In-pipe mobile robot

Abstract

An in-pipe mobile robot having a robot body (10) has a fluid supply source (21) connected to a plurality of telescopic units, and a control device (22) connected to the fluid supply source (21), the control device (22) having a control section (22a) configured to control the operation of the fluid supply source (21) to cause the plurality of telescopic units to alternately deform between a fully inflated state and a natural state to perform peristaltic movement in a normal movement mode, and a mode switching section (22b) configured to switch the control mode to a withdrawal mode, and control the operation of the fluid supply source (21) to cause the plurality of telescopic units to deform between a non-fully inflated state in which the diameter of the plurality of telescopic units becomes larger than the inner circumferential surface of the pipe, and a slightly inflated state or a natural state in the withdrawal mode.

Description

Technical Field

[0001] This invention relates to a pipe-moving robot that moves inside a pipe. Background Technology

[0002] A known duct-mounted mobile robot is configured to move inside curved ducts, such as air ducts used in air conditioning systems in office buildings, factories, and detached houses. This duct-mounted mobile robot is used for various purposes, including duct inspection and cleaning.

[0003] Previously, as such a pipe-moving robot, there is a known robot that has multiple telescopic units that move inside the pipe under the action of the multiple telescopic units performing peristaltic movements in a repetitive pattern. Each telescopic unit expands radially and contracts axially when supplied with fluid (see, for example, Patent Document 1).

[0004] (Existing technical documents)

[0005] (Patent Documents)

[0006] Patent Document 1: Japanese Patent Publication No. 2018-69125 Summary of the Invention

[0007] (The problem that the invention aims to solve)

[0008] When using this type of pipeline mobile robot to inspect the inside of a pipeline, if the robot cannot detach from the pipeline on its own due to abnormalities in the robot body, it is necessary to pull the traction components such as the harness connected to the robot body from the outside of the pipeline to pull the pipeline mobile robot out of the pipeline.

[0009] However, the telescopic unit installed in the robot body is configured with multiple fiber bundles arranged axially inside, for example, a cylindrical elastomer. It can bend relative to the axial direction but is difficult to elongate. Therefore, when the telescopic unit bends along the curved portion of the pipe, wrinkles may form on the inner circumferential side of the telescopic unit due to slack. Consequently, a problem arises where, in cases where the curved portion of the pipe is, for example, a molded product made of synthetic resin with an edge along the parting line of the mold on its inner circumferential surface, when pulling the traction component to remove the robot from the pipe, there is a risk that the wrinkles generated by the telescopic unit may become stuck on the edge of the inner circumferential surface of the curved portion of the pipe, making it difficult to pull the robot out of the pipe.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to provide a pipe-moving robot that can easily pull out a robot body that has malfunctioned from the pipe.

[0011] (The measures taken to solve the problem)

[0012] The pipe-moving robot of the present invention has a robot body with at least three telescopic units. Each telescopic unit expands radially and contracts axially when supplied with fluid. The pipe-moving robot is configured to move inside the pipe under the action of the telescopic units performing a repetitive peristaltic motion. The robot is characterized by having: a fluid supply source, which is individually connected to each of the multiple telescopic units via piping; and a control device connected to the fluid supply source, the control device having: a control unit that controls the operation of the fluid supply source; and a mode switching unit that switches the control mode of the control unit for the fluid supply source to a normal movement mode and a release mode. In the normal movement mode, the control unit is configured to control the operation of the fluid supply source so that the plurality of expansion units alternately deform between a fully expanded radial state and a non-expanded natural state according to a repetitive pattern to perform the peristaltic movement. In the disengagement mode, the control unit controls the operation of the fluid supply source so that the plurality of expansion units deform between a partially expanded state, a slightly expanded state, or the natural state according to a repetitive pattern. The partially expanded state refers to a state in which the expansion unit expands radially to a diameter that cannot be maintained at the inner circumferential surface of the pipe with an internal pressure lower than that of the fully expanded state. The slightly expanded state refers to a state in which the expansion unit expands radially with an internal pressure lower than that of the partially expanded state.

[0013] The pipe-moving robot of the present invention has a robot body with at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid. The pipe-moving robot is configured to move inside the pipe under the action of the telescopic units performing a repetitive peristaltic motion. It is characterized by having: a fluid supply source connected individually to each of the multiple telescopic units via piping; a control device connected to the fluid supply source; a traction device that pulls a traction component connected to the robot body in a direction that pulls the robot body out of the pipe; and a traction force detector that measures the traction force acting on the traction component. The control device has: a control unit that controls the operation of the fluid supply source; and a mode switching unit that switches the control unit to the fluid supply source. The control mode is switched between a normal movement mode and a disengagement mode. The control unit is configured to control the movement of the fluid supply source in the normal movement mode so that the plurality of telescopic units alternately deform between a fully expanded radial state and a non-expanded natural state according to a repetitive pattern to perform the peristaltic movement. In the disengagement mode, the control unit controls the movement of the fluid supply source so that the plurality of telescopic units deform between a partially expanded radial state with an internal pressure lower than that of the fully expanded state, a slightly expanded radial state with an internal pressure lower than that of the partially expanded state, or the natural state according to a repetitive pattern. The pipeline mobile robot is configured to automatically switch the control mode from the normal movement mode to the disengagement mode by means of the mode switching unit when the traction force measured by the traction force detector is above a predetermined value.

[0014] The pipeline mobile robot of the present invention preferably includes, in the above structure, a traction device that pulls a traction component connected to the robot body along a direction that pulls the robot body out of the pipeline, and a control unit configured to activate the traction device when the control mode is switched from the normal movement mode to the exit mode by the mode switching unit.

[0015] The pipe-moving robot of the present invention has a robot body with at least three telescopic units. Each telescopic unit expands radially and contracts axially when supplied with fluid. The pipe-moving robot is configured to move inside the pipe under the action of the telescopic units performing peristaltic movements according to a repetitive pattern. It is characterized by having: a fluid supply source, which is individually connected to each of the plurality of telescopic units via piping; and a control device connected to the fluid supply source. The control device has: a control unit that controls the operation of the fluid supply source; and a mode switching unit that switches the control unit from a control mode for the fluid supply source to a normal movement mode and a disengagement mode. The control unit is configured to control the fluid supply source in the normal movement mode. The fluid supply source is operated to cause the plurality of telescopic units to alternately deform between a fully expanded radially expanded state and a non-expanded natural state according to a repetitive pattern, thereby performing the peristaltic movement. In the disengagement mode, the operation of the fluid supply source is controlled to cause the plurality of telescopic units to deform between a partially expanded radially expanded state with an internal pressure lower than that of the fully expanded state, a slightly expanded radially expanded state with an internal pressure lower than that of the partially expanded state, or the natural state, according to a repetitive pattern. The in-pipe mobile robot also has a traction component, which includes: a fixing part fixed to the front end of the robot body; and a rope-like part, one end of which is connected to the fixing part, and the other end passing through the interior of the robot body and leading out from the rear end of the robot body.

[0016] (The effect of the invention)

[0017] According to the present invention, a pipe-moving robot is provided that can easily pull out a robot body that has malfunctioned from the pipe. Attached Figure Description

[0018] Figure 1 This is a perspective view of a pipe-moving robot according to one embodiment of the present invention.

[0019] Figure 2 yes Figure 1 The block diagram of the control unit is shown.

[0020] Figure 3 The following are side views of a portion of a pipe-moving robot operating in its normal movement mode: (a) is a side view of the telescopic unit in its natural state, and (b) is a side view of the telescopic unit in its fully expanded state.

[0021] Figure 4 It is shown schematically. Figure 1 This diagram illustrates the repetitive pattern of the telescopic unit's movements during the peristaltic motion of the robot's main body.

[0022] Figure 5 The following are side views of a portion of a pipe-mounted mobile robot operating in disengagement mode: (a) is a side view of the telescopic unit in its natural state, and (b) is a side view of the telescopic unit in its partially inflated state.

[0023] Figure 6 Figures (a) to (c) illustrate the movement of the telescopic unit in the curved section of the pipe during the disengagement mode.

[0024] Figure 7 This is a block diagram of the control unit involved in the modified example.

[0025] Figure 8 (a) and (b) in the diagrams are explanatory diagrams showing the display status of the display panel in the escape mode.

[0026] Figure 9 This is a block diagram of the control unit involved in other variations.

[0027] Figure 10 (a) is a side view of a portion of a pipe-mounted mobile robot equipped with a traction component, and (b) is a side view of a portion of a pipe-mounted mobile robot equipped with the traction component involved in the modified example. Detailed Implementation

[0028] The following detailed description of the pipeline mobile robot according to the present invention will be provided with reference to the accompanying drawings.

[0029] Figure 1 The pipe-moving robot 1 according to one embodiment of the present invention is configured to move inside curved pipes such as air ducts for air conditioning units installed in office buildings, factories, detached houses, etc.

[0030] The pipeline mobile robot 1 has a robot body 10 and a control unit 20.

[0031] The robot body 10, also known as an earthworm-type robot or a worm-like robot, has an elongated shape extending along axis O. The robot body 10 is capable of moving axially (along the direction of axis O) inside the pipe. That is, the robot body 10 can move forward inside the pipe. Alternatively, the robot body 10 can also be configured to both move forward and backward inside the pipe.

[0032] The robot body 10 has at least three telescopic units 11 as a drive source for movement inside the pipe. In this embodiment, the robot body 10 has seven telescopic units 11. Figure 1Only four telescopic units 11 are shown in the diagram. Furthermore, the number of telescopic units 11 on the robot body 10 can be appropriately changed, as long as it has at least three telescopic units 11.

[0033] The telescopic unit 11 is also referred to as an artificial muscle. The telescopic unit 11 has a cylindrical portion 11a formed from various elastomers such as rubber, centered on an axis O. Both ends of the cylindrical portion 11a are closed along the axial direction. Inside the cylindrical portion 11a, multiple fiber bundles (not shown) with high tensile strength are arranged axially. Thus, the cylindrical portion 11a can elastically deform by expanding radially, but elastic deformation in the axial elongation direction is limited. Therefore, when a fluid such as compressed air is supplied to the inside of the cylindrical portion 11a, the telescopic unit 11 operates by expanding radially and contracting axially simultaneously. Furthermore, when the fluid is discharged from the inside of the cylindrical portion 11a, the telescopic unit 11 recovers its original shape by contracting radially and elongating axially through the elastic force of the cylindrical portion 11a. Each telescopic unit 11 can operate independently according to a repetitive pattern.

[0034] In addition, the telescopic unit 11 can be any structure, such as a so-called McKibben type, in which the outer side of a cylindrical elastomer is covered with a sleeve-shaped fiber, as long as it is configured to expand radially and contract axially when supplied with fluid.

[0035] Adjacent telescopic units 11 are axially connected to each other via a connecting portion 12. In this embodiment, the connecting portion 12 is a universal joint. Thus, the robot body 10 can bend at the connecting portion 12. Therefore, when the robot body 10 moves inside the pipe, even if the pipe is curved, adjacent telescopic units 11 can move along the curved pipe by bending at the connecting portion 12.

[0036] In this embodiment, a universal joint is used as the connecting part 12, but it is not limited to this. Any component that can bend and connect adjacent telescopic units 11 is acceptable.

[0037] The robot body 10 can also be configured with a plurality of brushes 13 spaced apart along the axial direction. In this embodiment, brushes 13 in a generally annular shape centered on axis O are provided at both ends of each telescopic unit 11 along the axial direction. By providing a plurality of brushes 13, the robot body 10 can be supported approximately in the center of the pipe when moving inside the pipe, thereby moving efficiently along the pipe. In addition, by providing brushes 13, the robot body 10 can collect debris and other foreign objects (dirt) adhering to the inner circumferential surface of the pipe when moving inside the pipe, thereby cleaning the inside of the pipe.

[0038] In this embodiment, the robot body 10 is provided with multiple brushes 13, but other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided, as long as the component has a generally annular shape centered on axis O. Alternatively, the robot body 10 can be configured without multiple brushes 13 or other components with a generally annular shape centered on axis O.

[0039] The robot body 10 can also be configured such that, on its forward direction side ( Figure 1 The left end of the pipe has a front end portion 14. In this embodiment, the front end portion 14 is cylindrical about axis O, and a brush 15 in a roughly annular shape about axis O is provided on the outer peripheral surface of its front end. By providing the brush 15, the front end portion 14 can move along the pipe while being supported by the brush 15 at approximately the center of the pipe 2 when moving inside the pipe. In addition, by providing the brush 15, the front end portion 14 can collect foreign objects (dirt) such as debris adhering to the inner peripheral surface of the pipe when moving inside the pipe 2, thereby cleaning the inside of the pipe.

[0040] In this embodiment, the front end portion 14 is provided with a brush 15, but other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided, as long as the component has a generally annular shape centered on the axis O. Alternatively, the front end portion 14 can be configured without a brush 15 or with other components in a generally annular shape centered on the axis O.

[0041] The front end portion 14 can be configured to connect to the telescopic unit 11 at the foremost side of the robot body 10 via an elastic connection portion 16. The elastic connection portion 16 is composed of a compression helical spring extending along the axis O, and is capable of elastic deformation by contracting along the axis O. Furthermore, the elastic connection portion 16 can flexibly deform elastically by bending relative to the axis O. Therefore, when the front end portion 14 reaches the curved portion of the pipe, the elastic connection portion 16 elastically deforms by bending relative to the axis O, thereby enabling it to bend along the direction of the curved portion.

[0042] Furthermore, the elastic connecting part 16 is not limited to the aforementioned compression coil spring; for example, it can be other components such as a rubber tube, as long as it is a component that connects the telescopic unit 11 and the front end portion 14 and can elastically deform relative to the axis O between the telescopic unit 11 and the front end portion 14. In addition, the telescopic unit 11 can also be configured to be directly connected without the elastic connecting part 16, or it can be configured to be integrally provided at the front end of the telescopic unit 11.

[0043] The robot body 10 can also be configured to have a transparent cover 17 at the front end (apex) of the front end 14, and a camera (not shown) inside the cover 17 for taking pictures of the inside of the pipe.

[0044] The control unit 20 is used to control the movement of the robot body 10 and is connected to the robot body 10 via the wiring harness 18.

[0045] like Figure 2 As shown, the control unit 20 has a fluid supply source 21 and a control device 22.

[0046] In this embodiment, the control unit 20 is configured to house the fluid supply source 21 and the control device 22 within a housing 23 as a single unit. Alternatively, the fluid supply source 21 and the control device 22 may not be housed within a housing 23, but may be configured as independent units.

[0047] The fluid supply source 21 is individually connected to the telescopic unit 11 of the robot body 10 via multiple telescopic pipes 24. Figure 2 Only three telescopic pipes 24 are shown in the diagram, but the fluid supply source 21 is individually connected to the corresponding multiple (seven in this embodiment) telescopic units 11 through multiple (seven in this embodiment) telescopic pipes 24. The multiple telescopic pipes 24 are inserted into and constrained in the pipes constituting the wiring harness 18.

[0048] The fluid supply source 21 is a device that combines a pressure source, such as an air compressor supplying compressed air, with a directional controller, such as a solenoid valve. Alternatively, the pressure source can be located outside the housing 23. The fluid supply source 21 supplies fluid from the pressure source to multiple telescopic pipes 24 via the directional controller, thereby allowing fluid to be supplied individually to the inner side (inside) of the cylindrical portion 11a of multiple telescopic units 11 via the multiple telescopic pipes 24 according to a repetitive pattern. Furthermore, the fluid supply source 21 has multiple vent valves (not shown) corresponding to each of the multiple telescopic pipes 24, allowing fluid inside the cylindrical portion 11a to be discharged to the outside after the fluid supply to the telescopic unit 11 is stopped. The vent valves can be, for example, solenoid valves. Alternatively, the vent valves can be separate from the fluid supply source 21, with each vent valve individually installed on each of the multiple telescopic pipes 24. In addition, the fluid supply source 21 can also be configured to have multiple pressure sources corresponding to multiple expansion pipes 24, and without using a direction controller, the fluid is directly supplied from the pressure sources corresponding to the multiple expansion pipes 24.

[0049] The control device 22 is a computer with a CPU (central processing unit), memory, etc., and is connected to the fluid supply source 21.

[0050] The control device 22 includes a control unit 22a and a mode switching unit 22b. The control unit 22a and the mode switching unit 22b are each provided as a function of the control device 22 executed by a computer.

[0051] The control unit 22a controls the operation of the fluid supply source 21. More specifically, the control unit 22a outputs instruction signals obtained by the CPU performing calculations on programs stored in the memory or the like to the fluid supply source 21, thereby controlling the operation of the fluid supply source 21.

[0052] The mode switching unit 22b switches the control mode of the fluid supply source 21 by the control unit 22a to the normal movement mode and the disengagement mode.

[0053] The mode switching unit 22b can be configured to switch modes when the mode switching switch 25 provided in the control unit 20 is manually operated, or it can be configured to automatically switch from the normal movement mode to the detachment mode when an abnormality is detected in the robot body 10. Furthermore, regarding the structure of the automatic mode switching, it will be discussed in conjunction with... Figure 9 The description will be provided in the section relating to the control unit 20 in other variations shown.

[0054] The normal movement mode involves multiple telescopic units 11 performing a repetitive peristaltic motion, thereby moving the robot body 10 inside the pipe. In the normal movement mode, the control unit 22a controls the operation of the fluid supply source 21, causing the multiple telescopic units 11 to alternately deform between a fully expanded radially expanded state and a non-expanded natural state according to a repetitive pattern. That is, in the normal movement mode, the control unit 22a controls the fluid supply source 21, causing each telescopic unit 11 to deform according to a repetitive pattern between a fully expanded radially expanded state (where the fluid supply source 21 supplies fluid to the inside of the cylindrical portion 11a via the telescopic pipe 24) and a natural state (where, when fluid supply from the fluid supply source 21 stops, the fluid inside the cylindrical portion 11a of the telescopic unit 11 is discharged to the outside through the exhaust valve, causing the internal pressure to reach atmospheric pressure). Thus, in the normal movement mode, the multiple telescopic units 11 collectively perform a repetitive peristaltic motion, enabling the robot body 10 to move inside the pipe.

[0055] like Figure 3 As shown in (a), the natural state of the telescopic unit 11 in normal movement mode refers to the state where the fluid supply source 21 does not supply fluid to the telescopic unit 11, the internal pressure of the cylindrical portion 11a of the telescopic unit 11 is atmospheric, and the telescopic unit 11 does not expand and remains in a cylindrical shape. On the other hand, as Figure 3 As shown in (b), the fully expanded state of the telescopic unit 11 in normal movement mode refers to the state in which the fluid supply source 21 supplies fluid to the interior of the cylindrical portion 11a of the telescopic unit 11, causing the telescopic unit 11 to expand radially to a diameter D1 such that the internal pressure of the cylindrical portion 11a reaches a predetermined value. Furthermore, the fully expanded state of the telescopic unit 11 in normal movement mode is also the state in which the telescopic unit 11 expands to the point where it can abut against the inner circumferential surface of the pipe, thereby holding the robot body 10 within the pipe.

[0056] Figure 4 This illustrates the robot body 10 moving in its normal movement mode, thus moving axially to one side inside the pipe 2. Figure 4 An example of the repeating pattern of the peristaltic motion of multiple telescopic units 11 when the center moves to the left.

[0057] First, such as Figure 4 As shown in (a) in the figure, make Figure 4 The leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left expand radially to a fully expanded state while contracting axially. The two fully expanded telescopic units 11 abut against the inner circumferential surface of the pipe 2 around their respective circumferences. Thus, the robot body 10 is held axially by the two fully expanded telescopic units 11.

[0058] Next, from Figure 4 Starting from state (a) in the diagram, as shown... Figure 4 As shown in (b), the leftmost telescopic unit 11 is restored to its original natural state, while the third telescopic unit 11 from the left expands radially to a fully expanded state while contracting axially. At this time, since the second telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and maintains its axial position, the leftmost telescopic unit 11 contracts radially and extends axially to restore its original shape. Thus, the left end (front end) of the robot body 10... Figure 4 The position shown in (a) moves to the left. Furthermore, while the second telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and remains in an axial position, the third telescopic unit 11 from the left expands radially and contracts axially, thus the right end (rear end) of the robot body 10 also moves from... Figure 4 The position shown in (a) is moved to the left.

[0059] Next, from Figure 4 Starting from the state shown in (b) in the diagram, as... Figure 4 As shown in (c), the second telescopic unit 11 from the left is restored to its original natural state, while the fourth telescopic unit 11 from the left expands radially to a fully expanded state and contracts axially. At this time, since the third telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and maintains its axial position, the second telescopic unit 11 from the left contracts radially and extends axially to restore its original shape. Thus, the left end (front end) of the robot body 10... Figure 4 The position shown in (b) is further moved to the left. Additionally, while the third telescopic unit 11 from the left abuts against the inner circumferential surface of the pipe 2 and remains in an axial position, the fourth telescopic unit 11 from the left expands radially and contracts axially, thus the right end (rear end) of the robot body 10 also moves from... Figure 4 The position shown in (b) is moved further to the left.

[0060] Subsequently, the telescopic unit 11 is operated in the same sequence according to the above repeating pattern until the rightmost telescopic unit 11 is reached. Then, after the repeating pattern reaches the rightmost telescopic unit 11, as follows... Figure 4 As shown in (d), return to the beginning and make the telescopic unit 11 operate according to the above repeating pattern.

[0061] Thus, in normal movement mode, the control unit 22a controls the fluid supply source 21 to make the multiple telescopic units 11 move in a peristaltic motion according to the above-described repetitive pattern, thereby enabling the robot body 10 to move towards the inside of the pipe 2. Figure 4 The telescopic unit 22a moves forward to the left. Furthermore, the control unit 22a causes the plurality of telescopic units 11 to move in accordance with... Figure 4 The fluid supply source 21 is controlled by a repetitive pattern of left and right reversals, as shown, thereby enabling the robot body 10 to move in the direction shown inside the pipe 2. Figure 3 The robot moves backward to the right. That is, in normal movement mode, the robot body 10 controls the fluid supply source 21 through the control unit 22a to make the multiple telescopic units 11 perform the above-mentioned peristaltic movement, thereby enabling it to move forward and backward inside the pipe 2.

[0062] In addition, the repeating pattern of the peristaltic motion of the multiple telescopic units 11 in the normal movement mode is not limited to the above repeating pattern. Other repeating patterns can also be used, as long as they can enable the robot body 10 to move forward and backward.

[0063] The detachment mode is used when the robot body 10 malfunctions or other abnormalities, preventing it from moving on its own. Instead, the robot body 10 is pulled out of the pipe 2 by pulling the wiring harness 18, traction components, etc., from the outside of the pipe 2. In the detachment mode, the control unit 22a controls the operation of the fluid supply source 21 to cause the multiple telescopic units 11 to deform according to a repetitive pattern between a partially expanded state (expanding radially at an internal pressure lower than the fully expanded state) and a natural state. That is, in the detachment mode, the control unit 22a controls the fluid supply source 21 to cause each telescopic unit 11 to deform according to a repetitive pattern between a partially expanded state (expanding radially at an internal pressure lower than the fully expanded state) where the fluid supply source 21 supplies fluid to the inside of the cylindrical portion 11a via the telescopic pipe 24, and a natural state (where, when the fluid supply from the fluid supply source 21 stops, the fluid inside the cylindrical portion 11a of the telescopic unit 11 is discharged to the outside through the exhaust valve, causing the internal pressure to become atmospheric pressure).

[0064] In the release mode, only one selected telescopic unit 11 can be deformed between a partially expanded state and a natural state. Alternatively, multiple telescopic units 11 can be deformed sequentially from the front to the rear, one by one, between the partially expanded state and the natural state. Furthermore, multiple telescopic units 11 with even-numbered front-side numbers can be grouped together and simultaneously deformed between the partially expanded state and the natural state. Then, multiple telescopic units 11 with odd-numbered front-side numbers can be grouped together and simultaneously deformed between the partially expanded state and the natural state. Alternatively, all telescopic units 11 can be simultaneously deformed between the partially expanded state and the natural state. Additionally, in the release mode, the selected telescopic unit 11 can be repeatedly deformed between the partially expanded state and the natural state a specified number of times according to the aforementioned repetitive pattern.

[0065] Furthermore, in the disengagement mode, the control unit 22a can also be configured to control the operation of the fluid supply source 21 in such a way that the time the telescopic unit 11 is in the natural state is longer than the time it is in the incompletely expanded state.

[0066] like Figure 5 As shown by the solid line in (a) of the diagram, the natural state of the telescopic unit 11 in the disengagement mode refers to the state where the fluid supply source 21 does not supply fluid to the telescopic unit 11, and the interior of the cylindrical portion 11a of the telescopic unit 11 is at atmospheric pressure, remaining cylindrical without expansion. That is, the natural state of the telescopic unit 11 in the disengagement mode is the same as the natural state of the telescopic unit 11 in the normal movement mode. On the other hand, as... Figure 5 As shown in (b), the incomplete expansion state of the telescopic unit 11 in the disengagement mode refers to the state in which the fluid supply source 21 supplies fluid to the interior of the cylindrical portion 11a of the telescopic unit 11, causing the internal pressure of the cylindrical portion 11a to be lower than the internal pressure in the fully expanded state, and the telescopic unit 11 expands radially to a diameter D2 smaller than the diameter D1 in the fully expanded state. The internal pressure of the cylindrical portion 11a in the incomplete expansion state is preferably less than 90% of the internal pressure of the cylindrical portion 11a in the fully expanded state. Thus, the internal pressure of the telescopic unit 11 in the incomplete expansion state in the disengagement mode is less than that in the fully expanded state in the normal movement mode, and the diameter D2 of the telescopic unit 11 is smaller than the diameter D1. Therefore, the telescopic unit 11, expanded to the incomplete expansion state in the disengagement mode, does not abut against the inner circumferential surface of the pipe 2 and maintains an axial position, allowing for easy axial movement relative to the pipe 2. Furthermore, the telescopic unit 11, which expands to a partially expanded state in the disengagement mode, is in a moderately expanded state. Therefore, when the cylindrical portion 11a is bent relative to the axial direction, the bent inner circumferential side is less prone to wrinkles caused by relaxation.

[0067] In the disengagement mode, the internal pressure of the cylindrical portion 11a in the incomplete expansion state can be lower than the internal pressure of the cylindrical portion 11a in the fully expanded state by making the pressure of the fluid supplied from the fluid supply source 21 to the telescopic unit 11 lower than the pressure of the fluid supplied to the telescopic unit 11 in the normal movement mode. Alternatively, in the disengagement mode, the pressure of the fluid supplied from the fluid supply source 21 to the telescopic unit 11 can be kept the same as the pressure of the fluid supplied to the telescopic unit 11 in the normal movement mode, and the internal pressure of the cylindrical portion 11a in the incomplete expansion state can be lower than the internal pressure of the cylindrical portion 11a in the fully expanded state by shortening the time of supplying fluid to the telescopic unit 11.

[0068] Furthermore, in the disengagement mode, the telescopic unit 11 can also alternately deform between a partially expanded state and a slightly expanded state. The slightly expanded state refers to radial expansion with an internal pressure lower than that in the partially expanded state, thereby expanding to a diameter D3 smaller than the diameter D2. The internal pressure of the cylindrical portion 11a in the slightly expanded state is preferably less than 30% of the internal pressure of the cylindrical portion 11a in the fully expanded state. For example... Figure 5 As shown by the double-dotted line in (a), the micro-expansion state is a state that is slightly expanded compared to the natural state. With this structure, even when the telescopic unit 11 switches from the incomplete expansion state to the micro-expansion state, the inner circumferential part of the cylindrical portion 11a is less prone to wrinkles 11b caused by relaxation.

[0069] In the pipeline mobile robot 1 according to this embodiment, when an abnormality occurs in the robot body 10, and instead of allowing the robot body 10 to move on its own, the robot body 10 is pulled out of the pipeline 2 by pulling the wiring harness 18, traction components, etc. from the outside of the pipeline 2, the control mode of the control unit 22a is switched from the normal movement mode to the detachment mode by the mode switching unit 22b. Thus, as... Figure 6 As shown, even when the curved portion 2a of the pipe 2 is, for example, a molded article made of synthetic resin with an edge 2b along the parting line of the mold on the inner circumferential surface, the robot body 10 can be easily pulled out of the pipe 2.

[0070] That is, such as Figure 6As shown in (a), since the cylindrical portion 11a is configured to bend relative to the axial direction but is difficult to extend, when the telescopic unit 11 in its natural state is located at the curved portion 2a of the pipe 2, multiple folds 11b caused by relaxation will be generated on the inner circumferential side of the cylindrical portion 11a. Subsequently, if the wire harness 18, traction component, etc. are pulled from the outside of the pipe 2 to pull the robot body 10 out of the pipe 2, a force will be applied to the telescopic unit 11 toward the inner circumferential side, so the folds 11b will strongly get stuck on the edge 2b of the curved portion 2a of the pipe 2, making it difficult to pull the robot body 10 out of the pipe 2.

[0071] In contrast, such as Figure 6 As shown in (b), when the control unit 22a controls the operation of the fluid supply source 21 in the disengagement mode, the telescopic unit 11 expands to a partially expanded state. This stretches the multiple folds 11b that naturally form on the cylindrical portion 11a, making the cylindrical portion 11a approximately cylindrical without folds 11b, thus eliminating the problem of the telescopic unit 11 getting stuck at the edge 2b. Furthermore, since the telescopic unit 11 only expands to a partially expanded state with a diameter smaller than the fully expanded state, the telescopic unit 11 in the partially expanded state does not come into contact with the inner circumferential surface of the curved portion 2a of the pipe 2 and remains on that inner circumferential surface. Therefore, in the disengagement mode, when the telescopic unit 11 is in the partially expanded state, the wire harness 18, traction components, etc., are pulled from the outside of the pipe 2, thereby... Figure 6 As shown in (c), the robot body 10 can be moved inside the curved section 2a of the pipe 2 until the telescopic unit 11 is in its natural or slightly expanded state, at which point the wrinkles 11b will not get caught on the edge 2b. Furthermore, if the wrinkles 11b cannot be eliminated from the edge 2b by a single movement, the operation of pulling the wiring harness 18, traction components, etc., from the outside of the pipe 2 can be repeated in the disengagement mode whenever the telescopic unit 11 becomes in a partially expanded state. This ensures that the robot body 10 can be moved inside the curved section 2a of the pipe 2 until the telescopic unit 11 is in its natural or slightly expanded state, at which point the wrinkles 11b will not get caught on the edge 2b. Then, after moving the robot body 10 inside the curved section 2a of the pipe 2 until the telescopic unit 11 is in its natural or slightly expanded state, the wiring harness 18, traction components, etc., can be pulled from the outside of the pipe 2, thereby easily pulling the robot body 10 out of the pipe 2.

[0072] In the disengagement mode, if it is possible to determine which telescopic unit 11 of the robot body 10 that is stopped inside the pipe 2 is located at the curved portion 2a of the pipe 2 based on various information such as the length of the pipe 2, the length of the wire harness 18 pulled into the pipe 2, and the image of the inside of the pipe 2 captured by the camera, the wire harness 18, traction components, etc. can be pulled from the outside of the pipe 2 while only the telescopic unit 11 that has been determined to be located at the curved portion 2a of the pipe 2 is deformed into a non-fully expanded state and a natural state in the disengagement mode.

[0073] On the other hand, if it is impossible to determine which telescopic unit 11 of the robot body 10 that is stopped inside the pipe 2 is located at the curved part 2a of the pipe 2, multiple telescopic units 11 can be transformed into a partially expanded state and a natural state one by one in the disengagement mode, or multiple telescopic units 11 with even numbers from the front side can be grouped together and simultaneously transformed into a partially expanded state and a natural state, and then multiple telescopic units 11 with odd numbers from the front side can be grouped together and simultaneously transformed into a partially expanded state and a natural state, or all telescopic units 11 can be simultaneously transformed into a partially expanded state and a natural state, while at the same time, the wire harness 18, traction components, etc. are pulled from the outside of the pipe 2.

[0074] Thus, in the pipe-moving robot 1 according to this embodiment, the operation of the control unit 22a can be switched between a normal movement mode and an exit mode by the mode switching unit 22b. In the exit mode, the control unit 22a is configured to control the operation of the fluid supply source 21 so that the multiple telescopic units 11 deform in a repetitive pattern between a partially expanded state with an internal pressure lower than that of a fully expanded state, a slightly expanded state with an internal pressure lower than that of a partially expanded state, or a natural state. Therefore, even if there is an edge 2b in the curved portion 2a of the pipe 2, by operating the telescopic units 11 in the exit mode, the jamming of the telescopic units 11 at the edge 2b can be eliminated, thereby making it easy to pull the robot body 10 out of the pipe 2.

[0075] Figure 7 This is a block diagram of the control unit 20 involved in the modified example. Figure 8 Figures (a) and (b) illustrate the display status of the display panel in escape mode. Additionally, in Figure 7 , Figure 8 In the accompanying drawings, the aforementioned components and even some parts are labeled with the same reference numerals.

[0076] like Figure 7 As shown in the variant example, the control unit 20 can also be configured to have a display panel 30.

[0077] The display panel 30 has a plurality of indicator lights 31, each corresponding to a plurality of telescopic units 11. Figure 7 In this illustration, only three indicator lights 31 corresponding to the three telescopic units 11 are shown, but multiple indicator lights 31 corresponding to multiple (seven in this embodiment) telescopic units 11 are arranged in a straight line on the display panel 30. The arrangement order of the multiple indicator lights 31 corresponds to the arrangement order of the multiple telescopic units 11 of the robot body 10 from front to back.

[0078] The display panel 30 is connected to the control unit 22a. The operation of the display panel 30 is controlled by the control unit 22a to illuminate the indicator light 31 corresponding to the telescopic unit 11, which is in a partially expanded state due to fluid being supplied from the fluid supply source 21 in the disengagement mode. For example, as Figure 8 As shown in (a), in the disengagement mode, when fluid is supplied from the fluid supply source 21 to cause the telescopic unit 11 at the foremost side of the robot body 10 to expand to a partially expanded state, the control unit 22a controls the operation of the display panel 30 to make... Figure 7 The leftmost indicator light 31, corresponding to the frontmost telescopic unit 11, is illuminated. Furthermore, as... Figure 8 As shown in (b), in the disengagement mode, when fluid is supplied from the fluid supply source 21 to cause the second telescopic unit 11 of the robot body 10 from the front to expand to a partially expanded state, the control unit 22a controls the operation of the display panel 30 to make... Figure 7 The second indicator light 31 from the left, corresponding to the second telescopic unit 11 from the front, is illuminated. Furthermore, although not shown in detail, when multiple telescopic units 11 simultaneously expand to a partially expanded state, the control unit 22a controls the operation of the display panel 30 to illuminate the multiple indicator lights 31 corresponding to these partially expanded telescopic units 11. Additionally, in Figure 7 In the diagram, circles are used to represent lit indicator lights 31, and horizontal bars are used to represent off indicator lights 31, but the display method is not limited to this.

[0079] Thus, by providing a display panel 30 in the control unit 20, the user can identify which of the multiple telescopic units 11 is in a partially expanded state by illuminating the indicator light 31 in the disengagement mode. Therefore, in the disengagement mode, the user only needs to pull the wiring harness 18, traction components, etc. from the outside of the pipe 2 when the indicator light 31 is illuminated. As a result, the telescopic unit 11 can be pulled to move inside the pipe 2 when the jamming at the edge 2b is released, thereby efficiently pulling the robot body 10 out of the pipe 2.

[0080] For example, if the user can identify which telescopic unit 11 of the robot body 10, which is stopped inside the pipe 2, is located at the bend 2a of the pipe 2 based on various information such as the length of the pipe 2, the length of the wire harness 18 pulled into the pipe 2, and the image of the inside of the pipe 2 captured by the camera, the user can easily pull the wire harness 18, traction components, etc. from the outside of the pipe 2 when the indicator light 31 corresponding to the telescopic unit 11 that has been identified as being located at the bend 2a of the pipe 2 is lit.

[0081] On the other hand, if it is impossible to determine which telescopic unit 11 of the robot body 10, which is stopped inside the pipe 2, is located at the bend 2a of the pipe 2, the user can easily pull the wire harness 18, traction component, etc. from the outside of the pipe 2 whenever any indicator light 31 is lit, thereby easily pulling the robot body 10 out of the pipe 2.

[0082] exist Figure 7 In the modified example shown, the control unit 20 is configured to have a speaker 32 in addition to the display panel 30. The speaker 32 is connected to the control unit 22a and, in the disengaged mode, emits an action sound under the control of the control unit 22a when at least any one of the plurality of telescopic units 11 expands to a non-fully expanded state.

[0083] Thus, by providing a speaker 32 in the control unit 20, the user can identify that at least one telescopic unit 11 has expanded to a partially expanded state by the action sound emitted by the speaker 32 in the disengagement mode. Therefore, in the disengagement mode, the user only needs to pull the wiring harness 18, traction components, etc. from the outside of the pipe 2 when the speaker 32 emits the action sound. As a result, the telescopic unit 11 can be pulled to move inside the pipe 2 when the jamming at the edge 2b is released, thereby efficiently pulling the robot body 10 out of the pipe 2.

[0084] Alternatively, the control unit 20 can be configured to include only either the display panel 30 or the speaker 32. Furthermore, the display panel 30 of the control unit 20 is not limited to having the aforementioned multiple indicator lights 31; for example, it can be configured to have an image display, such as an LCD (liquid crystal display), that shows which telescopic unit 11 is in a partially expanded state.

[0085] Figure 9 This is a block diagram of the control unit involved in other variations. Additionally, in Figure 9 In the accompanying drawings, the aforementioned components and even some parts are labeled with the same reference numerals.

[0086] like Figure 9The control unit 20 shown in the other variations has a display panel 30, and the control device 22 has an abnormality detection unit 22c, configured such that when the abnormality detection unit 22c detects an abnormality in the robot body 10, the mode switching unit 22b automatically switches the control mode from the normal movement mode to the detachment mode.

[0087] More specifically, as another variation, the control unit 20 has multiple pressure sensors 26, which are respectively connected to multiple telescopic pipes 24 corresponding to multiple telescopic units 11, and measure the internal pressure of the corresponding telescopic unit 11 through the telescopic pipes 24. Figure 9 Only three pressure sensors 26 corresponding to the three telescopic pipes 24 are shown in the figure, but the control unit 20 has multiple (seven in this embodiment) pressure sensors 26 corresponding to multiple (seven in this embodiment) telescopic pipes 24.

[0088] Multiple pressure sensors 26 are connected to an anomaly detection unit 22c, which is connected to a control unit 22a and a mode switching unit 22c. The anomaly detection unit 22c can detect anomalies in the robot body 10 based on the internal pressure of the telescopic unit 11 input from the pressure sensors 26. For example, if the cylindrical portion 11a of the telescopic unit 11 is damaged, resulting in cracks or holes, causing the internal pressure of the telescopic unit 11 to fall below the specified pressure when fluid is supplied from the fluid supply source 21 in normal movement mode, the anomaly detection unit 22c detects this anomaly based on the measured value of the internal pressure of the telescopic unit 11 obtained from the pressure sensors 26. In other words, the robot body 10 has experienced an anomaly that prevents it from performing normal movement.

[0089] When the anomaly detection unit 22c detects an anomaly in the robot body 10, the mode switching unit 22b automatically switches the control mode of the control unit 22a for the fluid supply source 21 from the normal movement mode to the extraction mode. That is, when the robot body 10 malfunctions and it is necessary to pull the wiring harness 18, traction components, etc., from the outside of the pipe 2 to pull the robot body 10 out of the pipe 2, the control mode is automatically switched to extraction mode without the user needing to manually switch the control mode. Therefore, when the robot body 10 malfunctions, it is easier to pull the robot body 10 out of the pipe 2 without the user needing to manually switch the control mode.

[0090] When the anomaly detection unit 22c detects an anomaly in the robot body 10, it can illuminate the indicator light 31 on the display panel 30 corresponding to the telescopic unit 11 where the anomaly occurred, to indicate the anomaly. Figure 9In the case shown, the indicator light 31 on the display panel 30 corresponding to the malfunctioning telescopic unit 11 is illuminated in an X shape. Furthermore, the illumination pattern of the indicator light 31 is not limited to an X shape; for example, it can be illuminated in various states such as red, as long as it can indicate an abnormality.

[0091] Alternatively, the mode switching unit 22b can be configured such that when the operator finds it difficult to pull the robot body 10 out of the pipe 2 by pulling the wiring harness 18, traction components, etc. from the outside of the pipe 2, the operator can manually switch the control mode from the normal movement mode to the detachment mode.

[0092] Figure 9 The control unit 20 shown also includes a traction device 50, which pulls a traction member 40 connected to the robot body 10 in the direction that pulls the robot body 10 out of the pipe 2. In the illustrated case, the traction member 40 is disposed outside the housing 23, but it may also be built into the housing 23. The traction device 50 may be, for example, an electrically operated winding device for winding the traction member 40. In this case, the traction device 50 is configured to pull the traction member 40 in the direction that pulls the robot body 10 out of the pipe 2 by winding the traction member 40.

[0093] Figure 9 The control unit 20 shown also includes a traction force detector 51. The traction force detector 51 is disposed between the first portion 40a of the traction member 40 connected to the robot body 10 and the second portion 40b on one side of the traction device 50, and is capable of measuring the traction force acting between the first portion 40a and the second portion 40b, i.e., the traction force acting on the traction member 40. The traction force detector 51 can, for example, be configured to have a load cell (not shown). Alternatively, when the traction device 50 is configured to be pulled along the direction in which the robot body 10 is pulled out of the pipe 2 by winding the wire harness 18, the traction force detector 51 can be disposed on the wire harness 18.

[0094] The traction force detector 51 is connected to the control unit 22a. The control unit 22a is configured such that when the traction component 40 or the wiring harness 18 connected to the robot body 10 is pulled by the traction device 50, and the traction force measured by the traction force detector 51 is above a specified value (e.g., above 1200N), the control mode is automatically switched from the normal movement mode to the disengagement mode by the mode switching unit 22b.

[0095] The traction device 50 is connected to the control unit 22a, and its operation is controlled by the control unit 22a.

[0096] For example, the traction device 50 is configured to be activated by the control unit 22a when the mode switching unit 22b switches the control mode from the normal movement mode to the detachment mode. Therefore, when the anomaly detection unit 22c detects an anomaly in the robot body 10, the traction device 50 automatically activates simultaneously with the mode switching unit 22b automatically switching the control mode from the normal movement mode to the detachment mode. The robot body 10 is pulled towards being pulled out of the pipe 2 by the traction device 50 as the telescopic unit 11 expands to a partially expanded state, eliminating the jamming at the edge 2b of the curved portion 2a of the pipe 2. Therefore, when an anomaly occurs in the robot body 10, the control mode automatically switches to the detachment mode without the user needing to switch the control mode or perform any traction operation on the robot body 10, and the robot body 10 is pulled out of the pipe 2. Thus, when an anomaly occurs in the robot body 10, the user does not need to manually switch the control mode or perform any traction operation, making it easier to pull the robot body 10 out of the pipe 2.

[0097] Furthermore, the traction device 50 can be manually activated when pulling the robot body 10 out of the pipe 2. In this case, as described above, when the traction device 50 pulls the traction component 40 or the wiring harness 18 connected to the robot body 10, if the traction force measured by the traction force detector 51 is above a specified value (e.g., above 1200N), the control mode automatically switches from the normal movement mode to the extraction mode. Therefore, even when there is an edge 2b in the bend 2a of the pipe 2, the robot body 10 can be pulled in the direction of being pulled out of the pipe 2 by the traction device 50 while the telescopic unit 11 expands to a partially expanded state to eliminate the jamming at the edge 2b of the bend 2a of the pipe 2. Therefore, the robot body 10 can be pulled out of the pipe 2 more easily without the user having to manually switch the control mode or perform the traction operation.

[0098] Figure 10 (a) is a side view of a portion of a mobile robot inside a pipe equipped with a traction component. Figure 10 (b) is a side view of a portion of a mobile robot within a pipe, equipped with the traction component involved in the modified example. Additionally, in Figure 10 In the accompanying drawings, the aforementioned components and even some parts are labeled with the same reference numerals.

[0099] like Figure 10 As shown in (a), the pipeline mobile robot 1 can also be configured to have a traction component 40, which includes: a fixing part 41, which is fixed to the front end of the robot body 10; and a rope-like part 42, one end of which is connected to the fixing part 41, and the other end passes through the interior of the robot body 10 and is led out from the rear end of the robot body 10.

[0100] exist Figure 10 In the case shown in (a), the user can pull the robot body 10 inside the pipe 2 and pull it to the outside of the pipe 2 by pulling the rope-like part 42 of the traction member 40.

[0101] The fixing part 41 is formed, for example, from steel into a disc shape with a diameter larger than the hole or gap through which the rope-like part 42 of the robot body 10 is inserted. Therefore, when the traction member 40 is pulled to pull the robot body 10, even if a part of the robot body 10 is damaged by the traction force, the damaged part will be caught in the fixing part 41, thereby enabling all parts of the robot body 10 to be pulled out of the pipe 2 together with the fixing part 41.

[0102] like Figure 10 As shown in (b), the traction member 40 may also be configured such that the rope-like part 42 is divided into a first part 42a connected to the fixing part 41 and a second part 42b connected to the control unit 20, and a first fastening part 42c connected to the first part 42a and a second fastening part 42d connected to the second part 42b are detachably connected.

[0103] This invention is not limited to the above-described embodiments, and various modifications can be made without departing from its spirit.

[0104] For example, the fluid supplied by the fluid supply source 21 to the telescopic unit 11 is not limited to compressed air; it can also be other compressible fluids such as nitrogen, or other incompressible fluids such as water.

[0105] (Explanation of the labels in the attached diagram)

[0106] 1: Robot moving inside the pipe; 2: Pipe; 2a: Curved section; 2b: Edge; 10: Robot body;

[0107] 11: Telescopic unit; 11a: Cylindrical part; 11b: Pleats; 12: Connecting part; 13: Brush;

[0108] 14: Front end; 15: Brush; 16: Flexible connector; 17: Cover; 18: Wiring harness; 20: Control unit;

[0109] 21: Fluid supply source; 22: Control device; 22a: Control unit; 22b: Mode switching unit;

[0110] 22c: Anomaly detection unit; 23: Housing; 24: Telescopic piping; 25: Mode switching switch;

[0111] 26: Pressure sensor; 30: Display panel; 31: Indicator light; 32: Speaker; 40: Traction component;

[0112] 40a: First part; 40b: Second part; 41: Fixing part; 42: Rope-like part; 42a: First part;

[0113] 42b: Second part; 42c: First fastening part; 42d: Second fastening part; 50: Traction device;

[0114] 51: Traction force detector; O: Axis; D1: Diameter; D2: Diameter; D3: Diameter.

Claims

1. A pipe-moving robot, comprising a robot body having at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the pipe-moving robot being configured to move inside the pipe under the action of the telescopic units performing a peristaltic motion according to a repetitive pattern, characterized in that... have: A fluid supply source is connected individually to each of the multiple telescopic units via piping; as well as A control device, which is connected to the fluid supply source, The control device has: The control unit controls the operation of the fluid supply source; and The mode switching unit switches the control mode of the control unit for the fluid supply source to a normal moving mode and a disengagement mode. The control unit is configured as follows: In the normal movement mode, the action of the fluid supply source is controlled so that the multiple telescopic units alternately deform between a fully expanded radially expanded state and a non-expanded natural state according to a repetitive pattern to perform the peristaltic movement. In the disengagement mode, the operation of the fluid supply source is controlled so that the multiple expansion units deform in a repetitive pattern between a partially expanded state, a slightly expanded state, or the natural state. The partially expanded state is a state in which the internal pressure is lower than that of the fully expanded state and the radial expansion is such that the diameter of the pipe can no longer be maintained at the inner circumferential surface. The slightly expanded state is a state in which the internal pressure is lower than that of the partially expanded state and the radial expansion is such that the pipe expands radially.

2. A pipe-moving robot, comprising a robot body having at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the pipe-moving robot moving inside the pipe under the action of the telescopic units performing a repetitive peristaltic motion, characterized in that... have: A fluid supply source is connected individually to each of the multiple telescopic units via piping; A control device connected to the fluid supply source; A traction device that pulls a traction component connected to the robot body in a direction that pulls the robot body out of the pipe; and A traction force detector measures the traction force acting on the traction component. The control device has: The control unit controls the operation of the fluid supply source; and The mode switching unit switches the control mode of the control unit for the fluid supply source to a normal moving mode and a disengagement mode. The control unit is configured as follows: In the normal movement mode, the action of the fluid supply source is controlled so that the multiple telescopic units alternately deform between a fully expanded radially expanded state and a non-expanded natural state according to a repetitive pattern to perform the peristaltic movement. In the disengagement mode, the operation of the fluid supply source is controlled so that the plurality of expansion units deform according to a repetitive pattern between a partially expanded state with internal pressure lower than that of the fully expanded state, a micro-expansion state with internal pressure lower than that of the partially expanded state, or the natural state. The pipeline mobile robot is configured such that when the traction force measured by the traction force detector is above a predetermined value, the control mode is automatically switched from the normal movement mode to the detachment mode by the mode switching unit.

3. The pipeline mobile robot according to claim 1 or 2, comprising: A traction device that pulls a traction component connected to the robot body in the direction that pulls the robot body out of the pipe. The control unit is configured to activate the traction device when the control mode is switched from the normal movement mode to the disengagement mode by the mode switching unit.

4. A pipe-moving robot, comprising a robot body having at least three telescopic units, each of which expands radially and contracts axially when supplied with fluid, the pipe-moving robot moving inside the pipe under the action of the telescopic units performing a repetitive peristaltic motion, characterized in that... have: A fluid supply source is connected individually to each of the multiple telescopic units via piping; as well as A control device, which is connected to the fluid supply source, The control device has: The control unit controls the operation of the fluid supply source; and The mode switching unit switches the control mode of the control unit for the fluid supply source to a normal moving mode and a disengagement mode. The control unit is configured as follows: In the normal movement mode, the action of the fluid supply source is controlled so that the multiple telescopic units alternately deform between a fully expanded radially expanded state and a non-expanded natural state according to a repetitive pattern to perform the peristaltic movement. In the disengagement mode, the operation of the fluid supply source is controlled so that the plurality of expansion units deform according to a repetitive pattern between a partially expanded state with internal pressure lower than that of the fully expanded state, a micro-expansion state with internal pressure lower than that of the partially expanded state, or the natural state. The mobile robot inside the pipeline also has a traction component, which includes a fixing part fixed to the front end of the robot body; And a rope-like part, one end of which is connected to the fixing part, and the other end passes through the interior of the robot body and is led out from the rear end of the robot body.

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