This paper proposes, an improved version of the 3 in sewer pipe inspection robot equipped with an emergency evacuation mechanism. The low traction force and poor stepover capability, which were challenges of the first version, have been improved by simply connecting the propulsion units. The coupled propulsion units feature a differential mechanism capable of posture changes via a single wire, enabling adaptation to pipe diameter variations. To traverse obstacles like pipe joints, a control method was devised that detects obstacle contact through current load on the drive wheel motors and slackens the wire. This method was verified through simulated pipe experiments. Load comparisons were made using current waveforms applied to the drive wheels. Our proposed control method significantly improved the step-over capability of the new articulated robots.

翻译：本文提出了一种配备紧急撤离机构的改进型三英寸下水道检测机器人。针对第一代版本中牵引力不足与越障能力较差的难题，通过简单连接推进单元实现了性能提升。耦合推进单元采用差动机构，仅需单根钢丝即可完成姿态调整，从而适应管径变化。为跨越管接头等障碍物，设计了一种通过驱动轮电机负载电流检测障碍接触并松弛钢丝的控制方法，并通过模拟管道实验进行了验证。基于驱动轮电流波形的负载对比分析表明，所提出的控制方法显著改善了新型铰接机器人的越障能力。