Bionic self-sensing deformable pipeline robot and using method thereof

Abstract

The invention discloses a bionic self-sensing deformable pipeline robot and a using method thereof.The bionic self-sensing deformable pipeline robot comprises a robot shell, multiple thorn feet are distributed on the periphery of the robot shell in an array mode, and a vibration module used for driving the thorn feet and an electric heating module used for deformation control over the thorn feet are arranged in the robot shell; a control center, a communication module and an energy module are further arranged in the robot shell. The vibration module, the electric heating module and the communication module are electrically connected with the control center. A multifunctional detection unit is further integrated at the end of the robot shell and electrically connected with the control center and the energy module. According to the robot, the motion adaptability of the robot in a pipeline and the environment sensing capacity of the robot can be improved, and the robot can move in a narrow pipeline space easily.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection and maintenance technology, specifically to a biomimetic self-sensing deformable pipeline robot and its usage method. Background Technology

[0002] In industrial production, daily life, medical care, and aerospace, various pipelines play a crucial role, acting like a hidden "vascular network." In industrial settings, the high-temperature, high-pressure pipeline systems of the petrochemical industry must withstand temperatures exceeding 800°C and extreme pressures of 20 MPa, while also precisely transporting highly corrosive chemical raw materials such as concentrated sulfuric acid and liquid chlorine. The slightest carelessness can lead to leaks. Urban water supply systems extend for hundreds of kilometers, from underground pipe corridors to secondary water supply facilities in high-rise buildings. The sealing of every joint and the anti-aging properties of the pipe walls directly affect the safety of residents' water supply.

[0003] The medical field places extremely stringent requirements on the precision and safety of pipeline systems. Take dialysis equipment as an example: its tubing system needs to precisely replace 400-500 ml of blood with dialysate per minute; any pressure fluctuation can disrupt the solute exchange balance. Ventilator gas delivery tubing uses food-grade silicone material with a surface roughness controlled to Ra≤0.2μm to ensure zero particulate contamination, creating a lifeline for critically ill patients. In the aerospace field, aircraft fuel pipeline systems must stably deliver fuel at a flow rate of 10 m / s in the stratospheric cryogenic environment of -55℃; spacecraft propellant delivery pipelines must withstand the ultra-low temperature of liquid oxygen at -183℃ and the high pressure of 30 MPa; even the slightest flaw could lead to rocket launch failure.

[0004] To ensure the safe operation of these pipelines and avoid safety accidents or resource waste caused by pipeline corrosion, blockage, and leakage, regular inspection and maintenance of the pipeline interior is an indispensable part. Currently, pipeline inspection faces complex challenges: the scale layer inside industrial pipelines can reach 5-10mm in thickness, forming hidden corrosion pits; microbial growth in medical pipelines can form biofilms on the pipe walls, which are difficult to detect using conventional methods; and tiny cracks in aerospace pipelines can rapidly propagate under extreme temperature differences. Currently, pipeline robots, with their non-invasive inspection advantages, are playing an increasingly important role in the field of pipeline inspection. However, existing pipeline robot technology still has many shortcomings that urgently need to be addressed. Traditional pipeline robots mostly adopt a fixed structure design, making it difficult to adapt to complex and changing pipeline environments: their rigid robotic arms cannot adapt to pipe diameters ranging from DN15 precision instrument pipelines to DN2000 municipal drainage pipelines, as well as irregularly shaped pipelines with ellipticity errors of up to 15%; in the serpentine pipelines of petrochemical plants, they often get stuck due to insufficient turning radius; and in the spiral drainage pipelines of high-rise buildings, they cannot achieve stable axial movement.

[0005] On the other hand, most robots lack advanced self-sensing systems, making it impossible to acquire critical environmental information such as temperature, pressure, humidity, and gas composition within pipelines in real time. For example, in medical pipeline inspection, pressure fluctuations exceeding ±5 mmHg in dialysis tubing can trigger air embolism risks, while existing robots' pressure sensors only achieve an accuracy of ±10 mmHg. In the aerospace field, ordinary sensors struggle to detect initial ppm-level changes in combustible gas concentration in fuel pipeline leaks. In the gas transportation sector, immediate alarms are required when methane leaks in urban gas networks reach 25% of the lower explosive limit, but most robots' catalytic combustion sensors have a response time as long as 30 seconds, failing to meet emergency needs. These technological shortcomings severely restrict the reliability and timeliness of pipeline inspection. Summary of the Invention

[0006] The purpose of this invention is to address the problems of poor adaptability of existing pipeline robots to different pipelines and lack of environmental self-awareness, and to provide a biomimetic self-aware deformable pipeline robot and its usage method, so as to improve the robot's motion adaptability and environmental awareness within the pipeline.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A biomimetic self-sensing deformable pipe robot includes a robot shell with a spiky foot arrayed around its periphery. Inside the robot shell is a vibration module for driving the spiky foot and an electrothermal module for controlling the deformation of the spiky foot. The robot shell also houses a control center, a communication module, and an energy module. The vibration module, the electrothermal module, and the communication module are electrically connected to the control center, and the energy module provides power to the vibration module, the electrothermal module, the communication module, and the control center. A multi-functional detection unit is integrated at the end of the robot shell, and the detection unit is electrically connected to the control center and the energy module.

[0008] This biomimetic self-sensing deformable pipe robot has advantages such as strong adaptability and good environmental self-sensing ability, which can improve the robot's motion adaptability in pipes and its ability to perceive the environment; moreover, its compact structure is conducive to the robot's movement in narrow pipe spaces.

[0009] By incorporating the multi-spiked feet on the robot's outer shell, the friction between the robot and the inner wall of the pipe can be effectively increased, enhancing the stability of the robot's movement within the pipe. The vibration module can transmit vibrational energy to the multi-spiked feet to drive their movement, enabling the entire pipe robot to move. The electrothermal heating module allows for shape modification of the multi-spiked feet, enabling the robot to adapt to pipes of different diameters and shapes, thus improving its environmental adaptability.

[0010] This biomimetic self-sensing deformable pipe robot, through its biomimetic structural design, can adjust its own shape in real time according to the inner diameter and shape of the pipe. Its flexible and adaptive frame can move freely in irregularly shaped pipes, such as achieving millimeter-level fine-tuning of steering in serpentine pipes. Even when facing spiral pipes, it can maintain stable forward movement through dynamic deformation, greatly expanding the detection coverage.

[0011] Furthermore, the robot shell has a streamlined cylindrical structure with a circular, elliptical, or polygonal cross-section, and the outer surface of the robot shell is provided with a corrosion-resistant and wear-resistant nano-coating.

[0012] Furthermore, the spiky foot is inspired by the array of barbs on the surface of foxtail grass fruit, and a number of spiky feet are evenly arranged on the outer periphery of the robot shell using 3D printing technology.

[0013] Furthermore, the multi-spiked foot is made of a composite conductive polymer material, with the polymer material as the matrix and conductive nanoparticles of a predetermined mass fraction doped by nano-blending technology.

[0014] Furthermore, the vibration module is a vibration motor or a piezoelectric vibrating plate, which transmits vibration energy to the multi-spiked foot so that the multi-spiked foot rubs against the surface of the object to be attached during vibration.

[0015] Furthermore, the electrothermal heating module is a flexible resistance wire array installed on the inner wall of the robot shell. When energized, it generates Joule heating and transfers the heat to the multi-spined foot to soften it. The power density of the flexible resistance wire array is 15W / cm² to 100W / cm², and it is equipped with a PID temperature control system.

[0016] Furthermore, the communication module is a WiFi, Bluetooth, or 5G plus Bluetooth dual-mode wireless communication module, with a built-in adaptive antenna system to automatically adjust the transmission power according to the signal strength.

[0017] Furthermore, the control center is based on an ARM Cortex-M7 core and integrates an FPGA coprocessor to collect robot operating status data in real time through a distributed sensor network; the energy module is a rechargeable lithium battery.

[0018] Furthermore, the detection unit includes an industrial-grade CMOS image sensor, an LED ring light, and a fisheye lens integrated into the front end of the robot's shell.

[0019] A method of using a biomimetic self-sensing deformable pipe robot, wherein the method of use is as follows: The robot is placed in the pipe to be inspected. The vibration module obtains energy from the energy module and starts to vibrate, which drives the robot shell to vibrate. During the vibration process, the telescopic robot shell transmits the vibration to the multi-spiked feet. The multi-spiked feet rub against the inner wall of the pipe to achieve robot movement. During the robot's movement, the detection unit observes the changes in the pipe in real time. When the pipe becomes narrow, the electrothermal heating module is activated to heat the root of the telescopic multi-spiked foot, making the root of the multi-spiked foot soft. Under the vibration and compression of the vibration module, the tilt angle of the multi-spiked foot decreases, thereby changing the radial dimension of the entire robot. As the robot moves inside the pipeline, the detection unit also automatically identifies and marks the locations of cracks and corrosion defects in the pipeline.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The biomimetic self-sensing deformable pipe robot has the advantages of strong adaptability and good environmental self-sensing ability, which can improve the robot's motion adaptability and environmental perception ability in the pipe; moreover, its compact structure is conducive to the robot's movement in narrow pipe spaces; 2. By setting the multi-spiked feet on the robot shell, the friction between the robot and the inner wall of the pipe can be effectively increased, enhancing the stability of the robot's movement in the pipe; the vibration module can transmit vibration energy to the multi-spiked feet to drive the movement of the multi-spiked feet, realizing the movement of the entire pipe robot; the shape change of the multi-spiked feet can be realized through the electrothermal heating module, enabling the robot to adapt to pipes of different diameters and shapes, improving the robot's environmental adaptability; 3. The control center can establish a connection with each module, receive data from each module, and provide... 4. Various control commands, through preset control programs, enable the autonomous movement of the pipeline robot; 5. The detection unit can not only monitor environmental parameters in real time, but also synchronously calibrate detection data during shape changes, further improving detection efficiency and ensuring the reliability and timeliness of detection; 6. The multi-spurted feet are made of conductive polymer materials with thermally induced shape memory properties, which can reflect temperature changes through resistance changes, enabling the robot to have self-sensing ability to environmental temperature, eliminating the need for additional temperature sensors, simplifying the robot structure and reducing costs; 7. This biomimetic self-sensing deformable pipeline robot, through biomimetic structural design, can adjust its own shape in real time according to the inner diameter and shape of the pipeline. Its flexible and adaptive frame can move freely in irregularly shaped pipelines, such as achieving millimeter-level fine-tuning steering in serpentine pipelines, and even when facing spiral pipelines, it can maintain stable forward movement through dynamic deformation, greatly expanding the detection coverage. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a biomimetic self-sensing deformable pipeline robot according to the present invention; Figure 2 This is a schematic diagram of the internal structure of a biomimetic self-sensing deformable pipeline robot according to the present invention; Figure 3 This is a schematic diagram illustrating the deformation of a biomimetic self-sensing deformable pipe robot according to the present invention. Figure 4 This is a schematic diagram of the deformation of the root of the multi-spined foot under heat according to the present invention; Figure 5 This is a schematic diagram illustrating the shape-memory mechanism of the multi-spined foot of the present invention at different temperatures; Figure 6 This is a schematic diagram illustrating how the robot moves forward and backward by changing the angle of the multi-spiked feet and the vibration frequency according to the present invention. Figure 7 This is a schematic diagram illustrating how the robot achieves turning by changing the angle of the multi-spiked foot on one side according to the present invention; Figure 8 This is a schematic diagram illustrating how the robot turns using different vibration frequencies of the front and rear vibration motors according to the present invention. In the diagram: 1. Robot shell; 2. Vibration module; 3. Communication module; 4. Control center; 5. Detection unit; 6. Electrothermal heating module; 7. Lithium battery; 8. Multi-spiky feet. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Example 1: A biomimetic self-sensing deformable pipe robot is provided, such as... Figure 1 and Figure 2As shown, the robot includes a robot shell 1, with a spiky foot 8 distributed in an array around its outer periphery. Inside the robot shell 1 is a vibration module 2 for driving the spiky foot 8, and an electrothermal heating module 6 for controlling the deformation of the spiky foot 8. The robot shell 1 also includes a control center 4, a communication module 3, and an energy module. The vibration module 2, the electrothermal heating module 6, and the communication module 3 are electrically connected to the control center 4, and the energy module provides power to the vibration module 2, the electrothermal heating module 6, the communication module 3, and the control center 4. At the end of the robot shell 1, a multi-functional detection unit 5 is integrated, which is electrically connected to the control center 4 and the energy module.

[0025] This biomimetic self-sensing deformable pipe robot has advantages such as strong adaptability and good environmental self-sensing ability, which can improve the robot's motion adaptability in pipes and its ability to perceive the environment; moreover, its compact structure is conducive to the robot's movement in narrow pipe spaces.

[0026] By providing the multi-spiked feet 8 on the robot's outer shell 1, the friction between the robot and the inner wall of the pipe can be effectively increased, enhancing the stability of the robot's movement within the pipe. The vibration module 2 can transmit vibration energy to the multi-spiked feet 8 to drive their movement, enabling the entire pipe robot to move. The shape of the multi-spiked feet 8 can be changed through the electrothermal heating module 6, allowing the robot to adapt to pipes of different diameters and shapes, thus improving the robot's environmental adaptability.

[0027] The control center 4 can establish connections with various modules, receive data from each module, and issue various control commands. Through a preset control program, it can achieve autonomous movement of the pipeline robot. The detection unit 5 is not only a functional module for detecting pipelines, but also can identify the internal environment of the pipeline, assisting the pipeline robot to move better within the pipeline. By integrating these modules, this robot can not only monitor environmental parameters in real time, but also synchronously calibrate detection data during morphological changes, further improving detection efficiency and ensuring the reliability and timeliness of detection.

[0028] This biomimetic self-sensing deformable pipe robot, through its biomimetic structural design, can adjust its own shape in real time according to the inner diameter and shape of the pipe. Its flexible and adaptive frame can move freely in irregularly shaped pipes, such as achieving millimeter-level fine-tuning of steering in serpentine pipes. Even when facing spiral pipes, it can maintain stable forward movement through dynamic deformation, greatly expanding the detection coverage.

[0029] Furthermore, the robot shell 1 has a streamlined cylindrical structure with a cross-section that is circular, elliptical, or polygonal (such as quadrilateral, hexagonal, or other polygonal shapes), and the outer surface of the robot shell 1 is provided with a corrosion-resistant and wear-resistant nano-coating.

[0030] This design gives the robot a streamlined cylindrical shape, which is beneficial for moving through pipes. Its outer diameter can be adjusted according to requirements. The robot's shell is made of lightweight and high-strength materials and its surface is treated with a special nano-coating, which has both corrosion resistance and wear resistance.

[0031] Furthermore, the spiny foot 8 is based on the barb array pattern on the surface of foxtail grass fruit, and a number of spiny feet are evenly arranged on the outer periphery of the robot shell 1 using 3D printing technology.

[0032] This biomimetic design allows for the formation of regularly arranged spikes on the outer periphery of the robot's shell. By controlling these spikes, the robot can stably attach to complex environments such as horizontal, vertical, and inclined pipes, achieving slip-free climbing at angles of ±90°. The biomimetic multi-spiky structure effectively increases the friction between the robot and the inner wall of the pipe, enhancing the robot's stability during movement within the pipe.

[0033] Furthermore, the multi-spined foot 8 is made of a composite conductive polymer material, with the polymer material as the matrix and conductive nanoparticles of a predetermined mass fraction doped through nano-blending technology. The polymer material can be polylactic acid, polycaprolactone, polyurethane, etc., and the conductive nanoparticles can be metal nanoparticles, carbon black, carbon nanotubes, graphene, etc.

[0034] The multi-spined foot 8 fabricated in this way possesses a micro-nano ultrasensitive structure, enabling it to generate good friction with the substrate and also exhibiting thermally induced shape memory characteristics. Figures 3-5 As shown, the shape of the multi-spined foot 8 can be memorized at different temperatures. By changing the temperature of the multi-spined foot 8 through the electrothermal heating module 6, the shape of the multi-spined foot 8 can be changed, enabling the robot to adapt to pipes of different diameters and shapes, thus improving the robot's environmental adaptability.

[0035] This composite conductive polymer material can also reflect temperature changes through changes in resistance, enabling the robot to have the ability to sense ambient temperature without the need for additional temperature sensors, thus simplifying the robot's structure and reducing costs.

[0036] Furthermore, the vibration module 2 is a vibration motor or a piezoelectric vibrating plate, which transmits vibration energy to the multi-spiked foot 8 so that the multi-spiked foot 8 rubs against the surface of the object to be attached during vibration.

[0037] During vibration, the multi-spiked feet rub against the pipe wall. Due to the anisotropy of friction, the multi-spiked feet 8 can propel the robot as a whole during vibration. There can be multiple vibration motors or piezoelectric vibrators, distributed in multiple parts such as the front, middle, and rear of the robot shell. Each vibration motor or piezoelectric vibrator can be controlled and used independently, or can vibrate in unison under command.

[0038] Furthermore, the electrothermal heating module 6 is a flexible resistance wire array installed on the inner wall of the robot shell 1. When energized, it generates Joule heating and transfers the heat to the spiny foot 8 to soften the spiny foot. The power density of the flexible resistance wire array is 15W / cm² to 100W / cm², and it is equipped with a PID temperature control system.

[0039] With the above settings, the electrothermal module 6 can raise the temperature of the spiny foot 8 from room temperature to its glass transition temperature in a short time, achieving rapid morphological transformation. For example, a flexible resistance wire with a power density of 15W / cm² can heat the root of the spiny foot, allowing it to quickly rise to its glass transition temperature, softening the root and changing the tilt angle of the spiny foot structure, thus altering the overall shape of the robot.

[0040] Furthermore, the communication module 3 is a WiFi, Bluetooth, or 5G plus Bluetooth dual-mode wireless communication module, supporting beyond-line-of-sight data transmission up to 1000 meters, and has a built-in adaptive antenna system to automatically adjust the transmission power according to the signal strength.

[0041] Furthermore, the control center 4 is based on an ARM Cortex-M7 core and integrates an FPGA coprocessor, which has a data processing capability of 100,000 times per second and collects robot operating status data in real time through a distributed sensor network. The energy module is equipped with a high-energy-density lithium battery 7, the battery capacity of which can be configured according to the workload. It has a built-in intelligent charging management chip and supports wireless charging.

[0042] Furthermore, the detection unit 5 includes an industrial-grade CMOS image sensor, an LED ring light, and a fisheye lens integrated into the front end of the robot shell 1.

[0043] Specifically, the robot's front end integrates a multi-functional detection unit. The camera module uses an industrial-grade CMOS image sensor, which has high-definition imaging capabilities. The built-in LED ring light can provide uniform illumination in completely dark environments. This module supports 180° electric rotation and ±45° pitch adjustment, and together with the fisheye lens, it can achieve 360° panoramic coverage of the inside of the pipeline. The acquired image data is compressed using H.265 encoding technology, which improves transmission efficiency by 50%. It also supports real-time image enhancement algorithms, which can automatically identify and mark the location of pipeline cracks, corrosion, and other defects.

[0044] When this pipeline robot is working, the vibration module 2 obtains energy from the lithium battery 7 and begins to vibrate. The vibration module is installed on the robot shell 1, which drives the robot shell 1 to vibrate. During the vibration process, the robot shell 1 transmits the vibration to the multi-spiked feet 8. The multi-spiked feet 8 move forward by rubbing against the inner wall of the pipe. During this process, the camera module installed on the robot's head can observe the changes in the pipe in real time. When the pipe becomes narrow, the electrothermal heating module 6 is activated to heat the root of the multi-spiked feet 8, making the root of the multi-spiked feet 8 soft. Then, under the vibration and compression of the vibration module 2, the tilt angle of the multi-spiked feet 8 decreases, thereby reducing the radial dimension of the entire robot, allowing it to pass through narrower pipes.

[0045] Example 2: A method for using a biomimetic self-sensing deformable pipeline robot.

[0046] The method of use is as follows: the robot is placed in the pipe to be tested, the vibration module obtains energy from the energy module and starts to vibrate, which drives the robot shell to vibrate. During the vibration process, the telescopic robot shell transmits the vibration to the multi-spiked feet, and the multi-spiked feet rub against the inner wall of the pipe to realize the movement of the robot. During the robot's movement, the detection unit observes the changes in the pipe in real time. When the pipe becomes narrow, the electrothermal heating module is activated to heat the root of the telescopic multi-spiked foot, making the root of the multi-spiked foot soft. Under the vibration and compression of the vibration module, the tilt angle of the multi-spiked foot decreases, thereby changing the radial dimension of the entire robot. As the robot moves inside the pipeline, the detection unit also automatically identifies and marks the locations of cracks and corrosion defects in the pipeline.

[0047] During robot movement, the multi-spiked legs can be controlled to make the robot move forward, backward, or turn in the following ways.

[0048] like Figure 6 As shown, the robot can move forward or backward by changing the vibration frequency of the vibration module or by changing the angle of the multi-spur feet through the electrothermal module, or by adjusting the parameters of both the vibration module and the electrothermal module simultaneously.

[0049] like Figure 7 and Figure 8 As shown, the robot turns in different directions by controlling the spikes positioned symmetrically on the left and right sides of the robot's shell. When turning to the left, the angle between the left spike and the robot shell decreases (this angle can be changed by heating the spike on one side using the electrothermal module); when turning to the right, the angle between the right spike and the robot shell decreases. Alternatively, vibration motors can be installed at the front and rear positions inside the robot shell, and the robot's turning can be controlled by the different vibration frequencies and modes of the two motors.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A biomimetic self-sensing deformable pipe robot, comprising a robot shell, characterized in that, The robot shell has a spiky foot array distributed around its outer periphery. Inside the robot shell is a vibration module for driving the spiky foot and an electrothermal module for controlling the deformation of the spiky foot. The robot shell also houses a control center, a communication module, and an energy module. The vibration module, the electrothermal module, and the communication module are electrically connected to the control center. The energy module provides power to the vibration module, the electrothermal module, the communication module, and the control center. The end of the robot shell also integrates a multi-functional detection unit, which is electrically connected to the control center and the energy module.

2. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The robot's outer shell has a streamlined cylindrical structure with a circular, elliptical, or polygonal cross-section. The outer surface of the robot's outer shell is coated with a corrosion-resistant and wear-resistant nano-coating.

3. The biomimetic self-sensing deformable pipeline robot according to claim 1, characterized in that, The thorns are inspired by the array of barbs on the surface of foxtail grass fruit, and a number of thorns are evenly distributed on the outer periphery of the robot shell using 3D printing technology.

4. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The multi-spiky foot is made of a composite conductive polymer material, with the polymer material as the matrix and conductive nanoparticles of a predetermined mass fraction doped by nano-blending technology.

5. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The vibration module is a vibration motor or a piezoelectric vibrating plate, which transmits vibration energy to the proboscis so that the proboscis rubs against the surface of the object to be attached during vibration.

6. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The electrothermal module is a flexible resistance wire array installed on the inner wall of the robot shell. When energized, it generates Joule heating and transfers the heat to the spiky feet to soften them. The power density of the flexible resistance wire array is 15W / cm² to 100W / cm², and it is equipped with a PID temperature control system.

7. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The communication module is a WiFi, Bluetooth, or 5G plus Bluetooth dual-mode wireless communication module, with a built-in adaptive antenna system to automatically adjust the transmission power according to the signal strength.

8. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The control center is based on an ARM Cortex-M7 core and integrates an FPGA coprocessor. It collects robot operating status data in real time through a distributed sensor network. The energy module is a rechargeable lithium battery.

9. The biomimetic self-sensing deformable pipe robot according to claim 1, characterized in that, The detection unit includes an industrial-grade CMOS image sensor, an LED ring light, and a fisheye lens integrated into the front end of the robot's shell.

10. The method of using the biomimetic self-sensing deformable pipe robot according to any one of claims 1 to 9, characterized in that, The method of use is as follows: The robot is placed in the pipe to be inspected. The vibration module obtains energy from the energy module and starts to vibrate, which drives the robot shell to vibrate. During the vibration process, the telescopic robot shell transmits the vibration to the multi-spiked feet. The multi-spiked feet rub against the inner wall of the pipe to achieve robot movement. During the robot's movement, the detection unit observes the changes in the pipe in real time. When the pipe becomes narrow, the electrothermal heating module is activated to heat the root of the telescopic multi-spiked foot, making the root of the multi-spiked foot soft. Under the vibration and compression of the vibration module, the tilt angle of the multi-spiked foot decreases, thereby changing the radial dimension of the entire robot. As the robot moves inside the pipeline, the detection unit also automatically identifies and marks the locations of cracks and corrosion defects in the pipeline.

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