水下管道清淤疏浚机器人研究综述

Overview of Underwater Pipeline Dredging Robot

随着城市化进程的发展加快,城市居民人口,工业园区数量快速增加,城市排水系统压力逐渐增大,由于大多数排水管道长时间淤泥沉积造成管道堵塞,形成雨季内涝,城市看海现象,严重地影响了城乡居民的日常生活以及城市的发展建设。文章介绍了国内的城市管道清淤疏浚机器人的研究现状,通过对机器人的机械结构、行走方式、控制方式等进行归类,总结了各种管道清淤机器人的特点,并对各种机器人的性能进行了分析对比,指出了各类管道清淤疏浚机器人目前存在的问题,并对水下管道清淤疏浚机器人的发展进行了展望。

With the rapid development of urbanization,the population of urban residents and the number of industrial parks are increasing rapidly,and the pressure of urban drainage system is gradually increasing.Due to the long-term sludge deposition of most drainage pipelines,some of the pipelines are blocked,which seriously affects the daily life of urban and rural residents and the development and construction of the city.This paper introduces the research status of domestic urban pipeline dredging robots,classifies the mechanical structure,walking mode and control mode of robots,summarizes the characteristics of various pipeline dredging robots,analyzes and compares the performance of various robots,points out the existing problems of all kinds of pipeline dredging robots,and puts forward some suggestions for underwater pipeline dredging robots.Finally,the development of dredging robot is prospected.