Self-adaptive track chassis of full-pipe-diameter heat supply pipeline inspection robot and application of self-adaptive track chassis

Abstract

The invention provides a self-adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis and application thereof, the self-adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis comprises a machine body, transverse telescopic mechanisms are arranged on the two sides of the machine body, and the tail end of each transverse telescopic mechanism is connected with a crawler and adjusting wheel system; a vertical supporting wheel unit is arranged at the bottom of the machine body; the signal ends of the transverse telescopic mechanism, the crawler belt and adjusting wheel system and the vertical supporting wheel unit are connected to a main control system of the inspection robot; full-pipe-diameter adaptation and multi-working-condition stable movement can be achieved, and reliable mechanical support is provided for high-precision routing inspection in the pipeline.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of heat supply pipeline inspection equipment, and particularly relates to a self-adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis and application thereof. BACKGROUND

[0002] The city heat supply pipeline network is a core component of people's livelihood infrastructure, and its pipe diameter range covers DN300-DN1200. The internal environment of the pipeline is complex: on the one hand, there are various structures such as straight pipes and annular welds, and on the other hand, there may be problems such as construction residual protrusions, internal wall corrosion depressions, and dust accumulation. At the same time, the inspection robot needs to carry high-definition cameras, ultrasonic sensors and other precision detection equipment, and the requirements for mobile stability and vibration control are very high. However, the existing inspection robot crawler chassis has the following key technical defects: 1. Poor pipe diameter adaptability: Most chassis use fixed extension stroke or manual adjustment, which cannot automatically identify the pipe diameter and adapt the fitting force - overpressure may scratch the internal wall of the pipeline, and underpressure may cause the crawler to slip, affecting the moving efficiency; 2. Crawler tensioning degree is uncontrollable: when obstacles are encountered, the crawler is prone to relaxation or over-tightening, and the existing structure relies on preset tensioning degree and cannot be adjusted in real time; 3. Insufficient support flexibility: the vertical support wheel is mostly single lifting function, and when encountering internal wall protrusions / depressions, the support point is prone to disengagement or local overload, causing the body to tilt and affecting the detection accuracy; 4. Serious vibration interference: the global unified damping structure is used, and the detection equipment area is not strengthened for damping, and the vibration generated by the crawler movement may cause the camera image to be blurred and the ultrasonic detection data to be deviated.

[0003] In view of the above problems, it is urgent to design a crawler chassis with "full-pipe-diameter self-adaptive fitting, real-time adjustment of crawler tensioning degree, flexible support of complex internal wall, and strengthened damping in key areas" to meet the high-precision inspection requirements of the heat supply pipeline. SUMMARY

[0004] The purpose of the present application is to provide a self-adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis and its application, which solves the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above purpose, the technical scheme adopted by the present application is: In a first aspect, the present application provides a self-adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis, comprising a body, the two sides of the body are provided with transverse extension mechanisms, and the ends of each transverse extension mechanism are connected with a crawler and an adjusting wheel system; A vertical support wheel unit is arranged at the bottom of the body. The signal ends of the lateral telescopic mechanism, the track and adjusting wheel system, and the vertical supporting wheel unit are connected to the main control system of the inspection robot.

[0006] Preferably, the lateral telescopic mechanism comprises a telescopic seat, an electric push rod, a guide slide rail, a two-stage telescopic arm, and a pressure sensor, wherein: The telescopic seat is fixed to the side wall of the machine body, the electric push rod is installed on the telescopic seat, the two-stage telescopic arm is drivingly connected to the electric push rod, the guide slide rail is installed on the telescopic seat, and the two-stage telescopic arm is slidingly installed on the guide slide rail; the end of the two-stage telescopic arm is connected to the track and adjusting wheel system.

[0007] Preferably, the track and adjusting wheel system comprises a track frame, the track frame is hingedly connected to the end of the lateral telescopic mechanism; the track frame is provided with a driving wheel, a driven carrier wheel, and a supporting wheel; the track body is wrapped around the driving wheel, the driven carrier wheel, and the supporting wheel; The track frame is further provided with a tension automatic adjusting mechanism for adjusting the tension of the track body.

[0008] Preferably, the vertical supporting wheel unit comprises two adjusting supporting modules, the two adjusting supporting modules are symmetrically arranged at the bottom of the machine body, and the two adjusting supporting modules are arranged along the axis of the machine body to provide vertical support and to be self-adaptable to the uneven inner wall of the pipeline.

[0009] Preferably, the track chassis further comprises a laser ranging sensor for real-time detection of the distance between the inner wall of the pipeline and the track and monitoring of the inner wall topography.

[0010] In the second aspect, the present application provides a pipeline self-adaptive inspection robot, comprising the self-adaptive full-pipeline-diameter heating pipeline inspection robot track chassis.

[0011] In the third aspect, the present application provides a pipeline self-adaptive inspection method, comprising the following steps: The robot enters the pipeline to be detected; The inner diameter and inner wall profile information of the pipeline are detected; According to the pipeline inner diameter information, the lateral telescopic mechanism is controlled to drive the track and adjusting wheel system to laterally expand until the inner wall of the pipeline is contacted; The fitting pressure of the track and adjusting wheel system and the inner wall of the pipeline is acquired in real time; Based on the fitting pressure, the lateral telescopic mechanism is controlled to dynamically adjust the expansion stroke, so that the fitting pressure is stabilized in the preset safe working interval; During the travel, the tension of the track and adjusting wheel system and the supporting posture of the vertical supporting wheel unit are adjusted in real time to be self-adaptable to the uneven area and obstacles of the inner wall of the pipeline.

[0012] Preferably, the lateral telescopic mechanism is controlled to dynamically adjust the extension stroke, specifically including: If the fit pressure is lower than a preset lower threshold, the lateral telescopic mechanism is further controlled to extend; If the fit pressure is higher than a preset upper threshold, the lateral telescopic mechanism is controlled to retract.

[0013] Preferably, the tension of the track and the adjusting wheel system is adjusted in real time, specifically including: The tension of the track body is detected in real time; If the tension is lower than a preset first tension threshold, the tension motor is controlled to drive the tensioning wheel to move to increase the tension; If the tension is higher than a preset second tension threshold, the tension motor is controlled to drive the tensioning wheel to move in the opposite direction to reduce the tension.

[0014] Preferably, the support posture of the vertical support wheel unit is adjusted in real time, specifically including: The rotation speed of the support wheel is detected and compared with the theoretical rotation speed of the track body; When the rotation speed deviation exceeds a preset range, the detected contact pressure of the support wheel is combined to control the lifting electric push rod and the angle adjustment micro steering engine of the vertical support wheel unit to actuate the extension height and / or the pitch angle of the support wheel, so as to keep the body level and stable support.

[0015] Compared with the prior art, the present application has the following advantages: The self-adaptive full-pipe-diameter heat supply pipeline inspection robot track chassis provided by the present application integrates a lateral telescopic mechanism, a track tension automatic adjustment mechanism, a vertical support wheel unit, and a partition type damping structure, and cooperates with a multi-sensor feedback and intelligent control system to realize high stability and high adaptability in complex pipeline environments. Specifically, the pipe diameter can be automatically identified and the fit pressure can be adjusted in real time to ensure that the track and the inner wall of the pipeline are in contact within the optimal pressure range of 100-300N, which avoids slipping and prevents scratching the inner wall, and adapts to the full pipe diameter range of DN300 to DN1200; the track tension is monitored and automatically adjusted in real time, the tension is dynamically controlled between 200-500N when crossing obstacles, which effectively prevents the track from being too loose or too tight, and improves the obstacle crossing ability and movement reliability; the vertical support wheel unit can be independently lifted and adjusted at multiple angles, cooperates with pressure and rotation speed feedback, realizes adaptive support modes such as "four-point support" and "multi-point obstacle avoidance", and can keep the body level when facing the protrusions, depressions or foreign matters on the inner wall of the pipeline, greatly improving the movement stability and passability.

[0016] In summary, the track chassis of the present application significantly improves the automation degree, environmental adaptability and detection accuracy of heat supply pipeline inspection, and reduces the need for manual intervention and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The rear view of the inspection robot involved in the embodiment of the application; Figure 2 The perspective view of the inspection robot involved in the embodiment of the application; Wherein, 1. Transverse telescopic mechanism; 2. Tension automatic adjusting mechanism; 3. Adjusting support module; 4. Lifting electric push rod; 5. 4-DOF folding mechanical arm; 6. Quick-release end effector; 7. Multi-modal perception integrated structure; 8. Control and communication integrated structure; 9. Power guarantee protection structure; 10. Main drive wheel; 11. Support wheel; 12. Driven idler wheel; 13. Partition type damping structure. DETAILED DESCRIPTION

[0018] In the following description, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the application. However, persons having ordinary skill in the art will readily understand that the application can be practiced without these specific details, while still benefiting from the present teachings. In other instances, well-known structures, devices, circuits, and materials have not been described in detail in order to avoid obscuring the application.

[0019] It should be understood that the term "comprises" when used in this specification and the appended claims specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0020] It should also be understood that the term "and / or" when used in this specification and the appended claims, such as in the phrases "A and / or B" and "A and / or B and / or C", means any combination of one or more of the associated listed items, and includes all possible combinations of the items.

[0021] As used in this specification and the appended claims, the term "if' can be construed to mean "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be construed to mean "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]", depending on the context.

[0022] In addition, in the description of the application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0023] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment, although it can. The terms "including," "comprising," "having," and variations thereof are meant to encompass the item listed and variations thereof as well as their equivalents. Such variations are meant to be within the scope of the application.

[0024] Embodiment 1 The adaptive full-pipe-diameter heating pipeline inspection robot track chassis provided in the embodiment comprises a body, transverse telescopic mechanisms are arranged on both sides of the body, and a track and adjusting wheel system is connected to the end of each transverse telescopic mechanism.

[0025] A vertical support wheel unit is arranged at the bottom of the body.

[0026] A partitioned damping structure is arranged between the body and the chassis.

[0027] The transverse telescopic mechanism, the track and adjusting wheel system, and the vertical support wheel unit are electrically connected with the robot main control system to realize cooperative adaptive adjustment.

[0028] Embodiment 2 On the basis of Embodiment 1, the adaptive full-pipe-diameter heating pipeline inspection robot track chassis provided in the embodiment comprises a transverse telescopic mechanism, which comprises a telescopic seat, an electric push rod, a guide slide rail, a two-stage telescopic arm, and a pressure sensor. The telescopic seat is fixed to the side wall of the body, the electric push rod is mounted on the telescopic seat, the two-stage telescopic arm is drivingly connected to the electric push rod, the guide slide rail is mounted on the telescopic seat, the two-stage telescopic arm is slidingly installed on the guide slide rail, the two-stage telescopic arm is driven to telescope along the guide slide rail by the electric push rod, and the telescoping stroke of the two-stage telescopic arm is 0-500 mm.

[0029] The track and adjusting wheel system is connected to the end of the two-stage telescopic arm.

[0030] The pressure sensor is arranged at the connection between the telescopic arm and the track and adjusting wheel system to detect the fitting pressure (detection range 0-500 N, accuracy ±1 N) of the track and adjusting wheel system and the inner wall of the pipeline in real time and feed back to the robot main control system to realize adaptive adjustment of the fitting force.

[0031] Embodiment 3 On the basis of embodiment 1, the track chassis of the adaptive full-pipe-diameter heating pipeline inspection robot provided in the embodiment comprises a track frame, a driving wheel, a driven carrier wheel, a supporting wheel, an automatic tension adjusting mechanism and a track body, wherein: The driving wheel, the driven carrier wheel and the supporting wheel are all driven by independent micro steering engines, and can be independently adjusted by ±30°. The track frame and the end of the two-stage telescopic arm are connected through a rotary hinge, and the rotary hinge can be adjusted by ±15°, which is suitable for the condition of slight inclination of the pipeline.

[0032] The driving wheel, the driven carrier wheel and the supporting wheel are all installed on the track frame.

[0033] The track body is wrapped around the driving wheel, the driven carrier wheel and the supporting wheel, and is meshed and connected with the driving wheel.

[0034] The automatic tension adjusting mechanism is installed on the track frame and is drivingly connected with the driven carrier wheel.

[0035] The automatic tension adjusting mechanism comprises a tensioning motor, a tension sensor and a tensioning wheel, wherein: The tension sensor is used to detect the tension of the track body, and the main control system controls the tensioning motor to drive the tensioning wheel to move, so as to realize automatic tension adjustment; the track body is made of “nitrile rubber + ceramic wear-resistant particles” composite material, and the surface is provided with diamond-shaped anti-skid lines, heat-conducting protrusions and spiral self-cleaning grooves, which have the functions of wear resistance, heat conduction and dust prevention, and the obstacle height is ≤50mm.

[0036] In this embodiment, when the straight pipe section, the driving wheel, the driven carrier wheel and the supporting wheel remain horizontal, the track is in a planar state, and the moving speed can reach 0.5m / s; when encountering a weld, the driven carrier wheel is tilted upward by 30°, and the supporting wheel is synchronously adjusted in angle to assist support, and the track is in a stepped state to smoothly cross the obstacle.

[0037] The tensioning wheel is arranged between the driving wheel and the driven carrier wheel, and the tension sensor detects the tension of the track in real time; when the track is loose (tension <200N), the main control system controls the tensioning motor to drive the tensioning wheel to move outward to increase the tension of the track; when the track is stretched (tension >500N) when crossing the obstacle, the tensioning motor drives the tensioning wheel to move inward to reduce the tension, so that the tension is always controlled within 200-500N, to avoid slipping or excessive wear; at the same time, the supporting wheel can cooperate with the fine adjustment posture to further ensure the stability of the tension state of the track.

[0038] Embodiment 4 Based on Embodiment 1, this embodiment provides an adaptive full-diameter heating pipeline inspection robot tracked chassis. The vertical support wheel unit includes two independent adjustable support modules symmetrically distributed front and rear. The two adjustable support modules are symmetrically arranged at the bottom of the machine body and arranged along the axial direction of the machine body to provide vertical support and adapt to the unevenness of the inner wall of the pipeline.

[0039] In this embodiment, each support module includes a lifting electric push rod, an angle-adjusting micro servo motor, a support wheel, a pressure sensor, and an encoder, wherein: The output shaft of the angle-adjustable micro servo drives the support wheel; the housing of the angle-adjustable micro servo is fixedly connected to the end of the lifting electric push rod, which is fixed to the bottom of the body and can achieve 0-100mm lifting adjustment and ±45° angle adaptive adjustment; the pressure sensor and encoder are used to detect the contact pressure (accuracy ±0.5N) and rotation speed of the support wheel, respectively, and feed them back to the main control system: inside large-diameter pipes, the support wheel extends and adjusts its angle to fit the inner wall, increasing the support surface; when encountering a protrusion / depression, the angle-adjustable servo adjusts the attitude of the support wheel in real time to maintain stable contact; when encountering an obstacle, one side of the support wheel retracts to avoid it, and the body is kept level through "multi-point support".

[0040] In this embodiment, each support module consists of a lifting electric push rod and an angle-adjusting micro servo motor; the support wheel can achieve 0-100mm lifting and ±45° angle adjustment; The encoder monitors the rotational speed of the support wheel in real time. If the speed deviation between the support wheel and the track body is greater than 10%, the pressure sensor provides feedback on the contact pressure, and the main control system adjusts the lifting stroke and angle. The support wheels extend to 80-100mm and are adjusted to fit against the inner wall, forming a four-point support system of "two side tracks + two bottom support wheels" to prevent the machine from tipping over. For inner wall protrusions (height ≤30mm): adjust the angle of the support wheel upwards by 15-30° to avoid the protrusions while maintaining contact. Inner wall recess (depth ≤ 20mm): Adjust the angle of the support wheel downwards by 10-20° and insert it into the recessed area to maintain support; When encountering obstacles (such as rocks with a diameter ≤50mm): the support wheel on one side retracts to 0mm while the other side remains supported. Through the multi-point support principle of "two-point track + one-point support wheel", the machine body is ensured to pass horizontally.

[0041] Example 5 Based on Example 1, this example provides an adaptive full-diameter heating pipeline inspection robot tracked chassis. The zoned vibration damping structure includes a basic vibration damping layer and a key vibration damping layer, wherein: The basic damping layer is a rubber damping pad and damper arranged at the connection between the chassis and the fuselage, covering the entire chassis; the key damping layer is arranged directly below the detection equipment on the top of the fuselage, adopts a "metal spring + silica gel pad" composite structure, and the damping efficiency is increased by more than 40% than that of the basic layer, thereby avoiding the influence of vibration on the detection equipment accuracy.

[0042] Embodiment 6 On the basis of embodiment 1, the adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis provided in the embodiment further comprises a laser ranging sensor arranged on the outer side of the crawler frame, which is used to detect the distance between the inner wall of the pipeline and the crawler and monitor whether there is a sudden protrusion / recession on the inner wall of the pipeline in real time, and assist the adaptive adjustment of the lateral telescopic mechanism and the vertical support wheel unit.

[0043] Working principle: after the robot enters the pipeline, the laser ranging sensor first detects the inner diameter of the pipeline, the main control system controls the electric push rod to drive the telescopic arm to preliminarily stretch, so that the crawler contacts the inner wall of the pipeline; at this time, the pressure sensor collects the fitting pressure in real time, if the pressure is <100N (underpressure), the telescopic arm is controlled to continue to stretch; if the pressure is >300N (overpressure), the telescopic arm is controlled to retract, and finally the pressure is stabilized in the range of 100-300N, which not only ensures sufficient friction between the crawler and the inner wall, but also avoids damaging the pipeline. Pipe diameter adaptation range: through the telescopic stroke of 0-500mm, the full pipe diameter from DN300 (the telescopic arm is retracted to the shortest) to DN1200 (the telescopic arm is stretched to the longest) is covered, without the need to replace any parts.

[0044] Embodiment 7 The embodiment provides a pipeline adaptive inspection robot, which comprises the adaptive full-pipe-diameter heat supply pipeline inspection robot crawler chassis described in embodiment 1.

[0045] Embodiment 8 The pipeline adaptive inspection method provided in the embodiment comprises the following steps: The robot enters the pipeline to be detected; The inner diameter and the inner wall profile information of the pipeline are detected; According to the pipeline inner diameter information, the lateral telescopic mechanism is controlled to drive the crawler and the adjusting wheel system to stretch laterally until the inner wall of the pipeline is contacted, The fitting pressure of the crawler and the adjusting wheel system and the inner wall of the pipeline is acquired in real time; Based on the fitting pressure, the lateral telescopic mechanism is controlled to dynamically adjust the stretching stroke, so that the fitting pressure is stabilized in a preset safe working interval; In the process of advancing, the tension of the crawler and the adjusting wheel system and the support posture of the vertical support wheel unit are adjusted in real time, so as to adapt to the uneven area and obstacles of the inner wall of the pipeline.

[0046] In the embodiment, the lateral telescopic mechanism is controlled to dynamically adjust the extension stroke, specifically including: If the fitting pressure is lower than a preset lower threshold, the lateral telescopic mechanism is further controlled to extend; If the fitting pressure is higher than a preset upper threshold, the lateral telescopic mechanism is controlled to retract.

[0047] In the embodiment, the tension of the track and the adjusting wheel system is adjusted in real time, specifically including: The tension of the track body is detected in real time; If the tension is lower than a preset first tension threshold, the tension motor is controlled to drive the tension wheel to move to increase the tension; If the tension is higher than a preset second tension threshold, the tension motor is controlled to drive the tension wheel to move in the opposite direction to reduce the tension.

[0048] In the embodiment, the support posture of the vertical support wheel unit is adjusted in real time, specifically including: The rotation speed of the support wheel is detected and compared with the theoretical rotation speed of the track body; When the rotation speed deviation exceeds a preset range, the detected contact pressure of the support wheel is combined to control the lifting electric push rod and the angle adjustment micro servo of the vertical support wheel unit to actuate the extension height and / or the pitch angle of the support wheel to keep the fuselage horizontal and stable support.

[0049] Adjusting the extension height and / or the pitch angle of the support wheel includes at least one of the following situations: When there is a protrusion on the inner wall of the pipeline, the angle adjustment micro servo is controlled to drive the support wheel to adjust the angle upward to avoid the protrusion; When there is a depression on the inner wall of the pipeline, the angle adjustment micro servo is controlled to drive the support wheel to adjust the angle downward to extend into the depression area; When a local obstacle is encountered, the lifting electric push rod on one side is controlled to retract the support wheel on that side to avoid it, while the remaining support points are relied on to keep the fuselage balanced.

[0050] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A tracked chassis for an adaptive full-diameter heating pipeline inspection robot, characterized in that, The machine includes a fuselage, on both sides of which are provided with lateral telescopic mechanisms, and each lateral telescopic mechanism is connected to a track and adjusting wheel system at its end; The bottom of the fuselage is provided with a vertical support wheel unit; The signal terminals of the lateral telescopic mechanism, the track and adjusting wheel system, and the vertical support wheel unit are all connected to the main control system of the inspection robot.

2. The tracked chassis of the adaptive full-diameter heating pipeline inspection robot according to claim 1, characterized in that, The lateral telescopic mechanism includes a telescopic base, an electric push rod, a guide rail, two-stage telescopic arms, and a pressure sensor, wherein: The telescopic base is fixed to the side wall of the machine body. An electric push rod is installed on the telescopic base. The electric push rod drives and connects to two-stage telescopic arms. A guide rail is installed on the telescopic base. The two-stage telescopic arms are slidably installed on the guide rail. The ends of the two-stage telescopic arms are connected to a track and adjusting wheel system. The pressure sensor is used to detect the contact pressure between the track and adjusting wheel system and the inner wall of the pipe in real time.

3. The tracked chassis of an adaptive full-diameter heating pipeline inspection robot according to claim 1, characterized in that, The track and adjusting wheel system includes a track frame, which is hinged to the end of the lateral telescopic mechanism; the track frame is provided with a drive wheel, a driven track roller, and a support wheel; the track body is wrapped around the drive wheel, the driven track roller, and the support wheel; The track frame is also equipped with an automatic tension adjustment mechanism to adjust the tension of the track body.

4. The tracked chassis of an adaptive full-diameter heating pipeline inspection robot according to claim 1, characterized in that, The vertical support wheel unit includes two adjustable support modules, which are symmetrically arranged at the bottom of the machine body and along the axial direction of the machine body, to provide vertical support and adapt to the unevenness of the inner wall of the pipe.

5. The tracked chassis of an adaptive full-diameter heating pipeline inspection robot according to claim 1, characterized in that, The tracked chassis also includes a laser rangefinder sensor for real-time detection of the distance between the inner wall of the pipeline and the track, as well as monitoring the shape of the inner wall.

6. A pipeline adaptive inspection robot, characterized in that, The adaptive full-diameter heating pipeline inspection robot tracked chassis includes any one of claims 1-5.

7. A pipeline adaptive inspection method, characterized in that, Includes the following steps: The robot enters the pipeline to be inspected; Inspect the pipe's inner diameter and inner wall profile; Based on the pipe's inner diameter information, the lateral telescopic mechanism is controlled to drive the track and adjusting wheel system to extend laterally until it contacts the pipe's inner wall. Real-time acquisition of the contact pressure between the track and adjusting wheel system and the inner wall of the pipeline; Based on the bonding pressure, the lateral telescopic mechanism is controlled to dynamically adjust the extension stroke, so that the bonding pressure is stabilized within the preset safe working range. During travel, the tension of the track and adjusting wheel system and the support posture of the vertical support wheel unit are adjusted in real time to adapt to uneven areas and obstacles on the inner wall of the pipe.

8. The pipeline adaptive inspection method according to claim 7, characterized in that, Controlling the lateral telescopic mechanism to dynamically adjust its extension stroke specifically includes: If the bonding pressure is lower than a preset lower threshold, the lateral telescopic mechanism is controlled to extend further. If the bonding pressure is higher than the preset upper limit threshold, the lateral telescopic mechanism is controlled to contract.

9. The pipeline adaptive inspection method according to claim 7, characterized in that, Real-time adjustment of the tension of the track and adjusting wheel system specifically includes: Real-time monitoring of track tension; If the tension is lower than a preset first tension threshold, the tensioning motor is controlled to drive the tensioning wheel to move to increase the tension. If the tension is higher than a preset second tension threshold, the tensioning motor is controlled to drive the tensioning wheel to move in the opposite direction to reduce the tension.

10. The pipeline adaptive inspection method according to claim 7, characterized in that, Real-time adjustment of the support posture of the vertical support wheel unit specifically includes: The rotational speed of the support wheel is detected and compared with the theoretical rotational speed of the track body; When the rotational speed deviation exceeds the preset range, the vertical support wheel unit’s lifting electric push rod and angle adjustment micro servo motor are controlled to work together, based on the detected contact pressure of the support wheel, to adjust the extension height and / or pitch angle of the support wheel in order to maintain the fuselage level and stable support.

Images