新型水库涵管隐患检测机器人的研制

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 navigation 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.