摘要
针对目前油田注水管道腐蚀、结垢严重,需要及时检测维修的现状,设计了一种轮式管道检测机器人。该机器人的移动本体为六轮全驱动结构,并携带有1套自主设计的2自由度CCD云台系统,能够完成对管道内部故障的检测任务。系统以光电复合缆作为信息传输和电力供应媒介,以光纤电联接器为光电复合缆与机器人本体及工控机的联接手段,采用以Arm为核心的嵌入式系统,实现通信、机器人行走机构与云台系统的控制等功能。室内试验表明,该机器人具有驱动力大、控制灵活、信号传输性能好、抗干扰能力强、防水等特点,各项指标满足管道检测要求。
The serious corrosion and scale formation occur in the current oilfield water injection pipeline, which should be detected and maintained in time. For this reason, a kind of wheel-type pipeline detecting robot is designed. The moving body of the robot is a six-wheel aml-driven structure with a self-designed CCD system. It can finish the detection inside the pipeline. It uses photoelectric composite cable as the medium of information transfer and power supply, and uses fiber-electric connector as the connecting means of photoelectric composite cable and the robot body and industrial personal computer. It also uses insert system with Arm as the core to realize communication, the controlling of robot moving structure and system. The indoor test indicates that the robot features big driving force, flexible control, good signal transfer performance, strong anti-interference capability and water proof. Its parameters can meet the demand of pipeline detection.
出处
《石油机械》
北大核心
2008年第2期47-49,78,共4页
China Petroleum Machinery
基金
黑龙江省研究生创新基金项目(YJSCX2007-0138HLJ)
大庆市科技攻关项目(SGG2005006)
关键词
油田注水管道
管道检测机器人
云台系统
系统设计
water injection pipeline, pipeline detection robot, clouds terrace system, system design
