METHOD OF CONTROLLING AN IN-LINE ROBOT DURING ITS MOVEMENT ALONG A CURVILINEAR SECTION OF A PIPELINE Russian patent published in 2025 - IPC F16L55/26 

FIELD: physics.

SUBSTANCE: invention relates to methods of controlling in-line mobile robots moving using their own propulsors on board the device, and can be used in gas and oil pipelines, pipelines of heat networks. Method comprises setting rotation speeds W₁ and W₂, respectively, and maintaining their equality W₁ = W₂, by placing third drive wheel with rotation speed W₃ > W₁ in pipeline symmetry plane, at the same time, the average translational speed of the robot W and the angle of its rotation are measured δϕ along pipeline axis during robot movement δt on a curvilinear section of the pipeline using a gyroscope, previously placed in the plane formed by the axis of the pipeline and the attachment point of the third drive wheel, further, radius of curvature R of the pipeline section is determined and optimum speeds of three drive wheels are calculated.

EFFECT: providing controllability of the in-line robot during its movement along the curvilinear section of the pipeline with an unknown radius of curvature due to its stable spatial orientation relative to the axis of the pipeline on the curvilinear section.

1 cl, 2 dwg