小口径管道机器人的检测精度分析

Testing Accuracy Analysis for Small Diameter Pipe Inspection Robot

研制一种基于介质压差驱动的用于检测小口径在役石油管道残余壁厚的管道检测机器人 ,探究影响该种机器人检测精度的因素 .研究了探头与管壁的距离及探头轴线与管壁表面法线存在偏离时对检测精度的影响 ,反射镜片安装角度的改变以及其它影响检测精度的因素 。

Intelligent petroleum pipe inspect robot driven by medium pressure difference was developed. Some factors were studied to test inspecting capability of the robot based on its simulating working environment. Effects of factors on testing accuracy were discussed for distance between inspector and tube well, departure of inspector axes from normal line of tube well and mirror setting angle. Several measures were also suggested to solve the abnormalities.