Multifunctional eight-claw robot for investigating manholes of underground pipeline and investigation method thereof

Abstract

The invention provides a multifunctional eight-claw robot for investigating manholes of an underground pipeline and an investigation method thereof. The multifunctional eight-claw robot is characterized in that a body is of a butterfly shape and comprises a walking module, cleaning structures, a control mechanism, a perception module, a power supply module and a joint driving system, wherein the walking module comprises bionic soles and foot parts, each foot part comprises three active joints, namely a hip joint, a knee joint and a ankle joint, the soles are connected with patella joints through ball hinges, and reset springs and foot mounting force sensors are arranged between the soles and the patella joints; the cleaning structures comprise shells, worm motors, cleaning hairbrushes, mechanical claws and cleaning steering engines; the control mechanism comprises a master control module, a data transmission module, an upper computer control module and a motor driving control module and adopts a hierarchical control system with a deliberative system framework; the perception module comprises a hazardous gas sensor, a first infrared sensor, a 360-degree rotary camera and an LED lighting lamps; and the power supply module adopts a special aviation lithium battery; and the joint driving system is driven by a fully-closed stepping motor. The invention further discloses a corresponding investigation method.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a multifunctional eight-jaw robot for detecting underground pipelines and manholes and a method for detecting the same. Background technique [0002] Urban underground pipelines have the functions of transporting electricity, heating, and water systems, as well as draining pollutants, making the city the main infrastructure for survival and development. At present, the pigging and pipeline inspection of underground pipelines mainly rely on sewage flow or the work of construction personnel, which is not only inefficient but also harmful to humans in harsh environments. Moreover, with the vigorous development of digital city construction, the inspection and simple troubleshooting of underground pipe networks and the monitoring of pipe networks under construction are becoming a huge problem due to the limitation of pipe network space. The existing Chinese pipeline robot adopts a modular design and...

AI Technical Summary

Problems solved by technology

At present, the pigging and pipeline inspection of underground pipelines mainly rely on the sewage flow or the work of construction personnel, which is not only inefficient but also harmful to the human body due to the harsh environment

Moreover, with the vigorous development of digital city construction, the inspection of underground pipe network, simple troubleshooting and monitoring of the pipe network under construction are becoming a huge problem due to the limitation of pipe network space

The existing Chinese pipeline robot adopts a modular design and is equipped with a remote internal pipeline detection system. However, it cannot adapt to the requirements of different pipe diameters. It may slip in humid and complex environments, and cannot adapt to the requirements of all-terrain detection and complex and harsh environment monitoring. It has poor anti-interference ability against electromagnetic interference and high-temperature harsh environment interference.

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