Multi-dimensional sensing inspection robot based on radar detection

Abstract

The utility model discloses a multi-dimensional sensing inspection robot based on radar detection, which comprises a head assembly and a driving device, and is characterized in that the driving device drives the inspection robot to move; the head assembly comprises a shell, a data analyzing and processing device is installed in the shell, an induction radar and a pan-tilt camera are arranged on the shell, the induction radar is arranged in front of the shell and used for detecting obstacles in front of the inspection robot, and the pan-tilt camera is arranged at the top of the shell and used for collecting reading information of an instrument panel. And the induction radar and the holder camera are respectively connected with the data analysis processing device. The sensing radar is arranged in front of the shell to detect obstacles, data acquired by the sensing radar is processed and analyzed in real time, and the data analysis and processing device can quickly construct a three-dimensional space map, so that the inspection robot can flexibly avoid various obstacles and efficiently and safely shuttle among equipment, and the inspection efficiency is improved. Therefore, reading information of the instrument panel is acquired by using the holder camera, and the inspection task is automatically and efficiently completed.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a multi-dimensional perception inspection robot based on radar detection. Background Technology

[0002] The cooling water pump room in a nuclear power plant is a critical facility ensuring the safety of the plant's cooling source. Important mechanical and electrical equipment such as pumps, rotary screens, and filters within the room continuously supply cooling water to the units during operation, a necessary condition for the safe and stable operation of the nuclear power plant. Therefore, efficient and reliable inspection of the cooling water pump room is of paramount importance. Traditional inspection methods often require manual entry into the pump room. However, the operating status of various equipment within the nuclear power plant's pump room, such as cooling water pumps, circulating water pumps, and pressure stabilizing pumps, is primarily monitored in real-time through instrument panels installed on the equipment. The parameters displayed on these panels, such as pressure, flow rate, temperature, and rotational speed, are crucial indicators of whether the equipment is operating normally and whether the nuclear power plant system is stable. In complex and dangerous environments like nuclear power plant pump rooms, the traditional method of manually reading instrument panel data has revealed many drawbacks: on the one hand, due to the dense distribution of equipment and the varying heights and orientations of the instrument panels, manual data reading requires frequent changes in position and posture, making the operation extremely inconvenient and greatly reducing data acquisition efficiency; on the other hand, prolonged exposure to radiation while reading instrument panel data poses a serious threat to the health of inspection personnel.

[0003] Using robots to replace human inspectors in nuclear power plant pump rooms is a feasible research direction. However, the environment inside a nuclear power plant pump room is extremely complex, posing significant challenges to conventional sensing technologies. Numerous metal pipes and equipment not only cause strong signal reflections and interference but also, due to their irregular layout, make signal propagation paths complex and unpredictable. Furthermore, pump rooms typically contain moisture and smoke, and poor lighting conditions often render traditional optical positioning and navigation technologies ineffective. Therefore, there is a need to develop an inspection robot adapted to the environment of a nuclear power plant pump room. Utility Model Content

[0004] To address one of the technical problems existing in the prior art, this application proposes a radar-based multi-dimensional perception inspection robot for the inspection of nuclear power plant pump rooms. This robot can adapt to the harsh environment of nuclear power plant pump rooms and aims to automate and intelligentize pump room inspections, thereby improving inspection efficiency and safety.

[0005] According to some embodiments of this application, a multi-dimensional sensing inspection robot based on radar detection is provided, including a head assembly and a drive device, wherein the drive device drives the inspection robot to move; the head assembly includes a housing, a data analysis and processing device is installed inside the housing, and a sensing radar and a gimbal camera are disposed on the housing. The sensing radar is disposed in front of the housing for detecting obstacles in front of the inspection robot, and the gimbal camera is disposed on the top of the housing for collecting reading information from the dashboard. The sensing radar and the gimbal camera are respectively connected to the data analysis and processing device.

[0006] In some embodiments of this application, the sensing radar is the omnidirectional stereo perception mid360 radar developed by Lanwo Technology.

[0007] In some embodiments of this application, the horizontal field of view of the sensing radar is 360° and the vertical field of view is greater than 50°.

[0008] In some embodiments of this application, the sensing radar is embedded in the front of the housing, and the hemispherical window of the sensing radar is exposed on the housing.

[0009] In some embodiments of this application, an inclined surface is provided in front of the housing, and the hemispherical window is disposed on the inclined surface, with the angle between the inclined surface and the horizontal plane being between 40° and 90°.

[0010] In some embodiments of this application, the gimbal camera is a SIYIA8mini camera gimbal.

[0011] In some embodiments of this application, the gimbal camera is provided with a first rotating mechanism, which drives the gimbal camera to rotate.

[0012] In some embodiments of this application, the gimbal camera is provided with a pitch mechanism, which drives the gimbal camera to perform pitch movements.

[0013] In some embodiments of this application, the housing is provided with a connecting frame made using 3D printing technology, and the sensing radar and the gimbal camera are both mounted on the connecting frame.

[0014] In some embodiments of this application, the connecting frame is provided with an adjustable joint structure corresponding to the gimbal camera.

[0015] In some embodiments of this application, the head assembly is provided with connecting portions on both sides, and two driving devices are provided, each driving device being connected to the connecting portions on both sides of the head assembly; the driving device includes a connector, a linkage structure, and a driving wheel, the connector is mated with the connecting portion, and the connector is connected to the driving wheel through the linkage structure.

[0016] In some embodiments of this application, the linkage structure includes a first linkage, a second linkage, a third linkage, and a fourth linkage. The first linkage and the second linkage are parallel to each other. One end of the first linkage and the second linkage is disposed in the connector and is rotatably connected through the third linkage. The other end of the first linkage and the second linkage is rotatably connected to the fourth linkage. The first linkage, the second linkage, the third linkage, and the fourth linkage constitute a parallel four-link linkage.

[0017] In some embodiments of this application, the connector is internally provided with a first drive motor and a second drive motor. The first drive motor drives the first link to move, and the second drive motor drives the second link to move. The free end of the fourth link is connected to the drive wheel, and the drive wheel is provided with a third drive motor, which drives the drive wheel to rotate.

[0018] The beneficial effects of this application include: The multi-dimensional perception inspection robot based on radar detection provided in this application uses a combination of inductive radar and a gimbal camera. The inductive radar is set at the front of the shell to detect obstacles in front of the inspection robot. By emitting high-frequency electromagnetic waves or lasers and receiving signals reflected back from target objects, the inductive radar can quickly and accurately obtain distance information of objects in the surrounding environment. Moreover, the detection of the inductive radar is not limited by lighting conditions. It can work stably whether in dimly lit corners or in areas with insufficient temporary lighting due to equipment maintenance. The detection of the inductive radar also has a certain penetrating ability to water vapor and smoke. Even in special situations such as steam leaks in pump rooms, it can still obtain reliable environmental data. More importantly, when facing radiation environments, radar mapping technology has shown excellent stability and anti-interference ability. By processing and analyzing a large amount of distance data collected by the sensing radar in real time, the data analysis and processing device can quickly construct an accurate three-dimensional spatial map of the pump room, providing the inspection robot with clear and accurate environmental perception information. This enables the inspection robot to accurately plan its own movement path in the complex pump room environment, flexibly avoid various obstacles, and efficiently and safely move between various devices. It can then use the pan-tilt camera to collect the reading information of the instrument panel and automatically and efficiently complete the inspection task.

[0019] Other features and advantages of this application will be set forth in detail in the following description, and will be apparent in part from the following description, or may be learned by practicing this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solution of this application, the following description will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0021] Figure 1 This is a schematic diagram of the head assembly of the inspection robot provided in this application.

[0022] Figure 2 yes Figure 1 A schematic diagram of some of the components.

[0023] Figure 3 This is a schematic diagram of the drive device.

[0024] Explanation of reference numerals in the attached figures:

[0025] Head assembly 100, housing 110, inclined surface 111, mounting hole 112, gimbal camera 120, vision device 121, first rotation mechanism 122, pitch mechanism 123, sensing radar 130, connecting part 140, drive device 200, connector 210, linkage structure 220, fourth linkage 230, drive wheel 240. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0027] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0028] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0029] The environment of a nuclear power plant's cooling water pump room is complex, filled with numerous metal pipes and equipment. These metal structures not only cause strong reflections and interference to signals, but their irregular layout also makes signal propagation paths complex and variable. Furthermore, the pump room typically contains a certain level of moisture and smoke, coupled with poor lighting conditions, making traditional optical positioning and navigation technologies ineffective. In this context, radar mapping technology becomes crucial for the inspection robot to achieve autonomous navigation and precise positioning. The 130 sensor radar, by emitting high-frequency electromagnetic waves and receiving the echo signals reflected back from target objects, can quickly and accurately obtain distance information of objects in the surrounding environment.

[0030] The following is combined with Figures 1 to 3 The provided embodiments further illustrate the radar-based multi-dimensional perception inspection robot proposed in this application.

[0031] like Figures 1 to 3As shown, some embodiments of this application provide a multi-dimensional perception inspection robot based on radar detection, including a head assembly 100 and a drive device 200. The head assembly 100 is mounted on the drive device 200, which drives the inspection robot to move. The drive device 200 can also drive the head assembly 100 to rise and fall, enabling the head assembly 100 to capture images more effectively. The head assembly 100 includes a housing 110, within which a data analysis and processing device is installed. A sensing radar 130 and a gimbal camera 120 are mounted on the housing 110. The sensing radar 130 is positioned at the front of the housing 110 to detect obstacles in front of the inspection robot, and the gimbal camera 120 is positioned at the top of the housing 110 to collect readings from the dashboard. The sensing radar 130 and the gimbal camera 120 are respectively connected to the data analysis and processing device. The multi-dimensional perception inspection robot based on radar detection provided in this application uses a sensor radar 130 and a gimbal camera 120 in conjunction. The sensor radar 130 is set in front of the housing 110 to detect obstacles in front of the inspection robot. The sensor radar 130 emits high-frequency electromagnetic waves or lasers and receives signals reflected back from target objects, which can quickly and accurately obtain distance information of objects in the surrounding environment. Moreover, the detection of the sensor radar 130 is not limited by lighting conditions. It can work stably in dimly lit corners or areas with insufficient temporary lighting due to equipment maintenance. The detection of the sensor radar 130 also has a certain penetrating ability to water vapor and smoke. Even in special situations such as steam leaks in pump rooms, it can still obtain reliable environmental data. More importantly, when facing radiation environments, radar mapping technology has shown excellent stability and anti-interference ability. By processing and analyzing the large amount of distance data collected by the sensing radar 130 in real time, the data analysis and processing device can quickly construct a precise three-dimensional spatial map of the pump room, providing the inspection robot with clear and accurate environmental perception information. This allows the inspection robot to accurately plan its movement path in the complex pump room environment, flexibly avoid various obstacles, and efficiently and safely move between various devices. Meanwhile, the gimbal camera 120 can be used to collect reading information from the instrument panels of the equipment in the nuclear power plant's pump room. The inspection robot can flexibly and precisely adjust the shooting angle and focus using the gimbal camera 120, enabling it to quickly and accurately align with instrument panels of different positions and sizes. Connected to and working in conjunction with the data analysis and processing device, the gimbal camera 120 utilizes advanced image recognition algorithms and deep learning technology to quickly process and analyze the collected instrument panel images, accurately identifying the position of pointers, scale values, and various warning signs, achieving real-time and automatic collection of equipment operating parameters.The application of this technology not only greatly improves the efficiency and accuracy of data collection and effectively avoids errors that may occur during manual reading, but more importantly, by replacing manual operation with robots, it significantly reduces the exposure time of inspection personnel in the radiation environment, effectively protecting their health and safety. At the same time, the real-time and accurate collection of equipment operating parameters also provides reliable data support for the equipment status monitoring and fault early warning system of nuclear power plants, helping to promptly identify potential equipment failure hazards and take countermeasures in advance to ensure the safe and stable operation of nuclear power plants.

[0032] like Figure 1 As shown, in some embodiments of this application, the sensing radar 130 is preferably the omnidirectional stereo perception mid360 radar developed by Lanwo Technology. Developed by Lanwo Technology and launched in 2023, the mid360 radar is specifically designed for robots. It adopts a new architecture and achieves 360° horizontal omnidirectional stereo perception using self-developed hybrid solid-state technology. In the radar mapping technology system of inspection robots, the mid360 radar has unique advantages. In complex environments such as nuclear power plant pump rooms, the advantages of the mid360 radar are particularly evident. Pump rooms have crisscrossing pipes, dense equipment, complex spatial structures, and are subject to radiation and electromagnetic interference. The mid360 radar incorporates an active anti-interference design, effectively addressing the situation of multiple radar signals coexisting in nuclear power plant pump rooms. Even in complex electromagnetic environments, it can operate stably and continuously provide reliable environmental spatial information for the inspection robot. Furthermore, the mid360 radar is compact, with typical dimensions of 65mm in length, 65mm in width, and 60mm in height. This provides more options for the structural design of inspection robots within limited spaces, facilitating flexible deployment. In practical applications, the Mid360 radar can be used in conjunction with various mapping algorithms. Through Mid360 radar mapping, inspection robots can accurately plan their paths within the pump room of a nuclear power plant, moving between various pieces of equipment to efficiently complete inspection tasks and effectively ensure the safe and stable operation of nuclear power plant equipment.

[0033] like Figure 1 As shown, in some embodiments of this application, the horizontal field of view of the sensing radar 130 is 360°, and the vertical field of view is greater than 50°. The sensing radar 130 of this application employs a mid360 radar, which exhibits excellent field of view performance and a longer detection range compared to traditional single-line sensing radars and depth cameras. This ultra-wide field of view and long range advantage enables the inspection robot to quickly collect sufficient environmental feature points through the sensing radar 130, efficiently completing mapping, localization, and obstacle avoidance tasks. Furthermore, the non-repeating scanning mode in the mid360 radar can obtain a higher density point cloud through time integration of multiple frames of point cloud. As time accumulates, the angular resolution of the point cloud continuously improves, further enhancing the perception capability of environmental details.

[0034] like Figure 1 As shown, in some embodiments of this application, the sensing radar 130 is installed in front of the housing 110 by embedding, and the hemispherical window of the sensing radar 130 is exposed on the housing 110. When the sensing radar 130 is embedded, the exposed hemispherical window has a diameter of only 45mm and a height of 25mm, which is small in size, easy to install, and can be flexibly deployed.

[0035] like Figure 2 As shown, in some embodiments of this application, an inclined surface 111 is provided at the front of the housing 110, and a mounting hole 112 is provided on the inclined surface 111. A hemispherical window is disposed on the inclined surface 111 and embedded in the mounting hole 112. The angle between the inclined surface 111 and the horizontal plane is between 40° and 90°. The sensing radar 130 is deployed at the front of the housing 110, preferably at an angle of 40° to 90°, so as to better utilize the ultra-wide field of view of the sensing radar 130, acquire detailed point cloud data in front of the inspection robot, and help the inspection robot build a three-dimensional image of the surrounding environment.

[0036] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the gimbal camera 120 is a SIYIA8mini camera gimbal. This gimbal possesses excellent stability and flexibility, and its lightweight design facilitates integration into the inspection robot without affecting the robot's overall mobility. Accurate detection of the instrument panel is crucial during the inspection of a nuclear power plant pump room. Therefore, at the algorithm level, the SIYIA8mini camera gimbal uses an improved YOLOv5 algorithm. The original YOLOv5 algorithm has already demonstrated powerful performance in object detection, capable of quickly identifying various target objects in images. For the instrument panel detection scenario in a nuclear power plant pump room, the improved YOLOv5 algorithm further optimizes the recognition accuracy of key features such as the instrument panel pointer position, scale values, and warning signs. By introducing an attention mechanism, the algorithm can focus more intently on the instrument panel area, reducing interference from other irrelevant background information and improving detection speed and accuracy. In addition, to address issues such as blurring and glare that may occur in instrument panel images under complex lighting conditions in pump rooms, the improved algorithm has implemented targeted processing in the data augmentation stage, enhancing the model's adaptability to different lighting environments and ensuring stable and accurate detection of the instrument panel status under various operating conditions.

[0037] like Figure 1 and Figure 2As shown, in some embodiments of this application, the gimbal camera 120 is provided with a first rotation mechanism 122, which drives the gimbal camera 120 to rotate. Furthermore, the gimbal camera 120 is also provided with a pitch mechanism 123, which drives the gimbal camera 120 to perform pitch movements. By providing the first rotation mechanism 122 and the pitch mechanism 123, the gimbal camera 120 possesses high-precision rotation and pitch control capabilities, ensuring that the mounted vision device 121 can always accurately focus on the dashboard, acquiring clear, distortion-free images of the dashboard regardless of the inspection robot's complex operating posture.

[0038] like Figure 1 and Figure 2 As shown, in some embodiments of this application, a connecting frame manufactured using 3D printing technology is provided on the housing 110, and both the sensing radar 130 and the pan-tilt camera 120 are mounted on the connecting frame. The connecting frame is specially designed to adapt the sensing radar 130 and the corresponding pan-tilt camera 120, fully considering the needs of their collaborative operation and the complex environmental characteristics of the nuclear power plant pump room, ensuring that the connection between the sensing radar 130 and the pan-tilt camera 120 is stable and accurate. First, for the sensing radar 130, since it needs to stably acquire environmental information during operation, and the gimbal camera 120 needs to flexibly adjust its visual direction to detect devices such as instrument panels, the connecting frame is designed with a precise docking structure. Specifically, in some embodiments, the connection part between the connecting frame and the sensing radar 130 is customized according to the dimensions of the mid360 radar (65mm long, 65mm wide, and 60mm high). Through tightly fitting slots and screw fixing points, it is ensured that the sensing radar 130 will not wobble after installation on the connecting frame, avoiding the impact of vibration on the accuracy of radar data acquisition. Then, for the gimbal camera 120, the top of the connecting frame is provided with several screw holes. The gimbal camera 120 can be precisely fixed to the connecting frame through these screw holes, ensuring a relatively fixed position between the gimbal camera 120 and the sensing radar 130. Furthermore, using 3D printing technology to manufacture the connecting frame has many advantages. On the one hand, 3D printing can achieve one-piece molding of complex structures. For the radar and gimbal connection frame, its internal structure may require reinforcing ribs, weight-reducing holes, and other structural elements to reduce weight while ensuring strength. 3D printing technology can easily achieve these complex designs, which are difficult to accomplish with traditional manufacturing processes. On the other hand, 3D printing offers a high degree of customization. In the environment of a nuclear power plant pump room, there may be special circumstances such as space constraints. Through 3D printing, the frame can be quickly customized according to the shape and size of the actual installation space, ensuring that the frame can perfectly adapt to the installation environment and facilitate the flexible deployment of robots in limited spaces.

[0039] Furthermore, in some embodiments of this application, the connecting frame is also equipped with an adjustable joint structure corresponding to the gimbal camera 120, allowing the gimbal camera 120 to flexibly adjust its pitch and rotation angles within a certain range to meet the needs of instrument panel detection at different positions. Simultaneously, it ensures that the sensing radar 130 and the gimbal camera 120 maintain a relatively stable positional relationship during the rotation of the gimbal camera 120, enabling precise spatial matching between the environmental information acquired by the sensing radar 130 and the visual information of the gimbal camera 120. In practical applications, the connecting frame greatly ensures the collaborative work of the sensing radar 130 and the gimbal camera 120. During the inspection of a nuclear power plant pump room, the inspection robot relies on the sensing radar 130 to construct an environmental map, and the gimbal camera 120 quickly and accurately adjusts to a suitable angle based on the environmental information provided by the sensing radar 130 to detect the equipment instrument panel. The stable structural design of the connecting frame enables the sensing radar 130 and the pan-tilt camera 120 to work stably and collaboratively in the complex pump room environment, facing vibrations from the movement of the inspection robot and interference from equipment operation. This continuously provides the inspection robot with reliable environmental perception and visual information acquisition capabilities, effectively promoting the efficient and accurate completion of inspection tasks and safeguarding the safe and stable operation of nuclear power plant equipment.

[0040] like Figure 3As shown in some embodiments of this application, the head assembly 100 is provided with connecting portions 140 on both sides, and two driving devices 200 are provided, each connected to one of the connecting portions 140 on both sides of the head assembly 100. Each driving device 200 includes a connector 210, a linkage structure 220, and a driving wheel 240. The connector 210 abuts against the connecting portion 140, and the connector 210 is connected to the driving wheel 240 via the linkage structure 220. The radius of the driving wheel 240 is preferably greater than 15cm. The large hub design enables the driving wheel 240 to easily traverse obstacles less than 20cm in diameter, allowing it to easily cross complex terrain such as steps. This provides excellent adaptability and reliability in complex terrain, expanding its application scenarios. The outer edge of the driving wheel 240 may also be equipped with an inflatable tire. A softer tire material can effectively provide additional support when traversing obstacles with steep inclines, enhancing stability and passability. The linkage structure 220 includes a first link, a second link, a third link, and a fourth link 230. The first and second links are parallel to each other. One end of the first and second links is disposed within the connector 210 and is rotatably connected to the third link. The other end of the first and second links is rotatably connected to the fourth link 230. The first, second, third, and fourth links 230 form a parallel four-bar linkage. A first drive motor and a second drive motor are disposed inside the connector 210. The first drive motor drives the first link, and the second drive motor drives the second link. The free end of the fourth link 230 is connected to a drive wheel 240, and a third drive motor is disposed on the drive wheel 240, which drives the drive wheel 240 to rotate. Furthermore, in some embodiments of this application, along the direction of the inspection robot's movement, the connection between the first link, the second link, and the fourth link 230 is located behind the drive wheel 240. Through the aforementioned reverse-flexion leg design, the link structure 220 is cleverly prevented from encountering obstacles during movement, further enhancing the inspection robot's adaptability.

[0041] It is understood that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that, for those skilled in the art, without departing from the concept of this application, the above technical features can be freely combined, and several modifications and improvements can be made, all of which fall within the protection scope of this application. Therefore, all equivalent transformations and modifications made within the scope of the claims of this application should fall within the coverage of the claims of this application.

Claims

1. A multi-dimensional perception inspection robot based on radar detection, characterized in that, It includes a head assembly and a drive unit, which drives the inspection robot to move; The head assembly includes a housing, inside which a data analysis and processing device is installed. The housing is equipped with a sensor radar and a gimbal camera. The sensor radar is located at the front of the housing to detect obstacles in front of the inspection robot, and the gimbal camera is located at the top of the housing to collect readings from the instrument panel. The sensor radar and the gimbal camera are respectively connected to the data analysis and processing device.

2. The multi-dimensional perception inspection robot based on radar detection as described in claim 1, characterized in that, The sensing radar is a mid360 radar with omnidirectional three-dimensional perception developed by Lanwo Technology.

3. The multi-dimensional perception inspection robot based on radar detection as described in claim 2, characterized in that, The inductive radar has a horizontal field of view of 360° and a vertical field of view of more than 50°.

4. The multi-dimensional perception inspection robot based on radar detection as described in claim 2, characterized in that, The sensing radar is embedded in the front of the housing, and the hemispherical window of the sensing radar is exposed on the housing.

5. The multi-dimensional perception inspection robot based on radar detection as described in claim 4, characterized in that, An inclined surface is provided at the front of the housing, and the hemispherical window is disposed on the inclined surface. The angle between the inclined surface and the horizontal plane is between 40° and 90°.

6. The multi-dimensional perception inspection robot based on radar detection as described in claim 1, characterized in that, The gimbal camera is a SIYIA8mini camera gimbal.

7. The multi-dimensional perception inspection robot based on radar detection as described in claim 6, characterized in that, The PTZ camera is equipped with a first rotating mechanism, which drives the PTZ camera to rotate.

8. The multi-dimensional perception inspection robot based on radar detection as described in claim 6, characterized in that, The gimbal camera is equipped with a pitch mechanism, which drives the gimbal camera to perform pitch movements.

9. The multi-dimensional perception inspection robot based on radar detection as described in any one of claims 1 to 8, characterized in that, The housing is provided with a connecting frame made using 3D printing technology, and the sensing radar and the gimbal camera are both mounted on the connecting frame.

10. The multi-dimensional perception inspection robot based on radar detection as described in claim 9, characterized in that, The connecting frame is equipped with an adjustable joint structure corresponding to the gimbal camera.

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