管道内检测机器人定位技术研究现状与展望  

Research Status and Prospect of Pipeline Inspection Robot Localization Technology

作　　者：许红[1] 李著信[1] 苏毅[1] 张镇[1] 李媛媛[1] 

机构地区：[1]解放军后勤工程学院,重庆401311

出　　处：《机床与液压》2013年第9期172-175,共4页Machine Tool & Hydraulics

基　　金：中国人民解放军总后勤部科研项目(油20040207)

摘　　要：随着管道里程的快速增长、管道检测技术的发展以及管道检测机器人的广泛应用,管道内移动机器人的定位技术凸显出了更加重要的作用。分析国内外管道内检测机器人几种主要定位技术与方法的基本原理及优缺点,从4个方面提出管道内检测机器人定位技术与方法的发展趋势,为进一步研究不同环境条件下管道内检测机器人的定位问题提供参考和指导。With the rapid growth of pipeline mileage, the development of pipeline inspection technology and the wide application of pipeline inspection robot, the localization technology for pipeline inspection robot has played more and more important role. The basic principles, advantages and disadvantages of several major localization technologies and methods in domestic and foreign were an- alyzed. The development trend of pipeline inspection robot localization technology and method was put forward. It provides reference and guidance for studying pipeline inspection robot positioning under different environmental conditions for further.

关 键 词：管内机器人 定位 里程轮 测力定位 数据融合 

分 类 号：TQ050[化学工程]