2760results about "Pigs/moles" patented technology

This invention disclosed a full-space intelligent detection method and system for underground drainage networks, as well as storage media, including the following steps: image acquisition, intelligent image denoising, internal pipe defect segmentation, concealed defect detection around the pipe, 3D reconstruction with volume quantification, and pipeline life prediction. This invention introduced a bionic four-wheel-drive, all-terrain detection robot that can effectively navigate through mud and flowing water-challenges that hinder traditional detection devices. By leveraging deep learning algorithms as well as various techniques of computing vision, 3D reconstruction, and point cloud processing, the system thoroughly analyzed collected data to determine defect types and precise locations. Utilizing this analysis, precise location of different defect type and quantitative measurement of their dimensions can be realized. Based on the data analysis results, a deep-learning driven model was developed for predicting pipeline longevity to support maintenance staff with timely information on pipe defects and operational lifespan.

Self-leveling inspection system methods and devices for use in inspecting buried pipes or other cavities are disclosed. The system includes a camera head with an image sensor, an orientation sensor, and a signal processing module including a processing programmed to receive an image from the image sensor, and an orientation signal from the orientation sensor, generate a second image based at least in part on information provided from the orientation sensor, and store the second image in a non-transitory memory.

The invention provides a petrochemical pipeline corrosion defect detection device and method, and relates to the field of pipeline defect detection. The detection device comprises a mounting plate, and further comprises a battery box mounted on one side of the mounting plate, and the extension structure comprises a transmission assembly arranged on one side of the mounting plate, a rotating frame rotationally connected to the outer side of the transmission assembly and a push arm rotationally connected to the outer side of the transmission assembly and rotationally connected with the rotating frame; a connecting wire connected with the controller is mounted on one side of the electromagnetic ultrasonic thickness measuring probe; the servo motor drives the lead screw to rotate, the moving frame drives the rotating frame to turn over, meanwhile, the auxiliary wheels and the moving wheels are tightly attached to the interior of the pipeline, the size adjusting function is achieved, the device can easily adapt to pipelines with different inner diameters so as to deal with various complex working conditions, the universality and flexibility of the detection device are enhanced, and the detection efficiency is improved. The problem that the size of a pipeline corrosion detection device in the prior art is inconvenient to adjust is solved.

Pipe inspection systems including a push-cable, jetter, and camera assembly are disclosed. A jetter nozzle may be configured to spin and / or propel the camera head within a pipe or other cavity. A cutter line may be attached to the camera head to clean obstructions. A sonde may be coupled to a camera head to generate magnetic field signals for use with a buried utility locator to locate a pipe or other cavity into which the camera head is deployed.

The invention relates to a pipeline defect ultrasonic detection device, and relates to the technical field of pipeline detection.The pipeline defect ultrasonic detection device comprises a supporting box, a moving assembly, an adjusting assembly, a smearing assembly and an ultra-detection assembly, the moving assembly, the adjusting assembly and the smearing assembly are all arranged on the supporting box, and the ultra-detection assembly is arranged on the smearing assembly; the moving assembly is used for linearly and rapidly driving the supporting box to move in the pipeline and spirally and slowly driving the supporting box to move in the pipeline, the adjusting assembly is used for enabling the moving assembly to switch a linear rapid driving mode and a spiral slow driving mode, and the smearing assembly is used for smearing a coupling agent. The super-detection assembly is used for conducting spiral flaw detection on the inner wall of the pipeline in the process that the smearing assembly smears the coupling agent. The device has the effect that the ultrasonic probe can carry out comprehensive flaw detection on the whole inner wall of the flaw detection part of the pipeline.

The invention belongs to the technical field of petrochemical engineering pipeline monitoring, and discloses an intelligent detection and repair system and method for petrochemical engineering pipeline leakage, and the method comprises the following modules: a data collection module which comprehensively monitors the leakage condition and environmental parameters in a pipeline by deploying a high-precision and low-power-consumption multi-parameter sensor network; the data transmission module is responsible for safely and reliably transmitting the collected data to the cloud processing center; the data processing and analyzing module is used for cleaning, processing and analyzing the collected data and extracting feature information; the leakage identification module is used for identifying and judging leakage events based on various algorithms; the leakage positioning module is used for accurately determining a leakage position; and the leakage evaluation module is used for evaluating the leakage degree, type and potential risk.

A snakelike robot for internal inspection of small pipelines comprises a head machine body and a tail machine body which are connected through a cross universal joint. Three groups of crawling driving mechanisms are uniformly distributed and fixedly mounted on each of the head machine body and the tail machine body; a supporting shaft is fixedly installed at the front end of the head machine body, a rolling brush mechanism is rotationally installed on the supporting shaft, and a rolling brush driving mechanism is fixedly installed on one side of the supporting shaft. A sealed cabin is fixedly installed at the top end of a supporting shaft on the head machine body, and a camera assembly is fixedly installed in the sealed cabin. A cleaning mechanism for the sealed cabin is detachably and fixedly mounted on the rolling brush mechanism of the head machine body, and the cleaning mechanism is in rotating contact with the sealed cabin; according to the utility model, the problem that the camera assembly is blocked by foreign matters such as chippings in the pipeline is effectively avoided, and the shooting detection sight of the camera assembly is ensured; meanwhile, through the arrangement of the rolling brush mechanism, cleaning of the inner wall of the pipeline in the advancing process is achieved, and smooth crawling of the robot is guaranteed.

Robotic systems and associated methods are described herein. The robotic system may collect measurements from various sensors corresponding to motion of the robotic system, the surrounding environment of the robotic system, or both. The robotic system may generate measurement data based on the collected measurements. Measurements from a particular sensor may be processed in conjunction with different sensors of the robotic system, which may facilitate more accurate or more useful measurement data. The systems and methods of the present disclosure enable the detection, labeling, and locating of features in real time or near real time using the robotic system with little or no reliance on human interaction to detect and map the features. The disclosure provides enhanced accuracy and efficiency as it enhances the functionality and reduces the reliance on human detection of features.

The invention discloses a negative pressure pipeline leakage point detection and targeted repair system and method, and the method achieves the confirmation of a pipeline leakage point through a detection end, and achieves the repair of the pipeline leakage point through a repair end. The detection end comprises a distributed optical fiber, an unmanned aerial vehicle and a control platform; through distributed optical fibers laid along a pipeline, pipeline vibration and temperature abnormity are monitored in real time, a leakage area is preliminarily positioned, then infrared scanning is performed on a suspicious area through an unmanned aerial vehicle carrying a high-precision thermal infrared imager, a temperature field distribution diagram is generated and uploaded to a control platform, and the control platform outputs leakage point coordinates through a data fusion algorithm; the repairing end comprises self-repairing gel and a magnetic control robot; the small cracks with the width smaller than 1 mm are externally sprayed with self-repairing gel, and laser curing is conducted after the cracks are sucked in through negative pressure; for large cracks with the width larger than or equal to 1 mm, the magnetic control robot is put into the pipeline, resin is sprayed to the inner wall of the pipeline, and ultraviolet curing is conducted. The system and the method can remarkably improve the maintenance efficiency of the negative pressure pipeline.

The invention relates to the technical field of pipeline detection, in particular to a fractured pipeline inner wall detection device and method.The fractured pipeline inner wall detection device comprises an upper computer and a crawling robot connected with the upper computer, and the crawling robot comprises a mounting base, a first driving assembly, a second driving assembly, a supporting assembly, a laser receiver, a laser transmitter, an image acquisition module and a control unit. The device is reasonable and compact in structure and convenient to use, the first driving assembly and the supporting assembly can enable the crawling robot to advance or hover in a detected pipeline, the laser transmitter and the laser receiver can measure the thickness of multiple detected points on the inner wall of the detected pipeline, and the detection accuracy is improved. The image acquisition module can shoot image information of the inner wall of the detected pipeline in real time, assists on-site operators in observing the quality of the inner wall of the detected pipeline, obtains a change diagram of abrasion of a rubber layer in the detected pipeline, and can predict the abrasion trend of the rubber layer of the detected pipeline in combination with on-site use construction data of the flexible fracturing pipeline.

The invention discloses a variable-diameter pipeline inspection robot capable of avoiding obstacles and a control method of the variable-diameter pipeline inspection robot, and belongs to the field of pipeline inspection robots. The device specifically comprises a machine body, a reducing unit, a driving unit and an inspection unit. The machine body comprises a front machine body, a rear machine body and a middle machine body. The reducing unit comprises two groups of independent reducing modules with the same structure; the driving unit comprises four groups of independent driving mechanisms with the same structure; the inspection unit comprises an infrared camera, a pressure sensor, a data processor and the like. In order to solve the problems that an existing pipeline robot is small in pipe diameter adaptation range, complex in obstacle avoidance mechanism, insufficient in flexibility and the like, the pipeline robot is large in diameter changing stroke ratio, large in pipe diameter adaptation range and high in flexibility, obstacle avoidance can be achieved through a diameter changing mechanism, and the pipeline robot further has the active differential steering capacity and can adapt to circular and rectangular pipelines at the same time; the robot is simple and compact in overall structure.

The invention relates to a trenchless repair method for local collapse of a pipeline based on a robot technology. The trenchless repair method comprises the following steps: S1, collecting a pipe wall image in real time and transmitting the pipe wall image to a detection platform for preprocessing; s2, on the basis of the image recognition model, recognizing a local collapse area of the pipeline, and marking a collapse position; s3, laser point cloud and ultrasonic data of the local collapse area of the pipeline are obtained and transmitted to the detection platform, and a three-dimensional model of the local collapse area of the pipeline is constructed; s4, according to the three-dimensional model of the local collapse area of the pipeline, obtaining detection damage characteristics, and evaluating the collapse degree; s5, grading analysis is carried out based on the collapse degree evaluation result, and a repair strategy is made; and S6, according to the repair strategy, the pipeline repair robot executes automatic repair, equipment parameters are dynamically adjusted in combination with real-time sensing data, and the optimal repair effect is ensured. State monitoring and automatic repairing of the whole life cycle of the pipeline are achieved.

A robot apparatus, including elongated segments connected by joints and having wheels, is configured to move along an elongated enclosure. Another aspect of the robot provides multiple articulated rail segments, each pair connected by pivotable joints, with a linear biasing member such as a tension spring spanning across each joint, configured to laterally urge wheels adjacent to the joints to contact opposite internal walls of a pipe. A further aspect of the present robot provides articulated segments, actuators mounted thereto, wheels independently driven by the actuators, and a programmable controller movable with the segments for causing autonomous advancing and retracting movement, maneuvering and / or steering of the robot within an elongated conduit or pipe, while optically and / or visually sensing and inspecting deterioration and irregularities, such as cracks and deformation, in the conduit or pipe. A selectively bendable sub-joint, connected between nominally aligned segments of a rigid rail, is also optionally employed.

The utility model discloses a pipeline inspection robot, which belongs to the technical field of pipeline inspection and comprises an installation platform, ultrasonic detectors are symmetrically and fixedly installed on two sides above the installation platform, round holes are symmetrically formed in two sides of the installation platform, rubber ferrules are fixedly installed in the round holes, and sleeves are sleeved in the rubber ferrules. A threaded hole is formed in the sleeve in an up-down penetrating mode, an adjusting rod is in threaded connection with the interior of the threaded hole, an ultrasonic probe is fixedly connected to the lower end of the adjusting rod, an adjusting gear is fixedly installed at the upper end of the adjusting rod, an adjustable platform is hinged to the upper portion of the installation platform, and an inspection camera is fixedly installed above the adjustable platform; the height-adjustable advancing assembly is fixedly mounted above the mounting platform, during use, the detection height and the detection angle of the inspection camera can be conveniently adjusted through the adjustable platform, so that comprehensive detection is realized, and the mounting platform can be lifted through the advancing assembly when water is accumulated in a pipeline, so that the pipeline can be conveniently detected. Therefore, important instruments are prevented from being damaged after being immersed in water.

The invention provides a snakelike metal pipeline internal detection robot and an application method, and belongs to the technical field of pipeline detection and maintenance. The robot mainly comprises two tank probe vehicles of the same structure and a snakelike joint body connected between the two tank probe vehicles. The tank probe vehicle integrates a crawler-type walking mechanism, a detection unit, an operation unit, a magnetic adsorption unit, a control unit and a power unit, can provide main driving force, is adsorbed on the wall of a metal pipe and executes detection operation. The snakelike joint body is composed of a plurality of joint sections connected through movable joints, the unique conical helical tooth meshing design of the snakelike joint body enables the joint sections to generate multi-degree-of-freedom deflection, and therefore the whole robot can flexibly adapt to bending changes of vertical, horizontal and various bent pipes, and stable snakelike winding movement is achieved. The problems that an existing pipeline robot is poor in adaptability to complex pipelines and single in function are solved, and long-distance and all-directional detection and multifunctional operation under the complex pipeline environment are achieved.

A system and methods for monitoring internal corrosion in a compromised pipe are provided. An exemplary includes applying a reinforcement layer on an outer surface of a pipe over a defect detected in an internal surface of the pipe. A testing fiber Bragg grating (FBG) detector is mounted on the outer surface of the pipe over the defect. A reference FBG detector is mounted on the outer surface of the pipe. A difference in hoop strain between the testing FBG detector and the reference FBG detector is monitored to identify variations in wall thickness over the defect.

The invention belongs to the technical field of pipeline inner wall cleaning, and particularly relates to a self-adaptive pipe diameter adjusting type petroleum oil pipe intelligent cleaning robot which comprises a shell, and the shell is composed of a left shell body and a right shell body which are the same in structure. According to the supporting mechanism, a bidirectional threaded rod linkage structure hinged through a universal joint is adopted, and an electromagnetic cylinder and a moving block are matched to cooperatively control supporting legs to stretch out and draw back dynamically, so that the device is adaptive to different pipe diameters and bent pipe forms, and the device can be stably attached in a round pipe, an oval pipe or a bent pipe; the driving mechanism is based on bevel gear transmission and is combined with a radial pressure compensation mechanism to realize the multidirectional moving capability of vertical climbing and horizontal propelling; the exploration mechanism is integrated with a two-degree-of-freedom holder, and the cleaning process is monitored in real time through axial looking and radial pitching scanning in cooperation with self-adaptive light supplement; the cleaning mechanism innovatively integrates a rotary cutting drill bit, an adjustable blade set and a high-speed brush roller, the operation radius is dynamically adjusted through an extension rod, and stubborn scaling crushing, pipe wall scraping and chipping sweeping are synchronously completed.

A navigation apparatus for use in navigating a pipe includes a body, a movable core coupled to the body by a sacrificial connector, and a drive assembly configured to engage an interior wall of the pipe to propel the navigation apparatus through the pipe. The drive assembly including a first arm, a second arm, and a wheel, wherein the first arm is pivotably coupled to the core and the wheel, and the second arm is pivotably coupled to the body and the wheel.

The invention provides an elastic pressing type double-probe rotation detection device in a pipeline, and belongs to the technical field of pipeline detection. The detection assembly is rotatably arranged on the base; the detection assembly comprises two groups of probes respectively arranged at two opposite ends, and the probes are configured to detect the inner wall of the pipeline when being close to the inner wall of the to-be-detected pipeline. According to the elastic pressing type double-probe rotary detection device in the pipeline, the passive source weak magnetic detection probe and the active source excitation magnetic detection probe are integrated, so that full-coverage detection and accurate analysis of stress concentration and defects of the inner wall of the pipeline can be realized. A spring system designed by the robot enables the probe to automatically adjust the position and the angle according to different pipe diameters, constant contact pressure between the probe and the surface of the pipeline is ensured, and adaptability and flexibility are enhanced.

A pipeline inspection robot disclosed by the present invention comprises a mobile chassis, a lifting frame and a detector, the detector is installed at the upper end of the mobile chassis through the lifting frame, the lifting frame is used for vertically adjusting the height of the detector, and the mobile chassis is provided with a controller and an aviation plug. The movable chassis, the lifting frame, the detector and the aviation plug are all electrically connected with the controller, the aviation plug is used for being detachably connected with a cable, the detector is installed at the upper end of the movable chassis through the lifting frame, and the detector, the lifting frame and the movable chassis are all electrically connected with the controller on the movable chassis. In this way, the operation states of the movable chassis, the lifting frame and the detector are all controlled by the controller, the aviation plug connector is electrically connected with external power supply equipment and a control terminal through cables, and therefore the pipeline inspection robot is powered and controlled by the outside world.

The invention relates to the technical field of pipeline robots, and discloses a miniature wheel type pipeline robot which comprises a bending assembly, walking units are connected to the two ends of the bending assembly correspondingly, each walking unit comprises two wheel train assemblies, each wheel train assembly comprises a walking mechanism and a reducing mechanism, and each walking mechanism comprises a stator coil, a rotor, a rotating disc and a plurality of elastic wheel legs. The stator coil is matched with the rotor, the rotating disc and the rotor are coaxially fixed, the elastic wheel leg comprises an elastic piece and a walking wheel, the walking wheel is rotatably arranged at one end of the elastic piece, the other end of the elastic piece is fixedly connected with the rotating disc, the end, provided with the walking wheel, of the elastic piece stretches outwards, and a rotating shaft of the walking wheel inclines relative to the axis of the rotating disc. The elastic wheel legs are evenly distributed on the circumference, and the two wheel train assemblies are connected and symmetrically arranged. The diameter changing mechanism can enable the ends, away from the rotating disc, of the elastic pieces to be synchronously retracted inwards, and the bending assembly can enable the two walking units to be bent. The miniature wheel type pipeline robot is suitable for being used in a small-pipe-diameter multi-way pipe network.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

The invention relates to a method for carrying out pipeline ultraviolet curing non-excavation repair by combining a robot, which comprises the following steps of: S1, entering a pipeline by using a detection robot, and collecting point cloud, a high-definition image and thermal imaging data; s2, constructing a three-dimensional grid model, completely restoring the internal geometrical shape and defect distribution state of the pipeline, and labeling a defect area in the model; s3, according to the type and positioning of the defect area, a repair task strategy is obtained, and the repair task strategy comprises division of repair segments and ultraviolet light curing parameters; s4, the repair task strategy is input into the three-dimensional grid model for virtual repair simulation, and a final repair scheme is obtained after parameters are optimized; and S5, based on the final repairing scheme, repairing is carried out based on a repairing robot, and the repairing state is detected in real time through a camera. The precision and efficiency of non-excavation repair of the pipeline are effectively improved.

The invention belongs to the technical field of detection, particularly relates to a high-resolution visual detection device for the surface quality of an inner hole of a pipe for semiconductor production, and aims to overcome the following defects in the prior art: a probe is inconvenient to place at a middle line of a pipeline to influence a peeping effect; meanwhile, the system depends on the technical level and the operation proficiency of an operator; in addition, the possibility of missing detection also exists. In order to solve the problems, the following scheme is provided: the device comprises a fixed cylinder, a rotating plate is rotationally arranged at one end of the fixed cylinder, a brush plate for cleaning the pipe wall is arranged on the rotating plate in a self-adjusting manner, a fan for cleaning impurities is arranged at one end of the rotating plate, and a double-shaft motor is fixedly arranged in the fixed cylinder; by integrating the functions of pipe wall cleaning, high-resolution visual detection and inner wall roughness detection, comprehensive quality detection of the inner hole surface of the pipe for semiconductor production can be completed at a time, and the detection efficiency and accuracy are greatly improved.

The invention discloses a pipeline air tightness detection system and method, and relates to the technical field of pipeline detection, the pipeline air tightness detection system comprises a magnetic field control and adjustment assembly, a pipeline adjustment assembly, a front-end pipeline internal detection assembly and a flexible adjustment rod, and the whole system is composed of the magnetic field control and adjustment assembly, the pipeline adjustment assembly, the front-end pipeline internal detection assembly and the flexible adjustment rod. According to the invention, modularized installation is realized, magnetic particle suspension liquid detection is utilized, pipeline leakage points are positioned through magnetic field changes, ultrasonic detection is utilized, internal structure defects and wall thickness changes of the pipeline are detected, a microstructure is detected through a quantum tunneling effect, a multi-dimensional detection method is formed, the pipeline condition is comprehensively evaluated, and the whole device is simple and convenient to operate, high in detection precision and high in reliability. The device is simple in structure and easy to operate by workers, can quickly detect a water pipe, an air pipe and an oil pipe, timely discover tiny manufacturing defects and improve the quality and safety of the whole vehicle in the fuel vehicle production process, and assists maintenance personnel to efficiently formulate a scheme, shorten the maintenance time and reduce the cost in the maintenance process.

In some embodiments, provided is a robot for water tunnel inspection, comprising: (a) a shell, comprising an upper shell and a lower shell; wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin; (b) a camera system, configured to capture an image or video of a field of view of surrounding; (c) a lighting system, configured to provide illumination at least partially for the field of view; (d) a propulsion system, configured to provide propulsion force to the robot in water; and (e) a controlling system, configured to provide power and control operation of the robot, wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center. Other example embodiments are described herein. In certain embodiments, the robots provide safe and efficient tunnel inspections without human operation.

The invention relates to an emergency response and repair method for an underwater pipeline route. The emergency response and repair method comprises the following steps that S1, firstly, a detection device is placed into a pipeline in the flowing direction of a fluid medium; s2, starting a measuring instrument of the head mechanism, carrying out data fusion, and transmitting the data to a control center of the head mechanism in real time; s3, opening a fan plate, and then starting propellers on the head mechanism and the propelling mechanism: the two mechanisms work together to realize the swimming and steering movement of the detection device in the pipeline, and detecting the condition in the pipeline by using a sensor; s4, when the head mechanism detects that the flow velocity in the pipeline changes suddenly, taking back the fan plate, closing the spiral propeller and the axial spiral propeller, and starting the descending spiral propeller to enable the detection device to be attached to the inner wall of the pipeline; s5, the crawling mechanism drives the detection device to creep; s6, when the flow velocity trend is changed from rising to falling, the device is fixed to the inner wall of the pipeline; s7, the repairing mechanism works; and S8, starting the monitoring ring. The pipeline can be detected and repaired autonomously, efficiently and automatically.

The invention relates to a traction type pipeline emergency repair mobile platform which comprises a head mechanism, a propelling mechanism, a crawling mechanism and a repairing mechanism which are sequentially connected through universal couplings and connecting pipes. The head mechanism is in a bionic snake head shape, and a main body part is a head cabin with a detection function; the propelling mechanism integrally comprises a propelling cabin and a spiral propeller; the crawling mechanism is in a bionic caterpillar shape and comprises a crawling front cabin, a connecting hose and a crawling rear cabin, the crawling front cabin, the connecting hose and the crawling rear cabin wrap an internally communicated space structure, and a crawling frame is arranged in the space structure; the front crawling cabin and the rear crawling cabin are provided with self-control adsorbers; one end of a breakable cable box is connected with a connecting disc, the other end of the breakable cable box is connected with the front end of a front fitting block, an electromagnet is arranged at the rear end of the front fitting block and connected to a telescopic cable box, the other end of the telescopic cable box is connected with a rear fitting block, an electromagnet is arranged at the front end of the rear fitting block, an umbrella stand structure is arranged in the rear fitting block, and the rear end of the rear fitting block is connected with a monitoring ring. The pipeline can be automatically detected and repaired.

The invention provides a variable-diameter and variable-speed pipeline robot and a control method thereof, and belongs to the field of oil and gas pipeline detection and maintaining.The variable-diameter and variable-speed pipeline robot comprises a robot body and annular petal passive propelling assemblies arranged at the two ends of the robot body; the annular flap passive propulsion assembly comprises a posture adjusting flap layer and a propulsion flap layer arranged in the posture adjusting flap layer; the propelling petal layer comprises a plurality of propelling petals and an inner driving motor for driving the propelling petals to rotate; the posture adjusting petal layer comprises a plurality of posture adjusting petals and an outer driving motor used for driving the posture adjusting petals to rotate along the tangent line of the outer wall of the robot body. The propelling petals and the posture adjusting petals are arranged in a staggered manner; and the external driving motor drives the posture adjusting petals to rotate, so that the distance between the adjacent posture adjusting petals is changed from zero to a preset value. Through mutual cooperation of the posture adjusting petal layer and the propelling petal layer, large-range change of the diameter of the posture adjusting petal passive propelling assembly is achieved, and the posture adjusting petal passive propelling assembly is suitable for large-range variable-diameter pipelines.

A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.