Centroid-adjustable high-adaptability mobile robot and use method

Abstract

The application relates to the technical field of robots, in particular to a centroid-adjustable high-adaptability mobile robot and a use method, which comprises a front vehicle module, a rear vehicle module, a centroid adjustment mechanism and a control module, the front vehicle module and the rear vehicle module are arranged side by side, the centroid adjustment mechanism is arranged between the front vehicle module and the rear vehicle module, the centroid adjustment mechanism is used for adjusting the spacing between the front vehicle module and the rear vehicle module, the control module is arranged in the front vehicle module, the control module is electrically connected with the front vehicle module, the rear vehicle module and the centroid adjustment mechanism, and the control module is used for controlling the front vehicle module, the rear vehicle module and the centroid adjustment mechanism. The spacing between the front vehicle module and the rear vehicle module is controlled through the arranged centroid adjustment mechanism, the poor passability and insufficient operation space problems caused by fixed configuration and too long vehicle body of a traditional inspection robot in a variable-diameter, curved and other unstructured pipeline are effectively solved, and the robot can be used as a stable mechanical equipment carrier.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a highly adaptable mobile robot with an adjustable center of mass and its usage method. Background Technology

[0002] In industrial sectors such as urban construction, power, and petrochemicals, narrow pipes (such as pipes with a diameter of less than 500 mm) are widely used to transport media. Regular inspection and maintenance of their internal condition is a key link in ensuring safe production. However, due to the limited space and complex environment of the pipes (which may contain oil, water, corrosion, or structural deformation), traditional manual inspection methods suffer from problems such as low efficiency, poor safety, and incomplete coverage. Therefore, pipeline robot technology has become an important solution.

[0003] Currently, there are various research results on mobile robots for pipeline environments, mainly including wheeled, tracked, and peristaltic structures. Among them, wheeled pipeline robots rely on motors to drive wheels to move inside the pipeline. They have a simple structure and fast movement speed, but they are prone to slipping on wet or inclined pipe walls, and their adaptability is insufficient when passing through bends and pipes with varying diameters. As a carrier of mechanical equipment, they have poor stability. Therefore, a highly adaptable mobile robot with an adjustable center of mass and its usage method are proposed. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the present invention provides a highly adaptable mobile robot with an adjustable center of mass, comprising a front vehicle module, a rear vehicle module, a center of mass adjustment mechanism, and a control module;

[0005] The front vehicle module and the rear vehicle module are arranged side by side. The center of gravity adjustment mechanism is located between the front vehicle module and the rear vehicle module. The center of gravity adjustment mechanism is used to adjust the distance between the front vehicle module and the rear vehicle module. The control module is located inside the front vehicle module. The control module is electrically connected to the front vehicle module, the rear vehicle module and the center of gravity adjustment mechanism. The control module is used to control the front vehicle module, the rear vehicle module and the center of gravity adjustment mechanism.

[0006] Preferably, the front vehicle module includes a front vehicle body, with a set of front wheel drive motors arranged on both sides inside the front vehicle body. The output ends of the two sets of front wheel drive motors extend to the outside of the front vehicle body, and a set of front honeycomb wheels are installed on the output ends of the two sets of front wheel drive motors. Two sets of symmetrical front lighting sources are arranged at the front end of the front vehicle body, and a set of front cameras is arranged at the middle position of the front end of the front vehicle body.

[0007] Preferably, the rear vehicle module includes a rear vehicle body, with a set of rear wheel drive motors provided on both sides of the interior of the rear vehicle body. The output ends of the two sets of rear wheel drive motors extend to the outside of the rear vehicle body, and a set of rear honeycomb wheels are installed on the output ends of the two sets of rear wheel drive motors. Two sets of symmetrically arranged rear lighting sources are provided at the rear end of the front vehicle body, and a set of rear cameras is provided at the middle position of the rear end of the rear vehicle body.

[0008] Preferably, the center of gravity adjustment mechanism includes a partition, a front mounting plate, a rear mounting plate module, a sliding guide rod, a lead screw and slider module, a cable chain module, a joint connecting plate, and a rotary docking module. The partition is fixed to the interior of the front vehicle body with bolts. The front mounting plate and rear mounting plate modules are respectively disposed at both ends of the partition and are both fixed to the interior of the front vehicle body with bolts. The sliding guide rod is disposed between the partition and the front mounting plate. The lead screw and slider module is sleeved on the outside of the sliding guide rod. A cable chain module is installed on one side of the lead screw and slider module. The end of the cable chain module is fixedly connected to the partition. The joint connecting plate is fixed to the top of the lead screw and slider module with bolts. The rotary docking module is installed at the end of the joint connecting plate and is connected to the rear vehicle body.

[0009] Preferably, the rear mounting plate module includes a rear mounting plate, a lead screw drive motor, and a drive wheel; the rear mounting plate is fixed to the inside of the front vehicle module by bolts, the lead screw drive motor is fixed to one side of the rear mounting plate, the output shaft of the lead screw drive motor extends through the rear mounting plate to the other side of the rear mounting plate, a set of drive wheels is installed at the end of the output shaft of the lead screw drive motor, and an idler wheel is installed on the other side surface of the rear mounting plate through a rotating shaft, the idler wheel meshing with the drive wheel.

[0010] Preferably, the lead screw slider module includes a lead screw slider, a lead screw, and a driven wheel; the lead screw slider is sleeved outside the sliding guide rod, the lead screw is threaded inside the lead screw slider, the two ends of the lead screw are connected to the front mounting plate and the rear mounting plate module through bearings, the driven wheel is fixed to the end of the lead screw, and the driven wheel meshes with the idler wheel.

[0011] Preferably, the rotating docking module includes a rotating docking plate, a roll joint shaft, a rotating bearing, and an angle sensor; the rotating docking plate is disposed inside the rear vehicle body, the roll joint shaft is inserted inside the rotating docking plate, the rotating bearing is sleeved on the end of the roll joint shaft and fixedly connected to the rear vehicle body, and the angle sensor is fixed to the end of the rotating bearing.

[0012] Preferably, the control module includes a PCB board, motor drivers, a network switch, and a dimming module; the PCB board is installed inside the front vehicle body, and the three sets of motor drivers are distributedly installed inside the front vehicle body, wherein two sets of motor drivers are electrically connected to two sets of front wheel drive motors respectively, and the other set of motor drivers is electrically connected to a lead screw drive motor; the two sets of motor drivers are distributedly installed inside the rear vehicle body, and the two sets of motor drivers are electrically connected to two sets of rear wheel drive motors respectively.

[0013] The network switch and dimming module are installed inside the front of the vehicle body. The dimming module is electrically connected to the front lighting source and the rear lighting source, respectively. The aviation plug is installed on the rear of the vehicle body.

[0014] Preferably, the PCB board is electrically connected to the network switch, motor driver, dimming module and angle sensor respectively; the power input terminal of the PCB board is connected to the aviation plug via a cable, and the aviation plug is used to connect to an external power source.

[0015] The network switch is electrically connected to the front camera, rear camera, aviation connector, and PCB board via a network cable; the network switch is communicatively connected to an external control terminal via the aviation connector; the network switch is used to forward control commands from the control terminal and to transmit back the status and collected data of the PCB board, front camera, and rear camera.

[0016] A method for using a highly adaptable mobile robot with an adjustable center of mass includes the following steps:

[0017] Step S1: Connect the external power supply and external control terminal via the aviation plug. Power on the control module, initialize the PCB board, and perform self-tests on each motor driver, angle sensor, front camera, and rear camera. After the self-test is normal, the module enters the working state.

[0018] In step S2, the external control terminal sends a lighting command to the dimming module through the PCB board. The dimming module drives the front and rear lighting sources to light up, providing illumination for the working environment and ensuring that the camera can clearly capture images.

[0019] In step S3, the external control terminal sends drive commands to the motor driver through the PCB board. The motor driver drives the front wheel drive motor and the rear wheel drive motor to rotate, which in turn drives the front honeycomb wheel and the rear honeycomb wheel to rotate, enabling the robot to move forward, backward, and turn. At the same time, the front camera and the rear camera collect environmental images in real time, and the environmental images are transmitted back to the external control terminal through the network switch.

[0020] In step S4, when the front honeycomb wheel in the front vehicle body encounters a protrusion or a change in the curvature of the pipe, the front vehicle body deflects relative to the rear vehicle body in real time through a rotary bearing. The angle sensor synchronously monitors the deflection angle and feeds it back to the PCB board. The deflection of the front vehicle body keeps the front honeycomb wheel grounded, maintaining the stability of the front vehicle body's posture. Similarly, when the rear honeycomb wheel in the rear vehicle body encounters a protrusion or a change in the curvature of the pipe, the rear vehicle body deflects relative to the front vehicle body in real time through a rotary bearing. The angle sensor synchronously monitors the deflection angle and feeds it back to the PCB board. The deflection of the rear vehicle body keeps the rear honeycomb wheel grounded, maintaining the stability of the rear vehicle body's posture.

[0021] In step S5, when adjusting the distance between the front and rear vehicle bodies, the motor driver drives the lead screw to drive the motor to rotate, the motor drives the active wheel to rotate, the active wheel drives the driven wheel through the idler wheel, the driven wheel drives the lead screw to rotate, the rotation of the lead screw drives the lead screw slider module to move along the sliding guide rod, the slider module drives the rear vehicle module to move back and forth through the joint connecting plate and the rotating docking module, accurately adjusting the distance between the front and rear vehicle modules, and changing the overall center of gravity and distance of the robot.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. This invention controls the distance between the front and rear vehicle modules by setting a center of gravity adjustment mechanism, which effectively solves the problems of poor passability and insufficient working space caused by the fixed configuration and excessive length of the vehicle body of traditional inspection robots in unstructured pipelines such as those with variable diameters and bends. The robot can actively retract its body to reduce the length-to-diameter ratio and pass smoothly when moving, and actively extend its body to ensure its own stability when working, and can be used as a stable mechanical equipment carrier.

[0024] 2. The present invention enables the front and rear vehicle modules to adaptively twist according to the curvature of the pipe or the bulge inside the pipe through the rotation docking module. The honeycomb wheels in the front and rear vehicle modules can adapt to the change of pipe curvature after twisting, so as to keep the entire wheel in contact with the wall surface, thereby improving the robot's spatial adaptability in narrow and complex pipe environments.

[0025] 3. The present invention, through its control module, can achieve comprehensive and real-time monitoring and feedback of the pipeline's internal environment and the carrier's own posture. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0027] Figure 2 This is a schematic diagram of the three-dimensional side view structure of the present invention;

[0028] Figure 3 This is a bottom-view structural diagram of the present invention;

[0029] Figure 4This is a schematic diagram of the front vehicle module structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the center-of-gravity adjustment mechanism of the present invention;

[0031] Figure 6 This is a schematic diagram of the unfolded structure of the center of gravity adjustment mechanism of the present invention;

[0032] Figure 7 This is a schematic diagram of the rear vehicle module structure of the present invention.

[0033] The numbers in the diagram represent:

[0034] 1. Front vehicle module; 11. Front vehicle body; 12. Front wheel drive motor; 13. Front honeycomb wheel; 14. Front lighting source; 15. Front camera;

[0035] 2. Rear vehicle module; 21. Rear vehicle body; 22. Rear wheel drive motor; 23. Rear honeycomb wheel; 24. Rear lighting source; 25. Rear camera;

[0036] 3. Center of gravity adjustment mechanism; 31. Partition plate; 32. Front mounting plate; 33. Rear mounting plate module; 331. Rear mounting plate; 332. Screw drive motor; 333. Drive wheel; 334. Idler wheel; 34. Sliding guide rod; 35. Screw slider module; 351. Screw slider; 352. Screw; 353. Driven wheel; 36. Cable chain module; 37. Joint connecting plate; 38. Rotary docking module; 381. Rotary docking plate; 382. Roll joint shaft; 383. Rotary bearing; 384. Angle sensor;

[0037] 4. Control module; 41. PCB board; 42. Motor driver; 43. Network switch; 44. Dimming module; 45. Aviation connector. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, which illustrate the above and other technical features and advantages of the present invention. However, the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0039] Example:

[0040] like Figures 1-7 As shown, the present invention provides a highly adaptable mobile robot with an adjustable center of mass, including a front vehicle module 1, a rear vehicle module 2, a center of mass adjustment mechanism 3, and a control module 4;

[0041] The front vehicle module 1 and the rear vehicle module 2 are arranged side by side. The center of gravity adjustment mechanism 3 is located between the front vehicle module 1 and the rear vehicle module 2. The center of gravity adjustment mechanism 3 is used to adjust the distance between the front vehicle module 1 and the rear vehicle module 2. The control module 4 is located inside the front vehicle module 1. The control module 4 is electrically connected to the front vehicle module 1, the rear vehicle module 2 and the center of gravity adjustment mechanism 3. The control module 4 is used to control the front vehicle module 1, the rear vehicle module 2 and the center of gravity adjustment mechanism 3.

[0042] The front vehicle module 1 includes a front vehicle body 11. A set of front wheel drive motors 12 are provided on both sides inside the front vehicle body 11. The output ends of the two sets of front wheel drive motors 12 extend to the outside of the front vehicle body 11. A set of front honeycomb wheels 13 are installed on the output ends of the two sets of front wheel drive motors 12. The two sets of front wheel drive motors 12 control the rotation of the two sets of front honeycomb wheels 13 respectively. The front honeycomb wheels 13 adjust the forward direction of the front vehicle body 11 by rotating at different speeds. Two sets of symmetrical front lighting sources 14 are provided at the front end of the front vehicle body 11. A set of front cameras 15 is provided at the middle position of the front end of the front vehicle body 11. The front lighting sources 14 provide illumination for the front cameras 15 to capture images.

[0043] The rear vehicle module 2 includes a rear vehicle body 21. A set of rear wheel drive motors 22 are provided on both sides of the interior of the rear vehicle body 21. The output ends of the two sets of rear wheel drive motors 22 extend to the outside of the rear vehicle body 21. A set of rear honeycomb wheels 23 are installed on the output ends of the two sets of rear wheel drive motors 22 respectively. The two sets of rear wheel drive motors 22 control the rotation of the two sets of rear honeycomb wheels 23 respectively. The rear honeycomb wheels 23 adjust the forward direction of the rear vehicle body 21 by different speeds to match the directional adjustment of the front vehicle body 11. Two sets of symmetrically arranged rear lighting sources 24 are provided at the rear end of the front vehicle body 11. A set of rear cameras 25 is provided at the middle position of the rear end of the rear vehicle body 21.

[0044] The center-of-gravity adjustment mechanism 3 includes a partition 31, a front mounting plate 32, a rear mounting plate module 33, a sliding guide rod 34, a lead screw slider module 35, a cable chain module 36, a joint connecting plate 37, and a rotary docking module 38. The partition 31 is fixed to the inside of the front vehicle body 11 by bolts. The front mounting plate 32 and the rear mounting plate module 33 are respectively disposed at both ends of the partition 31 and are both fixed to the inside of the front vehicle body 11 by bolts. The sliding guide rod 34 is disposed between the partition 31 and the front mounting plate 32. The lead screw slider module 35 is sleeved on the outside of the sliding guide rod 34. A cable chain module 36 is installed on one side of the lead screw slider module 35. The end of the module is fixedly connected to the partition plate 31. The joint connecting plate 37 is fixed to the top of the lead screw slider module 35 by bolts. The rotating docking module 38 is installed at the end of the joint connecting plate 37 and is connected to the rear vehicle body 21. When adjusting the distance between the front vehicle module 1 and the rear vehicle module 2, the rear mounting plate module 33 provides power to the lead screw slider module 35. The lead screw slider module 35 moves along the sliding guide rod 34 under the drive of the rear mounting plate module 33. The joint connecting plate 37 at the top of the lead screw slider module 35 cooperates with the rotating docking module 38 to push the rear vehicle module 2 to move. At this time, the distance between the front vehicle module 1 and the rear vehicle module 2 changes, and the center of mass of the robot changes accordingly.

[0045] The rear mounting plate module 33 includes a rear mounting plate 331, a lead screw drive motor 332, and a drive wheel 333. The rear mounting plate 331 is fixed to the inside of the front vehicle module 1 by bolts. The lead screw drive motor 332 is fixed to one side of the rear mounting plate 331. The output shaft of the lead screw drive motor 332 extends through the rear mounting plate 331 to the other side of the rear mounting plate 331. A set of drive wheels 333 is installed at the end of the output shaft of the lead screw drive motor 332. An idler wheel 334 is installed on the other side surface of the rear mounting plate 331 through a rotating shaft. The idler wheel 334 meshes with the drive wheels 333. When the lead screw drive motor 332 is working, it drives the drive wheels 333 to rotate, and the drive wheels 333 synchronously drive the idler wheels 334 to rotate.

[0046] The lead screw slider module 35 includes a lead screw slider 351, a lead screw 352, and a driven wheel 353. The lead screw slider 351 is sleeved on the outside of the sliding guide rod 34, and the lead screw 352 is threadedly connected to the inside of the lead screw slider 351. The two ends of the lead screw 352 are connected to the front mounting plate 32 and the rear mounting plate module 33 through bearings. The driven wheel 353 is fixed to the end of the lead screw 352 and meshes with the idler wheel 334.

[0047] The rotating docking module 38 includes a rotating docking plate 381, a roll joint shaft 382, ​​a rotating bearing 383, and an angle sensor 384. The rotating docking plate 381 is disposed inside the rear vehicle body 21, the roll joint shaft 382 is inserted inside the rotating docking plate 381, the rotating bearing 383 is sleeved on the end of the roll joint shaft 382 and fixedly connected to the rear vehicle body 21, and the angle sensor 384 is fixed to the end of the rotating bearing 383. When a torsional deviation occurs between the front vehicle module 1 and the rear vehicle module 2 during operation, the rear vehicle body 21 deflects relative to the joint connecting plate 37 through the rotating bearing 383. At this time, the rear vehicle body 21 deflects relative to the front vehicle body 11, and the two sets of rear honeycomb wheels 23 on the rear vehicle body 21 can remain in a grounded state, which facilitates the stable driving of the rear vehicle body 21 by the rear honeycomb wheels 23.

[0048] Control module 4 includes PCB board 41, motor driver 42, network switch 43 and dimming module 44;

[0049] The PCB board 41 is mounted on the bottom cover surface of the front body 11. Three sets of motor drivers 42 are installed inside the front body 11. Two sets of motor drivers 42 are electrically connected to two sets of front wheel drive motors 12, and the other set of motor drivers 42 is electrically connected to the lead screw drive motor 332. Two sets of motor drivers 42 are installed inside the rear body 21. The two sets of motor drivers 42 are electrically connected to two sets of rear wheel drive motors 22.

[0050] The network switch 43 and the dimming module 44 are installed inside the front body 11. The dimming module 44 is electrically connected to the front lighting source 14 and the rear lighting source 24, respectively.

[0051] The aviation connector 45 is installed on the rear body 21; the PCB board 41 is electrically connected to the network switch 43, the motor driver 42, the dimming module 44 and the angle sensor 384 respectively; the power input terminal of the PCB board 41 is connected to the aviation connector 45 through a cable, and the aviation connector 45 is used to connect to an external power source.

[0052] The network switch 43 is electrically connected to the front camera 15, the rear camera 25, the aviation connector 45, and the PCB board 41 via a network cable; the network switch 43 is electrically connected to an external control terminal via the aviation connector 45; the network switch 43 is used to forward control commands from the control terminal and to transmit back the status and collected data of the PCB board 41, the front camera 15, and the rear camera 25.

[0053] The method for using a highly adaptable mobile robot with an adjustable center of mass includes the following steps:

[0054] Step S1: Connect the external power supply and external control terminal through the aviation plug 45. Power on the control module 4, initialize the PCB board 41, and perform self-tests on each motor driver 42, angle sensor 384, front camera 15, and rear camera 25. After the self-test is normal, the module enters the working state.

[0055] In step S2, the external control terminal sends a lighting command to the dimming module 44 through the PCB board 41. The dimming module 44 drives the front lighting source 14 and the rear lighting source 24 to light up, providing lighting for the working environment and ensuring that the camera can clearly capture images.

[0056] In step S3, the external control terminal sends a drive command to the motor driver 42 through the PCB board 41. The motor driver 42 drives the front wheel drive motor 12 and the rear wheel drive motor 22 to rotate, which in turn drives the front honeycomb wheel 13 and the rear honeycomb wheel 23 to rotate, enabling the robot to move forward, backward, and turn. At the same time, the front camera 15 and the rear camera 25 collect environmental images in real time, and the environmental images are transmitted back to the external control terminal through the network switch 43.

[0057] In step S4, when the front honeycomb wheel 13 in the front vehicle body 11 encounters a protrusion or a change in the curvature of the pipe, the front vehicle body 11 deflects relative to the rear vehicle body 21 in real time through the rotary bearing 383. The angle sensor 384 synchronously monitors the deflection angle and feeds it back to the PCB board 41. The deflection of the front vehicle body 11 keeps the front honeycomb wheel 13 grounded, maintaining the stability of the attitude of the front vehicle body 11. Similarly, when the rear honeycomb wheel 23 in the rear vehicle body 21 encounters a protrusion or a change in the curvature of the pipe, the rear vehicle body 21 deflects relative to the front vehicle body 11 in real time through the rotary bearing 383. The angle sensor 384 synchronously monitors the deflection angle and feeds it back to the PCB board 41. The deflection of the rear vehicle body 21 keeps the rear honeycomb wheel 23 grounded, maintaining the stability of the attitude of the rear vehicle body 21.

[0058] In step S5, when adjusting the distance between the front vehicle body 11 and the rear vehicle body 21, the motor driver 42 drives the lead screw to drive the motor 332 to operate. The motor 332 drives the active wheel 333 to rotate. The active wheel 333 drives the driven wheel 353 through the idler wheel 334. The driven wheel 353 drives the lead screw 352 to rotate. The rotation of the lead screw 352 drives the lead screw slider module 35 to move along the sliding guide rod 34. The slider module 35 drives the rear vehicle module 2 to move back and forth through the joint connecting plate 37 and the rotating docking module 38, accurately adjusting the distance between the front vehicle module 1 and the rear vehicle module 2, and changing the overall center of mass and distance of the robot.

[0059] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. A highly adaptable mobile robot with an adjustable center of mass, characterized in that, It includes a front vehicle module (1), a rear vehicle module (2), a center of gravity adjustment mechanism (3), and a control module (4); The front vehicle module (1) and the rear vehicle module (2) are arranged side by side. The center of gravity adjustment mechanism (3) is located between the front vehicle module (1) and the rear vehicle module (2). The center of gravity adjustment mechanism (3) is used to adjust the distance between the front vehicle module (1) and the rear vehicle module (2). The control module (4) is located inside the front vehicle module (1). The control module (4) is used to control the front vehicle module (1), the rear vehicle module (2) and the center of gravity adjustment mechanism (3).

2. The highly adaptable mobile robot with adjustable center of mass as described in claim 1, characterized in that, The front vehicle module (1) includes a front vehicle body (11). A set of front wheel drive motors (12) are provided on both sides of the interior of the front vehicle body (11). The output ends of the two sets of front wheel drive motors (12) extend to the outside of the front vehicle body (11). A set of front honeycomb wheels (13) are installed on the output ends of the two sets of front wheel drive motors (12). Two sets of symmetrical front lighting sources (14) are provided at the front end of the front vehicle body (11). A set of front cameras (15) is provided at the middle position of the front end of the front vehicle body (11).

3. A highly adaptable mobile robot with an adjustable center of mass as described in claim 2, characterized in that, The rear vehicle module (2) includes a rear vehicle body (21). A set of rear wheel drive motors (22) are provided on both sides of the interior of the rear vehicle body (21). The output ends of the two sets of rear wheel drive motors (22) extend to the outside of the rear vehicle body (21). A set of rear honeycomb wheels (23) are installed on the output ends of the two sets of rear wheel drive motors (22). Two sets of symmetrically arranged rear lighting sources (24) are provided at the rear end of the front vehicle body (11). A set of rear cameras (25) is provided at the middle position of the rear end of the rear vehicle body (21).

4. A highly adaptable mobile robot with an adjustable center of mass as described in claim 2, characterized in that, The center of gravity adjustment mechanism (3) includes a partition (31), a front mounting plate (32), a rear mounting plate module (33), a sliding guide rod (34), a lead screw slider module (35), a drag chain module (36), a joint connecting plate (37), and a rotating docking module (38); the partition (31) is fixed to the inside of the front vehicle body (11) by bolts, and the front mounting plate (32) and the rear mounting plate module (33) are respectively set at both ends of the partition (31). The front mounting plate (32) and the rear mounting plate module (33) are both fixed to the inside of the front vehicle body (11) by bolts. The sliding guide rod (34) is disposed between the partition plate (31) and the front mounting plate (32). The lead screw slider module (35) is sleeved on the outside of the sliding guide rod (34). A drag chain module (36) is installed on one side of the lead screw slider module (35). The end of the drag chain module (36) is fixedly connected to the partition plate (31). The joint connecting plate (37) is fixed to the top of the lead screw slider module (35) by bolts. The rotating docking module (38) is installed at the end of the joint connecting plate (37). The rotating docking module (38) is connected to the rear vehicle body (21).

5. A highly adaptable mobile robot with an adjustable center of mass as described in claim 4, characterized in that, The rear mounting plate module (33) includes a rear mounting plate (331), a lead screw drive motor (332), and a drive wheel (333). The rear mounting plate (331) is fixed to the interior of the front vehicle module (1) by bolts. The lead screw drive motor (332) is fixed to one side of the rear mounting plate (331). The output shaft of the lead screw drive motor (332) extends through the rear mounting plate (331) to the other side of the rear mounting plate (331). A set of drive wheels (333) is installed at the end of the output shaft of the lead screw drive motor (332). An idler wheel (334) is installed on the other side surface of the rear mounting plate (331) through a rotating shaft. The idler wheel (334) meshes with the drive wheel (333).

6. A highly adaptable mobile robot with an adjustable center of mass as described in claim 5, characterized in that, The lead screw slider module (35) includes a lead screw slider (351), a lead screw (352), and a driven wheel (353); the lead screw slider (351) is sleeved on the outside of the sliding guide rod (34), the lead screw (352) is threaded to the inside of the lead screw slider (351), the two ends of the lead screw (352) are connected to the front mounting plate (32) and the rear mounting plate module (33) through bearings, the driven wheel (353) is fixed to the end of the lead screw (352), and the driven wheel (353) meshes with the idler wheel (334).

7. A highly adaptable mobile robot with an adjustable center of mass as described in claim 5, characterized in that, The rotating docking module (38) includes a rotating docking plate (381), a roll joint shaft (382), a rotating bearing (383), and an angle sensor (384). The rotating docking plate (381) is located inside the rear vehicle body (21). The roll joint shaft (382) is inserted inside the rotating docking plate (381). The rotating bearing (383) is sleeved on the end of the roll joint shaft (382) and fixedly connected to the rear vehicle body (21). The angle sensor (384) is fixed to the end of the rotating bearing (383).

8. A highly adaptable mobile robot with an adjustable center of mass as described in claim 5, characterized in that, The control module (4) includes a PCB board (41), a motor driver (42), a network switch (43), and a dimming module (44). The PCB board (41) is installed inside the front vehicle body (11), and the three sets of motor drivers (42) are installed separately inside the front vehicle body (11). Two sets of motor drivers (42) are electrically connected to two sets of front wheel drive motors (12), and the other set of motor drivers (42) is electrically connected to a lead screw drive motor (332). Two sets of motor drivers (42) are installed separately inside the rear vehicle body (21), and the two sets of motor drivers (42) are electrically connected to two sets of rear wheel drive motors (22). The network switch (43) and the dimming module (44) are installed inside the front body (11). The dimming module (44) is electrically connected to the front lighting source (14) and the rear lighting source (24) respectively. The aviation plug (45) is installed on the rear body (21).

9. A highly adaptable mobile robot with an adjustable center of mass as described in claim 8, characterized in that, The PCB board (41) is electrically connected to the network switch (43), motor driver (42), dimming module (44) and angle sensor (384) respectively; the power input terminal of the PCB board (41) is connected to the aviation plug (45) via a cable, and the aviation plug (45) is used to connect to an external power source. The network switch (43) is electrically connected to the front camera (15), the rear camera (25), the aviation connector (45), and the PCB board (41) via a network cable; the network switch (43) is connected to an external control terminal via the aviation connector (45); the network switch (43) is used to forward control commands from the control terminal and transmit back the data collected by the PCB board (41), the front camera (15), and the rear camera (25).

10. A method of using a highly adaptable mobile robot with an adjustable center of mass as described in any one of claims 1-9, characterized in that, Includes the following steps: Step S1: Connect the external power supply and external control terminal through the aviation plug (45), power on the control module (4), initialize the PCB board (41), and perform self-tests on each motor driver (42), angle sensor (384), front camera (15), and rear camera (25). After the self-test is normal, the module enters the working state. In step S2, the external control terminal sends a lighting command to the dimming module (44) through the PCB board (41). The dimming module (44) drives the front lighting source (14) and the rear lighting source (24) to light up, providing lighting for the working environment and ensuring that the camera can clearly capture images. In step S3, the external control terminal sends a drive command to the motor driver (42) through the PCB board (41). The motor driver (42) drives the front wheel drive motor (12) and the rear wheel drive motor (22) to rotate, thereby driving the front honeycomb wheel (13) and the rear honeycomb wheel (23) to rotate, so that the robot can move forward, backward and turn. At the same time, the front camera (15) and the rear camera (25) collect environmental images in real time, and the environmental images are transmitted back to the external control terminal through the network switch (43). In step S4, when the front honeycomb wheel (13) in the front vehicle body (11) encounters a protrusion or a change in the curvature of the pipe, the front vehicle body (11) deflects relative to the rear vehicle body (21) in real time through the rotary bearing (383). The angle sensor (384) synchronously monitors the deflection angle and feeds it back to the PCB board (41). The deflection of the front vehicle body (11) keeps the front honeycomb wheel (13) grounded, thus maintaining the stability of the attitude of the front vehicle body (11). Similarly, when the rear honeycomb wheel (23) in the rear vehicle body (21) encounters a protrusion or a change in the curvature of the pipe, the rear vehicle body (21) deflects relative to the front vehicle body (11) in real time through the rotary bearing (383). The angle sensor (384) synchronously monitors the deflection angle and feeds it back to the PCB board (41). The deflection of the rear vehicle body (21) keeps the rear honeycomb wheel (23) grounded, thus maintaining the stability of the attitude of the rear vehicle body (21). In step S5, when adjusting the distance between the front vehicle body (11) and the rear vehicle body (21), the motor driver (42) drives the lead screw to drive the motor (332) to run. The motor (332) drives the active wheel (333) to rotate. The active wheel (333) drives the driven wheel (353) through the idler wheel (334). The driven wheel (353) drives the lead screw (352) to rotate. The rotation of the lead screw (352) drives the lead screw slider module (35) to move along the sliding guide rod (34). The slider module (35) drives the rear vehicle module (2) to move back and forth through the joint connecting plate (37) and the rotating docking module (38), accurately adjusting the distance between the front vehicle module (1) and the rear vehicle module (2), and changing the overall center of mass and distance of the robot.

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