KR102415372B1 - A Robot for Repairing a Transfer Pipe Automatically - Google Patents

Abstract

The present invention relates to a robot for automatic pipe repair, and more particularly, to a robot for automatic pipe repair that automatically moves to a defect position for repairing defects generated inside a pipeline to repair defects. The robot for automatic pipeline maintenance includes a drive control module 11 for controlling detection, movement and operation; a condition detection module 12 for detecting a condition and a repair position inside the conduit; a path forming module 131 for forming a movement path based on the information transmitted from the state detection module 12; a moving module 132 moving along a path formed by the path forming module 131; and a repair module 17 for repairing according to the type of defect occurring at the repair position, wherein the state detection module 12 enables detection of an internal state of the defect.

Description

A Robot for Repairing a Transfer Pipe Automatically}

The present invention relates to a robot for automatic pipe repair, and more particularly, to a robot for automatic pipe repair that automatically moves to a defect position for repairing defects generated inside a pipeline to repair defects.

Defects may occur in various underground buried pipes including sewage pipes in a buried state, and a device such as a repair robot may be used to repair such defects. However, for example, in the case of an underground conduit such as a sewage pipe having a large diameter of 800 mm or more, it is difficult to repair by a robot, and there may be cases in which a person must be directly put into the sewage pipe to be repaired. In addition, when the repair process is performed by the robot, there is a problem in that it is difficult to fix the robot at a predetermined position. In addition, regardless of the diameter of the maintenance pipe, it is advantageous that the maintenance of the sewage pipe is performed automatically by a robot. Therefore, there is a need to develop a sewage pipe repair robot that enables automatic maintenance of underground pipes.

Patent Publication No. 10-2004-0045557 is a sewage pipe inspection that cuts and crushes sewage inlet pipes or various obstacles that impede the flow of sewage, while detecting harmful gases and inspecting faults in sewage pipes to determine damage and lifespan and maintenance robots. In addition, Patent Registration No. 10-0825902 is a branch pipe non-excavation repair robot configured to be suitable for non-excavation repair of various types of branch pipes by providing a moving means, a height adjusting means of a branch tube tube, a rotating means and an angle adjusting means. about to start.

The underground conduit may transport various types of fluids, and thus may have various structures suitable therefor. It is advantageous that the robot for the repair of the underground conduit has a structure that can be applied regardless of the structure of the conduit or the shape of the defect. However, the prior art does not disclose a maintenance robot having such a structure.

The present invention is to solve the problems of the prior art and has the following objects.

Prior art 1: Patent Publication No. 10-2004-0045557 (Jungbu Pisco Co., Ltd., robot for inspection and repair of sewage pipes, published on June 02, 2004) Robot for inspection and repair of sewage pipes Prior Art 2: Patent Registration No. 10-0825902 (Pyeongwon Development Co., Ltd., published on August 28, 2008) Branch tube non-excavating maintenance robot

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot for automatic pipe repair that can automatically repair defects by detecting defects, automatically moving to a defect location, and searching the internal state of cracks.

According to a suitable embodiment of the present invention, the robot for automatic pipe maintenance includes a drive control module for controlling detection, movement and operation; a condition detection module for detecting a condition and a repair position inside the pipeline; a path forming module configured to form a moving path based on the information transmitted from the state detection module; a moving module moving along a path formed by the path forming module; and a repair module for repairing according to the type of defect occurring at the repair position, wherein the state detection module enables detection of an internal state of the defect.

According to another suitable embodiment of the present invention, the detection of the internal state of the defect is made by the inflow detection unit of the crack inflow structure with adjustable length.

According to another suitable embodiment of the present invention, the state detection module or the path forming module is coupled to a positioning block movable in a horizontal or vertical direction.

According to another suitable embodiment of the present invention, the moving module includes a plurality of moving means, and the plurality of moving means is operated by a driving motor driven independently from each other.

According to another suitable embodiment of the present invention, the path forming module comprises an actuating module rotatably coupled to the rotating member and a removal means coupled to one end of the actuating module.

According to another suitable embodiment of the present invention, the repair module includes a rotatable length adjustment member and repair means coupled to both ends of the length adjustment member.

The robot for automatic pipe repair according to the present invention detects positions generated at various positions of a pipe, and moves to a repair position to automatically repair defects. The robot according to the present invention checks the internal state of a repair point, such as the inside of a crack, and selects a repair method suitable therefor so that defect repair is performed efficiently. In addition, the robot for automatic pipe repair according to the present invention allows a repair means suitable for the shape of a defect to be selected.

1 shows an embodiment of a robot for automatic pipe repair according to the present invention.
Figure 2 shows one embodiment of the robot for automatic pipe repair according to the present invention.
3 is a view showing another embodiment in the form of a robot for automatic pipe repair according to the present invention.
4 is a view showing another embodiment in the form of a robot for automatic pipe repair according to the present invention.
5 is a view showing an embodiment of a repair process by the robot for automatic pipe repair according to the present invention.

Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings, but the embodiments are for a clear understanding of the present invention, and the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so unless necessary for the understanding of the invention, the description will not be repeated and well-known components will be briefly described or omitted, but the present invention It should not be construed as being excluded from the embodiment of

1 shows an embodiment of a robot for automatic pipe repair according to the present invention.

Referring to Figure 1, the robot for automatic pipeline maintenance includes a drive control module 11 for controlling detection, movement and operation; a condition detection module 12 for detecting a condition and a repair position inside the conduit; a path forming module 131 for forming a movement path based on the information transmitted from the state detection module 12; a moving module 132 moving along a path formed by the path forming module 131; and a repair module 17 for repairing according to the type of defect occurring at the repair position, wherein the state detection module 12 enables detection of an internal state of the defect.

Defects occurring in various types of conduits may be repaired by a robot for automatic pipe repair, for example, defects occurring in sewer pipes for the flow of groundwater may be repaired. Defects occurring in different types of conduits may be repaired by a repair robot according to a suitable method, and the present invention is not limited by the type of conduit or the type of defect.

The maintenance robot can be operated by the drive control module 11 located outside the conduit, and the maintenance robot can detect the condition inside the conduit by the control of the drive control module 11. , can be moved along the inside of the conduit. And, if necessary, an obstacle inside the pipeline may be removed by the maintenance robot, or a maintenance operation may be performed at a maintenance location. The drive control module 11 may be disposed inside a maintenance vehicle, for example, and may include a display. In addition, various repair means may be loaded on the vehicle, for example, a repair agent, hardener, mortar or similar repair means for repair may be loaded on the repair vehicle. The maintenance robot may be made of a structure that can be moved along the inside of the conduit by a moving means such as, for example, wheels, wheels or legs. The maintenance robot may be located inside the conduit and may be moved along the inside of the conduit, and the state inside the conduit may be detected by the state detection module 12 during the movement process. The condition inside the conduit may be detected by, for example, an image acquisition means such as a detection camera, and the image inside the conduit may be displayed, for example, on a display. Alternatively, a path state map along a moving path may be formed, and various types of obstacles may be displayed on the path map. As described above, while detecting the state of the movement path, the maintenance robot may be moved along the pipeline and moved to the maintenance position or may be moved to the maintenance position. In addition, the state of the repair position may be detected by the state detection module 12 at the repair position, and, if necessary, the internal state of the defect may be detected according to the type of the defect. The internal state of the defect may be made, for example, by an inflow detection unit of a crack inflow structure with adjustable length. The ingress detection unit may be such as a miniature camera disposed inside the protective tube and may be injected into the crack by means of an appropriate length adjustment means. And the condition inside the crack can be detected and transmitted to the display, and the repair method can be determined by analysis of the control module or visually.

The path forming module 131 may determine the moving path of the maintenance robot based on the information transmitted by the state detection module 12 or remove obstacles existing in the moving path. The path forming module 131 may include, but is not limited to, means such as a cutter or a drill, and may include means capable of removing various obstacles that may exist in the movement path. As described above, while the obstacle is removed by the path forming module 131 , the maintenance robot may be moved along the inside of the conduit by the moving module 132 . The moving module 132 may include, for example, a wheel, a rotating shaft, a wheel, a pulley, a leg, or similar moving means, and may include a driving means such as a motor for operating the moving means. The operation of the driving means may be controlled by the driving control module 11 , and for example, the driving control module 11 may determine the moving speed or the moving direction of the robot by the operation of the driving means. When the maintenance robot is moved to the maintenance position by the operation of the driving control module 11 as described above, the position of the maintenance robot may be fixed by the position fixing module 14 . The position fixing module 14 may include means such as a locking module or a fixing anchor of the maintenance robot, and the transport robot may be fixed at a predetermined position by such means. And the state of the defect can be precisely detected by the maintenance monitoring module 15, and the internal state or the surrounding state of the defect can be detected as needed. And the precisely detected defect status information is transmitted to the repair determination module 16 to be analyzed. The repair determination module 16 may determine a repair method of the defect based on the detected defect information, and the repair method may be transmitted to the driving control module 11 . And the drive control module 11 may operate the maintenance module 17 according to the method determined by the maintenance determination module 16 . The repair module 17 may repair the defect according to the method determined by the repair determination module 16 , and the repair process may be detected by the state detection module 12 and transmitted to the drive control module 11 . The maintenance process detected by the state detection module 12 may be transmitted to the drive control module 11 in real time, and based on the real-time information on the maintenance process, the drive control module 11 operates the maintenance module 17 . can be controlled so that defect repair can be performed stably.

The repair robot may include means for repairing various defects and is not limited to the presented embodiment.

Figure 2 shows an embodiment of the robot for automatic pipe repair according to the present invention.

Referring to FIG. 2 , the state detection module 12 or the path forming module 131 is coupled to positioning blocks 22_1 , 22_2 , and 22_3 that are movable in a horizontal or vertical direction.

The maintenance robot includes a moving body 211 that is moved along the inside of the conduit, and the moving body 211 has a box shape as a whole and includes moving means (W1, W2) such as wheels or wheels, and the moving means (W1) , W2) may be operated by the drive control module described above. At least one positioning block 22_1 , 22_2 , 22_3 may be disposed on the upper surface of the moving body 211 , and the positioning block 22_1 , 22_2 , 22_3 is moved along the guide means 212 along the moving body 211 . ) may be coupled to the movable body 211 to be movable along the longitudinal direction. In addition, the positioning blocks 22_1 , 22_2 , and 22_3 may have a structure in which a vertical height adjustment is possible with respect to the movable body 211 by a lifting means. The positioning blocks 22_1 , 22_2 , and 22_3 may have a structure movable along the guide means 212 formed on the upper surface of the movable body 211 while being disposed parallel to each other or having different heights. A plurality of positioning blocks 22_1 , 22_2 , 22_3 may be coupled to the upper surface of the movable body 211 , and image acquisition modules 24_1 , 24_2 , 24_3 are provided in each positioning block 22_1 , 22_2 , 22_3 can be combined. Each of the image acquisition modules 24_1 , 24_2 , and 24_3 may have the same or similar function, or may have different structures. The image acquisition modules 24_1 , 24_2 , and 24_3 may include a moving bracket 241 , a positioning member 242 coupled to the moving bracket 241 , a rotation connector 244 , and a camera unit 243 . The positioning member 242 may be coupled to the guide rail 222 using the moving bracket 241 . The moving bracket 241 may be coupled to the guide rail 222 formed on the upper surface of the positioning blocks 22_1 , 22_2 and 22_3 having a box shape in a movable structure. A positioning member 242 extending linearly may be coupled to the moving bracket 242 , and the image acquisition means 24_1 , 24_2 , 24_3 are connected to the end of the positioning member 242 by a rotation connector 244 . can be combined. The camera unit 243 may be rotated in various directions by the rotation connector 244 , and images at different positions may be simultaneously acquired by the plurality of image acquisition modules 24_1 , 24_2 , and 24_3 . Each of the positioning blocks 22_1 , 22_2 , 22_3 can be moved simultaneously or independently along the guide means 212 , and each positioning member 242 is independently moved along the guide rail 222 . can be In addition, each camera unit 243 is operated independently to obtain images in various directions. According to such a structure, a three-dimensional image is acquired in the moving process or maintenance process of the repair robot, and movement or repair can be performed based on this.

At least one fixing block 231, 232 is coupled to the front of the positioning blocks 22_1, 22_2, 22_3, and a maintenance module 17 or a path forming module 131 is attached to each of the fixing blocks 231 and 232 can be combined. For example, two fixing blocks 231 and 232 are coupled to the front of the positioning blocks 22_1, 22_2, 22_3, and a maintenance module 17 and a path forming module 131 in each of the fixing blocks 231 and 232 ) may be coupled by the guide members 25_1 and 25_2. The maintenance module 17 includes a pair of adjustment members 252a and 252b having one end coupled to the inclination adjustment bracket 251 and the inclination adjustment bracket 251 coupled to the first fixing block 231; an operation block 253a coupled to the other end of the pair of adjusting members 252a and 252b; and an operation member 26a coupled to the operation block 253a. The inclination of the linearly extending adjustment members 252a and 252b may be adjusted by the inclination adjustment bracket 251 , and the operation block 26a may have a structure rotatable by the adjustment connector. And the operation member 26a may be coupled to extend in both directions of the operation block 253a by a coupler. Repair means 27a, 27b may be coupled to both ends of the operation member 26a, and the repair means 27a, 27b are, for example, sprayed with a repair solution or mortar, heated, or provided with adhesive means. defects can be repaired. The repair means 27a and 27b coupled to both ends of the operation member 26a may have different functions or may have complementary functions, and appropriate repair means 27a and 27b may be combined according to the shape of the defect. . A pair of adjusting members 252a and 252b may also be coupled to the second fixing block 232 , and a second operating member 26b may also be coupled to the second operating block 253b. The obstacle removing means 282 may be coupled to both ends of the second operation member 26b, and the same or different removing means 282 may be coupled to each other. The removal means 282 may be rotatably coupled to the second operation member 26b by a removal body 281 coupled to the operation member 26b. The removal means 282 may be, for example, a rotary cutter, a drill, a hammer or similar obstacle removal tool, and may be appropriately selected according to the type of obstacle that may exist in the conduit. The guide members 25_1 and 25_2 having the same or similar structure are coupled to the first and second fixing blocks 231 and 232, and the operation blocks 253a and 253b and the operation members 26a and 26b having the same or similar structure are attached to the first and second fixing blocks 231 and 232. By detachably coupling the repair means 27a, 27b or the removal means 282, the repair means 27a, 27b or the removal means 282 having various structures have a structural advantage that can be coupled to various positions. . And based on such a structure, the same or similar repair means (27a, 27b) or removal means 282 may be coupled to the moving body 211 having various structures according to the structure of the inside of the conduit.

3 is a view showing another embodiment in the form of a robot for automatic pipe repair according to the present invention.

Referring to FIG. 3 , the moving module 132 includes a plurality of moving means W1 and W2, and the plurality of moving means W1 and W2 are operated by driving motors driven independently from each other. A plurality of moving means (W1, W2) such as wheels or wheels may be coupled to the moving body 211, and may include, for example, two pairs of wheels coupled to both sides of a rotation shaft. Each of the moving means W1 and W2 may be operated independently by each driving motor M or may be operated together. Each of the moving means (W1, W2) is operated by an independently operable drive motor (M) so that the moving module 132 can be moved in various moving environments. An adjustment frame 341 capable of inclination adjustment is coupled to the front of the moving body 211 , and the state detection module 12 may be coupled to the other end of the adjustment frame 341 made of a pair of linear members. The state detection module 12 includes an adjustment block 244 rotatably coupled to the end of the adjustment frame 341; a linear guide member 342 received within the adjustment block 244; and a camera unit 343 coupled to the linear guide member 342 . The adjustment block 244 may have a function of protecting the camera unit 343 , and the camera unit 343 is accommodated inside the adjustment block 244 by the linear guide member 342 , or the adjustment block 244 . may protrude outside of A connection block 351 may be disposed on the other side of the moving body 211 , and the driving block 352 may be coupled to the connection block 351 . A driving means such as a motor and a gear or similar operating device may be accommodated in the driving block 352 , and a pair of adjusting members 353a and 353b operated by the driving means are coupled to the driving block 352 . can be The operation block 356 is coupled to the end of the pair of adjusting members 353a and 353b, and the rotatable operation members 356a and 356b may be coupled to the operation block 356 by the adjustment connector 355 . , the operation members (356a, 356b) may consist of a maintenance operation member (356a) and a removal operation member (356b), the maintenance means 27 and the removal means 282 are coupled to each operation member (356a, 356b). can be Each of the operation members 356a and 356b may have an adjustable length structure, and the removal means 282 may be coupled to the removal operation member 356b by the removal body 281 . In this structure, the repair solution may be supplied to the repair means 27 through the operation block 356, and a tube connector for coupling the supply tube for supplying the repair solution may be formed in the operation block 356. . In addition, the maintenance operation member 356a is formed in a hollow tube structure, so that the maintenance solution supplied through the operation block 356 may be supplied to the maintenance means 27 . The supply of the repair solution may be performed in various ways and is not limited to the presented embodiment.

Figure 4 shows another embodiment of the robot for automatic pipe repair according to the present invention.

Referring to FIG. 4 , the position selection block 411 may be coupled to the upper surface of the moving body 211 forming the moving module 132 , and the position selecting block 411 is the upper surface of the moving body 211 . It may be coupled to a structure capable of sliding. And the state detection module 12 may be coupled to one side of the location selection block 411 , and the maintenance module 17 may be coupled to the other side. The state detection module 12 may be coupled to the position selection block 411 by a pair of positioning members 441 so as to enable inclination adjustment, and an adjustment block 244 at the end of the positioning member 441 . can be combined. And the image acquisition means 443 may be coupled to the adjustment block 244 .

According to an embodiment of the present invention, the image acquisition means 443 may include an inflow detection unit having a crack inflow structure, the length of which can be adjusted to enable detection of an internal state of a defect. The inflow detection unit may be independently coupled to the control block 244 or have a structure accommodated in the control block 244 . For example, one camera is disposed through one side of the control block 244, and an inflow detection unit having a structure similar to a camera for an endoscope on the other side can be installed to protrude to the outside of the control block 244. have. The inflow detection unit includes a fastening means 475 coupled to the inside or outside of the control block 244 ; an induction cylinder 471 extending into the fastening means 475; a length adjustment member 472 capable of length adjustment with respect to the induction cylinder 471; and an endoscope detector 474 that is rotatably coupled by the rotation coupler 473 of the length adjustment member 472 . If necessary, the endoscope detector 474 may be, for example, a small camera or an ultrasonic generator, an image of the inside of the defect may be acquired by the small camera, and the external state of the defect may be confirmed by the ultrasonic generator. For example, the density, composition, voids, or presence of water outside the defect may be checked by the ultrasonic generator. The endoscopic detector 474 may include a variety of detection means and is not limited to the embodiments presented.

A fastening block 451 may be coupled to the other side of the position selection block 411 , and a pair of adjusting members 452 may be coupled to the fastening block 451 . A driving means such as a driving motor may be accommodated in the fastening block 451 , and the maintenance control block 453 may be coupled to an end of the adjustment member 452 . A tube connector 454 for transferring the repair solution is formed in the maintenance control block 453 , and the inductive coupler 461 may be coupled to the maintenance control block 453 . In addition, the fastening connector 463 may be rotatably coupled to the inductive coupler 461 , and a linear maintenance member 462 may be coupled to the fastening connector 463 . Repair means 27a and 27b for supplying the same or different repair solutions may be coupled to both sides of the linear repair member 462 . For example, a water repellent agent may be supplied to the defective portion by the first repairing means 27a, and mortar may be supplied to the defective portion by the other second repairing means 27b. Alternatively, the first and second repair means 27a and 27b may have different functions, for example, a water repellent agent is supplied through the first repair means 27a, and the second auxiliary means 27b is a heater or a shielding pad. may include Alternatively, the second auxiliary means (27b) may function as a support fixed to the inner surface of the conduit. The repair member 462 may have a structure in which the length can be adjusted, and various repair means 27a and 27b may be coupled to both sides of the repair member 462 depending on the shape of the defect, and the present invention is not limited thereto.

5 is a view showing an embodiment of a repair process by the robot for automatic pipe repair according to the present invention.

The overall operation of the maintenance robot may be controlled by the control module 51 , and, for example, path selection, movement, determination of a maintenance position, and maintenance method of the maintenance robot may be determined. The control module 51 may control the operation of the movement path search unit 52 , the movement guidance unit 53 , and the location/method setting unit 54 . The movement path search unit 52 may search and determine the movement path of the robot based on the information transmitted from the state detection module 12 . The movement inducing unit 53 may independently operate the four wheels according to the state of the inner surface of the pipe to determine the moving direction of the robot and move it, and may perform an obstacle removal operation if necessary. The position/method setting unit 54 may determine the maintenance position and set the maintenance method. The internal search unit 57 may set the position of the defect or the repair method of the defect based on the information transmitted from the endoscopic detector described above. The maintenance module 55 may be operated in such a way that the robot is fixed in the maintenance position and the maintenance means is in contact with the defect, and the maintenance module 55 may be operated according to a method set by the maintenance setting unit 58 . Specifically, when the maintenance method set by the location/method setting unit 54 is transmitted to the maintenance setting unit 58, the maintenance setting unit 58 operates the maintenance module 55 based on the set maintenance method to perform the repair. can make it happen When the repair is completed through this process, it may be cured by the curing unit 56 , and the curing unit 56 may include a heater or a protection band. The maintenance by the maintenance robot can be performed in various ways and is not limited to the embodiment presented.

The robot for automatic pipe repair according to the present invention detects positions generated at various positions of a pipe, and moves to a repair position to automatically repair defects. The robot according to the present invention checks the internal state of a repair point, such as the inside of a crack, and selects a repair method suitable therefor so that defect repair is performed efficiently. In addition, the robot for automatic pipe repair according to the present invention allows a repair means suitable for the shape of a defect to be selected.

Although the present invention has been described in detail with reference to the presented embodiment, those skilled in the art will be able to make various modifications and variations of the invention without departing from the technical spirit of the present invention with reference to the presented embodiment. . The present invention is not limited by such variations and modifications, but only by the claims appended hereto.

11: drive control module 12: status detection module
14: positioning module 15: maintenance monitoring module
16: remuneration determination module 17: remuneration module
22_1, 22_2, 22_3: positioning block 24_1, 24_2, 24_3: image acquisition module
25_1, 25_2: guide member 26a, 26b: actuation member
27, 27a, 27b: maintenance means 51: control module
52: movement path search unit 53: movement guidance unit
54: position/method setting unit 55: maintenance module
56: curing unit 57: internal search unit
58: maintenance setting unit 131: path forming module
132: moving module 211: moving body
212: guide means 222: guide rail
231, 232: fixing block 241: moving bracket
242: positioning member 243: camera unit
244: adjustment block 251: inclination adjustment bracket
252a, 252b: adjusting member 253a, 253b: actuating block
281: removal body 282: removal means
341: adjustment frame 342: linear guide member
343: camera unit 351: connection block
352: drive blocks 353a, 353b: adjustment member
355: adjustment connector 356: actuation block
356a: maintenance operation member 356b: removal operation member
411: positioning block 441: positioning member
443: image acquisition means 451: fastening block
452: adjustment member 453: maintenance adjustment block
454: tube connector 461: inductive coupler
462: maintenance member 463: fastening connector
471: induction cylinder 472: length adjustment member
473: rotary coupler 474: endoscope detector
475: fastening means M: drive motor
W1, W2: means of transportation

Claims (2)

a drive control module 11 for controlling detection, movement and operation;
a condition detection module 12 for detecting a condition and a repair position inside the conduit;
a path forming module 131 for forming a movement path based on the information transmitted from the state detection module 12;
a moving module 132 moving along a path formed by the path forming module 131; and
Includes a repair module 17 that repairs according to the shape of the defect occurred at the repair position,
It is possible to detect the internal state of the defect by the state detection module 12,
The path forming module 131 is an obstacle removing means 282 including an operation module 281 rotatably coupled to a length-adjustable removal operation member 356b and a rotary cutter coupled to one end of the operation module 281 . ) consists of
The maintenance module 17 is coupled to the operation block 356 to which the removal operation member 356b of the path forming module 131 is coupled, and maintenance means 27 coupled to the maintenance operation member 356a having an adjustable length. including,
The moving module 132 includes a moving body 211 and a position selection block 411 coupled to the upper surface of the moving body 211 in a slidable structure, and the state detection module 12 is a pair of positions. The adjustment block 244 is coupled to the position selection block 411 by the determination member 441 so that the inclination can be adjusted, and the image acquisition means 443 is installed at the end of the positioning member 441 is combined,
The state detection module 12 includes: a fastening means 475 coupled to the inside or outside of the control block 244 in which the image acquisition means 443 is installed; an induction cylinder 471 extending into the fastening means 475; a length adjustment member 472 capable of adjusting the length with respect to the induction cylinder 471; and an inflow detection unit comprising an endoscope detector 474 rotatably coupled by a rotation coupler 473 of the length adjustment member 472,
The moving module 132 further includes a plurality of moving means (W1, W2), and the plurality of moving means (W1, W2) is operated by a drive motor driven independently of each other for automatic maintenance of pipelines robot. delete

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