An adaptive and deformable pipeline robot

Abstract

The present invention discloses an adaptive and deformable pipeline robot, comprising: a main vehicle; an auxiliary vehicle rotatably connected to the main vehicle; an elastic component provided on the main vehicle and used to provide elastic force to make the auxiliary vehicle perpendicular to the main vehicle; an inertial measurement unit provided on the main vehicle; a power supply provided on the main vehicle or the auxiliary vehicle; a controller provided on the main vehicle or the auxiliary vehicle and used to control the movement of the main vehicle and the auxiliary vehicle; the inertial measurement unit and the power supply are both electrically connected to the controller. When the robot is placed in a pipeline, the angle between the main vehicle and the auxiliary vehicle is acute or obtuse. Under the action of the elastic force provided by the elastic component, the main vehicle and the auxiliary vehicle are tightly attached to the inner wall of the pipeline, increasing the pressure of the main vehicle and the auxiliary vehicle on the inner wall of the pipeline. The robot also exerts pressure on opposite sides of the inner wall of the pipeline, which not only increases the friction between the wheels and the inner wall of the pipeline, making the wheels less likely to slip, but also allows the robot to move in a vertical pipeline, making it suitable for pipelines of different shapes.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an adaptive and deformable pipeline robot. Background Art

[0002] Cities are home to a complex web of pipelines. However, due to long-term use, pipeline defects, such as cracks, gaps, and aging, are inevitable. Therefore, effectively inspecting and detecting defects in pipelines of varying shapes has become an urgent challenge in urban construction and maintenance.

[0003] In existing technology, a remote-controlled four-wheeled pipeline inspection vehicle moves within horizontal pipelines with minimal deformation, collects data, and then transmits the collected video information to an external monitor via a network cable, allowing pipeline inspectors to perform defect diagnosis. However, this vehicle is difficult to adapt to inspecting pipelines of varying shapes. If there are vertical sections in the pipeline, the vehicle cannot move, making inspection impossible.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an adaptive and deformable pipeline robot in response to the above-mentioned defects of the prior art, aiming to solve the problem in the prior art that the inspection vehicle is difficult to adapt to the inspection of pipelines of different shapes.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] An adaptive and deformable pipeline robot, comprising:

[0008] Main vehicle;

[0009] An auxiliary vehicle is rotatably connected to the main vehicle and rotates to above the main vehicle;

[0010] an elastic component, provided on the main vehicle and used for providing elastic force to make the auxiliary vehicle perpendicular to the main vehicle;

[0011] an inertial measurement unit, provided on the main vehicle;

[0012] A power supply, provided on the main vehicle or the auxiliary vehicle;

[0013] a controller, provided on the main vehicle or the auxiliary vehicle, and used to control the movement of the main vehicle and the auxiliary vehicle;

[0014] Wherein, the inertial measurement unit and the power supply are both electrically connected to the controller.

[0015] The adaptive and deformable pipeline robot, wherein the main vehicle includes:

[0016] Main vehicle body;

[0017] The left rear wheel and the right rear wheel are arranged at one end of the main vehicle body away from the auxiliary vehicle;

[0018] A left rear drive and a right rear drive are provided on the main vehicle body;

[0019] The left middle wheel and the right middle wheel are arranged at one end of the main vehicle body close to the auxiliary vehicle;

[0020] A left center drive and a right center drive are provided on the main vehicle body;

[0021] Wherein, the left rear drive is connected to the left rear wheel, the right middle drive is connected to the right middle wheel, the left middle drive is connected to the left middle wheel, and the right rear drive is connected to the right rear wheel;

[0022] The auxiliary vehicle comprises:

[0023] an auxiliary vehicle body, rotatably connected to the main vehicle body;

[0024] The left front wheel and the right front wheel are arranged at one end of the auxiliary vehicle body away from the main vehicle;

[0025] A left front drive and a right front drive are provided on the auxiliary vehicle;

[0026] Wherein, the left front driver is connected to the left front wheel, and the right front driver is connected to the right front wheel.

[0027] The adaptive and deformable pipeline robot, wherein the main vehicle is further provided with a lighting device and a camera device;

[0028] The auxiliary vehicle is provided with an axis hole, the main vehicle is provided with a rotating shaft, and the rotating shaft is rotatably arranged in the axis hole; the elastic component includes:

[0029] a torsion spring, sleeved outside the rotating shaft, with two ends respectively connected to the main vehicle and the auxiliary vehicle;

[0030] a shrapnel, provided on the main vehicle;

[0031] When the auxiliary vehicle rotates toward the main vehicle and contacts the elastic sheet, the elastic sheet is used to prevent the auxiliary vehicle from continuing to rotate toward the main vehicle.

[0032] A control method for an adaptively deformable pipeline robot as described in any one of the above, comprising the following steps:

[0033] Determining the type of the angle between the main vehicle and the auxiliary vehicle; wherein the type of the angle between the main vehicle and the auxiliary vehicle includes an acute angle and an obtuse angle;

[0034] Obtain the main vehicle's position information through the inertial measurement unit;

[0035] Determining the type of the pipeline in which the robot is located based on the posture information; wherein the type of the pipeline includes at least one of a curved pipe and a straight pipe;

[0036] Determining a dynamic equation of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle;

[0037] According to the dynamic equation, the main vehicle and the auxiliary vehicle are controlled to move.

[0038] The control method of the adaptively deformable pipeline robot, wherein the main vehicle includes:

[0039] Main vehicle body;

[0040] The left rear wheel and the right rear wheel are arranged at one end of the main vehicle body away from the auxiliary vehicle;

[0041] A left rear drive and a right rear drive are provided on the main vehicle body;

[0042] The left middle wheel and the right middle wheel are arranged at one end of the main vehicle body close to the auxiliary vehicle;

[0043] A left center drive and a right center drive are provided on the main vehicle body;

[0044] Wherein, the left rear drive is connected to the left rear wheel, the right middle drive is connected to the right middle wheel, the left middle drive is connected to the left middle wheel, and the right rear drive is connected to the right rear wheel;

[0045] The auxiliary vehicle comprises:

[0046] an auxiliary vehicle body, rotatably connected to the main vehicle body;

[0047] The left front wheel and the right front wheel are arranged at one end of the auxiliary vehicle body away from the main vehicle;

[0048] A left front drive and a right front drive are provided on the auxiliary vehicle;

[0049] Wherein, the left front drive is connected to the left front wheel, and the right front drive is connected to the right front wheel;

[0050] The distance between the left front wheel and the right front wheel, the distance between the left middle wheel and the right middle wheel, and the distance between the left rear wheel and the right rear wheel are all the same; the width of the main vehicle body and the width of the auxiliary vehicle body are the same;

[0051] When the pipe is a straight pipe, the dynamic equation is:

[0052]

[0053]

[0054] Where v represents the speed of the robot along the axis of the pipeline, v s represents the sliding speed, φ represents the angle, k+ represents the scale factor, v R represents the speed of the right wheel, v L represents the speed of the left wheel, W represents the width of the main vehicle body, d represents the width of the wheel, D represents the diameter of the pipe, arcsin represents the inverse sine function, and arctan represents the inverse tangent function;

[0055] When the angle between the main vehicle and the auxiliary vehicle is an acute angle,

[0056] v L =v lm =v lb =-v lu

[0057] v R =v rm =v rb =-v ru ;

[0058] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle,

[0059] v L =v lm =-v lb =v lu

[0060] v R =v rm =-v rb =v ru ;

[0061] v lm Indicates the speed of the left middle wheel, v lb represents the speed of the left rear wheel, v lu represents the speed of the left front wheel, v rm Indicates the speed of the right middle wheel, v rb represents the speed of the right rear wheel, v ru Indicates the speed of the right front wheel;

[0062] When the pipe is a curved pipe, the dynamic equation is:

[0063] v lu =v ru =ωRi，min

[0064] v lm =v rm =ωR i，max

[0065] v lb =v rb =ωR i，max

[0066]

[0067] Where ω represents the angular velocity of the robot moving around the center of the bend, R i，min Indicates the minimum radius between the pipe wall and the center of the bend, R i，max Indicates the maximum radius between the pipe wall and the center of the bend, cos represents the cosine function, D i Indicates the height of the robot in the pipe.

[0068] The control method of the adaptive deformable pipeline robot further comprises the steps of:

[0069] Determining geometric constraints of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle;

[0070] Determining an angle between the main vehicle and the auxiliary vehicle according to the geometric constraint and the posture information;

[0071] It is determined whether there is an obstacle or depression in the pipeline according to the angle between the main vehicle and the auxiliary vehicle.

[0072] In the control method of the adaptively deformable pipeline robot, when the pipeline is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is:

[0073] θ=α+β

[0074] D i =2r-h cosα+l1sinα+l3sinβ+h cosβ

[0075]

[0076] When the pipe is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is:

[0077] π-θ=α+β

[0078] D i =2r+l3sinβ

[0079] D i =2r+h cosβ-l2sinβ+l1sinα+h cosα

[0080]

[0081] Among them, θ represents the angle between the main vehicle and the auxiliary vehicle, α represents the angle between the auxiliary vehicle and the pipeline axis, β represents the angle between the main vehicle and the pipeline axis, r represents the radius of the wheel, l1 represents the distance between the connection point and the center of the front wheel in the length direction of the auxiliary vehicle, and the connection point is the rotation connection point between the main vehicle and the auxiliary vehicle, l2 represents the distance between the connection point and the center of the middle wheel in the length direction of the main vehicle, l3 represents the distance between the connection point and the center of the rear wheel in the length direction of the main vehicle, h represents the distance between the vehicle body and the wheel center in the height direction of the vehicle body, and sin represents the sine function.

[0082] The control method of the adaptively deformable pipeline robot, wherein the determining the angle between the main vehicle and the auxiliary vehicle based on the geometric constraint condition and the posture information, includes:

[0083] When the type of the pipe is a curved pipe, determining the position information of the connection point according to the geometric constraint condition and the posture information;

[0084] Determining an angle between the main vehicle and the auxiliary vehicle based on the position information;

[0085] Among them, when the angle between the main vehicle and the auxiliary vehicle is an acute angle, the geometric constraint condition is:

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the geometric constraint condition is:

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100]

[0101] d OOu Indicates the center of the curved tube O and the center of the front wheel O u The distance, d OOm Indicates the center of the bend O and the center of the middle wheel O m The distance, d OOb Indicates the center of the curved tube O and the center of the rear wheel O b The distance, d POu Indicates the connection point P and the front wheel center O u The distance, d POm Indicates the connection point P and the center of the middle wheel O m The distance, d POb Indicates the connection point P and the rear wheel center O b The distance, d OmOb Indicates the center of the middle wheel O m With the rear wheel center O b distance;

[0102] The location information is:

[0103]

[0104] P x Indicates the x-coordinate of the connection, P y Indicates the y coordinate of the connection, P z Indicates the z coordinate of the connection, d OP represents the distance between the center O of the bend and the connection P, ε represents the angle formed by the center of the middle wheel, the center of the bend, and the center of the rear wheel, γ represents the angle formed by the center of the rear wheel, the center of the bend, and the vertical direction, and δ represents the angle formed by the connection, the center of the bend, and the center of the middle wheel;

[0105] When the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is:

[0106]

[0107] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is:

[0108]

[0109] Where θ1 represents the angle formed by the center of the bend, the connection, and the center of the front wheel; θ2 represents the angle formed by the center of the bend, the connection, and the center of the rear wheel;

[0110]

[0111]

[0112] o y =ε+∈+γ

[0113]

[0114]

[0115]

[0116]

[0117] o y represents the angle between the main vehicle and the vertical direction and is determined according to the posture information, ∈ represents the angle formed by the center of the bend, the center of the middle wheel, and the center of the rear wheel, and π represents pi.

[0118] A computer device comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0119] A computer-readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0120] Beneficial effects: When the robot is placed in the pipeline, the angle between the main vehicle and the auxiliary vehicle is an acute angle or an obtuse angle. Under the action of the elastic force provided by the elastic component, the main vehicle and the auxiliary vehicle are tightly attached to the inner wall of the pipeline, increasing the pressure of the main vehicle and the auxiliary vehicle on the inner wall of the pipeline, and the robot has pressure on both sides of the inner wall of the pipeline. It is not only beneficial to increase the friction between the wheels and the inner wall of the pipeline, making the wheels less likely to slip, but also the robot can still move in the vertical pipeline, and can be suitable for pipelines of different shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0121] Figure 1 2 is a schematic structural diagram of the robot in the unfolded state according to an embodiment of the present invention.

[0122] Figure 2 Schematic diagram of the structure of the robot in the embodiment of the present invention.

[0123] Figure 32 is a schematic structural diagram of the robot in a folded state according to an embodiment of the present invention.

[0124] Figure 4 3 is a rear view of the robot in a folded state according to an embodiment of the present invention.

[0125] Figure 5 1 and 2 are cross-sectional views of the first and second pipes (c) of the robot in a folded state (a) and an unfolded state (b) according to an embodiment of the present invention.

[0126] Figure 6 1 is a straight tube cross-sectional view of the robot in the folded state (a) and the unfolded state (b) according to an embodiment of the present invention.

[0127] Figure 7 1 is a cross-sectional view of the first bend of the robot in the folded state (a) and the unfolded state (b) according to an embodiment of the present invention.

[0128] Figure 8 1. The rear view (a) and trajectory diagram (b) of the robot in the pipeline according to an embodiment of the present invention.

[0129] Figure 9 2 is a cross-sectional view of the second bend of the robot in the folded state (a) and the unfolded state (b) according to an embodiment of the present invention.

[0130] Description of reference numerals:

[0131] 10. Main vehicle; 11. Main vehicle body; 12. Left rear wheel; 13. Right rear wheel; 14. Left middle wheel; 15. Right middle wheel; 16. Left rear drive; 17. Right rear drive; 18. Left middle drive; 19. Right middle drive; 1a. Axis hole; 20. Auxiliary vehicle; 21. Auxiliary vehicle body; 22. Left front wheel; 23. Right front wheel; 24. Left front drive; 25. Right front drive; 2a. Rotating shaft; 30. Elastic component; 31. Torsion spring; 32. Shrapnel; 40. Camera device; 50. Controller. DETAILED DESCRIPTION

[0132] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0133] Please also see Figure 1-Figure 3 , the present invention provides some embodiments of an adaptive deformable pipeline robot.

[0134] like Figure 1-Figure 3 As shown, the adaptive and deformable pipeline robot of the present invention includes:

[0135] Main vehicle 10;

[0136] An auxiliary vehicle 20 is rotatably connected to the main vehicle 10 and rotates to the top of the main vehicle 10;

[0137] an elastic component 30 , provided on the main vehicle 10 and configured to provide elastic force to keep the auxiliary vehicle 20 perpendicular to the main vehicle 10 ;

[0138] An inertial measurement unit, provided on the main vehicle 10;

[0139] A power supply, provided in the main vehicle 10 or the auxiliary vehicle 20;

[0140] a controller 50 , provided on the main vehicle 10 or the auxiliary vehicle 20 , and configured to control the movement of the main vehicle 10 or the auxiliary vehicle 20 ;

[0141] The inertial measurement unit and the power supply are both electrically connected to the controller 50 .

[0142] Specifically, the main vehicle 10 and the auxiliary vehicle 20 are connected by a pivoting mechanism, allowing the robot to unfold into a straight line or fold into a V-shape. The elastic assembly 30 provides elastic force to the main vehicle 10 and the auxiliary vehicle 20. If the angle between them is acute, the elastic assembly 30 exerts a repulsive force, causing them to unfold. If the angle is obtuse, the elastic assembly 30 exerts a contractive force, causing them to fold. In general, the elastic force provided by the elastic assembly 30 forces the main vehicle 10 and the auxiliary vehicle 20 toward a vertical position. An inertial measurement unit (IMU) is used to collect positional information about the main vehicle 10. Alternatively, an IMU can be installed on the auxiliary vehicle 20 to collect this information. A power supply provides electrical energy, specifically to the controller 50, the IMU, and other electronic devices, eliminating the need for cables connecting the robot. The controller 50 controls the movement of the main vehicle 10 and the auxiliary vehicle 20.

[0143] When the robot is placed in the pipeline, the angle between the main vehicle 10 and the auxiliary vehicle 20 is an acute angle or an obtuse angle. Under the action of the elastic force provided by the elastic component 30, the main vehicle 10 and the auxiliary vehicle 20 are tightly attached to the inner wall of the pipeline, increasing the pressure of the main vehicle 10 and the auxiliary vehicle 20 on the inner wall of the pipeline, and the robot exerts pressure on both opposite sides of the inner wall of the pipeline, which not only helps to increase the friction between the wheels and the inner wall of the pipeline, making the wheels less likely to slip, but also the robot can still move in the vertical pipeline, and can be applied to pipelines of different shapes.

[0144] Both the main vehicle 10 and the auxiliary vehicle 20 are equipped with wheels that travel along the inner wall of the pipe. If the inner wall of the pipe is free of defects, the diameter of the inner wall is fixed. When the robot travels within the pipe, the angle between the main vehicle 10 and the auxiliary vehicle 20 is fixed and does not change. If the inner wall of the pipe is defective, the angle between the main vehicle 10 and the auxiliary vehicle 20 is not fixed but may change. Defects such as obstacles, dirt, and depressions may exist within the pipe. If the angle between the main vehicle 10 and the auxiliary vehicle 20 is acute, the angle decreases when passing over an obstacle or dirt, and increases when passing over a depression. If the angle between the main vehicle 10 and the auxiliary vehicle 20 is obtuse, the angle increases when passing over an obstacle or dirt, and decreases when passing over a depression. Therefore, the angle between the main vehicle 10 and the auxiliary vehicle 20 can be used to assist in determining whether there are defects in the pipeline.

[0145] In a preferred implementation of the embodiment of the present invention, Figure 2 As shown, the main vehicle 10 is also provided with a lighting device and a camera device 40 .

[0146] Specifically, in addition to determining whether there are defects within the pipeline based on the angle between the main vehicle 10 and the auxiliary vehicle 20, a camera device 40 can also be provided to capture images and identify the captured images to determine whether there are defects within the pipeline. To obtain a better image, a lighting device is also provided to illuminate the inner wall of the pipeline.

[0147] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the main vehicle 10 includes:

[0148] Main vehicle 10 bodies;

[0149] The left rear wheel 12 and the right rear wheel 13 are arranged at one end of the main vehicle 10 away from the auxiliary vehicle 20;

[0150] The left rear driver 16 and the right rear driver 17 are provided on the main vehicle 10;

[0151] The left middle wheel 14 and the right middle wheel 15 are provided at one end of the main vehicle 10 close to the auxiliary vehicle 20;

[0152] A left center driver 18 and a right center driver 19 are provided on the main vehicle 10;

[0153] The left rear driver 16 is connected to the left rear wheel 12, the right middle driver 19 is connected to the right middle wheel 15, the left middle driver 18 is connected to the left middle wheel 14, and the right rear driver 17 is connected to the right rear wheel 13.

[0154] The auxiliary vehicle 20 includes:

[0155] The auxiliary vehicle 20 is rotatably connected to the main vehicle 10;

[0156] The left front wheel 22 and the right front wheel 23 are arranged at one end of the auxiliary vehicle 20 away from the main vehicle 10;

[0157] A left front driver 24 and a right front driver 25 are provided on the auxiliary vehicle 20;

[0158] The left front driver 24 is connected to the left front wheel 22 , and the right front driver 25 is connected to the right front wheel 23 .

[0159] Specifically, the main vehicle 10 has four wheels, and the auxiliary vehicle 20 has two wheels, for a total of six wheels, designated as the left front wheel 22, the left middle wheel 14, the left rear wheel 12, the right front wheel 23, the right middle wheel 15, and the right rear wheel 13. These six wheels can be further divided into two front wheels, two middle wheels, and two rear wheels based on their front-to-back position, or three left wheels and three right wheels based on their left-to-right position. Each wheel has a corresponding driver, designated as the left front driver 24, the left middle driver 18, the left rear driver 16, the right front wheel 23 driver, the right middle driver 19, and the right rear driver 17. By controlling each driver to drive the corresponding wheel, the robot moves. Of course, the auxiliary vehicle 20 can be provided with three or four wheels.

[0160] The spacing between the left front wheel 22 and the right front wheel 23, the spacing between the left middle wheel 14 and the right middle wheel 15, and the spacing between the left rear wheel 12 and the right rear wheel 13 are all the same; the width of the main vehicle 10 is the same as the width of the auxiliary vehicle 20. The spacing between the left and right wheels is the same, and the width of the main vehicle 10 is the same as the width of the auxiliary vehicle 20. When the same spacing and width are used, it is easier to build the model and calculate the data.

[0161] In a preferred implementation of the embodiment of the present invention, the main vehicle 10 or the auxiliary vehicle 20 is further provided with a Bluetooth device.

[0162] Specifically, the robot carries a Bluetooth device for receiving speed control commands externally. This Bluetooth device is connected to the OpenCR. When the OpenCR receives no other commands, the robot's default speed is 0.1 m / s. The actuators are controlled using TTL communication, with circuitry in the OpenCR converting the UART signals to half-duplex. Therefore, the actuators can be controlled by a program running in the controller 50.

[0163] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the auxiliary vehicle 20 is provided with an axis hole 1a, and the main vehicle 10 is provided with a rotating shaft 2a, and the rotating shaft 2a is rotatably provided in the axis hole 1a; the elastic component 30 includes:

[0164] A torsion spring 31 is sleeved outside the rotating shaft 2a, with its two ends respectively connected to the main vehicle 10 and the auxiliary vehicle 20;

[0165] The spring piece 32 is provided on the main vehicle 10;

[0166] When the auxiliary vehicle 20 rotates toward the main vehicle 10 and contacts the elastic piece 32 , the elastic piece 32 is used to prevent the auxiliary vehicle 20 from continuing to rotate toward the main vehicle 10 .

[0167] Specifically, the main vehicle 10 and the auxiliary vehicle 20 are rotatably connected using a rotating shaft 2a. The rotating shaft 2a is specifically provided on the main vehicle 10, and an axial hole 1a is provided on the auxiliary vehicle 20. The rotating shaft 2a can rotate within the axial hole 1a. Of course, the rotating shaft 2a can also be provided on the auxiliary vehicle 20, and the axial hole 1a can also be provided on the main vehicle 10. A torsion spring 31 provides elastic force for the main vehicle 10 and the auxiliary vehicle 20. Whether the main vehicle 10 and the auxiliary vehicle 20 are unfolded or folded, the torsion spring 31 deforms and provides elastic force, causing the main vehicle 10 to tend toward being perpendicular to the auxiliary vehicle 20. To prevent the main vehicle 10 and the auxiliary vehicle 20 from being too close together and damaged when folded, a spring clip 32 is provided on the main vehicle 10. When the auxiliary vehicle 20 rotates to the position of the spring clip 32, it is difficult to continue rotating toward the main vehicle 10, preventing the two from being too close and damaged.

[0168] Based on the adaptively deformable in-line robot described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the adaptively deformable in-line robot:

[0169] The control method of the adaptively deformable pipeline robot according to an embodiment of the present invention comprises the following steps:

[0170] Step S100: Determine the type of the angle between the main vehicle and the auxiliary vehicle; wherein the type of the angle between the main vehicle and the auxiliary vehicle includes an acute angle and an obtuse angle.

[0171] Step S200: Obtain the position information of the host vehicle through the inertial measurement unit.

[0172] Step S300: Determine the type of the pipeline in which the robot is located based on the posture information; wherein the type of the pipeline includes at least one of a curved pipe and a straight pipe.

[0173] Step S400: Determine the dynamic equation of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle.

[0174] Step S500: Control the movement of the main vehicle and the auxiliary vehicle according to the dynamic equation.

[0175] Specifically, when placing the robot into the pipeline, the main vehicle and the auxiliary vehicle can be unfolded and placed into the pipeline, or the main vehicle and the auxiliary vehicle can be folded and placed into the pipeline as needed. The type of the angle between the main vehicle and the auxiliary vehicle can be determined. If the main vehicle and the auxiliary vehicle are unfolded and placed into the pipeline, the type of the angle between the main vehicle and the auxiliary vehicle is an obtuse angle; if the main vehicle and the auxiliary vehicle are folded and placed into the pipeline, the type of the angle between the main vehicle and the auxiliary vehicle is an acute angle.

[0176] The robot obtains the main vehicle's position information through the inertial measurement unit, and the type of pipe can be determined based on this information. When the robot is navigating a straight pipe, the main vehicle's position information does not change significantly (even if the pipe is placed vertically, horizontally, or tilted). When the robot is navigating a curved pipe, the main vehicle's position information changes significantly. Therefore, this position information can be used to determine whether the pipe the robot is in is straight or curved.

[0177] The robot's dynamic equations differ depending on whether it's navigating a straight or curved pipe, and also slightly depending on whether the main and auxiliary vehicles are at an acute or obtuse angle. The robot's dynamic equations are determined based on the pipe type and the angle between them. The robot then controls the movement of the main and auxiliary vehicles based on these equations, ensuring smooth movement within the pipe.

[0178] The specific geometric parameters of the robot are summarized as follows: Figure 4-Figure 6 As shown, the width of the main vehicle body and the auxiliary vehicle body are the same, denoted by W; the width of all wheels is the same, denoted by d; the radius of all wheels is the same, denoted by r; the main vehicle and the auxiliary vehicle rotate at the connection, which is the central axis of the shaft. The distance between the connection and the center of the front wheel in the length direction of the auxiliary vehicle is denoted by l1; the distance between the connection and the center of the middle wheel in the length direction of the main vehicle is denoted by l2; the distance between the connection and the center of the rear wheel in the length direction of the main vehicle is denoted by l3; the distance between the center of each wheel and the corresponding vehicle body in the height direction is the same, denoted by h; the angle between the main vehicle and the auxiliary vehicle is denoted by θ.

[0179] like Figure 5 and Figure 6 As shown in the figure, when the robot is traveling in the pipe, the height of the robot in the pipe is recorded as D i The diameter of the pipeline is denoted as D; the angle between the auxiliary vehicle and the pipeline axis is denoted as α; the angle between the main vehicle and the pipeline axis is denoted as β. In particular, if Figure 7 and Figure 9 As shown, when the robot travels in a curved pipe, the curved pipe can be a circular curved pipe with a circular cross-section. The center of the curved pipe is denoted as O. A coordinate system is established based on the position of the center of the curved pipe O, with the vertical downward direction as the x-axis, the direction perpendicular to the wheel in the horizontal plane as the y-axis, and the direction perpendicular to the y-axis in the horizontal plane as the z-axis. The inner radius of the circular curved pipe, that is, the minimum radius between the wall of the curved pipe and the center of the curved pipe, is denoted as R. i，min The outer ring radius of the circular bend, that is, the maximum radius between the bend wall and the bend center, is denoted as R i，max ; Front wheel center, denoted as O u ; The center of the middle wheel is denoted as O m ; The center of the rear wheel, denoted as O b ; The connection point is recorded as P; The x coordinate of the connection point P is recorded as P x ; The y coordinate of the connection point P is recorded as P y ; The z coordinate of the connection point P is denoted as P z ; The center of the curved tube O and the center of the front wheel O u The distance is denoted as d OOu ; The center of the bend O and the center of the middle wheel O m The distance, denoted as d OOm ; The center of the bend O and the center of the rear wheel O b The distance is denoted as d OOb ; Connection P and center of middle wheel O m The distance, denoted as d POm ; Connection P and rear wheel center O b The distance, denoted as d POb ; Middle wheel center O m With the rear wheel center O b The distance is recorded as d OmOb ;∠O m OO b , that is, the center of the middle wheel O m , bend center O, rear wheel center O b The angle formed is recorded as ε; ∠O b Ox, the rear wheel center O b , the angle formed by the center of the bend O and the vertical x-axis is denoted as γ; ∠POO m , namely the connection point P, the center of the bend O, the center of the middle wheel O m The angle formed is recorded as δ; ∠OPO u , namely the center of the bend O, the connection P, the center of the front wheel Ou The angle formed is recorded as θ1; ∠OPO b , namely the center of the bend O, the connection P, and the center of the rear wheel O b The angle formed is recorded as θ1; ∠OO m O b , the center of the bend pipe O, the center of the middle wheel O m , rear wheel center O b The angle formed is recorded as ∈; the angle between the main vehicle and the vertical x-axis is recorded as o y .

[0180] like Figure 4 and Figure 5 As shown in the figure, regardless of whether the robot is driving in a straight pipe or a curved pipe, and regardless of whether the angle between the main vehicle and the auxiliary vehicle is acute or obtuse, according to the Pythagorean theorem, the following geometric constraints must be met:

[0181]

[0182] like Figure 6 As shown in the figure, if the pipe type is straight and the angle between the main vehicle and the auxiliary vehicle is acute, the following geometric constraints are met:

[0183] θ=α+β

[0184] D i =2r-h cosα+l1sinα+l3sinβ+h cosβ.

[0185] It should be noted that when the middle wheel contacts the inner wall of the pipe, β = 0 and α = θ.

[0186] If the pipe type is straight and the angle between the main vehicle and the auxiliary vehicle is obtuse, the following geometric constraints are met:

[0187] π-θ=α+β

[0188] D i =2r+l3sinβ

[0189] D i =2r+h cosβ-l2sinβ+l1sinα+h cosα.

[0190] like Figure 5 and Figure 7 As shown in the figure, if the robot drives in a curved pipe, regardless of whether the angle between the main vehicle and the auxiliary vehicle is acute or obtuse, the curved pipe needs to meet the following geometric constraints:

[0191]

[0192] If the pipe type is a curved pipe and the angle between the main vehicle and the auxiliary vehicle is an acute angle, the following geometric constraints are met:

[0193]

[0194]

[0195]

[0196]

[0197]

[0198]

[0199]

[0200] If the pipe type is a bend and the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the following geometric constraints are met:

[0201]

[0202]

[0203]

[0204]

[0205]

[0206]

[0207]

[0208] In the robot, there is no actuator to control the angle θ between the main vehicle and the auxiliary vehicle. When the robot moves in the pipeline, the angle θ can be passively adjusted by a torsion spring installed at the connection or a spring on the main vehicle.

[0209] Appropriate elastic components can generate the appropriate force or torque to ensure full contact between the robot's six wheels and the inner wall of the pipe, providing sufficient friction. The robot's six wheels are capable of navigating both curved and straight pipes. The robot is a slider-driven robot controlled by the speed of its six wheels. The relationship between the robot's position and the speed of its six wheels during its movement in the pipe was then analyzed.

[0210] It is worth noting that Figure 8As shown in Figure 2, when moving in a pipe, there is only one contact point between each wheel and the inner wall of the pipe because the inner wall of the pipe is a curved surface. Therefore, when these wheels move in the pipe, they may slide in the lateral direction. The sliding speed v s The tangent direction of the contact point along the circumference of the pipe segment. We define the angle φ = arctan (v s / v), when the robot moves, φ cannot be too large.

[0211] The parameters and trajectory of the robot when moving in a straight pipe. The rectangular coordinate system is defined as follows: the z-axis is the direction of the pipe, and the x-axis and y-axis are orthogonal to each other in the pipe cross section. ⊙ refers to the direction perpendicular to the paper and outward. z Represents the direction angle around the z-axis. Then around the z-axis o z The position P0 and orientation can be expressed as:

[0212]

[0213]

[0214] in, represents the x-axis coordinate of the position P0 at time t+1, represents the y-axis coordinate of the position P0 at time t+1, Represents the z-axis coordinate of the position P0 at time t+1, represents the x-axis coordinate of the position P0 at time t, represents the y-axis coordinate of the position P0 at time t, represents the z-axis coordinate of the position P0 at time t, d COM represents the distance between the position and the pipeline axis, Δt represents the time change, and v represents the speed of the robot along the pipeline axis. represents the direction angle around the z axis at time t+1, Represents the direction angle around the z-axis at time t.

[0215] When the left and right wheel speeds are different, φ≠0. Unlike the sliding-drive robot on the ground, the lateral sliding of the robot in this application is achieved by the reaction of the inner wall of the pipe to the robot due to the speed difference on both sides of the robot. For example, if the speed of the right wheel is greater than that of the left wheel, the lateral direction is right. If the speed of the right wheel is less than that of the left wheel, the lateral direction is left. Specifically, if v l <v<v r , the right wheel slides backward and the left wheel slides forward, and the robot tends to turn right, so the sliding speed v s To the right.

[0216] The dynamic equations describing v, φ, and speed of the six-wheel drive are similar to those of the slip drive. When β = 0 and the pipe type is a straight pipe, the dynamic equation is:

[0217]

[0218]

[0219] Where v represents the speed of the robot along the axis of the pipeline, v s represents the sliding speed, φ represents the angle, φ < 10°, k+ represents the proportional factor, specifically the proportional factor measured in the actual experiment, v R represents the speed of the right wheel, v L represents the speed of the left wheel, W represents the width of the main vehicle body, d represents the width of the wheel, D represents the diameter of the pipe, arcsin represents the inverse sine function, and arctan represents the inverse tangent function.

[0220] When the robot moves in a straight pipe, we usually set v r =v l , to ensure that the robot can move in a straight line. However, the robot can adjust its o z , ready to pass v r ≠v l Passing the next bend, when o z When disturbance occurs on the robot, it can also adjust v r and v l To keep yourself moving in a straight line.

[0221] When the angle between the main vehicle and the auxiliary vehicle is an acute angle,

[0222] v L =v lm =v lb =-v lu

[0223] v R =v rm =v rb =-v ru ;

[0224] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle,

[0225] v L =v lm =-v lb =v lu

[0226] v R =v rm =-v rb =v ru;

[0227] v lm Indicates the speed of the left middle wheel, v lb represents the speed of the left rear wheel, v lu represents the speed of the left front wheel, v rm Indicates the speed of the right middle wheel, v rb represents the speed of the right rear wheel, v ru Indicates the speed of the right front wheel.

[0228] Before moving to the curved pipe, the robot has adjusted its orientation in the straight pipe. Therefore, we assume that when our robot moves in the curved pipe, z is fixed. Therefore, v lb =v rb 、v lm =v rm and v lu =v ru In addition, when the robot moves in a curved pipe, the sliding of the robot's six wheels is more complicated, so we simplify the movement in the curved pipe:

[0229] The robot's COM moves around the center O of the pipe curve at an angular velocity ω. Therefore, when the pipe is a curved pipe, the dynamic equation is:

[0230] v u =v lu =v ru =ωR i，min

[0231] v m =v lm =v rm =ωR i，max

[0232] v b =v lb =v rb =ωR i，max

[0233] Where ω represents the angular velocity of the robot moving around the center of the bend, R i，min Indicates the minimum radius between the pipe wall and the center of the bend, R i，max Indicates the maximum radius between the pipe wall and the center of the bend.

[0234] The control method further includes:

[0235] Step S600: Determine the geometric constraints of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle.

[0236] Step S700: Determine the angle between the main vehicle and the auxiliary vehicle according to the geometric constraint and the posture information.

[0237] Step S800: Determine whether there is an obstacle or depression in the pipeline based on the angle between the main vehicle and the auxiliary vehicle.

[0238] Specifically, the robot's geometric constraints vary depending on the type of pipeline and the angle between the main and auxiliary vehicles. Under these geometric constraints, the robot can calculate the angle between the main and auxiliary vehicles based on their pose information. This angle can then be used to determine whether there are obstacles or defects within the pipeline, such as depressions.

[0239] If the pipe is a straight pipe, the angle between the main vehicle and the auxiliary vehicle can be determined directly based on the geometric constraints and posture information. When the pipe is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is:

[0240] θ=α+β

[0241] D i =2r-h cosα+l1sinα+l3sinβ+h cosβ

[0242]

[0243] When solving, β=0, and the above equations can be combined to solve α, then θ=α.

[0244] When the pipe is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is:

[0245] π-θ=α+β

[0246] D i =2r+l3sinβ

[0247] D i =2r+h cosβ-l2sinβ+l1sinα+h cosα

[0248]

[0249] Among them, θ represents the angle between the main vehicle and the auxiliary vehicle, α represents the angle between the auxiliary vehicle and the pipeline axis, β represents the angle between the main vehicle and the pipeline axis, r represents the radius of the wheel, l1 represents the distance between the connection point and the center of the front wheel in the length direction of the auxiliary vehicle, and the connection point is the rotation connection point between the main vehicle and the auxiliary vehicle, l2 represents the distance between the connection point and the center of the middle wheel in the length direction of the main vehicle, l3 represents the distance between the connection point and the center of the rear wheel in the length direction of the main vehicle, h represents the distance between the vehicle body and the wheel center in the height direction of the vehicle body, and sin represents the sine function.

[0250] When solving, the simultaneous equations can be solved to obtain θ.

[0251] If the pipe is a straight pipe, the position information of the connection point can be determined based on the geometric constraints and the position information, and then the angle between the main vehicle and the auxiliary vehicle can be determined based on the position information of the connection point. Step S700 specifically includes:

[0252] Step S710: When the type of the pipe is a curved pipe, determine the position information of the connection according to the geometric constraint condition and the posture information.

[0253] Step S720: Determine the angle between the main vehicle and the auxiliary vehicle based on the position information.

[0254] When the angle between the main vehicle and the auxiliary vehicle is an acute angle, the geometric constraint condition is:

[0255]

[0256]

[0257]

[0258]

[0259]

[0260]

[0261]

[0262] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the geometric constraint condition is:

[0263]

[0264]

[0265]

[0266]

[0267]

[0268]

[0269]

[0270] d OOu Indicates the center of the curved tube O and the center of the front wheel O u The distance, d OOm Indicates the center of the bend O and the center of the middle wheel O m The distance, d OOb Indicates the center of the curved tube O and the center of the rear wheel O b The distance, d POu Indicates the connection point P and the front wheel center O u The distance, d POm Indicates the connection point P and the center of the middle wheel O m The distance, d POb Indicates the connection point P and the rear wheel center O b The distance, d OmOb Indicates the center of the middle wheel O m With the rear wheel center O b distance.

[0271] The location information is:

[0272]

[0273] P x Indicates the x-coordinate of the connection, P y Indicates the y coordinate of the connection, P z Indicates the z coordinate of the connection, d OP It represents the distance between the center O of the bend and the connection P, ε represents the angle formed by the center of the middle wheel, the center of the bend, and the center of the rear wheel, γ represents the angle formed by the center of the rear wheel, the center of the bend, and the vertical direction, and δ represents the angle formed by the connection, the center of the bend, and the center of the middle wheel.

[0274] When the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is:

[0275]

[0276] When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is:

[0277]

[0278] Where θ1 represents the angle formed by the center of the bend, the connection, and the center of the front wheel; θ2 represents the angle formed by the center of the bend, the connection, and the center of the rear wheel;

[0279]

[0280]

[0281] like Figure 9 As shown, the following relationship can be easily obtained through the cosine and sine laws:

[0282] o y =ε+∈+γ

[0283]

[0284]

[0285]

[0286]

[0287] o y represents the angle between the main vehicle and the vertical direction and is determined according to the posture information, ∈ represents the angle formed by the center of the bend, the center of the middle wheel, and the center of the rear wheel, and π represents pi.

[0288] Therefore, ε, ∈, γ, δ, d OP Once solved, the coordinates of the connection point P can be obtained, and θ can be finally calculated.

[0289] Based on the control method of the adaptive deformable pipeline robot described in any of the above embodiments, the present invention also provides an embodiment of a computer device:

[0290] The computer device of the present invention includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0291] Based on the control method of the adaptive deformable pipeline robot described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium:

[0292] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0293] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A control method for an adaptively deformable pipeline robot, characterized in that: The steps include: Determining the type of the angle between the main vehicle and the auxiliary vehicle; wherein the type of the angle between the main vehicle and the auxiliary vehicle includes an acute angle and an obtuse angle; Obtain the main vehicle's position information through the inertial measurement unit; Determining the type of the pipeline in which the robot is located based on the posture information; wherein the type of the pipeline includes at least one of a curved pipe and a straight pipe; Determining a dynamic equation of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle; Controlling the movement of the main vehicle and the auxiliary vehicle according to the dynamic equation; The main vehicle comprises: Main vehicle body; The left rear wheel and the right rear wheel are arranged at one end of the main vehicle body away from the auxiliary vehicle; A left rear drive and a right rear drive are provided on the main vehicle body; The left middle wheel and the right middle wheel are arranged at one end of the main vehicle body close to the auxiliary vehicle; A left center drive and a right center drive are provided on the main vehicle body; Wherein, the left rear drive is connected to the left rear wheel, the right middle drive is connected to the right middle wheel, the left middle drive is connected to the left middle wheel, and the right rear drive is connected to the right rear wheel; The auxiliary vehicle comprises: an auxiliary vehicle body, rotatably connected to the main vehicle body; The left front wheel and the right front wheel are arranged at one end of the auxiliary vehicle body away from the main vehicle; A left front drive and a right front drive are provided on the auxiliary vehicle; Wherein, the left front drive is connected to the left front wheel, and the right front drive is connected to the right front wheel; The distance between the left front wheel and the right front wheel, the distance between the left middle wheel and the right middle wheel, and the distance between the left rear wheel and the right rear wheel are all the same; the width of the main vehicle body and the width of the auxiliary vehicle body are the same; When the pipe is a straight pipe, the dynamic equation is: Where v represents the speed of the robot along the axis of the pipeline, v s represents the sliding speed, φ represents the angle, k+ represents the scale factor, v R represents the speed of the right wheel, v L represents the speed of the left wheel, W represents the width of the main vehicle body, d represents the width of the wheel, D represents the diameter of the pipe, arcsin represents the inverse sine function, and arctan represents the inverse tangent function; When the angle between the main vehicle and the auxiliary vehicle is an acute angle, u L =υ lm =υ lb =-υ lu u R =υ rm =υ rb =-υ ru ; When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, u L =υ lm =-υ lb =υ lu u R =υ rm =-υ rb =υ ru ; v lm Indicates the speed of the left middle wheel, v lb represents the speed of the left rear wheel, v lu represents the speed of the left front wheel, v rm Indicates the speed of the right middle wheel, v rb represents the speed of the right rear wheel, v ru Indicates the speed of the right front wheel; When the pipe is a curved pipe, the dynamic equation is: u lu =υ ru =ωR i，min u lm =υ rm =ωR i，max u lb =υ rb =ωR i，max Where ω represents the angular velocity of the robot moving around the center of the bend, R i,min Indicates the minimum radius between the pipe wall and the center of the bend, R i,max Indicates the maximum radius between the pipe wall and the center of the bend, cos represents the cosine function, D i Indicates the height of the robot in the pipe.

2. The control method of the adaptive deformable pipeline robot according to claim 1, characterized in that: The control method further comprises the steps of: Determining geometric constraints of the robot according to the type of the pipeline and the type of the angle between the main vehicle and the auxiliary vehicle; Determining an angle between the main vehicle and the auxiliary vehicle according to the geometric constraint and the posture information; It is determined whether there is an obstacle or depression in the pipeline according to the angle between the main vehicle and the auxiliary vehicle.

3. The control method of the adaptive deformable pipeline robot according to claim 2, characterized in that: When the pipe is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is: θ=α+β D i =2r-h cosα+l1 sinα+l3 sinβ+h cosβ When the pipe is a straight pipe and the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is: π-θ=α+β D i =2r+l3 sinβ D i =2r+h cosβ-l2sinβ+l1sinα+h cosα Among them, θ represents the angle between the main vehicle and the auxiliary vehicle, α represents the angle between the auxiliary vehicle and the pipeline axis, β represents the angle between the main vehicle and the pipeline axis, r represents the radius of the wheel, l1 represents the distance between the connection point and the center of the front wheel in the length direction of the auxiliary vehicle, and the connection point is the rotation connection point between the main vehicle and the auxiliary vehicle, l2 represents the distance between the connection point and the center of the middle wheel in the length direction of the main vehicle, l3 represents the distance between the connection point and the center of the rear wheel in the length direction of the main vehicle, h represents the distance between the vehicle body and the wheel center in the height direction of the vehicle body, and sin represents the sine function.

4. The control method of the adaptive deformable pipeline robot according to claim 3, characterized in that: The determining the angle between the main vehicle and the auxiliary vehicle according to the geometric constraint condition and the posture information includes: When the type of the pipe is a curved pipe, determining the position information of the connection point according to the geometric constraint condition and the posture information; Determining an angle between the main vehicle and the auxiliary vehicle based on the position information; Among them, when the angle between the main vehicle and the auxiliary vehicle is an acute angle, the geometric constraint condition is: When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the geometric constraint condition is: d OOu Indicates the center of the curved tube O and the center of the front wheel O u The distance, d OOm Indicates the center of the bend O and the center of the middle wheel O m The distance, d OOb Indicates the center of the curved tube O and the center of the rear wheel O b The distance, d POu Indicates the connection point P and the front wheel center O u The distance, d POm Indicates the connection point P and the center of the middle wheel O m The distance, d POb Indicates the connection point P and the rear wheel center O b The distance, d OmOb Indicates the center of the middle wheel O m With the rear wheel center O b distance; The location information is: P x Indicates the x-coordinate of the connection, P y Indicates the y coordinate of the connection, P z Indicates the z coordinate of the connection, d OP represents the distance between the center O of the bend and the connection P, ε represents the angle formed by the center of the middle wheel, the center of the bend, and the center of the rear wheel, γ represents the angle formed by the center of the rear wheel, the center of the bend, and the vertical direction, and δ represents the angle formed by the connection, the center of the bend, and the center of the middle wheel; When the angle between the main vehicle and the auxiliary vehicle is an acute angle, the angle between the main vehicle and the auxiliary vehicle is: When the angle between the main vehicle and the auxiliary vehicle is an obtuse angle, the angle between the main vehicle and the auxiliary vehicle is: Where θ1 represents the angle formed by the center of the bend, the connection, and the center of the front wheel; θ2 represents the angle formed by the center of the bend, the connection, and the center of the rear wheel; the y =ε+∈+γ o y represents the angle between the main vehicle and the vertical direction and is determined according to the posture information, ∈ represents the angle formed by the center of the bend, the center of the middle wheel, and the center of the rear wheel, and π represents pi.

5. The control method of the adaptive deformable pipeline robot according to claim 1, characterized in that: The main vehicle is also provided with a lighting device and a camera device; The auxiliary vehicle is provided with an axial hole, and the main vehicle is provided with a rotating shaft, and the rotating shaft is rotatably arranged in the axial hole; the elastic component includes: a torsion spring, sleeved outside the rotating shaft, with two ends respectively connected to the main vehicle and the auxiliary vehicle; a shrapnel, provided on the main vehicle; When the auxiliary vehicle rotates toward the main vehicle and contacts the elastic sheet, the elastic sheet is used to prevent the auxiliary vehicle from continuing to rotate toward the main vehicle.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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