Anti-interference pipe gallery inspection device

Abstract

The utility model belongs to the field of pipe gallery inspection, and particularly relates to an anti-interference pipe gallery inspection device which comprises a walking mechanism, a cam steering mechanism and a detection mechanism, the cam steering mechanism and the detection mechanism are arranged on the walking mechanism, the walking mechanism comprises a driving link and a walking frame, the driving link is arranged on the walking frame, and the detection mechanism is arranged on the driving link. The driving mechanism is used for driving the cam steering mechanism and the walking frame, the steering mechanism comprises a steering front fork, an adjusting guide rod, a guide cam and a tensioning mechanism, the steering front fork vertically penetrates through the walking frame and is rotatably connected with the walking frame, a rolling wheel is arranged at the lower end of the steering front fork, and the rolling wheel is arranged on the steering front fork. The steering front fork is arranged on the walking frame, the driving link is arranged on the steering front fork, the steering guide rod is arranged at the upper end of the steering front fork, the guide cam is rotatably arranged on the walking frame and is in power connection with the driving link, and the guide cam is in contact fit with the steering guide rod. A new scheme is provided.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of pipe gallery inspection, and particularly relates to an anti-interference pipe gallery inspection device. TECHNICAL BACKGROUND

[0002] The pipe gallery, also known as an underground comprehensive pipe gallery, is a structure and auxiliary facility arranged below the ground of a city and used for accommodating two or more public facility pipelines or professional pipelines. The public facility pipelines include power, communication (including monitoring lines), radio and television, water supply, drainage, heat, gas, fire-fighting pipelines, traffic signals, emergency optical cables, etc., and the auxiliary facilities include drainage, ventilation, lighting, electrical, communication, fire-fighting, safety monitoring systems and monitoring management rooms, etc. for maintaining the normal operation of the pipe gallery.

[0003] With the advancement of urbanization, the demand for pipe gallery inspection is increasing, and how to efficiently realize pipe gallery inspection to ensure that the pipe gallery can be normally used has become a difficult problem. Patent numbers CN118293340A, CN218659090U and CN118617439A provide solutions to this problem, but these solutions have the characteristics that the inspection robot moves along the guide rail by connecting to the hanging wheel set above it or lays tracks on the pipe gallery road surface. Laying tracks and other methods have the problems of high track laying cost, high maintenance cost in the later period, and large machine maintenance cost in the later period, which is not conducive to the automation of the pipe gallery inspection industry.

[0004] At the same time, there are some inspection devices in the prior art that use intelligent control schemes. For example, patent number CN215513930U, a utility model patent for a walking mechanism of an urban underground comprehensive pipe gallery inspection robot. This intelligent control scheme does not have the problem of high cost caused by laying tracks throughout the section, but the cost of the controller (chip) is still high, and the intelligent control method is easily disturbed by external strong electromagnetic or high temperature environments and is damaged. SUMMARY

[0005] The purpose of the present application is to solve the technical problem that the intelligent control method in the prior art is easily disturbed by external strong electromagnetic or high temperature environments and is damaged.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] The utility model provides an anti -interference pipe gallery inspection device, include: walking mechanism and be provided with cam steering mechanism and detection mechanism on walking mechanism, walking mechanism includes prime mover and walking frame, prime mover sets up on walking frame for driving cam steering mechanism and walking frame, steering mechanism includes steering fork, steering guide rod, guide cam and tensioning mechanism, steering fork vertically penetrates walking frame and can rotatable connection with walking frame, the lower end of steering fork is provided with gyro wheel, steering guide rod sets up in the upper end of steering fork, guide cam rotatable sets up on walking frame with prime mover power connection and guide cam with steering guide rod contact fit, tensioning mechanism sets up in walking frame for driving steering guide rod and the guide cam's guide wheel profile close contact.

[0008] Preferably, the tensioning mechanism includes a pull rod, a pull hook, and an elastic member. The pull rod is arranged on the walking frame, the pull hook is arranged on the steering guide rod, and the two ends of the elastic member are connected with the pull rod and the pull hook respectively to provide elastic force so that the steering guide rod is attached to the guide cam.

[0009] Preferably, the prime mover is a reversible motor and is electrically connected with the detection mechanism.

[0010] Preferably, the power output end of the prime mover is provided with a first gear, the walking frame includes a frame body, a rear wheel shaft rotatably arranged on the frame body, and a pair of walking wheels arranged on both sides of the rear wheel shaft. The rear wheel shaft is provided with a second gear and is engaged with the first gear.

[0011] Preferably, the guide cam is provided with a cam shaft, and a differential transmission mechanism is connected between the cam shaft and the walking wheels.

[0012] Preferably, the differential transmission mechanism includes an intermediate shaft, a first small gear, a first large gear, a second small gear, and a second large gear. The intermediate shaft is arranged on the frame body, the first small gear is arranged on the rear wheel shaft, the first large gear and the second small gear are arranged on the intermediate shaft, the first large gear is engaged with the first small gear, and the second large gear is arranged on the cam shaft and is engaged with the second small gear.

[0013] Preferably, the frame body is provided with a support rod and a high platform. A plurality of support rods are vertically arranged on the frame body, and the high platform is arranged on the upper end of the support rod. The detection mechanism is arranged on the high platform.

[0014] Preferably, the detection mechanism includes an inspection camera and a detection member arranged on the high platform respectively.

[0015] Preferably, the returning unit further comprises an alarm mechanism and a control mechanism, the alarm mechanism comprises an environment sensing probe and an analyzer, the environment sensing probe is used for detecting surrounding environment information and uploading the environment information to the analyzer, the analyzer is electrically connected with the control mechanism, and the analyzer is used for analyzing the environment information and the identification information and controlling the prime mover to drive the cam steering mechanism and the walking frame to operate reversely through the control mechanism.

[0016] Preferably, the alarm mechanism further comprises an identification camera, the identification camera is used for identifying a target object, generating and uploading identification information to the analyzer, and the analyzer is further used for analyzing and storing the identification information and controlling the prime mover to drive the cam steering mechanism and the walking frame to operate reversely through the control mechanism.

[0017] The beneficial effect is that: in the initial state, the device is placed at the starting point of the tracking route, the guide cam is reset to the initial phase angle, the pretightening force of the tensioning mechanism is applied to make the steering guide rod tightly contact the working surface (i.e. the guide contour) of the guide cam, at this time, the contact position of the steering guide rod is the initial phase angle of the guide cam, the prime mover and the detection mechanism are started, the prime mover drives the walking frame and the guide cam to operate, the guide cam keeps the reference contour section, the steering guide rod is in the mid-position keeping state, and the walking frame can walk straight, when the guide cam appears concave-convex compared with the reference contour section, the steering guide rod tightly contacting the guide cam appears deflection, the roller is deflected, and finally the steering control is realized. By controlling the ups and downs of the guide contour of the guide cam, the device can move along the tracking route under the condition that the displacement speed is constant, the whole tracking and guiding process is mechanically controlled by the guide cam, there is no weak electric element, the mechanical steering control scheme of the guide cam is adopted, the tracking failure in the strong interference condition is avoided, and no track needs to be laid, different guide cams with different guide contours are only needed to be replaced for different tracking routes, so that trackless tracking is realized, the disadvantages of high track cost and difficult maintenance in track inspection are avoided, the disadvantages of weak electric control system being easily damaged and easily disturbed by the environment in the intelligent control scheme are also avoided, the guide cam mode is adopted, the cost is low, the guide cam is a mechanical mechanism, and good anti-interference performance is provided, so that a new scheme different from the prior art is provided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the isometric view of the anti-interference pipe gallery inspection device described in the application;

[0019] Figure 2 is the first sectional view of the anti-interference pipe gallery inspection device described in the application;

[0020] Figure 3 is the partial sectional view of the anti-interference pipe gallery inspection device described in the application;

[0021] Figure 4 Figure 2 is a second sectional view of the anti-interference pipe gallery inspection device described in the present application;

[0022] Figure 5 Figure 3 is a third sectional view of the anti-interference pipe gallery inspection device described in the present application;

[0023] Figure 6 Figure 4 is a front sectional view of the anti-interference pipe gallery inspection device described in the present application;

[0024] Figure 7 Figure 5 is a top sectional view of the anti-interference pipe gallery inspection device described in the present application;

[0025] Figure 8 Figure 6 is a partial top sectional view of the alarm mechanism described in the present application.

[0026] In the figure: walking mechanism 100, cam steering mechanism 200, detection mechanism 300, prime mover 110, walking frame 120, steering fork 210, steering guide rod 220, guide cam 230, tensioning mechanism 240, roller 211, pull rod 241, pull hook 242, elastic member 243, first gear 111, frame body 121, rear wheel shaft 122, walking wheel 123, second gear 124, cam shaft 231, differential transmission mechanism 250, intermediate shaft 251, primary pinion 252, primary gear 253, secondary pinion 254, secondary gear 255, support rod 125, high platform 126, inspection camera 310, detection member 320, return unit 400, alarm mechanism 410, control mechanism 420, environment sensing probe 411, analyzer 412, identification camera 413. DETAILED DESCRIPTION

[0027] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict. The technical solutions of the present application will be further described below in combination with the drawings of the embodiments of the present application. The present application is not limited to the following specific embodiments.

[0028] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the position relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation of the present patent, and for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0029] Please refer to Figures 1 to 8 In one specific embodiment of this application, such as Figure 1 As shown, an anti-interference pipe gallery inspection device includes: a traveling mechanism 100, a cam steering mechanism 200, and a detection mechanism 300 mounted on the traveling mechanism 100. The traveling mechanism 100 includes a prime mover 110 and a traveling frame 120. The prime mover 110 is mounted on the traveling frame 120 and is used to drive the cam steering mechanism 200 and the traveling frame 120. The prime mover 110 can be a single motor that simultaneously drives the cam steering mechanism 200 and the traveling frame 120 to operate at a certain differential speed through a gear transmission system, or it can be a dual-motor type that drives the cam steering mechanism 200 and the traveling frame 120 to operate separately while ensuring that the differential speed between the cam steering mechanism 200 and the traveling frame 120 is constant. The steering mechanism includes a steering fork 210, a guiding rod 220, a guide cam 230, and a tensioning mechanism 240. The steering fork 210 vertically penetrates the traveling frame 120 and is rotatably connected to the traveling frame 120, i.e., as shown in the diagram. Figure 1 As shown, a roller 211 is provided at the lower end of the steering fork 210, and the adjusting rod 220 is provided at the upper end of the steering fork 210. It is easy to see that pushing the adjusting rod 220 to rotate around the rotation center of the steering fork 210 can change the direction of travel of the roller 211, thereby changing the direction of travel of the device. By simply adjusting the rotation angle and rotation time of the adjusting rod 220, the device can be controlled to travel along a predetermined trajectory. The guide cam 230 can adjust the rotation angle and rotation time of the adjusting rod 220 through its own guide contour (i.e., the outer contour of the guide cam 230). The guide cam 230 is rotatably mounted on the upper end of the steering fork 210. On the walking frame 120, the drive element 110 is powered. The guide cam 230 can be mounted on the walking frame 120 via a shaft or any rotatable connection method, as long as its rotational linear velocity is in a fixed speed ratio with the walking linear velocity of the walking frame 120. The guide cam 230 is in contact with the adjusting guide rod 220. The tensioning mechanism 240 is mounted on the walking frame 120 and is used to drive the adjusting guide rod 220 to fit tightly with the guide contour of the guide cam 230. The guide contour is the outline of the outer contour of the guide cam 230. By replacing the guide cam 230 with different guide contours, the device can travel along different tracking routes.

[0030] In a specific working process, the tracking route to be inspected is determined from the construction drawing of the pipe gallery, the outer contour curve corresponding to the tracking route is determined according to the tracking route and the displacement speed of the walking frame 120, when the tracking route needs to be inspected, the guide cam 230 corresponding to the tracking route is installed to the walking frame 120, in the initial state, the device is placed at the starting point of the tracking route, the guide cam 230 is reset to the initial phase angle, the tensioning mechanism 240 applies a pre-tightening force to make the steering guide rod 220 tightly contact the working surface (i.e. the guide contour) of the guide cam 230, at this time the contact position of the steering guide rod 220 is the initial phase angle of the guide cam 230, the prime mover 110 and the detection mechanism 300 are started, the prime mover 110 drives the walking frame 120 and the guide cam 230 to operate, the guide cam 230 keeps the reference contour section (i.e. the cam radius makes the steering guide rod 220 in the middle position, and the contour section remains unchanged), the steering guide rod 220 is in the middle position keeping state, and the walking frame 120 can walk straight, when the guide cam 230 appears concave and convex compared with the reference contour section, the steering guide rod 220 tightly contacting the guide cam 230 appears deflection, the roller 211 is deflected accordingly, and the steering control is realized. By controlling the ups and downs of the guide contour of the guide cam 230, the device can move along the tracking route under the condition that the displacement speed is constant, the whole tracking and guiding process is mechanically controlled by the guide cam 230, there is no weak electric element, the mechanical steering control scheme of the guide cam 230 avoids the tracking failure in the case of strong interference, and only needs to replace the guide cam 230 with different guide contours for different tracking routes to realize trackless tracking, avoids the high cost and difficult maintenance of the track in the track inspection, and also avoids the disadvantages of the weak electric control system in the intelligent control scheme, that is, the weak electric control system is easy to be damaged and easy to be disturbed. The device adopts the guide cam 230 mode, which is not only low in cost, but also not easy to be damaged, and has good anti-interference performance and shorter construction period.

[0031] The design process of the guide contour of a specific guide cam 230 is as follows: first, the tracking route of the pipe gallery inspection robot is drawn according to the pipe gallery construction drawing, the tracking route is reflected in the concave and convex of the cam, and the cam is manufactured by the following steps.

[0032] Step 1, establish a coordinate system, establish a coordinate system with the inspection starting point as the origin and assign values to the key points in meters;

[0033] Step 2, establish key points, set the maximum longitudinal coordinate length of the pipe gallery as L, take the point number as N, the coefficient as a (a>0), the offset in the logarithm as b (b>0), the intercept as c, and the function expression as: N=a ln(Lb)+c, wherein c=0, a=3, and b=3.5;

[0034] Step 3, draw the approximate curve, and import the coordinate data into UG to process the approximate curve of the entire trajectory.

[0035] Step 4, after the data generated by UG (three-dimensional drawing software) is sorted by spreadsheet software, it is imported into MATLAB (mathematical calculation and data analysis software) to process the cam data based on the approximate curve.

[0036] Step 5, import the cam data into SOLIDWORKS (three-dimensional drawing software) to generate a three-dimensional entity, and make a guide cam 230.

[0037] Step 6, punch mounting holes on the guide cam 230 at the rotation center corresponding to the mounting flange, and install the guide cam 230 in place using the mounting flange.

[0038] Further, the tensioning mechanism 240 includes a pull rod 241, a pull hook 242, and an elastic member 243. The pull rod 241 is arranged on the walking frame 120, the pull hook 242 is arranged on the steering guide rod 220, and the elastic member 243 can be a high-elasticity rubber band, a rubber rope, or other elastic materials that meet the use requirements, or can be a spring. The two ends of the elastic member 243 are respectively connected with the pull rod 241 and the pull hook 242, and are used to provide elastic force to make the steering guide rod 220 fit the guide cam 230. The simple mechanical structure of the pull rod 241, the pull hook 242, and the elastic member 243 can further reduce the production cost and facilitate maintenance.

[0039] In the above implementation process, when the detection mechanism 300 detects that the front environment makes the device unable to continue the inspection, such as an obstacle that cannot be crossed or a deep water environment caused by water leakage, if the device continues to walk along the tracking route, it will not be able to return due to the lack of an intelligent control system. In a specific embodiment, the prime mover 110 is a reversible motor and is electrically connected with the detection mechanism 300. When the detection mechanism 300 visually detects the above situation, the reversible motor is reversed, so that the guide cam 230 and the walking frame 120 are reversed, thereby realizing the device returning along the route it has walked, and avoiding the above situation.

[0040] Preferably, as shown in the figure, the power output end of the prime mover 110 is provided with a first gear 111, the walking frame 120 comprises a frame body 121, a rear wheel shaft 122 rotatably arranged on the frame body 121, and a pair of walking wheels 123 arranged on both sides of the rear wheel shaft 122, a second gear 124 is arranged on the rear wheel shaft 122 and engaged with the first gear 111, and the mechanical transmission of the prime mover 110 and the walking wheels 123 is achieved by gears, which is not easily affected by strong electromagnetic interference, and in the case of strong electromagnetic interference in the underground pipe gallery, this transmission scheme further ensures the normal operation of the device.

[0041] In the above implementation process, it is necessary to ensure that there is a fixed speed difference between the cam shaft 231 and the walking wheel 123, so as to ensure that there is no deviation when the device changes direction and adjusts the tracking route through the cam control of the steering guide rod 220, the guide cam 230 is provided with a cam shaft 231, and a differential transmission mechanism 250 is connected between the cam shaft 231 and the walking wheel 123, which ensures that there is a fixed speed difference between the cam shaft 231 and the walking wheel 123.

[0042] Further, the differential transmission mechanism 250 comprises an intermediate shaft 251, a first small gear 252, a first large gear 253, a second small gear 254, and a second large gear 255, the intermediate shaft 251 is arranged on the frame body 121, the first small gear 252 is arranged on the rear wheel shaft 122, the first large gear 253 and the second small gear 254 are arranged on the intermediate shaft 251, the first large gear 253 is engaged with the first small gear 252, and the second large gear 255 is arranged on the cam shaft 231 and engaged with the second small gear 254.

[0043] In the above implementation process, if the detection mechanism 300 is arranged at the bottom of the walking frame 120, the detection mechanism 300 is easily blocked by other high parts when detecting the medium, for example, if the detection mechanism 300 is infrared detection, the front fork is located in front of the detection mechanism 300, and part of the infrared light is blocked, causing the detection result to be missing, etc., the frame body 121 is provided with a support rod 125 and a high platform 126, a plurality of support rods 125 are vertically arranged on the frame body 121, the high platform 126 is arranged at the upper end of the support rod 125, and the detection mechanism 300 is arranged on the high platform 126, which is beneficial to the operation of the detection mechanism 300 not affected by other parts.

[0044] Further, the detection mechanism 300 comprises a patrol camera 310 and a detection piece 320 arranged on the high platform 126 respectively, the patrol camera 310 is used to record the image in the patrol process, and the detection piece 320 is used to identify or measure specific data.

[0045] In the above implementation process, when the detection mechanism 300 detects that the front environment is prone to damage the device, such as a strong electromagnetic environment caused by fire or electric leakage, the device cannot return. In a specific embodiment, the return unit 400 is preferably included, which includes an alarm mechanism 410 and a control mechanism 420. The alarm mechanism 410 includes an environment sensing probe 411 and an analyzer 412. The environment sensing probe 411 is used to detect the surrounding environment information, such as the environmental temperature information or the electromagnetic intensity information, and upload the environmental information to the analyzer 412. The analyzer 412 is electrically connected to the control mechanism 420. The environmental information can be the maximum temperature threshold and the maximum electromagnetic intensity threshold set in the analyzer 412, which is used to analyze the environmental information and the identification information, and control the original driving member 110 to drive the cam steering mechanism 200 and the walking frame 120 to reverse operation through the control mechanism 420. If it is found that the temperature or electromagnetic intensity of the surrounding environment is higher than the maximum temperature threshold and the maximum electromagnetic intensity threshold in the analyzer 412, the analyzer 412 determines that it should return, records the environmental information and starts the control mechanism 420, so that the control mechanism 420 controls the original driving member 110 to drive the cam steering mechanism 200 and the walking frame 120 to reverse operation. As shown in the figure, when the original driving member 110 drives the guide cam 230 and the walking wheel 123 to reverse rotation, it can be known that the device will return along the previously traveled tracking route. This implementation process adopts a mechanical tracking structure, which assists the return unit 400 to issue a warning before entering a harsh environment, provides a tracking robot structure that is not easy to be damaged and has low cost. This application almost does not need weak current control and has strong anti-interference ability, which is suitable for patrol in underground corridors in the event of harsh environments, and records information and automatically returns when a harsh environment is found. Compared with the existing patrol robots relying on weak current control or wireless signal control, in the real work of the sudden harsh environment, it is very easy to be affected by the environment to lose signal and cannot return, or the weak current structure is affected, and then the device is damaged and cannot work. The scheme of the present application is more resistant to harsh environments. The cam steering mechanism 200 is not easy to be affected by strong magnetic and high temperature environments, and can automatically return by reversing the control motor when a harsh environment is found. It can enter the corridor to patrol and explore when the existing patrol robot is lost in the corridor due to the sudden strong magnetic and high temperature environment.

[0046] Further, although the in-corridor alarm device finds the in-corridor strong magnetic and high temperature bad environment signs, and the inspection robot is lost in the corridor at this time, but may not contact the bad environment center and damage to stop, the alarm mechanism 410 also includes an identification camera 413 for identifying the target object, generating and uploading identification information to the analyzer 412, the analyzer 412 is also used to analyze and store the identification information, and control the original driving member 110 to drive the cam steering mechanism 200 and the walking frame 120 to operate in reverse, when the identification camera 413 finds the lost inspection robot, records the information and returns automatically. The embodiment provides a further inspection scheme, which is used for inspecting in the corridor and finding the damaged and lost inspection robot.

[0047] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments are not required to be exhausted. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An anti-interference pipe gallery inspection device, characterized in that, The utility model relates to a kind of walking mechanism and the cam steering mechanism and detection mechanism arranged on the walking mechanism, the walking mechanism includes prime mover and walking frame, the prime mover is arranged on the walking frame, for driving the cam steering mechanism and the walking frame, the steering mechanism includes steering fork, steering guide rod, guide cam and tensioning mechanism, the steering fork vertically penetrates the walking frame, and with the walking frame rotatable connection, the lower end of the steering fork is provided with gyro wheel, the steering guide rod is arranged on the upper end of the steering fork, the guide cam is rotatably arranged on the walking frame, with the prime mover power connection, and the guide cam and the steering guide rod contact cooperation, the tensioning mechanism is arranged on the walking frame, for driving the steering guide rod and the guide cam's guide wheel profile close contact. The tensioning mechanism includes pull rod, pull hook and elastic member, the pull rod is arranged on the walking frame, the pull hook is arranged on the steering guide rod, the two ends of the elastic member are respectively connected with the pull rod and the pull hook, for providing elastic force, so that the steering guide rod is attached to the guide cam.

2. The anti-interference pipe gallery inspection device according to claim 1, characterized in that, The prime mover is reversible motor, and is electrically connected with the detection mechanism.

3. The anti-interference pipe gallery inspection device according to claim 1, characterized in that, The power output end of the prime mover is provided with first gear, the walking frame includes frame body, rear wheel shaft rotatably arranged on the frame body and a pair of walking wheels arranged on both sides of the rear wheel shaft, the rear wheel shaft is provided with second gear, and is engaged with the first gear.

4. The anti-interference pipe gallery inspection device according to claim 1, characterized in that, The guide cam is provided with camshaft, and differential transmission mechanism is connected between the camshaft and the walking wheel.

5. The anti-interference pipe gallery inspection device according to claim 4, characterized in that, The differential transmission mechanism includes intermediate shaft, primary pinion, primary gear, secondary pinion and secondary gear, the intermediate shaft is arranged on the frame body, the primary pinion is arranged on the rear wheel shaft, the primary gear and the secondary pinion are arranged on the intermediate shaft, and the primary gear is engaged with the primary pinion, the secondary gear is arranged on the camshaft, and the secondary gear is engaged with the secondary pinion.

6. The anti-interference pipe gallery inspection device according to claim 5, characterized in that, The frame body is provided with support rod and high platform, a plurality of support rods are vertically arranged on the frame body, the high platform is arranged on the upper end of the support rod, and the detection mechanism is arranged on the high platform.

7. The anti-interference pipe gallery inspection device according to claim 4, characterized in that, The detection mechanism includes inspection camera and detection member arranged on the high platform respectively.

8. The anti-interference pipe gallery inspection device according to claim 7, characterized in that, It also includes return unit, the return unit includes alarm mechanism and control mechanism, the alarm mechanism includes environmental perception probe and analyzer, the environmental perception probe is used to detect the environmental information around, and the environmental information is uploaded to the analyzer, the analyzer is electrically connected with the control mechanism, for analyzing the environmental information and identification information, and through the control mechanism control the prime mover drives the cam steering mechanism and the walking frame reverse operation.

9. The anti-interference pipe gallery inspection device according to claim 1, characterized in that, The alarm mechanism also includes identification camera, the identification camera is used to identify target, and identification information is generated and uploaded to the analyzer, and the analyzer is also used to analyze and store the identification information, and through the control mechanism control the prime mover drives the cam steering mechanism and the walking frame reverse operation.

10. The anti-interference pipe gallery inspection device according to claim 9, characterized in that, ​

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