基于机械臂的管道检测全向机器人设计

随着综合地下管廊的快速发展，管道的安全对于保证管廊电力、燃气等运输的安全越来越重要，由于管廊环境恶劣，采用人工巡检效率低且安全隐患大。为了实现地下管廊全方位无盲区检测，设计了一种基于机械臂的管道检测全向机器人，将移动机器人、机械臂、检测探头融于一体，具有路径自主规划、循迹、避障等功能，并通过漏磁技术检测管道泄露、通过机械臂实现复杂环境下的检测。实验证明此集成机器人可以进行全方位检测且缺陷识别精度良好。

Design of pipeline inspection omnidirectional robot based on mechanical arm

With the rapid development of underground utility tunnel, the safety of pipelines is becoming more and more important to ensure the safety of electricity and gas transportation in pipelines. Due to the harsh environment of utility tunnel, manual inspection is inefficient and has great security risks.In order to realize the omnidirectional detection of underground utility tunnel without blind spots, an omnidirectional robot for pipeline detection based on mechanical arm is designed. The mobile robot, mechanical arm, detecting probe are combined into a whole. The robot has the functions of path independent planning, tracking, obstacle avoidance, etc., and detects pipeline leakage through magnetic flux leakage technology, and realizes detection in complex environment through mechanical arm.Experiments show that the integrated robot can carry out omnidirectional detection and has good accuracy in defect identification.