Inestigation and Validation of Piplne Robot Wall Pressure Control Strategy

Pipeline robots can perform inspection, maintenance, and repair tasks in complex and harsh pipeline environments. To enable pipeline robots to have a strong tractive force and meet the maneuverability requirements in inclined and vertical pipelines, this paper proposes a four-wheel distributed drive wall-pressure type pipeline robot. Initially, the basic structure of the pipeline robot is introduced, primarily consisting of four circumferentially distributed drive wheels and a lifting mechanism. To efficiently drive the pipeline robot under varying inclination angles and wall adhesion conditions, this paper proposes a wall pressure control strategy for the pipeline robot. The motion characteristics of the pipeline robot in different pipeline environments and states are analyzed, and simulations are conducted in MATLAB. The results show that by applying the wall pressure control strategy proposed in this paper, the pipeline robot can adaptively adjust the wall pressure according to changes in the operating environment, significantly reducing energy consumption compared to the traditional maximum wall pressure method.