Pneumatic Control System of an Intelligent Soft Robot Moving at High Speed Inside a Complex Pipeline

Abstract

The present invention discloses a pneumatic control system for an intelligent soft robot moving at high speed inside the inner wall of a complex pipeline, which includes an attitude sensor, a controller, a vacuum pump, an air pump, a pneumatic device and a pressure sensor; the attitude sensor is connected to the controller, and the controller is respectively connected to the vacuum pump and the air pump, and the coordinated cooperation of the vacuum pump and the air pump is used to increase or decrease the air pressure inside the pneumatic device; the vacuum pump and the air pump are connected to the pneumatic device, and the pressure sensor is respectively connected to the controller and the pneumatic device. By corresponding the continuous change of the attitude of the intelligent soft robot to the continuously changing air pressure value, and using the controller to control the flow difference between the vacuum pump and the air pump, the present invention realizes the continuous change of the air pressure inside the pneumatic device, and can reach any air pressure value within the working range of the vacuum pump and the air pump; this pneumatic control system can also be used in equipment such as climbing robots and industrial suction cups, and has good engineering application prospects.

Description

Technical Field

[0001] The present invention is a pneumatic control system for an intelligent soft robot moving at high speed inside a complex pipeline, and can also be used in fields such as climbing robots and industrial suction cups. Background Art

[0002] Generally, a pneumatic control system realizes the change of air pressure by controlling the on-off of a solenoid valve. This pneumatic control method cannot achieve continuous change of air pressure, has poor continuity, and cannot be applied to the occasions where an intelligent soft robot moving at high speed inside a complex pipeline requires continuous change of air pressure; and generally, a pneumatic control system is acted on by a single air pump and can only achieve negative pressure or positive pressure, and the application occasions are relatively single. In view of the above situation, it is necessary to study a pneumatic control system with continuous change of air pressure and capable of realizing the mutual switching between positive pressure and negative pressure and applying it to an intelligent soft robot moving at high speed inside a complex pipeline. Summary of the Invention

[0003] In order to solve the problems existing in the background art, the purpose of the present invention is to provide a pneumatic control system with continuous change of air pressure and capable of realizing the mutual switching between positive pressure and negative pressure, which is applied to an intelligent soft robot moving at high speed inside a complex pipeline.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A pneumatic control system for an intelligent soft robot moving at high speed inside a complex pipeline, comprising an attitude sensor 1, a controller 2, a vacuum pump 3, an air pump 4, a pressure sensor 5 and a pneumatic device 6;

[0006] The attitude sensor 1 is connected to the controller 2, and the continuously changing angle information transmitted by the attitude sensor 1 on the intelligent soft robot is used as the input signal of the pneumatic control system, and the controller 2 is used to convert the continuously changing angle information into a continuously changing air pressure value;

[0007] The controller 2 is respectively connected to the vacuum pump 3 and the air pump 4, and the air pressure in the pneumatic device 6 is increased or decreased through the coordinated cooperation of the vacuum pump 3 and the air pump 4; the controller 2 is used to control the flow rates of the vacuum pump 3 and the air pump 4, and the continuous change of the air pressure in the pneumatic device 6 is realized by using the flow rate difference between the vacuum pump 3 and the air pump 4, and any air pressure value within the working ranges of the vacuum pump 3 and the air pump 4 is achieved;

[0008] The pressure sensor 5 is respectively connected to the controller 2 and the pneumatic device 6, and the continuously changing air pressure information in the pneumatic device 6 transmitted by the pressure sensor 5 is used as the feedback signal of the pneumatic control system, and is compared with the air pressure value converted by the controller 2 to realize feedback control and improve the accuracy of the pneumatic control system.

[0009] Furthermore, the intelligent soft robot of the air pressure control system is adsorbed on the inner wall of the pipeline. When the intelligent soft robot crawls around on the inner wall of the pipeline, the minimum negative pressure value required for its adsorption on the inner wall of the pipeline is:

[0010]

[0011] where P is the required minimum negative pressure value, μ 1 is the sliding friction coefficient between the bottom adsorption device of the intelligent soft robot and the inner wall of the pipeline, G is the gravity of the intelligent soft robot, μ 2 is the safety factor of the bottom adsorption device of the intelligent soft robot, θ is the angle between the air pressure control system and the horizontal ground, η is the conversion efficiency of the air pressure control system, and S is the adsorption area of the bottom adsorption device of the intelligent soft robot;

[0012] When the intelligent soft robot moves on the inner wall of the pipeline, its posture changes continuously, and the minimum negative pressure value required for its adsorption on the inner wall of the pipeline also changes continuously and linearly; the continuously changing angle information is obtained through the attitude sensor 1 and transmitted to the controller 2, and the controller 2 converts it into a continuously changing air pressure value. The controller 2 adjusts the initial flow rate Q 2 of the air pump 4, so that the initial flow rate Q 1 of the vacuum pump 3 is greater than the initial flow rate of the air pump 4, that is, Q 1 > Q 2 ; at this time, the air pressure in the bottom adsorption device of the intelligent soft robot is negative pressure. Since the actual flow rate of the vacuum pump 3 decreases with the increase of the negative pressure value and satisfies Q 11 = K 1 P + Q 1 , and when Q 2 = Q 11 , dynamic balance is achieved, and the air pressure in the bottom adsorption device of the intelligent soft robot remains unchanged; therefore, only the controller 2 needs to adjust the initial flow rate Q 2 of the air pump 4, so that the initial flow rate Q 2 of the air pump 4 satisfies

[0013]

[0014] That is, the continuous change of the minimum negative pressure value required for the intelligent soft robot to be adsorbed on the inner wall of the pipeline is realized.

[0015] The beneficial effects of the present invention are as follows: The air pressure control system has good continuity and is applicable to the situation where the air pressure changes continuously in the pipeline for an intelligent soft robot moving at high speed on the inner wall of a complex pipeline; it has the ability to switch between positive pressure and negative pressure, increasing the scope of application, and can be applied to devices such as climbing robots and industrial suction cups. Description of the Drawings

[0016] Figure 1It is the effect diagram of the pneumatic control system of an intelligent soft robot moving at high speed on the inner wall of a complex pipeline, where 1 is the attitude sensor, 2 is the controller, 3 is the vacuum pump, 4 is the air pump, 5 is the air pressure sensor, and 6 is the pneumatic device;

[0017] Figure 2 It is the control strategy diagram of the pneumatic control system of an intelligent soft robot moving at high speed on the inner wall of a complex pipeline;

[0018] Figure 3 It is the effect diagram of the intelligent soft robot applying the pneumatic control system;

[0019] Figure 4 It is the effect diagram of the intelligent soft robot applying the pneumatic control system inside the pipeline;

[0020] In the figure: 1 attitude sensor, 2 controller, 3 vacuum pump, 4 air pump, 5 air pressure sensor, 6 pneumatic device, 7 intelligent soft robot. Detailed implementation method

[0021] The present invention will be further described below in conjunction with the attached drawings and the implementation method.

[0022] As Figure 1 shown, the pneumatic control system of an intelligent soft robot moving at high speed on the inner wall of a complex pipeline consists of an attitude sensor 1, a controller 2, a vacuum pump 3, an air pump 4, a negative pressure sensor 5 and a pneumatic device 6. The attitude sensor 1 is connected to the controller 2, the controller 2 is respectively connected to the vacuum pump 3 and the air pump 4, the vacuum pump 3 and the air pump 4 are connected to the pneumatic device 6, and the negative pressure sensor 5 is connected to the controller 2 and the pneumatic device 6.

[0023] As Figure 2 shown, the continuously changing angle information transmitted by the attitude sensor 1 is used as the input signal of the pneumatic control system. The controller 2 converts the continuously changing angle information into a continuously changing air pressure value through a suitable algorithm; the air pressure in the pneumatic device 6 is increased or decreased through the coordinated cooperation of the vacuum pump 3 and the air pump 4; the controller 2 can control the initial flow rates of the vacuum pump 3 and the air pump 4. The initial flow rate is the maximum flow rate of the air pump. The initial flow rates of the vacuum pump 3 and the air pump 4 are respectively denoted as Q 1 and Q 2 . Due to the self-characteristics of the vacuum pump 3 and the air pump 4, the controller 2 cannot control the actual flow rate of the vacuum pump 3 under negative pressure conditions. Its actual flow rate automatically decreases as the negative pressure value increases. The actual flow rate of the vacuum pump 3 decreases as the negative pressure value increases and satisfies Q 11 =K 1 P + Q 1 , where Q 11 is the actual flow rate of the vacuum pump 3, and K 1is the proportionality coefficient of the vacuum pump 3, and P is the air pressure value in the air pressure device 6; the controller 2 cannot control the air pump 4 under positive pressure conditions, and its actual flow rate automatically decreases as the positive pressure value increases. The actual flow rate of the air pump 4 decreases as the positive pressure value increases and satisfies Q 22 =-K 2 P + Q 2 , Q 22 is the actual flow rate of the air pump 4, and K 2 is the proportionality coefficient of the air pump 4; under positive pressure and standard atmospheric pressure conditions, the flow rate of the vacuum pump 3 is always the initial flow rate Q 1 , and under negative pressure and standard atmospheric pressure conditions, the flow rate of the air pump 4 is always the initial flow rate Q 2 ; by using the flow rate difference between the vacuum pump 3 and the air pump 4, the air pressure in the air pressure device can be changed; under standard atmospheric pressure, adjusting the initial flow rate Q 1 of the vacuum pump 3 to be less than the initial flow rate Q 2 of the air pump 4, that is, Q 1 < Q 2 of the air pressure in the air pressure device 6 increases. According to the fact that under positive pressure conditions, the actual flow rate of the air pump 4 decreases as the positive pressure value increases and satisfies Q 22 =-K 2 P + Q 2 , when the adjusted initial flow rate Q 1 of the vacuum pump 3 is equal to the actual flow rate Q 22 of the air pump 4, that is, Q 1 = Q 22 , dynamic equilibrium is reached, and at this time, the air pressure in the air pressure device 6 is positive pressure and remains unchanged; under standard atmospheric pressure, adjusting the initial flow rate Q 2 of the air pump 4 to be less than the initial flow rate Q 1 of the vacuum pump 3, that is, Q 1 > Q 2 of the air pressure in the air pressure device 6 decreases. According to the fact that under negative pressure conditions, the actual flow rate of the vacuum pump 3 decreases as the negative pressure value increases and satisfies Q 11 = K 1 P + Q 1 , when the adjusted initial flow rate Q 2 of the air pump 4 is equal to the actual flow rate Q 11 of the vacuum pump 3, that is, Q 11 = Q 2 , dynamic equilibrium is reached, and at this time, the air pressure in the air pressure device 6 is negative pressure and remains unchanged; the air pressure sensor 5 transmits the air pressure information in the air pressure device 6 to the controller 2 and makes a real-time comparison with the air pressure value converted by the controller 2 to improve the accuracy of the air pressure control system; the continuous change of the air pressure in the air pressure device 6 is realized, and any air pressure value within the working range of the vacuum pump and the air pump can be reached.

[0024] For exampleFigure 3 As shown, the pneumatic control system is applied to an intelligent soft robot. The attitude sensor 1 transmits continuously changing angle information to the controller 2. The controller 2 converts the continuously changing angle information into continuously changing pneumatic pressure values through appropriate algorithms. The controller 2 adjusts the initial flow rates Q 1 and Q 2 of the vacuum pump 3 and the air pump 4 to adjust the pneumatic pressure in the pneumatic device 6. The pneumatic pressure sensor 5 feeds back the pneumatic pressure information in the pneumatic device 6 to the controller 2, realizing continuous change of the pneumatic pressure in the pneumatic device 6.

[0025] As Figure 4 shown, the intelligent soft robot applying the pneumatic control system adsorbs on the inner wall of the pipeline. When the intelligent soft robot adsorbs on the inner wall of the pipeline and crawls around, the minimum negative pressure value required for it to adsorb on the inner wall of the pipeline is

[0026]

[0027] where P is the required minimum negative pressure value, μ 1 is the sliding friction coefficient between the bottom adsorption device of the intelligent soft robot and the inner wall of the pipeline, G is the gravity of the intelligent soft robot, μ 2 is the safety factor of the bottom adsorption device of the intelligent soft robot, θ is the angle between the pneumatic control system and the horizontal ground, η is the conversion efficiency of the pneumatic control system, and S is the adsorption area of the bottom adsorption device of the intelligent soft robot; when the intelligent soft robot travels in the pipeline, its attitude changes continuously, and the minimum negative pressure value required for it to adsorb on the inner wall of the pipeline also changes continuously and linearly; the continuously changing angle information is obtained through the attitude sensor 1 and transmitted to the controller 2. The controller 2 converts it into continuously changing pneumatic pressure values through the above algorithms. The controller 2 adjusts the initial flow rate Q 2 of the air pump 4 so that the initial flow rate of the vacuum pump 3 is greater than the initial flow rate of the air pump 4, that is, Q 1 >Q 2 . At this time, the pneumatic pressure in the bottom adsorption device of the intelligent soft robot is negative pressure. Since the actual flow rate of the vacuum pump 3 decreases with the increase of the negative pressure value and satisfies Q 11 =K 1 P + Q 1 , and when Q 2 =Q 11 , dynamic balance is reached, and the pneumatic pressure in the bottom adsorption device of the intelligent soft robot remains unchanged; therefore, the controller 2 only needs to adjust the initial flow rate Q 2 of the air pump 4 so that the initial flow rate Q 2 of the air pump 4 satisfies

[0028]

[0029] It can realize the continuous change of the minimum negative pressure value required for the intelligent soft robot to adsorb on the inner wall of the pipeline.

[0030] The working principle is as follows:

[0031] Under the state of standard atmospheric pressure, when negative pressure is required:

[0032] Step 0: The controller 2 adjusts the initial flow rates Q 1 and Q 2 of the vacuum pump 3 and the air pump 4, so that the initial flow rates of the vacuum pump 3 and the air pump 4 are the same, that is, Q 1 =Q 2 . At this time, dynamic equilibrium is reached, which is the standard atmospheric pressure.

[0033] Step 1: The controller 2 adjusts the initial flow rate Q 2 of the air pump 4, so that the initial flow rate Q 1 of the vacuum pump 3 is greater than the initial flow rate Q 2 of the air pump 4, that is, Q 1 >Q 2 . At this time, the air pressure in the air pressure device 6 decreases and is lower than the standard atmospheric pressure, which is negative pressure.

[0034] Step 2: The actual flow rate Q 11 of the vacuum pump 3 will decrease with the increase of the negative pressure value in the air pressure device, satisfying Q 11 =K 1 P + Q 1 . When the actual flow rate Q 11 of the vacuum pump 3 is equal to the initial flow rate Q 2 of the air pump 4, that is, Q 11 =Q 2 , a new dynamic equilibrium is reached. At this time, the air pressure in the air pressure device is negative pressure and remains unchanged.

[0035] Step 3: The controller 2 re-adjusts the initial flow rate Q 2 of the air pump 4, so that the initial flow rate Q 2 of the air pump 4 in Step 3 is less than the initial flow rate Q 2 of the air pump 4 in Step 1. According to the fact that the actual flow rate Q 11 of the vacuum pump 3 will decrease with the increase of the negative pressure value in the air pressure device, satisfying Q 11 =K 1 P + Q 1 . When the actual flow rate Q 11 of the vacuum pump 3 is equal to the initial flow rate Q 2 of the air pump, that is, Q 11 =Q 2 , a new dynamic equilibrium is reached. At this time, the air pressure in the air pressure device is negative pressure and remains unchanged, and the negative pressure value is higher than the negative pressure value in Step 2.

[0036] Step 4: The controller 2 re - adjusts the initial flow rate Q of the air pump 4 2 , so that the initial flow rate Q of the air pump 4 in Step 4 2 is greater than the initial flow rate Q of the air pump 4 in Step 1 2 , but still less than the initial flow rate Q of the vacuum pump 3 1 , that is, it still satisfies Q 1 >Q 2 . According to the fact that the actual flow rate Q of the vacuum pump 3 11 will decrease with the increase of the negative pressure value in the pneumatic device, satisfying Q 11 =K 1 P + Q 1 . When the actual flow rate Q of the vacuum pump 3 11 is equal to the initial flow rate Q of the air pump 2 , that is, Q 11 =Q 2 , a new dynamic equilibrium is reached. At this time, the pneumatic device is in a negative pressure state and remains unchanged, and the negative pressure value is lower than the negative pressure value in Step 2.

[0037] Repeat Steps 1 - 4, and the pneumatic control system can continuously reach any negative pressure value within the working range of the vacuum pump 3 and remain constant.

[0038] Standard atmospheric pressure state, when positive pressure is required:

[0039] Step 0: The controller 2 adjusts the initial flow rates Q 1 and Q 2 of the vacuum pump 3 and the air pump 4, so that the initial flow rates of the vacuum pump 3 and the air pump 4 are the same, that is, Q 1 =Q 2 . At this time, a dynamic equilibrium is reached, which is the standard atmospheric pressure.

[0040] Step 1: The controller 2 adjusts the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 1 is less than the initial flow rate Q of the air pump 4 2 , that is, Q 1 <Q 2 . At this time, the air pressure in the pneumatic device 6 increases and is higher than the standard atmospheric pressure, which is positive pressure.

[0041] Step 2: The actual flow rate Q of the air pump 4 22 will decrease with the increase of the positive pressure value in the pneumatic device, satisfying Q 22 = - K 2 P + Q 2 . When the initial flow rate Q of the vacuum pump 3 1 is equal to the actual flow rate Q of the air pump 4 22 , that is, Q 1 =Q 22, a new dynamic equilibrium is reached, and at this time, the pressure in the pneumatic device is positive and remains unchanged.

[0042] Step 3: The controller 2 re-regulates the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 in Step 3 1 is less than the initial flow rate Q of the vacuum pump 3 in Step 1 1 . According to the actual flow rate Q of the air pump 4 22 will decrease as the positive pressure value in the pneumatic device increases, and it satisfies Q 22 =-K 2 P + Q 2 . When the initial flow rate Q of the vacuum pump 3 1 is equal to the actual flow rate Q of the air pump 4 22 , that is, Q 1 =Q 22 , a new dynamic equilibrium is reached. At this time, the pressure in the pneumatic device is positive and remains unchanged, and the positive pressure value is higher than the positive pressure value in Step 2.

[0043] Step 4: The controller 2 re-regulates the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 in Step 4 1 is greater than the initial flow rate Q of the vacuum pump 3 in Step 1 1 , but still less than the initial flow rate Q of the air pump 4 2 , that is, it still satisfies Q 1 <Q 2 . According to the actual flow rate Q of the air pump 4 22 will decrease as the positive pressure value in the pneumatic device increases, and it satisfies Q 22 =-K 2 P + Q 2 . When the initial flow rate Q of the vacuum pump 3 1 is equal to the actual flow rate Q of the air pump 22 , that is, Q 1 =Q 22 , a new dynamic equilibrium is reached. At this time, the pressure in the pneumatic device is positive and remains unchanged, and the positive pressure value is lower than the positive pressure value in Step 2.

[0044] Repeat Steps 1 - 4, and the pneumatic control system can continuously reach any positive pressure value within the working range of the air pump 4 and remain constant.

[0045] Negative pressure state, when positive pressure is required:

[0046] Step 0: The controller 2 regulates the initial flow rate Q of the air pump 4 2 , so that the initial flow rate Q of the vacuum pump 3 1 is greater than the initial flow rate Q of the air pump 4 2 , that is, Q 1 >Q 2, at this time, the air pressure in the air pressure device 6 is lower than the standard atmospheric pressure and is negative pressure.

[0047] Step 1: The controller 2 adjusts and increases the initial flow rate Q of the air pump 4 2 , so that the initial flow rate Q of the vacuum pump 3 1 is the same as the initial flow rate Q of the large air pump 4 2 , that is, Q 1 = Q 2 . According to the actual flow rate Q of the vacuum pump 3 11 will decrease as the negative pressure value in the air pressure device increases, and it satisfies Q 11 = K 1 P + Q 1 . When the actual flow rate Q of the vacuum pump 3 11 , the initial flow rate Q of the vacuum pump 3 1 and the initial flow rate Q of the air pump 4 2 are all equal, that is, Q 11 = Q 1 = Q 2 , a dynamic balance is reached, and at this time, the air pressure in the air pressure device 6 is the standard atmospheric pressure.

[0048] Step 2: The controller 2 adjusts the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 1 is less than the initial flow rate Q of the air pump 4 2 , that is, Q 1 <Q 2 . At this time, the air pressure in the air pressure device 6 increases and is higher than the standard atmospheric pressure and is positive pressure.

[0049] Repeat steps 1 - 2, and the air pressure control system can continuously reach any air pressure value within the working range of the vacuum pump 3 and the air pump 4 from negative pressure.

[0050] Positive pressure state, when negative pressure is needed:

[0051] Step 0: The controller 2 adjusts the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 1 is less than the initial flow rate Q of the air pump 4 2 , that is, Q 1 <Q 2 . At this time, the air pressure in the air pressure device 6 is higher than the standard atmospheric pressure and is positive pressure.

[0052] Step 1: The controller 2 adjusts and increases the initial flow rate Q of the vacuum pump 3 1 , so that the initial flow rate Q of the vacuum pump 3 1 is the same as the initial flow rate Q of the large air pump 4 2 , that is, Q 1 = Q 2 . According to the actual flow rate Q of the air pump 411 will decrease as the negative pressure value in the pneumatic device increases, satisfying Q 22 =-K 2 P + Q 2 , when the actual flow rate Q of the air pump 4 22 , the initial flow rate Q of the vacuum pump 3 1 and the initial flow rate Q of the air pump 4 2 are all equal, that is, Q 22 = Q 1 = Q 2 , a dynamic balance is reached, and at this time, the pressure in the pneumatic device 6 is the standard atmospheric pressure.

[0053] Step 2: The controller 2 adjusts the initial flow rate Q of the air pump 4 2 so that the initial flow rate Q of the vacuum pump 3 1 is greater than the initial flow rate Q of the air pump 4 2 , that is, Q 1 > Q 2 , at this time, the pressure in the pneumatic device 6 decreases and is lower than the standard atmospheric pressure and is a negative pressure.

[0054] Repeat steps 1 - 2, and the pneumatic control system can continuously reach any pressure value within the operating ranges of the vacuum pump 3 and the air pump 4 from the positive pressure.

Claims

1. A pneumatic control system for an intelligent soft robot moving at high speed on the inner wall of a complex pipeline, characterized in that, the pneumatic control system includes an attitude sensor (1), a controller (2), a vacuum pump (3), a gas pump (4), a pressure sensor (5) and a pneumatic device (6); the attitude sensor (1) is connected to the controller (2), and the continuously changing angle information transmitted by the attitude sensor (1) on the intelligent soft robot is used as the input signal of the pneumatic control system. The controller (2) is used to convert the continuously changing angle information into a continuously changing pressure value; the controller (2) is respectively connected to the vacuum pump (3) and the gas pump (4), and the coordination of the vacuum pump (3) and the gas pump (4) is used to increase or decrease the pressure in the pneumatic device (6); the controller (2) is used to control the flow rates of the vacuum pump (3) and the gas pump (4), and the continuous change of the pressure in the pneumatic device (6) is achieved by using the flow rate difference between the vacuum pump (3) and the gas pump (4), and any pressure value within the working ranges of the vacuum pump (3) and the gas pump (4) can be reached; the pressure sensor (5) is respectively connected to the controller (2) and the pneumatic device (6), and the continuously changing pressure information in the pneumatic device (6) transmitted by the pressure sensor (5) is used as the feedback signal of the pneumatic control system. It is compared with the pressure value converted by the controller (2) to achieve feedback control and improve the accuracy of the pneumatic control system; the specific steps of using the controller (2) to convert the continuously changing angle information into a continuously changing pressure value are as follows: the intelligent soft robot of the pneumatic control system is adsorbed on the inner wall of the pipeline. When the intelligent soft robot crawls around on the inner wall of the pipeline, the minimum negative pressure value required for it to be adsorbed on the inner wall of the pipeline is: where P is the minimum negative pressure value required, μ 1 is the sliding friction coefficient between the bottom adsorption device of the intelligent soft robot and the inner wall of the pipeline, G is the gravity of the intelligent soft robot, μ 2 is the safety factor of the bottom adsorption device of the intelligent soft robot, θ is the angle between the pneumatic control system and the horizontal ground, η is the conversion efficiency of the pneumatic control system, and S is the adsorption area of the bottom adsorption device of the intelligent soft robot; When the intelligent soft robot moves along the inner wall of the pipeline, its posture changes continuously, and the minimum negative pressure value required to adsorb it on the inner wall of the pipeline also changes continuously and linearly. The continuously changing angle information is obtained by the posture sensor (1) and transmitted to the controller (2). The controller (2) converts it into a continuously changing air pressure value. The controller (2) adjusts the initial flow rate Q of the air pump (4). 2 so that the initial flow rate Q of the vacuum pump (3). 1 is greater than the initial flow rate of the air pump (4), that is, Q 1 > Q 2 ; at this time, the air pressure in the bottom adsorption device of the intelligent soft robot is negative pressure. Since the actual flow rate of the vacuum pump (3) decreases with the increase of the negative pressure value and satisfies Q 11 = K 1 P + Q 1 , and when Q 2 = Q 11 , dynamic equilibrium is reached, and the air pressure in the bottom adsorption device of the intelligent soft robot remains unchanged; therefore, the controller (2) only needs to adjust the initial flow rate Q of the air pump (4). 2 so that the initial flow rate Q of the air pump (4). 2 satisfies that is, the continuous change of the minimum negative pressure value required for the intelligent soft robot to be adsorbed on the inner wall of the pipeline is realized.

Images