A modular rail-mounted integrated pipe gallery intelligent inspection robot

Abstract

The invention discloses a modularized rail-mounted comprehensive pipe gallery intelligent inspection robot, which includes a power cabin, an executive cabin, a control cabin, an energy cabin and a rail-holding arm assembly connected in sequence through connectors, and the rail-holding arm assembly is located in the power cabin , the execution cabin, the bottom of the control cabin and the energy cabin; the power cabin provides power for the movement of the robot, and the power cabin drags the execution cabin, the control cabin and the energy cabin to move in the pipe corridor; The acquisition and control cabin mainly controls the robot and processes environmental information. The energy cabin is electrically connected with the power cabin, execution cabin, and control cabin to provide power, and an organ cover is also set on the connector. The intelligent inspection robot for a modular rail-mounted comprehensive pipe gallery provided by the present invention adopts a modular design, and the robot can mount functional modules according to work requirements. Follow up to reduce work delays caused by failures.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an intelligent inspection robot for a modular rail-mounted comprehensive pipe gallery. Background technique [0002] The traditional inspection robot for comprehensive pipe gallery basically cannot meet the inspection needs in the pipe gallery. Under normal circumstances, inspection robots for integrated pipe gallery can be divided into two types according to the driving mode: wheel type (crawler type) and rail-mounted type. Wheeled (crawler) robots cannot meet the requirements for passage in the corridor, such as: steps, fire doors, etc.; the positioning and navigation accuracy is low, and after crossing large obstacles, the positioning and navigation accuracy will be seriously affected; at the same time, The height of the wheeled (crawler) robot is too low to meet the inspection requirements of the robot in the pipe gallery; the cruising speed is slow (generally les...

AI Technical Summary

Problems solved by technology

Wheeled (crawler) robots cannot meet the requirements for passage in the corridor, such as: steps, fire doors, etc.; the positioning and navigation accuracy is low, and after crossing large obstacles, the positioning and navigation accuracy will be seriously affected; at the same time, The height of the wheeled (crawler) robot is too low to meet the detection requirements of the robot in the pipe gallery; the cruising speed is slow (generally less than 0.8m / s), and the huge inspection volume cannot be completed on time

The existing rail-mounted inspection robots are mostly used for the inspection of small-diameter tunnels in power pipe galleries. In the inspection task of the comprehensive pipe corridor, the requirements for inspection and analysis of the corridor body, environment, personnel and other elements

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