流体驱动智能管道内检测机器人关键技术及应用

使用以管道自身流体驱动并搭载漏磁检测设备的管道内部机器人进行长距离输送管道的检测是一种重要且有效的手段，其作用愈发重要。本文以省科技重大专项项目为依托，介绍了管道漏磁内检测的原理、缺陷漏磁场的算法以及关乎缺陷检出效果等在内的内检测机器人驱动力、通过适应性、速度控制和漏磁检测模块设计，并将上述项目研究成果运用到实际工业实践。结果表明：本项目开发的内检测机器人其检测适应能力更强，能进一步提高缺陷的检出灵敏度和分辨力。经开挖验证后发现缺陷信号特征与实际缺陷状态高度吻合，可在行业内推广应用。

Key Technology and Application of Fluid Driven Intelligent Pipeline Inspection Robot

Using the pipeline internal robot driven by the pipeline''s own fluid and equipped with magnetic flux leakage detection equipment to detect the long-distance transmission pipeline is an important and effective means, and its role is becoming more and more important. Based on the provincial science and technology major special project, this paper introduces the principle of pipeline magnetic flux leakage internal detection, the algorithm of defect magnetic flux leakage and the driving force of internal detection robot, through adaptability, speed control and magnetic flux leakage detection module design related to defect detection effect, and the research results of the above project applied to practical industrial practice.The results show that the internal detection robot developed in this project has stronger detection adaptability and can further improve the detection sensitivity and resolution of defects.After excavation verification, it is found that the defect signal characteristics are highly consistent with the actual defect state, which can be popularized and applied in the industry.