The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 11, 2025
Filed:
Feb. 10, 2025
North University of China, Taiyuan, CN;
Hongwei Yan, Taiyuan, CN;
Hongmei Wei, Taiyuan, CN;
Qi Chang, Taiyuan, CN;
Guorui Wang, Taiyuan, CN;
Kamel Aiman, Taiyuan, CN;
Hailong Niu, Taiyuan, CN;
Fujie Wang, Taiyuan, CN;
Pengfei Yan, Taiyuan, CN;
Pengyang Zhao, Taiyuan, CN;
Bolong He, Taiyuan, CN;
Hong Huo, Taiyuan, CN;
North University of China, Taiyuan, CN;
Abstract
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.