Deformable Tracked Pipeline Robot for Variable-Curvature Bends
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Solution Overview
Problem
Existing pipeline robots face difficulties in navigating through pipelines with varying curvature radii and obstacles due to design constraints, leading to inefficiencies and potential safety hazards.
Innovation Solution
A deformable tracked pipeline robot with three circumferentially arranged tracked foot modules, each connected via a center variable-diameter module, allows for adjustable spacing and contact with the pipeline wall, combined with a differential turning method using a CCD camera for curvature measurement and a PID controller for speed adjustment, enabling smooth navigation through bends and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the pipeline robot uses a fixed structure design, then the device complexity is reduced, but the robot cannot adapt to pipelines with different curvature radii and obstacles
Solution Approach 1:
The robot body is divided into multiple modular segments including tracked foot modules, center variable-diameter modules, and link modules. Each segment can independently adjust its configuration to adapt to different pipeline geometries, curvatures, and obstacles, resolving the contradiction between adaptability and structural simplicity.
Solution Approach 2:
The robot employs dynamic adjustable structures including variable-diameter modules that can change the robot's cross-sectional size, and articulated link modules that can alter the robot's shape and curvature. These dynamic adaptations enable the robot to navigate complex pipeline environments while maintaining a relatively simple base structure.
2Adaptability or versatility
If the robot uses a simple tracked mechanism, then the device complexity is low, but the robot cannot effectively navigate through bends with different curvature radii
Solution Approach 1:
The turning mechanism uses dynamically adjustable link modules with variable lengths and angles. By changing the configuration of these link modules, the robot can adapt to different curvature radii without requiring a completely different mechanism for each bend type, balancing adaptability with mechanism simplicity.
Solution Approach 2:
The robot changes geometric parameters of its tracked mechanism including track length, link angle, and module spacing to match the specific curvature requirements of different pipeline bends. This parameter adjustment capability allows a single mechanism design to handle multiple bend scenarios.
3Adaptability or versatility
If the robot maintains a fixed diameter, then the device complexity is reduced, but the robot cannot adapt to variable-diameter pipelines
Solution Approach 1:
The robot's body is segmented into multiple expandable and contractible modules along its length. Each module can independently adjust its radial dimension, allowing the overall robot diameter to vary continuously to match the pipeline diameter, while keeping individual module designs relatively simple.
4Reliability
If the robot uses rigid contact with the pipeline wall, then the stability is improved, but the robot cannot pass through obstacles and tight bends
Solution Approach 1:
The contact mechanism transitions from rigid to dynamically adjustable. The tracked foot modules can independently adjust their contact force and position, allowing the robot to maintain stable contact on straight sections while adapting to obstacles and tight bends by modifying the contact configuration of individual modules.
Data Source
AI summary
Provided are a deformable tracked pipeline robot, and a differential turning method thereof. The deformable tracked pipeline robot includes a robot main body. Three tracked foot modules in a circular array are arranged on an outer side surface of the robot main body, each tracked foot module is connected to the robot main body through a center variable-diameter module. A spacing between the tracked foot module and the robot main body can be adjusted through the center variable-diameter module, making all three tracked foot modules in contact with an inner wall of a pipeline. According to a differential turning method based on space curve measurement, the pipeline robot can pass through pipelines with various curvature radii. A pipeline axis is measured by a Charge Coupled Device camera module as a bending curvature of a space curve. The accuracy of space curve fitting is improved by a recursive algorithm.