Underground pipe gallery inspection robot

Abstract

The invention relates to an underground pipe gallery inspection robot which comprises a chassis, a differential motor, driving wheels, a storage battery, driven wheels, a steering mechanism and a visual navigation system. Two driving wheels are mounted at the rear part of the chassis; two driven wheels are installed on the front portion of the chassis, the differential motor is fixed to the chassis through threaded connection, output shafts at the two ends of the differential motor are connected with the left driving wheel and the right driving wheel through flat keys respectively, the steering mechanism is installed between the two driven wheels on the front portion of the chassis, and synchronous steering of the two driven wheels is achieved through the steering mechanism between the twodriven wheels. The underground pipe gallery inspection robot is high in running speed and flexible in steering, meanwhile, the robot adopts a visual navigation system based on a linear array CCD camera, the performance is reliable, compared with a fixed guide rail type inspection robot, the cost is reduced, and the robot can achieve autonomous inspection operation.

Description

technical field [0001] The invention relates to the technical field of robot design, in particular to an inspection robot for an underground pipe gallery. Background technique [0002] The process of urbanization has promoted the development of underground pipe corridors, and a large number of lines and supporting facilities have been placed underground. Daily inspection work is an important measure to ensure the normal operation of the power system. However, due to the characteristics of long distances, complex terrain, and many types of cables in the underground pipe gallery, and the low efficiency and poor operability of traditional manual inspections, the use of inspections It is an inevitable trend for robots to replace manual inspections. [0003] The use of robots for inspections of underground pipe galleries can not only reduce potential safety hazards, ensure reliable output of electric energy, but also help improve the automation of transmission network monitoring...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of low efficiency of manual inspection and high cost of fixed guide rail inspection robot, and provide a fast-moving, flexible-turning underground pipe gallery inspection robot. The visual navigation system has reliable performance, which reduces the cost compared with the fixed guide rail inspection robot, and enables the robot to realize autonomous inspection operations

Images