Dual-mode mobile paper folding robot and control method thereof

Abstract

The invention discloses a dual-mode mobile paper folding robot and a control method thereof, and relates to the technical field of paper folding robots, the robot is composed of symmetrically arranged rolling anchoring modules and a middle telescopic module, the rolling anchoring modules are provided with circumferential sealing paper folding cavities, and radial deformation can be achieved through air pressure; the telescopic module is of a programmable spiral fold paper folding structure and is controlled to stretch out, draw back and bend through a motor and a cable. The robot can achieve two modes of ground rolling and pipeline wriggling, in the ground mode, rolling is driven by a motor, flexible movement is achieved in combination with the modes of differential speed and the like, and obstacle crossing and height-limited passing can be completed through air pressure adjustment; the pipeline mode adopts anchoring-stretching alternate periodic gait creeping, and turning is achieved through differential deformation of the stretching module. The robot has the maneuverability of ground movement and the adaptability of pipeline crawling, is high in structural integration degree, flexible in mode switching and capable of being matched with the mixed operation environment where the ground and the pipeline are interwoven, and infrastructures can be prevented from being damaged through flexible contact.

Description

Technical Field

[0001] This invention relates to the field of origami robot technology, and more specifically to a dual-mode mobile origami robot and its control method. Background Technology

[0002] In many fields such as modern urban construction, large-scale industrial production and operation, and emergency rescue for sudden disasters, mixed operating environments where ground and pipeline structures intertwine are widespread in various infrastructures. Examples include urban underground utility tunnels, industrial equipment pipeline systems, and the junctions between narrow passages and ground areas in post-disaster ruins. These scenarios place stringent demands on equipment used for inspection, maintenance, and search and rescue operations. Work units must be capable of rapidly moving from open ground to the target pipeline entrance and then entering the pipeline to complete precise operations. Simultaneously, the equipment must be able to flexibly switch between movement states in two significantly different environments—ground and pipeline—to adapt to the movement constraints of different environments.

[0003] Currently, mobile robot technology designed for single environments such as ground and pipeline is relatively mature. However, dual-mode mobile robots that can adapt to mixed working environments still face many technical bottlenecks. Existing robot products are mainly divided into two categories: ground mobile robots and pipeline mobile robots. Both can only adapt to a single scenario and exhibit significant problems such as insufficient environmental adaptability and poor scenario coordination in cross-environment operations, failing to meet the operational needs of mixed working environments.

[0004] Ground mobile robots mostly employ rigid mechanical structure designs. Thanks to their structural characteristics, these robots possess advantages such as high movement speed, strong load capacity, and high motion control precision in open terrain, enabling them to efficiently complete long-distance ground movement operations. However, limited by their rigid bodies and complex mechanical transmission structures, they have extremely poor adaptability to changes in pipe inner diameter, making it difficult to move within pipes with irregular diameters or bends. Furthermore, direct contact between the rigid structure and the pipe's inner wall can easily cause scratches, compromising the integrity of the infrastructure; this problem is particularly prominent in the operation of precision piping systems.

[0005] To adapt to the spatial constraints and complex environments within pipelines, pipeline mobile robots have evolved into various structural types, including tracked, peristaltic, and wheeled types. Among them, pneumatic soft pipeline robots, with their strong flexibility and continuous degrees of freedom, exhibit unique advantages in navigating irregular pipelines and adapting to small changes in pipe diameter. Furthermore, the soft structure's contact with the pipe wall is flexible, effectively preventing pipe wall damage. However, existing pneumatic soft pipeline robots mostly use viscoelastic materials such as silicone as their main structure, resulting in slow response speeds, poor structural durability, and a limited range of pipe diameter adaptability, making them unsuitable for pipeline environments with significant diameter variations. More importantly, these robots lack locomotion mechanisms adapted to open ground, almost completely losing their mobility in ground-based scenarios and unable to complete cross-environment operations from pipelines to the ground.

[0006] Therefore, in response to the existing problems, how to provide a dual-mode mobile origami robot that can achieve a high degree of structural integration, has both efficient rolling on the ground and adaptive crawling in pipelines, and can quickly switch between the two modes, while also improving the robot's autonomous operation capabilities in complex mixed working environments, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] Therefore, this invention provides a dual-mode mobile origami robot that can achieve a highly integrated structure, possess both efficient rolling on the ground and adaptive crawling in pipelines, and can quickly switch between the two modes. It can also improve the robot's autonomous operation capability in complex mixed working environments.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A dual-mode mobile origami robot, comprising: The telescopic module includes two end plates and multiple origami telescopic components connected between the two end plates. By controlling the synchronous and differential telescopic extension and retraction of the origami telescopic components, the linear extension and retraction and bending of the telescopic module can be achieved. Two rolling anchoring modules are respectively installed on the outer sides of the two end plates. Each rolling anchoring module includes a rotary motor, a mounting circular plate, and multiple first folding structures. The mounting end of the rotary motor is fixed on the end plate. The mounting circular plate is fixed on the rotating end of the rotary motor. Each first folding structure has a sealed cylindrical cavity, and the multiple first folding structures are arranged radially circumferentially on the outer side of the mounting circular plate. The air control unit controls the deformation of the first origami structure through an air passage.

[0010] Through the above technical solution, the present invention provides a dual-mode mobile origami robot, which consists of a telescopic module, two rolling anchoring modules, and an air passage as its basic body. It realizes the basic functions of telescopic module extension and bending, and rolling anchoring module rotation. At the same time, the air passage controls the deformation of the first origami structure, laying the structural and driving foundation for the robot's dual-mode movement on the ground and in pipelines. It realizes the core hardware support for the two modes of movement, realizes the bidirectional switching between the robot's ground rolling mode and pipeline crawling mode, and the basic movement in the corresponding mode. This allows the robot to adapt to two core operating scenarios: open ground environment and narrow pipeline environment, solving the limitation of traditional robots' single-scenario adaptation.

[0011] Preferably, in the aforementioned dual-mode mobile origami robot, the multiple first origami structures in each rolling anchoring module are divided into multiple groups. Each group of origami structures is interconnected, and one of the first origami structures in each group is connected to one air passage. This allows for independent control of the internal air pressure of the multiple groups of first origami structures, achieving localized radial deformation of the multiple groups of first origami structures. By grouping the first origami structures of the rolling anchoring module and implementing independent air pressure control for each group, localized radial deformation of the multiple groups of structures is achieved. This allows the rolling anchoring module to precisely adjust the deformation area according to the work scenario, adapting to the movement and anchoring requirements of unstructured environments such as irregular pipe diameters and complex ground terrain, thus improving the robot's adaptability to different work environments.

[0012] Preferably, the aforementioned dual-mode mobile origami robot further includes multiple friction pads, each friction pad being fixed to the end of each first origami structure furthest from the mounting circular plate to increase contact friction. Adding friction pads to the ends of the first origami structures increases the friction between the first origami structure and the inner wall of the pipe or the ground, significantly improving anchoring stability in pipe mode and preventing anchoring failure, while also enhancing grip in ground mode and preventing slippage. Furthermore, it assists in the sealing and adhesion between the first origami structure and the pipe wall, improving operational reliability after air-driven deformation.

[0013] Preferably, in the aforementioned dual-mode mobile origami robot, each origami telescopic component includes a second origami structure, a drive cable, and a controller. Both ends of each second origami structure are fixed to two end plates. The drive cable is located within the cavity of the second origami structure, and its first end is fixed to one end plate. The controller's mounting end is installed on the other end plate, and its control end is connected to the second end of the drive cable. The telescopic and bending of the origami telescopic component is achieved by controlling the extension and retraction of each set of drive cables. This clarifies the specific structure and driving method of the origami telescopic component. By extending and retracting the drive cable through the controller, precise extension and bending of a single origami telescopic component can be achieved. Simultaneously, independent control of multiple origami telescopic components is supported. This provides a specific structural and driving scheme for the telescopic module to achieve overall extension and differentiated bending, ensuring that the telescopic module adapts to different movement requirements such as pipe bends and ground obstacle crossings.

[0014] Preferably, in the aforementioned dual-mode mobile origami robot, each control component includes a control motor and a winding reel. The mounting end of the control motor is fixed to the end plate; the winding reel is fixed to the rotating end of the rotary motor; and the second end of each drive cable is fixed to the winding reel and can be wound along the reel to achieve synchronous control of the tension and extension of the drive cable. The specific structure of the control component is determined to be a control motor and a winding reel. The motor drives the winding reel to rotate, achieving synchronous tension and extension of the drive cable. This replaces manual or simple control methods, improving the control accuracy, synchronization, and automation of the drive cable's winding and unwinding, ensuring precise and controllable extension or bending movements of the origami telescopic component, and guaranteeing the stability of the robot's movement.

[0015] Preferably, the aforementioned dual-mode mobile origami robot further includes a controller. The controller is fixed to the end plate and electrically connected to the control motor and the rotary motor to control their movements. Adding a controller electrically connected to the control motor and the rotary motor enables centralized and unified control of the robot's core drive motors, replacing the distributed control method. This improves the coordination and control efficiency of the motor movements, achieves precise linkage of the robot's various modules, and provides an automated control foundation for dual-mode switching and complex motion actions.

[0016] A control method for a dual-mode mobile origami robot based on the above, characterized in that it includes: a ground walking mode and a pipe walking mode; When in ground walking mode, the origami robot rolls by controlling the rotation of the rotary motor, and turns by controlling the speed difference between the two rotary motors. When in the pipe walking mode, the pipe walking mode includes a creeping mode and a bending mode. The creeping mode controls the alternating deformation of the first origami structure in the two rolling anchoring modules to abut against the inner wall of the pipe, and controls the extension and retraction of the origami telescopic component during the alternating deformation to achieve creeping in the pipe. The bending mode controls the differentiated contraction of multiple sets of origami telescopic components to change the bending direction and curvature, thereby achieving bending in conjunction with the creeping mode.

[0017] Through the above technical solution, the present invention provides a control method for a dual-mode mobile origami robot. The ground mode achieves rolling and turning through the rotation of a rotary motor and the difference in rotation speed, and has efficient ground movement capability. The pipeline mode is divided into two sub-modes: creeping and turning, which adapt to the basic movement and turning requirements in the pipeline, realizes flexible switching between the two modes and targeted movement, and solves the limitation of traditional robots adapting to a single scene.

[0018] Preferably, in the control method of the above-mentioned dual-mode mobile origami robot, when an obstacle is encountered in the ground walking mode, air pressure higher than the rolling working pressure is rapidly injected into the first origami structure near the obstacle, causing the first origami structure to expand and form a local protrusion to assist in overcoming the obstacle. After overcoming the obstacle, the first origami structure immediately returns to its original shape. For obstacle-crossing scenarios in the ground walking mode, a high-pressure rapid inflation and deformation scheme for the first origami structure is designed. By forming an obstacle-crossing auxiliary structure through local protrusions, the robot can achieve ground obstacle crossing without additional obstacle-crossing components, improving the adaptability of the ground mode to complex terrain. Furthermore, it can quickly recover after overcoming obstacles without affecting normal rolling motion.

[0019] Preferably, in the control method for the aforementioned dual-mode mobile origami robot, when encountering height-restricted scenarios in the ground walking mode, the air pressure within all the first origami structures is reduced through the air passage, thereby decreasing the diameter of the rolling anchor module to lower the overall height. After passing through, the robot can be re-inflated to restore the preset working diameter. For height-restricted scenarios in the ground walking mode, reducing the air pressure of the first origami structure decreases the diameter of the rolling anchor module, thus lowering the overall height of the robot and enabling smooth passage through height-restricted areas. After passing through, the robot can be re-inflated to restore the preset state, allowing the robot to adapt to ground scenarios with different height restrictions, expanding the operating range of the ground mode. Furthermore, the deformation recovery operation is simple and does not alter the robot's main structure.

[0020] Preferably, in the above-mentioned control method for a dual-mode mobile origami robot, in the ground walking mode, the origami telescopic component is controlled to bend away from the ground until the two end plates make slight contact with the ground, forming a frictional torque to prevent the origami telescopic component from rolling with the mounting disc. For the ground walking mode, a ground-bending control scheme for the telescopic module is designed, so that the end plates make slight contact with the ground to form a frictional torque, effectively preventing the origami telescopic component from rolling synchronously with the mounting disc, avoiding structural linkage failure, improving the stability and control accuracy of the robot's movement in the ground rolling mode, and ensuring the precise realization of linear rolling, turning, and other actions.

[0021] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a dual-mode mobile origami robot and its control method, which has the following beneficial effects: 1. This invention constructs a dual-mode motion system of ground rolling and pipeline creep / bending by coordinating the pneumatic radial deformation control of the rolling anchoring module with the axial extension and differentiated bending control of the telescopic module. This solves the problem of single-scene adaptation where traditional ground robots cannot adapt to pipeline environments and pipeline robots lose their ground mobility. It enables robots to work continuously in mixed operation scenarios where ground and pipelines are intertwined, such as urban utility tunnels, industrial pipelines, and post-disaster ruins, greatly improving environmental adaptability and scene coordination.

[0022] 2. This invention uses an origami structure as the core deformation unit to replace traditional rigid mechanical structures and silicone viscoelastic soft structures. It combines the high flexibility, large deformation range, and structural durability of origami structures. It can adapt to complex pipeline environments with irregular inner diameters and large changes in pipe diameter. It can also effectively avoid scratches on infrastructure caused by rigid collisions with pipe walls and the ground through flexible contact. At the same time, the response speed of the origami structure is better than that of silicone soft structures, which improves the real-time performance of robot movement and deformation.

[0023] 3. This invention integrates multiple functions such as obstacle crossing, height limit adaptation, and anti-rolling linkage failure within an integrated structural framework. In ground mode, rapid obstacle crossing and height limit passage can be achieved through air pressure adjustment of the first origami structure. Rolling stability is ensured by forming friction torque through the bending of the telescopic module. In pipeline mode, creeping movement and curve adaptation can be achieved through group anchoring of the first origami structure and differentiated contraction of the telescopic module. No additional functional components are required. While achieving a high degree of structural integration, the robot's operating range and actual operation capabilities are greatly expanded.

[0024] 4. The present invention adopts a modular structure design with rolling anchoring module and telescopic module. The internal components of each module are also standardized and the air and circuit layout is clear. This not only facilitates production assembly and subsequent disassembly and maintenance, but also allows for flexible adjustment and replacement of module components according to actual operation needs, adapting to the operation needs of different pipe diameters and different ground terrains, thereby improving the practical application value and promotion of the product. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 The attached figure is a structural schematic diagram of a dual-mode mobile origami robot provided by the present invention; Figure 2 The attached figure is a structural schematic diagram of the origami telescopic component in a dual-mode mobile origami robot provided by the present invention; Figure 3 The attached figure is a side view of a dual-mode mobile origami robot provided by the present invention, namely the first origami structure in a pressurized state; Figure 4 The attached figure is a side view of a dual-mode mobile origami robot provided by the present invention, namely the first origami structure in the depressurized state; Figure 5 The attached figure shows the process of a dual-mode mobile origami robot, provided by the present invention, moving straight within a pipe when in a pipe-peristaltic state. Figure 6 The attached figure is a schematic diagram of the anchoring-extension gait cycle of a dual-mode mobile origami robot provided by the present invention; Figure 7 The attached figure shows the process of a dual-mode mobile origami robot, provided by the present invention, passing through a bend in a pipe creeping state. Figure 8 The attached figure shows the state of the drive cable of a dual-mode mobile origami robot provided by the present invention, which is farthest from the ground, bent until the end plate contacts the ground. Figure 9 The attached figure shows a dual-mode mobile origami robot telescopic structure provided by the present invention, which, after maintaining a concave contact with the ground, achieves a turn with the stationary rolling anchor module as the fulcrum and the other rolling anchor module rotating. Figure 10 The attached figure is a schematic diagram of ground obstacle avoidance for a dual-mode mobile origami robot provided by the present invention; Figure 11The attached figure shows the origami structure in a dual-mode mobile origami robot provided by the present invention; Figure 12 The attached figure shows the origami structure in a dual-mode mobile origami robot provided by the present invention.

[0027] in: 1-Rolling anchoring module; 11-Mounting circular plate; 12-First folding structure; 13-Rotating motor; 2-Air passage; 3-End plate; 4-Folding telescopic assembly; 41-Second folding structure; 42-Drive cable; 43-Control component; 431-Control motor; 432-Winding reel; 5-Friction pad. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only 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.

[0029] Example 1: See appendix Figure 1 This invention discloses a dual-mode mobile origami robot, comprising: a telescopic module, two rolling anchoring modules 1, and a pneumatic control unit; The telescopic module includes two end plates 3 and multiple origami telescopic components 4 connected between the two end plates 3. By controlling the synchronous and differential telescopic extension and retraction of the origami telescopic components 4, the telescopic module can achieve linear extension and retraction and bending. Two rolling anchoring modules 1 are respectively installed on the outside of two end plates 3. Each rolling anchoring module 1 includes a rotary motor 13, a mounting circular plate 11 and multiple first folding structures 12. The mounting end of the rotary motor 13 is fixed on the end plate 3; the mounting circular plate 11 is fixed on the rotating end of the rotary motor 13; each first folding structure 12 has a sealed cylindrical cavity, and multiple first folding structures 12 are arranged radially circumferentially on the outer side of the mounting circular plate 11. The pneumatic control unit controls the first folding structure 12 to deform through the pneumatic channel 2.

[0030] In some specific examples, the multiple first origami structures 12 in each rolling anchoring module 1 are divided into multiple groups, each group of origami structures 12 is interconnected, and one of the first origami structures 12 in each group is connected to an air passage 2, so as to realize independent control of the internal air pressure of multiple groups of first origami structures 12 and realize local differentiated radial deformation of multiple groups of first origami structures 12.

[0031] In some other embodiments, a plurality of friction pads 5 are also included, each friction pad 5 being fixed to one end of each first folding structure 12 away from the mounting disc 11 to increase contact friction.

[0032] The specific friction pad 5 can be made of silicone.

[0033] In a specific embodiment, each origami telescopic assembly 4 includes a second origami structure 41, a drive cable 42, and a control component 43. The two ends of each second origami structure 41 are fixed to two end plates 3 respectively. The drive cable 42 is located in the inner cavity of the second origami structure 41, and its first end is fixed to one end plate 3. The mounting end of the control component 43 is mounted on another end plate 3, and the control end of the control component 43 is connected to the second end of the drive cable 42. The origami telescopic assembly 4 can be extended and bent by controlling the extension and retraction of each set of drive cables 42 respectively.

[0034] Furthermore, the first origami structure 12 and the second origami structure 41 are Kresling origami structures, on which are pre-set features such as Figure 11 and Figure 12 The spiral pattern shown can self-reset when the drive cable 42 is extended. It can achieve a large reversible switching between folded and unfolded states through preset creases. It also has a large deformation capacity and negative Poisson's ratio characteristics, as well as reversibility and repeatability accuracy.

[0035] In a specific example, each control component 43 includes a control motor 431 and a winding reel 432. The mounting end of the control motor 431 is fixed on the end plate 3. The winding reel 432 is fixed on the rotating end of the rotary motor 431. The second end of the drive cable 42 is fixed on the winding reel 432 and can be wound along the winding reel 432 to achieve synchronous control of the tension and extension of the drive cable 42.

[0036] In some examples, a controller is also included, which is fixed to the end plate 3 and electrically connected to the control motor 431 and the rotary motor 13 to control the operation of the control motor 431 and the rotary motor 13.

[0037] Example 2: See appendix Figure 1 This invention discloses a control method for a dual-mode mobile origami robot, comprising: Ground walking mode and pipeline walking mode; When in ground walking mode, the origami robot rolls by controlling the rotation of the rotary motor 13, and turns by controlling the speed difference between the two rotary motors 13. When in the pipeline walking mode, the pipeline walking mode includes a creeping mode and a bending mode. The creeping mode controls the alternating deformation of the first origami structure 12 in the two rolling anchoring modules 1 to abut against the inner wall of the pipeline, and controls the extension and retraction of the origami telescopic component 4 during the alternating deformation to achieve creeping in the pipeline. The bending mode controls the differentiated contraction of multiple sets of origami telescopic components 4 to change the bending direction and curvature, and then achieves bending in conjunction with the creeping mode.

[0038] Specifically, in the pipe-crawling mode of the dual-mode mobile robot, the robot uses the first origami structure 12 as an anchoring foot and the telescopic module as a power-providing torso, simulating the gait of a crawling organism. For example... Figure 3 and Figure 4 In the anchoring configuration shown, the pneumatic control unit simultaneously inflates the cavity of the first folded structure 12 to a high pressure, causing the cavity to expand radially and adhere tightly to the pipe wall. When the anchoring is released, the pneumatic control unit quickly opens the exhaust port, and the cavity of the first folded structure 12 rapidly depressurizes and contracts. This design changes the air pressure of the sealed cavity in this way, causing it to rapidly expand and contract in the axial direction, thereby achieving anchoring and detachment from the pipe wall, and enabling a rapid response from the rolling anchoring module.

[0039] Simultaneously, the robot controls the motor 431 and the winding reel 432 to synchronously wind and unwind the drive cable 42, such as... Figure 5 During the overall extension and retraction process shown in a, b, and c, the controller sends a synchronization command to the control motor 431. When retracting the cable, pulling the drive cable 42 forces the second folding structure 41 to compress along the preset crease; when releasing the drive cable 42, the second folding structure 41 extends under its own elasticity, achieving precise control in the straight-line forward direction within the pipe.

[0040] Specifically, it can be like Figure 6 The illustrated movement gait involves alternating anchoring and extension. Specifically... Figure 6 The robot's telescopic-anchoring gait cycle, as shown, comprises four gaits: First, the first origami structure 12 of the head rolling anchor module 1 is anchored along the direction of movement, while the first origami structure 12 of the tail rolling anchor module 1 is released from anchoring, and the telescopic module is simultaneously extended. Next, the rolling anchor modules 1 at both ends remain unchanged, and the telescopic module moves forward as a whole, pulled by the retraction of the drive cable 42. Subsequently, the first origami structure 12 of the tail rolling anchor module 1 anchors to the pipe wall, while the first origami structures 12 of the head and tail rolling anchor modules are released from anchoring, and the telescopic module remains in the same state. Finally, the anchoring module remains in the same state, and the drive cable 42 of the telescopic module extends and resets to prepare for the next cycle. This gait control method is efficient and stable.

[0041] Furthermore, the dual-mode mobile robot's pipe-crossing mode can be like... Figure 7 As shown in a, b, and c, when encountering a pipeline environment with significant angle changes, the bending direction and curvature are controlled by the differentiated winding and unwinding operations of the drive cable 42 through the control motor 431 and the winding reel 432, thereby achieving active steering. When a turn is required, the control motor 431 receives a command to shorten the drive cable 42 on the turning side while simultaneously holding or releasing the drive cable 42 on the other side. Due to the torsional-bending coupling characteristics of the second fold structure 41 of the telescopic module, the asymmetrical winding and unwinding will cause the telescopic module to produce smooth and controllable bending deformation, thereby achieving active steering. This meets the needs of complex and winding branching environments within pipelines and can adapt to significant changes in pipe diameter.

[0042] In ground-walking mode, the sealed second origami structure 41 and the mounting circular plate 11 serve as rolling wheels. A controller issues a command, and the cavities of all first origami structures 12 synchronously adjust the air pressure from the anchoring high pressure to the rolling working pressure. This ensures that each rolling anchoring module is uniformly adjusted to the preset working diameter, with real-time feedback from sensors to stabilize it at the target value. At this time, the rolling anchoring module presents a complete circular outline. The telescopic module can adjust the extension and retraction of the control drive cable 42, changing the length of the telescopic structure to ensure its adaptability to changing environments and provide a basis for high-speed rolling.

[0043] Furthermore, when the dual-mode mobile robot rolls on the ground, it first needs to send a reeling command to the control motor 431 of the second origami structure 41, which is furthest from the ground, via the controller. This tightens the drive cable 42, which is furthest from the ground, causing it to compress independently and bend the middle of the overall telescopic module downwards until the end plate 3 of the telescopic structure makes slight contact with the ground, achieving the desired effect. Figure 8 The state shown is as follows. Frictional torque generated by the ground prevents the second folding structure 41 of the telescopic module from rotating and becoming entangled when the rolling anchor module 1 rotates. When the robot moves in a straight line, the rotary motor 13 receives a signal from the control system and starts rotating synchronously. Moving forward and backward by changing the direction of the rotary motor 13 allows for normal rolling at different slope angles. In addition to the basic speed adjustment by directly changing the rotational speed of the rotary motors 13, this robot also provides a unique speed adjustment method that does not require changing the rotational speed of the rotary motors 13. This is achieved by adjusting the air pressure inside the first folding structure 12 to change the diameter of the rolling anchor module 1, thereby changing the linear velocity at the same rotational speed.

[0044] When facing turning environments while walking on the ground, it possesses multi-level turning capabilities, flexibly adapting to different scenarios. When moving on flat ground, the robot can achieve efficient turning by adjusting the speed difference between the two rotary motors 13. When facing sharp bends or complex terrain, differential turning can be achieved simultaneously by changing the length of the control drive cable 42 via the control motor 431 at the telescopic module, causing the robot to deform and actively bend in the turning direction. This not only allows it to adapt to narrow spaces with a smaller turning radius but also enhances its adhesion to the terrain on rough surfaces, ensuring stable movement. In confined environments, the robot relies on the frictional torque generated with the ground to drive the rotary motors 13, such as... Figure 9 As shown, under the action of friction, the robot makes a turning motion with one stationary wheel as the fulcrum and the other wheel rotating around it.

[0045] In a specific example, when encountering an obstacle in ground walking mode, air pressure higher than the rolling working pressure is quickly injected into the first origami structure 12 near the obstacle, causing the first origami structure 12 to expand and form a local protrusion to assist in overcoming the obstacle. After overcoming the obstacle, the first origami structure 12 immediately returns to its original state.

[0046] Specifically, when the robot encounters obstacles or complex terrain, especially tall obstacles, rolling alone is insufficient. In this case, a pulsed air pressure higher than the operating pressure is instantaneously injected into a set of second folded structures 41 near the obstacle, creating a localized protrusion that rapidly increases the diameter of this portion of the second folded structure 41. At this point, the end face of the second folded structure 41 resists the ground, using the ground's reaction force to instantly raise the robot's center of gravity, allowing it to roll onto the top of the obstacle and achieve obstacle clearance. After clearing the obstacle, the second folded structure 41 immediately depressurizes and recovers its original shape. The process is as follows: Figure 10 As shown in a, b, c, and d; In some other embodiments, when encountering a height restriction scenario in the ground walking mode, the air pressure in all the first folding structures 12 is reduced through the air passage 2, so that the diameter of the rolling anchor module 1 is reduced to lower the overall height. After passing through, it can be re-inflated to restore the preset working diameter.

[0047] When encountering height restrictions, the air pressure inside the first folding structure 12 is reduced to decrease the overall wheel diameter, thereby lowering the fuselage height to pass through the height restriction. Furthermore, after overcoming the obstacle, the target air chamber quickly returns to its initial state to ensure a regular circular rolling motion.

[0048] When the robot faces soft terrain, the air pressure of all the first origami structures 12 is reduced, and the diameter of the rolling anchoring module is reduced as much as possible, thereby increasing the pressure of the robot in contact with the ground and allowing it to pass smoothly.

[0049] When the robot moves on a sloping surface, in order to reduce the impact of slippage, the moving speed can be reduced and the air pressure in the first origami structure 12 can be periodically adjusted to simulate the "crawling" effect to enhance its grip and ensure the stability of the movement.

[0050] In a specific embodiment, in the ground walking mode, the origami telescopic component 4 is controlled to bend in the direction away from the ground until the two end plates 3 make slight contact with the ground, forming a frictional torque to prevent the origami telescopic component 4 from rolling with the mounting circular plate 11. Specifically, as follows... Figure 8 As shown.

[0051] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual-mode mobile origami robot, characterized in that, include: The telescopic module includes two end plates (3) and multiple origami telescopic components (4) connected between the two end plates (3). By controlling the synchronous and differential telescopic extension and retraction of the origami telescopic components (4), the telescopic module can achieve linear extension and bending. Two rolling anchoring modules (1) are respectively installed on the outside of the two end plates (3). Each rolling anchoring module (1) includes a rotary motor (13), a mounting circular plate (11) and a plurality of first folding structures (12). The mounting end of the rotary motor (13) is fixed on the end plate (3). The mounting circular plate (11) is fixed on the rotating end of the rotary motor (13). Each first folding structure (12) has a sealed cylindrical cavity, and the plurality of first folding structures (12) are arranged radially circumferentially on the outer side of the mounting circular plate (11). The air control unit controls the first origami structure (12) to deform through the air passage (2).

2. The dual-mode mobile origami robot according to claim 1, characterized in that, The multiple first origami structures (12) in each of the rolling anchoring modules (1) are divided into multiple groups. Each group of origami structures (12) is interconnected, and one of the first origami structures (12) in each group is connected to one of the air passages (2) to achieve independent control of the internal air pressure of the multiple groups of first origami structures (12) and to achieve localized radial deformation of the multiple groups of first origami structures (12).

3. A dual-mode mobile origami robot according to claim 2, characterized in that, It also includes a plurality of friction pads (5), each of the friction pads (5) being fixed to one end of each of the first origami structure (12) away from the mounting disc (11) to increase contact friction.

4. A dual-mode mobile origami robot according to claim 1, characterized in that, Each of the origami telescopic components (4) includes a second origami structure (41), a drive cable (42), and a control component (43). The two ends of each second origami structure (41) are fixed on two end plates (3). The drive cable (42) is located inside the second origami structure (41), and its first end is fixed on one of the end plates (3). The mounting end of the control component (43) is mounted on the other end plate (3), and the control end of the control component (43) is connected to the second end of the drive cable (42). The origami telescopic component (4) can be extended and bent by controlling the extension and retraction of each set of drive cables (42).

5. A dual-mode mobile origami robot according to claim 4, characterized in that, Each of the control components (43) includes a control motor (431) and a winding reel (432). The mounting end of the control motor (431) is fixed on the end plate (3). The winding reel (432) is fixed on the rotating end of the rotary motor (431). The second end of the drive cable (42) is fixed on the winding reel (432) and can be wound along the winding reel (432) to achieve synchronous control of the tension and extension of the drive cable (42).

6. A dual-mode mobile origami robot according to claim 5, characterized in that, It also includes a controller, which is fixed on the end plate (3) and electrically connected to the control motor (431) and the rotary motor (13) to control the operation of the control motor (431) and the rotary motor (13).

7. A control method for a dual-mode mobile origami robot according to any one of claims 1-6, characterized in that, include: Ground walking mode and pipeline walking mode; When in ground walking mode, the origami robot rolls by controlling the rotation of the rotary motor (13), and turns by controlling the speed difference between the two rotary motors (13). When in the pipeline walking mode, the pipeline walking mode includes a creeping mode and a bending mode. The creeping mode controls the alternating deformation of the first origami structure (12) in the two rolling anchoring modules (1) to abut against the inner wall of the pipeline, and controls the extension and retraction of the origami telescopic component (4) during the alternating deformation to achieve creeping in the pipeline. The bending mode controls the differentiated contraction of multiple sets of origami telescopic components (4) to change the bending direction and curvature, and then achieves bending in the cooperation of the creeping mode.

8. The control method for a dual-mode mobile origami robot according to claim 7, characterized in that, When an obstacle is encountered in the ground walking mode, air pressure higher than the rolling working pressure is quickly injected into the first origami structure (12) near the obstacle, causing the first origami structure (12) to expand and form a local protrusion to assist in overcoming the obstacle. After overcoming the obstacle, the first origami structure (12) immediately recovers.

9. The control method for a dual-mode mobile origami robot according to claim 8, characterized in that, When encountering a height restriction scenario in the ground walking mode, the air pressure in all the first origami structures (12) is reduced through the air passage (2), so that the diameter of the rolling anchor module (1) is reduced to lower the overall height. After passing through, it can be re-inflated to restore the preset working diameter.

10. The control method for a dual-mode mobile origami robot according to claim 9, characterized in that, In the ground walking mode, the origami telescopic assembly (4) is controlled to bend in the direction away from the ground until the two end plates (3) make slight contact with the ground, forming a frictional torque to prevent the origami telescopic assembly (4) from rolling with the mounting plate (11).

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