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.

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.

Abstract: A power supply circuit and an apparatus includes: a first switching transistor, a second switching transistor, a third switching transistor, a fourth switching transistor, a first capacitor, and a second capacitor. In this power supply circuit, one terminal of the first capacitor is connected to one terminal of the second capacitor, the other terminal of the first capacitor is separately connected to a first electrode of the first switching transistor and a first electrode of the second switching transistor, a second electrode of the first switching transistor is connected to a second electrode of the third switching transistor, a second electrode of the second switching transistor is connected to a second electrode of the fourth switching transistor, a third electrode of the first switching transistor is connected to an output node, and a third electrode of the second switching transistor is grounded.

Abstract: A power supply circuit and an apparatus includes: a first switching transistor, a second switching transistor, a third switching transistor, a fourth switching transistor, a first capacitor, and a second capacitor. In this power supply circuit, one terminal of the first capacitor is connected to one terminal of the second capacitor, the other terminal of the first capacitor is separately connected to a first electrode of the first switching transistor and a first electrode of the second switching transistor, a second electrode of the first switching transistor is connected to a second electrode of the third switching transistor, a second electrode of the second switching transistor is connected to a second electrode of the fourth switching transistor, a third electrode of the first switching transistor is connected to an output node, and a third electrode of the second switching transistor is grounded.