20250180152. Deformable Tracked P (North University of China)
DEFORMABLE TRACKED PIPELINE ROBOT AND DIFFERENTIAL TURNING METHOD THEREOF
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.
Inventor(s): Hongwei YAN, Hongmei WEI, Qi CHANG, Guorui WANG, Kamel Aiman, Hailong NIU, Fujie WANG, Pengfei YAN, Pengyang ZHAO, Bolong HE, Hong HUO
CPC Classification: F16L55/32 (PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL)
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- Patent Applications
- North University of China
- CPC F16L55/32
- Hongwei YAN of Taiyuan CN
- Hongmei WEI of Taiyuan CN
- Qi CHANG of Taiyuan CN
- Guorui WANG of Taiyuan CN
- Kamel Aiman of Taiyuan CN
- Hailong NIU of Taiyuan CN
- Fujie WANG of Taiyuan CN
- Pengfei YAN of Taiyuan CN
- Pengyang ZHAO of Taiyuan CN
- Bolong HE of Taiyuan CN
- Hong HUO of Taiyuan CN