摘要
油气运输管道因长期服役于油、气混合物及H2S等环境中,极易产生应力,进而导致裂纹或其他形式损伤,定期对管道进行检测和维修已成为行业共识。为了促进我国管道检测机器人的技术发展,为油气管道运行提供安全保障,以被动式管道机器人、主动式管道机器人及管道外机器人为主,综述了近年来油气管道机器人的总体技术趋势,介绍了管道机器人的结构分类、检测方式,并对比了各种管道机器人的综合性能、适用管况及现场适用性。指出被动式和轮式油气管道机器人相较于其他几种行走机器人有较大优势,是未来管道机器人发展的主流趋势;未来油气管道检测机器人应重点解决功能问题、通信问题、图形识别问题、定位问题及检测技术受限问题。
Oil and gas pipelines exposed to oil and gas mixtures and H2S during long-term service are susceptible to stress-induced cracks or other forms of damages.Thus,regular inspection and maintenance of pipelines have become an industry consensus.In order to promote the technical advancement of pipeline robots for enabling the safe pipeline operations,focusing on passive pipeline robots,active pipeline robots,and external pipeline inspection robots,this paper systematically reviews the overall trends of pipeline robots in recent years,introduces the structural classification and inspection modes of pipeline robots,and compare them in terms of overall performance,applicable pipelines and field application.It is indicated that passive and wheeled pipeline robots are superior to other types of walking robots,and represent the mainstream of future pipeline robots.Moreover,it is pro‐posed that the pipeline robots will evolve to predominantly address the issues in functions,communication,pattern recognition,positioning,and inspection techniques.
作者
郑杰
尚祖跃
刘卫东
窦益华
翁光远
苏楠
杨旭
Zheng Jie;Shang Zuyue;Liu Weidong;Dou Yihua;Weng Guangyuan;Su Nan;Yang Xu(School of Mechanical Engineering,Xi'an Shiyou University;Xi'an Special Equipment Inspection Institute;Shale Oil Development Branch,PetroChina Changqing Oilfield Company;National Engineering Laboratory for Exploration and Development of Low Permeability Oil and Gas Field)
出处
《石油机械》
北大核心
2025年第8期133-141,共9页
China Petroleum Machinery
基金
陕西省技术创新引导计划项目“井下智能牵引机器人研发及应用”(2024QCY-KXJ-019)
陕西省市场监管科技计划项目“管道外检测机器人关键技术研究与应用”(2023KY14)
甘肃省技术创新引导计划项目“液压伸缩式井下智能牵引机器人的研究及应用”(23CXGL0018)
西安市科技计划项目“基于电弧增材制造的智能管道修复机器人关键技术研究及应用”(24ZDCYISGG0045)。
关键词
油气管道
管道机器人
管道检测
综合性能
裂纹
图形识别
oil and gas pipeline
pipeline robot
pipeline inspection
overall performance
crack
pattern recongnition
