Multi-cabin pipeline interior detection robot with spherical joints and detection method

Abstract

The invention discloses a multi-cabin type pipeline interior detection robot with spherical joints and a detection method, and solves the technical problems that a traditional pipeline detection robot is difficult to pass in a complex structure and low in detection precision and maintenance efficiency. Comprising a control cabin, a power supply cabin and a detection cabin which are connected through spherical joints; the control cabin comprises a main control module, a communication module and a visual module, the power supply cabin comprises a battery and a power supply module, and the detection cabin comprises a sensor module; the spherical joint comprises a double-servo driving system, the double-servo driving system comprises a pitching motor and a heading motor which are orthogonally arranged, and the pitching motor and the heading motor respectively drive the spherical joint to rotate in the vertical direction and the horizontal direction through a reduction gear set so as to realize multi-degree-of-freedom posture adjustment among the cabins. The multi-degree-of-freedom posture adjustment of the detection robot is achieved, and the robot can flexibly adapt to complex structures such as three-way pipelines, Y-shaped branches and sharp turns.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly relates to an in-pipeline inspection robot with spherical joints and a multi-cabin type and a detection method thereof. Background Art

[0002] With the continuous expansion of the scale of long-distance pipelines for energy such as oil and natural gas and urban underground pipe networks, pipeline inspection robots have become the core equipment to ensure the safe operation of pipelines. Traditional pipeline inspection robots mainly rely on wheeled or tracked drive structures, supplemented by rigid connections or simple hinge designs, and perform well in straight pipe section inspections. However, in the face of complex pipeline structures (such as S-shaped elbows, T-shaped tees, Y-shaped branches, reduced-diameter pipelines, etc.), the existing technologies still have significant deficiencies. For example, the "retractable pipeline robot device" disclosed in Patent CN201410392192.5 adopts a chain hinge structure, which can pass through elbows at a certain angle, but is prone to jamming due to lag in attitude adjustment in sharp bends or continuous bends; although the commercial product PipeCrawler series is equipped with high-precision sensors, its rigid connection design causes the fitting degree between the sensor and the pipe wall to decrease as the bend angle increases, resulting in an increase in the missed detection rate. In addition, most existing robots adopt an integrated energy design, and battery replacement requires the overall recycling of the equipment, seriously affecting the continuity of the detection task.

[0003] From the perspective of technological evolution, pipeline inspection robots have evolved from single-cabin rigid structures to multi-cabin articulated ones, but the insufficient degree of freedom of joints is still the key bottleneck restricting flexibility. For example, multi-cabin articulated robots can only achieve bending in a single plane and cannot adapt to complex path changes in three-dimensional space. At the same time, existing robots cannot actively turn, and usually require external traction or auxiliary devices to pass through complex pipeline structures, which not only increases the operation complexity but also reduces the detection efficiency.

[0004] In addition, there are also certain problems with existing pipeline inspection robots in terms of signal transmission and power supply. Due to the complex internal environment of the pipeline, signal transmission is easily interfered with, resulting in unstable data transmission. In terms of power supply, traditional robots mostly adopt an integrated design, and battery replacement is inconvenient, affecting the continuity and efficiency of the detection task.

[0005] Therefore, there is an urgent need for a pipeline inspection robot that can flexibly adapt to complex pipeline structures, has high-precision detection capabilities, and is easy to maintain to solve the deficiencies in the existing technologies. Summary of the Invention

[0006] The purpose of the present invention is to provide an in-pipeline inspection robot with spherical joints and a multi-cabin type and a detection method thereof to solve the technical problems of traditional pipeline inspection robots having difficulties in passing through complex structures, low detection accuracy, and low maintenance efficiency.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multi-cabin in-pipe inspection robot with a spherical joint provided by the present invention includes: a control cabin, a power cabin, and an inspection cabin, which are connected by a spherical joint; the control cabin includes a main control module, a communication module, and a vision module for controlling the movement of the robot and data transmission, the power cabin includes a battery and a power supply module for providing power support for the robot, and the inspection cabin includes a sensor module for collecting inspection data of the inner wall of the pipeline; the spherical joint includes a dual servo drive system, and the dual servo drive system includes a pitch motor and a heading motor arranged orthogonally, which respectively drive the vertical rotation and horizontal rotation of the spherical joint through a reduction gear set to achieve multi-degree-of-freedom attitude adjustment between the cabins.

[0009] Further, driving wheels are evenly distributed on the outer periphery of each cabin of the robot, and the driving wheels are connected to the cabin through spring brackets, and the spring elasticity is used to make the driving wheels fit the inner wall of the pipeline.

[0010] Further, the spherical joint further includes an inner frame and an outer frame, the outer frame is provided with an opening, the inner frame is fixed to the previous cabin and connected to the output shaft of the pitch motor, and the outer frame is fixed to the subsequent cabin and connected to the output shaft of the heading motor.

[0011] Further, the inner frame and the outer frame are connected by a precision bearing, and the surface of the precision bearing is wear-resistant treated.

[0012] Further, a signal transmission line and a power transmission module are provided inside the spherical joint, which are realized through a hollow bearing structure or a slip ring, and the control systems of each cabin are connected through a flexible cable.

[0013] Further, both the pitch motor and the heading motor are DC brushless servo motors, and are equipped with a high-precision position sensor, an angle feedback device, and a dynamics feedback system to monitor and adjust the rotation angle of the joint in real time.

[0014] In the second aspect, the present invention provides a detection method for a multi-cabin in-pipe inspection robot with a spherical joint, including the following steps:

[0015] Step 1: Send the robot into the pipeline. In the initial state, the angles of the two axes of the spherical joint are 0°, and each cabin maintains a coaxial straight line;

[0016] Step 2: Drive the robot to travel straight along the pipeline by the synchronous rotation of the driving wheels. The main control module adjusts the rotation speed of the driving wheels in real time and combines the torque information fed back by the dual servo drive system to maintain the center line alignment;

[0017] Step 3: When a curve or a three-way pipe is detected, the visual module identifies the path change, and the main control module controls the servo motor of the spherical joint to adjust the cabin posture. The front cabin turns first, and the subsequent cabins follow in turn to complete the turn or branch switch;

[0018] Step 4: The sensor module of the detection cabin continuously collects the data of the inner wall of the pipeline and transmits it back to the external control system through the communication module;

[0019] Step 5: When it is detected that the joint force exceeds the preset threshold, the main control module starts the fault recovery program and tries to release the jam by adjusting the drive wheel speed and the spherical joint angle. If the fault cannot be released after multiple attempts, the main control module controls the robot to return to a safe position.

[0020] Step 6: When the robot completes the detection task or reaches the preset detection range, the main control module controls the robot to return along the original path or continue to move forward to the exit.

[0021] Based on the above technical solution, the embodiments of the present invention can at least produce the following technical effects:

[0022] (1) Significantly improve the ability to pass through complex pipelines: The dual servo drive system of the spherical joint (pitch motor and heading motor are arranged orthogonally) realizes multi-degree-of-freedom posture adjustment, allowing the robot to flexibly adapt to complex structures such as three-way pipelines, Y-shaped branches, and sharp bends. Each cabin can adjust its angle independently, with the front cabin turning first and the subsequent cabins following in turn, effectively avoiding the jamming problem caused by insufficient steering of traditional rigid structure robots, and greatly improving the passing efficiency in complex pipeline environments.

[0023] (2) High-precision detection and stable fit: The detection cabin integrates high-sensitivity detection devices such as magnetic flux leakage sensors and high-definition cameras. Combined with the spring bracket design of the drive wheel, the elastic force is used to keep the drive wheel close to the inner wall of the pipe, ensuring the fit between the sensor and the pipe wall and reducing data omissions or distortion. The independent power supply module in the power cabin provides stable power for the sensor, further ensuring the continuity and reliability of the detection data.

[0024] (3) Modular design and efficient maintenance: The control cabin, power cabin, and detection cabin adopt a modular split structure and can be quickly disassembled and assembled through ball joints. The detection cabin can replace the sensor type according to mission requirements, the control cabin supports remote algorithm upgrades, and the power cabin can independently replace the battery, which significantly reduces maintenance costs and downtime and adapts to the customized needs of different scenarios.

[0025] (4) Stable signal and power transmission: The spherical joint integrates a hollow bearing structure or slip ring inside, and cooperates with a flexible cable to achieve seamless transmission of signals and power during rotation, avoiding line entanglement or interruption problems, and ensuring the operating stability of the robot when dynamically adjusting its posture.

[0026] (5) Real-time closed-loop control and anti-interference ability: The DC brushless servo motor is equipped with a high-precision position sensor, an angle feedback device, and a dynamics feedback system, which can reflect the force condition of the joint. Combined with the closed-loop feedback system of the Hall sensor and the permanent magnet, it can correct the deviation of the joint rotation angle in real time. The outer frame adopts a wear-resistant alloy sealed housing to resist the high-pressure, high-humidity, and corrosive environment inside the pipeline, ensuring the reliability and durability of long-term operation.

[0027] (6) Energy and motion collaborative optimization: The independent power cabin is equipped with a large-capacity battery, which supplies power to the whole machine through the built-in power transmission module of the spherical joint, supporting long-term continuous operation. The drive wheel synchronous control system adjusts the rotation speed in real time according to the pipeline center line. Combined with the multi-cabin collaborative motion strategy, it reduces energy consumption and extends the endurance time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0029] Figure 1 is a schematic structural diagram of the detection robot of the present invention;

[0030] Figure 2 is a schematic structural diagram of the spherical joint of the present invention;

[0031] Figure 3 is a schematic structural diagram of the inner frame of the present invention.

[0032] In the figure: 1, control cabin; 2, power cabin; 3, detection cabin; 4, spherical joint; 41, dual servo drive system; 411, pitch motor; 412, heading motor; 413, reduction gear set; 42, inner frame; 43, outer frame; 5, drive wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of the technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] As Figure 1 - Figure 2 shown, the present invention is a multi-compartment in-pipe inspection robot with a spherical joint, comprising the following components:

[0035] Control cabin 1: Located at the front of the robot, it contains a main control module, a communication module, and a vision module, and is used to control the movement of the robot and data transmission.

[0036] Power supply cabin 2: Located in the middle of the robot, it contains a battery and a power supply module, providing power support for the entire robot.

[0037] Inspection cabin 3: Located at the tail of the robot, it contains a sensor module (such as a magnetic flux leakage sensor, a camera, etc.), and is used to collect inspection data of the inner wall of the pipeline.

[0038] Spherical joint 4: Connects the control cabin 1, the power supply cabin 2, and the inspection cabin 3, providing rotation and torsion capabilities, enabling the robot to flexibly adjust its posture and pass through complex pipeline structures (such as tee pipes).

[0039] Specifically, the control cabin 1 is connected to the power supply cabin 2 through the first spherical joint. Inside the joint, there are signal and power transmission lines to ensure seamless transmission of control signals and electrical energy. The power supply cabin 2 is connected to the inspection cabin 3 through the second spherical joint, which also contains signal and power transmission lines, and at the same time ensures the transmission of inspection data to the control cabin. The outside of the spherical joint is made of wear-resistant alloy material to adapt to the harsh environment inside the pipeline. The inside is composed of a micro motor and a gear set, which is used to provide torque to adjust the posture of the cabin.

[0040] Inside the spherical joint 4, the pitch angle (vertical direction) and the heading angle (horizontal direction) are actively adjusted through a mechanical structure and a servo system. Its core consists of a dual servo drive system. Two DC brushless servo motors are arranged orthogonally, respectively responsible for the rotational movement of the pitch angle and the heading angle. Among them, the pitch motor 411 controls the vertical direction adjustment of the joint, and the heading motor 412 controls the horizontal direction rotation. Each motor is connected to the rotating shaft of the joint through a reduction gear set 413 to ensure sufficient rotational torque under large torque conditions. At the same time, the transmission directions are separated through independent gear sets to avoid mutual interference between the pitch and heading movements.

[0041] The spherical joint 4 further includes an inner layer frame 42 and an outer layer frame 43. The inner layer frame 42 is fixed to the previous cabin body and connected to the output shaft of the pitching motor 411. The outer layer frame 43 is fixed to the subsequent cabin body and connected to the output shaft of the heading motor 412. Smooth rotation is achieved between the inner and outer layers through precision bearings. The bearings bear the mechanical force between the cabin bodies and ensure the motion stability at the same time. In addition, signal transmission lines and power transmission modules are provided inside the spherical joint 4. The signal lines are realized through a hollow bearing structure, and flexible cables are used to connect the control systems of each cabin body; power transmission is through slip rings or flexible cables to avoid winding during rotation. The external structure is made of high-strength wear-resistant alloy material to form a sealed protective shell, which can adapt to the high-pressure, high-humidity and corrosive environment inside the pipeline, and prevent dust and liquid from entering and affecting the performance of internal components. The servo system is equipped with high-precision position sensors, angle feedback devices and dynamic feedback systems, which can monitor and adjust the pitching angle and heading angle of the joint in real time, ensure accurate actions, meet the requirements for the robot to flexibly pass through bends and branches in a complex pipeline environment, and maintain the stability and continuity of the cabin body at the same time.

[0042] Permanent magnets for positioning are arranged on the outer layer frame 43, and Hall sensors are arranged on the inner layer frame to accurately sense the horizontal rotation (heading angle) and vertical rotation (pitching angle) of the spherical joint, and provide real-time angle data for the closed-loop control of the servo motor. During the movement of the robot, if the joint has a slight deviation due to load or friction, the feedback of the Hall sensor can assist the system to quickly correct the position deviation and ensure the synchronization of the postures of each cabin body.

[0043] In this embodiment, in order to facilitate better driving of the robot, each cabin body is equipped with three driving wheels. These driving wheels are evenly distributed around the cabin body, which can ensure the stability of the equipment in the pipeline. The brackets of the driving wheels are connected to the cabin body through springs. The elastic force of the springs is used to make the driving wheels automatically clamp the inner wall of the pipeline, ensuring sufficient friction to provide reliable driving force. Under the initial conditions, the angles of the two axes of the spherical joint are both set to 0 degrees, so that the control cabin, the power supply cabin and the detection cabin are kept on the same axis. At this time, the whole robot is in a straight line state, which is convenient for it to smoothly enter the pipeline and start the detection task.

[0044] When the robot is performing detection, the detection method includes the following steps:

[0045] Step 1: Robot initialization and entering the pipeline

[0046] Send the robot into the pipeline. Under the initial state, the angles of the two axes of the spherical joint are both 0°, and each cabin body keeps coaxial and straight;

[0047] Start the robot, and the main control module performs self-check to ensure that each module (such as the vision module, the sensor module, the communication module, etc.) works normally;

[0048] The vision module and the sensor module start collecting the initial data of the inner wall of the pipeline and establish a preliminary model of the pipeline environment.

[0049] Step 2: Straight-line travel and alignment with the center line

[0050] The robot is driven to travel straight along the pipeline by the synchronous rotation of the drive wheels;

[0051] The main control module adjusts the rotational speed of the drive wheels in real time to ensure that the robot advances along the center line of the pipeline and avoids yaw;

[0052] The vision module and the sensor module continuously monitor the state of the inner wall of the pipeline and feedback the data to the main control module in real time;

[0053] If any abnormalities (such as cracks, corrosion, etc.) are detected on the inner wall of the pipeline, the sensor module records the abnormal positions and transmits the data back to the external control system through the communication module.

[0054] Step 3: Identification and attitude adjustment of bends or tee pipes

[0055] When the vision module or the sensor module detects a bend or a tee pipe, the main control module performs path recognition and decision-making according to the path planning algorithm;

[0056] The main control module controls the servo motors of the spherical joints to adjust the attitude of the cabin. The front cabin turns first, and the subsequent cabins follow in sequence to complete the turn or branch switching;

[0057] L-shaped bend: The front cabin adjusts the horizontal angle through the spherical joint, fits the inner wall of the bend and changes the traveling direction, and the subsequent cabins gradually follow the turn;

[0058] T-shaped tee pipe: The front cabin identifies the branch direction through the vision module, adjusts the angle to align with the target branch, and the subsequent cabins follow in sequence to complete the turn;

[0059] During the turning process, the main control module monitors the attitude of each cabin in real time to ensure the smoothness and accuracy of the turning action.

[0060] Step 4: Data collection and transmission

[0061] The sensor module of the detection cabin continuously collects the detection data of the inner wall of the pipeline, including but not limited to information such as cracks, corrosion, and deformation;

[0062] The collected data is transmitted back to the external control system in real time through the communication module for the operators to analyze and process;

[0063] If serious abnormalities (such as large-area corrosion or cracks) are detected, the main control module can trigger an alarm to prompt the operator to conduct further inspections;

[0064] Step 5: Fault detection and automatic recovery

[0065] During the movement, the main control module monitors the force of the spherical joint in real time. If it detects that the force on the joint exceeds the preset threshold, the main control module determines that a jam or failure may occur;

[0066] The main control module starts the fault recovery program and tries to release the jam by adjusting the drive wheel speed and ball joint angle;

[0067] If the fault cannot be resolved after multiple attempts, the main control module controls the robot to return to a safe position to avoid getting stuck at a turn;

[0068] During the return process, the main control module records the fault location and cause, and transmits the fault information back to the external control system through the communication module.

[0069] Step 6: Task Completion and Exit Pipeline

[0070] When the robot completes the detection task or reaches the preset detection range, the main control module controls the robot to return along the original path or continue to move forward to the exit;

[0071] During the process of exiting the pipeline, the vision module and sensor module continue to monitor the inner wall status of the pipeline to ensure the robot's safe exit;

[0072] After the robot exits the pipeline, the main control module summarizes the task, generates a detection report, and transmits the final data back to the external control system through the communication module.

[0073] The robot motion principle of the present invention is:

[0074] In linear motion:

[0075] When the robot needs to move along a straight pipeline, the three cabins are kept on the same axis through spherical joints (the angles of both axes are 0°). The drive wheels of each cabin rotate synchronously, and the driving force is provided by the friction between the tires and the inner wall of the pipeline. The spring bracket ensures that the drive wheels are always in close contact with the inner wall of the pipeline. The main control module coordinates the movement of each cabin to make the speed of the drive wheels consistent to avoid yaw or pulling between cabins caused by speed differences. The visual module or sensor monitors the position of the robot in real time to ensure that it moves along the center line of the pipeline.

[0076] Passing the L-shaped bend:

[0077] When an L-shaped bend appears in the pipeline, the vision module or sensor of the front cabin detects the change in the turning position and angle, and the control system gradually adjusts the cabin posture according to the path planning algorithm. The two servo motors of the spherical joint drive the joint to rotate, so that the front cabin completes the direction adjustment first, and the subsequent cabins gradually follow the turn. The front cabin first adjusts the horizontal angle through the spherical joint so that it fits the inner wall of the L-shaped bend and changes the direction of travel. The power cabin adjusts the angle with the front cabin through the spherical joint and gradually completes the bend. The inspection cabin finally adjusts its own direction to ensure that the entire cabin returns to a coaxial straight line state after passing the bend.

[0078] Active T-bend:

[0079] When encountering a T-shaped three-way pipe, the robot needs to identify the direction of the branch and actively adjust the cabin posture to enter the target branch. Through the visual module or sensor, the robot can identify the position and direction of the T-shaped branch in advance. The two-axis rotation function of the spherical joint enables the robot to have the ability to turn at the branch. The front cabin identifies the T-shaped bend through the visual module or sensor and confirms the direction of the target branch (left or right). The control system issues a command, and the front cabin adjusts the angle through the spherical joint to align with the target branch. The power cabin then adjusts the angle and follows the front cabin to complete the turn. The detection cabin maintains the corresponding angle and finally completes the turning action of the three-way pipe.

[0080] Determination of stuck and handling of escape:

[0081] The main control module returns torque through the spherical joint servo system. When it detects that the joint torque exceeds the preset threshold or the visual module detects that the cabin's motion trajectory stagnates for more than the set time, the jam triggering condition is met. When the system is stuck, it will execute an automatic escape attempt program: the main control module controls the current cabin's drive wheel to reverse briefly, and the pitch motor and heading motor rotate in the opposite direction alternately, so that the joint angle swings within a small range and escapes from the mechanical lock state. If it is determined to be in a completely locked state after multiple attempts, the emergency release mechanism is triggered. First, the joint motor and drive wheel are released from the braking mode to facilitate external traction; secondly, the data before and after the jam and the actuator operation commands are all stored and marked, triggering a sound alarm.

[0082] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of the present invention to be protected is defined by the attached claims and their equivalents.

Claims

1. A multi-chamber pipeline inspection robot with spherical joints, characterized in that: include: A control cabin (1), a power cabin (2) and a detection cabin (3), wherein the control cabin (1), the power cabin (2) and the detection cabin (3) are connected via a spherical joint; the control cabin (1) comprises a main control module, a communication module and a visual module for controlling the movement of the robot and data transmission; the power cabin (2) comprises a battery and a power supply module for providing power support for the robot; and the detection cabin (3) comprises a sensor module for collecting pipeline inner wall detection data; The spherical joint (4) comprises a dual servo drive system (41), wherein the dual servo drive system (41) comprises a pitch motor (411) and a heading motor (412) arranged orthogonally, and respectively drives the vertical rotation and the horizontal rotation of the spherical joint through a reduction gear set (413) to achieve multi-degree-of-freedom posture adjustment between the cabins.

2. The multi-chamber in-pipeline inspection robot with spherical joints according to claim 1, characterized in that: Driving wheels (5) are evenly distributed on the periphery of each cabin of the robot, and the driving wheels (5) are connected to the cabin via spring brackets, and the driving wheels (5) are made to fit the inner wall of the pipeline by utilizing the elastic force of the springs.

3. The multi-chamber in-pipeline inspection robot with spherical joints according to claim 1, characterized in that: The spherical joint (4) further comprises an inner frame (42) and an outer frame (43), wherein the outer frame (43) is provided with an opening, wherein the inner frame (42) is fixed to the front cabin and connected to the output shaft of the pitch motor (411), and the outer frame (43) is fixed to the rear cabin and connected to the output shaft of the heading motor (412).

4. The multi-chamber in-pipeline inspection robot with spherical joints according to claim 3, characterized in that: The inner frame (42) and the outer frame (43) are connected via a precision bearing, and the surface of the precision bearing has been subjected to wear-resistant treatment.

5. The multi-chamber in-pipeline inspection robot with spherical joints according to claim 1, characterized in that: The spherical joint (4) is internally provided with a signal transmission line and a power transmission module, which are realized through a hollow bearing structure or a slip ring, and are connected to the control systems of the cabins through a flexible cable.

6. The multi-chamber in-pipeline inspection robot with spherical joints according to claim 1, characterized in that: The pitch motor (411) and the heading motor (412) are both direct current brushless servo motors, and are equipped with a reducer, a high-precision position sensor, an angle feedback device, and a dynamic feedback system to monitor and adjust the rotation angle of the joint in real time.

7. A detection method for a multi-chamber pipeline inspection robot with spherical joints, using the multi-chamber pipeline inspection robot with spherical joints as claimed in any one of claims 1 to 6 for detection, characterized in that: The following steps are involved: Step 1: Send the robot into the pipeline. In the initial state, the angles of the two axes of the spherical joint are 0°, and the cabins remain coaxial and straight; Step 2: The robot moves in a straight line along the pipeline through the synchronous rotation of the drive wheels. The main control module adjusts the speed of the drive wheels in real time and combines the torque information fed back by the dual servo drive system to maintain the centerline alignment; Step 3: When a curve or a three-way pipe is detected, the visual module identifies the path change, and the main control module controls the servo motor of the spherical joint to adjust the cabin posture. The front cabin turns first, and the subsequent cabins follow in turn to complete the turn or branch switch; Step 4: The sensor module of the detection cabin continuously collects the data of the inner wall of the pipeline and transmits it back to the external control system through the communication module; Step 5: When it is detected that the joint force exceeds the preset threshold, the main control module starts the fault recovery program and tries to release the jam by adjusting the drive wheel speed and the spherical joint angle. If the fault cannot be released after multiple attempts, the main control module controls the robot to return to a safe position. Step 6: When the robot completes the detection task or reaches the preset detection range, the main control module controls the robot to return along the original path or continue to move forward to the exit.

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