Pneumatically-bent flexible pipeline robot and control method thereof

Abstract

The invention discloses a pneumatically-bent flexible pipeline robot and a control method thereof. The pneumatically-bent flexible pipeline robot comprises a main body hose, a plurality of annular inflatable airbags, electromagnetic air valves, an unerwater camera, walk driving wheel groups, an air pump and a processor, wherein the annular inflatable airbags are fixedly connected in sequence and afterwards are arranged on the main body hose in a sleeving mode to form a robot main body; the annular inflatable airbags are divided into upper airbags and lower airbags through diaphragms; each annular inflatable airbag is provided with one electromagnetic air valve; the upper air bag and the lower air bag of each annular inflatable air bag are connected with two air holes of the corresponding electromagnetic air valve through respective air pipes respectively; the underwater camera and a light source are mounted at the front end of the robot main body; the walk driving wheel groups are installed on the robot main body; the wheel directions of every two adjacent walk driving wheel groups are opposite; an air outlet of the air pump is connected with air inlets of all the electromagnetic air valves; and the processor is connected with the electromagnetic air valves, the underwater camera, the light source, an underwater motor and the air pump respectively.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a pneumatic bending flexible pipeline robot and a control method. Background technique [0002] Pipeline robot is a kind of electromechanical and instrument integration system that can automatically walk along the pipeline, carry one or more sensors, and can perform a series of pipeline operations in extremely harsh environments under remote control or computer control. A lot of research work has been done on pipelines in industrially developed countries, among which Japan has the most people engaged in the research of pipeline robots and has achieved the most results. Pipeline robots mainly include wheel type, crawler type, peristaltic type, crawling type, and screw drive type in terms of driving methods. Most pipeline robots stick to the bottom of the pipeline and crawl, and have poor adaptability to the pipeline environment. Especially in the environment where ther...

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to propose a pneumatic bending flexible pipeline robot and its control method to solve the problem that most existing pipeline robots have poor adaptability to the pipeline environment

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