Robot suitable for obstacle section of narrow pipeline
By designing a flat, single-sided wall-attached robot structure and asynchronous contact component movement, the problem of existing robots struggling to pass through narrow pipe obstacle sections has been solved, achieving stable axial displacement and safe inspection, thus improving the completion rate and safety of inspection operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HARBIN INST OF TECH
- Filing Date
- 2026-04-10
- Publication Date
- 2026-05-12
AI Technical Summary
Existing pipeline inspection robots struggle to navigate narrow and complex pipeline obstacle sections stably, especially at bends, steps, reductions in diameter, and areas with residue buildup. They are prone to getting stuck, slipping, or being unable to retract, resulting in blind spots and reducing the completion rate and safety of inspection operations.
A robot suitable for narrow pipe obstacle sections was designed. It adopts a flat structure with one-sided wall attachment. By setting first and second contact members with different physical properties along the axial direction of the robot body, the asynchronous anchoring and sliding state switching of the contact members is realized by using a drive unit and control module. Combined with the friction texture characteristics, stable axial displacement and reversal of motion direction are achieved.
It improves the robot's ability and safety in narrow pipes, reduces the risk of jamming and slipping, ensures stable inspection in complex obstacle sections, and achieves efficient inspection work.
Smart Images
Figure CN122014953A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics for internal pipeline inspection, and more specifically, to a robot suitable for narrow, obstructed sections of pipelines. Background Technology
[0002] After long-term operation, building water supply pipes are prone to scaling, corrosion, and sediment buildup, affecting water supply safety. Mechanical or hydraulic flushing is commonly used for cleaning, but debris, incompletely removed sediment, or flaking rust may remain after flushing, especially in areas with complex structures such as valves, joints, reducers, and elbows, where residue can easily accumulate. Failure to detect this promptly can lead to subsequent blockages or water quality problems. Therefore, inspecting the internal condition of the pipes after flushing is crucial for ensuring cleaning quality and operational safety. In building water supply systems, pipe diameters are mostly DN100 and below, resulting in narrow pipe spaces and numerous fittings such as elbows, tees, and reducers. Locally, there are also obstacles such as steps, reductions, and bypass sections.
[0003] Existing pipeline inspection robots mainly adopt wheeled, tracked, strutted, or integrated telescopic structures. They are usually large in size and have high mechanical rigidity, making it difficult to enter or stably pass through the narrow and complex pipeline obstacle sections mentioned above. In particular, they are prone to getting stuck, slipping, or unable to retreat at bends, steps, diameter reductions, and residue accumulation points, resulting in insufficient obstacle-crossing ability. After being blocked, they are unable to actively get out of trouble, forming blind spots in inspection, thereby reducing the completion rate and safety of robot inspection operations in narrow pipelines. Summary of the Invention
[0004] The problem addressed by this invention is how to improve the completion rate and safety of robot inspection operations in narrow pipes.
[0005] To address the above problems, the present invention provides a robot suitable for narrow pipe obstacle sections, comprising: The robot body has a dimension in its width direction that is larger than its dimension in its height direction, and has a main wall-attaching surface for abutting against the pipe wall; The contact structure includes a first contact member and a second contact member, which are disposed on the main contact wall surface along the axial direction of the robot body, and the two have different physical properties; wherein, the physical properties include at least one of bending stiffness characteristics, normal compression response characteristics, contact area change characteristics, and surface friction texture characteristics. A drive unit, which is disposed on the robot body and electrically connected to the contact structure, is used to drive the robot to move. A control module, electrically connected to the drive unit, is configured to control the drive state of the drive unit, causing the first contact member and the second contact member to be asynchronously in an anchoring state and a sliding state with respect to the pipe wall during the motion cycle, so that the robot body can form an axial displacement; the control module is also used to adjust the timing relationship between the anchoring state and the sliding state of the first contact member and the second contact member respectively, so as to realize the switching of the robot's motion direction.
[0006] Optionally, the first contact member is located in front of the second contact member, and the bending stiffness of the first contact member is less than that of the second contact member.
[0007] Optionally, the first contact member and / or the second contact member each include a member base and a friction contact layer, the member base being fixed to the main contact wall of the robot body, and the friction contact layer being disposed on a side of the member base away from the main contact wall; The friction contact layer has a friction texture extending along the axial direction of the robot body, and the friction texture includes at least one of directional ratchet, inclined microfiber texture and scale-like ridges.
[0008] Optionally, the friction texture of the first contact member differs from the friction texture of the second contact member in at least one of the following: texture direction, texture density, and texture tilt angle.
[0009] Optionally, the control module is configured to switch the timing relationship between the anchoring state and the sliding state of the first contact member and the second contact member respectively when obstacle information is detected, so that the robot switches from forward to backward or from backward to forward; wherein the obstacle information includes at least one of motion obstruction, increased propulsion resistance and abnormal axial displacement.
[0010] Optionally, the robot body further has a drag-reducing surface disposed opposite to the main wall surface, wherein the friction coefficient of the drag-reducing surface is less than the friction coefficient of the main wall surface.
[0011] Optionally, the robot body includes a head segment and a main body segment connected sequentially along its axial direction; the drive unit is disposed in the main body segment; The head segment is provided with attitude-limiting guide edges at both ends along its width direction, and the diameter of the attitude-limiting guide edges decreases and expands from the front end to the rear end of the head segment.
[0012] Optionally, the head section includes a front-end obstacle-crossing structure, which includes an upward-curving guide ramp and a friction-reducing transition zone connected sequentially along the axial direction of the robot body. The thickness of the leading edge of the upward-curving guide ramp is less than the thickness of the main body section. The pose-limiting guide edge and the front-end obstacle-crossing structure are connected to form a continuous guide contour.
[0013] Optionally, the robot suitable for narrow pipe obstacle sections also includes a reconnaissance module for acquiring information about the internal environment of the pipe wall. The reconnaissance module includes a first connector and a reconnaissance component. The reconnaissance component is connected to the first connector. A second connector is provided on the main body section near the head section. The reconnaissance component is detachably connected to the second connector through the first connector.
[0014] Optionally, the robot body further includes a cable module, which includes a flexible connecting section and a cable body. The flexible connecting section is detachably connected to the main body section. One end of the cable body passes through the flexible connecting section and is electrically connected to the control module and the drive unit. The other end of the cable body is used to connect to an external control terminal.
[0015] The beneficial effects of the robot of the present invention applicable to narrow pipe obstacle sections are: The robot body's width dimension is larger than its height dimension. In other words, the robot body has a basically flat structure with one side attached to the wall, which allows the robot body to occupy less space in the height direction (i.e., the radial direction of the pipe), enabling it to adapt to narrow pipe obstacle sections. At the same time, the main wall-attaching surface achieves stable contact with the pipe wall, preventing flipping or loss of posture within the pipe. The first and second contact components, arranged along the axial direction of the robot body, have different physical characteristics (at least one of bending stiffness characteristics, normal compression response characteristics, contact area change characteristics, and surface friction texture characteristics). This allows the robot's front end to passively deform and fit when encountering obstacles, while the rear end maintains stable gripping, forming a division of functions between the front and rear ends. This improves the robot's ability to navigate obstacles such as steps, reduced diameters, bends, and residual accumulation sections, as well as its wall-attaching adaptability and traction stability, reducing the risk of jamming and slippage.
[0016] The drive unit is electrically connected to the contact structure, providing power for the alternating movement of the first and second contact components positioned front and rear on the main wall surface. The start and stop states of the drive unit can be controlled by the control module, allowing the first and second contact components to be asynchronously in an anchoring and sliding state with the pipe wall during the movement cycle (i.e., "alternating gripping and releasing"), so that the robot can form a stable axial stepping displacement in the narrow pipe, effectively solving the slippage problem and improving its ability to pass through complex obstacle sections. By adjusting the timing relationship between the anchoring and sliding states of the first and second contact components respectively by the control module (such as swapping the "front anchor, back slide → front slide, back anchor" timing during forward movement), the direction of movement can be reversed without changing the hardware structure, enabling the robot to actively retreat and escape when obstructed, improving the completion rate and safety of the robot's inspection work in narrow pipes. Attached Figure Description
[0017] Figure 1 This is a top view of the robot in an embodiment of the present invention; Figure 2 This is a schematic diagram of the longitudinal section structure of the robot in an embodiment of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the robot in an embodiment of the present invention; Figure 4 This is a schematic diagram of the robot moving inside the pipeline in an embodiment of the present invention.
[0018] Explanation of reference numerals in the attached figures: 10-Robot body; 101-Head section; 11-Front-end obstacle-crossing structure; 11a-Upward-curving guide slope; 11b-Friction-reducing transition zone; 12-Attitude-limiting guide edge; 13-Main wall-attaching surface; 14-Drag-reducing surface; 102-Main body section; 103-Cable module; 1031-Flexible connection section; 1032-Cable body; 21-Drive unit; 22-Contact structure; 22a-First contact component; 22b-Second contact component; 30-Control module; 40-Reconnaissance module; 41-First connector; 42-Reconnaissance component. Detailed Implementation
[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.
[0020] In the attached diagram, the X-axis represents left and right position, with the positive direction of the X-axis representing the right side and the negative direction representing the left side; the Y-axis represents front and back position, with the positive direction of the Y-axis representing the front and the negative direction representing the back; the Z-axis represents up and down position, with the positive direction of the Z-axis representing up and the negative direction representing down. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.
[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.
[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0023] like Figure 1 , Figure 2 and Figure 4 As shown, an embodiment of the present invention provides a robot suitable for narrow pipe obstacle sections, comprising: The robot body 10 has a dimension in its width direction that is larger than its dimension in its height direction, and has a main wall-attaching surface 13 for abutting against the pipe wall; The contact structure 22 includes a first contact member 22a and a second contact member 22b, which are disposed on the main contact wall surface 13 along the axial direction of the robot body 10, and the two have different physical properties; wherein, the physical properties include at least one of bending stiffness characteristics, normal compression response characteristics, contact area change characteristics, and surface friction texture characteristics. A drive unit 21 is disposed on the robot body 10 and electrically connected to the contact structure 22, and is used to drive the robot to move. A control module 30, electrically connected to the drive unit 21, is configured to control the drive state of the drive unit 21, causing the first contact member 22a and the second contact member 22b to be asynchronously in an anchoring state and a sliding state with respect to the pipe wall during the motion cycle, so that the robot body 10 forms an axial displacement; the control module 30 is also used to adjust the timing relationship between the anchoring state and the sliding state of the first contact member 22a and the second contact member 22b respectively, so as to realize the switching of the robot's motion direction.
[0024] Specifically, the robot is not only suitable for navigating inside narrow pipe sections with obstacles, but also for moving on other structural members with obstacles, such as structural steel. The width direction of the robot body 10 is... Figure 1 The X-axis is parallel to the coordinate system, and the length direction of the robot body 10 is parallel to the coordinate system. Figure 1 The Y-axis is parallel to the coordinate system. The axis of the robot body 10 is parallel to... Figure 1 The X-axis is parallel in the coordinate system.
[0025] The robot body 10 has a larger dimension along its width direction than its height direction, making the robot body 10 have a sheet-like or strip-like configuration.
[0026] The main wall surface 13 is located on the lower side of the robot body 10 (with... Figure 2 and Figure 3 (The direction shown is for reference only), used to form a contact fit with the inner wall of the pipe.
[0027] The robot body 10 can be made of a material with a certain degree of flexibility, such as polyurethane, silicone rubber, or polyimide, to allow passive deformation when passing through bends or obstacle sections. At the same time, a reinforcing structure (such as a metal skeleton or fiber reinforcement layer) can be embedded inside the robot body 10 to provide the necessary axial stiffness while maintaining flexibility.
[0028] The first contact member 22a is disposed in the front region of the robot body 10, and the second contact member 22b is disposed in the rear region of the robot body 10. The first contact member 22a and the second contact member 22b are spaced apart along the axial direction of the robot body 10. The spacing can be adjusted according to the pipe diameter and the length of the robot body 10, and is typically 20mm-60mm. This spacing design allows the front and rear contact members to independently form contact with the pipe wall, avoiding mutual interference, and providing a spatial basis for alternating anchoring and sliding movements.
[0029] The drive unit 21 outputs a periodic mechanical excitation signal under the control of the control module 30. The periodic mechanical excitation signal includes one or more of the following: frequency, amplitude, waveform, phase, and duty cycle. The control module 30 uses timing modulation to make the contact friction state between the first contact member 22a and the inner wall of the pipe alternate or change phase-wise with the contact friction state between the second contact member 22b and the inner wall of the pipe, thereby creating a net displacement along the pipe axis and driving the robot to move forward or backward. In this embodiment, the robot's movement along the pipe axis is achieved by the different contact responses generated by the differentiated contact members under periodic action, combined with their surface directional friction textures.
[0030] The drive unit 21 directly transmits the mechanical excitation signal to the first contact member 22a and the second contact member 22b. The mechanical excitation signal can be one or more of periodic vibration, periodic extension and contraction, or periodic bending deformation.
[0031] The control module 30 is electrically connected to the drive unit 21 and is used to output periodic drive signals and control the drive state of the drive unit 21.
[0032] "Anchored state" refers to a state of high friction constraint between the contact member and the pipe wall, where relative slippage is significantly suppressed. "Slippage state" refers to a state of low friction between the contact member and the pipe wall, where relative slippage is allowed.
[0033] Through timing modulation by control module 30, the front and rear contact components alternately enter anchored and sliding states within one motion cycle, causing the robot body 10 to achieve a net displacement along the pipe axis. Specifically: When the first contact member 22a is in the anchored state and the second contact member 22b is in the sliding state, the excitation of the driving unit 21 mainly causes the second contact member 22b to produce relative displacement. When the first contact member 22a is in a sliding state and the second contact member 22b is in an anchored state, the excitation of the driving unit 21 mainly causes the first contact member 22a to produce a relative displacement. The two sub-steps are performed alternately, generating a net axial displacement within a complete cycle, thus enabling the robot to propel itself continuously.
[0034] In this embodiment, the robot body 10 has a larger dimension along its width direction than its height direction. In other words, the robot body 10 has a basically flat structure with one side attached to the wall, which makes the robot body 10 occupy less space in the height direction (i.e., the radial direction of the pipe) and can adapt to narrow pipe obstacle sections. At the same time, the main wall-attaching surface 13 achieves stable contact with the pipe wall, avoiding flipping or loss of posture in the pipe. The first contact member 22a and the second contact member 22b arranged along the axial direction of the robot body 10 have different physical characteristics (at least one of bending stiffness characteristics, normal compression response characteristics, contact area change characteristics, and surface friction texture characteristics). This allows the robot's front end to passively deform and fit when encountering an obstacle, while the rear end maintains stable gripping. This division of labor between the front and rear ends improves the robot's ability to guide, adapt to walls, and maintain traction stability in obstacle sections such as steps, reduced diameters, bends, and residual accumulations, and reduces the risk of jamming and slippage.
[0035] The drive unit 21 is electrically connected to the contact structure 22, providing power for the alternating movement of the first contact member 22a and the second contact member 22b arranged front and rear on the main contact wall 13. The start and stop states of the drive unit 21 can be controlled by the control module 30, so that the first contact member 22a and the second contact member 22b arranged front and rear are asynchronously in the anchoring state and the sliding state with the pipe wall during the movement cycle (i.e., "alternating gripping and releasing"), so that the robot can form a stable axial stepping displacement in the narrow pipe, effectively solving the slippage problem and improving the ability to pass through complex obstacle sections. By adjusting the timing relationship between the anchoring state and the sliding state of the first contact member 22a and the second contact member 22b arranged front and rear respectively by the control module 30 (such as swapping the timing of "front anchor and back slide → front slide and back anchor" when moving forward), the direction of movement can be reversed without changing the hardware structure, realizing the robot's active retreat and escape when obstructed, improving the completion rate and safety of the robot's inspection work in the narrow pipe.
[0036] Optionally, combined Figure 4 As shown, the first contact member 22a is located in front of the second contact member 22b, and the bending stiffness of the first contact member 22a is less than that of the second contact member 22b.
[0037] Specifically, along the axial direction of the robot body 10 (i.e., along the direction of pipe extension, which is also the robot's forward direction), the first contact member 22a is positioned in front of the second contact member 22b. More specifically, the first contact member 22a is closer to the front end (inlet end) of the robot body 10, and the second contact member 22b is closer to the rear end (tail end) of the robot body 10.
[0038] Bending stiffness refers to the ability of a component to resist bending deformation, and its magnitude depends on the elastic modulus, cross-sectional shape, and size of the material. The first contact component 22a has a lower bending stiffness, which means that it is more likely to bend under normal force or bending moment, exhibiting "compliant" characteristics; the second contact component 22b has a higher bending stiffness, which means that it is more difficult to bend under bending deformation, exhibiting "rigid" or "stable" characteristics.
[0039] The first contact member 22a may be made of a low-hardness elastic material, such as silicone rubber, thermoplastic elastomer, or polyurethane foam. The second contact member 22b may be made of a high-hardness material, such as polycarbonate, nylon, stainless steel sheet, or fiber-reinforced composite material.
[0040] In this optional embodiment, when the robot enters a step, a narrowing, or a bend, the pipe geometry changes abruptly. The robot's front end needs to conform to the pipe wall contour or cross the obstacle edge. The first contact member 22a with low bending stiffness is placed on the front side, so that it can passively bend and deform when encountering an obstacle, conforming to the obstacle surface, thereby reducing the mechanical resistance of the front end. During the robot's propulsion process, the stable support at the rear end is the key to generating effective traction force. The second contact member 22b with high bending stiffness is placed on the rear side, so that it maintains shape stability during driving, providing continuous and reliable normal clamping force and friction force, enhancing the robot's stable traction ability and gripping reliability in obstacle sections, and avoiding slippage caused by rear end deformation.
[0041] Optionally, the first contact member 22a and / or the second contact member 22b each include a member base and a friction contact layer. The member base is fixed to the main contact wall 13 of the robot body 10, and the friction contact layer is disposed on the side of the member base away from the main contact wall 13. The friction contact layer has a friction texture extending along the axial direction of the robot body 10, and the friction texture includes at least one of directional ratchet, inclined microfiber texture and scale-like ridge.
[0042] Specifically, the structures of the first contact member 22a and the second contact member 22b may be the same or different.
[0043] The component base serves as the main support for the friction contact layer and is fixed to the main contact wall 13 of the robot body 10.
[0044] The base of the first contact component 22a can be made of a low-hardness elastic material (such as silicone rubber or thermoplastic elastomer), while the base of the second contact component 22b can be made of a high-hardness material (such as polycarbonate, nylon, or metal sheet). The component base can be fixed to the main contact wall surface 13 (i.e., the side that is in contact with the pipe wall) by means of bonding, insert molding, mechanical snap-fit, screw connection, etc.
[0045] A friction contact layer covers the outer surface of the component base (i.e., the side that directly contacts the inner wall of the pipe). This friction contact layer is used to form frictional contact with the pipe wall, and its material can be wear-resistant rubber, polyurethane, thermoplastic elastomer, or a polymer film with a microstructure. The friction contact layer can be fixed to the component base by secondary injection molding, coating, bonding, or embedding.
[0046] The "axial extension" of the friction texture refers to the fact that the main edges, grooves, or fibers of the friction texture are parallel to the axis of the robot body 10. Friction textures can take various specific geometric forms; the following are three preferred types, which can be used individually or in combination.
[0047] The directional ratchet pattern consists of a series of asymmetrical serrated protrusions or grooves arranged axially. Each ratchet has a steep back (against the grain direction) and a gentle slope (along the grain direction), resembling the microstructure of fish scales or ratchet teeth. When the robot moves along the grain direction (along the tooth direction), the slope of the ratchet contacts the tube wall, resulting in low friction; when the robot moves against the grain direction (against the tooth direction), the back of the ratchet engages with the micro-protrusions of the tube wall, significantly increasing friction.
[0048] The inclined microfiber texture is composed of numerous fine fibers. The fiber roots are fixed to the friction contact layer matrix, and the free ends of the fibers are inclined in a certain axial direction, similar to the directional arrangement of bristles or fluff. The fibers can be made of polyester, nylon, or carbon fiber. When pulled along the inclined direction of the fiber, the fiber bends, resulting in low friction; when pulled against the inclined direction of the fiber, the fiber stands upright, resulting in high friction.
[0049] The scale-like ridges are composed of a series of overlapping scale protrusions. One end of each scale is fixed to the substrate, while the other end is free and raised, pointing in a certain axial direction. When moving along the overlapping direction of the scales (forward), the scales are flat and the friction is small; when moving in the opposite direction, the edges of the scales are raised and scrape the pipe wall, resulting in large friction.
[0050] All friction patterns are oriented along the 10-axis of the robot body, resulting in frictional anisotropy—low friction in one direction of motion (facilitating slippage) and high friction in the opposite direction (facilitating anchoring).
[0051] In this optional embodiment, an axially oriented friction texture is provided on the friction contact layer, causing the contact components to exhibit different friction coefficients in different motion directions. By reasonably setting the texture direction (for example, the texture direction of the first contact component 22a is low friction when moving forward and high friction when moving backward; the texture direction of the second contact component 22b is opposite), and in conjunction with the control timing, the ideal state of "one anchoring and the other sliding" during forward motion can be achieved. This significantly enhances the robot's traction efficiency and displacement stability during forward motion, reduces slippage, and improves its ability to pass through narrow pipe obstacle sections.
[0052] The directional friction texture makes the friction characteristics during backward movement opposite to those during forward movement—contact components that were low-friction during forward movement become high-friction during backward movement (facilitating anchoring), and contact components that were high-friction during forward movement become low-friction during backward movement (facilitating sliding). By switching the timing through the control module 30, the robot can achieve effective backward displacement, giving the robot the ability to actively retract and escape obstacles, enabling reliable backward movement after being obstructed, and avoiding blind spots in inspection and the risk of equipment stagnation.
[0053] Optionally, the friction texture of the first contact member 22a differs from the friction texture of the second contact member 22b in at least one of the three aspects: texture direction, texture density, and texture tilt angle.
[0054] Specifically, the texture direction refers to the axial direction in which the anisotropy of the friction texture points. For oriented ratchet textures, the texture direction refers to the orientation of the ratchet's inclined surface (i.e., the low-friction direction); for inclined microfiber textures, the texture direction refers to the direction of the fiber's inclination; for scaly textures, the texture direction refers to the orientation of the overlapping scales (i.e., the low-friction direction). By setting opposite or different texture directions, the front and rear contacting components exhibit diametrically opposed frictional anisotropy in the same direction of movement, thereby achieving the ideal state of "one anchored, the other sliding" under the timing coordination of the control module 30.
[0055] Texture density refers to the number of texture features (such as the number of ratchet teeth, fiber roots, and scales) per unit area. Higher density results in a denser surface microstructure, more actual contact points with the pipe wall, and corresponding changes in frictional characteristics. The first contact member 22a has a lower frictional texture density, making its contact with the pipe wall sparser, resulting in lower frictional force per unit area and easier slippage. The second contact member 22b has a higher frictional texture density, making its contact with the pipe wall tighter, resulting in greater frictional force and easier anchoring. By controlling the difference in texture density, the gripping force of the front and rear contact members in the anchored state and the resistance in the slipping state can be independently adjusted, thereby optimizing propulsion efficiency.
[0056] Texture tilt angle refers to the angle of inclination of a texture feature relative to the normal or axis of the contact surface. For ratchet textures, the tilt angle is the angle between the ratchet bevel and the horizontal plane; for inclined microfiber textures, the tilt angle is the angle between the fiber and the surface normal; for scaly textures, the tilt angle is the angle between the raised portion of the scale and the base surface. Differences in texture tilt angle result in different sensitivities of the front and rear contact components to changes in the normal pressure of the pipe wall, thus producing different degrees of frictional response under driving excitation and enhancing the reliability of asynchronous motion.
[0057] In this optional embodiment, the texture direction, texture density, or texture tilt angle of the first contact member 22a and the second contact member 22b are different from each other, so that the first contact member 22a and the second contact member 22b arranged in front and behind each other exhibit different friction response characteristics under different motion directions or different working conditions.
[0058] By setting different texture directions (e.g., forward-clockwise and backward-clockwise), during forward movement, the first contact member 22a exhibits low friction (slipping) and the second contact member 22b exhibits high friction (anchoring), resulting in effective forward displacement. During backward movement, due to directionality, the first contact member 22a becomes high friction (anchoring) and the second contact member 22b becomes low friction (slipping), similarly resulting in effective backward displacement. Relying solely on differences in bending stiffness might lead to unreliable anchoring during backward movement due to the deformation direction of compliant components. Texture direction differences, however, provide frictional characteristics strictly related to the direction of movement, enabling optimal anchoring / slipping pairing for both forward and backward movement. This simultaneously enhances the robot's forward traction and backward obstacle avoidance capabilities, achieving high efficiency in bidirectional movement, ensuring proactive retraction after obstruction, and avoiding blind spots in inspection.
[0059] Optionally, combined Figure 4 As shown, the control module 30 is configured to switch the timing relationship between the anchoring state and the sliding state of the first contact member 22a and the second contact member 22b respectively when obstacle information is detected, so that the robot switches from forward to backward or from backward to forward; wherein, the obstacle information includes at least one of motion obstruction, increased propulsion resistance and abnormal axial displacement.
[0060] In this optional embodiment, the robot's forward movement along the pipe axis is achieved by a repetitive periodic propulsion sequence, which includes phase A and phase B. After the previous cycle ends, the control module 30 outputs a drive signal corresponding to phase A. The drive unit 21 receives the drive signal and outputs a corresponding mechanical excitation signal, which is then transmitted to the first contact member 22a and the second contact member 22b. Under the action of the mechanical excitation signal, the first contact member 22a enters a strong wall-attached constraint state or a high friction state with the pipe wall, while the second contact member 22b enters a relatively easy relative sliding state or a low friction state with the pipe wall (see...). Figure 4 (d1)). In phase A, the robot body 10 generates a small relative sliding displacement along the axial direction, which is primarily manifested as a displacement component generated by the second contact member 22b along a predetermined direction, thereby completing one propulsion substep along the predetermined direction (see [link]). Figure 4 (d2)).
[0061] After phase A ends, the control module 30 continues to output a drive signal corresponding to phase B. The drive unit 21 receives the drive signal and outputs a corresponding mechanical excitation signal, which is then transmitted to the first contact member 22a and the second contact member 22b. Under the action of the mechanical excitation signal, the second contact member 22b enters a state of strong wall-adherence constraint or high friction with the pipe wall, while the first contact member 22a enters a state of easier relative sliding or lower friction with the pipe wall (see...). Figure 4 (d3)). In phase B, the first contact member 22a generates a preferential displacement relative to the pipe wall, causing the robot body 10 to form a small axial displacement, thereby completing another propulsion substep along the predetermined direction (see [reference]). Figure 4 (d4)).
[0062] Phase A and Phase B alternate, allowing the robot to achieve net axial displacement within a complete cycle, thus enabling continuous forward movement along the pipe axis. The robot body 10 is not required to actively perform specific bending or straightening movements.
[0063] The robot's backward movement is achieved by altering the timing sequence of the anchoring and sliding states of the first contact member 22a and the second contact member 22b. The control module 30 adjusts the drive signal parameter settings of phase A and phase B, causing the high-friction anchoring phase and the low-friction sliding phase of the first contact member 22a and the second contact member 22b to be swapped in time or otherwise adjusted, thereby enabling the robot to obtain a net axial displacement in the opposite direction to forward movement, thus achieving backward movement and retraction.
[0064] Optionally, combined Figure 2 and Figure 3 As shown, the robot body 10 also has a drag-reducing surface 14 disposed opposite to the main wall surface 13, and the friction coefficient of the drag-reducing surface 14 is less than the friction coefficient of the main wall surface 13.
[0065] Specifically, the drag-reducing surface 14 and the main wall-attaching surface 13 can be located on opposite sides of the robot body 10. For example, if the main wall-attaching surface 13 is located on the bottom surface of the robot body 10, then the drag-reducing surface 14 can be located on the top surface of the robot body 10.
[0066] The drag-reducing surface 14 can be a smooth surface or made of a low-friction material.
[0067] In this optional embodiment, when the robot moves inside the pipe, if it encounters an obstacle section where the inner diameter of the pipe decreases, the contact structure 22 provided at the bottom of the main wall surface 13 can directly contact the pipe wall, and the drag-reducing surface 14 opposite to the main wall surface 13 can also contact the inner wall of the pipe. At this time, the drag-reducing surface 14 with a smaller coefficient of friction can reduce the relative movement resistance to the pipe wall.
[0068] Optionally, combined Figure 2 and Figure 3 As shown, the robot body 10 includes a head segment 101 and a main body segment 102 connected sequentially along its axial direction; the drive unit 21 is disposed on the main body segment 102; The head segment 101 is provided with attitude limiting guide edges 12 at both ends along its width direction, and the diameter of the attitude limiting guide edges 12 decreases from the front end to the rear end of the head segment 101.
[0069] Specifically, the head section 101 is located at the very front of the robot, adjacent to or integrally formed with the front-end obstacle-crossing structure 11. The head section 101 supports the front-end obstacle-crossing structure 11 and the attitude-limiting guide edge 12, and mainly undertakes the functions of "importing" and "attitude guidance". The head section 101 can be made of the same material as the main body section 102, or it can be made of a more flexible material (such as low-hardness silicone or thermoplastic elastomer) to enhance its adaptability to obstacles.
[0070] The main body segment 102 is located behind the head segment 101 and is the main load-bearing part of the robot body 10. The main body segment 102 is equipped with a drive unit 21, a control module 30, and first contact member 22a, second contact member 22b (or parts thereof). The main body segment 102 needs to have sufficient structural strength to support the working load of the drive unit 21, and can be made of polycarbonate, nylon, aluminum alloy, or fiber-reinforced composite materials.
[0071] The head section 101 and the main body section 102 can be connected by adhesive, snap-fit, hinge, or integral molding. Preferably, the two are connected by a flexible hinge or elastic connection, so that the head section 101 can deflect to a certain extent when it is impacted by an obstacle, further reducing the risk of jamming.
[0072] The control module 30 can be embedded inside the main body segment 102 or fixed to the outer surface of the main body segment 102. The drive unit 21 can be embedded inside the main body segment 102 or fixed to the outer surface of the main body segment 102.
[0073] The installation position of the drive unit 21 should enable the mechanical excitation it generates to be effectively transmitted to the first contact member 22a and the second contact member 22b. Since the first contact member 22a is located at the front of the main body section 102 and the second contact member 22b is located at the rear of the main body section 102, placing the drive unit 21 in the main body section 102 allows the excitation signal to act more directly on the rear stabilizing traction member, while simultaneously transmitting vibration or displacement to the head section 101 through the main body section 102.
[0074] Limited pose guide edges 12 are provided on the left and right sides of the head section 101 (both ends along the width direction of the robot).
[0075] The orientation-limiting guide edge 12 is designed with an arc shape, rounded corners, or gradient stiffness, and its outer contour is smooth to avoid sharp edges causing jamming. The material of the orientation-limiting guide edge 12 can be integrally molded with the head section 101 (such as silicone rubber or polyurethane), or it can be covered with a more flexible material (such as thermoplastic elastomer) to make it adapt to deformation when contacting the obstacle, further reducing the risk of jamming.
[0076] The diameter of the attitude-limiting guide edge 12 refers to the outer contour dimension of the attitude-limiting guide edge 12 in the width direction of the head segment 101, that is, the distance between the outer edges of the left and right attitude-limiting guide edges 12. This distance gradually increases from the front end (the very front end) of the head segment 101 to the rear end of the head segment 101 (in the direction closer to the main body segment 102), forming a gradient contour that is "narrower at the front and wider at the back".
[0077] Specifically, at the very front end of the head section 101 (near the front-end obstacle-crossing structure 11), the distance between the outer edges of the left and right attitude-limiting guide edges 12 is the smallest, making the front of the head section 101 appear narrow; as it extends towards the rear end of the head section 101, the distance between the outer edges gradually increases, reaching its maximum value at the connection between the head section 101 and the main body section 102.
[0078] In this optional embodiment, the robot body 10 is provided with attitude-limiting guide edges 12 on both the left and right sides. When the robot enters a bend, a reduced diameter section, or a side cavity entrance, the narrow profile at the front end of the head section 101 makes it easy to insert into the narrow channel. As the robot continues to move forward, the gradually expanding attitude-limiting guide edges 12 gradually contact the pipe wall, automatically correcting the robot's posture to align with the pipe axis, preventing deflection or jamming. This adapts to local structural areas such as bends, joints, and reducing diameter sections, limiting posture deflection and reducing the risk of side jamming. The attitude-limiting guide edges 12 adopt a gradually expanding design that is narrow at the front and wide at the back, forming a smooth wedge-shaped guide profile. When the front end of the head section 101 enters the step or narrowing section inside the pipe, the narrow profile passes through the narrow area first; when it encounters the edge of the step, the gradually widening slope decomposes the axial resistance into a radial component force, so that the robot is "guided" to cross the edge instead of being stuck. This design is similar to the principle of "wedge guide" or "bow breaking the wave", which transforms the risk of jamming into a guiding effect, significantly reducing the risk of the robot getting stuck on the side at radial abrupt changes such as steps, narrowing, and misaligned joints, and improving the pass rate of obstacle sections.
[0079] Optionally, combined Figures 1 to 3 As shown, the head section 101 includes a front-end guide obstacle crossing structure 11, which includes an upward-curving guide slope 11a and a friction-reducing transition zone connected sequentially along the axial direction of the robot body 10. The thickness of the leading edge of the upward-curving guide slope 11a is less than the thickness of the main body section 102. The attitude-limiting guide edge 12 and the front-end guide obstacle-crossing structure 11 are connected to form a continuous guide contour.
[0080] Specifically, the front-end obstacle-crossing structure 11 is part of the head segment 101 and is located in the front-end region of the head segment 101. The front-end obstacle-crossing structure 11 and the attitude-limiting guide edge 12 can together constitute the head segment 101.
[0081] The upward-curving guide ramp 11a is located at the very front of the front-end obstacle-crossing structure 11, and has an upward-curving arc or sloping shape. The upward-curving guide ramp 11a gradually narrows along the robot's forward direction and forms a semi-ellipsoidal arc-shaped guide profile that is narrow at the front and wide at the back. In longitudinal section view, it presents an upward-curving arc-shaped guide ramp structure.
[0082] The friction-reducing transition zone is located behind the upward-curving guide slope 11a, connecting the upward-curving guide slope 11a and the first contact member 22a. The outer surface of the friction-reducing transition zone is relatively smooth and has a low coefficient of friction. It is used to achieve a smooth transition from the initial contact to the stable wall contact after the upward-curving guide slope 11a passes over the inner step of the pipe, the reduced diameter inlet, the transition edge of the elbow, or the residual accumulation area, so as to reduce the top resistance and jamming risk of the head section 101.
[0083] In this optional embodiment, the front end of existing robots is mostly flat or simply rounded. When encountering steps or narrowing pipe diameters, the front end face forms a hard "face-to-face" contact with the edge of the obstacle, resulting in high resistance and easy jamming. With a structure where the thickness of the leading edge of the upturned guide slope 11a is less than the thickness of the main body section 102, the front end of the head section 101 forms a "thin blade" shape. When encountering steps, the thin leading edge (upturned guide slope 11a) can insert into the tiny gap between the step and the pipe wall, lifting the robot body 10; when encountering a narrowing pipe diameter, the thin leading edge (upturned guide slope 11a) can enter the narrowing section first, and the subsequent expanding structure gradually adapts. The upturned guide slope 11a decomposes part of the axial force in the forward direction into a normal lifting force, helping the robot "climb" over obstacles, significantly improving the robot's ability to enter obstacle sections such as steps, narrowing pipe diameters, and residual accumulation, reducing the initial top resistance, and enabling the robot to smoothly enter complex pipe sections.
[0084] Even if the front-end is successfully guided, if there is a step or geometric abrupt change between the trailing edge of the upward-curving guide slope 11a and the subsequent contact component, the robot may still experience secondary jamming during the transition phase. A friction-reducing transition zone is set behind the upward-curving guide slope 11a. This zone has a smooth surface, a low coefficient of friction, and a geometric contour that smoothly connects with the upward-curving guide slope 11a. After the robot crosses the obstacle, the friction-reducing transition zone acts as a "buffer zone," allowing the robot to smoothly transition from the front-end guiding state to the stable wall-hugging state of the first contact component 22a. This avoids secondary jamming caused by geometric abrupt changes or frictional abrupt changes, achieving a smooth transition from guiding to wall-hugging motion, reducing resistance and impact during the transition phase, and improving the success rate of obstacle passage.
[0085] If the front-end obstacle-crossing structure 11 separates from the attitude-limiting guide edge 12 (due to gaps or geometric discontinuities), the robot may experience attitude deflection after entry due to poor lateral contact. Connecting the attitude-limiting guide edge 12 to the front-end obstacle-crossing structure 11 to form a continuous guide contour seamlessly integrates the front-end entry function with the lateral guidance function. The continuous contour forms a smooth "guide surface" in three-dimensional space, ensuring that regardless of the robot's posture, there is always a continuous surface in contact with the pipe wall or obstacle edge, guiding the robot to the correct trajectory. This significantly reduces the risk of the robot getting stuck on the side at bends, side cavity entrances, and step edges, enhances the robot's attitude stability, and improves obstacle passage rate.
[0086] Optionally, combined Figures 1 to 2 As shown, the robot suitable for narrow pipe obstacle sections also includes a reconnaissance module for acquiring information about the internal environment of the pipe wall. The reconnaissance module includes a first connector 41 and a reconnaissance component 42. The reconnaissance component 42 is connected to the first connector 41. A second connector is provided on the main body section 102 near the head section 101. The reconnaissance component 42 is detachably connected to the second connector through the first connector 41.
[0087] Specifically, the first connector 41 is used to achieve a detachable connection with the second connector on the robot body 10.
[0088] The first connector 41 may include a mechanical connection structure (such as a snap fastener, pin, magnetic base, or threaded interface) to achieve physical fixation.
[0089] The reconnaissance component 42 is fixedly connected to the first connector 41 (it can be a non-removable fixed connection or a removable, replaceable component), forming the entire reconnaissance module. The first connector 41 serves as a "bridge" between the reconnaissance component 42 and the robot body 10.
[0090] A shock-absorbing structure (such as a silicone gasket) can be provided between the reconnaissance component 42 and the first connector 41 to isolate the vibration generated by the robot's movement and ensure the stable operation of the reconnaissance component 42.
[0091] The main body segment 102 has a receiving cavity, in which both the first connector 41 and the reconnaissance component 42 are housed. The second connector can be located on the upper surface, side surface, or inner bottom wall of the main body segment 102, with the specific location determined based on the field of view requirements of the reconnaissance component 42 and the structure of the robot body 10. The structural design of the second connector matches that of the first connector 41. For example, if the first connector 41 is a snap-fit male connector, then the second connector is a snap-fit female connector; if the first connector 41 is a magnetic base, then the second connector is a corresponding magnetic surface or magnetic conductor.
[0092] The reconnaissance component 42 is one or more of a visual reconnaissance component, an ultrasonic reconnaissance component, and a sensor reconnaissance component.
[0093] The visual reconnaissance component includes a miniature camera (such as a CMOS or CCD image sensor), a lens, and an LED light. The camera can be equipped with a wide-angle or fisheye lens to acquire direct images of the inside of the pipe. The visual reconnaissance component is suitable for clean or low-turbidity water environments, allowing for direct observation of pipe wall scaling, corrosion, foreign object accumulation, and misaligned joints. The camera front end can be fitted with a transparent protective cover (such as sapphire glass or polycarbonate) and equipped with automatic or manual focusing; the LED light can automatically adjust its brightness according to the ambient light.
[0094] The ultrasonic reconnaissance component includes an ultrasonic transducer (transmitter and receiver) and signal processing circuitry. The ultrasonic transducer can be a single-element or array design. It is suitable for turbid water bodies or environments where light cannot reach, and can detect pipe wall thickness, sediment thickness, and internal defects (such as cracks and corrosion) through ultrasonic echoes.
[0095] The sensing and detection components include various miniature sensors, such as temperature sensors, pressure sensors, pH sensors, turbidity sensors, and gas sensors (e.g., methane, hydrogen sulfide). One or more sensor types can be selected depending on the detection task. It is suitable for quantitative detection of water quality parameters and environmental parameters within pipelines.
[0096] A single reconnaissance module can integrate multiple reconnaissance components 42. For example, a miniature camera and an ultrasonic transducer can be integrated into the same housing; the camera is used for visual observation, and the ultrasound is used for thickness measurement or detection of obstacles in turbid water.
[0097] In this optional embodiment, a reconnaissance module is added to the robot body 10, upgrading the robot from a simple "transportation platform" to an "inspection platform," enabling it to acquire information about the internal environment of the pipe wall while in motion. The reconnaissance component 42 can be quickly assembled and disassembled with the first connector 41 and the second connector. Users can select or replace the reconnaissance component 42 (vision, ultrasound, sensing, or a combination) according to actual working conditions, significantly improving the robot's multi-functional adaptability. The same robot body 10 can be compatible with multiple detection tasks, reducing equipment procurement and maintenance costs and expanding application scenarios.
[0098] Optionally, combined Figures 1 to 2 As shown, the robot body 10 also includes a cable module 103, which includes a flexible connecting section 1031 and a cable body 1032. The flexible connecting section 1031 is detachably connected to the main body section 102. One end of the cable body 1032 passes through the flexible connecting section 1031 and is electrically connected to the control module 30 and the drive unit 21. The other end of the cable body 1032 is used to connect to an external control terminal.
[0099] Specifically, the cable module 103 consists of two parts, such as a flexible connection section 1031 (a transition section close to the robot body 10) and a cable body 1032 (a long cable extending to the outside). This segmented design makes the connection between the robot body 10 and the cable more flexible and reduces the interference of the cable on the robot's movement.
[0100] The flexible connection section 1031 typically includes a flexible sheath and a stress-relief structure. The flexible sheath is a tubular or strip-shaped sheath made of a highly flexible material (such as silicone rubber, thermoplastic elastomer, or polyurethane), which houses the cable core wires. A tapered or stepped stress-relief structure (such as a tail sleeve) is provided at the connection between the flexible connection section 1031 and the robot body 10 to prevent the core wires from breaking when the cable body 1032 is bent.
[0101] The cable body 1032 is a long-distance cable extending from the rear end of the flexible connection section 1031 to the external control terminal.
[0102] The flexible connecting section 1031 is detachably connected to the robot body section 102, allowing the cable module 103 to be separated from the robot body section 102 when needed.
[0103] The flexible connecting section 1031 can be connected by a mechanical connection structure, such as a threaded connection, a snap-fit connection, a plug-in connection, or a magnetic connection.
[0104] The cable body 1032 can serve as a connecting wire between the control module 30 and the drive unit 21 and an external control terminal. The external control terminal can be a handheld controller, a laptop computer, an industrial computer, etc.
[0105] In this optional embodiment, cable module 103 enables wired power supply and communication. The cable body 1032 is directly connected to the external control terminal, which can provide the robot with a continuous and stable power supply (without endurance limit) and ensure high-quality, low-latency communication of control commands and detection data through wired transmission.
[0106] A flexible connection section 1031 is provided between the robot body 10 and the cable body 1032. This section is made of a highly flexible material, which can absorb the stress generated by the bending and twisting of the cable body 1032 and reduce the transmission of tension from the cable body 1032 to the robot body 10.
[0107] The flexible connecting section 1031 is detachably connected to the main body section 102, and the cable module 103 can be quickly replaced as an independent component. Operators only need to unlock the connection structure (such as loosening the threads or pressing the buckle) to remove the damaged cable module 103, replace it with a new module, and continue to use the robot. This improves the maintainability and repairability of the robot, reduces maintenance costs and downtime, and extends the overall service life of the equipment.
[0108] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.
Claims
1. A robot suitable for narrow pipe obstacle sections, characterized in that, include: The robot body (10) has a dimension in its width direction that is greater than its dimension in its height direction, and has a main wall-attaching surface (13) for abutting against the pipe wall. The contact structure (22) includes a first contact member (22a) and a second contact member (22b). The first contact member (22a) and the second contact member (22b) are disposed on the main contact wall surface (13) along the axial direction of the robot body (10), and the two have different physical properties. The physical properties include at least one of bending stiffness characteristics, normal compression response characteristics, contact area change characteristics, and surface friction texture characteristics. A drive unit (21) is disposed on the robot body (10) and electrically connected to the contact structure (22) for driving the robot to move; A control module (30) is electrically connected to the drive unit (21). The control module (30) is configured to control the drive state of the drive unit (21) so that the first contact member (22a) and the second contact member (22b) are asynchronously in the anchoring state and the sliding state with the pipe wall during the motion cycle, so that the robot body (10) forms an axial displacement. The control module (30) is also used to adjust the timing relationship between the anchoring state and the sliding state of the first contact member (22a) and the second contact member (22b) respectively, so as to realize the switching of the robot's motion direction.
2. The robot suitable for narrow pipe obstacle sections according to claim 1, characterized in that, The first contact member (22a) is located in front of the second contact member (22b), and the bending stiffness of the first contact member (22a) is less than the bending stiffness of the second contact member (22b).
3. The robot suitable for narrow pipe obstacle sections according to claim 1, characterized in that, The first contact member (22a) and / or the second contact member (22b) each include a member base and a friction contact layer. The member base is fixed to the main contact wall surface (13) of the robot body (10), and the friction contact layer is disposed on the side of the member base away from the main contact wall surface (13). The friction contact layer has a friction texture extending along the axial direction of the robot body (10), the friction texture including at least one of directional ratchet, inclined microfiber texture and scale-like ridge.
4. The robot suitable for narrow pipe obstacle sections according to claim 3, characterized in that, The friction texture of the first contact member (22a) differs from that of the second contact member (22b) in at least one of the three aspects: texture direction, texture density, and texture tilt angle.
5. The robot for use in narrow pipe obstacle sections according to claim 1, characterized in that, The control module (30) is configured to switch the timing relationship between the anchoring state and the sliding state of the first contact member (22a) and the second contact member (22b) respectively when obstacle information is detected, so that the robot switches from forward to backward or from backward to forward; wherein the obstacle information includes at least one of motion obstruction, increased propulsion resistance and abnormal axial displacement.
6. The robot for use in narrow pipe obstacle sections according to claim 1, characterized in that, The robot body (10) also has a drag-reducing surface (14) disposed opposite to the main wall surface (13), the friction coefficient of the drag-reducing surface (14) being less than the friction coefficient of the main wall surface (13).
7. The robot suitable for narrow pipe obstacle sections according to any one of claims 1 to 6, characterized in that, The robot body (10) includes a head section (101) and a main body section (102) connected sequentially along its axial direction; the drive unit (21) is disposed on the main body section (102). The head section (101) is provided with attitude-limiting guide edges (12) at both ends along its width direction. The diameter of the attitude-limiting guide edges (12) gradually expands from the front end to the rear end of the head section (101).
8. The robot for use in narrow pipe obstacle sections according to claim 7, characterized in that, The head section (101) includes a front-end guide obstacle crossing structure (11), which includes an upward-curving guide slope (11a) and a friction-reducing transition zone connected sequentially along the axial direction of the robot body (10). The thickness of the leading edge of the upward-curving guide slope (11a) is less than the thickness of the main body section (102). The attitude-limiting guide edge (12) and the front-end obstacle-crossing structure (11) are connected to form a continuous guide contour.
9. The robot for use in narrow pipe obstacle sections according to claim 7, characterized in that, It also includes a reconnaissance module for obtaining internal environmental information of the pipe wall. The reconnaissance module includes a first connector (41) and a reconnaissance component (42). The reconnaissance component (42) is connected to the first connector (41). A second connector is provided on the main body section (102) near the head section (101). The reconnaissance component (42) is detachably connected to the second connector through the first connector (41).
10. The robot for use in narrow pipe obstacle sections according to claim 7, characterized in that, The robot body (10) also includes a cable module (103), which includes a flexible connecting section (1031) and a cable body (1032). The flexible connecting section (1031) is detachably connected to the main body section (102). One end of the cable body (1032) passes through the flexible connecting section (1031) and is electrically connected to the control module (30) and the drive unit (21). The other end of the cable body (1032) is used to connect to an external control terminal.