| 油-气管道检测机器人技术现状及展望 |
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| 引用本文： | 程 航,喻九阳,戴耀南,詹博文,夏文凤,胡天豪,张德安. 油-气管道检测机器人技术现状及展望[J]. 武汉工程大学学报, 2021, 43(3): 324-333. DOI: 10.19843/j.cnki.CN42-1779/TQ.202011012 |
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| 作者姓名： | 程 航 喻九阳 戴耀南 詹博文 夏文凤 胡天豪 张德安 |
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| 作者单位： | 武汉工程大学，湖北省绿色化工装备工程技术研究中心，湖北 武汉 430205 |
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| 摘 要： | 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。
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| 关 键 词： | 油-气管道 机器人 运动控制 通讯定位 实时检测 |
Overview and Prospect for Technologies Oil and Gas Pipeline Inspection Robot |
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| CHENG Hang,YU Jiuyang,DAI Yaonan,ZHAN Bowen,XIA Wenfeng,HU Tianhao,ZHANG Dean. Overview and Prospect for Technologies Oil and Gas Pipeline Inspection Robot[J]. Journal of Wuhan Institute of Chemical Technology, 2021, 43(3): 324-333. DOI: 10.19843/j.cnki.CN42-1779/TQ.202011012 |
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| Authors: | CHENG Hang YU Jiuyang DAI Yaonan ZHAN Bowen XIA Wenfeng HU Tianhao ZHANG Dean |
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| Affiliation: | Hubei Green Chemical Equipment Engineering Research Center（Wuhan Institute of Technology）， Wuhan 430205， China |
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| Abstract: | 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. |
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| Keywords: | oil and gaspipeline robot motion control communication positioning real-time detection |
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