Pipe gallery inspection robot with obstacle recognition function

Abstract

The invention relates to the technical field of inspection robots, and discloses a pipe gallery inspection robot with an obstacle recognition function, which comprises a robot body, an adjusting support frame is arranged at the top of the robot body, an integrated camera is arranged at the top of the adjusting support frame, and a driving source and an integrated signal processor are arranged in the robot body. Adjusting assemblies are arranged on the two sides of the bottom of the robot body. A reversing assembly is arranged at the bottom of the robot body. The adjusting assembly can adjust the advancing height according to the real-time pipe gallery environment; the direction of the reversing assembly can be adjusted according to the real-time environment; front obstacles are recognized in real time and the surrounding environment is detected through the integrated camera, image data are transmitted to the internal integrated signal processor, the reversing assembly automatically adjusts the direction of the robot according to feedback of the processor, the robot avoids the obstacles and smoothly advances along a pipeline path, and therefore autonomous inspection is achieved. Compared with the prior art, the operation stability and flexibility in the inspection process are improved.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a pipe gallery inspection robot capable of identifying obstacles. Background Art

[0002] The utility corridor is an underground urban pipeline corridor, that is, a tunnel space is built underground in the city, which integrates various engineering pipelines such as electricity, communications, gas, heating, water supply and drainage, and is equipped with special inspection ports, lifting ports and monitoring systems. It implements unified planning, unified design, unified construction and management. It is an important infrastructure and "lifeline" to ensure the operation of the city. The underground utility corridor system not only solves the problem of urban traffic congestion, but also greatly facilitates the maintenance and inspection of municipal facilities such as electricity, communications, gas, water supply and drainage. The underground utility corridor plays an important role in meeting the basic needs of the people and improving the comprehensive carrying capacity of the city. The construction of common trenches avoids the impact and interference on traffic and residents' travel caused by frequent road digging for laying and repairing underground pipelines, keeps the road intact and beautiful, reduces the cost of multiple road renovations and the maintenance cost of engineering pipelines, maintains the integrity of the road and the durability of various pipelines, and facilitates the laying, increase, decrease, maintenance and daily management of various pipelines. Since the pipelines in the common trench are arranged compactly and reasonably, the space under the road is effectively utilized, saving urban land. Since the road poles and inspection wells and rooms for various pipelines are reduced, the city's landscape is beautified. Since the overhead pipelines are buried together, the conflict between overhead lines and greening is reduced.

[0003] In the prior art, a Chinese patent document with a publication number of CN219235310U proposes an intelligent inspection robot with an identification function, including an inspection robot body, a mounting frame is provided on the periphery of the inspection robot body, a universal wheel is provided at the bottom of the robot shell, and a driving motor is symmetrically provided on one side of the universal wheel. Through magnetic sensors and magnetic stripe tracks, the movement of the inspection robot is non-contact movement of the shell and the magnetic stripe track, so that the service life of the inspection robot is improved, and by setting an obstacle avoidance sensor, the robot can automatically identify obstacles to prevent the robot from colliding with obstacles and being damaged. However, when the robot encounters an obstacle in the tunnel, it can only stop and wait for manual clearance before continuing the inspection. It cannot cross the obstacle autonomously and cannot achieve the effect of continuous inspection. Therefore, the present application discloses a tunnel inspection robot with obstacle recognition function to meet the requirements of being able to cross obstacles encountered in the tunnel and being able to adjust the direction according to the tunnel environment. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a tunnel inspection robot with the ability to recognize obstacles. The robot has the advantages of being able to cross obstacles encountered in the tunnel and being able to adjust its direction according to the tunnel environment. This solves a series of problems such as the robot having to stop and wait for manual clearance before continuing inspection when encountering an obstacle in the tunnel, being unable to cross the obstacle autonomously, and being unable to achieve continuous inspection.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a tunnel inspection robot with the ability to identify obstacles, comprising a robot body, an adjustment support frame is provided on the top of the robot body, an integrated camera is provided on the top of the adjustment support frame, reserved installation slots are provided on both sides of the robot body, and the reserved installation slots can be connected to external devices, a driving source and an integrated signal processor are provided inside the robot body, adjustment components are provided on both sides of the bottom of the robot body; a reversing component is provided at the bottom of the robot body; the adjustment component can adjust the travel height according to the real-time tunnel environment; the reversing component can adjust the direction according to the real-time environment.

[0008] Preferably, the adjustment component includes a driving roller connected to the output end of the driving source, an adjusting disc is provided through one end of the driving roller, the driving roller and the adjusting disc are slidably arranged, a plurality of guide boxes are provided at one end of the driving roller, a sliding rod is slidably arranged in the guide box, a limiting rod is provided on the top of the sliding rod, a contact plate is provided at one end of the sliding rod, a driven tooth is provided on the adjusting disc, a driving tooth is provided at one end of the guide box, and the driven tooth is meshed with the driving tooth.

[0009] Preferably, the adjustment component also includes a group of rotating rods arranged on both sides of the robot body, a rotating arm is arranged at one end of the rotating rod, a trigger wheel is rotatably arranged at one end of the rotating arm, and the trigger wheel is in contact with the ground, and a connecting rod is arranged at the other end of the rotating arm, and a trigger plate is arranged at one end of the connecting rod, and the trigger plate is a semicircular structure, and a driving tooth is opened on one side surface of the trigger plate, and the driving tooth is meshed with the active tooth.

[0010] Preferably, the reversing component includes a telescopic driving source which is arranged through the bottom of the robot body, a fixed plate is arranged on one side of the telescopic driving source, a rotating plate is rotatably arranged on one side of the fixed plate, a telescopic rod is arranged on the output end of the telescopic driving source, the telescopic rod passes through the fixed plate and the rotating plate, a plurality of groups of supporting plates are arranged at the bottom of the rotating plate, a first connecting plate is rotatably arranged in the supporting plate, a second connecting plate is rotatably arranged at one end of the first connecting plate, a deflection plate is arranged on one side of the first connecting plate, and a synchronization plate is rotatably arranged on one side of the second connecting plate.

[0011] Preferably, a guide groove is provided on the adjusting disc, and the guide groove is an arc-shaped structure bent to one side, and a limit rod is slidably arranged in the guide groove.

[0012] Preferably, the contact plate is in an arc-shaped structure, and a plurality of friction grooves are provided on the surface of the contact plate.

[0013] Preferably, an extension plate is provided at the bottom of the deflection plate, a rotating roller is rotatably provided inside the extension plate, a plurality of anti-slip grooves are provided on the surface of the rotating roller, and the rotating roller is tilted at a certain angle to the extension plate.

[0014] Preferably, one end of the telescopic rod passes through the synchronous plate, and a thread groove is provided on the telescopic rod, and the thread groove is provided in the rear half of the telescopic rod.

[0015] Preferably, a contact head is provided at one end of the telescopic rod, the contact head is a semicircular structure, one end of the contact head is in contact with the ground, and a groove matching the thread groove is provided on the rotating plate.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the present invention provides a pipeline corridor inspection robot capable of identifying obstacles, which has the following beneficial effects:

[0018] 1. This kind of pipe gallery inspection robot with obstacle recognition function controls the rotation of the driving roller through the driving source, thereby driving the adjusting disc to rotate, thereby achieving the effect of driving the robot body to move. When the environment in the pipe gallery changes, that is, the height in the pipe gallery changes, when the trigger wheel contacts the raised position in the pipe gallery, the rotating arm can be deflected to one side around the axis of the rotating rod, thereby causing the connecting rod to drive the rod trigger plate to move to one side, thereby realizing the driving teeth on the trigger plate driving the meshing active teeth to rotate. When the active teeth rotate, the driven teeth can rotate. When the driven teeth rotate, the rotation of the adjusting disc can be realized. When the adjusting disc rotates, the guide groove can be driven to rotate synchronously, thereby driving the limit rod sliding in the guide groove to move along the guide groove. Through the limiting effect of the guide box, The sliding rod can drive the contact plate to slide in the guide box. When the sliding rod slides a certain distance in the guide box, that is, when the trigger wheel fits with the raised surface inside the pipe gallery, that is, when the rotating arm stops flipping, the contact plate contacts the ground, and the ground friction is increased through the friction groove, and the sliding rod stops sliding in the guide box. At this time, the distance between the sliding rod and the guide box can be changed, and then the overall height of the robot body can be driven to change, so that the robot body can be driven to cross the raised obstacle as a whole. Compared with the existing technology that relies on real-time monitoring by sensors, it can realize real-time crossing adjustment of complex environments, thereby improving the scope of application, enabling the robot to adapt to different ground heights and slopes, effectively improving the adaptability of the equipment in complex pipe gallery environments, and improving the stability and flexibility of the equipment during inspections.

[0019] 2. This kind of pipe corridor inspection robot with obstacle recognition function, when the robot body receives an instruction to adjust its direction, drives the telescopic rod to extend and retract through the telescopic drive source, so that the telescopic rod can pass through the fixed plate and the rotating plate, and the contact head at the end of the telescopic rod can contact the ground. During the movement of the telescopic rod, the synchronous plate can be driven to move synchronously. When the synchronous plate moves, the second connecting plate can be driven to rise and fall at the same time. When the height of the second connecting plate changes, the first connecting plate can be driven to rotate around the axis of the support plate, thereby realizing the change of the angle of the deflection plate, and finally realizing the change of the opening and closing state of the deflection plate. When the deflection plate is closed, it can prevent sand and gravel from colliding with the bottom of the robot body, thereby ensuring the safety of the bottom of the robot body.

[0020] 3. This kind of pipe corridor inspection robot with obstacle recognition function, when the deflection plate is opened, the telescopic rod drives the contact head to contact the ground. When the contact head contacts the ground, the rotating roller at the bottom of the deflection plate contacts the ground at the same time. At this time, the telescopic rod continues to extend to one side, and the threaded groove on the surface of the telescopic rod can drive the rotating plate to rotate. When the rotating plate rotates, it can synchronously drive the deflection plate to rotate. By setting the rotating roller at a certain angle to the extension plate, the deflection plate can be assisted to rotate synchronously, thereby achieving the direction adjustment effect of the robot body, so that the robot can flexibly adjust the inspection direction, improve its ability to autonomously avoid obstacles and adapt to complex paths in the pipe corridor, improve the robot's switching performance in multi-angle paths, and make the inspection process smoother and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention from a first viewing angle;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention from a second viewing angle;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the adjustment assembly of the present invention;

[0024] Figure 4 It is a schematic diagram of the three-dimensional structure of the contact plate of the present invention;

[0025] Figure 5 It is a partially cutaway three-dimensional structural schematic diagram of the guide box of the present invention;

[0026] Figure 6 This is a schematic diagram of the three-dimensional structure of the closed state of the adjustment component of the present invention;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the reversing assembly of the present invention;

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of the rotating roller of the present invention;

[0029] Fig. 9 For the present invention Figure 8 Enlarged view of point A in the middle;

[0030] Fig.10 It is a schematic diagram of the three-dimensional structure of the reversing assembly in the closed state of the present invention.

[0031] In the figure: 1. Robot body; 2. Adjustment support frame; 3. Integrated camera; 4. Reserved installation slot; 5. Rotating rod; 6. Rotating arm; 7. Connecting rod; 8. Trigger wheel; 9. Trigger plate; 10. Driving tooth; 11. Driving roller; 12. Adjustment disc; 13. Driven tooth; 14. Active tooth; 15. Guide box; 16. Sliding rod; 17. Limit rod; 18. Contact plate; 19. Friction groove; 20. Guide groove; 21. Telescopic driving source; 22. Fixed plate; 23. Rotating plate; 24. Telescopic rod; 25. Threaded groove; 26. Support plate; 27. First connecting plate; 28. Second connecting plate; 29. ​​Deflection plate; 30. Synchronous plate; 31. Contact head; 32. Extension plate; 33. Rotating roller; 34. Anti-skid groove. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a pipeline corridor inspection robot with the ability to identify obstacles.

[0034] In a typical implementation of the present application, Figure 1-Figure 10 As shown, a pipe gallery inspection robot capable of identifying obstacles comprises a robot body 1, an adjustment support frame 2 is arranged on the top of the robot body 1, an integrated camera 3 is arranged on the top of the adjustment support frame 2, reserved installation slots 4 are arranged on both sides of the robot body 1, and the reserved installation slots 4 can be connected to external devices, a driving source and an integrated signal processor are arranged inside the robot body 1, and adjustment components are arranged on both sides of the bottom of the robot body 1; a reversing component is arranged at the bottom of the robot body 1; the adjustment component can adjust the travel height according to the real-time pipe gallery environment; the reversing component can adjust the direction according to the real-time environment;

[0035] An integrated camera 3 is installed on the adjustment support frame 2 on the top of the robot body 1, which is used to identify obstacles in front and detect the surrounding environment in real time, and transmit image data to the internal integrated signal processor. After the signal processor analyzes the environmental data, the reversing component 5 automatically adjusts the direction of the robot according to the processor feedback, avoids obstacles and moves smoothly along the pipeline path, thereby realizing autonomous inspection; the adjustment component can perform height adaptation adjustment according to its position, so that when the integrated camera 3 cannot detect the environment at the bottom, the robot can adapt to different pipe gallery structures; through the height adjustment function of the adjustment component, the robot can adapt to pipes in pipe gallerys of different heights, thereby improving the applicability of the equipment. The reversing component improves the flexibility of the equipment in a small space through autonomous reversing, and can quickly identify and bypass obstacles. The combination of the integrated camera 3 and the signal processor is a prior art here and will not be repeated here, providing real-time environmental monitoring and data processing capabilities, improving inspection accuracy, and ensuring that the equipment can effectively detect and record the conditions in the pipe gallery.

[0036] As a preferred implementation in this embodiment, refer to the attached Figure 1-Figure 6 The adjustment component includes a driving roller 11 connected to the output end of the driving source, an adjusting disc 12 is provided at one end of the driving roller 11, the driving roller 11 and the adjusting disc 12 are slidably arranged, a plurality of guide boxes 15 are provided at one end of the driving roller 11, a sliding rod 16 is slidably arranged in the guide box 15, a limit rod 17 is provided at the top of the sliding rod 16, a contact plate 18 is provided at one end of the sliding rod 16, a driven tooth 13 is provided on the adjusting disc 12, and a driving tooth 14 is provided at one end of the guide box 15, and the driven tooth 13 is meshed with the driving tooth 14; the adjustment component also includes a group of A rotating rod 5, one end of which is provided with a rotating arm 6, one end of which is rotatably provided with a trigger wheel 8, the trigger wheel 8 contacts the ground, the other end of which is provided with a connecting rod 7, one end of which is provided with a trigger plate 9, the trigger plate 9 is a semicircular structure, one side surface of the trigger plate 9 is provided with a driving tooth 10, the driving tooth 10 is meshed with the active tooth 14; a guide groove 20 is provided on the adjusting disc 12, the guide groove 20 is an arc structure bent to one side, and a limit rod 17 is slidably provided in the guide groove 20; a contact plate 18 is an arc structure, and a plurality of friction grooves 19 are provided on the surface of the contact plate 18;

[0037] The driving source controls the rotation of the driving roller 11, thereby driving the adjusting disc 12 to rotate, thereby achieving the effect of driving the robot body 1 to move. When the environment in the tunnel changes, that is, the height in the tunnel changes, when the trigger wheel 8 contacts the raised position in the tunnel, the rotating arm 6 can be deflected to one side around the axis of the rotating rod 5, so that the connecting rod 7 drives the rod trigger plate 9 to move to one side, so that the driving teeth 10 on the trigger plate 9 drive the meshing active teeth 14 to rotate. When the active teeth 14 rotate, the driven teeth 13 can be rotated. When the driven teeth 13 rotate, the rotation of the adjusting disc 12 can be achieved. When the adjusting disc 12 rotates, the guide groove 20 can be driven to rotate synchronously, thereby driving the limiting rod 17 sliding in the guide groove 20 to move along the guide groove 20. Through the limiting effect of the guide box 15, the sliding The rod 16 drives the contact plate 18 to slide in the guide box 15. When the sliding rod 16 slides a certain distance in the guide box 15, that is, when the trigger wheel 8 fits with the raised surface inside the pipe gallery, that is, when the rotating arm 6 stops flipping, the contact plate 18 contacts the ground, and the friction groove 19 increases the ground friction, and the sliding rod 16 stops sliding in the guide box 15. At this time, the distance between the sliding rod 16 and the guide box 15 can be changed, and then the overall height of the robot body 1 can be driven to change, so that the robot body 1 can be driven to cross the raised obstacle as a whole. Compared with the existing technology that relies on sensors for real-time monitoring, it can realize real-time crossing adjustment of complex environments, improve the scope of application, enable the robot to adapt to different ground heights and slopes, effectively improve the adaptability of the equipment in complex pipe gallery environments, and improve the stability and flexibility of the equipment during inspections.

[0038] As a preferred implementation in this embodiment, refer to the attached Figure 7-10The reversing assembly includes a telescopic driving source 21 which is arranged through the bottom of the robot body 1, a fixed plate 22 is arranged on one side of the telescopic driving source 21, a rotating plate 23 is rotatably arranged on one side of the fixed plate 22, a telescopic rod 24 is arranged on the output end of the telescopic driving source 21, the telescopic rod 24 passes through the fixed plate 22 and the rotating plate 23, a plurality of supporting plates 26 are arranged at the bottom of the rotating plate 23, a first connecting plate 27 is rotatably arranged in the supporting plate 26, a second connecting plate 28 is rotatably arranged at one end of the first connecting plate 27, a deflection plate 29 is arranged on one side of the first connecting plate 27, and a deflection plate 29 is rotatably arranged on one side of the second connecting plate 28 A synchronous plate 30 is provided for rotation; an extension plate 32 is provided at the bottom of the deflection plate 29, a rotating roller 33 is rotatably provided in the extension plate 32, a plurality of anti-skid grooves 34 are provided on the surface of the rotating roller 33, and the rotating roller 33 is inclined at a certain angle to the extension plate 32; one end of the telescopic rod 24 passes through the synchronous plate 30, a thread groove 25 is provided on the telescopic rod 24, and the thread groove 25 is provided in the rear half of the telescopic rod 24; a contact head 31 is provided at one end of the telescopic rod 24, and the contact head 31 is a semicircular structure, one end of the contact head 31 contacts the ground, and a groove matching the thread groove 25 is provided on the rotating plate 23;

[0039] When the robot body 1 receives an instruction to adjust its direction, the telescopic rod 24 is driven to extend and retract by the telescopic driving source 21, so that the telescopic rod 24 can pass through the fixed plate 22 and the rotating plate 23, and the contact head 31 at the end of the telescopic rod 24 can contact the ground. During the movement of the telescopic rod 24, the synchronous plate 30 can be driven to move synchronously. When the synchronous plate 30 moves, the second connecting plate 28 can be driven to rise and fall at the same time. When the height of the second connecting plate 28 changes, the first connecting plate 27 can be driven to rotate around the axis of the support plate 26, thereby realizing the angle change of the deflection plate 29, and finally realizing the change of the opening and closing state of the deflection plate 29. When the deflection plate 29 is closed, it can prevent sand and gravel from colliding with the bottom of the robot body 1, thereby ensuring the safety of the bottom of the robot body 1.

[0040] When the deflection plate 29 is opened, the telescopic rod 24 drives the contact head 31 to contact the ground. When the contact head 31 contacts the ground, the rotating roller 33 at the bottom of the deflection plate 29 contacts the ground at the same time. At this time, the telescopic rod 24 continues to extend to one side, and the threaded groove 25 provided on the surface of the telescopic rod 24 can drive the rotating plate 23 to rotate. When the rotating plate 23 rotates, the deflection plate 29 can be driven to rotate synchronously. The rotating roller 33 is tilted at a certain angle to the extension plate 32 to assist the synchronous rotation of the deflection plate 29, thereby achieving the direction adjustment effect of the robot body 1, so that the robot can flexibly adjust the inspection direction, improve its ability to autonomously avoid obstacles and adapt to complex paths in the pipeline corridor, improve the switching performance of the robot in multi-angle paths, and make the inspection process smoother and more efficient.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe gallery inspection robot capable of identifying obstacles, comprising a robot body (1), characterized in that: The top of the robot body (1) is provided with an adjustment support frame (2), the top of the adjustment support frame (2) is provided with an integrated camera (3), both sides of the robot body (1) are provided with reserved installation slots (4), the reserved installation slots (4) can be connected to external devices, the interior of the robot body (1) is provided with a driving source and an integrated signal processor, and adjustment components are provided on both sides of the bottom of the robot body (1); and a reversing component is provided at the bottom of the robot body (1); The adjustment component can adjust the travel height according to the real-time pipeline corridor environment; The reversing component can adjust the direction according to the real-time environment.

2. The pipeline corridor inspection robot with obstacle recognition function according to claim 1, characterized in that: The adjustment component comprises a driving roller (11) connected to the output end of the driving source, an adjusting disc (12) is provided through one end of the driving roller (11), the driving roller (11) and the adjusting disc (12) are slidably arranged, a plurality of guide boxes (15) are provided at one end of the driving roller (11), a sliding rod (16) is slidably arranged in the guide box (15), a limiting rod (17) is provided at the top of the sliding rod (16), a contact plate (18) is provided at one end of the sliding rod (16), a driven tooth (13) is provided on the adjusting disc (12), a driving tooth (14) is provided at one end of the guide box (15), and the driven tooth (13) is meshed with the driving tooth (14).

3. The pipeline corridor inspection robot with obstacle recognition function according to claim 2, characterized in that: The adjustment assembly further comprises a group of rotating rods (5) penetratingly arranged on both sides of the robot body (1); a rotating arm (6) is arranged at one end of the rotating rod (5); a trigger wheel (8) is rotatably arranged at one end of the rotating arm (6); the trigger wheel (8) is in contact with the ground; a connecting rod (7) is arranged at the other end of the rotating arm (6); a trigger plate (9) is arranged at one end of the connecting rod (7); the trigger plate (9) is a semicircular structure; a driving tooth (10) is provided on one side surface of the trigger plate (9); the driving tooth (10) is meshed with the active tooth (14).

4. The pipeline corridor inspection robot capable of identifying obstacles according to claim 1, characterized in that: The reversing assembly comprises a telescopic driving source (21) which is arranged through the bottom of the robot body (1); a fixed plate (22) is arranged on one side of the telescopic driving source (21); a rotating plate (23) is rotatably arranged on one side of the fixed plate (22); a telescopic rod (24) is arranged at the output end of the telescopic driving source (21); the telescopic rod (24) passes through the fixed plate (22) and the rotating plate (23); a plurality of support plates (26) are arranged at the bottom of the rotating plate (23); a first connecting plate (27) is rotatably arranged inside the supporting plate (26); a second connecting plate (28) is rotatably arranged at one end of the first connecting plate (27); a deflection plate (29) is arranged on one side of the first connecting plate (27); and a synchronization plate (30) is rotatably arranged on one side of the second connecting plate (28).

5. The pipeline corridor inspection robot capable of identifying obstacles according to claim 3, characterized in that: The adjusting disc (12) is provided with a guide groove (20), the guide groove (20) is an arc-shaped structure bent toward one side, and a limit rod (17) is slidably arranged in the guide groove (20).

6. The pipeline corridor inspection robot capable of identifying obstacles according to claim 5, characterized in that: The contact plate (18) has an arc-shaped structure, and a plurality of groups of friction grooves (19) are provided on the surface of the contact plate (18).

7. The pipeline corridor inspection robot capable of identifying obstacles according to claim 4, characterized in that: An extension plate (32) is arranged at the bottom of the deflection plate (29), a rotating roller (33) is rotatably arranged inside the extension plate (32), a plurality of groups of anti-slip grooves (34) are arranged on the surface of the rotating roller (33), and the rotating roller (33) is inclined at a certain angle to the extension plate (32).

8. The pipeline corridor inspection robot capable of identifying obstacles according to claim 7, characterized in that: One end of the telescopic rod (24) passes through the synchronous plate (30), and a thread groove (25) is provided on the telescopic rod (24), wherein the thread groove (25) is provided in the rear half of the telescopic rod (24).

9. The pipeline corridor inspection robot capable of identifying obstacles according to claim 8, characterized in that: A contact head (31) is provided at one end of the telescopic rod (24). The contact head (31) is a semicircular structure. One end of the contact head (31) is in contact with the ground. A groove matching the thread groove (25) is provided on the rotating plate (23).

Images