油-气管道检测机器人技术现状及展望

Overview and Prospect for Technologies Oil and Gas Pipeline Inspection Robot

为提高油-气管道检测的效果,结合国内外典型管道机器人的特点,综合分析了管道机器人运动控制技术、定位技术和实时检测技术3个方面的现状,并指出了核心技术的不足;针对石油化工行业高温带压管道环境,提出管道检测机器人的研究重点为分层模糊神经网络运动控制技术、CCD视觉定位技术、低频电磁定位技术和分层图像分割的优化方法等。为进一步提高化工油-气管道内检测机器人的检测效果提供了理论依据。

To improve the effect of oil and gas pipeline inspection,combined with the characteristics of typical domestic and foreign pipeline robots,techniques of the pipeline robot motion control,positioning and real-time inspection were comprehensively reviewed,and the main limitations existing in these techniques were analyzed.According to the high-temperature and high-pressure environmental characteristics of petrochemical pipelines,the following techniques of pipeline inspection robots should gain more attention:motion control based on the hierarchical fuzzy neural network,positioning based on charge coupled device cameras,low-frequency electromagnetic positioning and optimization of layered image segmentation,etc.This paper provides theoretical basis for improving the effect of petrochemical pipeline inspection robot.