Deformable pipeline defect detection robot

Abstract

The invention discloses a deformable pipeline defect detection robot. The robot comprises a double-layer chassis, a robot body, a mode switching assembly and a climbing assembly. The mode switching assembly is installed on the double-layer chassis and used for driving part of the chassis structure of the double-layer chassis to deform between the contraction state and the expansion state. The robot main body enables the chassis structure to perform deformation action through the mode switching assembly, and enables the pipeline defect detection robot to be at least switched between a four-wheel drive mode suitable for running in a pipeline and a climbing mode suitable for climbing a ladder; when the robot is switched to the climbing mode, the robot body controls the wheel-shaped structure to deform, so that an intermittent supporting structure suitable for being matched with a ladder is formed on the outer circumference of the wheel-shaped structure. According to the invention, intelligent switching between two functional modes of high-speed movement and autonomous climbing arrangement of the robot in the pipeline is realized, the safety risk caused by personnel descending into a well is thoroughly avoided, and the automation level and the comprehensive efficiency of pipeline detection operation are remarkably improved.

Description

Technical Field

[0001] This invention relates to a pipeline defect detection robot in the field of robotics, and more particularly to a deformable pipeline defect detection robot. Background Technology

[0002] Pipeline internal inspection is a crucial step in ensuring the safe operation of energy transmission, water supply, and drainage systems. Currently, pipeline systems often operate in complex environments, making traditional pipeline inspection equipment ill-suited to these harsh conditions. Existing pipeline robot drive systems are limited, and current pipeline inspections typically involve manual deployment of inspection robots. Pipeline inspection robots are intelligent devices capable of autonomously navigating, inspecting, maintaining, and repairing pipelines. They utilize high-precision sensors and real-time data transmission technology to achieve efficient detection and operation within pipelines.

[0003] However, existing robots have significant limitations when facing complex and ever-changing pipeline environments: their rigid structure and single mode of movement result in poor obstacle-crossing ability, making it difficult to adapt to pipelines of different diameters, silt, or broken sections; more importantly, the deployment and retrieval of robots often require personnel to enter the pipeline well or go deep into narrow spaces for manual operation, which is not only inefficient but also poses huge safety hazards. Summary of the Invention

[0004] To address the technical problems of existing pipeline defect detection robots, such as insufficient obstacle-crossing ability due to their single drive method and reliance on personnel for well entry and exit due to their lack of autonomous operation capabilities, this invention provides a deformable pipeline defect detection robot.

[0005] This invention is achieved using the following technical solution: a deformable pipeline defect detection robot, comprising: Double-layer chassis; The robot body is mounted on the double-layer chassis and is used to detect pipeline defects; A mode switching component is mounted on the double-layer chassis and is used to drive a portion of the chassis structure of the double-layer chassis to deform between a retracted and an expanded state. A climbing component, which is connected to the mode switching component, and has a deformable wheel-shaped structure; The robot body causes the chassis structure to deform via the mode switching component, and switches the pipeline defect detection robot between at least a four-wheel drive mode suitable for driving inside the pipeline and a climbing mode suitable for climbing ladders. When switching to the climbing mode, the robot body controls the wheel structure to deform, so that its outer circumference forms an intermittent support structure suitable for cooperating with the ladder.

[0006] This invention enables intelligent switching between two functional modes for the robot: high-speed movement within pipelines and autonomous climbing and deployment, through the inclusion of mode switching and climbing components. The robot can stably and quickly perform defect detection tasks within pipelines in four-wheel drive mode, and can also autonomously climb ladders to enter and exit pipelines by adaptively changing wheel shapes. This solves the technical problems of existing pipeline defect detection robots, which suffer from insufficient obstacle-crossing ability due to a single drive method, and the reliance on personnel to enter and exit wells due to a lack of autonomous entry and exit capabilities. It completely avoids the safety risks associated with personnel entering wells and significantly improves the automation level and overall efficiency of pipeline inspection operations.

[0007] As a further improvement to the above solution, the climbing component includes multiple climbing wheel sets. Each climbing wheel set includes multiple variable spokes, multiple climbing wheel arc components corresponding to the multiple variable spokes, multiple fixed spokes corresponding to the multiple variable spokes, and a climbing wheel hub. One end of each variable / fixed spoke is rotatably connected to the climbing wheel hub, and the other end is rotatably connected to the corresponding climbing wheel arc component. The variable spokes and the fixed spokes are spaced apart, and the multiple variable spokes are equally spaced, and the multiple fixed spokes are equally spaced. The multiple climbing wheel arc components are located on the same circumference in the four-wheel drive mode. The robot body includes a control board. In the climbing mode, the control board controls the variable spokes to straighten while the fixed spokes remain folded, causing the corresponding climbing wheel arc components to extend radially outward and forming the intermittent support structure with adjacent climbing wheel arc components.

[0008] Furthermore, the double-layer chassis includes an extension plate and a base plate, and the mode switching component includes at least two racks and at least two gears corresponding to the at least two racks respectively; the extension plate and the base plate constitute the chassis structure; multiple climbing wheel sets are rotatably mounted on the extension plate; at least two racks are respectively fixed on opposite sides of the extension plate; each gear meshes with the corresponding rack and rotates to drive the extension plate to move relative to the base plate to achieve the contraction and expansion states.

[0009] Furthermore, the mode switching assembly also includes multiple drive motors corresponding to multiple climbing wheel sets and at least two mode switching motors corresponding to at least two gears; each drive motor is installed inside the extension plate and is used to drive the corresponding climbing wheel hub to rotate; each mode switching motor is installed on the base plate and is used to drive the corresponding gear to rotate.

[0010] Furthermore, the variable spokes include at least two spoke segments 1; one end of one spoke segment 1 is rotatably connected to the wheel hub of the climbing wheel, and the other end is rotatably connected to one end of another spoke segment 1, wherein the other end of the other spoke segment 1 is rotatably connected to the corresponding arc-shaped component of the climbing wheel; the constant spokes include at least two spoke segments 2; one end of one spoke segment 2 is rotatably connected to the wheel hub of the climbing wheel, and the other end is rotatably connected to one end of another spoke segment 2, wherein the other end of the other spoke segment 1 is rotatably connected to the corresponding arc-shaped component of the climbing wheel; wherein, in the climbing mode, at least two spoke segments 1 are energized and extended in the same radial direction on the wheel hub of the climbing wheel, and at least two spoke segments 2 are de-energized and connected in a folded shape.

[0011] Furthermore, the robot body also includes a control box, a top cover, a multi-legged mode battery pack, four servo motors, four mechanical leg bearings corresponding to the four servo motors, four connectors corresponding to the four servo motors, four lower limbs corresponding to the four connectors, and four mechanical legs corresponding to the four lower limbs. The control board and the multi-legged mode battery pack are installed inside the control box, and the top cover is installed on the control box. The control board controls the multi-legged mode battery pack to power the mechanical leg bearings to supply power to the corresponding servo motors, thereby realizing the multi-legged mode. The servo motors are connected to the corresponding lower limbs through the corresponding connectors, and each lower limb is fixedly connected to the corresponding mechanical leg.

[0012] Furthermore, the lower limb has a buffer hole at its bottom end and a friction pad.

[0013] As a further improvement to the above solution, the pipeline defect detection robot also includes: The detection component includes a lidar, a camera, and a detection sensor; the lidar, the camera, and the detection sensor are mounted on the robot body; the lidar is used to generate a specific laser to detect the pipe, the camera is used to capture images inside the pipe, and the detection sensor is used to detect the pipe by sound waves.

[0014] Furthermore, the outer surface of the climbing wheel arc component is provided with anti-slip texture.

[0015] As a further improvement to the above solution, the double-layer chassis is provided with functional holes for installing external auxiliary traction devices.

[0016] Compared to existing pipeline defect detection robots, the deformable pipeline defect detection robot of this invention has the following advantages: 1. This deformable pipeline defect detection robot, through the setting of mode switching components and climbing components, realizes intelligent switching between two functional modes: high-speed movement inside the pipeline and autonomous climbing and deployment. The robot can stably and quickly perform defect detection tasks inside the pipeline in four-wheel drive mode, and can also autonomously climb ladders to enter and exit the pipeline by adaptively changing the shape of its wheels. This solves the technical problems of existing pipeline defect detection robots, which have insufficient obstacle-crossing ability due to a single drive mode, and rely on personnel to go down into the well for operation due to the lack of autonomous entry and exit capabilities. It completely avoids the safety risks brought by personnel going down into the well, and significantly improves the automation level and overall efficiency of pipeline inspection operations.

[0017] 2. This deformable pipeline defect detection robot can move inside pipelines in a multi-legged or four-wheel drive manner, adapting to different pipeline environments and terrains, such as flexibly turning in complex pipeline structures and crossing obstacles. The multi-legged mode uses biomimetic gait control, with alternating movement of multiple legs to overcome obstacles and dynamically adjust stride length and grip to prevent slippage. It adapts to unstructured terrain and complex pipeline environments, exhibiting high stability.

[0018] 3. This deformable pipeline defect detection robot can process acquired images and sensor data in real time to extract useful information, such as the location, size, and shape of defects. Furthermore, the processed data can be transmitted to an operation panel or other devices to accurately identify pipeline defects, quickly determine pipeline problems, and allow workers to understand the pipeline environment and the issues presented on the screen.

[0019] 4. This deformable pipeline defect detection robot can create a map using LiDAR, helping the inspection robot return safely and aiding in route planning, thus avoiding problems caused by insufficient battery life preventing return. Furthermore, in four-wheel drive mode, the robot can activate its climbing mechanism; the climbing wheels unfold, allowing the gaps between the tire blocks to engage ladders for climbing, enabling workers to avoid entering the pipeline and perform pipeline defect inspections from outside the pipeline.

[0020] 5. This deformable pipeline defect detection robot has three movement modes. The robot can switch to four-wheel drive for faster, smoother operation with less camera shake. It can also switch to multi-legged mode, using biomimetic gait control. In this mode, alternating legs allow for obstacle crossing and dynamic adjustment of stride length and grip to prevent slipping, adapting to slippery and uneven surfaces. Finally, it can switch to climbing mode, where climbing wheels unfold, allowing the tires to engage with ladders for climbing, suitable for applications with ladders. Attached Figure Description

[0021] Figure 1This is a three-dimensional schematic diagram of the deformable pipeline defect detection robot of Embodiment 1 of the present invention when the chassis is deployed.

[0022] Figure 2 This is a three-dimensional schematic diagram of the deformable pipeline defect detection robot of Embodiment 1 of the present invention when the chassis is not deployed.

[0023] Figure 3 for Figure 1 A schematic diagram of the climbing device of a deformable pipe defect detection robot climbing stairs.

[0024] Figure 4 for Figure 1 A magnified diagram showing the internal workings during mode switching at point A.

[0025] Figure 5 for Figure 1 A schematic diagram of the climbing wheel assembly of the climbing device of the deformable pipe defect detection robot, before it is deployed.

[0026] Figure 6 for Figure 1 A schematic diagram of the climbing wheel assembly of the climbing device of the deformable pipe defect detection robot.

[0027] Figure 7 This is a schematic diagram of the overall four-wheel drive mode of the deformable pipeline defect detection robot of Embodiment 2 of the present invention.

[0028] Figure 8 This is a schematic diagram of the overall operation of the deformable pipeline defect detection robot according to Embodiment 2 of the present invention.

[0029] Symbol explanation: 1 Climbing assembly 34 Functional hole 2 Mode switching assembly 35 Hollow structure 3 Double-layer chassis 36 Support column 4 Robot body 37 Connecting plate 5 Detection assembly 41 Control box 7 Ladder 42 Upper cover 11 Variable spoke 43 Body 12 Climbing wheel arc piece 44 Mechanical foot bearing 13 Invariant spoke 45 Multi-legged mode battery pack 14 Climbing wheel hub 46 Control panel 15 Driving assembly 51 Laser radar 21 Driving motor 52 Camera 22 Motor bearing 53 Detection sensor 23 Rack 54 Connection part 24 Gear 61 Servo 25 Connecting shaft 62 Mechanical foot 26 Bottom plate 63 Connecting piece 31 Four-wheel drive battery pack 64 Buffer hole 32 Mode switching motor 65 Friction pad 33 Extension plate 66 Lower limbs Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] Example 1 Please see Figures 1-6 This embodiment provides a deformable pipeline defect detection robot, which integrates efficient mobility, powerful obstacle crossing, and autonomous deployment and retrieval capabilities. It is a multi-functional detection robot that can autonomously deform to adapt to pipelines, shafts, and internal obstacles according to the environment. The pipeline defect detection robot includes a climbing component 1, a mode switching component 2, a double-layer chassis 3, and a robot body 4.

[0032] The robot body 4 is mounted on a double-layer chassis 3 and is used to detect pipeline defects. The double-layer chassis 3 consists of upper and lower layers. The upper layer contains multiple multi-legged mode battery packs and mode-switching motors 32. The mode-switching motors 32 are connected to gears 24 shown in the enlarged schematic diagram of the mode-switching device at point "A". The double-layer chassis includes an extension plate 33 and a base plate 26, which together form the chassis structure, i.e., the lower layer. Because the robot body 43 is slightly heavier than the double-layer chassis 3 and to protect the multi-legged mode battery packs 45, multiple support columns 36 are provided for protection. A connecting plate 37 is connected to the robot body 4. It should be noted that in some embodiments, the double-layer chassis 3 can be integrally formed with the robot body 4, or it can be directly part of the robot body 4. The double-layer chassis 3 is made of aluminum alloy.

[0033] In this embodiment, the double-layer chassis 3 is provided with a functional hole 34 for installing an external auxiliary traction device. The main function of the functional hole 34 is to provide certain customized functions. The conventional use is to install a rescue rope, because the general working environment is small and it is not convenient for staff to enter. However, if there is an emergency that causes the inspection robot to malfunction, the inspection robot cannot be abandoned in the pipe. Therefore, the functional hole 34 is preset for rescue or to add other functional components.

[0034] Please continue reading. Figure 5 and Figure 6 The climbing assembly 1 is connected to the mode switching assembly 2 and has a deformable wheel structure. The climbing assembly 1 includes multiple climbing wheel sets, each including multiple variable spokes 11, multiple climbing wheel arc members 12, multiple fixed spokes 13, and a climbing wheel hub 14. The multiple climbing wheel arc members 12 correspond to the multiple variable spokes 11, and the multiple fixed spokes 13 correspond to the multiple variable spokes 11. One end of each variable spoke 11 / fixed spoke 13 is rotatably connected to the climbing wheel hub 14, and the other end is rotatably connected to the corresponding climbing wheel arc member 12. The variable spokes 11 and fixed spokes 13 are spaced apart, and the multiple variable spokes 11 and multiple fixed spokes 13 are equally spaced. In four-wheel drive mode, the multiple climbing wheel arc members 12 are located on the same circumference, and the outer surface of the climbing wheel arc members 12 can be provided with anti-slip textures to increase friction. Of course, anti-slip strips can also be provided on the outer side of the climbing wheel's arc-shaped component 12 to prevent the wheels from slipping during operation. Meanwhile, since this device is located inside a sewer, and its working environment is typically shallow water or complex obstacles, it possesses a certain degree of waterproofing. Each climbing wheel assembly consists of a deformable outer hub and a non-deformable inner hub. The inner hub rotates relative to the outer hub, which can drive the outer tire to be fixed in sections along the circumference. It can use the gaps between the sections to pass through complex obstacle environments and climb ladder 7. The drive motor 21 provides power to the climbing wheel and receives signals from the controller to control the deformation of the climbing wheel.

[0035] Additionally, the robot body 4 includes a control board. In climbing mode, the control board controls the movement of the variable spokes 11 to straighten while the constant spokes 13 remain folded, causing the corresponding climbing wheel arc members 12 to extend radially outward and forming an intermittent support structure with adjacent climbing wheel arc members 12. That is, when the robot needs to climb, the control board sends a signal to control the motor to energize the variable spokes 11, controlling the variable spokes 11 to extend to their maximum extent, while the constant spokes 13 do not receive signals and remain folded, thereby forming a specific angle for the climbing wheel arc members 12 to adapt to and cooperate with the ladder 7.

[0036] In this embodiment, the variable spoke 11 includes at least two spoke segments 1. One end of one spoke segment 1 is rotatably connected to the crawler wheel hub 14, and the other end is rotatably connected to one end of another spoke segment 1, the other end of which is rotatably connected to the corresponding crawler wheel arc member 12. The fixed spoke 13 includes at least two spoke segments 2. One end of one spoke segment 2 is rotatably connected to the crawler wheel hub 14, and the other end is rotatably connected to one end of another spoke segment 2, the other end of which is rotatably connected to the corresponding crawler wheel arc member 12. In crawling mode, at least two spoke segments 1 are energized and extended in the same radial direction of the crawler wheel hub 14, while at least two spoke segments 2 are de-energized and connected in a folded shape.

[0037] The mode switching assembly 2 is mounted on the double-layer chassis 3 and is used to drive a portion of the chassis structure of the double-layer chassis 3 to deform between retracted and extended states. The mode switching assembly 2 includes at least two racks 23 and at least two gears 24, with each gear 24 corresponding to one rack 23. The base plate 26 is located at the bottom of the double-layer chassis 3. Multiple climbing wheel sets are rotatably mounted on the extension plate 33, which has a hollow structure 35 for lightweighting. At least two racks 23 are fixed to opposite sides of the extension plate 33. Each gear 24 meshes with the corresponding rack 23 and rotates to drive the extension plate 33 to move relative to the base plate 26 to achieve retracted and extended states. Extension plates 33 and racks 23 are provided on both sides of the extension plate 33 to ensure that the extension degree on both sides of the extension plate 33 is the same, maintaining balance in four-wheel drive mode, and the position of the gears 24 can be repositioned and installed according to the required extension degree of the extension plate 33.

[0038] In this embodiment, the mode switching component 2 further includes multiple drive components 15 and at least two mode switching motors 32. The multiple drive components 15 correspond to multiple climbing wheel sets, and the at least two mode switching motors 32 correspond to at least two gears 24. The drive motor 21 of each drive component 15 is installed inside the extension plate 33 and is used to drive the corresponding climbing wheel hub 14 to rotate. Here, the climbing component 1 and the drive motor 21 can be connected through a motor bearing 22 and are powered by a four-wheel drive battery pack 31 installed in the double-layer chassis 3. Each mode switching motor 32 is installed on the base plate 26 and is used to drive the corresponding gear 24 to rotate. The drive motor 21 is a TT DC geared motor and is installed inside the extension plate 33, which helps to increase the rigidity of the extension plate. The mode switching motor 32 can be a stepper motor, installed inside the double-layer chassis 3, and connected to the gear 24 through a connecting shaft 25. The gear 24 is driven by a controller signal to make the rack 23 extend or retract with respect to the base plate 26. When the control panel issues a command to extend or retract, the mode switching motor 32 receives the command and controls the motor bearing 22 to rotate in both directions, thereby controlling the extension plate 33 to extend or retract.

[0039] The robot body 4 uses a mode switching component 2 to deform its chassis structure, enabling the pipe defect detection robot to switch between at least a four-wheel drive mode suitable for driving inside pipes and a climbing mode suitable for climbing ladders 7. When switching to climbing mode, the robot body 4 controls the deformation of the wheel structure, causing its outer circumference to form an intermittent support structure suitable for cooperating with ladders 7.

[0040] Therefore, the device is lightweight and easy for workers to transport and carry. During use, its climbing component 1 can work with an iron ladder to move downwards autonomously, solving the problem of limited space when workers carry equipment down into wells, allowing the device to enter sewers autonomously. Inside the pipes or sewers, the battery pack in the double-layer chassis 3 drives the robot body 4 to move as a whole. Thanks to its lightweight design and mode switching component 2, which switches to four-wheel drive mode, the robot can move quickly inside the pipes. During movement, the double-layer chassis 3, under the command of the control panel, powers the climbing component 1, causing it to slowly close and form a complete tire structure; simultaneously, the robot body 4 detects the pipe's condition and observes and identifies the internal conditions of the pipes or sewers in real time.

[0041] In summary, compared with existing pipeline defect detection robots, the deformable pipeline defect detection robot of this embodiment has the following advantages: This deformable pipeline defect detection robot, through the setting of mode switching component 2 and climbing component 1, realizes intelligent switching between two functional modes: high-speed movement inside the pipeline and autonomous climbing and deployment. The robot can stably and quickly perform defect detection tasks inside the pipeline in four-wheel drive mode, and can also autonomously climb ladder 7 to enter and exit the pipeline by adaptively changing the shape of the wheels. It solves the technical problems of existing pipeline defect detection robots, which have insufficient obstacle-crossing ability due to a single drive mode, and rely on personnel to go down into the well for operation due to the lack of autonomous entry and exit capabilities. It completely avoids the safety risks brought by personnel going down into the well, and significantly improves the automation level and overall efficiency of pipeline inspection operations.

[0042] Example 2 Please see Figure 7 and Figure 8 This embodiment provides a deformable pipeline defect detection robot. Based on embodiment 1, the robot adds a detection component 5. In addition, the robot body 4 also includes a control box 41, a top cover 42, a multi-legged mode battery pack 45, four servo motors 54, four mechanical leg bearings 44, four connectors 63, four lower limbs 66, and four mechanical legs 62.

[0043] The robot features four mechanical leg bearings 44 corresponding to four servo motors 54, four connecting parts 63 corresponding to four servo motors 54, four lower limbs 66 corresponding to four connecting parts 63, and four mechanical legs 62 corresponding to four lower limbs 66. The robot has a mode-switching function. When the mode is switched to four-wheel drive, the four mechanical legs 62 retract. Once the mode switch is complete, i.e., after the rack 23 is fixed to the base plate 26, the four mechanical legs 62 are de-energized, and the four wheels begin to operate. The contact parts of the four mechanical legs 62 are friction pads 65, circular in shape and made of rubber, to prevent slippage and secure the robot body.

[0044] The controller module and the multi-legged mode battery pack 45 are installed inside the control box 41, and the top cover 42 is installed on the control box 41. The controller module controls the multi-legged mode battery pack 45 to power the mechanical leg bearings 44, thereby powering the corresponding servo motors 54 to achieve multi-legged mode. The servo motors 54 are connected to the corresponding lower limbs 66 via corresponding connectors 63 and are installed on the body 43. Each lower limb 66 is fixedly connected to the corresponding mechanical leg 62. The bottom end of the lower limb 66 has a buffer hole 64 and a friction pad 65.

[0045] The detection component 5 is mounted above the double-layer chassis 3. The detection component 5 includes a lidar 51, a camera 52, and a detection sensor 53. The lidar 51, camera 52, and detection sensor 53 are mounted on the robot body 4. The camera 52 is mounted on the robot's connecting part 54 (located in the head) and is used to capture images inside the pipe. The camera 52 is connected to an external control panel via a controller wireless module, allowing the external control panel to observe the pipe environment in real time. The lidar 51 and detection sensor 53 are integrated within the camera 52 and can work simultaneously with it. The lidar 51 generates a specific laser to detect the pipe, while the detection sensor 53 (an ultrasonic sensor) detects the pipe using sound waves. The lidar 51 generates a specific laser, which propagates multiple times within the sewer or pipe. When received by the lidar 51, the controller generates a corresponding linear graph, allowing personnel to assess the situation inside the sewer or pipe. Combined with the images displayed by the camera 52, this provides external personnel with a comprehensive understanding of the situation inside the sewer or pipe.

[0046] The detection component 5 can process the acquired images and sensor data in real time, extracting useful information such as the location, size, and shape of defects. The detection component 5 transmits the processed data to the operation panel or other devices, accurately identifying pipeline defects, quickly determining the problems in the pipeline, and allowing personnel to understand the pipeline environment and the problems based on the displayed information. Additionally, the control board 46 can create a map based on the LiDAR 51, helping the inspection robot return safely, aiding in route planning, and avoiding problems caused by insufficient battery life preventing return.

[0047] In this embodiment, the main structure of the multi-legged mode consists of core components such as the controller module (i.e., the control board 46 in Embodiment 1), the servo motor system 54, four mechanical legs 62, a sensor array, and a four-wheel drive chassis. The controller module uses a high-performance Raspberry Pi control board 46, which is responsible for coordinating the operation of peripheral devices such as the servo motor 54 and the camera 52, and realizing overall system control and data processing. The servo motor system 54 consists of a DC coreless motor, 24 sets of reduction gears, a 12-bit magnetic encoder, and an integrated control circuit. It has closed-loop control and planning algorithms, supports high-speed bus communication, can achieve 360-degree omnidirectional angle adjustment, and has real-time feedback and control parameter adjustment functions for parameters such as speed, position, current, and temperature. In addition, the servo motor system 54 optimizes the joint impedance characteristics through a customized joint structure combined with a PID parameter adjustment mechanism, enhancing the flexibility of kinematic gait planning. The shells of the mechanical legs 62 and the controller are made of alloy steel. An operation panel can be provided on the outside of the controller module, and the operation panel is connected to the controller.

[0048] The multi-legged mode will only activate when the four-wheel drive mode ends to prevent motion interference of the mechanical legs 62. The presence of the double-layer chassis 3 provides sufficient space for the mechanical legs 62 to stand upright. When preparing to activate multi-legged mode, the servo motor 54 retracts the mechanical legs 62 until the four-wheel drive mode switch is complete, at which point power is cut off, and the mechanical legs 62 are placed on the extension plate 33. When multi-legged mode is activated, the drive motor 21 first stops working, and then the control board 46 sends a command to the mode switching component 2. The mode switching component 2 controls the extension plate 33 to retract. When the extension plate 33 is fully retracted into the double-layer chassis 3, the control board 46 sends a command to the servo motor 54 to power it on. The mechanical legs 62 then stand upright according to the preset program of the control board 46 and await the next command.

[0049] In multi-legged mode, the four-wheel drive chassis employs a retractable design, with each of the four wheels positioned in the front movement gaps of the four mechanical legs 62. Overall movement is achieved through hub drive, ensuring stable operation of the robot in complex pipe environments. The sensor system, including vision, pressure, and temperature sensors, is integrated into the mechanical legs 62 to collect real-time information on pipe surface defects, providing data support for subsequent image processing and defect identification. This design, by optimizing joint impedance characteristics and combining real-time feedback data from the IMU (Inertial Measurement Unit), achieves dynamic compensation for changes in the center of gravity, ensuring the robot's motion stability and control precision in complex terrain.

[0050] The main structure of the four-wheel drive mode consists of a chassis, TT motors, drive wheels, controllers, sensors, and other core components. The chassis employs a double-layer design. The upper base plate is formed by connecting an aluminum alloy base plate and an aluminum alloy adapter plate with screws and nuts, creating a stable support frame. The lower base plate allows for free extension and retraction via flexible connectors. When entering four-wheel drive mode, the upper base plate unfolds and supports four mechanical feet. An STM32 control board is located in the center of the chassis, responsible for coordinating the motor speed, direction, and drive signal output. The four TT motors are fixed around the upper base plate via motor brackets. The drive wheels are designed as deformable climbing drive wheels. The sensor system, including vision sensors and temperature sensors, is integrated into the drive wheels and chassis.

[0051] The working principle and process are as follows. When the staff needs to perform inspection work, the robot is powered on and the climbing component 1 is activated. It is placed on the ladder 7, and the staff uses the external control panel to make the robot climb downwards. When the robot reaches the bottom of the pipe, the climbing component 1 continues to work until the robot body is completely placed at the bottom of the pipe. Then, the climbing component 1 is de-energized and retracted through the external control panel, forming a complete tire structure. At this time, the four-wheel drive mode is activated, and the control board 46 issues a command to power the drive motor 21, allowing it to move quickly in a flat environment. At the same time, the lidar 51 and camera 52 continue to work. The lidar 51 is responsible for laser mapping and planning the return route, while the camera 52 transmits images in real time and takes pictures of the inside of the pipe to identify defects. When the camera 52 detects an obstacle ahead, it will issue a warning to remind the staff. The staff then judges the situation based on the transmitted images. If the obstacle can be overcome, and if so, a command is sent to the control board 46 to switch to multi-legged mode. Before switching to multi-legged mode, the four-wheel drive mode needs to be exited. The mode switching component 2 starts the mode switching motor 32, retracts the extension plate 33 to the double-layer chassis 3, and then cuts off the power to the drive motor 21. After that, the multi-legged mode is activated, and the control board 46 sends a command to power the servo motor 54. The mechanical legs 62 stand upright and move straight to overcome the obstacle according to the predetermined program. Subsequent mode switching is performed as needed. When the control board 46 analyzes the image established by the lidar 51 and finds that the endurance just supports the return trip, it will issue a warning and upload it to the external control panel to remind whether to return. The operator can issue a command to continue moving forward or return as needed. If an unexpected situation occurs that makes it impossible to retrieve the detection robot, it can also be retrieved through the traction rope set in the functional hole 34. This embodiment realizes dynamic climbing and intelligent mode switching through modular design. Combined with the collaborative work of lidar 51 and camera 52, it takes into account both high-precision navigation and flexible obstacle avoidance capabilities, meeting the detection needs in complex environments.

[0052] Compared with existing pipeline defect detection robots, the deformable pipeline defect detection robot of this embodiment has the following advantages: 1. This deformable pipeline defect detection robot can move inside pipelines in a multi-legged or four-wheel drive manner, adapting to different pipeline environments and terrains, such as flexibly turning and crossing obstacles in complex pipeline structures. The multi-legged mode utilizes biomimetic gait control, with alternating movement of multiple legs to overcome obstacles and dynamically adjust stride length and grip to prevent slippage. It adapts to unstructured terrain and complex pipeline environments, exhibiting high stability.

[0053] 2. This deformable pipeline defect detection robot can process acquired images and sensor data in real time to extract useful information, such as the location, size, and shape of defects. Furthermore, the processed data can be transmitted to an operation panel or other devices to accurately identify pipeline defects, quickly determine pipeline problems, and allow workers to understand the pipeline environment and the issues presented on the screen.

[0054] 3. This deformable pipeline defect detection robot can create a map based on the LiDAR 51, helping the inspection robot return safely and aiding in planning inspection routes, thus avoiding the problem of being unable to return due to insufficient battery life. Moreover, in four-wheel drive mode, the robot can activate its climbing device, i.e., the climbing wheels unfold, allowing the gaps between the outer blocks of the tires to engage with the ladder 7 for climbing, enabling personnel to avoid entering the pipeline layout and to perform pipeline defect inspections detached from the pipeline.

[0055] 4. This deformable pipeline defect detection robot has three movement modes. The robot can switch to four-wheel drive mode, which offers higher speed, smoother operation, and less camera shake. It can also switch to multi-legged mode, using biomimetic gait control. In this mode, alternating legs allow for obstacle crossing and dynamic adjustment of stride length and grip to prevent slipping, adapting to slippery and uneven surfaces. Finally, it can switch to climbing mode, where climbing wheels unfold, allowing the tire outer blocks to engage with ladders for climbing, suitable for situations with ladders.

[0056] Example 3 This embodiment provides a robot deformation method, which is applied to the deformable pipe defect detection robot in embodiment 1 or 2. The method includes the following steps: the chassis structure is deformed by the mode switching component 2, and the pipe defect detection robot is switched between at least a four-wheel drive mode suitable for driving in the pipe and a climbing mode suitable for climbing the ladder 7; when switching to the climbing mode, the robot body 4 controls the deformation of the wheel structure so that its outer circumference forms an intermittent support structure suitable for cooperating with the ladder 7.

[0057] Example 4 This embodiment provides a method for using a robot, which is applied to the deformable pipe defect detection robot in Embodiment 2. The method mainly includes the following steps: (1) When the worker needs to perform inspection work, the robot is powered on and the climbing component 1 is activated and placed on the ladder 7; (2) The robot is made to climb downwards through the external control panel. When the robot is detected to have descended to the bottom of the pipe, the climbing component 1 continues to work until the robot body is completely placed at the bottom of the pipe; (3) The climbing component 1 is de-energized and retracted through the external control panel to form a complete tire structure; (4) The four-wheel drive mode is activated, and the control board 46 issues a command to power on the drive motor 21 to work quickly in a flat environment. At the same time, the laser radar 51 and the camera 52 continue to work. The laser radar 51 is responsible for laser mapping and planning the return route, and the camera 52 transmits images in real time and takes pictures of the inside of the pipe to identify defects; when the camera 52 identifies a defect, the robot is activated to retract the robot. If there is an obstacle ahead, a warning will be issued to remind the staff. The staff will judge whether the obstacle can be passed based on the transmitted image. If it is judged that it can be passed, a command will be issued to the control board 46 to start switching to multi-leg mode; (5) Before switching to multi-leg mode, exit the four-wheel drive mode. The mode switching component 2 starts the mode switching motor 32, retracts the extension plate 33 to the double-layer chassis 3 and then cuts off the power to the drive motor 21; (6) When the multi-leg mode is started, the control board 46 issues a command to power on the servo motor 54 and controls the mechanical leg 62 to stand and move straight to cross the obstacle according to the predetermined program. The mode will be switched again as needed; When the control board 46 analyzes the image established by the laser radar 51 and finds that the endurance just supports the return trip, a warning will be issued and uploaded to the external control panel to remind whether to return. The command will be issued to continue forward or return as needed.

[0058] 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 within the protection scope of the present invention.

Claims

1. A deformable pipeline defect detection robot, characterized in that, It includes: Double-layer chassis; The robot body is mounted on the double-layer chassis and is used to detect pipeline defects; A mode switching component is mounted on the double-layer chassis and is used to drive a portion of the chassis structure of the double-layer chassis to deform between a retracted and an expanded state. A climbing component, which is connected to the mode switching component, and has a deformable wheel-shaped structure; The robot body causes the chassis structure to deform via the mode switching component, and switches the pipeline defect detection robot between at least a four-wheel drive mode suitable for driving inside the pipeline and a climbing mode suitable for climbing ladders. When switching to the climbing mode, the robot body controls the wheel structure to deform, so that its outer circumference forms an intermittent support structure suitable for cooperating with the ladder.

2. The deformable pipeline defect detection robot as described in claim 1, characterized in that, The climbing assembly includes multiple climbing wheel sets. Each climbing wheel set includes multiple variable spokes, multiple climbing wheel arc components corresponding to the variable spokes, multiple fixed spokes corresponding to the variable spokes, and a climbing wheel hub. One end of each variable / fixed spoke is rotatably connected to the climbing wheel hub, and the other end is rotatably connected to the corresponding climbing wheel arc component. The variable spokes and fixed spokes are spaced apart, and the variable spokes and fixed spokes are equally spaced. The multiple climbing wheel arc components are located on the same circumference in the four-wheel drive mode. The robot body includes a control board. In the climbing mode, the control board controls the variable spokes to straighten while the fixed spokes remain folded, causing the corresponding climbing wheel arc components to extend radially outward and forming the intermittent support structure with adjacent climbing wheel arc components.

3. The deformable pipeline defect detection robot as described in claim 2, characterized in that, The double-layer chassis includes an extension plate and a base plate. The mode switching component includes at least two racks and at least two gears corresponding to the racks. The extension plate and the base plate constitute the chassis structure. Multiple climbing wheel sets are rotatably mounted on the extension plate. At least two racks are fixed on opposite sides of the extension plate. Each gear meshes with the corresponding rack and rotates to drive the extension plate to move relative to the base plate to achieve the contraction and expansion states.

4. The deformable pipeline defect detection robot as described in claim 3, characterized in that, The mode switching assembly further includes multiple drive motors corresponding to multiple climbing wheel sets and at least two mode switching motors corresponding to at least two gears; each drive motor is installed inside the extension plate and is used to drive the corresponding climbing wheel hub to rotate; each mode switching motor is installed on the base plate and is used to drive the corresponding gear to rotate.

5. The deformable pipeline defect detection robot as described in claim 2, characterized in that, The variable spokes include at least two spoke segments 1; one end of one spoke segment 1 is rotatably connected to the wheel hub of the climbing wheel, and the other end is rotatably connected to one end of another spoke segment 1, wherein the other end of the other spoke segment 1 is rotatably connected to the corresponding arc component of the climbing wheel; the fixed spokes include at least two spoke segments 2; one end of one spoke segment 2 is rotatably connected to the wheel hub of the climbing wheel, and the other end is rotatably connected to one end of another spoke segment 2, wherein the other end of the other spoke segment 1 is rotatably connected to the corresponding arc component of the climbing wheel; wherein, in the climbing mode, at least two spoke segments 1 are energized and extended in the same radial direction on the wheel hub of the climbing wheel, and at least two spoke segments 2 are de-energized and connected in a folded shape.

6. The deformable pipeline defect detection robot as described in claim 2, characterized in that, The robot body also includes a control box, a top cover, a multi-legged mode battery pack, four servo motors, four mechanical leg bearings corresponding to the four servo motors, four connectors corresponding to the four servo motors, four lower limbs corresponding to the four connectors, and four mechanical legs corresponding to the four lower limbs. The control board and the multi-legged mode battery pack are installed inside the control box, and the top cover is installed on the control box. The control board controls the multi-legged mode battery pack to power the mechanical leg bearings to supply power to the corresponding servo motors, thereby realizing the multi-legged mode. The servo motors are connected to the corresponding lower limbs through the corresponding connectors, and each lower limb is fixedly connected to the corresponding mechanical leg.

7. The deformable pipeline defect detection robot as described in claim 6, characterized in that, The lower limb has a buffer hole at its bottom and a friction pad.

8. The deformable pipeline defect detection robot as described in claim 1, characterized in that, The pipeline defect detection robot also includes: The detection component includes a lidar, a camera, and a detection sensor; the lidar, the camera, and the detection sensor are mounted on the robot body; the lidar is used to generate a specific laser to detect the pipe, the camera is used to capture images inside the pipe, and the detection sensor is used to detect the pipe by sound waves.

9. The deformable pipeline defect detection robot as described in claim 2, characterized in that, The outer surface of the climbing wheel arc component is provided with anti-slip texture.

10. The deformable pipeline defect detection robot as described in claim 1, characterized in that, The double-layer chassis is provided with functional holes for installing external auxiliary traction devices.

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