新型水库涵管隐患检测机器人的研制  

Study on Novel Pipeline Detection Robot Used in Reservoir Culvert

作　　者：赵华成[1] 潘聪华[1] 何理瑞[1] 李增芳[1] ZHAO Hua- cheng PAN Cong- hua HE Li- rui LI Zeng-fang(Engineering Experimental Training Center, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018 , China)

机构地区：[1]浙江水利水电学院工程实验实训中心,浙江杭州310018

出　　处：《浙江水利水电学院学报》2017年第2期71-74,86,共5页Journal of Zhejiang University of Water Resources and Electric Power

基　　金：2015年浙江省水利厅科技计划项目(RC1508);浙江省高等教育教学改革项目(JG2013204)

摘　　要：目前市场上现有的管道机器人在管内调整姿态实现避障的功能较差.根据水库涵管的内部环境,设计了新型的伸缩式带转向功能的涵管隐患检测机器人,分析了机器人的变径机构和转向机构,并对管内拖动力进行了计算.检测机器人采用摄像头观测涵管内的缺陷,通过图像分析实现管内导航,通过可转向的驱动轮,调整检测机器人在管道中的姿态.控制系统采用摄像头成像,可实现管内图像记录和避障检测,为水库的安全运行提供了技术支持.At present, the function of existing pipeline robots of adusting their posture to avoid obstacles. According to the interior environment of the reservoir culvert, the novel detection robot is designed. The robot uses telescopic support wheels and the drive wheels can be turned when the robot is walking. The telescopic and steering mechanism of pipeline detection robot is analyzed. And the drag force is calculated. The defects of the pipeline are observed by a camera, and the naviga-tion in pipeline is done through the analysis of the image. The robot avoids the obstacle in the pipe by adjusting its attitude angle. The development of new detection robot provides technical support for the safe operation of the reservoir.

关 键 词：水库涵管 检测机器人 伸缩式 自行避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]