Self exploring robot for inside of pipeline

Abstract

The application discloses a self-exploring robot suitable for the inside of a pipeline, which comprises a pressure control bin, a flexible track and a detection mechanism, an opening for the flexible track to penetrate is formed in the wall of the pressure control bin, the flexible track comprises a winding part and an unfolding part, the winding part is located in the pressure control bin, the unfolding part is located outside the pressure control bin, and the pressure control bin is used for controlling the winding part to extend from the inside of the pressure control bin to the outside of the pressure control bin and form the unfolding part. The self-exploring robot suitable for the inside of a pipeline of the application controls the pressure through the pressure control bin, so that the flexible track wound in the pressure control bin continuously extends outward through the opening and forms the unfolding part, the unfolding state of the track in the form of the inner wall of the track turning outward enables the track to match the situation inside the pipeline when being unfolded, so that the track can extend forward along the pipeline by itself, and self-exploration is realized.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically relating to a self-exploring robot suitable for the interior of pipelines. Background Technology

[0002] With the development of the national economy, especially industry, the number of confined space inspections in various industries has been increasing year by year. Simultaneously, with the strengthening of safety supervision and management, the accessibility of personnel entering confined spaces for inspections is not only limited by physical inaccessibility, but also by increasingly stringent safety regulations. Under these circumstances, the market for various confined space inspection devices has experienced rapid and substantial growth. Currently, confined space inspection devices are broadly classified into two categories based on their actuation methods: endoscopes and robots.

[0003] Endoscopes primarily function by being manually pushed along rigid or semi-rigid rod-like components to enter confined spaces and perform inspections. However, endoscope push-rod mechanisms can only move in and out in a straight line or with simple turns, making it difficult to push the endoscope lens into designated positions with complex spatial structures. Furthermore, the endoscope's guide wheel mechanism cannot adapt to confined spaces with complex cross-sections, often rendering it unusable.

[0004] Pipeline robots are classified into wheeled, tracked, and multi-legged motion mechanisms based on their motion mechanisms. Wheeled or tracked motion mechanisms can achieve steering and adapt to certain cross-sections through manual operation, and have a certain climbing ability by using adsorption or friction. However, the adsorption ability (requiring contact with the surface) and the obstacle-crossing ability (requiring departure from the surface) cannot be simultaneously possessed. In actual operation, they heavily rely on the magnetism, coefficient of friction, and smooth structure of the contact surface to maintain the robot's movement requirements. Therefore, they cannot handle combined working conditions such as pipes with changing diameters and large curvatures, vertical climbing, valves, and flow-limiting orifice plates. Summary of the Invention

[0005] In view of this, in order to overcome the shortcomings of the prior art and achieve the above objectives, the purpose of this invention is to provide a self-exploring robot suitable for the interior of pipes, capable of adapting to complex pipes in various situations, and achieving autonomous advancement and exploration.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A self-exploring robot suitable for use inside pipelines includes a pressure control chamber, a flexible track, and a detection mechanism. The pressure control chamber has an opening in its wall for the flexible track to pass through. The flexible track includes a winding section and an unfolding section. The winding section is located inside the pressure control chamber, and the unfolding section is located outside the pressure control chamber. The pressure control chamber is used to control the winding section to extend from inside the pressure control chamber to outside the pressure control chamber to form the unfolding section.

[0008] According to some preferred embodiments of the present invention, the flexible track has a closed cross-section. One end of the flexible track has its inner wall folded outward and fixed to the opening. A sealed space is formed between the outer wall of the flexible track and the pressure control chamber. The track cross-section can be rectangular, elliptical, circular, or other shapes, preferably circular. The end of the circular flexible track is folded outward and fixed to the opening, and the outer wall forms a sealed space with the pressure control chamber. This facilitates the filling of the sealed space with fluid medium by controlling the pressure inside the pressure control chamber, thereby causing the winding section to continuously move outward through the opening to form the unfolding section. The flexible track is made of materials such as resin, rubber, latex, woven materials, or composite materials thereof.

[0009] According to some preferred embodiments of the present invention, the unfolding portion includes a first unfolding portion and a second unfolding portion, the first unfolding portion surrounding the outside of the second unfolding portion, and the first unfolding portion and the second unfolding portion extending in the same direction; the pressure control chamber is used to supply a fluid medium into the space formed between the first unfolding portion and the second unfolding portion to control the second unfolding portion to extend away from the pressure control chamber and fold outward to form the first unfolding portion. The function of the pressure control chamber is to maintain the stability of the pressure within the sealed space, so that the fluid medium is continuously filled into the space formed between the first unfolding portion and the second unfolding portion, so that the second unfolding portion continuously folds forward and outward to form the first unfolding portion. That is, the inner walls of the winding portion and the second unfolding portion fold outward at the ends away from the pressure control chamber to form the first unfolding portion.

[0010] By turning the end outward, the first outward-turned section serves as an external support point, and the outward-turned end forms a new support point, which can well match the complex situation inside the pipe. Moreover, the first outward-turned section will not be affected. Even if the first outward-turned section is partially punctured, as long as the pressure is sufficient, the extension of the track will not be affected, and the self-exploring robot can still work.

[0011] According to some preferred embodiments of the invention, a traction rope disposed within the flexible track and a drive mechanism for releasing and retrieving the traction rope and the winding portion of the flexible track are included. One end of the traction rope is connected to the detection mechanism. The detection mechanism is located at the end where the second unfolding portion becomes the first unfolding portion. When the track extends forward by flipping outward, it can push the detection mechanism forward. However, without the traction of the traction rope, the detection mechanism cannot be retrieved, or it may fall off, and if it falls off, it cannot be retrieved either. The drive mechanism releases and retracts the traction rope and the flexible track, and the traction rope pulls the detection mechanism, ensuring that the detection mechanism is always located at the end of the flexible track; and the traction rope provides a tendency for the detection mechanism to move towards the pressure chamber.

[0012] According to some preferred embodiments of the present invention, the detection mechanism includes a housing and a detector located on the housing, the housing including a cylinder near one end of the pressure control chamber and a carrier disposed on the cylinder, and the detector being disposed on the carrier.

[0013] According to some preferred embodiments of the invention, the cylindrical body is fitted onto the end of the first expanded portion away from the pressure control chamber, and the diameter of the cylindrical body matches the diameter of the first expanded portion. The diameter of the cylindrical body is slightly larger than (1-10 mm) the diameter of the first expanded portion. The cylindrical body is fitted onto the end of the track, which on the one hand provides protection to the end, and on the other hand restricts the movement of the detection mechanism, preventing it from falling off. The carrier is spherical, and the arc-shaped surface facilitates the movement of the detection mechanism within the pipeline.

[0014] According to some preferred embodiments of the present invention, the traction rope has power and signal transmission functions. One end of the traction rope is connected to the detector, and the other end is connected to the drive mechanism. The detector can be a commonly used detection device in existing pipeline inspection, such as a camera or related non-destructive testing instruments. Since the detection device requires power and signal transmission during detection, the power line and signal line are integrated into the traction rope to achieve the relevant functions.

[0015] According to some preferred embodiments of the invention, a plurality of said traction ropes are included, each end of which is connected to a different position on the detection mechanism. Power lines and signal lines are connected to the detector to transmit power and signals respectively. Other components of the traction ropes can be directly connected to different parts of the carrier or cylinder to control the orientation of the detection mechanism by controlling different traction ropes, thereby controlling the direction of track extension.

[0016] According to some preferred embodiments of the invention, a control system is included, along with pressure sensors and / or temperature sensors disposed within the pressure-controlled chamber. The pressure sensors monitor the pressure within the enclosed space formed by the pressure-controlled chamber and the track to ensure sufficient pressure (fluid medium) to propel the track forward continuously. The temperature sensors monitor the temperature (fluid medium) within the pressure-controlled chamber, as the fluid medium expands and contracts with temperature changes; the pressure and temperature sensors ensure pressure stability within the pressure-controlled chamber.

[0017] According to some preferred embodiments of the present invention, the pressure-controlled chamber is provided with a pressure-controlling mechanism and a pressure-stabilizing mechanism. The pressure-controlling mechanism is used to supply fluid medium into the pressure-controlled chamber, and the pressure-stabilizing mechanism is used to release fluid medium from the pressure-controlled chamber. The pressure-stabilizing mechanism includes a pressure relief valve and / or an exhaust valve; the pressure-controlling mechanism includes a fan / air compressor, a solenoid valve, and pipelines. The control system is connected to pressure sensors, temperature sensors, the pressure-stabilizing mechanism, and the pressure-controlling mechanism. By monitoring the pressure sensors and temperature sensors and controlling the pressure-stabilizing and pressure-controlling mechanisms based on the monitoring results, for example, if the pressure is detected to be too low during track extension, the control mechanism controls the pressure-controlling mechanism to operate, the solenoid valve opens, and the fan / air compressor starts to supply fluid into the pressure-controlled chamber; if the pressure is detected to be too high, the control mechanism controls the pressure-stabilizing mechanism to operate, and the pressure relief valve or exhaust valve opens to release pressure, thereby maintaining a constant pressure.

[0018] In some embodiments, a guide wheel is also provided inside the pressure control chamber. The guide wheel is positioned close to the opening to guide the winding section into the outlet and prevent tangling.

[0019] Due to the adoption of the above technical solution, the advantages of the present invention compared with the prior art are as follows: The self-exploring robot of the present invention, applicable to the inside of the pipeline, controls the pressure through the pressure control chamber, so that the flexible track rolled up inside the pressure control chamber continuously extends outward through the opening and unfolds to form an unfolded part. Through this unfolded state in which the inner wall of the track is turned outward, the track matches the situation inside the pipeline when unfolded, so that the track can extend forward along the pipeline on its own and realize self-exploration. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a self-exploring robot in a preferred embodiment of the present invention;

[0022] In the attached diagram, the components are: pipe-1, pressure control chamber-2, opening-21, pressure cap-22, flexible track-3, winding section-31, unfolding section-32, first unfolding section-321, second unfolding section-322, detection mechanism-4, cylinder-41, carrier-42, traction rope-51, drive mechanism-52, control system-6, pressure sensor-71, temperature sensor-72, pressure relief valve-81, exhaust valve-82, pressure gauge-83, fan / air compressor-91, and solenoid valve-92. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions of the present invention, 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 should fall within the scope of protection of the present invention.

[0024] This invention breaks down the problem of exploring and inspecting confined spaces into two problems: extending a track into the confined space in some way; and providing a detection mechanism that can work with the track to move forward and backward.

[0025] Rigid tracks cannot automatically extend into confined spaces. Therefore, this invention designs an outward-folding track that extends forward: ① Fluid is filled / injected into the space formed by the outer wall of the track and the pressure control chamber, giving the space pressure and causing the track to fold forward, thus giving the outer surface of the track a certain supporting force (rigidity); ② During the filling / injection of fluid, personnel do not need to enter the area to be explored. Driven by internal pressure, the track automatically unfolds towards the area to be explored, achieving self-exploration.

[0026] Example

[0027] like Figure 1 As shown, the self-exploring robot suitable for use inside pipelines in this embodiment includes a pressure-controlled chamber 2, a flexible track 3, a detection mechanism 4, a pressure-controlling mechanism and a pressure-stabilizing mechanism mounted on the pressure-controlled chamber 2, a traction rope 51 mounted within the flexible track 3, a drive mechanism 52 for releasing and retrieving the traction rope 51 and the flexible track 3, a pressure sensor 71 and a temperature sensor 72 mounted within the pressure-controlled chamber 2, and a control system 6 for control. The drive mechanism 52 is preferably a stepper motor. The pressure-controlling mechanism is used to deliver fluid medium into the pressure-controlled chamber 2, and the pressure-stabilizing mechanism is used to release fluid medium from the pressure-controlled chamber 2. The fluid medium can be a gas such as air or a liquid such as water.

[0028] The pressure stabilizing mechanism includes a pressure relief valve 81 and an exhaust valve 82; the pressure control mechanism includes a fan / air compressor 91, a solenoid valve 92, and a pipeline 1. The control system 6 is connected to the pressure sensor 71, the temperature sensor 72, the pressure stabilizing mechanism, and the pressure control mechanism. It monitors the pressure sensor 71 and the temperature sensor 72 and controls the pressure stabilizing and pressure control mechanisms based on the monitoring results. For example, if the pressure is detected as too low during the extension of the track 3, the control mechanism activates the pressure control mechanism, the solenoid valve 92 opens, and the fan / air compressor 91 starts, supplying fluid to the pressure control chamber 2. If the pressure is detected as too high, the control mechanism activates the pressure stabilizing mechanism, the pressure relief valve 81 or the exhaust valve 82 opens to release pressure, thus maintaining a constant pressure or controlling the forward extension speed of the track through pressure control. In this embodiment, a pressure gauge 83 is installed on the pressure control chamber 2, and a guide wheel (not shown) is also installed inside the pressure control chamber 2. The guide wheel is positioned near the opening 21 to support and guide the winding part 31 as it enters the opening, preventing entanglement.

[0029] An opening 21 is provided on the wall of the pressure-controlled chamber 2 for the flexible track 3 to pass through. The flexible track 3 includes a winding section 31 and an unfolding section 32. The winding section 31 is located inside the pressure-controlled chamber 2, and the unfolding section 32 is located outside the pressure-controlled chamber 2. The pressure-controlled chamber 2 is used to control the extension of the winding section 31 from inside the pressure-controlled chamber 2 to the outside to form the unfolding section 32. The cross-section of the flexible track 3 is a closed shape. One end of the flexible track 3 has its inner wall folded outward and fixed to the opening 21, forming a sealed space between the outer wall of the flexible track 3 and the pressure-controlled chamber 2. In this embodiment, the folded end of the track 3 is fixed to the opening 21 by a pressure cap 22 (flange). In this embodiment, the cross-section of the track 3 is circular. The circular end of the flexible track 3 is folded outward and fixed to the opening 21, and the outer wall forms a sealed space with the pressure-controlled chamber 2. This allows the fluid medium to fill the sealed space by controlling the pressure inside the pressure-controlled chamber 2, thereby causing the winding section 31 to continuously move outward through the opening 21 to form the unfolding section 32. In this embodiment, the flexible track 3 is a bag membrane made of polymer material.

[0030] The unfolding section 32 includes a first unfolding section 321 and a second unfolding section 322. The first unfolding section 321 surrounds the outside of the second unfolding section 322, and the first unfolding section 321 and the second unfolding section 322 extend in the same direction. The pressure control chamber 2 is used to supply fluid medium into the space formed between the first unfolding section 321 and the second unfolding section 322 to control the second unfolding section 322 to extend away from the pressure control chamber 2 and fold outward to form the first unfolding section 321. The function of the pressure control chamber 2 is to maintain the stability of the pressure in the sealed space, so that the fluid medium is continuously filled into the space formed between the first unfolding section 321 and the second unfolding section 322, so that the second unfolding section 322 continuously folds forward and outward to form the first unfolding section 321. That is, the inner walls of the winding section 31 and the second unfolding section 322 fold outward at the ends away from the pressure control chamber 2 to form the first unfolding section 321. By using an outward-folding end design, the already outward-folded first extended portion 321 serves as an external support point, and the outward-folding end further forms new support points. This design effectively accommodates the complex conditions within pipe 1, and the already outward-folded first extended portion 321 remains unaffected. Even if the first extended portion 321 is partially punctured, as long as the pressure is sufficient, the extension of track 3 will not be affected, and the self-exploring robot can still operate. Furthermore, because the track has a flexible outward-folding design, it can enter narrow spaces smaller than the track's own diameter, which is impossible for existing tracks.

[0031] The detection mechanism 4 includes a housing and a detector mounted on the housing. The housing includes a cylindrical body 41 near the pressure control chamber 2 and a carrier 42 mounted on the cylindrical body 41. The detector is mounted on the carrier 42. The cylindrical body 41 is fitted onto the end of the first expansion portion 321 away from the pressure control chamber 2, and the diameter of the cylindrical body 41 matches the diameter of the first expansion portion 321. The diameter of the cylindrical body 41 is slightly larger than the diameter of the first expansion portion 321, for example, by 2 mm. The cylindrical body 41 is fitted onto the end of the track 3, which not only protects the end but also restricts the movement of the detection mechanism 4, preventing it from falling off. The carrier 42 is spherical, and its arc-shaped surface facilitates the movement of the detection mechanism 4 within the pipe 1.

[0032] One end of the traction rope 51 is connected to the detection mechanism 4. The detection mechanism 4 is located at the end where the second extension 322 becomes the first extension 321. When the track 3 extends forward, it can push the detection mechanism 4 forward. However, without the traction of the traction rope 51, the detection mechanism 4 cannot be retrieved, or it may fall off, and if it falls off, it cannot be retrieved either. The traction rope 51 and the flexible track 3 are released and retrieved by the drive mechanism 52. The traction rope 51 pulls the detection mechanism 4, so that the detection mechanism 4 is always located at the end of the flexible track 3. The traction rope 51 also provides a tendency for the detection mechanism 4 to move towards the pressure chamber 2. That is, the movement of the detection mechanism is achieved under the push of the front end of the track and the traction of the traction rope.

[0033] The traction rope 51 has power and signal transmission functions. One end of the traction rope 51 is connected to the detector, and the other end is connected to the drive mechanism 52. The detector can be a commonly used detection device in existing pipeline 1 inspections, such as a camera or related non-destructive testing instruments. Since the detection device requires power and signal transmission during inspection, the power and signal lines are integrated into the traction rope 51 to achieve the relevant functions. Preferably, multiple traction ropes 51 are arranged inside the flexible track 3, and the end of each traction rope 51 is connected to a different position on the detection mechanism 4. The power and signal lines are connected to the detector to transmit power and signals respectively. Other components of the traction rope 51 can be directly connected to different parts of the carrier 42 or the cylinder 41 to control the orientation of the detection mechanism 4 by controlling different traction ropes 51, thereby controlling the direction of extension of the track 3.

[0034] Pressure sensor 71 is used to monitor the pressure within the sealed space formed by pressure control chamber 2 and track 3 to ensure sufficient pressure (fluid medium) to propel track 3 forward. Temperature sensor 72 is used to monitor the temperature (fluid medium) inside pressure control chamber 2, as the fluid medium expands and contracts with temperature changes. Pressure sensor 71 and temperature sensor 72 ensure the stability of pressure within pressure control chamber 2.

[0035] The working process of the self-exploring robot of this invention is briefly described below:

[0036] After the end of the track is turned outward and fixed to the opening, the pressure control mechanism is activated to inject fluid into the pressure control chamber. The pressure in the pressure control chamber continues to rise. After rising to a certain level, the track extends outward from the opening to form an unfolded part. At the same time, the space between the first unfolded part and the second unfolded part is continuously filled with fluid, pushing the end of the track to extend forward continuously. The second unfolded part is continuously turned outward to form the first unfolded part.

[0037] As the track unfolds, the drive mechanism starts, and the track and traction rope are continuously released, causing the detection mechanism to be pushed forward by the front end of the track. At the same time, the traction rope keeps the detection mechanism in close contact with the front end of the track.

[0038] When fluid is injected into the pressure control chamber through the pressure control mechanism, the speed of track extension or whether to continue extending can be controlled by controlling the pressure inside the pressure control chamber.

[0039] When the inspection is completed and the track and inspection mechanism need to be retrieved, the fluid pressure in the pressure control chamber is released through the pressure relief valve or exhaust valve, and the drive mechanism is started in reverse to retrieve the track and inspection mechanism.

[0040] The flexible track of this invention is a cylindrical bag film made of polymer materials such as PVC. Changing the manufacturing material of the outer wall of the track does not affect the essence of this invention. Furthermore, the track can be configured into various cross-sectional shapes through different means during the design and manufacturing process without affecting the essence of this invention. The flexible bag film of this invention unfolds from the inside out in a self-exploring motion, moving under internal pressure. The bag film is rolled up within a pressure control device. As fluid is injected, it is transported through the already unfolded track to the tip, until it unfolds from the inside out at the tip. This structure has passive deformation capability, adapting to different cross-sectional shapes and sizes in the environment during movement, extending into relatively unconstrained space to achieve the purpose of self-exploration. This invention relates to a detection mechanism that cooperates with the front end of the track. After the track begins to be pressurized, the tip (front end) expands from the inside out, pushing the detection mechanism forward simultaneously, while maintaining synchronization with the position of the track tip. During movement, the detection mechanism and the tip bag film maintain relative motion; when movement stops, the detection mechanism and the tip bag film are relatively stationary. The signal power line (traction rope) of the detection mechanism is wound inside the pressure control chamber through the bag membrane. In the direction of travel, the detection mechanism is simultaneously subject to the positive constraint provided by the bag membrane and the reverse constraint provided by the traction rope. The pressure control mechanism and pressure stabilizing mechanism of this invention provide controllable positive and negative pressure conditions for the pressure control chamber, used for bag membrane drive control and reverse winding: the pressure control mechanism and pressure stabilizing mechanism transmit fluid pressure to the tubular bag membrane of the track, controlling the filling state of the bag membrane; the stepper motor and traction rope control the traveling speed and forward and backward direction of the bag membrane. This invention requires pressurizing and depressurizing the first and second unfolding parts of the track, which requires providing a certain pressure to the fluid. The power source of this pressure source can be pneumatic, hydraulic, electric, etc., and the form of providing pressure difference to the fluid can be compression, centrifugal, reciprocating piston drive, etc. The pressure difference required for fluid to flow into or out of the track is provided by the combination of the above power source and pressure difference formation method. Changes in the power source and pressure difference formation method or their combination do not change its essence.

[0041] The present invention has the following advantages: 1. Simplified motion mechanism: The present invention uses pressurization to cause the flexible track to automatically fold outward and extend forward, which can effectively reduce the complexity of the motion mechanism. All forces required for support, forward movement, backward movement, stopping, turning, and climbing are offset by the internal pressure of the track; 2. Soft, foldable track that can explore forward on its own: The track is a self-deploying structure. Before unfolding, it is in a folded and rolled-up state, which is small in size and easy to transport. During the pressurization process, it automatically explores forward without manual laying and can enter various confined spaces. It is not affected by the environment inside the confined space. During the unfolding process, it can automatically complete various motion forms such as turning, climbing, and descending. There are no requirements for the axial unfolding form inside the confined space. Its explorable and unfolding area is only related to the length of the track after unfolding; 3. Prevents foreign objects from being lost in confined spaces: The mechanism structure mentioned in the present invention is simple and reasonable, with few components, no complex moving components, and no easily detachable parts. The mechanism components that enter the confined space are light and small, which can effectively reduce the risk of foreign objects being lost inside the confined space. In the event of a pressure relief failure in the track, the internal fluid can be drained through a pressure stabilizing mechanism, allowing the track to be easily dragged out, which can also effectively reduce the risk of foreign objects being lost in the confined space.

[0042] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A self-exploring robot suitable for use inside pipes, characterized in that, The device includes a pressure control chamber, a flexible track, and a detection mechanism. The pressure control chamber has an opening on its wall for the flexible track to pass through. The flexible track includes a winding section and an unfolding section. The winding section is located inside the pressure control chamber, and the unfolding section is located outside the pressure control chamber. The pressure control chamber is used to control the winding section to extend from inside the pressure control chamber to outside the pressure control chamber and form the unfolding section. It includes a traction rope disposed within the flexible track and a drive mechanism for releasing and retrieving the traction rope and the winding section of the flexible track, one end of the traction rope being connected to the detection mechanism; The detection mechanism includes a housing and a detector located on the housing. The housing includes a cylinder near one end of the pressure control chamber and a carrier disposed on the cylinder. The detector is disposed on the carrier. The unfolding section includes a first unfolding section and a second unfolding section. The first unfolding section surrounds the outside of the second unfolding section, and the first unfolding section and the second unfolding section extend in the same direction. The pressure control chamber is used to deliver a fluid medium into the space formed between the first unfolding section and the second unfolding section to control the second unfolding section to extend away from the pressure control chamber and fold outward to form the first unfolding section. The cylindrical body is sleeved on the end of the first unfolded portion away from the pressure control chamber, and the diameter of the cylindrical body matches the diameter of the first unfolded portion; The traction rope has power and signal transmission functions. One end of the traction rope is connected to the detector, and the other end of the traction rope is connected to the drive mechanism.

2. The self-exploring robot according to claim 1, characterized in that, The flexible track has a closed cross-section. One end of the flexible track has its inner wall folded outward and fixed to the opening. A sealed space is formed between the outer wall of the flexible track and the pressure control chamber.

3. The self-exploring robot according to claim 1, characterized in that, It includes multiple traction ropes, each with its end connected to a different position on the detection mechanism.

4. The self-exploring robot according to claim 1, characterized in that, This includes a control system and pressure and / or temperature sensors located within the pressure control chamber.

5. The self-exploring robot according to claim 1, characterized in that, The pressure control chamber is equipped with a pressure control mechanism and a pressure stabilizing mechanism. The pressure control mechanism is used to deliver fluid medium into the pressure control chamber, and the pressure stabilizing mechanism is used to release fluid medium from the pressure control chamber.

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