Urban utility tunnel robot

Abstract

The invention provides an urban utility tunnel robot and relates to the technical field of tunnel robots. The robot comprises a guide rail, a tunnel robot and a safety island, wherein the safety island is mounted at a tunnel vent port, and a tunnel robot charging pile is mounted in the safety island; the guide rail is L-shaped, and one branch rail of the L-shaped guide rail is perpendicularly mounted in the safety island; the tunnel robot comprises a host, a rotary mechanical arm, a bent mechanical arm and a telescopic mechanical arm; a master controller and a master camera are mounted on thehost; the bottom end of the host is connected with the rotary mechanical arm; one side of the rotary mechanical arm is connected with the bent mechanical arm; the bent mechanical arm is connected withone end of the telescopic mechanical arm; a detachable fire extinguisher nozzle and a detachable detail camera are arranged at the other end of the telescopic mechanical arm. A maintenance man is notrequired to reach underground tunnels to maintain the robot, the shooting range is wide, detail shooting can be performed, and the robot is simple in structure, convenient to operate, accurate in detection and high in reliability.

Description

technical field [0001] The invention relates to the technical field of pipe gallery monitoring, in particular to an urban comprehensive pipe gallery robot. Background technique [0002] With the development of cities, there are more and more applications of urban comprehensive pipe corridors. However, the comprehensive utility corridor is a semi-closed space with many internal lines, and manual inspection is relatively dangerous. In order to ensure the safety of inspectors, the pipe gallery robot came into being. The existing pipe gallery measurement and control technology requires integrated wiring, which is costly, and the cost increases linearly with the increase in the number of equipment; and the construction intensity is high and the difficulty is high. Using the integrated pipe corridor robot, one robot can realize the joint control of one area, and the utilization rate is high. However, the existing integrated pipe gallery robots still have the following problems:...

AI Technical Summary

Problems solved by technology

However, the existing integrated pipe gallery robots still have the following problems: first, when performing maintenance, maintenance personnel need to go to the underground pipe gallery to remove the robot for maintenance, which is very inconvenient; secondly, most pipe gallery robots have four degrees of freedom, When shooting the intake camera, it can only be photographed in the horizontal direction, and its shooting range is single; again, because the existing integrated pipe gallery robot is only equipped with one camera, it is used for the overall monitoring in the pipe gallery. When the camera finds an abnormal situation At this time, it is impossible to take detailed photos of the abnormal place, and maintenance personnel need to go down to the underground pipe gallery to check, which is very inconvenient

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