Intelligent repair robot for external wall gas riser detection and adaptive plugging

Abstract

The application discloses an intelligent repairing robot for outer wall gas riser detection and adaptive leak stopping, which comprises a robot main body; an outer wall adsorption type walking mechanism is arranged on one side of the robot main body facing the outer wall surface of a building and comprises a plurality of symmetrical electric vacuum suction cup feet; a detection assembly is arranged on the side of the robot main body away from the outer wall surface of the building, and an ultrasonic sensor, a laser methane remote sensor and a shooting module are moved to closely contact the gas riser to be detected through a telescopic detection arm; one end of a multi-degree-of-freedom mechanical arm is arranged on the robot main body, and the other end is arranged with an adaptive leak stopping and repairing execution mechanism; the adaptive leak stopping and repairing execution mechanism comprises a tool seat, a quick change interface, a tool identification piece and a leak stopping and repairing tool connected through the quick change interface. The application realizes integrated closed loop operation of outer wall gas riser inspection, leak positioning, hierarchical decision, automatic repairing and re-inspection feedback.

Description

Technical Field

[0001] This invention relates to the field of external wall gas riser detection and leak sealing technology, and particularly to an intelligent repair robot for external wall gas riser detection and adaptive leak sealing. Background Technology

[0002] Gas risers are typically laid vertically along the exterior walls of residential and commercial buildings and are an important component of the gas transmission and distribution system. Gas risers are exposed to the outdoor environment for extended periods and are susceptible to factors such as sun and rain, temperature and humidity changes, corrosion and aging, loose connections, and external impacts, which can lead to safety hazards such as leaks, thinning of the wall, localized cracking, or pipe damage.

[0003] Currently, gas riser inspection and maintenance mainly rely on manual high-altitude operations. Manual inspection usually requires the use of ladders, suspended platforms, scaffolding, or aerial work platforms, which is not only inefficient but also poses safety risks such as falls from heights and close-range operations in leaky environments. Traditional handheld inspection methods are also easily affected by ambient airflow, operator posture, and inspection distance, limiting their comprehensive ability to identify minor leaks, interface hazards, and pipe wall thinning.

[0004] Some pipeline-climbing inspection robots are already capable of performing partial pipeline inspections. However, these devices typically rely on pipe wall gripping, magnetic attraction, or pipe wall adhesion for movement, limiting their range of movement to a single pipeline. They struggle to move laterally across building exterior walls and between multiple gas risers. Furthermore, when there are window sills, pipe clamps, corners, or changes in the spacing between multiple risers on the exterior wall, pipeline-climbing robots are easily obstructed by the pipe's shape and accessories.

[0005] Furthermore, existing robots are mostly for detection, and after a leak is detected, manual repair with tools is usually still required. There is a lack of automated closed-loop between detection, leak level assessment, and leak sealing and repair. Different repair methods are required for different levels of leaks, such as minor leaks, medium leaks, and pipe ruptures. If only a single repair tool is used, it is difficult to balance repair reliability and work efficiency.

[0006] Therefore, how to flexibly conduct multi-source comprehensive testing of gas risers, automatically select repair tools according to the leakage level, and complete leak sealing and repair has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] In view of the above-mentioned deficiencies of the prior art, the present invention provides an intelligent repair robot for the detection and adaptive leak sealing of gas risers on external walls. The purpose is to solve the problems of limited mobility of existing gas riser detection equipment, separation of detection and repair, high risk of manual high-altitude repair, and difficulty in automatically matching repair methods for different degrees of leakage.

[0008] To achieve the above objectives, this invention discloses an intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls, comprising a robot body, an exterior wall adsorption-type walking mechanism, a control component, a detection component, a multi-degree-of-freedom robotic arm, and an adaptive sealing and repair execution mechanism.

[0009] The robot body is used to support the external wall adsorption walking mechanism, the control component, the detection component, the multi-degree-of-freedom robotic arm, and the adaptive leak sealing and repair execution mechanism;

[0010] The external wall adsorption walking mechanism is located on the side of the robot body facing the building's external wall, and includes multiple symmetrically arranged electric vacuum suction cup feet, as well as stepping drive mechanisms connected to each of the electric vacuum suction cup feet.

[0011] The detection component is located on the side of the robot body facing away from the building's exterior wall. The ultrasonic sensor, laser methane telemetry instrument, and imaging module are moved to be close to the gas riser to be detected by the telescopic detection arm.

[0012] One end of the multi-degree-of-freedom robotic arm is located on the side of the robot body facing away from the building's exterior wall, adjacent to the detection component, and the other end is equipped with the adaptive leak-sealing and repair execution mechanism;

[0013] The adaptive leak sealing and repair actuator includes a tool holder, a quick-change interface, a tool identification component, and a leak sealing and repair tool connected via the quick-change interface;

[0014] The leak sealing and repair tools include a sealant spraying tool, a wrapping tape wrapping tool, or a pipe clamp installation tool mounted on the tool holder;

[0015] The multi-degree-of-freedom robotic arm can be selectively connected to the sealant spraying tool, the wrapping tape wrapping tool, or the pipe clamp installation tool from the tool holder via the quick-change interface.

[0016] The tool identification component is used to identify the status of the sealant spraying tool, the wrapping tape wrapping tool, or the pipe clamp installation tool connected to the quick-change interface, and to provide feedback to the control component.

[0017] Preferably, each of the electric vacuum suction cup feet is connected to the robot body via a suction cup foot connecting mechanism;

[0018] Each of the suction cup foot connecting mechanisms includes a suction cup foot main body side mounting seat for fixing to the robot body, a suction cup foot side mounting seat for fixing to the corresponding electric vacuum suction cup foot, and a parallel connecting rod or telescopic guide rod disposed between the corresponding suction cup foot main body side mounting seat and the corresponding suction cup foot side mounting seat.

[0019] Each of the aforementioned stepper drive mechanisms includes a linear drive component, a guide component, and a limit detection component;

[0020] During movement, the control component controls one or more, but fewer than all, of the electric vacuum suction cup feet to maintain adsorption, controls the remaining electric vacuum suction cup feet to release adsorption, and moves to the next adsorption position under the action of the corresponding stepping drive mechanism. Then, the moved electric vacuum suction cup feet are made to adsorb, and one or more electric vacuum suction cup feet that have not moved are controlled to release adsorption and move to the next adsorption position under the action of the corresponding stepping drive mechanism, until all the electric vacuum suction cup feet have completed movement, and then the next round of movement of all the electric vacuum suction cup feet is executed until the desired position is reached.

[0021] More preferably, it includes four electric vacuum suction cup feet, which are arranged symmetrically in the top, bottom and left and right directions relative to the robot body;

[0022] Each of the aforementioned electric vacuum suction cups is equipped with a vacuum pressure sensor connected to the control component;

[0023] Each of the vacuum pressure sensors transmits the corresponding vacuum pressure data of the electric vacuum chuck to the control component;

[0024] The control component determines the adsorption reliability of the corresponding electric vacuum suction cup foot based on the vacuum pressure data transmitted by each vacuum pressure sensor, specifically as follows:

[0025] When the vacuum pressure data of any of the electric vacuum suction cup feet is lower than the adsorption safety threshold, the control component stops the corresponding stepping drive mechanism, or controls the remaining electric vacuum suction cup feet to enter the adsorption state.

[0026] Preferably, the telescopic detection arm can extend or retract toward the gas riser;

[0027] The ultrasonic sensor is used to perform wall thickness detection and defect scanning close to the surface of the gas riser, generating wall thickness anomaly information.

[0028] The laser methane telemetry instrument is used to detect the methane concentration in the air around the gas riser and generate methane concentration information.

[0029] The imaging module is used to acquire surface images, interface images, and before-and-after images of the gas riser, forming image defect information.

[0030] Preferably, the multi-degree-of-freedom robotic arm is a six-degree-of-freedom articulated robotic arm, comprising a base rotation joint, an upper arm pitch joint, a forearm pitch joint, a wrist rotation joint, a wrist pitch joint, and an end effector rotation joint connected in sequence.

[0031] The base rotation joint and the upper arm pitch joint, the upper arm pitch joint and the forearm pitch joint, the forearm pitch joint and the wrist rotation joint, the wrist rotation joint and the wrist pitch joint, the wrist pitch joint and the end effector rotation joint, and the end effector rotation joint and the adaptive leak plugging and repair actuator are all provided with joints driven by independent servo drives.

[0032] All of the aforementioned independent servo drives are rotated by the aforementioned control component.

[0033] Preferably, the tool identification element is an coded switch, an RFID element, a magnetic identification element, or an electrical connection identification terminal;

[0034] The sealant spraying tool includes a sealant reservoir, a micro pump, a spray head, and a spraying distance detection device, and is suitable for minor leaks.

[0035] The control component controls the multi-degree-of-freedom robotic arm to maintain a preset distance between the spray head and the surface of the gas riser based on the distance signal fed back by the spraying distance detection component, and controls the micro pump to deliver the sealant in the glue storage tank to the spray head at a preset flow rate, so that the spray head can coat the leak point in a dotted, linear or circumferential manner.

[0036] The wrapping tape winding tool includes a flexible wrapping tape reel, guide wheels, pressure wheels, and tension detection components, and is suitable for medium-volume leaks;

[0037] The flexible covering tape is output from a flexible covering tape reel, and after being guided by the guide wheel, it is pressed onto the surface of the gas riser by the clamping wheel;

[0038] The control component adjusts the movement speed of the multi-degree-of-freedom robotic arm or the clamping force of the clamping wheel according to the tension force signal fed back by the tension detection component, so that the flexible covering tape covers the leak point and the surrounding pipe wall of the gas riser along the circumference of the gas riser or along the spiral path.

[0039] The pipe clamp installation tool includes a clamp feeding bin, clamp holding claws, a bolt tightener, and a clamp closing drive, and is suitable for large leaks or pipe ruptures.

[0040] The clamping claws take out the clamp from the clamp supply bin and put the clamp onto the damaged part of the gas riser. The clamp closing drive makes the clamp close. The bolt tightener aligns and locks the clamp bolt, so that the clamp forms mechanical pressure and seal on the damaged part.

[0041] Preferably, the robot body is equipped with a positioning and navigation module;

[0042] The positioning and navigation module includes a lidar and an inertial measurement unit;

[0043] The lidar is used to scan the spatial outline of the building's exterior walls and the gas riser;

[0044] The inertial measurement unit is used to acquire the attitude information of the robot body;

[0045] The control component establishes an operational coordinate system between the robot body, the building exterior wall, and the gas riser based on data from the lidar and the inertial measurement unit.

[0046] More preferably, the robot body is equipped with a storage battery;

[0047] The battery is used to power the external wall adsorption walking mechanism, the detected components, the multi-degree-of-freedom robotic arm, the adaptive leak sealing and repair actuator, and the positioning and navigation module.

[0048] Preferably, the control component includes a control box, a signal receiver, a central motherboard, a controller, and a logic operation module;

[0049] The logic operation module integrates a leakage rate classification decision algorithm module. The leakage rate classification decision algorithm module performs fusion analysis on the methane concentration information, wall thickness anomaly information, and image defect information collected by the detection component to determine the leakage level and send the corresponding leak plugging and repair command to the controller.

[0050] The controller controls the multi-degree-of-freedom robotic arm and the adaptive leak-stopping and repair actuator to perform corresponding actions according to the leak-stopping and repair instructions.

[0051] Preferably, the control component controls the external wall adsorption walking mechanism according to a preset program, so that the robot body adsorbs onto the external wall of the building and moves to the gas riser detection area;

[0052] The positioning and navigation module obtains the outline of the building's exterior wall, the outline of the gas riser, and the posture information of the robot body, and the control component establishes the working coordinate system.

[0053] The detection component collects information on methane concentration, wall thickness anomalies, and image defects around the gas riser.

[0054] The control component determines the leakage level based on the methane concentration information, the wall thickness anomaly information, and the image defect information. Based on the leakage level, it controls the multi-degree-of-freedom robotic arm to selectively connect to the sealant spraying tool, the wrapping tape tool, or the pipe clamp installation tool via the quick-change interface. Then, it drives the multi-degree-of-freedom robotic arm and the adaptive leak-sealing and repair actuator to repair the gas riser. The repair process is as follows:

[0055] When the methane concentration exceeds the background concentration, and the abnormal wall thickness and image defects of the gas riser do not meet the damage judgment conditions, the logic operation module of the control component determines that there is a minor leak. The controller of the control component controls the multi-degree-of-freedom robotic arm to connect to the sealant spraying tool through the quick-change interface, and drives the spraying head of the sealant spraying tool to apply sealant to the leak point.

[0056] When the methane concentration exceeds the first leakage threshold and there are interface abnormalities, corrosion thinning, or crack image features, the logic operation module determines it as a medium-sized leakage. The controller controls the multi-degree-of-freedom robotic arm to connect to the wrapping tape winding tool, so that the flexible wrapping tape of the wrapping tape winding tool is wrapped around the leakage point and its surrounding pipe wall under the action of the guide wheel and the pressure wheel.

[0057] When the methane concentration exceeds the second leakage threshold, or when the image defect information indicates that the gas riser has holes, through cracks or obvious damage, the logic operation module determines that there is a large leakage or pipeline damage. The controller controls the multi-degree-of-freedom robotic arm to connect to the pipe clamp installation tool, and the pipe clamp installation tool is used to put the clamp on the damaged area and tighten it with the bolt tightener of the pipe clamp installation tool.

[0058] When the methane concentration exceeds a preset safety threshold, the control component controls the stop of the sealant spraying tool, the wrapping tape wrapping tool, or the pipe clamp installation tool, and sends an alarm message to a remote terminal through the signal receiver or communication module of the control component.

[0059] After repair, the repaired area of ​​the gas riser is re-inspected using the detection component, and the detection data and image information before and after repair are sent to a remote terminal. Specifically:

[0060] After the leak sealing and repair are completed, the imaging module of the detection component takes a second picture of the repaired area, the laser methane telemetry instrument of the detection component collects the methane concentration around the repaired area again, and the ultrasonic sensor of the detection component detects the wall thickness near the repaired area again.

[0061] The control component sends the detection data and image information before and after the repair to the remote terminal;

[0062] If the re-inspection results still meet the leakage determination criteria, the control component will perform a secondary repair or send a manual handling alarm message.

[0063] Finally, the control component, according to a preset program, controls the external wall adsorption walking mechanism to make the robot body adsorb onto the building's external wall and move to the next detection position or the next gas riser, repeating the detection, grading, and leak repair process.

[0064] The beneficial effects of this invention are:

[0065] This invention uses the exterior wall of a building as a mobile attachment base, does not rely on the gas riser itself for climbing, and can bypass the limitations of a single pipe and move between multiple gas risers.

[0066] This invention cross-verifies three types of information: methane concentration, abnormal wall thickness, and image defects, which can reduce the probability of misjudgment caused by a single detection method.

[0067] The control component of this invention automatically matches the sealant spraying, wrapping tape wrapping, or clamp installation method according to the leakage level, reducing the time spent waiting for manual repairs after a leak is detected.

[0068] This invention establishes a work coordinate system and controls the posture of the robotic arm's end effector through a positioning and navigation module, which can improve the positioning accuracy for repairs in complex exterior wall scenarios.

[0069] The invention allows for re-inspection and remote feedback after repair, which helps to form a closed loop for gas riser inspection and emergency response.

[0070] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0071] Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is shown.

[0072] Figure 2 A bottom view of the walking mechanism in one embodiment of the present invention is shown.

[0073] Figure 3 A schematic diagram of the detection component in one embodiment of the present invention is shown.

[0074] Figure 4 A schematic diagram of a multi-degree-of-freedom robotic arm is shown in one embodiment of the present invention.

[0075] Figure 5 This diagram illustrates the switching of adaptive leak plugging and repair actuator tools in one embodiment of the present invention.

[0076] Figure 6A schematic diagram of the working state of an embodiment of the present invention is shown.

[0077] Figure 7 A block diagram illustrating the principle of a control component according to an embodiment of the present invention is shown.

[0078] Explanation of reference numerals in the attached diagrams: 1. Robot body; 2. External wall suction walking mechanism; 2-1. Electric vacuum suction cup foot; 2-2. Stepper drive mechanism; 3. Battery; 4. Control components; 4-1. Control box; 4-2. Signal receiver; 4-3. Central motherboard; 4-4. Controller; 4-5. Logic operation module; 5. Detection components; 5-1. Telescopic detection arm; 5-2. Ultrasonic sensor; 5-3. Laser methane telemetry instrument; 5-4. Imaging module; 6. Multi-degree-of-freedom robotic arm; 6-1. Base rotation joint; 6-2. Upper arm pitch joint; 6-3. Forearm pitch joint; 6-4. Wrist rotation joint; 6-5. Wrist pitch joint; 6-6. End-effector rotation joint; 7. Adaptive blocking Leak repair actuator; 7-1, quick-change interface; 7-2, sealant spraying tool; 7-2-1, sealant storage tank; 7-2-2, micro pump; 7-2-3, spray head; 7-2-4, spraying distance detection component; 7-3, wrapping tape wrapping tool; 7-3-1, flexible wrapping tape reel; 7-3-2, guide wheel; 7-3-3, clamping wheel; 7-3-4, tension detection component; 7-4, pipe clamp installation tool; 7-4-1, clamp supply bin; 7-4-2, clamp clamping claw; 7-4-3, bolt tightener; 7-4-4, clamp closing drive component; 8, positioning and navigation module; 8-1, lidar; 8-2, inertial measurement unit; 9, gas riser; 10, building exterior wall. Detailed Implementation

[0079] Example: Figures 1 to 6 As shown, the intelligent repair robot for detecting and adaptively sealing gas risers on external walls includes a robot body 1, an external wall adsorption walking mechanism 2, a control component 4, a detection component 5, a multi-degree-of-freedom robotic arm 6, and an adaptive sealing and repair execution mechanism 7.

[0080] The robot body 1 is used to support the external wall adsorption walking mechanism 2, control components 4, detection components 5, multi-degree-of-freedom robotic arm 6, and adaptive leak sealing and repair execution mechanism 7;

[0081] The external wall adsorption walking mechanism 2 is set on the side of the robot body 1 facing the building's external wall 10, including multiple symmetrically arranged electric vacuum suction cup feet 2-1, and stepping drive mechanisms 2-2 connected to each electric vacuum suction cup foot 2-1.

[0082] The detection component 5 is set on the side of the robot body 1 facing away from the building's exterior wall 10. The ultrasonic sensor 5-2, the laser methane telemeter 5-3, and the imaging module 5-4 are moved to be close to the gas riser 9 to be detected by the telescopic detection arm 5-1.

[0083] One end of the multi-degree-of-freedom robotic arm 6 is located on the side of the robot body 1 facing away from the building's exterior wall 10, adjacent to the detection component 5, and the other end is equipped with an adaptive leak-sealing and repair execution mechanism 7;

[0084] The adaptive leak sealing and repair actuator 7 includes a tool holder, a quick-change interface 7-1, a tool identification component, and a leak sealing and repair tool connected via the quick-change interface 7-1;

[0085] Leak sealing and repair tools include a sealant spraying tool 7-2 set in the tool holder, a wrapping tape wrapping tool 7-3 or a pipe clamp installation tool 7-4;

[0086] The multi-degree-of-freedom robotic arm 6 selects and connects to a sealant spraying tool 7-2, a wrapping tape wrapping tool 7-3, or a pipe clamp installation tool 7-4 from the tool holder via a quick-change interface 7-1.

[0087] The tool identification component is used to identify the status of the sealant spraying tool 7-2, the wrapping tape tool 7-3, or the pipe clamp installation tool 7-4 connected to the quick-change interface 7-1, and to provide feedback to the control component 4.

[0088] In some embodiments, each electric vacuum suction cup foot 2-1 is connected to the robot body 1 via a suction cup foot connecting mechanism;

[0089] Each suction cup foot connection mechanism includes a suction cup foot main body side mounting seat for fixing to the robot body 1, a suction cup foot side mounting seat for fixing to the corresponding electric vacuum suction cup foot 2-1, and a parallel connecting rod or telescopic guide rod disposed between the corresponding suction cup foot main body side mounting seat and the corresponding suction cup foot side mounting seat.

[0090] In practical applications, the above structure enables the electric vacuum suction cup 2-1 to form a stable overall support relationship with the robot body 1 when adsorbing the exterior wall 10 of the building.

[0091] Each step drive mechanism 2-2 includes a linear drive component, a guide component, and a limit detection component;

[0092] During movement, control component 4 controls one or more, but fewer than all, electric vacuum suction cup feet 2-1 to maintain adsorption, controls the remaining electric vacuum suction cup feet 2-1 to release adsorption, and moves to the next adsorption position under the action of the corresponding stepping drive mechanism 2-2. Then, the moved electric vacuum suction cup feet 2-1 are made to adsorb, and one or more electric vacuum suction cup feet 2-1 that have not moved are controlled to release adsorption, and move to the next adsorption position under the action of the corresponding stepping drive mechanism 2-2. This process continues until all electric vacuum suction cup feet 2-1 have completed their movement, and then the next round of movement of all electric vacuum suction cup feet 2-1 is executed until the desired position is reached.

[0093] In practical applications, the robot body 1 can climb vertically or move laterally along the exterior wall 10 of a building by controlling the suction action of the electric vacuum suction cup foot 2-1 through the control component 4 and the corresponding stepping drive mechanism 2-2 moving the corresponding electric vacuum suction cup foot 2-1.

[0094] In practical applications, the invention can be transferred between different gas risers 9 by using an electric vacuum suction cup 2-1 to adhere to the exterior wall 10 of the building instead of relying on the gas riser 9 to climb.

[0095] In some embodiments, four electric vacuum suction cups 2-1 are included, which are arranged symmetrically in the vertical and horizontal directions relative to the robot body 1.

[0096] Each electric vacuum suction cup 2-1 is equipped with a vacuum pressure sensor connected to the control component 4;

[0097] Each vacuum pressure sensor transmits the corresponding vacuum pressure data of the electric vacuum chuck 2-1 to the control component 4;

[0098] Control component 4 determines the adsorption reliability of the corresponding electric vacuum chuck 2-1 based on the vacuum pressure data transmitted by each vacuum pressure sensor, specifically as follows:

[0099] When the vacuum pressure data of any electric vacuum suction cup foot 2-1 is lower than the adsorption safety threshold, the control component 4 stops the corresponding stepping drive mechanism 2-2, or controls the remaining electric vacuum suction cup feet 2-1 to enter the adsorption state.

[0100] In practical applications, the above-mentioned technical means can prevent the robot body 1 from detaching from the building's exterior wall 10.

[0101] In some embodiments, the telescopic detection arm 5-1 includes an arm base, a linear guide rail arranged along the direction of the gas riser 9, a telescopic arm section that slides with the arm base, an electric linear drive unit that drives the telescopic arm section to move along the linear guide rail, and limit detection components disposed at the extended end and the retracted end; the ultrasonic sensor 5-2, the laser methane telemeter 5-3, and the imaging module 5-4 are disposed at the end of the telescopic arm section. The control component 4 controls the electric linear drive unit according to the limit detection components and the detection distance information, so that each detection component moves to a preset detection distance or retracts to an obstacle avoidance position.

[0102] Ultrasonic sensor 5-2 is used to perform wall thickness detection and defect scanning close to the surface of gas riser 9, generating wall thickness anomaly information;

[0103] The laser methane telemetry instrument 5-3 is used to detect the methane concentration in the air surrounding the gas riser 9 and generate methane concentration information.

[0104] The imaging module 5-4 is used to acquire surface images, interface images, and before-and-after images of the gas riser 9, forming image defect information.

[0105] In some embodiments, the multi-degree-of-freedom robotic arm 6 is a six-degree-of-freedom articulated robotic arm, including a base rotation joint 6-1, an upper arm pitch joint 6-2, a forearm pitch joint 6-3, a wrist rotation joint 6-4, a wrist pitch joint 6-5, and an end effector rotation joint 6-6 connected in sequence.

[0106] The base rotation joint 6-1 is connected to the upper arm pitch joint 6-2, the upper arm pitch joint 6-2 is connected to the forearm pitch joint 6-3, the forearm pitch joint 6-3 is connected to the wrist rotation joint 6-4, the wrist rotation joint 6-4 is connected to the wrist pitch joint 6-5, the wrist pitch joint 6-5 is connected to the end effector rotation joint 6-6, and the end effector rotation joint 6-6 is connected to the adaptive leak plugging and repair actuator 7. All of these joints are driven by independent servo drives.

[0107] All independent servo drives are rotated by control component 4.

[0108] In practical applications, each joint is driven by an independent servo drive, which enables the multi-degree-of-freedom robotic arm 6 to deliver the adaptive leak-sealing and repair actuator 7 to any target position on the surface of the gas riser 9 in the desired posture.

[0109] In some embodiments, the tool identification element is an coded switch, a radio frequency identification element, a magnetic identification element, or an electrical connection identification terminal;

[0110] The sealant spraying tool 7-2 includes a sealant reservoir 7-2-1, a micro pump 7-2-2, a sealant delivery pipe connected to the micro pump 7-2-2, a spray head 7-2-3, and a spraying distance detection element 7-2-4. The sealant reservoir 7-2-1, the micro pump 7-2-2, and the sealant delivery pipe form a sealant delivery path. The spraying distance detection element 7-2-4 is positioned facing the surface of the gas riser 9 and is suitable for minor leaks.

[0111] The control component 4 controls the multi-degree-of-freedom robotic arm 6 to maintain the preset distance between the spray head 7-2-3 and the surface of the gas riser 9 based on the distance signal fed back by the spray distance detection component 7-2-4, and controls the micro pump 7-2-2 to deliver the sealant in the glue storage cylinder 7-2-1 to the spray head 7-2-3 through the glue delivery pipe at a preset flow rate; the spray head 7-2-3, under the control of the control component 4, performs dotted, linear or circumferential coating on the leak point.

[0112] The wrapping tape winding tool 7-3 includes a flexible wrapping tape reel 7-3-1, a tape feeding drive, an open-type arc-shaped guide frame, a guide wheel 7-3-2, a pressure wheel 7-3-3, and a tension detection component 7-3-4; the open-type arc-shaped guide frame can be sleeved around the gas riser 9 from the outside of the gas riser 9, and the flexible wrapping tape is guided by the guide wheel 7-3-2 and the pressure wheel 7-3-3 in sequence and attached to the surface of the gas riser 9, which is suitable for medium leakage.

[0113] The flexible wrapping tape is fed out from the flexible wrapping tape reel 7-3-1 by the tape feeding drive, guided by the guide wheel 7-3-2 and then pressed onto the surface of the gas riser 9 by the pressing wheel 7-3-3; the multi-degree-of-freedom robotic arm 6 drives the open arc-shaped guide frame to move relative to the gas riser 9 in a circumferential or spiral direction, so that the flexible wrapping tape covers the leak point and its surrounding pipe wall.

[0114] The control component 4 adjusts the feeding speed of the belt delivery drive, the movement speed of the multi-degree-of-freedom robotic arm 6, or the clamping force of the clamping wheel 7-3-3 according to the tension force signal fed back by the tension detection component 7-3-4, so that the flexible covering belt covers the leak point and the surrounding pipe wall of the gas riser 9 with a preset overlap width and preset tension force.

[0115] The pipe clamp installation tool 7-4 includes a clamp supply bin 7-4-1, clamp clamping claws 7-4-2, a bolt tightener 7-4-3, and a clamp closing drive 7-4-4; the clamp is an openable clamp with an opening and a locking bolt, and the clamp closing drive 7-4-4 is used to drive the two sides of the clamp opening to come together, which is suitable for large leaks or pipe damage.

[0116] The clamping claw 7-4-2 takes out the clamp from the clamping feed hopper 7-4-1 and keeps the clamping opening open; the multi-degree-of-freedom robotic arm 6 drives the clamping claw 7-4-2 to put the clamping on the damaged part of the gas riser 9; the clamping closing drive 7-4-4 closes the two sides of the clamping opening; the bolt tightener 7-4-3 aligns and locks the clamping bolt, so that the clamping forms mechanical pressure and seal on the damaged part.

[0117] In some embodiments, the robot body 1 is provided with a positioning and navigation module 8;

[0118] The positioning and navigation module 8 includes a lidar 8-1 and an inertial measurement unit 8-2; the lidar 8-1 is used to scan the spatial contour of the building's exterior wall 10 and the gas riser 9, and the inertial measurement unit 8-2 is used to acquire the angular velocity, acceleration and attitude information of the robot body 1.

[0119] The control component 4 uses the existing LiDAR-Inertial Odometry and Mapping (LIO) method to fuse the data from the LiDAR 8-1 and the inertial measurement unit 8-2. The LIO method can be implemented using LIO-SAM or FAST-LIO.

[0120] Specifically, the control component 4 synchronizes the LiDAR 8-1 and the inertial measurement unit 8-2 in time, and pre-calibrates the fixed transformation relationship between the LiDAR coordinate system, the inertial measurement unit coordinate system, the robot body coordinate system, and the multi-degree-of-freedom manipulator 6 base coordinate system; the control component 4 uses the attitude data output by the inertial measurement unit 8-2 to compensate for the motion distortion generated by the LiDAR 8-1 during a single frame scan, and then obtains the real-time pose of the robot body 1 through the LIO method.

[0121] Control component 4 downsamples the compensated point cloud and uses the existing random sampling consistency method, namely the RANSAC planar model segmentation method, to extract the planar point set of the building's exterior wall 10, obtaining the exterior wall normal vector. Then, it uses the RANSAC cylindrical model segmentation method to extract the cylindrical point set of the gas riser 9 from the remaining point cloud, obtaining the central axis, outer diameter, and distance of the gas riser 9 relative to the building's exterior wall 10. Control component 4 uses the projection point of the robot body 1 on the building's exterior wall 10 as the origin, the normal vector of the exterior wall 10 towards the robot body 1 as the X-axis, the vertical upward direction determined by the inertial measurement unit 8-2 as the Z-axis, and the Y-axis determined according to the right-hand rule, thereby establishing an exterior wall operation coordinate system. The base positions of the robot body 1, the gas riser 9, and the multi-degree-of-freedom robotic arm 6 are all transformed to the aforementioned exterior wall operation coordinate system.

[0122] Control component 4 constructs a wall operation grid map within the external wall operation coordinate system. Based on wall flatness, point cloud missing rate, distance to obstacles such as windowsills or air conditioner outdoor units, safe distance to gas riser 9, and vacuum pressure feedback from electric vacuum suction cup foot 2-1, it determines the adsorption and passage grid and its passage cost. Control component 4 uses the existing A* path search method to plan from the current position of robot body 1 to a pre-operation position that meets the reachability conditions of multi-degree-of-freedom manipulator 6. When a new obstacle is detected or the adsorption reliability decreases, the D* Lite local replanning method is used to update the movement path. For the pre-operation position, control component 4 generates the target pose of the manipulator end based on the central axis of gas riser 9, the location of the leak point, and the type of currently connected leak sealing and repair tool. It performs inverse kinematics solution on multi-degree-of-freedom manipulator 6 and performs collision detection in the collision model composed of robot body 1, building external wall 10, gas riser 9, and external wall obstacles. Control component 4 uses the joint trajectory that meets the no-collision condition and the joint motion amount is less than the preset limit as the end motion trajectory. When the pose deviation of the robot body 1 exceeds the preset value, the position of the electric vacuum suction cup to be released 2-1 does not meet the adsorption conditions, or the target pose of the robotic arm does not have a collision-free inverse solution, the control component 4 stops the corresponding action and replans the movement path and end motion trajectory according to the updated working coordinate system.

[0123] In some embodiments, a battery 3 is provided inside the robot body 1;

[0124] Battery 3 is used to power the external wall adsorption walking mechanism 2, the tested component 5, the multi-degree-of-freedom robotic arm 6, the adaptive leak sealing and repair actuator 7, and the positioning and navigation module 8.

[0125] In some embodiments, the control component 4 includes a control box 4-1, a signal receiver 4-2, a central motherboard 4-3, a controller 4-4, and a logic operation module 4-5;

[0126] The logic operation module 4-5 integrates a leakage rate classification decision algorithm module. The leakage rate classification decision algorithm module performs fusion analysis on the methane concentration information, wall thickness anomaly information and image defect information collected by the detection component 5 to determine the leakage level, and sends the corresponding leak plugging and repair command to the controller 4-4.

[0127] The controller 4-4 controls the multi-degree-of-freedom robotic arm 6 and the adaptive leak-stopping and repair actuator 7 to perform corresponding actions according to the leak-stopping and repair instructions.

[0128] In some embodiments, the control component 4 controls the external wall adsorption walking mechanism 2 to move the robot body 1 to the gas riser 9 detection area according to a preset program, adsorbing it onto the building's external wall surface 10.

[0129] The positioning and navigation module 8 obtains the outline of the building's exterior wall 10, the outline of the gas riser 9, and the posture information of the robot body 1, and the control component 4 establishes the working coordinate system.

[0130] Information on methane concentration, wall thickness anomalies, and image defects around the gas riser 9 is collected by the detection component 5.

[0131] Control component 4 determines the leakage level based on methane concentration information, wall thickness anomaly information, and image defect information. Based on the leakage level, it controls the multi-degree-of-freedom robotic arm 6 to select and connect a sealant spraying tool 7-2, a wrapping tape tool 7-3, or a pipe clamp installation tool 7-4 via quick-change interface 7-1. Then, it drives the multi-degree-of-freedom robotic arm 6 and the adaptive leak-sealing and repair actuator 7 to repair the gas riser 9. The repair process is as follows:

[0132] When the methane concentration exceeds the background concentration, and the abnormal wall thickness and image defects of the gas riser 9 do not meet the damage judgment conditions, the logic operation module 4-5 of the control component 4 determines that there is a minor leak. The controller 4-4 of the control component 4 controls the multi-degree-of-freedom robotic arm 6 to connect to the sealant spraying tool 7-2 through the quick-change interface 7-1, and drives the spraying head 7-2-3 of the sealant spraying tool 7-2 to apply sealant to the leak point.

[0133] When the methane concentration exceeds the first leakage threshold and there are interface abnormalities, corrosion thinning, or crack image features, the logic operation module 4-5 determines it as a medium-sized leakage. The controller 4-4 controls the multi-degree-of-freedom robotic arm 6 to connect to the wrapping tape winding tool 7-3, so that the flexible wrapping tape of the wrapping tape winding tool 7-3 is wrapped around the leakage point and its surrounding pipe wall under the action of the guide wheel 7-3-2 and the clamping wheel 7-3-3.

[0134] When the methane concentration exceeds the second leakage threshold, or when the image defect information indicates that the gas riser 9 has holes, through cracks or obvious damage, the logic operation module 4-5 determines that there is a large leakage or pipeline damage. The controller 4-4 controls the multi-degree-of-freedom robotic arm 6 to connect to the pipe clamp installation tool 7-4. The pipe clamp installation tool 7-4 puts the clamp on the damaged area and locks it with the bolt tightener 7-4-3 of the pipe clamp installation tool 7-4.

[0135] In practical applications, the first and second leakage thresholds can be pre-calibrated based on the gas pipeline operating pressure, ambient ventilation status, detection distance, and safety management requirements, or they can be sent to the control component 4 from a remote terminal.

[0136] When the methane concentration exceeds the preset safety threshold, the control component 4 controls the stop of the sealant spraying tool 7-2, the wrapping tape wrapping tool 7-3, or the pipe clamp installation tool 7-4, and sends an alarm message to the remote terminal through the signal receiver 4-2 or the communication module of the control component 4.

[0137] In practical applications, the control box 4-1, drive components, or electrical connection parts can be equipped with explosion-proof housings, anti-static materials, or explosion-proof connection structures to reduce the risk of ignition in gas leak environments. These technical means can improve operational safety in gas leak scenarios.

[0138] After repair, the repaired area of ​​gas riser 9 is re-inspected using detection component 5, and the detection data and image information before and after repair are sent to the remote terminal. Specifically:

[0139] After the leak is plugged and repaired, the imaging module 5-4 of the detection component 5 takes a second picture of the repaired area, the laser methane telemetry instrument 5-3 of the detection component 5 collects the methane concentration around the repaired area again, and the ultrasonic sensor 5-2 of the detection component 5 detects the wall thickness near the repaired area again.

[0140] Control component 4 sends the detection data and image information before and after the repair to the remote terminal;

[0141] If the re-inspection results still meet the leakage judgment criteria, control component 4 will perform a secondary repair or send a manual handling alarm message;

[0142] Finally, the control component 4 controls the external wall adsorption walking mechanism 2 according to the preset program, so that the robot body 1 is adsorbed on the building's external wall surface 10 and moves to the next detection position or the next gas riser 9, repeating the detection, grading and leak repair process.

[0143] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls; characterized in that, It includes a robot body (1), an external wall adsorption walking mechanism (2), a control component (4), a detection component (5), a multi-degree-of-freedom robotic arm (6), and an adaptive leak sealing and repair execution mechanism (7). The robot body (1) is used to carry the external wall adsorption walking mechanism (2), the control component (4), the detection component (5), the multi-degree-of-freedom robotic arm (6) and the adaptive leak sealing and repair execution mechanism (7). The external wall adsorption walking mechanism (2) is located on the side of the robot body (1) facing the building's external wall (10), including multiple symmetrically arranged electric vacuum suction cup feet (2-1), and a stepping drive mechanism (2-2) corresponding to each of the electric vacuum suction cup feet (2-1). The detection component (5) is located on the side of the robot body (1) facing away from the building's outer wall (10). The ultrasonic sensor (5-2), laser methane telemeter (5-3), and imaging module (5-4) are moved to be close to the gas riser (9) to be detected by the telescopic detection arm (5-1). One end of the multi-degree-of-freedom robotic arm (6) is located on the side of the robot body (1) facing away from the building's outer wall (10) and adjacent to the detection component (5), while the other end is provided with the adaptive leak sealing and repair execution mechanism (7). The adaptive leak sealing and repair actuator (7) includes a tool holder, a quick-change interface (7-1), a tool identification component, and a leak sealing and repair tool connected via the quick-change interface (7-1); The leak sealing and repair tools include a sealant spraying tool (7-2), a wrapping tape wrapping tool (7-3), or a pipe clamp installation tool (7-4) set on the tool holder. The multi-degree-of-freedom robotic arm (6) selects and connects to the sealant spraying tool (7-2), the wrapping tape wrapping tool (7-3), or the pipe clamp installation tool (7-4) from the tool seat via the quick-change interface (7-1). The tool identification component is used to identify the status of the sealant spraying tool (7-2), the wrapping tape wrapping tool (7-3), or the pipe clamp installation tool (7-4) connected to the quick-change interface (7-1), and to provide feedback to the control component (4).

2. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, Each of the electric vacuum suction cup feet (2-1) is connected to the robot body (1) through a suction cup foot connecting mechanism; Each of the suction cup foot connecting mechanisms includes a suction cup foot main body side mounting seat for fixing to the robot body (1), a suction cup foot side mounting seat for fixing to the corresponding electric vacuum suction cup foot (2-1), and a parallel connecting rod or telescopic guide rod disposed between the corresponding suction cup foot main body side mounting seat and the corresponding suction cup foot side mounting seat; Each of the stepper drive mechanisms (2-2) includes a linear drive component, a guide component, and a limit detection component; During movement, the control component (4) controls one or more, but less than all, of the electric vacuum suction cup feet (2-1) to maintain adsorption, controls the remaining electric vacuum suction cup feet (2-1) to release adsorption, and moves to the next adsorption position under the action of the corresponding stepping drive mechanism (2-2). Then, the moved electric vacuum suction cup feet (2-1) adsorb, and controls one or more electric vacuum suction cup feet (2-1) that have not moved to release adsorption, and moves to the next adsorption position under the action of the corresponding stepping drive mechanism (2-2), until all the electric vacuum suction cup feet (2-1) have completed movement, and then executes the next round of movement of all the electric vacuum suction cup feet (2-1) until they move to the required position.

3. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 2, characterized in that, It includes four electric vacuum suction cup feet (2-1), which are arranged symmetrically in the top, bottom and left and right directions relative to the robot body (1); Each of the electric vacuum suction cup feet (2-1) is provided with a vacuum pressure sensor connected to the control component (4); Each of the vacuum pressure sensors transmits the vacuum pressure data of the corresponding electric vacuum chuck foot (2-1) to the control component (4). The control component (4) determines the adsorption reliability of the corresponding electric vacuum suction cup foot (2-1) based on the vacuum pressure data transmitted by each vacuum pressure sensor, specifically as follows: When the vacuum pressure data of any of the electric vacuum suction cup feet (2-1) is lower than the adsorption safety threshold, the control component (4) stops the corresponding stepping drive mechanism (2-2), or controls the remaining electric vacuum suction cup feet (2-1) to enter the adsorption state.

4. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The telescopic detection arm (5-1) can extend or retract towards the gas riser (9); The ultrasonic sensor (5-2) is used to perform wall thickness detection and defect scanning close to the surface of the gas riser (9) to generate wall thickness anomaly information; The laser methane telemetry instrument (5-3) is used to detect the methane concentration in the air around the gas riser (9) and generate methane concentration information; The imaging module (5-4) is used to collect surface images, interface images, and state images before and after repair of the gas riser (9) to form image defect information.

5. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm (6) is a six-degree-of-freedom articulated robotic arm, including a base rotation joint (6-1), an upper arm pitch joint (6-2), a lower arm pitch joint (6-3), a wrist rotation joint (6-4), a wrist pitch joint (6-5), and an end effector rotation joint (6-6) connected in sequence. The base rotation joint (6-1) and the upper arm pitch joint (6-2), the upper arm pitch joint (6-2) and the forearm pitch joint (6-3), the forearm pitch joint (6-3) and the wrist rotation joint (6-4), the wrist rotation joint (6-4) and the wrist pitch joint (6-5), the wrist pitch joint (6-5) and the end joint rotation joint (6-6), and the end joint rotation joint (6-6) and the adaptive leak sealing and repair actuator (7) are all provided with joints driven by independent servo drives; All of the independent servo drives are driven to rotate by the control component (4).

6. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The tool identification component is an coded switch, a radio frequency identification component, a magnetic identification component, or an electrical connection identification terminal; The sealant spraying tool (7-2) includes a sealant reservoir (7-2-1), a micro pump (7-2-2), a spray head (7-2-3), and a spraying distance detection element (7-2-4), and is suitable for minor leaks; The control component (4) controls the multi-degree-of-freedom robotic arm (6) to maintain a preset distance between the spray head (7-2-3) and the surface of the gas riser (9) according to the distance signal fed back by the spraying distance detection component (7-2-4), and controls the micro pump (7-2-2) to deliver the sealant in the glue storage cylinder (7-2-1) to the spray head (7-2-3) at a preset flow rate, so that the spray head (7-2-3) can perform dotted, linear or circumferential coating on the leak point; The wrapping tape winding tool (7-3) includes a flexible wrapping tape reel (7-3-1), a guide wheel (7-3-2), a pressure wheel (7-3-3), and a tension detection element (7-3-4), and is suitable for medium-volume leaks; The flexible covering tape is output from the flexible covering tape reel (7-3-1), and after being guided by the guide wheel (7-3-2), it is pressed onto the surface of the gas riser (9) by the pressing wheel (7-3-3); The control component (4) adjusts the movement speed of the multi-degree-of-freedom robotic arm (6) or the clamping force of the clamping wheel (7-3-3) according to the tension force signal fed back by the tension detection component (7-3-4), so that the flexible covering tape covers the leak point of the gas riser (9) and the surrounding pipe wall along the circumference or along the spiral path; The pipe clamp installation tool (7-4) includes a clamp feeding bin (7-4-1), clamp clamping claws (7-4-2), a bolt tightener (7-4-3), and a clamp closing drive (7-4-4), and is suitable for large leaks or pipe damage; The clamping claw (7-4-2) takes out the clamp from the clamp feeding bin (7-4-1) and puts the clamp on the damaged part of the gas riser (9). The clamp closing drive (7-4-4) closes the clamp. The bolt tightener (7-4-3) aligns and locks the clamp bolt, so that the clamp forms mechanical pressure and seal on the damaged part.

7. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The robot body (1) is equipped with a positioning and navigation module (8); The positioning and navigation module (8) includes a lidar (8-1) and an inertial measurement unit (8-2). The lidar (8-1) is used to scan the spatial outline of the building's exterior wall (10) and the gas riser (9); The inertial measurement unit (8-2) is used to acquire the attitude information of the robot body (1); The control component (4) establishes a working coordinate system between the robot body (1), the building exterior wall (10), and the gas riser (9) based on the data from the lidar (8-1) and the inertial measurement unit (8-2).

8. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 8, characterized in that, The robot body (1) is equipped with a storage battery (3); The battery (3) is used to power the external wall adsorption walking mechanism (2), the detected component (5), the multi-degree-of-freedom robotic arm (6), the adaptive leak sealing and repair actuator (7), and the positioning and navigation module (8).

9. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The control component (4) includes a control box (4-1), a signal receiver (4-2), a central motherboard (4-3), a controller (4-4), and a logic operation module (4-5). The logic operation module (4-5) integrates a leakage rate classification decision algorithm module. The leakage rate classification decision algorithm module performs fusion analysis on the methane concentration information, wall thickness anomaly information and image defect information collected by the detection component (5) to determine the leakage level and send the corresponding leak plugging and repair command to the controller (4-4). The controller (4-4) controls the multi-degree-of-freedom robotic arm (6) and the adaptive leak-stopping and repair actuator (7) to perform corresponding actions according to the leak-stopping and repair instructions.

10. The intelligent repair robot for detecting and adaptively sealing gas risers on exterior walls according to claim 1, characterized in that, The control component (4) controls the external wall adsorption walking mechanism (2) according to a preset program, so that the robot body (1) adsorbs onto the building's external wall surface (10) and moves to the gas riser (9) detection area; The positioning and navigation module (8) obtains the outline of the building exterior wall (10), the outline of the gas riser (9), and the posture information of the robot body (1), and the control component (4) establishes the operation coordinate system. The detection component (5) collects information on methane concentration, wall thickness anomaly, and image defects around the gas riser (9). The control component (4) determines the leakage level based on the methane concentration information, the wall thickness anomaly information, and the image defect information. Based on the leakage level, it controls the multi-degree-of-freedom robotic arm (6) to select and connect the sealant spraying tool (7-2), the wrapping tape wrapping tool (7-3), or the pipe clamp installation tool (7-4) through the quick-change interface (7-1). Then, it drives the multi-degree-of-freedom robotic arm (6) and the adaptive leak-sealing and repair actuator (7) to repair the gas riser (9). The repair process is as follows: When the methane concentration exceeds the background concentration, and the abnormal wall thickness and image defects of the gas riser (9) do not meet the damage judgment conditions, the logic operation module (4-5) of the control component (4) determines that there is a minor leak. The controller (4-4) of the control component (4) controls the multi-degree-of-freedom robotic arm (6) to connect to the sealant spraying tool (7-2) through the quick-change interface (7-1), and drives the spraying head (7-2-3) of the sealant spraying tool (7-2) to apply sealant to the leak point. When the methane concentration exceeds the first leakage threshold and there are interface abnormalities, corrosion thinning, or crack image features, the logic operation module (4-5) determines it as a medium leakage, and the controller (4-4) controls the multi-degree-of-freedom robotic arm (6) to connect to the wrapping tape winding tool (7-3), so that the flexible wrapping tape of the wrapping tape winding tool (7-3) is wrapped around the leakage point and its surrounding pipe wall under the action of the guide wheel (7-3-2) and the clamping wheel (7-3-3); When the methane concentration exceeds the second leakage threshold, or when the image defect information indicates that the gas riser (9) has holes, through cracks or obvious damage, the logic operation module (4-5) determines that there is a large leakage or pipeline damage. The controller (4-4) controls the multi-degree-of-freedom robotic arm (6) to connect to the pipe clamp installation tool (7-4). The pipe clamp installation tool (7-4) is used to put the clamp on the damaged area and tighten it with the bolt tightener (7-4-3) of the pipe clamp installation tool (7-4). When the methane concentration exceeds the preset safety threshold, the control component (4) controls the stop of the sealant spraying tool (7-2), the wrapping tape wrapping tool (7-3), or the pipe clamp installation tool (7-4), and sends alarm information to the remote terminal through the signal receiver (4-2) or communication module of the control component (4); After repair, the repaired area of ​​the gas riser (9) is re-inspected by the detection component (5), and the detection data and image information before and after repair are sent to the remote terminal, specifically: After the leak is plugged and repaired, the imaging module (5-4) of the detection component (5) takes a second picture of the repaired area, the laser methane telemetry instrument (5-3) of the detection component (5) collects the methane concentration around the repaired area again, and the ultrasonic sensor (5-2) of the detection component (5) detects the wall thickness near the repaired area again. The control component (4) sends the detection data and image information before and after the repair to the remote terminal; If the re-inspection results still meet the leakage judgment conditions, the control component (4) performs secondary repair or sends a manual handling alarm message; Finally, the control component (4) controls the external wall adsorption walking mechanism (2) according to the preset program to make the robot body (1) adsorb onto the building's external wall surface (10) and move to the next detection position or the next gas riser (9) to repeat the detection, grading and leak repair process.

Images