城市燃气管道检测机器人测控系统研究与发展现状

检测与控制系统分别用于城市燃气管道检测机器人在管道内的缺陷检测和运动控制,是城市燃气管道检测机器人核心部分.综述了国内外城市燃气管道检测机器人测控系统研究和发展现状;论述了城市燃气管道检测机器人测控系统发展过程;结合各种燃气管道检测机器人系统构成示意图及测控系统构架图,阐述了测控系统工作原理,重点分析了基于通信线缆通信和基于无线通信的监督式测控系统;指出了未来城市燃气管道检测机器人测控系统的研究方向.

Research and Development Status of Measurement and Control System for Urban Gas Pipelines Inspection Robots

As the core constituent parts of the urban gas pipelines inspection robots,detection and control systems are used for the defect detection and motion control respectively during the robots' work inside the pipeline.The research and development of urban gas pipeline inspection robot system both at home and abroad are reviewed,and development process of the urban gas pipeline robot system is discussed.Meanwhile,with the schematic diagrams of system structures and the architecture measurement and control system,its operating principles are elaborated.The measurement and control systems based on the communication cable and wireless communication are mainly analyzed.Finally,the future research trend of the measurement and control system for urban gas pipeline inspection robots is pointed out.