Self-adaptive pipe wall obstacle crossing four-footed bionic robot

Abstract

The invention relates to the technical field of robots, and discloses a self-adaptive pipe wall obstacle crossing quadruped bionic robot which comprises a robot body, a quadruped supporting leg assembly, an obstacle sensing assembly and a control system. The core innovation of the device is that a diversified adsorption system is integrated, and the device comprises an electric control permanent magnet adsorption foot end used for a ferromagnetic pipe wall and an adaptation assembly comprising a grinding assembly and a negative pressure adsorption assembly; the polishing assembly can conduct pretreatment on the dirty surface, the negative pressure adsorption assembly ensures reliable adsorption on the non-ferromagnetic pipe wall, and perfect attachment of a suction cup to any curved surface is achieved through the synergistic effect of a universal joint and an electric telescopic rod. The system has highly intelligent sensing and control capability, and by fusing information of the three-dimensional vision sensor, the laser radar, the inertial measurement unit and the joint torque sensor, the control system can not only accurately sense obstacles but also autonomously plan obstacle crossing gaits. The application range and the operation reliability of the pipeline robot are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a quadrupedal bionic robot capable of adaptively crossing pipe walls. Background Technology

[0002] As a key component of modern industrial and civil infrastructure, the regular inspection, maintenance, and cleaning of pipelines are crucial for ensuring safety and improving efficiency. To this end, various pipeline robots have emerged, designed to replace or assist humans in performing tasks within narrow, dangerous, or inaccessible pipeline environments. However, existing pipeline robots still face numerous technical bottlenecks in practical applications, and their functionality and adaptability are far from ideal.

[0003] A significant limitation of current technology lies in the singularity of its adsorption method. Most robots rely on a specific adsorption principle, such as magnetic adsorption using permanent magnets or electromagnets, or negative pressure adsorption using vacuum pumps and suction cups. This design severely restricts the application scenarios of the robots. Magnetic adsorption robots can only work on ferromagnetic metal pipes, while being powerless against the increasingly prevalent PVC, ceramic, or composite material pipes; conversely, negative pressure adsorption robots struggle to form an effective seal when facing rough, porous, or cracked pipe walls, leading to adsorption failure. Therefore, there is a lack of a universal adsorption platform that can be compatible with pipe walls of various materials.

[0004] Furthermore, the complexity of real-world pipeline environments poses a significant challenge to the reliability of existing robots. Pipeline surfaces are rarely perfectly smooth and clean; common deposits such as rust, oil, water stains, or dust severely weaken the robot's foot adhesion, causing both magnetic and negative pressure adsorption to fail, leading to slippage or even detachment from the pipe. Current technologies generally neglect pre-treatment of the adhesion points and lack the ability to proactively adapt to the pipe surface conditions.

[0005] Finally, existing robots also exhibit significant shortcomings in intelligent mobility and obstacle crossing. Pipelines are often filled with irregular obstacles such as welds, flanges, and valves. Many robots, lacking precise environmental perception systems and advanced motion control algorithms, are unable to accurately identify the shape and location of these obstacles, let alone plan reasonable crossing maneuvers, often resulting in jamming or overturning due to motion control errors. Furthermore, when performing multi-legged movement on curved or inclined pipe walls, how to perceive changes in posture and force in real time and perform dynamic balance control to ensure stability during movement is a major challenge that current technology has not effectively addressed. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a quadrupedal bionic robot that can adaptively overcome obstacles on pipe walls. This solves the problems of poor environmental adaptability of existing pipe robots, difficulty in achieving reliable adsorption on pipe walls with diverse materials and complex surface conditions, and lack of stable autonomous obstacle-crossing capabilities.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a quadrupedal bionic robot capable of adaptively crossing pipe walls, comprising: The robot body, used to provide mounting locations for related components; Outrigger assemblies, each of the outrigger assemblies comprising: A thigh pole, one end of which is rotatably connected to the robot body via a hip joint; The lower leg bar has one end rotatably connected to the other end of the thigh bar via a knee joint; An adaptation component is provided on the outer surface of the lower leg rod to increase the variety of adsorption tube walls; An adsorption foot end is located at the other end of the lower leg rod and is used to adsorb onto the tube wall; An obstacle sensing component is disposed on the outer surface of the robot body and is used to detect obstacles on the robot body's forward path and acquire their three-dimensional spatial information. A control system, electrically connected to the obstacle sensing component and the leg assembly, is used to generate an adaptive obstacle-crossing gait based on the three-dimensional spatial information acquired by the obstacle sensing component and control the coordinated movement of the leg assembly to achieve obstacle crossing.

[0008] Preferably, the adsorption foot end includes an electrically controlled permanent magnet, which is installed at the end of the lower leg rod. When the support leg assembly is raised or lowered, the control system synchronously controls the corresponding electrically controlled permanent magnet to be magnetized or demagnetized.

[0009] Preferably, the adaptation component comprises a grinding component and a negative pressure adsorption component. The grinding component includes a sliding frame, which is fixedly connected to one side of the outer surface of the lower leg rod. A mounting frame is slidably connected inside the sliding frame. A flexible grinding block is fixedly connected to one end of the mounting frame. A motor is fixedly connected to the outer surface of the sliding frame. The output end of the motor passes through the sliding frame and is fixedly connected to a gear. The gear is rotatably connected inside the sliding frame. A rack is fixedly connected to the portion of the mounting frame located inside the sliding frame, and the rack meshes with the gear.

[0010] Preferably, the negative pressure adsorption assembly includes an adsorption plate, which is installed on the other side of the outer surface of the lower leg rod. The adsorption plate is connected to a suction cup inside. A permanent magnet ring is fixedly connected to the edge of the outer surface of the adsorption plate. The negative pressure adsorption assembly also includes a vacuum pump, which is fixedly connected inside the robot body. The output end of the vacuum pump is connected to the suction cup through a pipeline.

[0011] Preferably, a limiting frame is fixedly connected between the mounting frame and the flexible grinding block. Multiple airbags are provided inside the limiting frame. A fan is fixedly connected inside the robot body. The input end of the fan is connected to the outside, and the output end of the fan is connected to the airbags.

[0012] Preferably, a connecting shaft is provided between the adsorption plate and the outer surface of the leg rod. One end of the connecting shaft is fixedly connected to the outer surface of the leg rod, and the other end of the connecting shaft is fixedly connected to a connecting ball. The connecting ball is rotatably connected to the inside of the adsorption plate. Multiple electric telescopic rods are provided between the adsorption plate and the outer surface of the leg rod, and the multiple electric telescopic rods are evenly distributed outside the connecting shaft.

[0013] Preferably, the obstacle perception component includes a three-dimensional vision sensor and a lidar, wherein the three-dimensional vision sensor and the lidar are fixedly connected to the outer surface of the robot body.

[0014] Preferably, a joint torque sensor is fixedly connected internally to the hip joint and the knee joint, and the joint torque sensor is electrically connected to the control system to provide real-time force feedback information to the control system.

[0015] Preferably, the output end of the blower is connected to a purge pipe, and the multiple output ends of the purge pipe are respectively connected to the outer surface of the multiple mounting brackets.

[0016] Preferably, an inertial measurement unit is installed inside the robot body; the inertial measurement unit is electrically connected to the control system and is used to provide the control system with real-time attitude information of the robot body. The control system performs dynamic balance control on the robot body based on the real-time attitude information and the real-time force feedback information provided by the joint torque sensor.

[0017] This invention provides a quadrupedal bionic robot capable of adaptively traversing pipe walls. It possesses the following advantages: 1. This invention broadens the application range and environmental adaptability of the robot by setting an adaptive component. This component integrates a polishing component that can clean stains and rust on pipe walls, and a negative pressure adsorption component that can adsorb onto non-ferromagnetic pipe walls. It works in conjunction with an electrically controlled permanent magnet, which is the main adsorption method. This allows the robot to intelligently switch or combine multiple adsorption methods according to the material and surface condition of the pipe wall, breaking through the limitation of traditional pipeline robots that can only be applied to a single material or clean environment.

[0018] 2. By equipping the robot body with an obstacle perception component consisting of a three-dimensional vision sensor and a lidar, the robot can accurately acquire the three-dimensional contour and spatial position information of obstacles in front of it. Subsequently, the control system can plan and generate an adaptive obstacle-crossing gait in real time and autonomously based on this high-precision data, and control the four support leg components to execute it precisely. This enables autonomous navigation and smooth crossing in complex pipeline environments, improving the robot's automation level and practical value.

[0019] 3. This invention integrates the global attitude information provided by the inertial measurement unit 8 installed inside the robot body 1 and the local force information of each leg provided by the joint torque sensor 7 installed inside each joint to perform real-time dynamic balance closed-loop control of the robot. This enables the robot to actively sense and counteract the overturning torque caused by its own movement, changes in the curvature of the tube wall, or external disturbances, effectively preventing slippage and rollover when moving on curved or inclined surfaces, and greatly ensuring the reliability and safety of the operation process. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is an internal view of the robot body of the present invention; Figure 4 This is a bottom view of the robot body of the present invention; Figure 5 This is a schematic diagram of the adaptive components of the present invention; Figure 6 This is a schematic diagram of the polishing component of the present invention; Figure 7 This is a schematic diagram of the limiting frame of the present invention; Figure 8 This is a schematic diagram of the adsorption plate of the present invention.

[0021] The components include: 1. Robot body; 2. Leg assembly; 201. Thigh rod; 202. Hip joint; 203. Lower leg rod; 204. Knee joint; 3. Adaptation assembly; 4. Adhesive foot end; 5. Obstacle sensing assembly; 6. Control system; 401. Electro-controlled permanent magnet; 301. Grinding assembly; 302. Negative pressure adsorption assembly; 3011. Sliding frame; 3012. Mounting frame; 3013. Flexible grinding block; 3014. Motor; 3015. 5. Gear; 3016. Rack; 3021. Adsorption plate; 3022. Suction cup; 3023. Permanent magnet ring; 3024. Vacuum pump; 3017. Limiting frame; 3018. Airbag; 3019. Fan; 3025. Connecting shaft; 3026. Connecting ball; 3027. Electric telescopic rod; 501. 3D vision sensor; 502. LiDAR; 7. Joint torque sensor; 30110. Purge pipe; 8. Inertial measurement unit. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a quadrupedal bionic robot capable of adaptively crossing pipe walls, comprising: Robot body 1, used to provide mounting positions for related components; Leg assembly 2, each leg assembly 2 includes: The thigh rod 201 has one end rotatably connected to the robot body 1 via the hip joint 202; The lower leg bar 203 has one end rotatably connected to the other end of the thigh bar 201 via the knee joint 204; Adaptive component 3 is set on the outer surface of the lower leg rod 203 to increase the variety of adsorption tube walls; Adsorption foot end 4 is set at the other end of the lower leg rod 203 and is used to adsorb onto the tube wall; The obstacle perception component 5 is disposed on the outer surface of the robot body 1 and is used to detect obstacles on the forward path of the robot body 1 and acquire their three-dimensional spatial information. The control system 6 is electrically connected to the obstacle sensing component 5 and the outrigger component 2. It is used to generate an adaptive obstacle-crossing gait based on the three-dimensional spatial information acquired by the obstacle sensing component 5 and control the outrigger component 2 to move in coordination, so as to cross the obstacle.

[0024] Specifically, the operation of this adaptive tube-wall obstacle-crossing quadruped bionic robot begins with the obstacle perception component 5 mounted on the robot body 1. This component continuously detects the robot's path, providing accurate three-dimensional environmental spatial information for subsequent intelligent decision-making, avoiding collisions, and achieving path planning. The control system 6, as the core of the robot's intelligent decision-making, receives and processes data from the perception component. Its function is to generate an adaptive obstacle-crossing gait in real time, thereby controlling the entire robot system. This function enables the robot to autonomously plan and select optimal actions when facing complex obstacles. The robot body 1 provides a basic mounting platform and structure for all components. The support ensures that the entire robot functions as a stable and unified whole to perform various complex tasks. The leg assembly 2 is the actuator that enables movement. Through its internal hip joint 202 and knee joint 204, it achieves multi-degree-of-freedom rotation, driving the thigh rod 201 and lower leg rod 203 to swing and extend, thereby realizing a series of complex movements such as walking, climbing, and crossing in a bionic quadruped, achieving efficient movement. When the leg needs to contact the tube wall, the adaptation component 3 set on the lower leg rod 203 will take effect first. Its core effect is to broaden the types of tube walls and surface conditions that the robot can stably work on by pre-treating the tube wall surface or providing alternative adsorption solutions.

[0025] The adsorption foot end 4 includes an electrically controlled permanent magnet 401, which is installed at the end of the lower leg rod 203. When the support leg assembly 2 is raised or lowered, the control system 6 synchronously controls the corresponding electrically controlled permanent magnet 401 to be magnetized or demagnetized.

[0026] Specifically, the initial adsorption action of this device is completed by the adsorption foot end 4, which is implemented by the electrically controlled permanent magnet 401. The control system 6 can control the instantaneous magnetization and demagnetization of it. Its function is to generate or eliminate strong magnetic force, so as to achieve the effect that the foot end can be firmly adsorbed to the ferromagnetic tube wall when needed, and can be instantly detached without resistance when the leg is lifted, thus ensuring the continuity and reliability of movement.

[0027] The adaptation component 3 consists of a polishing component 301 and a negative pressure adsorption component 302. The polishing component 301 includes a sliding frame 3011, which is fixedly connected to one side of the outer surface of the lower leg rod 203. A mounting frame 3012 is slidably connected inside the sliding frame 3011. A flexible polishing block 3013 is fixedly connected to one end of the mounting frame 3012. A motor 3014 is fixedly connected to the outer surface of the sliding frame 3011. The output end of the motor 3014 passes through the sliding frame 3011 and is fixedly connected to a gear 3015. The gear 3015 is rotatably connected inside the sliding frame 3011. A rack 3016 is fixedly connected to the part of the mounting frame 3012 located inside the sliding frame 3011. The rack 3016 meshes with the gear 3015.

[0028] Specifically, the core function of the adaptation component 3 as a whole is to endow the robot with comprehensive capabilities to cope with different pipe wall environments. This effect is achieved through the coordinated or independent operation of the two functional modules contained within it: the grinding component 301 and the negative pressure adsorption component 302. When the robot needs to process pipe walls with stains or rust on the surface, the grinding component 301 is activated. At this time, the motor 3014, as the power source, starts to work, and its function is to output a stable rotational torque, thereby providing the initial power for the subsequent movements of the entire mechanical structure. The motor 3014 then drives the gear 3015 to rotate, and the gear 3015 then precisely meshes with the rack 3016 fixed on the mounting bracket 3012 to transmit power. The gear 3015 and rack 3016 combination efficiently converts the rotational motion of the motor 3014 into linear driving force, achieving the effect of stably pushing the mounting bracket 3012 out of the sliding frame 3011 housed on one side of the lower leg 203. During this process, the sliding frame 3011 fixed on the lower leg 203 acts as a guide rail and support, ensuring that the mounting bracket 3012 can smoothly extend and retract along the preset precise trajectory. Finally, the flexible abrasive block 3013 carried by the mounting bracket 3012 arrives at and contacts the pipe wall. Its direct function is to physically scrape and clean the target area to achieve the core effect of removing adhering substances and creating a clean adsorption surface.

[0029] The negative pressure adsorption component 302 includes an adsorption plate 3021, which is installed on the other side of the outer surface of the lower leg rod 203. The adsorption plate 3021 is connected to a suction cup 3022. A permanent magnet ring 3023 is fixedly connected to the edge of the outer surface of the adsorption plate 3021. The negative pressure adsorption component 302 also includes a vacuum pump 3024, which is fixedly connected to the inside of the robot body 1. The output end of the vacuum pump 3024 is connected to the suction cup 3022 through a pipeline.

[0030] Specifically, when the robot faces a non-ferromagnetic tube wall, the negative pressure adsorption component 302 plays a crucial role, providing the robot with the ability to reliably adsorb onto various smooth surfaces. This process begins with a vacuum pump 3024 located inside the robot body 1. Its core function is to rapidly extract air from the tube as a power source, creating a negative pressure environment at the adsorption end, fulfilling the prerequisite for generating adsorption force. This negative pressure is then applied to the suction cup 3022, which, through its flexible structure, tightly adheres to the tube wall, forming a sealed, low-pressure space isolated from the outside. Ultimately, driven by external atmospheric pressure, a strong adsorption force is generated, firmly securing the robot's feet. The effect of fixing to the target surface; in this process, as the structural base of the suction cup 3022, the function of the suction cup 3021 is to provide rigid support for the flexible suction cup 3022 and bear and transmit all the adsorption force, thereby realizing the purpose of stabilizing the adsorption effect into the robot's effective adhesion force; while the permanent magnet ring 3023 cleverly set on the edge of the suction cup 3021 provides an auxiliary function. Its function is to generate a weak magnetic adsorption in advance when the adsorption object happens to be a ferromagnetic material. The effect achieved is to help the suction cup 3022 to better complete the initial positioning and sealing before the vacuum pump 3024 is fully activated, thereby improving the reliability and efficiency of the entire negative pressure adsorption system startup.

[0031] A limiting frame 3017 is fixedly connected between the mounting frame 3012 and the flexible grinding block 3013. Multiple airbags 3018 are provided inside the limiting frame 3017. A fan 3019 is fixedly connected inside the robot body 1. The input end of the fan 3019 is connected to the outside, and the output end of the fan 3019 is connected to the airbags 3018.

[0032] Specifically, during the precision operation requiring flexible grinding of the pipe wall, the fan 3019 installed inside the robot body 1 is activated. Its core function is to act as an air source, drawing in and pressurizing outside air to provide power for subsequent adaptive pressing actions. This airflow is then introduced into multiple airbags 3018 located inside the limiting frame 3017. The airbags 3018 expand under pressure, converting air pressure energy into a uniform physical expansion force, thus generating a flexible thrust. During this process, the fan is fixedly connected to the mounting frame 3012. The limiting frame 3017 between the flexible polishing block 3013 and the flexible polishing block 3017 plays a key role in constraint and guidance. It ensures that the expansion force of the airbag 3018 is precisely applied to the back of the flexible polishing block 3013, achieving the effect of effective pressure transmission. Ultimately, under the push of the airbag 3018, the flexible polishing block 3013 can be tightly attached to various curved or irregular pipe wall surfaces with a controllable and adaptive gentle pressure. The effect is that it can effectively complete the polishing and cleaning task while avoiding surface damage that may be caused by rigid contact.

[0033] A connecting shaft 3025 is provided between the outer surface of the adsorption plate 3021 and the lower leg rod 203. One end of the connecting shaft 3025 is fixedly connected to the outer surface of the lower leg rod 203, and the other end of the connecting shaft 3025 is fixedly connected to a connecting ball 3026. The connecting ball 3026 is rotatably connected to the inside of the adsorption plate 3021. Multiple electric telescopic rods 3027 are provided between the outer surface of the adsorption plate 3021 and the lower leg rod 203, and the multiple electric telescopic rods 3027 are evenly distributed on the outside of the connecting shaft 3025.

[0034] Specifically, to ensure that negative pressure adsorption can reliably take effect on pipe walls with different curvatures, the robot adopts a set of posture adaptive adjustment mechanisms. Its operation begins with the connecting shaft 3025, which serves as the core structural support. This component provides a stable central rotation base, allowing the entire adsorption disk 3021 to adjust its posture around it. On this basis, the connecting ball 3026 acts as a universal joint, its core function being to give the adsorption disk 3021 passive, multi-degree-of-freedom rotation and tilting capabilities. When the adsorption disk 3021 initially contacts the pipe wall, it can adjust itself to conform to the curvature of the pipe wall by its own gravity or contact force, achieving initial adaptation to the pipe wall angle. To achieve a more proactive and precise fit, multiple evenly distributed electric telescopic rods 3027 play a key role. They can independently extend or shorten according to control commands. Their function is to proactively and precisely change the tilt angle and posture of the adsorption disk 3021 through coordinated actions. The final effect is to ensure that no matter how the pipe is curved, the edge of the adsorption disk 3022 forms a leak-free seal with the pipe wall.

[0035] The obstacle perception component 5 includes a three-dimensional vision sensor 501 and a lidar 502, which are fixedly connected to the outer surface of the robot body 1.

[0036] Specifically, the obstacle perception component 5, through the coordinated operation of its internal parts, provides the robot with comprehensive and accurate environmental perception capabilities. Its workflow begins with the 3D vision sensor 501, whose main function is to capture rich image information, thereby achieving the effect of identifying and classifying objects in front. Simultaneously, the lidar 502 works concurrently, its core function being to emit and receive laser beams for high-precision ranging, thus accurately constructing the 3D contours and spatial position information of obstacles. Ultimately, these two different types of data are fused, enabling the robot not only to know that there are obstacles in front, but also to deeply understand the specific shape, size, and precise distance of the obstacles, providing a high-fidelity environmental model for subsequent intelligent decision-making. A joint torque sensor 7 is fixedly connected inside the hip joint 202 and the knee joint 204. The joint torque sensor 7 is electrically connected to the control system 6 and is used to provide real-time force feedback information to the control system 6.

[0037] Specifically, to achieve ultimate balance and stability in dynamic movement, the system employs a closed-loop control strategy based on force feedback. Its operation is based on joint torque sensors 7 installed inside the hip joint 202 and knee joint 204. The core function of these sensors is to monitor the magnitude and direction of the torque borne by each joint during support and movement in real time, and to continuously transmit this data to the control system 6. The control system 6 then analyzes this force information to determine the force state of each leg in real time. The ultimate effect is to give the robot a biological-like proprioceptive ability, enabling it to actively adjust its gait and body posture to cope with the tilt, curvature change, or slippery surface of the tube wall, thereby greatly enhancing its movement stability and environmental adaptability.

[0038] The output end of the blower 3019 is connected to the purge pipe 30110, and the multiple output ends of the purge pipe 30110 are respectively connected to the outer surface of multiple mounting brackets 3012.

[0039] Specifically, when the grinding component 301 pre-treats the pipe wall, the second output of the blower 3019 drives a controlled high-speed airflow. This airflow is then guided to the purge pipe 30110, which acts as an efficient delivery and distribution system, precisely directing the airflow to the outer surface area of ​​the newly ground mounting bracket 3012. Finally, the airflow ejected from multiple ports of the purge pipe 30110 effectively blows away rust, dirt, and debris generated during grinding from the target adsorption point. This creates a clean and undisturbed adsorption surface, providing a reliable guarantee for the subsequent adsorption operation of the electro-controlled permanent magnet 401 or the negative pressure suction cup 3022, and improving the success rate and stability of the robot's foot adsorption.

[0040] An inertial measurement unit 8 is installed inside the robot body 1. The inertial measurement unit 8 is electrically connected to the control system 6 and is used to provide the control system 6 with real-time attitude information of the robot body 1. The control system 6 performs dynamic balance control on the robot body 1 based on the real-time attitude information and the real-time force feedback information provided by the joint torque sensor 7.

[0041] Specifically, to give the robot a stable posture when moving on complex or even vertical pipe walls, just like on flat ground, the robot integrates an advanced dynamic balance system. The sensory core of this system is the inertial measurement unit 8 installed inside the robot body 1. Its main function is to monitor and output key attitude information such as pitch and roll of the robot body 1 in real time, which enables the robot to have a balance perception ability similar to that of a biological inner ear. At the same time, the control system 6, as the central brain of balance control, has the core function of receiving and integrating two crucial data streams: one is the global attitude data from the inertial measurement unit 8. One source is the dynamic information, and the other is the local force information of each leg from the joint torque sensor 7. By comprehensively analyzing and calculating these two types of information, the control system 6 can accurately determine the robot's current center of gravity shift, potential tipping or slipping trend. Finally, based on these judgments, it executes dynamic balance control, instantly adjusting the standing posture and force of each leg. The effect is that it can actively counteract the instability caused by its own movement, changes in the curvature of the pipe wall, or external disturbances, thereby ensuring that the robot body 1 always maintains a dynamic and stable state, greatly preventing the risk of tipping over or falling when moving on complex pipe walls.

[0042] Working principle: When the robot starts working, the three-dimensional vision sensor 501 and lidar 502 in the obstacle perception component 5 installed on the robot body 1 first work together to detect the forward travel path and obtain accurate three-dimensional spatial information of obstacles. At the same time, the inertial measurement unit 8 installed inside the robot body 1 and the joint torque sensors 7 installed in the hip joints 202 and knee joints 204 of the four-legged support components 2 continuously feed back the robot's real-time posture information and the force situation of each joint to the control system 6. After integrating all the information of path, posture and torque, the control system 6 performs dynamic balance control to ensure the stability of the robot's posture, and plans and generates in real time. An adaptive obstacle-crossing gait is then developed, which drives the quadrupedal support assembly 2, consisting of thigh poles 201 and calf poles 203, to precisely execute the gait for movement. When one of the robot's legs needs to be raised or lowered to adhere to the tube wall, the control system 6 makes a judgment based on the tube wall's condition: if the tube wall is determined to be ferromagnetic, it directly instructs the electrically controlled permanent magnet 401, which serves as the adsorption foot 4, to magnetize and generate a strong electromagnetic adsorption force; if the tube wall surface is determined to have stains or rust, it will first activate the polishing assembly 301 in the adaptation assembly 3 installed on the calf pole 203, rotating the calf pole 203 to make the polishing assembly 301 fit against the tube wall surface, and the internal motor 3014 starts to rotate, driving the gear 3015 and gears... The meshing transmission of strip 3016 drives the mounting bracket 3012 to slide the flexible grinding block 3013 on the pipe wall surface, thereby removing stains or rust from the pipe wall surface. Simultaneously, the blower 3019 starts, inflating the airbag 3018 behind the grinding block. The air pressure allows the flexible grinding block 3013 to pre-treat the adsorption points on the pipe wall with a gentle and close pressure. After treatment, the blower 3019 blows away the grinding debris through the blowpipe 30110 to clean the surface, which is then adsorbed by the electrically controlled permanent magnet 401. If the pipe wall is determined to be a non-ferromagnetic material, the control system 6 activates the negative pressure adsorption component 302 in the adaptation component 3. By rotating the small leg rod 203, the negative pressure adsorption component 302 is brought into contact with the pipe wall surface. Then, the vacuum pump 3024 is activated to evacuate the suction cup 3022 to form a negative pressure adsorption. In addition, if there are stains or rust on the surface of the pipe wall, the polishing function is activated first before negative pressure adsorption. During this process, in order to ensure that the adsorption cup 3021 can completely fit the curved pipe wall, the control system 6 will also drive multiple electric telescopic rods 3027 to actively extend and retract to adjust the posture of the adsorption cup 3021, and passively adapt to the curved surface of the pipe wall with the help of the universal joint function of the connecting ball 3026. Finally, through the seamless coordination and adaptive switching of the above adsorption methods and intelligent gait planning, the robot can achieve reliable adsorption, stable posture and smooth obstacle crossing in complex pipe environments with different materials and surface conditions.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quadrupedal bionic robot capable of adaptively crossing pipe walls, characterized in that, include: The robot body (1) is used to provide mounting positions for related components; Outrigger assembly (2), each of the outrigger assembly (2) includes: The thigh bar (201) is rotatably connected to the robot body (1) via a hip joint (202); The lower leg bar (203) has one end rotatably connected to the other end of the thigh bar (201) via a knee joint (204); An adaptation component (3) is provided on the outer surface of the lower leg rod (203) to increase the variety of adsorption tube walls; Adsorption foot end (4) is set at the other end of the lower leg rod (203) for adsorption onto the tube wall; An obstacle perception component (5) is disposed on the outer surface of the robot body (1) and is used to detect obstacles on the forward path of the robot body (1) and obtain its three-dimensional spatial information. The control system (6) is electrically connected to the obstacle sensing component (5) and the leg assembly (2) and is used to generate an adaptive obstacle-crossing gait and control the leg assembly to move in coordination based on the three-dimensional spatial information obtained by the obstacle sensing component (5) so as to achieve the crossing of the obstacle.

2. The adaptive tube-wall obstacle-crossing quadruped bionic robot according to claim 1, characterized in that, The adsorption foot end (4) includes an electrically controlled permanent magnet (401), which is installed at the end of the lower leg rod (203). When the support leg assembly (2) is raised or lowered, the control system (6) synchronously controls the corresponding electrically controlled permanent magnet (401) to be magnetized or demagnetized.

3. The adaptive tube-wall obstacle-crossing quadruped bionic robot according to claim 1, characterized in that, The adaptation component (3) consists of a polishing component (301) and a negative pressure adsorption component (302). The polishing component (301) includes a sliding frame (3011), which is fixedly connected to one side of the outer surface of the lower leg rod (203). A mounting frame (3012) is slidably connected inside the sliding frame (3011). A flexible polishing block (3013) is fixedly connected to one end of the mounting frame (3012). A motor (3014) is fixedly connected to the outer surface of the sliding frame (3011). The output end of the motor (3014) passes through the sliding frame (3011) and is fixedly connected to a gear (3015). The gear (3015) is rotatably connected inside the sliding frame (3011). A rack (3016) is fixedly connected to the part of the mounting frame (3012) located inside the sliding frame (3011). The rack (3016) meshes with the gear (3015).

4. The adaptive tube-wall obstacle-crossing quadruped bionic robot according to claim 3, characterized in that, The negative pressure adsorption assembly (302) includes an adsorption disk (3021), which is installed on the other side of the outer surface of the lower leg rod (203). The adsorption disk (3021) is connected to a suction cup (3022). A permanent magnet ring (3023) is fixedly connected to the edge of the outer surface of the adsorption disk (3021). The negative pressure adsorption assembly (302) also includes a vacuum pump (3024), which is fixedly connected to the inside of the robot body (1). The output end of the vacuum pump (3024) is connected to the suction cup (3022) through a pipeline.

5. A quadrupedal bionic robot for adaptive obstacle crossing over pipe walls according to claim 3, characterized in that, A limiting frame (3017) is fixedly connected between the mounting bracket (3012) and the flexible grinding block (3013). Multiple airbags (3018) are provided inside the limiting frame (3017). A fan (3019) is fixedly connected inside the robot body (1). The input end of the fan (3019) is connected to the outside, and the output end of the fan (3019) is connected to the airbag (3018).

6. A quadrupedal bionic robot for adaptive pipe wall obstacle crossing according to claim 4, characterized in that, A connecting shaft (3025) is provided between the outer surface of the adsorption plate (3021) and the lower leg rod (203). One end of the connecting shaft (3025) is fixedly connected to the outer surface of the lower leg rod (203), and the other end of the connecting shaft (3025) is fixedly connected to a connecting ball (3026). The connecting ball (3026) is rotatably connected to the inside of the adsorption plate (3021). A plurality of electric telescopic rods (3027) are provided between the adsorption plate (3021) and the outer surface of the lower leg rod (203). The plurality of electric telescopic rods (3027) are evenly distributed outside the connecting shaft (3025).

7. A quadrupedal bionic robot for adaptive obstacle crossing over pipe walls according to claim 1, characterized in that, The obstacle perception component (5) includes a three-dimensional vision sensor (501) and a lidar (502), which are fixedly connected to the outer surface of the robot body (1).

8. A quadrupedal bionic robot for adaptive pipe wall obstacle crossing according to claim 1, characterized in that, A joint torque sensor (7) is fixedly connected inside the hip joint (202) and the knee joint (204). The joint torque sensor (7) is electrically connected to the control system (6) and is used to provide real-time force feedback information to the control system (6).

9. A quadrupedal bionic robot for adaptive pipe wall obstacle crossing according to claim 5, characterized in that, The output end of the blower (3019) is connected to a purge pipe (30110), and multiple output ends of the purge pipe (30110) are respectively connected to the outer surface of multiple mounting brackets (3012).

10. A quadrupedal bionic robot for adaptive pipe wall obstacle crossing according to claim 8, characterized in that, An inertial measurement unit (8) is installed inside the robot body (1); the inertial measurement unit (8) is electrically connected to the control system (6) and is used to provide the control system (6) with the real-time posture information of the robot body (1). The control system (6) performs dynamic balance control on the robot body (1) based on the real-time posture information and the real-time force feedback information provided by the joint torque sensor (7).

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