North University of China

Beijing Jingdong Zhenshi Information Technology Co., Ltd.

Hong Huo

Hongwei Yan

Hailong Niu

Guorui Wang

Hongmei Wei

Pengfei Yan

Bolong He

Pengyang Zhao

Kamel Aiman

Qi Chang

Fujie Wang

Yaman Li

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.

Deformable tracked pipeline robot and differential turning method thereof

Growing community of inventors

Taiyuan, China

Hong Huo