A tunnel detection robot based on a snake structure

Abstract

The utility model discloses a tunnel detection robot based on serpentine structure, including head end piece, a plurality of snake link piece, two clamping pieces, elastic part, a plurality of drive assemblies and sensor assembly, the rear side of head end piece is arranged with a plurality of snake link piece, the rear side of head end piece and snake link piece all is provided with the positioning slot, the front side of snake link piece is provided with two clamping pieces, two clamping pieces are respectively with the upper and lower sides of positioning slot and are clamped, and the elastic part is connected between two clamping pieces, and still be provided with drive assembly on head end piece and snake link piece, still be provided with sensor assembly on head end piece, through the clamping mode of two clamping pieces and positioning slot, can make the snake link piece or snake link piece of interconnection and head end piece are connected, and the elastic part between two clamping pieces drives two clamping pieces to produce elastic deformation, to be clamped into or separate from positioning slot, realize the quick assembly and disassembly of snake link piece.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a tunnel inspection robot based on a snake-shaped structure. Background Technology

[0002] Tunnel inspection is a crucial step, but traditional manual inspections rely on technicians carrying simple equipment, which faces numerous challenges, such as: environmental risks, with dangerous environments like collapses, toxic gases, or water threatening personnel safety; limited inspection accuracy, making it difficult to identify cracks in high-altitude arches or deep water areas, and subjective experience differences easily leading to missed detections; and insufficient efficiency, as manual inspections are time-consuming and easily affected by subjective factors.

[0003] Currently, snake-like robots are commonly used to inspect conditions inside tunnels. These robots consist of multiple modules connected in sequence, which are rotated together to provide the robot with a flexible movement mode, making it easy to adapt to curved tunnels. However, the modules of existing snake-like robots are generally connected by a pivot. When it is necessary to add or remove modules, it is also necessary to add or remove the fixing parts of the pivot and the pivot itself, which makes the addition or removal process cumbersome and affects the replacement efficiency.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a tunnel inspection robot based on a snake structure, which aims to solve the problem that existing snake robot modules are inconvenient to add and disassemble.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows: A tunnel inspection robot based on a snake-like structure includes: Head end piece; Multiple serpentine components are arranged sequentially on the rear side of the head end component; both the head end component and the serpentine components have positioning grooves on their rear sides. Two snap-fit ​​components are vertically spaced apart on the front side of the serpentine component; An elastic element is disposed between the two snap-fit ​​elements; the two ends of the elastic element are respectively connected to the two snap-fit ​​elements and are used to drive the two snap-fit ​​elements to generate elastic deformation so as to snap into or disengage from the positioning groove. Multiple drive components are respectively disposed on the head end piece and the multiple snake joint pieces; A sensor assembly, mounted on the head end piece, is used to acquire image information within the tunnel.

[0007] Furthermore, the positioning groove includes: An opening groove is provided on the rear side of the head end piece and the snake joint piece; Two slots are respectively provided on the upper and lower sides of the opening groove; the openings of the two slots are arranged facing each other.

[0008] Furthermore, chamfers are provided on both the upper and lower sides of the opening groove, and the chamfers extend from the outer edge or the middle point of the opening groove toward the slot.

[0009] Furthermore, the snap-fit ​​component includes: An extension block is disposed at the end of the serpentine component that is away from the positioning groove; A locking post is provided at the end of the extension block away from the snake joint; the two locking posts are respectively located on opposite sides of the extension block, and the two extension blocks can undergo elastic deformation towards each other so that the locking posts can be engaged or disengaged from the locking slot.

[0010] Furthermore, a rotating block is provided on the side of the two snap-fit ​​components near the serpentine component, and the serpentine component is rotatably connected to the rotating block via a rotating shaft.

[0011] Furthermore, a sliding groove is provided on the side of the rotating block near the snake joint component, and the rotating shaft is located in the sliding groove.

[0012] Furthermore, the driving component includes: Multiple rolling wheels are respectively rotatably disposed at the bottom of the head end piece and the multiple snake-shaped pieces; Multiple drive servos are respectively disposed inside the head end member and the multiple snake joint members; each drive servo corresponds to and is connected to the rolling wheel.

[0013] Furthermore, a robotic arm is provided on the top of one of the snake-like components, and a mounting plate is provided at the top of the robotic arm.

[0014] Furthermore, the bottom of the robotic arm is provided with a slide rail, which is mounted on the snake joint component.

[0015] Furthermore, the sensor assembly includes: A lidar is mounted on the top of the head unit; A camera is located on the front side of the head unit; the camera is equipped with a ring light.

[0016] Compared with the prior art, the beneficial effects of this utility model are: In this invention, multiple serpentine segments are arranged in a row on the rear side of the head end piece. Positioning grooves are provided on the rear sides of both the head end piece and the serpentine segments. Two snap-fit ​​components are provided on the front side of each serpentine segment, respectively snapping into the upper and lower sides of the positioning grooves. The two snap-fit ​​components are connected by an elastic element. A driving assembly is also provided on the head end piece and the serpentine segments, and a sensor assembly is also provided on the head end piece. Through the snap-fit ​​method between the two snap-fit ​​components and the positioning grooves, connected serpentine segments or serpentine segments connected to the head end piece can be achieved. The elastic element between the two snap-fit ​​components causes the two snap-fit ​​components to undergo elastic deformation, thus engaging or disengaging from the positioning grooves, enabling rapid assembly and disassembly of the serpentine segments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the snap-fit ​​component and elastic component of this utility model.

[0019] Figure 3 This is a schematic diagram of the rotating block and rotating shaft structure of this utility model.

[0020] The numbers in the diagram represent: 1. Head end piece; 2. Snake joint piece; 21. Positioning groove; 3. Snap-fit ​​piece; 31. Extension block; 32. Snap-fit ​​post; 33. Rotating block; 34. Sliding groove; 35. Rotating shaft; 4. Elastic element; 5. Rolling wheel; 6. LiDAR; 7. Camera; 8. Robotic arm. Detailed Implementation

[0021] To make the objectives, technical solutions, and effects of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0022] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] In view of the shortcomings of the existing technology, this embodiment provides a tunnel inspection robot based on a snake-like structure, as detailed below: As attached Figure 1 As shown, a tunnel inspection robot based on a snake-like structure includes a headpiece 1, multiple snake-like segments 2, two locking components 3, an elastic component 4, multiple drive components, and a sensor component. The headpiece 1 is located at the front end of the whole, and the sensor component is installed on the headpiece 1 to collect image information inside the tunnel. Multiple snake-like segments 2 are arranged sequentially on the rear side of the headpiece 1. Positioning grooves 21 are provided on the rear side of both the headpiece 1 and the snake-like segments 2. Two locking components 3 are provided on the front side of the snake-like segments 2, and the two locking components 3 are arranged vertically at intervals. An elastic component 4 is also provided between the two locking components 3. The two ends of the elastic component 4 are respectively connected to the opposite side of the two locking components 3. The elastic component 4 can drive the two locking components 3 to produce elastic deformation to facilitate locking into or detaching from the positioning grooves 21. Drive components are also provided on the headpiece 1 and the snake-like segments 2 to drive the headpiece 1 and the snake-like segments 2 to move.

[0025] During assembly, the sensor assembly is first precisely installed in the preset position on the headpiece 1, and its stability is ensured by tightening screws or snap-fit ​​connections. The lens of the sensor assembly faces the tunnel detection direction to acquire image information in real time. Next, the serpentine sections 2 are connected: the front side of the first serpentine section 2 is aligned with the rear side of the headpiece 1, and the two vertically spaced snap-fit ​​pieces 3 on the front side of the serpentine section 2 are aligned with the positioning groove 21 on the rear side of the headpiece 1. By controlling the contraction of the elastic element 4, the two snap-fit ​​pieces 3 undergo opposing elastic deformation. After the snap-fit ​​pieces 3 are inserted into the positioning groove 21, the elastic element 4 is slowly released. The rebound force of the elastic element 4 pushes the snap-fit ​​pieces 3 back to their original position, causing them to snap into the positioning groove 21 of the headpiece 1, forming a stable mechanical connection. Subsequent serpentine sections 2 are connected to the previous serpentine section 2 in the same manner. Through the cooperation of the snap-fit ​​pieces 3 and the positioning groove 21, and the elastic support of the elastic element 4, multiple serpentine sections 2 are linearly connected in series. After completing the mechanical structure connection, the drive components are installed at designated positions on the head end piece 1 and each snake joint piece 2. The power output end of the drive component is linked to the joint parts of the snake structure and connected to the control system via wires or integrated circuits to ensure that each drive component can move in coordination. Finally, the overall structure is debugged, and the tightness of the fit between the snap-fit ​​piece 3 and the positioning groove 21, the elastic performance of the elastic piece 4, and the smoothness of the operation of the drive components are checked to ensure that the robot can move and detect stably in the tunnel.

[0026] The modular, flexible connection design of this application allows for rapid assembly between the headpiece 1 and the serpentine segments 2 or adjacent serpentine segments 2 via snap-fit ​​components 3 and elastic components 4. Only the contraction and extension of the elastic components 4 need to be controlled, and there is no need to install or disassemble the rotating shaft and its fixing components. This allows for structural expansion or disassembly, significantly improving maintenance convenience, and is particularly suitable for scenarios involving rapid replacement of damaged components in tunnel inspection. The serpentine biomimetic structure gives the robot high flexibility and environmental adaptability. The series connection of multiple serpentine segments 2 allows the robot to move freely in curved sections, narrow spaces, or irregular cross-sectional areas of tunnels, overcoming the movement limitations of traditional rigid inspection equipment. Simultaneously, the distributed drive components are arranged in the headpiece 1 and each serpentine segment 2, enabling multi-node collaborative drive. This not only improves the overall driving force but also allows for independent control of each drive component to adjust the robot's posture, enhancing its stability and obstacle-crossing ability in complex terrain.

[0027] The serpentine joint 2 is equipped with a micro motor and a servo motor. The micro motor outputs a torque of ≥0.5 N·m and a speed of 0-60 rpm. The serpentine joint 2 has a built-in harmonic reducer with a reduction ratio of 1:50 to ensure the accuracy of joint movement. It is also equipped with a travel wheel to provide basic drive and movement support. The servo motor is used to change the angle of the rolling wheel 5.

[0028] In this embodiment, the elastic element 4 can be an electrically controlled air spring or a regular spring. When the elastic element 4 is an electrically controlled air spring, the contraction and extension of the electrically controlled air spring can be controlled by an external control component, making it easier to install and remove the snap-fit ​​3 and the positioning groove 21. When the elastic element 4 is a regular spring, its cost can be reduced. By manually pressing the two snap-fit ​​3, the two snap-fit ​​3 will deform under the action of external force, thereby snapping into or out of the positioning groove 21.

[0029] One embodiment of this application is shown in the appendix. Figure 2 As shown, the positioning groove 21 includes an open groove and two slots. The open groove is located on the rear side of the head end piece 1 and the snake joint piece 2 to facilitate cooperation with the snap-fit ​​piece 3. The open groove is a groove recessed inward on the rear side wall of the head end piece 1 and the snake joint piece 2. Slots are respectively provided on the upper and lower side walls of the open groove. The openings of the two slots are arranged facing each other and cooperate with the snap-fit ​​piece 3 respectively.

[0030] In this embodiment, the opening of the groove adopts a fan-shaped layout, with its central angle typically designed to be 30°-90°, the specific angle being adjusted according to the robot's target bending performance. The arc surface of the fan shape shares the same center with the axis of the cylindrical slot, forming a rotational space centered on the slot. This design allows adjacent serpentine joints 2 to swing around the axis of the cylindrical groove along the fan-shaped surface after the engaging member 3 is engaged in the slot. The maximum bending angle of a single joint is equal to the central angle of the fan-shaped opening. For example, when the central angle of the fan shape is 60°, two adjacent serpentine joints 2 can achieve a bending range of ±30°, and when multiple joints are linked, the robot as a whole can form a continuous "S" shaped curve.

[0031] Furthermore, the sidewalls of the opening groove retain only the upper and lower sides and the rear side of the head end piece 1 or the snake joint piece 2, so that the opening of the opening groove is arranged at 180°, which allows the snake joint piece 2 to have a bending range of ±90°.

[0032] In this embodiment, chamfers are provided on both the upper and lower sides of the opening groove. The chamfers can extend from the outer edge or the middle point of the opening groove toward the slot, thereby forming a conical guide groove inside the opening groove, which makes it easier to install the snap-fit ​​part 3 and the slot.

[0033] In this embodiment, as shown in the appendix Figure 2 As shown, the snap-fit ​​component 3 includes an extension block 31 and a snap-fit ​​post 32. The extension block 31 is located at the end of the serpentine component 2 away from the positioning groove 21, and the snap-fit ​​post 32 is located at the end of the extension block 31 away from the serpentine component 2. The two snap-fit ​​posts 32 are located on opposite sides of the two extension blocks 31. The two extension blocks 31 can undergo elastic deformation towards each other under external force, thereby bringing the two snap-fit ​​posts 32 closer together to facilitate snapping into or out of the slot.

[0034] The extension block 31 is strip-shaped or cylindrical. Two extension blocks 31 are arranged vertically at intervals and located in the same vertical screen. The vertical projections of the two pins 32 overlap to ensure the coaxiality of the two pins 32.

[0035] In this embodiment, as shown in the appendix Figure 3 As shown, a rotating block 33 is provided on the side of the two connecting parts 3 near the snake joint part 2. The snake joint part 2 is rotatably connected to the rotating block 33 through the rotating shaft 35, thereby realizing the vertical rotation between adjacent snake joint parts 2 or between the snake joint part 2 and the head end part 1. The rotating shaft 35 is located at the front end of the snake joint part 2, and the rotating shaft 35 is rotatably engaged with the rotating block 33.

[0036] Further details are attached. Figure 3 As shown, the rotating block 33 is provided with a sliding groove 34 near the snake joint 2, and the rotating shaft 35 is slidably and rotatably disposed in the sliding groove 34, thereby realizing vertical sliding and rotation between the snake joints 2.

[0037] In a further optimized structure, the rotating block 33 has a vertically extending sliding groove 34 on its side wall near the serpentine joint 2. This sliding groove 34 adopts a dovetail or T-groove design, and the end of the rotating shaft 35 is designed as a cylindrical block structure that matches the sliding groove 34. The cylindrical block can slide up and down and rotate within the sliding groove 34. Through this innovative "sliding + rotating" composite connection method, the serpentine joints 2 can not only achieve vertical rotation, but also slide vertically within a certain range according to the actual terrain requirements. For example, when the robot encounters a pipe at the top of a tunnel or a ditch at the bottom, the serpentine joint 2 can slide up and down along the sliding groove 34 to adjust its posture, and in conjunction with the rotation action, enable the robot to adaptively conform to the tunnel wall or cross obstacles.

[0038] In one embodiment of this application, the driving component includes multiple rolling wheels 5 and multiple micro motors. The multiple rolling wheels 5 are respectively disposed at the bottom of the head end 1 and the snake joint 2, and the multiple micro motors are respectively disposed inside the head end 1 and the multiple snake joint 2. The micro motors correspond one-to-one with the rolling wheels 5 and are connected to each other. The micro motors can drive the rolling wheels 5 to rotate, thereby realizing the movement of the snake-shaped inspection robot.

[0039] One embodiment of this application is shown in the appendix. Figure 1 As shown, a robotic arm 8 is provided on the top of one of the snake-joint parts 2, and a mounting plate is provided on the top of the robotic arm 8. Tools such as grippers and drill bits used during operation can be installed on the mounting plate.

[0040] In this embodiment, a slide rail is provided at the bottom of the mechanical part. The slide rail is mounted on the snake joint component 2. The slide rail is existing technology and can be a lead screw module.

[0041] The mini robotic arm 8 adopts a three-degree-of-freedom design (rotation, pitch, and extension), driven by a micro servo motor. The drive system integrates a harmonic reducer (reduction ratio 1:100). The base of the robotic arm 8 and the tail section are connected by a slide rail, which supports forward and backward sliding to expand the working range.

[0042] The robotic arm 8 base is connected to the snake joint 2 via a slide rail. It is used to grasp or remove local obstacles or road surface anomalies during the detection process, and to assist in adjusting the overall posture of the robot to ensure continuous detection tasks. In the future, grippers, scrapers and other tools can be replaced according to task requirements for removing obstacles or detection.

[0043] One embodiment of this application is shown in the appendix. Figure 1 As shown, the sensor assembly includes a lidar 6 and a camera 7. The lidar 6 is located on the top of the head unit 1, and the camera 7 is located on the front side of the head unit 1, with a ring light on the camera 7.

[0044] Both the lidar 6 and the camera 7 utilize existing technologies. The lidar 6 is a 16-line lidar with a scanning frequency of 10Hz and a detection range of 0.1-50m. It is installed at a 30° angle on the top of the head section and is used to generate point cloud data of the tunnel arch and sidewalls in real time. The high-definition camera 7 is a 4K wide-angle camera with a 120° field of view and a frame rate of 30fps. It is equipped with a ring light and supports crack capture in low-light environments, and is used to collect image information inside the tunnel in real time.

[0045] In one embodiment of this application, the robot is equipped with a storage and communication system, with a built-in 1TB SSD that stores the 3D point cloud model of the tunnel, image data, and the robot's motion state information collected by the sensors in real time in ROS Bag format. The data is classified according to "tunnel segment number + timestamp" for easy traceability later. It also has a built-in dual-band Wi-Fi and 4 / 5G redundant link communication system to ensure real-time uploading to the cloud.

[0046] In one embodiment of this application, the head unit 1 is further provided with an analysis and control module, which is electrically connected to the sensor assembly, servo motor, micro motor and robotic arm 8 respectively. The analysis and control module includes an analysis unit and a control unit.

[0047] The analysis unit can process point cloud data transmitted by various sensors, construct a three-dimensional point cloud environment model of the tunnel in real time through SLAM technology, and feed the results back to the control unit; it can also process image data, automatically identify and detect tunnel cracks through the YOLOv5 deep learning model, and realize the automatic identification and location of cracks. The storage system inside the head end 1 saves the three-dimensional point cloud model of the tunnel, image data and motion status information in real time. The control unit and analysis unit are connected via a CAN bus to control the servo motors and micro motors of each module of the snake robot. By controlling the changes in the acceleration of the orthogonal joints, the control unit controls each servo motor in real time, which in turn drives the micro motors to drive the walking wheels, thereby changing the robot's movement speed. At the same time, by controlling the orthogonal joints, the posture of the snake robot can be changed to adapt to the complex environment inside the tunnel, thereby achieving real-time regulation of the robot's movement speed and posture.

[0048] Workflow: 1. Operators or automated systems need to pre-set the tunnel entrance coordinates, movement path, and detection target parameters. These parameters serve as reference data to ensure that the robot can start from the tunnel entrance and travel along the preset path, and collect and detect data in key areas in a targeted manner. At the same time, each functional module of the robot starts self-testing, checking the working status of LiDAR 6 and HD camera 7; and checking whether the servo motor, micro motor and walking wheel are responding normally, and the communication system and storage system confirm that the data transmission and storage paths are unobstructed.

[0049] 2. According to the preset tunnel entrance coordinates, the robot slowly enters the tunnel under the command. During the entry process, each sensor is activated synchronously to collect point cloud data and image information in the tunnel in real time. The lidar 6 of the head end piece 1 continuously scans the inner wall of the tunnel and obtains three-dimensional point cloud data of the surrounding environment from multiple angles. The high-definition camera 7 continuously collects images of the tunnel surface. The collected data is transmitted to the analysis unit of the analysis and control module in real time through the built-in bus. The analysis unit uses SLAM technology to process the point cloud data collected by the lidar 6 in real time and generate a high-precision three-dimensional environment model inside the tunnel; the image data collected by the high-definition camera 7 is analyzed by a pre-trained YOLOv5 deep learning model to automatically identify cracks and abnormal areas in the images. After detecting the crack, the system calibrates the location, size and shape of the crack based on the image and point cloud data. All the collected 3D point cloud models, image data and motion status information are stored in the storage system in real time and transmitted to the remote data center through the wireless communication module. The control unit receives the environmental model and detection results from the analysis unit. Based on the current road surface conditions and obstacle distribution in the tunnel, the speed servos and micro motors of each robot unit work together to dynamically adjust the angle of each snake segment 2 and the acceleration and direction of the walking wheels. When the robot detects a local obstacle or road surface abnormality, the control unit issues a command to operate the small robotic arm 8 on the tail section. The small robotic arm 8 performs a grasping or clearing action according to the set grasping point.

[0050] 3. All collected environmental data, image information, motion parameters, and fault alarms are recorded in detail in the storage system. The data of each detection node corresponds one-to-one with the specific tunnel location and preset detection target parameters. The detection data is uploaded to the remote data center in real time through the communication system.

[0051] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A tunnel inspection robot based on a snake-like structure, characterized in that, include: Head end piece; Multiple serpentine components are arranged sequentially on the rear side of the head end component; both the head end component and the serpentine components have positioning grooves on their rear sides. Two snap-fit ​​components are vertically spaced apart on the front side of the serpentine component; An elastic element is disposed between the two snap-fit ​​elements; the two ends of the elastic element are respectively connected to the two snap-fit ​​elements and are used to drive the two snap-fit ​​elements to generate elastic deformation so as to snap into or disengage from the positioning groove. Multiple drive components are respectively disposed on the head end piece and the multiple snake joint pieces; A sensor assembly, mounted on the head end piece, is used to acquire image information within the tunnel.

2. The tunnel inspection robot based on a snake-like structure according to claim 1, characterized in that, The positioning groove includes: An opening groove is provided on the rear side of the head end piece and the snake joint piece; Two slots are respectively provided on the upper and lower sides of the opening groove; the openings of the two slots are arranged facing each other.

3. A tunnel inspection robot based on a snake-like structure according to claim 2, characterized in that, Both the upper and lower sides of the opening groove are provided with chamfers, which extend from the outer edge or the middle point of the opening groove toward the slot.

4. A tunnel inspection robot based on a snake-like structure according to claim 3, characterized in that, The snap-fit ​​component includes: An extension block is disposed at the end of the serpentine component that is away from the positioning groove; A locking post is provided at the end of the extension block away from the snake joint; the two locking posts are respectively located on opposite sides of the extension block, and the two extension blocks can undergo elastic deformation towards each other so that the locking posts can be engaged or disengaged from the locking slot.

5. A tunnel inspection robot based on a snake-like structure according to claim 1, characterized in that, A rotating block is provided on the side of the two snap-fit ​​components near the serpentine component, and the serpentine component is rotatably connected to the rotating block via a rotating shaft.

6. A tunnel inspection robot based on a snake-like structure according to claim 5, characterized in that, The rotating block has a sliding groove on the side near the snake joint, and the rotating shaft is located in the sliding groove.

7. A tunnel inspection robot based on a snake-like structure according to claim 1, characterized in that, The driving component includes: Multiple rolling wheels are respectively rotatably disposed at the bottom of the head end piece and the multiple snake-shaped pieces; Multiple drive servos are respectively disposed inside the head end member and the multiple snake joint members; each drive servo corresponds to and is connected to the rolling wheel.

8. A tunnel inspection robot based on a snake-like structure according to claim 1, characterized in that, One of the snake-like components has a robotic arm at its top, and a mounting plate is provided at the top of the robotic arm.

9. A tunnel inspection robot based on a snake-like structure according to claim 8, characterized in that, The bottom of the robotic arm is provided with a slide rail, which is mounted on the snake joint component.

10. A tunnel inspection robot based on a snake-like structure according to claim 1, characterized in that, The sensor assembly includes: A lidar is mounted on the top of the head unit; A camera is located on the front side of the head unit; the camera is equipped with a ring light.

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