Robotic intelligent rescue system and rescue method for pipeline detection task

Abstract

The application discloses a kind of robot intelligent rescue system for pipeline detection task, system includes rescue robot body, docking communication mechanism, common control system and rescue execution module.Rescue robot body is provided with automatic recovery mechanism, including torsion spring at swing arm track joint place and tension spring at camera extension mechanism place, torsion spring and tension spring drive each mechanism to recover to minimum volume when power off;Docking communication mechanism includes spring pin mechanism and magnetic suction communication port, for realizing mechanical docking and high-speed communication with detection robot;Common control system supports automatic and manual rescue mode switching;Rescue execution module is used for completing the drag recovery and fault pre-processing of fault detection robot.The application realizes the power-off self-protection of rescue robot itself, does not need to add clutch mechanism for detection robot, can be directly dragged, with the advantages of high docking efficiency, strong adaptability, safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of pipeline maintenance technology, specifically a robotic intelligent rescue system and rescue method for pipeline inspection tasks. Background Technology

[0002] With the continuous development of industrial automation technology, pipeline inspection robots have been widely used in the inspection and maintenance of various industrial pipelines and municipal pipe networks. These robots can replace manual labor in entering narrow, high-risk, and complex pipeline environments, and complete tasks such as monitoring the condition of the pipeline interior and identifying defects through onboard sensors and inspection equipment. This significantly improves inspection efficiency and operational safety, and reduces the labor intensity and safety risks of manual inspection.

[0003] The internal environment of pipelines is often complex, with various uncertainties such as pipeline deformation, water accumulation, obstacles, and signal blind spots. During long-term operation, inspection robots may become trapped or malfunction due to power system failure, control system abnormalities, mechanical jamming, or energy depletion. Once an inspection robot malfunctions inside a pipeline, the narrow space and enclosed environment make manual rescue extremely difficult and may pose safety hazards such as oxygen deficiency, toxic gases, and structural collapse, resulting in low rescue efficiency and extremely high risks.

[0004] Currently, rescue methods for pipeline inspection robots are relatively limited. In some scenarios, rescue is carried out by manually dragging ropes, but this method requires a pre-set traction structure on the robot and is difficult to accurately locate the faulty robot. In complex pipeline paths, problems such as rope entanglement and dragging obstruction are prone to occur. Other solutions attempt to assist rescue through remotely controlled simple mechanical devices, but they lack dedicated docking mechanisms and collaborative control logic, making it impossible to achieve rapid docking, status detection, and efficient retrieval of the faulty robot. Furthermore, the reliability and adaptability of the rescue equipment itself are insufficient, making it difficult to cope with diverse pipeline fault scenarios.

[0005] In the prior art, Chinese patent CN111237587B discloses a "recyclable pipeline inspection robot." This solution uses an electromagnetic push rod device on the robot. When a malfunction occurs, the electromagnetic push rod device is de-energized, releasing the squeezing pressure and causing the support wheels to detach from the pipe wall, thereby achieving robot retrieval. However, this solution has the following shortcomings: First, the retrieval trigger relies on a power-off command from the control system. When the control system itself crashes or the main control board burns out, the electromagnetic push rod cannot receive the command, and the retrieval function completely fails. Second, this solution only addresses the retrieval of the inspection robot itself and does not consider the secondary malfunction problem of the rescue tool itself potentially becoming trapped due to power failure while operating inside the pipeline. Third, this solution requires additional auxiliary components such as electromagnetic push rods to be added to the inspection robot, increasing structural complexity and cost.

[0006] Furthermore, existing inspection robots are often not designed with rescue needs in mind. Their power transmission mechanisms are difficult to drive by external forces in the event of a power outage or malfunction, requiring additional auxiliary components such as clutch mechanisms. This not only increases the robot's structural complexity and cost but may also reduce its operational reliability. At the same time, the malfunctioning robot's ability to monitor its condition within pipelines, analyze the cause of the malfunction, and autonomously escape from difficult situations is weak, further exacerbating the difficulty of rescue operations. Summary of the Invention

[0007] The technical problem to be solved by this invention is to provide a robotic intelligent rescue system and rescue method for pipeline inspection tasks, in order to solve the technical problems in the prior art, such as the inability to trigger when the control system fails, the need for additional clutch mechanism for the inspection robot, low rescue docking efficiency and lack of coordinated control, and the possibility of the rescue robot itself getting stuck in the pipeline, causing secondary failures. The invention achieves accurate positioning, rapid docking, safe dragging and intelligent fault handling of the fault detection robot, while ensuring the rescue robot's own power failure self-protection and safe recovery, thereby improving rescue efficiency and system reliability.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a robotic intelligent rescue system for pipeline inspection tasks, comprising a rescue robot body, a docking and communication mechanism, a shared control system and a rescue execution module; The rescue robot body is equipped with an automatic recovery mechanism, which includes torsion springs located at the telescopic mechanism and the swing arm track joints, and tension springs located at the camera extension mechanism. The torsion springs and tension springs are used to drive each mechanism to retract to its minimum volume when the rescue robot body is powered off. The docking communication mechanism includes a spring pin mechanism and a magnetic communication port located at the front end of the rescue robot body. The spring pin mechanism is used to achieve mechanical docking with the rescue quick interface at the rear of the detection robot, and the magnetic communication port is used to establish a communication connection between the rescue robot body and the detection robot. The shared control system is used to control the movement, docking, and rescue actions of the rescue robot body; The rescue execution module is used to complete the dragging and retrieval of the detection robot and the pre-processing of faults.

[0009] In a preferred embodiment, the rescue robot body adopts a tracked power mechanism, which is equipped with redundant motor units; The detection robot adopts a tracked power mechanism with the same structure as the rescue robot body, and the reduction ratio of the tracked power mechanism is less than 20, so that the detection robot can be directly dragged and driven by the rescue robot body when the power is off.

[0010] In a preferred embodiment, cameras are installed at both the front and rear ends of the rescue robot body. The front camera is used to observe the pipeline environment and the docking process, while the rear camera is used to monitor the dragging status and the environment behind.

[0011] In a preferred embodiment, the front end of the spring pin mechanism is provided with a guide slope to guide the spring pin to be accurately inserted into the quick-access rescue interface groove at the rear of the detection robot.

[0012] In a preferred embodiment, the magnetic communication port is a pogo pin magnetic port, which is electrically connected to the main controller inside the rescue robot. The main controller integrates a data processing unit, which establishes a data connection with the inspection robot through a pogo pin magnetic port. This data processing unit is used to read the status data of the inspection robot, analyze the cause of the fault, and generate wake-up commands and transmission component recovery commands.

[0013] In a preferred embodiment, the shared control system includes a main controller, a wireless communication module, and an actuator drive module; The main controller integrates a mode decision unit, which supports switching between automatic rescue mode and manual rescue mode. The main controller also integrates a path planning unit, which generates a tracking path based on the navigation and positioning history data of the detection robot in automatic rescue mode. The wireless communication module is used to receive remote control commands in manual rescue mode.

[0014] In a preferred embodiment, the torsion spring of the automatic recovery mechanism is located at the rotation axis of the swing arm track joint. One end of the torsion spring is fixed to the rescue robot body and the other end is fixed to the swing arm track assembly. When the power is off, the swing arm track is driven to recover by the elastic force of the torsion spring. One end of the tension spring is connected to the camera extension mechanism, and the other end is fixed to the rescue robot body. When the power is off, the tension spring retracts to pull the camera back.

[0015] In a preferred embodiment, the camera extension mechanism includes an arc-shaped sleeve, two arc-shaped telescopic arms passing through the arc-shaped sleeve, positioning teeth on the lower edge of the arc-shaped telescopic arms, and gears that cooperate with the positioning teeth inside the rescue robot body. One end of the tension spring is fixed to the arc-shaped sleeve, and the other end is connected to the end of the arc-shaped telescopic arm; Two sets of arc-shaped telescopic arms are symmetrically arranged on both sides of the arc-shaped sleeve.

[0016] In a preferred embodiment, the rescue execution module includes a fault location unit, a docking control unit, a fault handling unit, and a drag-and-recovery unit. The fault location unit determines the position of the detection robot based on the robot's historical positioning data and the front-end camera image. The docking control unit controls the spring pin mechanism to lock according to the docking sensor signal; The fault handling unit reads the detection robot's status data and generates processing instructions through the magnetic communication port; The towing and recovery unit controls the track power mechanism to perform towing actions and monitors the towing status.

[0017] A rescue method based on the aforementioned robotic intelligent rescue system for pipeline inspection tasks includes the following steps: S1. Insert the rescue robot into the pipeline through the maintenance manhole and move in automatic or manual rescue mode through the shared control system. S2. The rescue robot automatically tracks the detection robot based on its navigation and positioning history data, or approaches the detection robot remotely. S3. Align the spring pin mechanism with the quick-connect rescue interface at the rear of the inspection robot to complete the mechanical docking; S4. Establish a communication connection between the rescue robot and the detection robot through the magnetic communication port, read the status data of the detection robot and attempt remote repair; S5. Activate the track drive system of the rescue robot to drag the inspection robot toward the maintenance manhole; S6. After the inspection robot is dragged to the maintenance manhole, the rescue robot disconnects from the dock, exits the pipeline, and is retrieved.

[0018] The intelligent robotic rescue system and method for pipeline inspection tasks provided by this invention, by adopting the above-described structure, have the following beneficial effects: (1) The present invention sets an automatic recovery mechanism consisting of torsion springs and tension springs on the body of the rescue robot. The torsion springs are located at the joint of the swing arm track and the tension springs are connected in parallel to the camera extension mechanism. Unlike the prior art which relies on electromagnetic push rods for active control and requires the control system to issue a power-off command, the present invention adopts a pure mechanical energy storage method. In any case that causes a power outage, multiple mechanisms can be triggered to synchronously recover to the minimum volume, which solves the problem of secondary failure in the prior art where the rescue robot itself may get stuck in the pipeline, and ensures the closed loop of the rescue mission. (2) The detection robot in this invention adopts a tracked power mechanism with a reduction ratio of less than 20. In the power failure state, it can be directly dragged and driven by the rescue robot without the need for an additional clutch mechanism. This not only simplifies the structure of the detection robot and reduces the manufacturing cost, but also improves the operational reliability of the system. (3) A rapid mechanical docking is achieved through a spring pin mechanism. The front end of the spring pin is equipped with a guide slope to reduce the difficulty of docking and alignment. A high-speed communication connection is established through the pogo pin magnetic port. The rescue system can read the status data of the detection robot, analyze the cause of the fault, and attempt to remotely wake up or repair it. When repair is not possible, the detection robot can be controlled to retract the transmission components to reduce dragging resistance, thus realizing a complete closed loop from mechanical connection to intelligent fault handling. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the parallel torsion spring structure of the swing arm track mechanism of the rescue robot of the present invention.

[0020] Figure 2 This is a schematic diagram of the camera extension mechanism of the present invention.

[0021] Figure 3 This is a schematic diagram of the overall structure of the rescue robot of the present invention.

[0022] Figure 4 This is a schematic diagram illustrating the docking method between the rescue robot and the detection robot of the present invention.

[0023] Figure 5 This is a flowchart illustrating the rescue steps of the rescue robot of the present invention for the detection robot.

[0024] Figure 6 This is a block diagram of the control system of the present invention.

[0025] In the diagram: 1. Rescue robot body; 2. Torsion spring; 3. Camera extension mechanism; 31. Arc sleeve; 32. Arc telescopic arm; 33. Positioning tooth; 34. Gear; 35. Tension spring; 4. Spring pin mechanism; 5. Camera; 6. Detection robot. Detailed Implementation

[0026] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0027] Example 1: like Figures 1 to 6 As shown, this embodiment provides a robotic intelligent rescue system for pipeline inspection tasks, including a rescue robot body 1, a docking communication mechanism, a shared control system, and a rescue execution module.

[0028] The structure of the rescue robot is as follows: like Figure 1 and Figure 3As shown, the rescue robot body 1 adopts a tracked power mechanism, which is equipped with redundant motor units to ensure that the remaining motors can still maintain the basic mobility of the rescue robot body 1 in the event of a single motor failure. The key structural components of the rescue robot body 1 are made of high-strength alloy materials, which have impact-resistant and corrosion-resistant properties, and can adapt to complex pipeline environments that are dusty and humid.

[0029] The rescue robot body 1 is equipped with an automatic recovery mechanism, which includes a torsion spring 2 located at the telescopic mechanism and the swing arm track joint, and a tension spring 35 located at the camera extension mechanism 3. The torsion spring 2 and the tension spring 35 are used to drive each mechanism to retract to its minimum size when the rescue robot body 1 is powered off.

[0030] like Figure 1 As shown, the torsion spring 2 is located at the rotation axis of the swing arm track joint. One end of the torsion spring 2 is fixed to the rescue robot body 1, and the other end is fixed to the swing arm track assembly. Under normal working conditions, the swing arm track is driven by the motor to extend to the working posture. At this time, the torsion spring 2 is torsionally stored to store elastic potential energy. When the rescue robot body 1 loses power, the motor driving force disappears, and the torsion spring 2 automatically twists back to its original position based on the stored elastic potential energy, driving the swing arm track to rotate in the opposite direction and retract, so that the swing arm track is retracted from the extended state to a position close to the rescue robot body 1.

[0031] like Figure 2 As shown, the camera extension mechanism 3 includes an arc-shaped sleeve 31, an arc-shaped telescopic arm 32, a positioning tooth 33, a gear 34, and a tension spring 35. Two arc-shaped telescopic arms 32 are inserted inside the arc-shaped sleeve 31, with the two sets of arc-shaped telescopic arms 32 symmetrically arranged on both sides of the arc-shaped sleeve 31. Positioning teeth 33 are provided along the lower edge of the arc-shaped telescopic arms 32. A gear 34 that meshes with the positioning teeth 33 is provided inside the rescue robot body 1. The gear 34 is driven by a motor, and through the meshing transmission between the gear 34 and the positioning teeth 33, it drives the arc-shaped telescopic arms 32 to extend and retract within the arc-shaped sleeve 31. One end of the tension spring 35 is fixed to the arc-shaped sleeve 31, and the other end is connected to the end of the arc-shaped telescopic arm 32.

[0032] Under normal operating conditions, the motor drives the arc-shaped telescopic arm 32 to extend through the gear 34, moving the camera 5 to the working position. At this time, the tension spring 35 is stretched and stores elastic potential energy. When the rescue robot body 1 loses power, the motor driving force disappears, and the tension spring 35 automatically contracts by relying on the stored elastic potential energy, pulling the arc-shaped telescopic arm 32 back, so that the camera 5 is retracted from the extended position to the inside of the rescue robot body 1 or close to the surface.

[0033] The communication institutions to which we are connected are as follows: like Figure 3 and Figure 4As shown, the docking communication mechanism includes a spring pin mechanism 4 located at the front end of the rescue robot body 1 and a magnetic communication port. The spring pin mechanism 4 is used to achieve mechanical docking with the rescue quick interface at the rear of the detection robot 6. The front end of the spring pin mechanism 4 is provided with a guide slope to guide the spring pin to be accurately inserted into the groove of the rescue quick interface at the rear of the detection robot 6.

[0034] The magnetic communication port is a pogo pin magnetic port, which is electrically connected to the main controller inside the rescue robot body 1. The pogo pin magnetic port (not shown in the figure) is arranged around the spring pin mechanism 4. After the spring pin mechanism 4 completes the mechanical docking, the pogo pin magnetic port automatically establishes a high-speed communication connection between the rescue robot body 1 and the detection robot 6, with a communication rate of 1Mbps.

[0035] The shared control system is as follows: like Figure 6 As shown, the shared control system includes a main controller and an actuator drive module. The main controller integrates a mode decision unit, a path planning unit, and a data processing unit.

[0036] The mode decision unit supports switching between automatic and manual rescue modes. In automatic rescue mode, the path planning unit generates a tracking path based on the navigation and positioning history data of the detection robot 6, driving the rescue robot body 1 to automatically move to the location of the fault detection robot 6. In manual rescue mode, the wireless communication module receives remote control commands sent by the operator through the control terminal. The operator can observe the images captured by the camera 5 in real time through the control terminal and remotely control the actions of the rescue robot body 1.

[0037] The data processing unit establishes a data connection with the inspection robot 6 through the pogo pin magnetic port, which is used to read the status data of the inspection robot 6, analyze the cause of the fault, and generate wake-up commands and transmission component recovery commands.

[0038] The actuator drive module is electrically connected to each actuator in the rescue robot body 1. It is used to receive control commands output by the main controller and drive the track power mechanism, swing arm motor, camera extension mechanism motor and spring pin mechanism 4 to perform corresponding actions.

[0039] The rescue execution module is as follows: like Figure 6 As shown, the rescue execution module includes a fault location unit, a docking control unit, a fault handling unit, and a drag-and-recovery unit.

[0040] The fault location unit determines the position of the detection robot 6 based on its historical positioning data and the images from the camera 5 (front end). When the rescue robot body 1 enters the pipeline, the fault location unit first reads the historical navigation and positioning data of the detection robot 6 stored in the shared control system, and combines it with the real-time pipeline environment images collected by the camera 5 (front end) to accurately locate the position coordinates of the fault detection robot 6.

[0041] The docking control unit controls the spring pin mechanism 4 to lock according to the docking sensor signal. When the rescue robot body 1 approaches the fault detection robot 6, the camera 5 (front end) observes the docking position, and the docking control unit controls the rescue robot body 1 to slowly approach, so that the spring pin mechanism 4 is aligned with the rescue quick interface at the rear of the detection robot 6, until the spring pin is inserted and locked, completing the mechanical docking.

[0042] The fault handling unit reads the status data of the inspection robot 6 through the pogo pin magnetic port and generates processing commands. After mechanical docking is completed, a high-speed communication connection is established through the pogo pin magnetic port. The fault handling unit reads the status data of the inspection robot 6 and analyzes the fault type. If it is a minor fault (such as program jamming, sensor false alarms, etc.), the fault handling unit generates a wake-up command or repair command and sends it to the inspection robot 6 through the pogo pin magnetic port to attempt remote wake-up or repair. If it is a serious fault (such as motor burnout, transmission mechanism jamming, etc.), the fault handling unit generates a transmission component retraction command to control the inspection robot 6 to retract its extended transmission components (such as swing arms, cameras, etc.) to reduce subsequent dragging resistance.

[0043] The towing and recovery unit controls the tracked power mechanism to perform the towing action and monitors the towing status. When the fault cannot be repaired remotely, the towing and recovery unit activates the tracked drive system of the rescue robot body 1, and the towing detection robot 6 moves towards the maintenance manhole. During the towing process, the camera 5 (rear end) monitors the towing status in real time to ensure the towing process is safe and stable.

[0044] The rescue methods based on the above system are as follows: like Figure 5 As shown, the rescue method includes the following steps: S1. Insert the rescue robot into the pipeline through the maintenance manhole and proceed using the shared control system by selecting either automatic or manual rescue mode.

[0045] S2. The rescue robot automatically tracks and follows the detection robot 6 based on its navigation and positioning history data, or approaches the detection robot 6 via remote control. In automatic rescue mode, the path planning unit generates the optimal tracking path based on the historical positioning data of the detection robot 6, driving the rescue robot to move automatically; in manual rescue mode, the operator sends remote control commands via the wireless communication module to control the movement of the rescue robot.

[0046] S3. Align the spring pin mechanism 4 with the rescue quick-connect interface at the rear of the detection robot 6 to complete the mechanical docking. The front-end camera 5 observes the docking position, and the docking control unit controls the rescue robot to slowly approach. The guide ramp at the front of the spring pin mechanism 4 guides the spring pin to accurately insert into the groove of the rescue quick-connect interface until it locks in place.

[0047] S4. Establish a communication connection between the rescue robot and the detection robot 6 through the magnetic communication port, read the status data of the detection robot 6, and attempt remote repair. After establishing a high-speed communication connection through the pogo pin magnetic port, the fault handling unit reads the status data of the detection robot 6, analyzes the fault type, generates a wake-up command or repair command, and sends it out to attempt remote repair.

[0048] S5. Activate the track drive system of the rescue robot, dragging the detection robot 6 towards the maintenance manhole. If the fault cannot be repaired remotely, the dragging and recovery unit activates the track drive system, dragging the detection robot 6 towards the maintenance manhole. During the dragging process, the rear-end camera 5 monitors the dragging status in real time.

[0049] S6. After the inspection robot 6 is dragged to the maintenance manhole, the rescue robot disconnects from the dock, exits the pipeline, and is retrieved. The docking control unit controls the release of the spring pin mechanism 4, releasing the mechanical docking, allowing the rescue robot to exit the pipeline, thus completing the rescue process.

[0050] Control system such as Figure 6 As shown, the control system block diagram of the present invention clearly illustrates the connection relationship and data flow between the modules.

[0051] The main controller, as the core of the control system, is electrically connected to the wireless communication module, the actuator drive module, the sensor module, and the docking communication mechanism. The wireless communication module communicates bidirectionally with the operator's terminal, receiving remote control commands and uploading system status data. The actuator drive module is electrically connected to the track power mechanism, swing arm motor, camera extension mechanism motor, and spring pin mechanism 4 within the rescue robot body 1, driving the actions of each actuator.

[0052] The sensor module includes camera 5 (front-end camera and rear-end camera), docking sensor and motor encoder, which collect environmental images, docking status and motion status data in real time and transmit them to the main controller for processing.

[0053] The pogo pin magnetic port in the docking communication mechanism establishes a data connection with the inspection robot 6, and transmits the read status data to the data processing unit of the main controller for analysis and processing.

[0054] Example 2: This embodiment further defines the tracked power mechanism of the detection robot 6 based on embodiment 1.

[0055] The inspection robot 6 uses a tracked power mechanism with the same structure as the rescue robot body 1, and the reduction ratio of this tracked power mechanism is less than 20. In the event of a power outage, because the reduction ratio is less than 20, the tracked power mechanism of the inspection robot 6 can be easily driven and dragged by external force, allowing the rescue robot body 1 to directly tow the inspection robot 6 without the need for an additional clutch mechanism. This design simplifies the structure of the inspection robot 6 and reduces manufacturing costs and failure rate.

[0056] Example 3: This embodiment further explains the configuration of camera 5 based on embodiment 1.

[0057] The rescue robot body 1 is equipped with cameras 5 at both the front and rear ends. The front camera 5 is used to observe the pipeline environment and the docking process, while the rear camera 5 is used to monitor the dragging status and the environment behind. The configuration of the front and rear dual cameras provides sufficient visual basis for path planning in automatic rescue mode and remote control in manual rescue mode, ensuring the safety and reliability of the rescue process.

[0058] In summary, this invention, through an automatic recovery mechanism installed on the rescue robot body 1, enables the rescue robot to unconditionally trigger simultaneous recovery of multiple mechanisms to its minimum size under any power outage conditions, overcoming the fundamental defect of existing electromagnetic solutions that cannot be recovered when the control system completely fails. By employing a tracked power mechanism with a reduction ratio of less than 20, the detection robot 6 achieves direct dragging and reverse drive without the need for an additional clutch mechanism. The cooperation between the spring pin mechanism 4 and the pogo pin magnetic port enables rapid mechanical docking and intelligent fault handling. Through the automatic / manual dual-mode switching of the shared control system and the four-unit collaboration of the rescue execution module, a complete closed-loop rescue process is formed. This system has the advantages of reliable structure, strong adaptability, and high rescue efficiency, and is particularly suitable for intelligent rescue operations of detection robots in complex pipeline environments.

Claims

1. A robotic intelligent rescue system for pipeline inspection tasks, characterized in that: This includes the rescue robot body, docking and communication mechanism, shared control system, and rescue execution module; The rescue robot body (1) is equipped with an automatic recovery mechanism, which includes a torsion spring (2) located at the telescopic mechanism and the swing arm track joint, and a tension spring (35) located at the camera extension mechanism (3). The torsion spring (2) and the tension spring (35) are used to drive each mechanism to recover to the minimum volume when the rescue robot body (1) is powered off. The docking communication mechanism includes a spring pin mechanism (4) and a magnetic communication port located at the front end of the rescue robot body (1). The spring pin mechanism (4) is used to achieve mechanical docking with the rescue quick interface at the rear of the detection robot (6). The magnetic communication port is used to establish a communication connection between the rescue robot body (1) and the detection robot (6). The shared control system is used to control the movement, docking, and rescue actions of the rescue robot body (1); The rescue execution module is used to complete the dragging and recovery of the detection robot (6) and fault preprocessing.

2. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The rescue robot body (1) adopts a tracked power mechanism, which is equipped with a redundant motor unit; The detection robot (6) adopts the same tracked power mechanism as the rescue robot body (1), and the reduction ratio of the tracked power mechanism is less than 20, so that the detection robot (6) can be directly dragged and driven by the rescue robot body (1) in the power-off state.

3. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The rescue robot body (1) is equipped with cameras (5) at both the front and rear ends. The front camera (5) is used to observe the pipeline environment and docking process, and the rear camera (5) is used to monitor the dragging status and the environment behind.

4. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The spring pin mechanism (4) has a guide slope at its front end, which is used to guide the spring pin to be accurately inserted into the rescue quick interface groove behind the detection robot (6).

5. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The magnetic communication port is a pogo pin magnetic port, which is electrically connected to the main controller inside the rescue robot body (1). The main controller integrates a data processing unit, which establishes a data connection with the detection robot (6) through the pogo pin magnetic port. The data processing unit is used to read the status data of the detection robot (6), analyze the cause of the fault, and generate wake-up instructions and transmission component recovery instructions.

6. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The shared control system includes a main controller, a wireless communication module, and an actuator drive module; The main controller integrates a mode decision unit, which supports switching between automatic rescue mode and manual rescue mode. The main controller also integrates a path planning unit. In automatic rescue mode, the path planning unit generates a tracking path based on the navigation and positioning history data of the detection robot (6). The wireless communication module is used to receive remote control commands in manual rescue mode.

7. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The torsion spring (2) of the automatic recovery mechanism is located at the rotation axis of the swing arm track joint. One end of the torsion spring (2) is fixed to the rescue robot body (1) and the other end is fixed to the swing arm track assembly. When the power is off, the swing arm track is driven to recover by the elastic force of the torsion spring (2). One end of the tension spring (35) is connected to the camera extension mechanism (3), and the other end is fixed to the rescue robot body (1). When the power is off, the tension spring (35) retracts to pull the camera (5) back.

8. The robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The camera extension mechanism (3) includes an arc sleeve (31), two arc telescopic arms (32) are inserted inside the arc sleeve (31), and the lower edge of the arc telescopic arms (32) is provided with positioning teeth (33). The rescue robot body (1) is provided with gears (34) that cooperate with the positioning teeth (33). One end of the tension spring (35) is fixed to the arc-shaped sleeve (31), and the other end is connected to the end of the arc-shaped telescopic arm (32); Two sets of arc-shaped telescopic arms (32) are symmetrically arranged on both sides of the arc-shaped sleeve (31).

9. A robotic intelligent rescue system for pipeline inspection tasks according to claim 1, characterized in that: The rescue execution module includes a fault location unit, a docking control unit, a fault handling unit, and a drag-and-recovery unit; The fault location unit determines the position of the detection robot (6) based on the historical positioning data of the detection robot (6) and the image of the front-end camera (5); The docking control unit controls the spring pin mechanism (4) to lock according to the docking sensor signal; The fault handling unit reads the status data of the detection robot (6) through the magnetic communication port and generates processing instructions; The towing and recovery unit controls the track power mechanism to perform towing actions and monitors the towing status.

10. A rescue method based on a robotic intelligent rescue system for pipeline inspection tasks according to any one of claims 1-9, characterized in that... Includes the following steps: S1. Insert the rescue robot into the pipeline through the maintenance manhole and move in automatic or manual rescue mode through the shared control system. S2. The rescue robot automatically tracks and follows the historical navigation and positioning data of the detection robot (6), or approaches the detection robot (6) through remote control. S3. Align the spring pin mechanism (4) with the rescue quick interface behind the detection robot (6) to complete the mechanical docking; S4. Establish a communication connection between the rescue robot and the detection robot (6) through the magnetic communication port, read the status data of the detection robot (6) and attempt to repair it remotely; S5. Start the track drive system of the rescue robot and drag the inspection robot (6) toward the maintenance manhole; S6. After the inspection robot (6) is dragged to the maintenance manhole, the rescue robot disconnects from the dock, exits the pipeline, and is retrieved.

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