一种伸缩支撑式双目无线管道探测机器人的设计与实现

在管道运输中,管道的管壁常常会因为各异的介质侵蚀,导致管道漏孔、裂纹,发生泄漏事故,由于管道所埋设的位置和周遭环境的特殊性,传统的机器人难以满足探测需求。该文设计了一种新型管道探测机器人,利用特有的伸缩支撑式机械机构,实现在水平、竖直和弯道管道中的运行。此外,还设计了双目立体视觉系统,实现在复杂恶劣的管道环境中的三维立体识别和检测。实验结果表明,该机器人可以在管径为300~800mm的运输油、气、水或缆线的管道中实现故障检测和定位,具有适应各种管道环境且准确定位的优点。

In pipeline transportation,the pipe wall often leaks due to various media,causing leakage,cracks and leakage accidents.Due to the location of the pipeline and the special environment around it,traditional robots are diff icult to meet the detection requirements.Therefore,this paper studies and designs a new type of pipeline detection robot,which uses a unique telescopic support mechanism to achieve operation in horizontal,vertical and curved pipelines.In addition,a binocular stereo vision system is designed to achieve three-dimensional stereo recognition and detection in complex and harsh pipeline environments.The experimental results show that the robot can realize fault detection and positioning in the pipeline of transportation oil,gas,water or cable with the diameter of 300mm-800mm,which has the advantages of adapting to various pipeline environments and accurately positioning.