油管激光可视检测系统爬行器的研制  

Development of a Crawler for Laser-visual Tubing Inspection System

作　　者：严正国[1] 张宇航 陈博 周超 陈光建 YAN Zhengguo;ZHANG Yuhang;CHEN Bo;ZHOU Chao;CHEN Guangjian(School of Electronic Engineering,Xi′an Shiyou University,Xi′an,Shaanxi 710065,China;The Sixth Oil Production Plant,PetroChina Changqing Oilfields,Yulin,Shaanxi 719000,China;Xi′an Zhengshi Intelligent Technology Co.Ltd.,Xi′an,Shaanxi 710065,China;Manufacturing Company of China National Logging Corporation,Xi′an,Shaanxi 710065,China)

机构地区：[1]西安石油大学电子工程学院,陕西西安710065 [2]中国石油长庆油田分公司第六采油厂,陕西榆林719000 [3]西安正实智能科技有限公司,陕西西安710065 [4]中国石油集团测井有限公司制造公司,陕西西安710065

出　　处：《石油管材与仪器》2025年第2期62-66,共5页Petroleum Tubular Goods & Instruments

摘　　要：针对采油作业中的受损油管,传统的检测方法需将油管运输至修复厂进行检测,成本高、效率低。为此,提出了一种基于激光可视化检测技术的自主行进油管激光可视检测系统,完成了检测系统中自动化油管爬行器的研制。针对油管管径小且环境较复杂的工作场景设计了爬行器自适应结构模型,并基于受力分析进行了爬行器驱动电机选型。所研制的爬行器可适应管径变化,结构简单、性能可靠,提高了油管无损检测的效率与精度,降低了油管缺陷检测的成本。Traditional inspection methods for damaged tubing in oil production operations require transporting the pipes to repair facilities for assessment,resulting in high costs and low efficiency.To address these issues,an autonomous laser-visual inspection system for tubing has been proposed based on laser-visualization technology.An automated crawler in tubing was developed for the inspection system.An adaptive structural model of the crawler was designed to accommodate small-diameter pipe and complex working environments,and the drive motor was selected based on force analysis.The developed crawler can adapt to variations in pipe diameter,featuring a simple structure and reliable performance.It significantly improves the efficiency and accuracy of non-destructive testing for tubing while reducing the cost of defect detection.

关 键 词：激光可视化检测 油管无损检测 油管爬行器 自适应结构 电机选型 

分 类 号：TE973.6[石油与天然气工程—石油机械设备]