Robot and patrol method applicable to synchronous patrol of long branch pipeline and main pipeline

A robot applicable to synchronous patrol of a long branch pipeline and a main pipeline, comprising:

• a walking apparatus;
• a detection apparatus, located on a top of the walking apparatus, wherein the detection apparatus is configured to accompany the walking apparatus to patrol the main pipeline;
• and
• a sub-walking apparatus, located at a front end of the walking apparatus;
• wherein a pair of front wheel obstacle-crossing apparatuses of the walking apparatus are capable of limiting the sub-walking apparatus while crossing an obstacle in the main pipeline;
• and when the robot encounters the branch pipeline, the front wheel obstacle-crossing apparatuses are configured to lift to a certain height and release an outlet of a bin of the sub-walking apparatus, and the sub-walking apparatus is configured to be separated from the walking apparatus and independently patrol the branch pipeline;
• the sub-walking apparatus comprises a sub-machine bin and a sub-machine located in the sub-machine bin, wherein the sub-machine bin is located at a front end of a walking trunk of the walking apparatus and is located between the pair of front wheel obstacle-crossing apparatuses, and obstacle-crossing wheels of the front wheel obstacle-crossing apparatuses are configured to limit two-way outlets of the sub-machine on the sub-machine bin;
• and
• the sub-machine bin comprises a sub-machine bin seat, a sub-machine slide plate and a sub-machine clamp, wherein the sub-machine bin seat is capable of rotating around the walking trunk to adjust an angle of the sub-machine exiting from the bin, the sub-machine slide plate is located inside the sub-machine bin seat and is capable of translationally sliding in the sub-machine bin seat, and the sub-machine clamp is configured to clamp or release the sub-machine in a direction perpendicular to the sub-machine slide plate in the sub-machine slide plate.