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.


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    Title :

    DEFORMABLE TRACKED PIPELINE ROBOT AND DIFFERENTIAL TURNING METHOD THEREOF


    Contributors:
    YAN HONGWEI (author) / WEI HONGMEI (author) / CHANG QI (author) / WANG GUORUI (author) / AIMAN KAMEL (author) / NIU HAILONG (author) / WANG FUJIE (author) / YAN PENGFEI (author) / ZHAO PENGYANG (author) / HE BOLONG (author)

    Publication date :

    2025-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    F16L PIPES , Rohre / B62D MOTOR VEHICLES , Motorfahrzeuge



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