054] Of course, the gyroscope 43 can also be any other type of sensor, as long as it can sense the robot 1's attitude (pitch angle, roll angle, yaw angle) and motion state (speed, acceleration) in real time.

[0055] Continue to refer to Figure 2 In this embodiment, the control module 50 includes a data integration and processing center 51 and a data transmission center 52. The detection module, laser rangefinder 20, alarm speaker 30 and mobile vehicle 10 are all connected to the data integration and processing center. The data integration and processing center is connected to the external terminal controller 2 through the data transmission center 52.

[0056] Specifically, the laser rangefinder 20, alarm speaker 30, thermal imaging sensor, acoustic sensor, gyroscope 43, motor, and wall-following probe 113 are all connected to the data processing integration center. The data processing integration center 51, as the core control component of the robot, integrates an ARM Cortex-A76 processor and various electronic components, and has a built-in multi-source data fusion algorithm. It is responsible for coordinating the operation of each part of the detection robot 1, realizing precise control and efficient data processing. It can process data from 4 sensors simultaneously, and the data processing delay is ≤100ms.

[0057] The data transmission center 52 is electrically connected to the data integration and processing center 51. Using TDMA (Time Division Multiple Access) technology, the acoustic detection parameters, thermal imaging parameters, distance parameters, and attitude parameters in the data integration and processing center 51 are instantaneously synchronized to the external terminal controller 2, which facilitates the real-time analysis of the detection situation by the detection personnel.

[0058] The inspection robot 1 provided in this embodiment also includes a rechargeable battery 60, which is disposed inside the metal casing 11 to provide the inspection robot 1 with a long-lasting and stable power support, ensuring that it can work continuously for a long time and meet the needs of large-scale inspection tasks.

[0059] Specifically, the rechargeable battery 60 can be a lithium-ion battery.

[0060] Continue to refer to Figure 4 In this embodiment, the external terminal controller 2 is equipped with a numerical control button 21, a digital display screen 22, and a data receiving port 23. The numerical control button 21 includes multiple function keys (such as start / stop, mode switching, parameter adjustment, marking, playback, etc.). The inspection personnel can switch the inspection mode (fast scan / precise inspection) and read abnormal data through the numerical control button 21. They can also accurately mark suspected leakage points (the marking accuracy is consistent with the positioning accuracy of the inspection robot 1).

[0061] Specifically, the digital display screen 22 can accurately display in real time the acoustic wave detection parameters (frequency, amplitude), thermal imaging parameters (temperature value, temperature difference map), distance parameters (coordinates, distance to obstacles), and the status parameters (battery level, posture) of the detection robot 1 synchronized from the data transmission center 52. It supports the simultaneous display of thermal imaging images and acoustic wave waveforms, making it convenient for inspection personnel to view the inspection data intuitively.

[0062] Among them, the data receiving port 23 is matched with the communication port 114, supporting wired and wireless dual-mode data reception.

[0063] In this embodiment, rubber handles 24 are provided on both sides of the external terminal controller 2, and the surface of the rubber handles 24 is provided with anti-slip texture; this setting can effectively reduce the fatigue of the testing personnel when holding it for a long time.

[0064] The detection process of the detection robot 1 provided in this embodiment is as follows: the laser rangefinder 20 and the gyroscope 43 work together to complete the spatial modeling and robot positioning of the detection area. The laser rangefinder 20 scans and outputs the three-dimensional coordinates of the detection area, and the gyroscope 43 provides real-time feedback on the robot's posture. The data integration and processing center 51 combines the data from both to plan the optimal detection path and divides the detection area into multiple sub-areas, each of which serves as an independent detection unit. At the same time, the wall-following probe 113 transmits the real-time detected wall distance data to the data integration and processing center 51. After analysis, the data integration and processing center 51 controls the power mechanism 124 to adjust the travel trajectory to ensure that the robot moves smoothly along the preset path.

[0065] The thermal imaging sensor scans the temperature of each sub-region, extracts temperature feature parameters, and filters out temperature abnormal areas by using a temperature difference threshold (preset temperature difference ≥ 0.5℃). The data integration and processing center 51 synchronizes the coordinates of the temperature abnormal areas to the acoustic sensor, which focuses on the area to emit and receive acoustic signals and extracts acoustic feature parameters.

[0066] Among them, the data integration and processing center 51 performs fusion verification of thermal imaging data and acoustic wave data of temperature abnormal area: (1) If the thermal imaging sensor detects temperature abnormal area and the acoustic wave sensor detects acoustic wave signal with leakage characteristic frequency in the corresponding area, the area is determined to be a "suspected leakage point". The detection robot 1 automatically decelerates and switches to the precision detection mode to further improve the sampling frequency of thermal imaging and acoustic wave detection and obtain more accurate parameters; (2) If the thermal imaging sensor detects temperature abnormal area, but the acoustic wave sensor does not detect leakage characteristic frequency signal, the environmental temperature data is further combined to determine: if the environmental temperature is ≤10℃ (the ground temperature difference may be low in low temperature environment). If the area is caused by other factors, it is determined to be an "area to be verified". The detection robot 1 marks the area and continues to detect it. After the overall detection is completed, it returns to the area for re-detection. If the ambient temperature is >10℃, it is determined to be "non-leakage abnormality" (such as temperature difference caused by foreign objects on the ground). (3) If the acoustic sensor detects the leakage characteristic frequency signal, but the thermal imaging sensor does not detect the temperature abnormal area, it is determined to be "deep leakage" (the leakage point is located deep below the ground surface layer, and the temperature difference is not conducted to the surface). The detection robot 1 locates the coordinates of the area by laser ranging, marks it as "deep suspected leakage point", and prompts the detection personnel to use auxiliary means to further confirm.

[0067] Once a leak point is confirmed through collaborative verification, the data integration and processing center 51 synchronizes its coordinates, temperature parameters, and acoustic parameters to the external terminal controller 2. The digital display screen 22 displays the corresponding thermal imaging image and acoustic waveform diagram, while the alarm speaker 30 emits a prompt sound. The inspection personnel can mark and archive the leak point using the digital control button 21. After the inspection is completed, the inspection robot 1 automatically generates an inspection report (including a plan view of the inspection area, coordinates and quantity of leak points, and leakage level assessment) and transmits it to the external terminal controller 2 for storage.

[0068] The beneficial technical effects of the inspection robot 1 provided in this application are as follows: 1. Through the collaborative analysis of multiple technologies such as laser ranging, thermal imaging, and acoustic waves, combined with intelligent fusion algorithms, the robot can accurately identify and locate water leakage points; 2. Without removing the floor finish or moving furniture and appliances, the inspection robot 1 can autonomously move and inspect in the already decorated indoor environment, avoiding the damage to the indoor environment caused by traditional inspection methods and significantly reducing subsequent repair costs; 3. It can autonomously plan inspection paths and realize automatic scanning and inspection of the entire area, which improves inspection efficiency compared to manual inspection.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0070] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An inspection robot, characterized by: The mobile vehicle, the laser range finder, the alarm loudspeaker, the detection module and the control module are comprised. The detection module and the control module are arranged in the interior of the mobile vehicle, the laser range finder and the alarm loudspeaker are arranged on the top of the mobile vehicle, and the laser range finder is arranged close to the end of the mobile vehicle. The detection module, the laser range finder, the alarm loudspeaker and the mobile vehicle are connected with the control module, and the control module is connected with an external terminal controller. The detection module is used for collecting temperature signals and sound wave signals of a target area, processing the collected signals and sending the processed signals to the external terminal controller. The laser range finder is used for measuring the distance between the mobile vehicle and each boundary of the detection area.

2. The inspection robot of claim 1, wherein: The detection module comprises a thermal imaging sensor and a sound wave sensor, and the thermal imaging sensor and the sound wave sensor are arranged in the mobile vehicle and connected with the control module. The thermal imaging sensor is used for capturing temperature change information of the target area and converting the information into clear thermal imaging images. The sound wave sensor is used for emitting and receiving sound wave signals to detect the leakage inside the pipeline.

3. The inspection robot of claim 1, wherein: The control module comprises a data integration processing hub and a data transmission hub, the detection module, the laser range finder, the alarm loudspeaker and the mobile vehicle are connected with the data processing integration processing hub, and the data processing integration processing hub is connected with the external terminal controller through the data transmission hub.

4. The inspection robot of claim 1, wherein: The mobile vehicle comprises a metal shell and a bottom walking module, the metal shell surrounds a containing cavity, the detection module and the control module are arranged in the containing cavity, the bottom end of the metal shell is provided with the bottom walking module, and the bottom walking module is used for moving the metal shell. The laser range finder and the alarm loudspeaker are arranged on the top end of the metal shell, the metal shell is provided with an exhaust and heat dissipation port, and the exhaust and heat dissipation port is communicated with the containing cavity.

5. The detection robot of claim 4, wherein: The bottom walking module comprises two universal wheels, two power wheels, a differential and a power mechanism, the two universal wheels are symmetrically arranged on the bottom close to the first end of the metal shell, the two power wheels are symmetrically arranged on the bottom close to the second end of the metal shell, the differential is arranged between the two power wheels, each power wheel is connected with the differential through a rotating shaft, the differential is connected with the power mechanism, the power mechanism is arranged at the bottom end of the metal shell, and the control module is connected with the power mechanism. The differential is used for adjusting the speed difference of the two power wheels.

6. The detection robot according to any one of claims 4-5, characterized in that: The outer surface of the metal shell is wrapped with an anti-collision buffer pad, each outer side wall of the metal shell is provided with a plurality of wall-following probes, the wall-following probes are uniformly arranged close to the upper and lower ends of the outer side wall of the metal shell, and the wall-following probes are connected with the control module. The wall-following probes are used for collecting the distance between the mobile vehicle and the wall in real time.

7. The inspection robot of claim 2, wherein: The detection module further comprises a gyroscope arranged inside the mobile vehicle, which is connected with the control module. The gyroscope is used to collect attitude parameters and motion states of the mobile vehicle and transmit the collected information to the control module.

8. The inspection robot of claim 2, wherein: The sound wave sensor adopts a piezoelectric ceramic sound wave sensor.

9. The inspection robot of claim 2, wherein: The thermal imaging sensor adopts a non-cooled infrared thermal imaging sensor.

10. The inspection robot of claim 7, wherein: The gyroscope adopts a six-axis gyroscope sensor.

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