AUTONOMOUS ROBOTIC CRAWLER FOR IN-PIPE INSPECTION

摘要

A robot (10) for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as pipes, conduits or ducts, preferably using a fluid-driven turbine power generation and storage system (80) supplying power to wheel drive modules. The robot preferably includes a drive module (20) having a plurality of wheels (30) inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module (50) having a plurality of wheels (30) aligned parallel to the longitudinal axis of the pipe, and a power module (80). The driver module is preferably connected to the drive module such that the drive and driver modules are capable of providing the locomotive motion of the robot. The power module preferably provides the power to the drive and driver modules.