A pipeline external crawler and motion control method thereof

Abstract

The present invention belongs to the field of pipe crawling equipment, and specifically relates to a pipe crawler and a motion control method thereof. The pipe crawler includes a frame, two adjustment arms, a crawling assembly, two support assemblies, a gyroscope, a pressure sensor, and a controller. The two adjustment arms are symmetrically mounted on the frame at both ends along the length direction, and form a clamping structure for embracing the pipe. The crawling assembly is mounted in the middle of the frame. The support assembly is mounted at the end of the adjustment arm. The controller is used to obtain the detection data of the gyroscope and the pressure sensor, and solve the control target of the pressure of the two auxiliary wheels according to the load, deadweight and preset target inclination angle of the pipe crawler, and then adjust the arm according to the control target to perform adaptive adjustment, control the support assembly to tighten the pipe, and thereby keep the pipe crawler stable. The present invention solves the problem that the existing pipe crawler cannot adapt to pipes with uneven diameters and cannot realize complex crawling functions.

Description

Technical Field

[0001] The invention belongs to the field of pipe climbing equipment, and in particular relates to a pipe external crawler and a motion control method of the pipe external crawler. Background Art

[0002] There are many tasks in the engineering field that require crawling on pipelines to perform aerial work, such as various electrical work and pipeline welding. Manually climbing pipelines to perform aerial work poses a high risk to personal safety, so technicians have developed a variety of robots for crawling outside pipelines, and robots can replace manual work.

[0003] Existing pipeline crawlers include two main types: adsorption type and clamping type. Adsorption type pipeline crawlers use magnetic mechanisms or vacuum adsorption mechanisms to fix to the outer wall of the pipeline. This type of machine has strong limitations on application scenarios. For example, the former has restrictions on pipeline types and requires the pipeline to be made of ferromagnetic materials, such as steel pipes or iron pipes. The latter requires the pipeline surface to be smooth. In addition, the latter needs to frequently achieve vacuum and break vacuum when crawling in the pipeline, which is not only costly but also has a high failure rate.

[0004] The clamping type pipeline crawler is clamped on the pipeline by a clamping structure, thereby maintaining its own stability and achieving upward crawling. The existing clamping type pipeline crawler can usually only work on pipelines with uniform diameter and relatively smooth. When encountering complex pipelines with uneven pipelines, obvious uneven pipelines, or variable diameter sections, the pipeline crawler cannot only fail to move normally, but may also be at risk of instability and falling. In addition, the existing pipeline crawlers have simple functions, and most of them can only perform vertical lifting and lowering, and cannot achieve complex pipe winding or spiral movements, which limits their application value in special scenarios such as pipeline welding. Summary of the invention

[0005] In order to solve the problem that the existing pipeline external crawler cannot adapt to pipelines with uneven diameters and cannot achieve complex crawling functions, the present invention provides a pipeline external crawler and a motion control method thereof.

[0006] The technical solution provided by the present invention is:

[0007] A pipeline external crawler comprises a frame, two adjusting arms, a crawling assembly, two supporting assemblies, a gyroscope, a pressure sensor, and a controller.

[0008] The frame is in a square frame shape. Two adjusting arms are symmetrically mounted on the frame at both ends along the length direction, and form a clamping structure for embracing the pipe. Each adjusting arm is in a three-section type, and includes two joints driven by a first power source and a second power source respectively.

[0009] The crawling assembly includes a driving wheel, a first driving motor, a first steering motor and a transmission mechanism thereof. The driving wheel is installed in the middle of the frame and is located on the side facing the adjustment arm. The first driving motor is used to drive the driving wheel to rotate; the first steering motor is used to drive the driving wheel to turn with the direction perpendicular to the plane of the frame as the axis.

[0010] The two support assemblies are respectively installed at the ends of the two adjustment arms. Each support assembly includes an auxiliary wheel and a second steering motor. The auxiliary wheel faces the inner side of the clamping claw structure; the second steering motor is used to drive the auxiliary wheel to steer.

[0011] The gyroscope is installed on the frame; the gyroscope is used to detect the motion information of the frame and the inclination angle of the connecting direction of the auxiliary wheel and the driving wheel relative to the horizontal direction. The pressure sensors are mounted on the two auxiliary wheels and are used to detect the pressures F1 and F2 applied by the auxiliary wheels on the pipeline.

[0012] The controller is electrically connected to the first drive motor, the first steering motor, the gyroscope, the pressure sensor, and the first power source, the second power source, and the second steering motor in the two adjustment arms. The pipeline crawler is tilted and sleeved on the pipeline in a manner such that the auxiliary wheel is on the top and the driving wheel is on the bottom to achieve self-locking. The controller is used to obtain the detection data of the gyroscope and the pressure sensor, and adjust the load G1, the deadweight G2, and the preset target inclination angle of the pipeline crawler. , the control targets of the pressures F1 and F2 of the two auxiliary wheels are solved by the following steady-state control model, and then the operating state of the first power source and / or the second power source is adaptively adjusted according to the control targets, so that the external pipeline crawler is in a steady state:

[0013] ,

[0014] In the above formula, l 1 is the distance between the center of the auxiliary wheel and the center of the driving wheel; l 2 It is the distance between the center of the driving wheel and the center of gravity of the equipment; v Indicates the torque difference between the auxiliary wheel and the driving wheel; F L Indicates the clamping force generated by the two adjustment arms through the auxiliary wheels; F N Indicates the supporting force of the driving wheel on the pipeline; Indicates the control rate of the preset fall prevention. >1; Indicates the friction coefficient between the driving wheel and the pipe.

[0015] As a further improvement of the present invention, the crawling assembly includes a first wheel frame, a support plate, a driving wheel, a first driving motor, a first steering motor, a steering transmission assembly and a travel transmission assembly.

[0016] The first wheel frame includes two side plates and a top plate that are fixedly connected in a "Π" shape. Symmetrical first through holes are provided in the two side plates at one end away from the top plate, and symmetrical second through holes are provided at one end close to the top plate. A third through hole is provided in the center of the top plate. The rotating shaft of the driving wheel is rotatably connected to the first wheel frame along the two first through holes. The first driving motor and the first steering motor are connected to the support plate.

[0017] The travel transmission assembly includes a first pulley, a second pulley, a first belt, a transmission shaft, a first bevel gear and a second bevel gear. The transmission shaft is rotatably connected to the first wheel frame along two second through holes. A second bevel gear is provided in the middle section of the transmission shaft corresponding to the inner side of the first wheel frame. The first pulley is fixedly connected to the end of the rotating shaft of the driving wheel, and the second pulley is fixedly connected to the end of the transmission shaft. The two are located on the same side of the first wheel frame and are connected through the first belt transmission. The first bevel gear is located inside the first wheel frame and is fixedly connected to the output shaft of the first drive motor inserted along the third through hole. The first bevel gear and the second bevel gear are meshed with each other.

[0018] The steering transmission assembly includes a third pulley, a steering ring and a second belt; the steering ring is fixedly connected to a side of the top plate away from the driving wheel and is concentrically arranged with the third through hole on the first wheel frame; the third pulley is fixedly connected to the output shaft of the first steering motor; the third pulley and the steering wheel are connected through a second belt transmission.

[0019] As a further improvement of the present invention, the support assembly includes an auxiliary wheel, a second wheel frame, a second steering motor, a worm, a turbine, and a steering bracket. The auxiliary wheel is rotatably connected to the second wheel frame; the turbine is fixedly connected to the second wheel frame, and the turbine is parallel to the top plate of the second wheel frame; the combination of the turbine, the second wheel frame and the auxiliary wheel is rotatably connected to the steering bracket; the second steering motor is fixed to the steering bracket, and the output shaft of the second steering motor is connected to the worm shaft. The worm is meshed with the turbine.

[0020] As a further improvement of the present invention, the adjusting arm comprises a fixed arm, a first movable arm and a second movable arm connected end to end and capable of relatively rotating, a first power source for adjusting the angle between the fixed arm and the first movable arm, and a second power source for adjusting the angle between the first movable arm and the second movable arm. The first power source and the second power source respectively use a first telescopic cylinder and a second telescopic cylinder.

[0021] As a further improvement of the present invention, both the driving wheel and the auxiliary wheel are rubber-coated wheels, and the wheel diameter of the driving wheel is larger than the wheel diameter of the auxiliary wheel.

[0022] and / or

[0023] The pipeline crawler is powered by cables or self-contained batteries.

[0024] As a further improvement of the present invention, the controller includes a wireless communication module, and the pipeline crawler also includes a remote controller. The remote controller communicates with the controller wirelessly, thereby realizing remote control of the pipeline crawler.

[0025] As a further improvement of the present invention, the pipeline crawler further comprises an anti-falling mechanism installed at the lower part of the frame. The anti-falling mechanism and the adjusting arm are located on the same side of the frame and are used to clamp the pipeline when the pipeline crawler loses stability and falls.

[0026] The anti-fall mechanism includes a base, two arc-shaped clamping arms, and two electric push rods. The two clamping arms are rotatably connected to the two ends of the base, and the two clamping arms are symmetrically arranged to form a clamp-shaped structure. The two electric push rods are respectively used to adjust the angle between the clamping arms and the base. The two electric push rods are electrically connected to the controller.

[0027] and / or

[0028] The supporting component adopts the same mechanism as the crawling component and has both steering and walking functions.

[0029] As a further improvement of the present invention, the controller pre-stores different loads G1 representing the external crawler of the pipeline and its ideal inclination angle Then, in the adaptive adjustment process, the ideal inclination angle under the current load condition is determined by table lookup or calculation, and is used as the preset target inclination angle.

[0030] As a further improvement of the present invention, different loads G1 of the pipeline crawler and its ideal inclination angle are characterized The method for constructing the parameter comparison table or mathematical model of the mapping relationship between them is as follows:

[0031] (1) Create the power consumption model P and steady-state control model of the crawler outside the pipeline:

[0032] P = p 1 + p 2 + p 3.

[0033] In the above formula, p 1 ~ p 3 Respectively represent the operating power consumption of the first power source, the second power source and the first drive motor.

[0034] (2) With the optimization objective of power minimization and the steady-state control model as constraints, a single-objective optimization model is constructed as follows;

[0035] ,

[0036] (3) The single-objective optimization model is solved by genetic algorithm to obtain the ideal inclination angle that meets the optimization objective under different load G1 conditions. , forming a series of discrete two-dimensional arrays ;

[0037] (4) Create a parameter comparison table or fit a mathematical model based on the large number of two-dimensional arrays solved in the previous step.

[0038] The present invention also includes a motion control method for a pipeline crawler, which is used to control the pipeline crawler as described above. The pipeline crawler has three working modes: vertical climbing, horizontal circling and spiral climbing. The control strategies of each working mode are as follows:

[0039] In the vertical climbing mode, the controller issues instructions to the first steering motor and the second steering motor under the premise that the crawler outside the pipeline is in a steady state, thereby adjusting the forward direction of the driving wheel and the two auxiliary wheels to a state parallel to the extension direction of the pipeline; and then issues instructions to the first drive motor to drive the driving wheel to operate.

[0040] In the horizontal surround mode, the controller issues instructions to the first steering motor and the second steering motor under the premise that the crawler outside the pipeline is in a steady state, thereby adjusting the forward direction of the driving wheel and the two auxiliary wheels to be along the direction of the line connecting the driving wheel and the auxiliary wheels; then issues instructions to the first drive motor to drive the driving wheel to operate.

[0041] In the spiral climbing mode, the controller sends instructions to the first steering motor and the second steering motor under the premise that the crawler outside the pipeline is in a steady state, thereby synchronously adjusting the forward direction of the driving wheel and the two auxiliary wheels to the specified steering angle. ; Then send a command to the first drive motor to drive the driving wheel to rotate.

[0042] The technical solution provided by the present invention has the following beneficial effects:

[0043] The present invention designs a pipeline crawler consisting of a frame, an adjustment arm, a crawling assembly and a support assembly. The pipeline crawler has a simple structure and can achieve self-locking by acting on the pipeline through friction. In particular, the present invention designs a control system for the pipeline crawler to adaptively adjust the clamping force of the support assembly according to different working conditions, so that the crawler can adapt to pipelines with uneven diameters or uneven surfaces, thereby improving the stability and reliability of the pipeline crawler under complex working conditions.

[0044] The pipeline external crawler designed in the present invention has multiple working modes such as vertical lifting, spiral climbing and horizontal surrounding, and has anti-fall and simple obstacle crossing functions. Therefore, it can be used as a carrier for pipeline detection devices, cleaning devices, and spraying devices. The application scenarios are more extensive and the practicality is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the structure of the mechanical part of the pipeline external crawler provided in Example 1 of the present invention.

[0046] Figure 2 This is a schematic diagram of the overall structure of the pipeline external crawler provided in Example 1 of the present invention.

[0047] Figure 3 This is a schematic diagram of the structure of the adjustment arm part of the pipeline external crawler in Example 1 of the present invention.

[0048] Figure 4 This is a schematic diagram of the structure of the crawling component in the external pipeline crawler of Example 1 of the present invention.

[0049] Figure 5 This is a schematic diagram of the structure of the first wheel frame in the crawling assembly of Example 1 of the present invention.

[0050] Figure 6 This is a schematic diagram of the structure of the support assembly in the pipeline external crawler of Example 1 of the present invention.

[0051] Figure 7 It is a schematic structural diagram of the second wheel frame in the support assembly of Example 1 of the present invention.

[0052] Figure 8 A diagram showing the self-locking state of the external pipeline crawler on the pipeline provided in Example 1 of the present invention.

[0053] Fig. 9 for Figure 8 Force analysis diagram of the pipeline external crawler in the state.

[0054] Fig.10 A schematic diagram of the module connections of the control part of the external pipeline crawler provided in Example 1 of the present invention.

[0055] Fig.11 This is a schematic diagram of the structure of the pipeline external crawler with an anti-fall mechanism provided in Example 3 of the present invention.

[0056] Fig.12 Schematic diagram of the structure of the anti-fall mechanism in Example 3 of the present invention.

[0057] Fig.13 This is a schematic diagram of the clamp arm embracing the pipe in Example 3 of the present invention.

[0058] The markings in the figure are:

[0059] 1. Frame; 2. Adjustment arm; 3. Crawling assembly; 4. Support assembly; 5. Gyroscope; 6. Pressure sensor; 7. Anti-fall mechanism; 21. Fixed arm; 22. First movable arm; 23. Second movable arm; 24. First power source; 25. Second power source; 31. First wheel frame; 32. Driving wheel; 33. Support plate; 34. First drive motor; 35. First steering motor; 41. Auxiliary wheel; 42. Second wheel frame; 43. Second steering motor; 44. Worm; 45. turbine; 46. steering bracket; 71. base; 72. clamping arm; 73. electric push rod; 100. controller; 311. first through hole; 312. second through hole; 313. third through hole; 361. first pulley; 362. second pulley; 363. first belt; 364. transmission shaft; 365. second bevel gear; 366. first bevel gear; 371. steering ring; 372. second belt; 373. third pulley; 421. connecting shaft. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0061] Example 1

[0062] This embodiment provides a pipeline external crawler, such as Figure 1 As shown, it includes a frame 1, two adjustment arms 2, a crawling assembly 3, two support assemblies 4, a gyroscope 5, a pressure sensor 6, and a controller 100. The pipeline crawler provided in this embodiment belongs to a clamping type device. Among them, the frame 1, two adjustment arms 2, the crawling assembly 3, and two support assemblies 4 constitute the mechanical part of the pipeline crawler, and the gyroscope 5 and the pressure sensor 6 constitute the control part of the pipeline crawler. Among them, the controller 100 dynamically adjusts the working state of the two adjustment arms 2 according to the preset control strategy based on the state data collected in real time by the gyroscope 5 and the pressure sensor 6. Thereby, the pipeline crawler provided in this embodiment can be suitable for crawling on pipelines with uneven diameters or different surface convexities. In addition, under the control of the controller 100, the pipeline crawler provided in this embodiment can also realize a variety of different pipeline crawling modes; such as vertical climbing, spiral climbing and horizontal circling.

[0063] Specifically, in order to achieve lightweight, the rack 1 in the solution of this embodiment adopts a long frame structure. In other embodiments, the rack 1 can also adopt a plate-like structure. In this embodiment, the middle of the rack 1 also includes a space for accommodating and fixing the crawling assembly 3.

[0064] The two adjusting arms 2 are symmetrically mounted on the frame 1 at both ends along the length direction, and form a clamping structure for embracing the pipe. The ends of the two adjusting arms 2 of this embodiment are connected to a support assembly 4, and the support assembly 4 includes a steerable auxiliary wheel 41. The two adjusting arms 2 are mainly used to adjust the abutment position of the two auxiliary wheels 41 on the pipe and the size of the compressive stress applied to the pipe. Specifically, in order to ensure the adjustment effect, each adjusting arm 2 of this embodiment is a three-section type, which includes two joints driven by the first power source 24 and the second power source 25 respectively.

[0065] Specifically, Figure 2 As shown, the adjusting arm 2 of this embodiment adopts a structure similar to the hydraulic arm of an excavator, and the adjusting arm 2 includes a fixed arm 21, a first movable arm 22, a second movable arm 23, a first power source 24 and a second power source 25. Among them, the fixed arm 21, the first movable arm 22 and the second movable arm 23 are connected in sequence and can rotate relative to each other. The first power source 24 is used to adjust the angle between the fixed arm 21 and the first movable arm 22; the second power source 25 is used to adjust the angle between the first movable arm 22 and the second movable arm 23.

[0066] In order to make the adjustment arm 2 lighter while ensuring the structural strength, the fixed arm 21 in this embodiment also adopts a frame structure. Figure 3 As shown, the fixed arm 21 adopts two rods vertically fixedly connected to the frame 1, and pin holes are set at the ends of the rods. The first movable arm 22 and the second movable arm 23 adopt "Π"-shaped rods, which include two mutually parallel vertical rods and a cross rod, and the two ends of the cross rod are cylindrical. Pin holes are also set in the vertical rods of the first movable arm 22 and the second movable arm 23, and the pin holes are located at the end of the vertical rod away from the cross rod. The first movable arm 22 also includes an auxiliary rod connected to the two vertical rods and parallel to the cross rod and arranged at intervals; a hinge joint is set in the middle of the auxiliary rod; and a hinge joint is also set in the middle of the cross rod of the second movable arm 23. Among them, the cross rod of the first movable arm 22 can be rotatably connected to the pin hole of the fixed arm 21, and the cross rod of the second movable arm 23 can be rotatably connected to the pin hole of the first movable arm 22.

[0067] The first power source 24 and the second power source 25 in the adjusting arm 2 of this embodiment are respectively a first telescopic cylinder and a second telescopic cylinder. One end of the first telescopic cylinder is rotatably connected to the frame 1, and the other end is rotatably connected to the hinge joint on the cross bar in the first movable arm 22. One end of the second telescopic rod is rotatably connected to the cross bar of the first movable arm 22, and the other end is rotatably connected to the hinge joint on the cross bar in the second movable arm 23. At this time, by controlling the extension or shortening of the first telescopic rod, the first movable arm 22 can be driven to rotate relative to the fixed arm 21; by controlling the extension or shortening of the second telescopic rod, the second movable arm 23 can be driven to rotate relative to the first arm.

[0068] In other embodiments, the adjustment arm 2 can also be implemented by a similar mechanical arm with two movable joints. The mechanical arm with two joints uses motors at the joints as a power source and implements similar movements to the adjustment arm 2 in this embodiment.

[0069] like Figure 2 As shown, the crawling assembly 3 is installed in the middle of the frame 1. The crawling assembly 3 includes a driving wheel 32, a first drive motor 34, a first steering motor 35 and a transmission mechanism thereof. Among them, the driving wheel 32 is installed in the middle of the frame 1 and is located on the side facing the adjusting arm 2. The first drive motor 34 is used to drive the driving wheel 32 to operate; the driving wheel 32 can walk on the pipeline when it is running. The first steering motor 35 is used to drive the driving wheel 32 to turn with the direction perpendicular to the plane where the frame 1 is located as the axis. It can be seen that the driving wheel 32 in the crawling assembly 3 of this embodiment has both walking function and steering function.

[0070] In detail, the structure on which the crawling assembly 3 in this embodiment simultaneously realizes the steering and walking functions is as follows: Figure 4 As shown in the figure, the crawling assembly 3 includes a first wheel frame 31, a support plate 33, a driving wheel 32, a first driving motor 34, a first steering motor 35, a steering transmission assembly and a walking transmission assembly.

[0071] Among them, Figure 5 As shown, the first wheel frame 31 includes two side plates and a top plate that are fixedly connected in a "Π" shape. Symmetrical first through holes 311 are provided in the two side plates at one end away from the top plate, and symmetrical second through holes 312 are provided at one end close to the top plate. A third through hole 313 is provided in the center of the top plate. The rotating shaft of the driving wheel 32 is rotatably connected to the first wheel frame 31 along the two first through holes 311. The first driving motor 34 and the first steering motor 35 are connected to the support plate 33.

[0072] The travel transmission assembly includes a first pulley 361, a second pulley 362, a first belt 363, a transmission shaft 364, a first bevel gear 366 and a second bevel gear 365. The transmission shaft 364 is rotatably connected to the first wheel frame 31 along the two second through holes 312. A second bevel gear 365 is provided in the middle section of the transmission shaft 364 corresponding to the inner side of the first wheel frame 31. The first pulley 361 is fixedly connected to the end of the rotating shaft of the driving wheel 32, and the second pulley 362 is fixedly connected to the end of the transmission shaft 364. The two are located on the same side of the first wheel frame 31 and are connected by the first belt 363. The first bevel gear 366 is located on the inner side of the first wheel frame 31 and is fixedly connected to the output shaft of the first drive motor 34 inserted along the third through hole 313. The first bevel gear 366 and the second bevel gear 365 are meshed with each other.

[0073] Specifically, in this embodiment, a bearing is provided at the third through hole 313. The bearing at this location allows the motor output shaft and the first bevel gear 366 to rotate relative to the first wheel frame 31, while fixing the relative position of the motor and the first wheel frame 31 in space. In addition, in this embodiment, bearings may also be provided at each of the first through hole 311 and the second through hole 312, so that the driving wheel 32 and the transmission shaft 364 can rotate on the first wheel frame 31 more smoothly.

[0074] Based on the travel transmission assembly provided in this embodiment, when the output shaft of the first drive motor 34 rotates, the first bevel gear 366 will be driven to rotate; due to the meshing of the first bevel gear 366 and the second bevel gear 365, the first bevel gear 366 can drive the combination of the second bevel gear 365, the transmission shaft 364 and the second pulley 362 to rotate; but when the second pulley 362 rotates, the first pulley 361 and the driving wheel 32 will also rotate synchronously under the transmission of the first belt 363. It can be seen that the travel transmission mechanism can convert the rotation of the output shaft of the first drive motor 34 into the spin motion of the driving wheel 32.

[0075] The steering transmission assembly in this embodiment includes a third pulley 373, a steering ring 371 and a second belt 372. The steering ring 371 is fixedly connected to a side of the top plate away from the driving wheel 32 and is concentrically arranged with the third through hole 313 on the first wheel frame 31. The third pulley 373 is fixedly connected to the output shaft of the first steering motor 35; the third pulley 373 and the steering wheel are connected by the second belt 372.

[0076] Based on the steering transmission assembly provided in this embodiment, when the output shaft of the first steering motor 35 rotates, the third pulley 373 will be driven to rotate. Under the transmission action of the second belt 372, when the third pulley 373 rotates, the steering ring 371 will be driven to rotate. Since the steering ring 371 is fixedly connected to the first wheel frame 31, the third pulley 373 will synchronously drive the combination of the first wheel frame 31, the driving wheel 32 and the travel transmission assembly to rotate, thereby adjusting the steering angle of the driving wheel 32. .

[0077] In a more optimized solution of this embodiment, in order to improve the steering control accuracy of the driving wheel 32 in the crawling assembly 3, the first steering motor 35 in this embodiment can be a servo motor. Further, the second belt 372 is a synchronous belt, and the third pulley 373 and the steering ring 371 are customized products with grooves matching the synchronous belt on the surface.

[0078] like Figure 2As shown, the two support assemblies 4 in this embodiment are respectively installed at the ends of the two adjustment arms 2. Each support assembly 4 includes an auxiliary wheel 41 and a second steering motor 43. The auxiliary wheel 41 faces the inner side of the clamping claw structure; the second steering motor 43 is used to drive the auxiliary wheel 41 to turn. That is, the auxiliary wheel 41 in this embodiment only has a steering function.

[0079] like Figure 6 As shown, the specific structure of the support assembly 4 for realizing the steering function in this embodiment includes an auxiliary wheel 41, a second wheel frame 42, a second steering motor 43, a worm 44, a turbine 45, and a steering bracket 46. Figure 7 As shown, the second wheel frame 42 in the support assembly 4 also includes two side plates and a top plate that are fixedly connected in a "Π" shape. A symmetrical first through hole 311 is provided in the two side plates at one end away from the top plate. A connecting shaft 421 perpendicular to the top plate is arranged in the center of the top plate, and the turbine 45 is fixedly connected to the end of the connecting shaft 421 away from the second wheel frame 42, and the turbine 45 is parallel to the top plate of the second wheel frame 42; the turbine 45, the second wheel frame 42 and the connecting shaft 421 form a combination; the connecting shaft 421 is movably connected to the steering bracket 46 through a bearing, so that the combination of the turbine 45, the second wheel frame 42 and the auxiliary wheel 41 can be rotatably connected to the steering bracket 46. The second steering motor 43 is fixed on the steering bracket 46, and the output shaft of the second steering motor 43 is connected to the worm 44 shaft, and the worm 44 is meshed with the turbine 45.

[0080] In the support assembly of this embodiment, when the output shaft of the second steering motor 43 rotates, it will drive the worm 44 to rotate synchronously. When the worm 44 rotates, it will further drive the combination of the turbine 45, the second wheel frame 42 and the auxiliary wheel 41 to rotate. It can be seen that the second steering motor 43 in the support assembly 4 can achieve precise control of the steering angle of the auxiliary wheel 41.

[0081] In the solution of this embodiment, the support assembly 4 adopts a structure different from that of the crawling assembly 3 to realize the steering control of the auxiliary wheel 41. Of course, in other embodiments, the support assembly 4 may also adopt a transmission assembly consisting of a third pulley 373, a steering ring 371 and a second belt 372 similar to that in the crawling assembly 3 to realize the steering control of the auxiliary wheel 41.

[0082] like Figure 8 As shown, when the pipeline crawler provided in this embodiment is used, it is tilted and sleeved on the pipeline in a manner that the auxiliary wheel 41 is on the top and the driving wheel 32 is on the bottom to achieve self-locking. In this state, two auxiliary wheels 41 and one driving wheel 32 abut on the pipeline, and the abutting points of the two auxiliary wheels 41 are flush and located above, and the abutting point of the driving wheel 32 is located below.

[0083] The following describes the principle by which the external pipeline crawler provided in this embodiment can be fixed on the pipeline. Figure 8 In the state shown, the force model of the mechanical part of the pipeline crawler is as follows: Fig. 9 As shown in the figure, it can be seen that under the action of gravity, the driving wheel 32 and the auxiliary wheel 41 will generate inward pressure on the pipeline, thereby generating friction between the pipeline and the driving wheel 32 and the auxiliary wheel 41. Therefore, as long as the combined force of the friction between the driving wheel 32 and the auxiliary wheel 41 and the pipeline is greater than the gravity of the crawler outside the pipeline, the crawler outside the pipeline can be fixed on the pipeline without falling. In actual applications, the crawler outside the pipeline needs to be loaded, so the necessary and sufficient condition for the crawler outside the pipeline not to fall is that the combined force of the friction is greater than the sum G of the load G1 and the deadweight G2 of the crawler outside the pipeline.

[0084] exist Fig. 9 In the force model, assuming that the pressures exerted on the pipeline by the two auxiliary wheels 41 are F1 and F2 respectively, then F L Indicates the clamping force generated by the two adjustment arms 2 through the auxiliary wheel 41: F L = F1 + F2. Under this condition, the condition that the crawler outside the pipeline does not fall can be expressed as: Among them, F N Indicates the supporting force of the driving wheel 32 on the pipeline; Indicates the inclination angle of the line connecting the auxiliary wheel 41 and the driving wheel 32 relative to the horizontal direction; Indicates the friction coefficient between the driving wheel 32 or the auxiliary wheel 41 and the pipeline; v It represents the torque multiple difference between the auxiliary wheel 41 and the driving wheel 32, which satisfies: l 1 = vl 2 ,in, l 1 is the distance between the center of the auxiliary wheel 41 and the center of the driving wheel 32; l 2 is the distance between the center of the driving wheel 32 and the center of gravity of the equipment. Based on the above analysis, it can be seen that during the use of the pipeline crawler, it is only necessary to adjust the inclination angle Dynamic adjustment of the size of F L The value of , thus making the above inequality always true, can use gravity to stably fix the crawler outside the pipeline on the pipeline.

[0085] In combination with the above analysis process, this embodiment further designs a control part on the aforementioned pipeline crawler, and the control part includes a gyroscope 5, a pressure sensor 6 and a controller 100. Among them, the gyroscope 5 is installed on the frame 1; the gyroscope 5 is used to detect the motion information of the frame 1 (including speed and acceleration information) and the inclination angle of the connecting direction of the auxiliary wheel 41 and the driving wheel 32 relative to the horizontal direction. The pressure sensor 6 is mounted on the two auxiliary wheels 41 and is used to detect the pressures F1 and F2 applied by the auxiliary wheels 41 on the pipeline.

[0086] In this embodiment, if Fig.10 As shown, the controller 100 is electrically connected to the first drive motor 34, the first steering motor 35, the gyroscope 5, the pressure sensor 6, and the first power source 24, the second power source 25, and the second steering motor 43 in the two adjustment arms 2. The controller 100 can obtain the detection data of the gyroscope 5 and the pressure sensor 6, and can also regulate the motion states of the first drive motor 34, the first steering motor 35, and the two groups of the first power source 24, the second power source 25, and the second steering motor 43.

[0087] Specifically, the controller 100 of this embodiment realizes adaptive regulation of the operating state of the external pipeline crawler, so that the external pipeline crawler can adapt to pipelines of different diameters and climb on pipelines with uneven diameters or uneven surfaces. The control strategy is as follows:

[0088] First, the controller 100 is used to obtain the detection data of the gyroscope 5 and the pressure sensor 6 in real time, and then adjust the load G1, the deadweight G2, and the preset target inclination angle of the crawler outside the pipeline. , the control targets of the pressures F1 and F2 of the two auxiliary wheels 41 are solved by the following steady-state control model:

[0089] ,

[0090] In the above formula, Indicates the control rate of the preset fall prevention. >1.

[0091] Finally, the controller 100 adaptively adjusts the operating state of the first power source 24 and / or the second power source 25 according to the control targets of F1 and F2, so that the external pipeline crawler satisfies the above-mentioned steady-state control model and is in a stable self-locking state.

[0092] In the steady-state control model of this embodiment, the controllable parameters include F1 and F2 and The control strategy implemented in this paper predetermines the ideal inclination angle according to different load conditions. The control target is then set, and in the initial stage, the pipeline crawler is installed on the pipeline according to the specified target inclination angle, and commands are issued to the first power source 24 and the second power source according to the pressure F1 and F2 of the two corresponding auxiliary wheels 41, so that the adjustment arm 2 is in the corresponding squeeze state. In the subsequent operation, when the diameter of the pipeline changes or passes through an uneven pipe wall, F1 and F2 and The values ​​of will change. At this time, the control dynamically adjusts the states of the two adjusting arms 2 so that the F1 and F2 values ​​can meet the constraints of the steady-state control model again. For example, during the climbing process, when the diameter of the pipe passing through the pipeline becomes smaller, the F1 and F2 values ​​will decrease. At this time, the controller 100 controls the two adjusting arms 2 to be further clamped, thereby restoring the F1 and F2 values ​​to the target values. When the diameter of the pipe passing through the pipeline becomes larger, the F1 and F2 values ​​will increase. At this time, the controller 100 controls the two adjusting arms 2 to open appropriately, and relaxes the two auxiliary roads appropriately, thereby reducing the F1 and F2 values ​​to the target values ​​again. Based on the above-mentioned adaptive adjustment strategy of the controller 100, the pipeline external crawler provided in this embodiment can easily cope with the situation of uneven pipeline diameter and uneven surface.

[0093] As mentioned above, in the control strategy of this embodiment, the controller 100 will flexibly select the corresponding inclination angle according to different load conditions. In order to realize this operation logic, the controller 100 of this embodiment pre-stores different loads G1 representing the external pipeline crawler and its ideal inclination angle. Then, in the adaptive adjustment process, the ideal inclination angle under the current load condition is determined by table lookup or calculation, and is used as the preset target inclination angle.

[0094] The controller 100 stores different loads G1 and their ideal inclination angles for the crawler outside the pipeline. The method for constructing the parameter comparison table or mathematical model of the mapping relationship between them is as follows:

[0095] (1) Create the power consumption model P and steady-state control model of the crawler outside the pipeline:

[0096] P = p 1 + p 2 + p 3.

[0097] In the above formula, p 1 ~ p 3 They respectively represent the operating power consumption of the first power source 24 , the second power source 25 and the first drive motor 34 .

[0098] (2) With the optimization objective of power minimization and the steady-state control model as constraints, a single-objective optimization model is constructed as follows;

[0099] ,

[0100] (3) The single-objective optimization model is solved by genetic algorithm to obtain the ideal inclination angle that meets the optimization objective under different load G1 conditions. , forming a series of discrete two-dimensional arrays ;

[0101] (4) Create a parameter comparison table or fit a mathematical model based on the large number of two-dimensional arrays solved in the previous step.

[0102] It should be noted that: under the condition of a specified load, the constrained inclination angle satisfied by the above method is usually within a specific range. In this embodiment, the ideal inclination angle is finally determined. Usually it is the middle value of the interval rather than the endpoint value, which can ensure that the crawler outside the pipeline follows the ideal inclination angle. After the initialization settings are performed, even if the inclination angle fluctuates during the subsequent movement process, the operating state of the entire device will still be within the stable range.

[0103] In the more optimized solution of this embodiment, both the driving wheel 32 and the auxiliary wheel 41 are rubber-coated wheels, and the wheel diameter of the driving wheel 32 is larger than the wheel diameter of the auxiliary wheel 41. The rubber-coated wheel has better elasticity and can be deformed appropriately to increase the contact area with the pipeline. In addition, the rubber buffer layer on the surface of the rubber-coated wheel can increase the friction coefficient between the auxiliary road and the driving wheel 32 and the outer wall of the pipeline. Therefore, the rubber-coated wheel helps to improve the reliability and durability of the equipment, and is very suitable for the pipe climbing scenario of this embodiment.

[0104] The pipeline crawler of this embodiment includes multiple electronic control components, and the steady-state control process of the equipment is also inseparable from the posture control of the adjustment arm 2, so sufficient power supply is required during the operation of the equipment. In practical applications, the pipeline crawler of this embodiment can adopt two different energy supply methods. One is to use cable power supply. The rear end of the pipeline crawler is connected to the power supply cable and connected to the mains. The other is to use a self-provided battery for power supply. At this time, the pipeline crawler also includes a rechargeable battery and a corresponding charge and discharge management circuit.

[0105] The pipeline crawler of this embodiment is used to achieve pipeline climbing and perform corresponding operation tasks. Therefore, the operator needs to issue instructions to the device to control it to achieve different actions. Based on this requirement, the controller 100 of this embodiment includes a wireless communication module; the pipeline crawler also includes a remote controller. The remote controller communicates wirelessly with the controller 100, thereby realizing remote control of the pipeline crawler.

[0106] Example 2

[0107] Based on the pipeline crawler provided in Example 1, this embodiment further provides a motion control method for the pipeline crawler, which is used to control the pipeline crawler of Example 1. The pipeline crawler is then used to achieve vertical climbing, horizontal circling and spiral climbing. The control strategies of the above three typical working modes are as follows:

[0108] In the vertical climbing mode, the controller 100, under the premise that the crawler outside the pipeline is in a steady state, issues instructions to the first steering motor 35 and the second steering motor 43, thereby adjusting the forward direction of the driving wheel 32 and the two auxiliary wheels 41 to a state parallel to the extension direction of the pipeline; and then issues instructions to the first drive motor 34 to drive the driving wheel 32 to operate.

[0109] In the horizontal surround mode, the controller 100 issues instructions to the first steering motor 35 and the second steering motor 43 on the premise that the crawler outside the pipeline is in a steady state, thereby adjusting the forward direction of the driving wheel 32 and the two auxiliary wheels 41 to be along the direction of the line connecting the driving wheel 32 and the auxiliary wheels 41; and then issues instructions to the first drive motor 34 to drive the driving wheel 32 to operate.

[0110] In the spiral climbing mode, the controller 100 sends instructions to the first steering motor 35 and the second steering motor 43 under the premise that the crawler outside the pipeline is in a steady state, thereby synchronously adjusting the forward direction of the driving wheel 32 and the two auxiliary wheels 41 to the specified steering angle. Then, a command is issued to the first drive motor 34 to drive the driving wheel 32 to rotate.

[0111] Example 3

[0112] Based on the solution of Example 1, this embodiment further provides a pipeline crawler with an anti-fall function. Fig.11 As shown, compared with the solution of embodiment 1, the pipeline crawler of this embodiment further includes an anti-falling mechanism 7 installed at the lower part of the frame 1. The anti-falling mechanism 7 and the adjustment arm 2 are located on the same side of the frame 1 and are used to clamp the pipeline when the pipeline crawler loses stability and falls.

[0113] Specifically, Fig.12 As shown, the anti-fall mechanism 7 includes a base 71, two arc-shaped clamping arms 72, and two electric push rods 73. The two clamping arms 72 are rotatably connected to the two ends of the base 71, and the two clamping arms 72 are symmetrically arranged to form a clamp-shaped structure. The two electric push rods 73 are respectively used to adjust the angle between the clamping arms 72 and the base 71. The two electric push rods 73 are electrically connected to the controller 100.

[0114] The control strategy of the pipeline external crawler in this embodiment to realize the anti-fall function is as follows:

[0115] The controller 100 obtains the detection signal of the gyroscope 5, and when it is determined that the crawler outside the pipeline is in a critical state of instability, it issues a command to the electric push rod 73 to drive the two clamping arms 72 to tighten the pipeline. The criterion for the control to determine that the crawler outside the pipeline is in an imminent state of instability is that the gyroscope 5 detects a downward acceleration signal during the climbing stage of the equipment.

[0116] In a more optimized solution of this embodiment, the two arc-shaped clamping arms 72 in the anti-falling mechanism 7 can be arranged in an asymmetrical manner, specifically, as follows: Fig.13 As shown, the two clamp arms 72 are installed at different heights in the base 71. At this time, the two clamp arms 72 can achieve a cross-embracing effect similar to that of human arms, thereby achieving a better tightening effect when clamping the pipe and adapting to different pipe diameters.

[0117] Example 4

[0118] Based on the solution of Example 3, this embodiment further provides a pipeline external crawler with stronger performance, which has the function of overcoming obstacles or passing through pipelines with sudden changes in diameter. Specifically, compared with the solution of Example 3, the difference of this embodiment is that the support component 4 in the external pipeline crawler of this embodiment adopts the same mechanism as the crawler component 3 in Example 1, that is, the support component 4 and the crawler component 3 both have the functions of steering and walking.

[0119] Based on this structure, when the pipeline crawler of this embodiment encounters an obstacle or a sudden change in pipe diameter, the lower part of the pipeline crawler can be fixed by the anti-fall mechanism 7. Then, on the one hand, the adjusting arm 2 is controlled to open or hold tightly to adapt to different pipes or obstacles, and on the other hand, the two auxiliary wheels are controlled to rise or fall, so as to pass over the obstacle or the variable diameter section in the pipe.

[0120] In addition, based on the same principle, the pipeline crawler provided in this embodiment can also dynamically adjust the inclination angle by differentially adjusting the driving wheel 32 and the auxiliary road during the climbing process. This can provide the device with more scene adaptability. For example, when the device is used for pipeline painting, the load of the device will change. At this time, the controller 100 can adjust the inclination angle according to the change of the load. This is different from the products in Examples 1 and 3 which only have a specified inclination angle. The regulatory strategies for regulating F1 and F2 under different conditions are essentially different.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline crawler, characterized in that: It includes: Square frame rack, Two adjusting arms are symmetrically mounted on the frame at both ends along the length direction and form a clamping structure for embracing the pipe; each of the adjusting arms is three-section and includes two joints driven by a first power source and a second power source respectively; The crawling assembly comprises a driving wheel, a first driving motor, a first steering motor and a transmission mechanism thereof; the driving wheel is installed in the middle of the frame and is located on the side facing the adjusting arm; the first driving motor is used to drive the driving wheel to operate; The first steering motor is used to drive the driving wheel to steer with a direction perpendicular to the plane of the frame as the axis; Two support assemblies, which are respectively mounted at the ends of the two adjustment arms; each support assembly includes an auxiliary wheel and a second steering motor; the auxiliary wheel faces the inner side of the clamping claw structure; the second steering motor is used to drive the auxiliary wheel to steer; A gyroscope is mounted on the frame; the gyroscope is used to detect the motion information of the frame and the inclination of the connecting direction of the auxiliary wheel and the driving wheel relative to the horizontal direction. ; A pressure sensor, which is mounted on the two auxiliary wheels and is used to detect the pressures F1 and F2 applied by the auxiliary wheels on the pipeline; A controller is electrically connected to the first drive motor, the first steering motor, the gyroscope, the pressure sensor, and the first power source, the second power source, and the second steering motor in the two adjustment arms; the pipeline crawler is tilted and sleeved on the pipeline in a manner that the auxiliary wheels are on the top and the driving wheels are on the bottom to achieve self-locking; the controller is used to obtain detection data from the gyroscope and the pressure sensor, and according to the load G1, the deadweight G2, and the preset target inclination angle of the pipeline crawler, the control targets of the pressures F1 and F2 of the two auxiliary wheels are solved through the following steady-state control model, and then the operating state of the first power source and / or the second power source is adaptively adjusted according to the control target, so that the pipeline crawler is in a steady state: ， In the above formula, l 1 is the distance between the center of the auxiliary wheel and the center of the driving wheel; l 2 It is the distance between the center of the driving wheel and the center of gravity of the equipment; v Indicates the torque difference between the auxiliary wheel and the driving wheel; F L Indicates the clamping force generated by the two adjustment arms through the auxiliary wheels; F N Indicates the supporting force of the driving wheel on the pipeline; Indicates the control rate of the preset fall prevention. >1; Indicates the friction coefficient between the driving wheel and the pipeline; In the steady-state control model, the controllable parameters include F1, F2 and During the application process, the ideal target inclination angle is determined in advance according to different load conditions, and then the pipeline crawler is installed on the pipeline according to the specified target inclination angle in the initial stage, and the first power source and the second power source are instructed according to the pressure F1 and F2 of the two corresponding auxiliary wheels, so that the adjustment arm is in the corresponding squeezing state; in the subsequent operation process, when the diameter of the pipeline changes or passes through the uneven pipe wall, The value of will change. At this time, the squeezing state of the two adjusting arms is dynamically adjusted to change F1 and F2, so that F1, F2 and The value of satisfies the constraints of the steady-state control model again.

2. The pipeline crawler according to claim 1, characterized in that: The crawling assembly includes a first wheel frame, a support plate, a driving wheel, a first driving motor, a first steering motor, a steering transmission assembly and a travel transmission assembly; Wherein, the first wheel frame comprises two side plates and a top plate which are fixedly connected in a "Π" shape; symmetrical first through holes are provided in the two side plates at one end away from the top plate, and symmetrical second through holes are provided at one end close to the top plate; a third through hole is provided in the center of the top plate; the rotating shaft of the driving wheel is rotatably connected to the first wheel frame along the two first through holes; the first driving motor and the first steering motor are connected to the support plate; The travel transmission assembly includes a first pulley, a second pulley, a first belt, a transmission shaft, a first bevel gear and a second bevel gear; the transmission shaft is rotatably connected to the first wheel frame along two second through holes; a second bevel gear is provided at the middle section of the transmission shaft corresponding to the inner side of the first wheel frame; the first pulley and the second pulley are respectively fixedly connected to the end of the rotating shaft of the driving wheel and the end of the transmission shaft, and the two are located on the same side of the first wheel frame and are connected through the first belt transmission; the first bevel gear is located at the inner side of the first wheel frame and is fixedly connected to the output shaft of the first driving motor inserted along the third through hole; the first bevel gear and the second bevel gear are meshed with each other; The steering transmission assembly includes a third pulley, a steering ring and a second belt; the steering ring is fixedly connected to a side of the top plate away from the driving wheel and is concentrically arranged with the third through hole on the first wheel frame; the third pulley is fixedly connected to the output shaft of the first steering motor; the third pulley and the steering wheel are connected via a second belt transmission.

3. The pipeline crawler according to claim 2, characterized in that: The supporting assembly includes an auxiliary wheel, a second wheel frame, a second steering motor, a worm, a turbine, and a steering bracket; the auxiliary wheel is rotatably connected to the second wheel frame; the turbine is fixedly connected to the second wheel frame, and the turbine is parallel to the top plate of the second wheel frame; the combination of the turbine, the second wheel frame and the auxiliary wheel is rotatably connected to the steering bracket; the second steering motor is fixed to the steering bracket, and the output shaft of the second steering motor is connected to the worm shaft; the worm is meshed with the turbine.

4. The pipeline crawler according to claim 1, characterized in that: The adjusting arm comprises a fixed arm, a first movable arm and a second movable arm which are connected end to end and can rotate relative to each other, a first telescopic cylinder for adjusting the angle between the fixed arm and the first movable arm, and a second telescopic cylinder for adjusting the angle between the first movable arm and the second movable arm.

5. The pipeline crawler according to claim 1, characterized in that: The driving wheel and the auxiliary wheel are both rubber-coated wheels, and the wheel diameter of the driving wheel is larger than the wheel diameter of the auxiliary wheel; and / or The pipeline external crawler is powered by a cable or a self-provided battery.

6. The pipeline crawler according to claim 1, characterized in that: The controller includes a wireless communication module; the external pipeline crawler also includes a remote controller; the remote controller communicates wirelessly with the controller, thereby realizing remote control of the external pipeline crawler.

7. The pipeline crawler according to claim 3, characterized in that: It also includes an anti-falling mechanism installed at the lower part of the frame, the anti-falling mechanism and the adjusting arm are located on the same side of the frame, and is used to clamp the pipeline when the pipeline external crawler loses stability and falls; The anti-fall mechanism comprises a base, two arc-shaped clamping arms, and two electric push rods; the two clamping arms are rotatably connected to the two ends of the base, and the two clamping arms are symmetrically arranged to form a clamp-shaped structure; the two electric push rods are respectively used to adjust the angle between the clamping arms and the base; the two electric push rods are electrically connected to the controller; and / or The supporting assembly adopts the same mechanism as the crawling assembly and has both steering and walking functions.

8. The pipeline crawler according to claim 1, characterized in that: The controller pre-stores different loads G1 representing the external pipeline crawler and its ideal inclination angle A parameter comparison table or mathematical model of the mapping relationship between them; and then in the adaptive adjustment process, the ideal inclination angle under the current load condition is determined by table lookup or calculation, and it is used as the preset target inclination angle.

9. The pipeline crawler according to claim 8, characterized in that: Characterization of different loads G1 and ideal inclination angles of pipeline crawlers The method for constructing the parameter comparison table or mathematical model of the mapping relationship between them is as follows: (1) Create the power consumption model P and steady-state control model of the external pipeline crawler: P = p 1+ p 2+ p 3， In the above formula, p 1 ~ p 3 Respectively represent the operating power consumption of the first power source, the second power source and the first drive motor; (2) With the optimization objective of power minimization and the steady-state control model as constraints, a single-objective optimization model is constructed as follows; ， (3) The single-objective optimization model is solved by genetic algorithm to obtain the ideal inclination angle that meets the optimization objective under different load G1 conditions. , forming a series of discrete two-dimensional arrays ; (4) Establish the parameter comparison table or fit the mathematical model based on the large number of two-dimensional arrays solved in the previous step.

10. A motion control method for a crawler outside a pipeline, characterized in that: It is used to control the pipeline crawler as described in any one of claims 1 to 9; the pipeline crawler has three working modes: vertical climbing, horizontal circling and spiral climbing. The control strategies of each working mode are as follows: In the vertical climbing mode, the controller issues instructions to the first steering motor and the second steering motor under the premise that the crawler outside the pipeline is in a steady state, thereby adjusting the forward direction of the driving wheel and the two auxiliary wheels to a state parallel to the extension direction of the pipeline; and then issues instructions to the first driving motor to drive the driving wheel to operate; In the horizontal surround mode, the controller, under the premise that the outer-pipe crawler is in a steady state, issues instructions to the first steering motor and the second steering motor, thereby adjusting the forward direction of the driving wheel and the two auxiliary wheels to be along the connecting direction of the driving wheel and the auxiliary wheels; and then issues instructions to the first driving motor to drive the driving wheel to operate; In the spiral climbing mode, the controller issues instructions to the first steering motor and the second steering motor under the premise that the outer pipeline crawler is in a steady state, thereby synchronously adjusting the forward direction of the driving wheel and the two auxiliary wheels to the specified steering angle. ; Then send a command to the first drive motor to drive the driving wheel to rotate.

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