Intelligent pipeline detection robot and detection method thereof

Abstract

The application relates to the technical field of pipeline detection, in particular to an intelligent pipeline detection robot, which comprises a robot main body, a plurality of driving wheels installed on the top of the robot main body and symmetrically distributed on the left and right sides, a telescopic mechanism arranged at the bottom of the robot main body and symmetrically distributed on the left and right sides, when the robot main body moves into a pipeline, the telescopic mechanism can push the robot main body upwards and make the driving wheels abut against the inner wall of the pipeline, and the two telescopic mechanisms can synchronously and reversely rotate around the robot main body. The robot main body is moved upwards by the telescopic mechanism until the driving wheels abut against the inner wall of the top of the pipeline, at this time, the robot main body is located close to the top of the pipeline, the robot main body can be prevented from being immersed in sewage for a long time, the risk of water leakage and short circuit of the robot main body is reduced, sewage is prevented from shielding the detection mechanism, and the detection mechanism can be accurately detected.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to an intelligent pipeline inspection robot and its inspection method. Background Technology

[0002] Municipal pipeline engineering is a crucial component of urban infrastructure construction, acting like the city's blood vessels to provide essential infrastructure support for urban residents and industrial production, ensuring the normal operation and development of the city. Municipal pipeline engineering includes the stable supply of necessities such as water and electricity, and is also responsible for the effective treatment of sewage, maintaining the cleanliness and hygiene of the urban environment. Because some pipelines have small diameters and contain sewage, sludge, and other contaminants, it is difficult for pipeline workers to enter them for inspection. Therefore, pipeline inspection robots are used to replace manual inspections.

[0003] Pipeline inspection robots (also known as pipeline crawlers) are small, intelligent devices that can enter pipes and replace manual labor to perform visual and multi-sensor inspections. The mainstream type is the cabled CCTV robot, mainly used to detect pipe blockages, cracks, and deformations. Wheeled robots are the most common type of pipeline inspection robot, driven by wheels to walk in the pipe for inspection. However, because pipes usually contain sewage, sludge, and other impurities, existing robots need to wade through water at the bottom of the pipe. Sewage and sludge not only increase the resistance when the robot moves, but prolonged wading also severely tests the robot's waterproof function. Once the waterproof function fails, it will cause fatal damage to the robot. In addition, sewage and sludge can also block the inspection equipment such as cameras mounted on the robot, affecting the accuracy of the inspection. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an intelligent pipeline inspection robot, comprising a robot body and a plurality of drive wheels mounted on the top of the robot body and distributed in pairs on the left and right sides, and further comprising: The telescopic mechanism is located at the bottom of the robot body and is symmetrically distributed on the left and right. When the robot body moves into the pipe, the telescopic mechanism can push the robot body upward and make the drive wheel abut against the inner wall of the pipe. The two telescopic mechanisms on the left and right can rotate synchronously in opposite directions around the robot body.

[0005] The walking mechanism includes a bracket installed at the bottom of the telescopic mechanism, and a set of omnidirectional wheels distributed front and rear are installed at the bottom of the bracket.

[0006] The omnidirectional wheel assembly includes a central wheel rotatably mounted on the bottom of the support. Inner and outer wheels are respectively mounted on the left and right sides of the central wheel. Several transverse wheels are evenly mounted on the inner and outer wheels. When the robot body moves into the pipe and the telescopic mechanism is in an inclined state, the diameter of the inner wheel can expand outward until the transverse wheels on it abut against the inner wall of the pipe.

[0007] The inspection mechanism is located at the bottom of the robot body and is used to inspect the inner wall of the pipe.

[0008] In one possible implementation, the telescopic mechanism includes a rotating base rotatably mounted on the bottom of the robot body, a scissor-type telescopic frame mounted on the bottom of the rotating base, a support mounted on the bottom of the scissor-type telescopic frame, and a drive assembly for driving the extension and retraction of the scissor-type telescopic frame mounted on the rotating base.

[0009] In one possible implementation, the drive assembly includes a lead screw rotatably mounted inside a rotating seat, a slider threaded onto the lead screw, the slider being slidably connected to the rotating seat, the top of the scissor-type telescopic frame being hinged to the slider, and a motor for driving the lead screw rotation being fixedly mounted on the front side of the rotating seat.

[0010] In one possible implementation, the inner traveling wheel consists of several movable plates evenly distributed circumferentially about the central axis of the central wheel. The movable plates are slidably connected to the central wheel, and the transverse wheels are rotatably mounted on the corresponding movable plates. The central wheel is equipped with an expansion unit for driving the movable plates to move radially along the central wheel.

[0011] In one possible implementation, the expansion unit includes a turntable rotatably mounted on the side of the central wheel near the center of the robot body. The turntable has several circumferentially evenly distributed arc-shaped grooves. A guide block is fixedly connected to the side of the movable plate near the central wheel. The guide block is slidably mounted in the corresponding arc-shaped groove. A motor for driving the turntable to rotate is also installed inside the central wheel.

[0012] In one possible implementation, an adjustment mechanism is also included, comprising a swing arm fixedly connected to the rear side of the rotating seat and located behind the robot body. An electric telescopic rod is fixedly installed on the rear side of the robot body. The bottom of the electric telescopic rod is hinged with connecting rods that are symmetrically distributed on both sides. The end of the connecting rod away from the electric telescopic rod is hinged to the end of the corresponding swing arm away from the rotating seat.

[0013] In one possible implementation, an auxiliary wheel is rotatably mounted on the side of the support away from the center of the robot body, above the outer walking wheel. The bottom of the auxiliary wheel abuts against the top of the corresponding outer walking wheel. When the scissor-type telescopic frame is in the retracted state, the top of the auxiliary wheel abuts against the bottom of the corresponding drive wheel. The omnidirectional wheel assembly is connected to the corresponding drive wheel via the auxiliary wheel.

[0014] In one possible implementation, a support mechanism is also included, comprising a support frame fixedly mounted on the bottom of the robot body, with a turntable for connecting the detection mechanism mounted at the front end of the support frame.

[0015] In one possible implementation, the detection mechanism includes a mounting base fixedly installed on a turntable. A camera module is mounted on the front side of the mounting base, and several waterproof connectors are arranged around the periphery of the mounting base. Detection modules can be selectively mounted on the waterproof connectors. The detection module is one of a laser scanning module, a high-pressure flushing module, or a sonar detection module. Except for the waterproof connectors on which the detection modules are mounted, the other waterproof connectors are equipped with waterproof plugs.

[0016] The beneficial effects of this invention are as follows: 1. This invention uses an extension and telescopic mechanism to move the robot body upwards until the drive wheel contacts the inner wall of the top of the pipe. At this point, the robot body is positioned close to the top of the pipe, which avoids the robot body being submerged in sewage for a long time, reducing the risk of leakage and short circuit. It also prevents sewage from obstructing the detection mechanism, which is beneficial for the detection mechanism to perform accurate detection. During the extension process of the telescopic mechanism, the telescopic mechanism is rotated to both sides, so that the two telescopic mechanisms on the left and right sides support the robot body in a figure-eight shape, preventing the universal wheel assembly from moving along the bottom of the pipe and preventing silt, garbage and other debris deposited at the bottom of the pipe from hindering the robot body's progress, thus improving the efficiency of passage.

[0017] 2. When the telescopic mechanism supports the robot body in a figure-eight shape, the inner traveling wheels expand outward, allowing the transverse wheels on the inner traveling wheels to also contact the inner wall of the pipe, increasing the contact area with the inner wall of the robot body and improving stability during movement. When the center wheel rolls along the length of the pipe, the transverse wheels can rotate, causing the worn side to move away, preventing one side of the transverse wheel from always contacting the inner wall of the pipe and preventing uneven wear. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the driving component of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the adjustment mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the walking mechanism of the present invention; Figure 5 This is a three-dimensional structural schematic diagram of the roller assembly of the present invention; Figure 6 This is a schematic diagram of the planar structure of the present invention during detection in a pipeline; Figure 7 This is a three-dimensional structural schematic diagram of the support mechanism of the present invention; Figure 8 This is a schematic diagram of the separation structure of the detection mechanism of the present invention; Figure 9 This is a three-dimensional structural diagram of the auxiliary wheel and the driving wheel of the present invention when they are in contact.

[0019] In the diagram: 1. Robot body; 11. Drive wheel; 12. Lighting lamp; 2. Telescopic mechanism; 21. Rotary base; 22. Scissor-type telescopic frame; 23. Drive assembly; 231. Lead screw; 232. Slider; 233. Motor 1; 3. Walking mechanism; 31. Support frame; 32. Universal wheel assembly; 321. Center wheel; 322. Inner walking wheel; 323. Outer walking wheel; 324. Lateral wheel; 325. Expansion unit; 3251. Turntable 3252, Arc-shaped groove; 3253, Guide block; 3254, Motor II; 33, Auxiliary wheel; 4, Adjustment mechanism; 41, Swing arm; 42, Electric telescopic rod; 43, Connecting rod; 5, Support mechanism; 51, Support frame; 52, Turntable; 6, Detection mechanism; 61, Mounting base; 62, Camera module; 63, Waterproof connector; 64, Laser scanning module; 65, High-pressure flushing module; 66, Sonar detection module; 67, Waterproof plug. Detailed Implementation

[0020] 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. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described below, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] Please see Figure 1 - Figure 9 A smart pipeline inspection robot includes a robot body 1 and several drive wheels 11 mounted on the top of the robot body 1 and distributed in pairs on the left and right sides. A lighting lamp 12 is installed on the front side of the robot body 1. The robot also includes: The telescopic mechanism 2 is located at the bottom of the robot body 1 and is symmetrically distributed on the left and right. When the robot body 1 moves into the pipe, the telescopic mechanism 2 can push the robot body 1 upward and make the drive wheel 11 abut against the inner wall of the pipe. The two telescopic mechanisms 2 on the left and right can rotate synchronously in opposite directions around the robot body 1.

[0022] The walking mechanism 3 includes a bracket 31 installed at the bottom of the telescopic mechanism 2, and a set of caster wheels 32 distributed front and rear are installed at the bottom of the bracket 31.

[0023] The omnidirectional wheel assembly 32 includes a central wheel 321 rotatably mounted on the bottom of the bracket 31. Inner travel wheels 322 and outer travel wheels 323 are respectively mounted on the left and right sides of the central wheel 321. Several transverse wheels 324 are evenly mounted on the inner travel wheels 322 and outer travel wheels 323. When the robot body 1 moves into the pipe and the telescopic mechanism 2 is in an inclined state, the diameter of the inner travel wheel 322 can expand outward until the transverse wheels 324 on it abut against the inner wall of the pipe.

[0024] The inspection mechanism 6 is located at the bottom of the robot body 1 and is used to inspect the inner wall of the pipe. It should be noted that the robot body 1 has a power source installed inside to drive the drive wheel 11 to rotate.

[0025] In practical use, when the robot body 1 is placed inside the pipe, the extension mechanism 2 moves the robot body 1 upward until the drive wheel 11 contacts the inner wall of the top of the pipe. At this time, the robot body 1 is in a position close to the top of the pipe, which can prevent the robot body 1 from being submerged in sewage for a long time, reduce the risk of leakage and short circuit, and prevent sewage from obstructing the detection mechanism 6, which is conducive to the detection mechanism 6 to perform accurate detection. During the extension of the extension mechanism 2, the extension mechanism 2 is rotated to both sides, so that the two extension mechanisms 2 on the left and right sides support the robot body 1 in a figure-eight shape, preventing the universal wheel assembly 32 from walking along the bottom of the pipe, preventing silt, garbage and other debris deposited at the bottom of the pipe from hindering the robot body 1's progress, and improving the efficiency of passage.

[0026] When the telescopic mechanism 2 supports the robot body 1 in a figure-eight shape, the extension direction of the telescopic mechanism 2 is not consistent with the radial direction of the robot body 1. If a traditional circular wheel is used for support, only the outer edge of the circular wheel can contact the inner wall of the robot body 1. The contact area is small, the stability during walking is poor, and uneven wear is likely to occur.

[0027] This invention provides inner and outer traveling wheels 322 and 323 on the left and right sides of the central wheel 321, respectively, with transverse wheels 324 mounted on them. When the telescopic mechanism 2 opens to the left and right, the transverse wheels 324 can roll circumferentially along the inner wall of the robot body 1, reducing the resistance of the inner and outer traveling wheels 322 and 323 during movement. When the telescopic mechanism 2 supports the robot body 1 in a V-shape, the inner traveling wheels 322 can expand outward, allowing the transverse wheels 324 on them to also contact the inner wall of the pipe, increasing the contact area with the inner wall of the robot body 1 and improving stability during movement. When the central wheel 321 moves along the inner wall of the robot body 1, the transverse wheels 324 can roll circumferentially along the inner wall of the robot body 1. As the pipe rolls along its length, the transverse wheel 324 continuously contacts the inner wall of the robot body 1. When one side of the transverse wheel 324 wears down, its center of gravity changes. When the transverse wheel 324 rotates to a state where it no longer contacts the robot body 1, it will rotate under the influence of gravity, causing the worn side to move upwards. This prevents one side of the transverse wheel 324 from constantly contacting the inner wall of the pipe, thus preventing uneven wear. In addition, during the rolling of the inner wheel 322 and the outer wheel 323, the transverse wheel 324 is also subject to air friction and inertia generated during movement, which also causes it to rotate.

[0028] Please see Figure 1 , Figure 2 and Figure 3 The telescopic mechanism 2 includes a rotating seat 21 rotatably mounted on the bottom of the robot body 1. A scissor-type telescopic frame 22 is mounted on the bottom of the rotating seat 21. A bracket 31 is mounted on the bottom of the scissor-type telescopic frame 22. A drive assembly 23 for driving the scissor-type telescopic frame 22 to extend and retract is also mounted on the rotating seat 21.

[0029] Please see Figure 2 and Figure 3 The drive assembly 23 includes a lead screw 231 rotatably mounted inside the rotating seat 21, a slider 232 threadedly connected to the lead screw 231, the slider 232 slidingly connected to the rotating seat 21, the top of the scissor-type telescopic frame 22 hinged to the slider 232, and a motor 233 for driving the lead screw 231 to rotate is fixedly mounted on the front side of the rotating seat 21.

[0030] In practical use, when the scissor-type telescopic frame 22 is to be extended and push the robot body 1 upward, the motor 233 drives the lead screw 231 to rotate, and the lead screw 231 drives the slider 232 to move backward, so that the slider 232 drives the scissor-type telescopic frame 22 to extend. The scissor-type telescopic frame 22 supports the robot body 1 to move upward, so that the drive wheel 11 can abut against the inner wall of the robot body 1. The drive wheel 11 drives the robot body 1 to move along the length of the pipe, so as to realize the detection of the inside of the pipe.

[0031] Please see Figure 4 and Figure 5 The inner traveling wheel 322 is composed of several movable plates evenly distributed around the central axis of the central wheel 321. The movable plates are slidably connected to the central wheel 321. The transverse wheel 324 is rotatably mounted on the corresponding movable plate. The central wheel 321 is equipped with an expansion support unit 325 for driving the movable plates to move in the radial direction of the central wheel 321.

[0032] Please see Figure 4 , Figure 5 and Figure 6 The expansion unit 325 includes a turntable 3251 rotatably mounted on the side of the central wheel 321 near the center of the robot body 1. The turntable 3251 has several circumferentially evenly distributed arc-shaped grooves 3252. A guide block 3253 is fixedly connected to the side of the movable plate near the central wheel 321. The guide block 3253 is slidably mounted in the corresponding arc-shaped groove 3252. The central wheel 321 also has a motor 3254 installed inside to drive the turntable 3251 to rotate.

[0033] In practical use, the turntable 3251 is rotated by the motor 3254. The arc groove 3252 on the turntable 3251 guides the guide block 3253 and the movable plate to move away from the central axis of the central wheel 321, thereby increasing the diameter of the inner walking wheel 322 and enabling the transverse wheel 324 on the movable plate to contact the inside of the robot body 1, thus improving the stability of the robot body 1 when it moves.

[0034] Please see Figure 2 and Figure 3 It also includes an adjustment mechanism 4, which includes a swing arm 41 fixedly connected to the rear side of the rotating seat 21 and located behind the robot body 1. An electric telescopic rod 42 is fixedly installed on the rear side of the robot body 1. A connecting rod 43 symmetrically distributed on the left and right sides is hinged to the bottom of the electric telescopic rod 42. The end of the connecting rod 43 away from the electric telescopic rod 42 is hinged to the end of the corresponding swing arm 41 away from the rotating seat 21.

[0035] In practical use, the electric telescopic rod 42 pushes the connecting rod 43 downward, and the connecting rod 43 drives the swing arm 41 to deflect downward. The swing arm 41 drives the corresponding rotating seat 21 to rotate outward, so that the two left and right scissor telescopic frames 22 support the robot body 1 in a figure-eight shape. This prevents the inner walking wheel 322 and the outer walking wheel 323 from walking along the bottom of the pipe, and prevents the silt, garbage and other debris deposited at the bottom of the pipe from hindering the robot body 1's progress, thus improving the efficiency of passage. At the same time, it can also improve the support effect of the scissor telescopic frames 22 on the robot body 1, and prevent the robot body 1 from tilting to the left and right.

[0036] Please see Figure 1 , Figure 4 and Figure 9 An auxiliary wheel 33 is rotatably mounted on the side of the support 31 away from the center of the robot body 1, located above the outer walking wheel 323. The bottom of the auxiliary wheel 33 abuts against the top of the corresponding outer walking wheel 323. When the scissor-type telescopic frame 22 is in the retracted state, the top of the auxiliary wheel 33 abuts against the bottom of the corresponding drive wheel 11. The universal wheel assembly 32 is connected to the corresponding drive wheel 11 through the auxiliary wheel 33.

[0037] In practical use, when the scissor-type telescopic frame 22 is in the retracted state, the auxiliary wheel 33 abuts against the drive wheel 11 and the outer walking wheel 323 respectively. At this time, the drive wheel 11 can drive the outer walking wheel 323 to roll through the auxiliary wheel 33, so that the robot body 1 can walk in the retracted state. This makes it easier for the robot body 1 to move into the pipe that needs to be inspected by itself, without the need for manual insertion of the robot body 1 into the pipe, making it more convenient to use.

[0038] Please see Figure 1 and Figure 7 It also includes a support mechanism 5, which includes a support frame 51 fixedly installed at the bottom of the robot body 1. A turntable 52 for connecting the detection mechanism 6 is installed at the front end of the support frame 51. It should be noted that both the support frame 51 and the turntable 52 are existing technologies. The support frame 51 can be unfolded up and down to adjust the height of the detection mechanism 6.

[0039] In practical use, the support frame 51 drives the detection mechanism 6 to move up and down, which can adjust the height of the detection mechanism 6, making it convenient for the detection mechanism 6 to perform detection from different heights, avoiding obstruction of the detection mechanism 6 by objects inside the pipe, and ensuring the accuracy of the detection. The turntable 52 can drive the detection mechanism 6 to rotate, allowing the detection mechanism 6 to perform detection from different angles.

[0040] Please see Figure 1 , Figure 7 and Figure 8 The testing mechanism 6 includes a mounting base 61 fixedly installed on the turntable 52. A camera module 62 is installed on the front side of the mounting base 61. Several waterproof connectors 63 are arranged around the mounting base 61. A testing module can be selectively installed on the waterproof connectors 63. The testing module is one of a laser scanning module 64, a high-pressure flushing module 65, or a sonar detection module 66. Except for the waterproof connectors 63 on which the testing module is installed, the other waterproof connectors 63 are all equipped with waterproof plugs 67.

[0041] In practical use, the interior of the pipe is illuminated by the lighting lamp 12, and the camera module 62 captures images of the pipe's interior, allowing operators to observe the inside and detect any cracks or blockages. When the laser scanning module 64 is installed, it scans and measures the inner wall of the pipe, measuring its contour and ellipticity to detect any flattening, bulging, or shrinkage deformation. When the high-pressure flushing module 65 is installed, it flushes the inner wall of the pipe to prevent dirt from adhering to it and obscuring the areas to be inspected. It also clears blockages and has some unblocking capabilities. When the sonar detection module 66 is installed, it performs underwater acoustic scanning on pipes with water accumulation, detecting bottom siltation, wall corrosion, and misalignment, thus filling underwater blind spots. The waterproof plug 67 is mainly used to seal the waterproof connector 63 where no detection module is installed, preventing water from entering. It should be noted that the mechanical structure and power components involved in this invention are all designed to be waterproof.

[0042] A method for inspecting a pipeline includes the following steps: S1: Move robot body 1 into the inside of the pipe.

[0043] S2: Deploy the telescopic mechanism 2, so that the telescopic mechanism 2 pushes the robot body 1 upward and makes the drive wheel 11 abut against the inner wall of the pipe. At the same time, the telescopic mechanisms 2 on the left and right sides expand outward in a figure-eight shape.

[0044] S3: The inner traveling wheel 322 expands outward to the transverse traveling wheel 324 on it, which abuts against the inner wall of the pipe.

[0045] S4: The drive wheel 11 drives the robot body 1 to move along the length of the pipe, while the detection mechanism 6 detects the internal condition of the pipe.

[0046] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, or a sliding connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An intelligent pipeline inspection robot, characterized in that: Including the robot body (1) and several drive wheels (11) mounted on the top of the robot body (1) and distributed in pairs on the left and right, it also includes: The telescopic mechanism (2) is set at the bottom of the robot body (1) and is symmetrically distributed on the left and right. When the robot body (1) moves into the pipe, the telescopic mechanism (2) can push the robot body (1) upward and make the drive wheel (11) abut against the inner wall of the pipe. The two telescopic mechanisms (2) on the left and right can rotate synchronously in opposite directions around the robot body (1). The walking mechanism (3) includes a bracket (31) installed at the bottom of the telescopic mechanism (2), and a set of universal wheels (32) distributed in front and behind are installed at the bottom of the bracket (31). The universal wheel assembly (32) includes a central wheel (321) rotatably mounted on the bottom of the bracket (31). The left and right sides of the central wheel (321) are respectively equipped with an inner walking wheel (322) and an outer walking wheel (323). Both the inner walking wheel (322) and the outer walking wheel (323) are evenly equipped with several transverse wheels (324) in a circumferential direction. When the robot body (1) moves into the pipe and the telescopic mechanism (2) is in an inclined state, the diameter of the inner walking wheel (322) can expand outward until the transverse wheels (324) on it abut against the inner wall of the pipe. The inspection mechanism (6) is located at the bottom of the robot body (1) and is used to inspect the inner wall of the pipe.

2. The intelligent pipeline inspection robot according to claim 1, characterized in that: The telescopic mechanism (2) includes a rotating seat (21) rotatably mounted on the bottom of the robot body (1), a scissor telescopic frame (22) is mounted on the bottom of the rotating seat (21), a bracket (31) is mounted on the bottom of the scissor telescopic frame (22), and a drive assembly (23) for driving the scissor telescopic frame (22) to extend and retract is also mounted on the rotating seat (21).

3. The intelligent pipeline inspection robot according to claim 2, characterized in that: The drive assembly (23) includes a lead screw (231) rotatably mounted inside a rotating seat (21), a slider (232) threadedly connected to the lead screw (231), the slider (232) being slidably connected to the rotating seat (21) in the front and back, the top of the scissor-type telescopic frame (22) being hinged to the slider (232), and a motor (233) for driving the lead screw (231) to rotate is fixedly mounted on the front side of the rotating seat (21).

4. The intelligent pipeline inspection robot according to claim 1, characterized in that: The inner traveling wheel (322) is composed of several movable plates evenly distributed around the central axis of the central wheel (321). The movable plates are slidably connected to the central wheel (321). The transverse wheel (324) is rotatably mounted on the corresponding movable plate. The central wheel (321) is equipped with an expansion unit (325) for driving the movable plates to move in the radial direction of the central wheel (321).

5. The intelligent pipeline inspection robot according to claim 4, characterized in that: The expansion unit (325) includes a turntable (3251) rotatably mounted on the side of the central wheel (321) near the center of the robot body (1). The turntable (3251) has several arc-shaped grooves (3252) evenly distributed in the circumference. A guide block (3253) is fixedly connected to the side of the movable plate near the central wheel (321). The guide block (3253) is slidably mounted in the corresponding arc-shaped groove (3252). The central wheel (321) also has a second motor (3254) installed inside for driving the turntable (3251) to rotate.

6. The intelligent pipeline inspection robot according to claim 3, characterized in that: It also includes an adjustment mechanism (4), which includes a swing arm (41) fixedly connected to the rear side of the rotating seat (21) and located behind the robot body (1). An electric telescopic rod (42) is fixedly installed on the rear side of the robot body (1). A connecting rod (43) symmetrically distributed on the left and right sides is hinged to the bottom of the electric telescopic rod (42). The end of the connecting rod (43) away from the electric telescopic rod (42) is hinged to the end of the corresponding swing arm (41) away from the rotating seat (21).

7. The intelligent pipeline inspection robot according to claim 4, characterized in that: The bracket (31) is rotatably mounted on the side away from the center of the robot body (1) with an auxiliary wheel (33) located above the outer walking wheel (323). The bottom of the auxiliary wheel (33) abuts against the top of the corresponding outer walking wheel (323). When the scissor-type telescopic frame (22) is in the retracted state, the top of the auxiliary wheel (33) abuts against the bottom of the corresponding active wheel (11). The universal wheel assembly (32) is connected to the corresponding active wheel (11) through the auxiliary wheel (33).

8. The intelligent pipeline inspection robot according to claim 1, characterized in that: It also includes a support mechanism (5), which includes a support frame (51) fixedly installed at the bottom of the robot body (1), and a turntable (52) for connecting the detection mechanism (6) is installed at the front end of the support frame (51).

9. The intelligent pipeline inspection robot according to claim 8, characterized in that: The detection mechanism (6) includes a mounting base (61) fixedly installed on a turntable (52). A camera module (62) is installed on the front side of the mounting base (61). Several waterproof connectors (63) are provided on the periphery of the mounting base (61). The waterproof connectors (63) can be equipped with a detection module. The detection module is one of a laser scanning module (64), a high-pressure flushing module (65), or a sonar detection module (66). Except for the waterproof connector (63) on which the detection module is installed, the other waterproof connectors (63) are all equipped with waterproof plugs (67).

10. A method for inspecting a pipeline, characterized in that, The process, performed using an intelligent pipeline inspection robot as described in claim 1, includes the following steps: S1: Move the robot body (1) into the inside of the pipe; S2: Expand the telescopic mechanism (2) so that the telescopic mechanism (2) pushes the robot body (1) upward and makes the drive wheel (11) abut against the inner wall of the pipe. At the same time, the telescopic mechanisms (2) on the left and right sides expand outward in a figure-eight shape. S3: The inner traveling wheel (322) expands outward to the transverse traveling wheel (324) on it, which abuts against the inner wall of the pipe; S4: The drive wheel (11) drives the robot body (1) to move along the length of the pipe, while the detection mechanism (6) detects the internal condition of the pipe.

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