Amphibious Environmental Exploration Robot for Urban Underground Environment

With the expansion of urban scale. The development and application of urban underground space has become a trend. The exploration of urban underground environment and the distribution of underground pipelines are the basis for the development and utilization of underground space, while the interlaced distribution of caves, underground rivers and underground pipelines constitute a complex underground environment, which poses a challenge for detection. Therefore, there is an urgent need for an exploration robot with sufficient protection and storage space, and capable of navigating the exploration flexibly in different environments such as water and land. In this paper, considering that the underground environment is very complex, a spherical shell protective cover that can be opened and closed flexibly, as well as a wheel-pulp composite conducting mechanism and buoyancy and power modules that can move in different environments such as water and land, are conceptualized and preliminarily designed in the software. This paper also briefly analyzes the force on the practical application of the buoyancy module, and based on Fluent software, simulates the robot's movement in water to evaluate the performance of the propeller, and judges the overall performance of the robot when working in water. The results show that the size and thickness of the propeller blades designed in this paper can fully meet the in-water propulsion requirements of the amphibious environment detection robot.