Research on Key Technologies of the Cableless pipeline Robot

摘要

The cableless pipeline inspection robot is a hot topic in current domestic and international oil and gas pipeline in the research of special robot.The functions of robot body for communication with the outside world,energy supply,mobile running gear,and flaw detection module are several key technologies in the pipeline robot in application.This paper presents the measures for those key problems:Fiber-optic conveys video images and data in the pipeline and robot bi-directional cableless communication with the host computer monitoring equipment is completed outside the pipeline; In the aspect of energy supply the transformer secondary coil is generated by Charging stations set up outside the pipeline and lithium batteries is recharged to complete function of robot self-propelled ; Mobile running gear is achieved through the use of the arm of the parallelogram unit peristalsis to walk forward;The flaw detection technology adopts both video acquisition and ultrasonic phased array imaging with dynamic focusing and deflection characteristics to improve flaw detection efficiency and detection identification.