一种自主式小型浅水水下管道巡检机器人的研制与试验  

R&D and experiment of small-sized autonomous underwater robot for pipeline inspection in shallow water

作　　者：王锦融 张佳钰 李畅 秦明浩 WANG Jinrong;ZHANG Jayu;LI Chang;QIN Minghao(Honors School,Harbin Institute of Technology,Harbin 150001;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]哈尔滨工业大学英才学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2023年第11期83-87,共5页Journal of Machine Design

摘　　要：针对浅水水域机器人的姿态平衡、运动控制、信息获取及工作环境多变等难题,文中研制了一款能够沿水下管道自主运动、检测管道上的吸附物、发出警报并对吸附物移除及回收的小型水下机器人。采用Arduino Mega 2560集成芯片作为核心控制器,开发了管道巡线、图形识别和回收装置驱动等模块的外围电路,制作了实物样机。实景试验表明:所研制的机器人能够完成460~530 mm深度水下管道的巡检作业。Since the robots in shallow water suffer such problems as posture balance,motion control,information acquisition and changes in working conditions,in this article,efforts are made to develop a small-sized underwater robot,which can move autonomously along the underwater pipelines,detect the adsorbents on the pipelines,trigger alarms as well as remove and recycle the adsorbents.This underwater robot utilizes the integrated chip Arduino Mega 2560 as the core controller;peripheral circuits for modules such as pipeline inspection,pattern recognition and driver for recycling device have been developed;additionally,the physical prototype of the robot has been successflly constructed.The experiments in real scenarios show that this robot can complete the inspection of underwater pipelines with varying depths of 460~530 mm.

关 键 词：自主机器人 水下管道巡检 设计 试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]