管内机器人研究中的几项新技术

some New Techiques Uscd for Robots Moving in Pipe

介绍了我们研制的管内机器人中应用的具有创新性的三项技术：１．轮式全主动新型行走机构；２．内壁环带视觉装置；３．新型离心喷涂器。

In this paper,three techniques used for robots moving in pipe are intruduced.They are:1.In-pipemobile mechanism in which all the wheels are driving;2.Video system for seeing the inner wall of pipe;3.New type of centrifugual sprinkler.