基于WLAN的螺旋式管道检测机器人远程测控系统  

Remote Control and Measurement System of Spiral Pipeline Inspection Robot Based on WLAN

作　　者：张军[1] 白涛 文川 张新荣[1] 李孝瑾 ZHANG Jun;BAI Tao;WEN Chuan;ZHANG Xin rong;LI Xiao jin(Highway Maintenance Equipment National Engineering Laboratory,Chang an University,Xi’an 710064,China;College of Mathematics and Computer Science,Yan an University,Yan’an 716000,China)

机构地区：[1]长安大学,道路施工技术与装备教育部重点实验室,陕西西安710064 [2]延安大学数学与计算机科学学院,陕西延安716000

出　　处：《仪表技术与传感器》2020年第4期72-76,共5页Instrument Technique and Sensor

基　　金：长安大学“双一流”引导专项资金建设项目(300104282526);陕西省科技统筹创新工程计划基金项目(2016KTZDGY-02-03);中央高校基本科研业务费专项资金资助项目(300102258402,300102258305)。

摘　　要：针对管道内部缺陷检测困难的问题,以Φ100~Φ120 mm管道为对象、电感传感器和视觉传感器为管内涂层缺陷检测传感器,基于主从控制方式设计了前后驱动的螺旋式管道检测机器人。针对机器人远程操控和数据传送的问题,提出了基于无线网桥和WLAN的远程通信方案和通信协议,采用C/S架构设计了机器人的远程测控系统,并在样机上进行功能试验。结果表明基于WLAN的方案可实现管道检测机器人的远程测控功能,采用视觉和电感传感器可有效检测涂层缺陷,涂层厚度检测偏差小于±3.2%,符合普通防腐等级偏差小于±5%的要求。该研究为管道机器人的远程防腐检测提供一种新方法。To solve the problem of difficult detection of internal defects in pipelines,taking Φ100 ~ Φ120 mm pipeline as the object,inductance sensor and vision as defect detection sensor,based on master-slave control method,the front and back driven spiral pipeline inspection robot was designed.Aiming at the problem of robot remote control and data transmission,a remote communication scheme and protocol based on wireless network bridge and WLAN were proposed.The C/S architecture was adopted to design the remote measurement and control system of the robot,and the function test was carried out on the prototype.The prototype functional tests show that the scheme can realize the pipeline detection control function based on WLAN,and the application of vision and inductance sensors can effectively detect the coating defects.The positive and negative deviation of the coating thickness is less than 3.2%,which meets the requirement of less than ±5% of the common anticorrosion grade deviation.This research provides a new method for the remote inspection of pipeline robot.

关 键 词：管道缺陷 WLAN 管道机器人 远程控制 无损检测 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]