输油气管道机器人研究现状与展望

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中图分类号：TE832文献标识码：ADOI：10.12473/CPM.202407095

Abstract： 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 systematicallyreviews the overalltrends of pipeline robots in recent years，introduces the structural classificationand inspection modesof pipeline robots，and compare them in terms of overall performance，applicable pipelines and field application.It is indicatedthat passve and wheeled pipeline robots are superior to other types of walking robots，and represent the mainstream offuture pipeline robots.Moreover，it is proposed that the pipeline robots will evolve to predominantly addressthe issues in functions，communication，pattern recognition，positioning，and inspection techniques.

Keywords：oil and gas pipeline；pipeline robot；pipeline inspection；overall performance;crack; patterr recongnition

0 引言

油气管道作为油气资源运输的主要方式之一，我国目前已经形成“四大战略通道 + 五纵五横”的干线管网格局。（剩余17673字）