In-pipe mobile robot

Abstract

A pipe-mounted mobile robot (1) is configured to include a robot body (10) comprising at least three telescopic units that expand radially and contract axially upon fluid supply, the telescopic units moving within the pipe by peristaltic motion in a predetermined pattern. The pipe-mounted mobile robot (1) includes: a camera (40) mounted on the tip end (20) of the robot body (10); a transparent cover (50) mounted on the tip end (20) and covering the camera (40); a nozzle (60) having an outlet (61) opening on the outer side of the tip end of the cover (50) facing the shooting direction side of the camera (40); and a fluid supply source (14) connected to the nozzle (60) via a pipe (62) and supplying fluid to the nozzle (60), and removing dirt adhering to the outer side of the cover (50) by means of the fluid discharged from the outlet (61).

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