A regular tetrahedral pipe robot and its control method

Abstract

This invention discloses a tetrahedral pipe robot and its control method. The tetrahedral pipe robot has tangential rotating shaft devices installed at the apex corners of the tetrahedral frame structure. By controlling the rotation of the tangential rotating shaft devices at the three corresponding apex corners on the bottom surface directly below, the rotation of the corresponding tangential rotating shaft devices drives the connected walking mechanism to rotate to the bottom surface directly below. This allows all exterior surfaces to serve as walking bases, enabling self-rescue in the event of a pipe robot overturning. The tetrahedral pipe robot can rotate 360 ​​degrees around its center point in place, thus achieving convenient turning and a small turning range. The body of the tetrahedral pipe robot is set as a tetrahedral frame structure, and the control system is located inside the frame structure. The overall structure of the tetrahedral pipe robot is compact, and the power provided by the walking mechanism makes it suitable for pipe environments of various shapes.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection equipment, and specifically to a regular tetrahedral pipeline robot and its control method. Background Technology

[0002] With rapid urban development and population growth, the safety of underground pipelines is becoming increasingly important. Pipeline defects are causing significant environmental problems in urban engineering, posing substantial safety hazards to the surrounding ground and threatening the lives and property of urban residents. Therefore, pipeline defect detection is essential for the normal operation of pipelines. Currently, the mainstream testing method for pipeline inspection involves placing a robot inside the pipeline to be tested. The robot crawls within the pipeline to locate defects. However, traditional pipeline robots typically have a rectangular body structure with a large turning area. When encountering sharp bends or obstacles, the robot struggles to turn, easily getting stuck and hindering its movement and steering. Furthermore, traditional pipeline robots generally have a single base design; if they overturn in underground pipelines, they cannot continue operating, causing inspection interruptions. To overcome the aforementioned shortcomings, in recent years, some manufacturers and universities have designed robots with a tetrahedral structure. These robots use a triangular support structure, requiring the triangular support structure of the robot body to be inserted into the entire pipe via telescopic rods. This presents several challenges: firstly, the telescopic rods are prone to jamming, potentially damaging the robot's internal structure; secondly, the triangular support structure is only suitable for circular pipes, limiting its application to a single inspection scenario and failing to adequately meet the needs of inspections under complex conditions. Based on the problems existing in current pipe inspection robots, there is a need for a pipe inspection robot that can self-rescue after a rollover, is easy to maneuver, and has a wide range of applications. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by providing a tetrahedral pipe robot and its control method that enables self-rescue after a rollover, facilitates quick and easy steering, has a small steering range, a compact structure, and a wide range of applications. This tetrahedral pipe robot controls the rotation of tangential rotating shaft devices at the three corresponding vertices on its bottom surface. The rotation of these shaft devices drives a connected walking mechanism to rotate below the bottom surface, allowing all external surfaces to serve as bases for movement, thus enabling self-rescue after a rollover. The tetrahedral pipe robot can rotate 360 ​​degrees around its center point in place, achieving convenient steering and a small steering range. The overall structure of this tetrahedral pipe robot is compact and suitable for various environments, making it an ideal solution to the technical problems mentioned in the background.

[0004] To achieve the above objectives, the present invention provides a tetrahedral pipe robot, which includes a tetrahedral frame structure, a tangential rotating shaft device, a walking mechanism, and a control system. The control system is installed inside the frame structure, and a tangential rotating shaft device is installed at each of the four vertices of the tetrahedral frame structure. The walking mechanism is installed on the tangential rotating shaft device, and the tangential rotating shaft device can rotate to drive the walking mechanism to rotate to the bottom surface directly below. The tangential rotating shaft device and the walking mechanism are communicatively connected to the control system.

[0005] Through the above technical solution, the tetrahedral pipe robot has tangential rotating shaft devices installed at the four vertices of the tetrahedral frame. By controlling the rotation of the tangential rotating shaft devices at the three vertices corresponding to the bottom surface directly below, the rotation of the corresponding tangential rotating shaft devices drives the connected walking mechanism to rotate to the bottom surface directly below. This allows all exterior facades to be used as bases for walking, thus enabling the pipe robot to save itself after overturning. The tetrahedral pipe robot can rotate 360 ​​degrees around its center point in place, thus achieving convenient turning and a small turning range. The body of the tetrahedral pipe robot is set with a tetrahedral frame structure, and the control system is located inside the frame structure. Tangential rotating shaft devices are set at the vertices of the tetrahedron, and a walking mechanism is set on each tangential rotating shaft device. The overall structure of the tetrahedral pipe robot is compact.

[0006] As a further improvement to the above technical solution, the slicing shaft device includes a slicing rotation drive device, a slicing transverse bearing, and a slicing vertical bearing. The slicing rotation drive device is set on the slicing surface at the top corner of the frame structure. The inner end of the slicing rotation drive device is connected to the tetrahedral frame structure and is perpendicular to the slicing surface and points to the center of the tetrahedral frame structure. The outer end of the slicing rotation drive device is connected to the slicing transverse bearing. The two ends of the slicing transverse bearing are connected to the slicing vertical bearing. The walking mechanism is rotatably connected to the slicing vertical bearing.

[0007] As a further improvement to the above technical solution, the walking mechanism includes a sliding mechanism, a telescopic rod, and a spherical wheel. The two ends of the telescopic rod are connected to the sliding mechanism, which is connected to the vertical bearing of the tangential surface. The middle part of the telescopic rod is rotatably connected to the spherical wheel. The telescopic rod slides on the sliding mechanism to change the direction of travel of the spherical wheel.

[0008] As a further improvement to the above technical solution, the sliding mechanism includes a main body, a drive sprocket, a chain, a driven sprocket, and a transition sprocket. The main body is connected to a vertical bearing with a cross-section. The drive sprocket is located at one end of the chain to drive the chain to rotate. The other end of the chain is engaged with the transition sprocket. The middle of the chain is fixedly connected to the driven device and the telescopic rod. By driving the driven device to move along the rotation direction of the chain, the telescopic rod is driven to slide on the sliding mechanism.

[0009] As a further improvement to the above technical solution, the control system includes: a control unit, a position detection unit, and a coaxial cable. The control unit is electrically connected to the position detection unit, the tangential rotating shaft device, and the walking mechanism via the coaxial cable.

[0010] As a further improvement to the above technical solution, the position detection unit can be set as a gyroscope.

[0011] As a further improvement to the above technical solution, the spherical wheel is set as an electric hub, and the spherical wheel is spherical in shape.

[0012] As a further improvement to the above technical solution, the gyroscope detects the posture information of the robot body in real time, determines the bottom information of the tetrahedral frame structure, and controls the tangential rotating shaft device at the three vertices of the bottom surface to rotate. The rotation of the tangential rotating shaft device drives the three connected walking mechanisms to rotate below the bottom surface.

[0013] The present invention also provides a control method for a tetrahedral pipe robot, wherein the tetrahedral pipe robot is the tetrahedral pipe robot in any of the above-mentioned technical solutions, and the control method for the tetrahedral pipe robot includes the following steps:

[0014] Step 1: Receiving Instructions: The control system receives control instructions;

[0015] Step 2: Execute instructions: According to the control instructions in Step 1, the control system controls the movement of the cutting surface rotating shaft device and the traveling mechanism;

[0016] Step 3: The position detection unit determines the bottom surface information directly below, and based on the bottom surface information, the control system drives the corresponding tangential rotating shaft device;

[0017] Step 4: When the pipeline robot needs to move forward, the control system drives the walking mechanism of the front foot to turn 0 degrees and roll forward, drives the walking mechanism of the left foot to turn 60 degrees to the left and roll backward, and drives the walking mechanism of the right foot to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to move forward.

[0018] Step 5: When the pipeline robot needs to move backward, the control system drives the walking mechanism of the front foot to turn 0 degrees and roll backward, drives the walking mechanism of the left foot to turn 60 degrees to the left and roll forward, and drives the walking mechanism of the right foot to turn 60 degrees to the right and roll forward, thus obtaining the power for the pipeline robot to move backward.

[0019] Step Six: When the pipeline robot needs to turn left, the control system drives all the walking mechanisms to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to turn left.

[0020] Step 7: When the pipeline robot needs to turn right, the control system drives all walking mechanisms to turn 60 degrees to the left and roll backward, thereby obtaining the power for the pipeline robot to turn right.

[0021] Step 8: Standby: After completing the control command, the pipeline robot goes into standby mode, waiting for the next control command.

[0022] As a further improvement to the above technical solution, in step two, the position detection unit detects the posture information of the robot body in real time, determines the bottom surface information directly below, and according to the bottom surface information, the control system controls the tangential rotating shaft device at the three apex positions of the bottom surface directly below to rotate. The rotation of the tangential rotating shaft device drives the three connected walking mechanisms to rotate to the bottom of the bottom surface directly below.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] This tetrahedral pipe robot has faceted rotating shaft devices installed at the apex corners of its tetrahedral frame. By controlling the rotation of the faceted rotating shaft devices at the three apex corners corresponding to the bottom surface, the corresponding rotating shaft devices drive the connected walking mechanism to rotate to the bottom surface. This allows all exterior surfaces to serve as bases for movement, enabling self-rescue in the event of a rollover. The tetrahedral pipe robot can rotate 360 ​​degrees around its center point, providing convenient and narrow turning range. The robot's body is designed with a tetrahedral frame structure, with the control system located inside the frame. Faceted rotating shaft devices are located at the apex corners of the tetrahedron. The overall structure of this tetrahedral pipe robot is compact, and the power provided by the walking mechanism allows it to be used in pipe environments of various shapes. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the tetrahedral pipe robot in Example 1;

[0026] Figure 2 This is a schematic diagram of the sectional rotating shaft device in Embodiment 1;

[0027] Figure 3 This is a schematic diagram of the walking mechanism in Example 1;

[0028] Figure 4Figure (a) shows the state of the spherical wheel in the walking mechanism in Embodiment 1. Figure (b) shows the state of the spherical wheel turning 0 degrees, Figure (c) shows the state of the spherical wheel turning 60 degrees to the right, and Figure (d) shows the state of the spherical wheel turning 60 degrees to the left.

[0029] Figure 5 This is a top view of the tetrahedral pipe robot in Example 1;

[0030] Figure 6 Figure (a) shows the walking state of the pipeline robot in Embodiment 1, and Figure (b) shows the turning state of the pipeline robot.

[0031] Figure 7 This is a schematic diagram of the control system in Example 1;

[0032] Figure 8 This is a flowchart of the control method for the tetrahedral pipeline robot in Example 2;

[0033] In the diagram: 1. Tetrahedral frame structure; 2. Segmented pivot device; 3. Walking mechanism; 4. Crest angle segment of the robot; 5. Segmented rotation drive device; 6. Segmented transverse bearing; 7. Segmented vertical bearing; 8. Transverse central bearing; 9. Spherical wheel; 10. Drive sprocket; 11. Drive chain; 12. Passive device; 13. Wheel and axle power drive; 14. Wheel and axle fixing device; 16. Spherical wheel with 0° rotation; 17. Hemispherical protective shell; 18. Telescopic rod; 19. Spherical wheel with 60° right rotation; 21. Spherical wheel with 60° left rotation; 23. Control unit; 24. Gyroscope; 25. Coaxial cable; 26. Walking mechanism of the left foot; 27. Walking mechanism of the front foot; 28. Walking mechanism of the right foot. Detailed Implementation

[0034] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0035] Example 1:

[0036] like Figure 1-7 As shown, this embodiment provides a regular tetrahedral robot, such as... Figure 1As shown, the pipeline robot includes a tetrahedral frame structure 1, a tangential rotating shaft device 2, a walking mechanism 3, and a control system. A tangential rotating shaft device 2 is installed at each of the four vertices of the tetrahedral frame structure 1. The walking mechanism 3 is installed on each of the tangential rotating shaft devices 2. The tangential rotating shaft devices 2 can drive the walking mechanism 3 to rotate to a position below the bottom surface of the tetrahedral frame structure 1. More specifically, for example, if one of the outer faces of the tetrahedral frame structure is directly below the tetrahedral frame structure, then this outer face is used as the bottom surface. The tangential rotating shaft devices 2 installed at the corresponding three vertices of this bottom surface can drive the walking mechanism 3 to rotate to a position below this bottom surface as a walking base, thereby enabling the pipeline robot to meet the walking requirements. The tetrahedral frame structure 1 is internally equipped with a control system that controls the pipeline robot's path and direction. The tangential rotating shaft devices 2 and the walking mechanism 3 are both communicatively connected to the control system. In this application, "outer face" refers to any one of the four faces of the tetrahedral frame structure.

[0037] This tetrahedral pipe robot has faceted rotating shaft devices installed at the four vertices of its tetrahedral frame. By controlling the rotation of the faceted rotating shaft devices at the three corresponding vertices on the bottom surface directly below, the rotation of the corresponding faceted rotating shaft devices drives the connected walking mechanism to rotate to the bottom surface directly below. This allows all exterior surfaces to be used as bases for movement, enabling the pipe robot to self-rescue after a rollover. This tetrahedral pipe robot can rotate 360 ​​degrees around its center point in place, thus achieving convenient turning and a small turning range. The body of this tetrahedral pipe robot is set as a tetrahedral frame structure, with the control system located inside the frame structure. Faceted rotating shaft devices are set at the vertices of the tetrahedron, and a walking mechanism is set on each faceted rotating shaft device. The overall structure of this tetrahedral pipe robot is compact.

[0038] Specifically, such as Figure 1 As shown, the body of the regular tetrahedral robot is obtained by cutting off the four vertices of a regular tetrahedron. The four vertices form a cross-section, and a cross-section rotating shaft device 2 is installed on each cross-section. A walking mechanism 3 is connected below each cross-section rotating shaft device 2. The control system is installed in the integrated body of the regular tetrahedral frame structure 1.

[0039] Furthermore, such as Figure 2As shown, the facet rotation device 2 includes: a facet rotation drive device 5, a facet transverse bearing 6, and a facet vertical bearing 7. The facet rotation drive device 5 is perpendicular to the facet and points to the center point of the tetrahedron. The facet transverse bearing 6 is connected to the facet rotation drive device 5, and the facet vertical bearing 7 is connected to the walking mechanism 3. By rotating the facet rotation drive device 5, the transverse and vertical bearing assemblies are driven, thereby driving the walking mechanism 3 to rotate to the bottom surface directly below. A tetrahedron robot has a total of 4 facet rotation devices. Each facet rotation device is arranged at the 4 vertices of the tetrahedron. Each device is connected to the control system through a coaxial cable.

[0040] Furthermore, such as Figure 2 , Figure 3 and Figure 4 As shown, the traveling mechanism includes a sliding mechanism, a telescopic rod 18, and a spherical wheel 9. The two ends of the telescopic rod 18 are connected to the sliding mechanism, which is connected to a vertical bearing 7. The middle of the telescopic rod 18 is rotatably connected to the spherical wheel 9. The telescopic rod 18 slides on the sliding mechanism to change the direction of travel of the drive wheel. The telescopic rod 18 is connected to the transverse central bearing 8 of the spherical wheel 9, and its length extends and retracts synchronously when the passive device 12 slides. The traveling mechanism drives the spherical wheel 9 to turn by the passive devices 12, arranged on both sides of the transverse telescopic rod 18, sliding in opposite directions on the drive chain 11.

[0041] Specifically, such as Figure 3 As shown, the sliding mechanism includes a main body, a drive sprocket 10, a drive chain 11, a passive device 12, and a transition sprocket. The main body is connected to the vertical bearing 7. The drive sprocket 10 is located at one end of the drive chain 11 to make the drive chain 11 rotate. The other end of the drive chain 11 is engaged with the transition sprocket. The middle of the drive chain 11 is fixedly connected to the passive device 12 and the telescopic rod 18. By driving the passive device 12 to move along the chain rotation direction, the telescopic rod is driven to slide on the sliding mechanism.

[0042] Furthermore, such as Figure 7As shown, the control system includes a control unit 23, a gyroscope 24, and a coaxial cable 25. The control unit 23 is located inside the tetrahedral robot frame structure and is connected to the gyroscope 24, the faceted rotating shaft device 2, and the walking mechanism 3 via the coaxial cable. The gyroscope 24 detects the robot's posture information in real time, determining which of the four outer faces of the tetrahedral frame structure 1 is the bottom face. Using this bottom face as the walking base, the walking mechanisms 3 at the three vertices corresponding to this bottom face are rotated to be below this bottom face, thus forming a walkable robot base that drives the pipeline robot to move within the pipeline. The coaxial cable is a commonly used cable for both power supply and communication in the prior art. The control system drives the faceted rotating shaft device to rotate through the coaxial cable connection. The rotation of the faceted rotating shaft device drives the walking mechanisms at the three vertices to rotate to be below the bottom face, thus achieving the purpose of using the bottom face as the base.

[0043] The control unit may employ a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The control unit connects multiple sets of faceted rotating shaft devices and traveling mechanisms using various interfaces and lines. By running or executing programs or modules stored in the memory of the control unit, and by calling data stored in the memory, the control unit performs the on / off functions of the faceted rotating shaft rotation drive device in the faceted rotating shaft device and the drive device in the traveling mechanism, and processes data.

[0044] The control unit includes a memory used to store program code and various data, such as temperature change trajectory calculation programs installed in intelligent monitoring devices, and to enable high-speed, automatic access to programs or data during the operation of the pipeline robot. The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable storage medium capable of carrying or storing data.

[0045] Example 2:

[0046] This embodiment provides a control method for a regular tetrahedral pipe robot, such as... Figure 6 , 8 As shown, the tetrahedral pipe robot is the tetrahedral pipe robot in Embodiment 1 above. The control method for the tetrahedral pipe robot includes the following steps:

[0047] Step 1: Receiving Instructions: The control system receives control instructions;

[0048] Step 2: Execute instructions: According to the control instructions in Step 1, the control system controls the movement of the cutting surface rotating shaft device and the traveling mechanism;

[0049] Step 3: The position detection unit determines the bottom surface information directly below, and based on the bottom surface information, the control system drives the corresponding tangential rotating shaft device;

[0050] Step 4: When the pipeline robot needs to move forward, the control system drives the front foot walking mechanism 27 to turn 0 degrees and roll forward, drives the left foot walking mechanism 26 to turn 60 degrees to the left and roll backward, and drives the right foot walking mechanism 28 to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to move forward.

[0051] Step 5: When the pipeline robot needs to move backward, the control system drives the front foot walking mechanism 27 to turn 0 degrees and roll backward, drives the left foot walking mechanism 26 to turn 60 degrees to the left and roll forward, and drives the right foot walking mechanism 28 to turn 60 degrees to the right and roll forward, thereby obtaining the power for the pipeline robot to move backward.

[0052] Step Six: When the pipeline robot needs to turn left, the control system drives all the walking mechanisms to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to turn left.

[0053] Step 7: When the pipeline robot needs to turn right, the control system drives all walking mechanisms to turn 60 degrees to the left and roll backward, thereby obtaining the power for the pipeline robot to turn right.

[0054] Step 8: Standby: After completing the control command, the pipeline robot goes into standby mode, waiting for the next control command.

[0055] As a further improvement to the above technical solution, in step two, the position detection unit detects the posture information of the robot body in real time and determines which of the four exterior faces of the tetrahedral frame structure 1 is directly below as the bottom face. Based on the bottom face information, the control system controls the tangential rotating shaft devices at the three vertices of the bottom face that is directly below to rotate. The rotation of the corresponding tangential rotating shaft devices drives the connected walking mechanism to rotate to the bottom face that is directly below as the walking base.

[0056] 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 tetrahedral pipe robot, the pipe robot comprising a tetrahedral frame structure, a tangential rotating shaft device, a walking mechanism, and a control system, characterized in that, The frame structure is equipped with a control system. Each of the four vertices of the tetrahedral frame structure is equipped with a tangential rotating shaft device. The tangential rotating shaft device is equipped with a walking mechanism. The tangential rotating shaft device can drive the walking mechanism to rotate to the bottom surface directly below. The tangential rotating shaft device and the walking mechanism are communicatively connected to the control system. The slicing shaft device includes a slicing rotation drive device, a slicing transverse bearing, and a slicing vertical bearing. The slicing rotation drive device is disposed on the slicing surface at the top corner of the frame structure. The inner end of the slicing rotation drive device is connected to the tetrahedral frame structure and is perpendicular to the slicing surface and points to the center of the tetrahedral frame structure. The outer end of the slicing rotation drive device is connected to the slicing transverse bearing. The two ends of the slicing transverse bearing are connected to the slicing vertical bearing. The traveling mechanism is rotatably connected to the slicing vertical bearing. The walking mechanism includes a sliding mechanism, a telescopic rod, and a spherical wheel. The two ends of the telescopic rod are connected to the sliding mechanism, which is connected to the vertical bearing of the cross-section. The middle part of the telescopic rod is rotatably connected to the spherical wheel. The telescopic rod slides on the sliding mechanism to change the direction of travel of the spherical wheel.

2. The tetrahedral pipe robot according to claim 1, characterized in that, The sliding mechanism includes a main body, a drive sprocket, a chain, a driven sprocket, and a transition sprocket. The main body is connected to the vertical bearing with a cross-section. The drive sprocket is located at one end of the chain to drive the chain to rotate. The other end of the chain is engaged with the transition sprocket. The middle of the chain is fixedly connected to the driven sprocket and the telescopic rod. By driving the driven sprocket to move along the rotation direction of the chain, the telescopic rod is driven to slide on the sliding mechanism.

3. The tetrahedral pipe robot according to claim 1, characterized in that, The control system includes a control unit, a position detection unit, and a coaxial cable. The control unit is electrically connected to the position detection unit, the slicing shaft device, and the walking mechanism via the coaxial cable.

4. A tetrahedral pipe robot according to claim 3, characterized in that, The position detection unit can be configured as a gyroscope.

5. A tetrahedral pipe robot according to claim 2, characterized in that, The spherical wheel is configured as an electric hub, and the spherical wheel is spherical in shape.

6. A tetrahedral pipe robot according to claim 4, characterized in that, The gyroscope detects the robot's posture information in real time and determines the bottom surface information of the tetrahedral frame structure. Based on the bottom surface information, the control system controls the tangential rotating shaft devices at the three vertices of the bottom surface to rotate. The rotation of the tangential rotating shaft devices drives the connected walking mechanism to rotate below the bottom surface.

7. A control method for a regular tetrahedral pipe robot, characterized in that, The tetrahedral pipe robot is the tetrahedral pipe robot according to any one of claims 1-6, and the control method of the tetrahedral pipe robot includes the following steps: Step 1: Receiving Instructions: The control system receives control instructions; Step 2: Execute instructions: According to the control instructions in Step 1, the control system controls the movement of the cutting surface rotating shaft device and the traveling mechanism; Step 3: The position detection unit determines the bottom surface information directly below, and based on the bottom surface information, the control system drives the corresponding tangential rotating shaft device; Step 4: When the pipeline robot needs to move forward, the control system drives the walking mechanism of the front foot to turn 0 degrees and roll forward, drives the walking mechanism of the left foot to turn 60 degrees to the left and roll backward, and drives the walking mechanism of the right foot to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to move forward. Step 5: When the pipeline robot needs to move backward, the control system drives the walking mechanism of the front foot to turn 0 degrees and roll backward, drives the walking mechanism of the left foot to turn 60 degrees to the left and roll forward, and drives the walking mechanism of the right foot to turn 60 degrees to the right and roll forward, thus obtaining the power for the pipeline robot to move backward. Step Six: When the pipeline robot needs to turn left, the control system drives all the walking mechanisms to turn 60 degrees to the right and roll backward, thereby obtaining the power for the pipeline robot to turn left. Step 7: When the pipeline robot needs to turn right, the control system drives all walking mechanisms to turn 60 degrees to the left and roll backward, thereby obtaining the power for the pipeline robot to turn right. Step 8: Standby: After completing the control command, the pipeline robot goes into standby mode, waiting for the next control command.

8. The control method for a tetrahedral pipe robot according to claim 7, characterized in that, In step two, the position detection unit detects the robot body's posture information in real time and determines the bottom surface information directly below. Based on the bottom surface information, the control system controls the tangential rotating shaft devices at the three apex corners of the bottom surface to rotate. The rotation of the tangential rotating shaft devices drives the connected walking mechanism to rotate to the bottom of the bottom surface directly below.

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