[1]朱玉芳,施祖康.小口径管道机器人的检测精度分析[J].南京师范大学学报(工程技术版),2004,04(02):037-40.
　ZHU Yufang,SHI Zukang.Testing Accuracy Analysis for Small Diameter Pipe Inspection Robot[J].Journal of Nanjing Normal University(Engineering and Technology),2004,04(02):037-40.
点击复制

小口径管道机器人的检测精度分析
分享到：

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
04卷
期数:
2004年02期
页码:
037-40
栏目:
出版日期:
2004-06-30

文章信息/Info

Title:
Testing Accuracy Analysis for Small Diameter Pipe Inspection Robot
作者:
朱玉芳1;  施祖康2
1. 南京师范大学控制科学与工程系, 江苏南京210042; 2. 南京理工大学机器人研究所, 江苏南京210094
Author(s):
ZHU Yufang 1;  SHI Zukang 2
1.Department of Control Science & Engineering, Nanjing Normal University, Nanjing 210042, China;2.Institute of Intelligent Robot, Nanjing University of Science and Technology, Nanjing 210094, China
关键词:
机器人;  超声波检测;  石油管道
Keywords:
robot;  ultrasonic inspection;  petroleum pipe
分类号:
TP242.2
摘要:
研制一种基于介质压差驱动的用于检测小口径在役石油管道残余壁厚的管道检测机器人 ,探究影响该种机器人检测精度的因素 .研究了探头与管壁的距离及探头轴线与管壁表面法线存在偏离时对检测精度的影响 ,反射镜片安装角度的改变以及其它影响检测精度的因素 ,并在此基础上提出有效提高机器人检测精度的措施
Abstract:
Intelligent petroleum pipe inspect robot driven by medium pressure difference was developed. Some factors were studied to test inspecting capability of the robot based on its simulating working environment. Effects of factors on testing accuracy were discussed for distance between inspector and tube well, departure of inspector axes from normal line of tube well and mirror setting angle. Several measures were also suggested to solve the abnormalities.

参考文献/References:

[ 1] Flann Nicholas S, Moore Kevin L, Ma Lili. A small mobile robot for security and inspection operations[ J] . Control Eng-i neering Practice, 2002, 10( 11) : 1265 -1270.
[ 2] 朱玉芳, 施祖康. 智能管道检测机器人[ J] . 机械制造, 2003, 41( 463) : 13- 14.
[ 3] 张志永. 水浸聚焦超声波探伤原理[M] . 北京: 国防工业出版社, 1985. 1 -110.

相似文献/References:

[1]陈胜军.工业机器人系统可靠性预测方法研究[J].南京师范大学学报(工程技术版),2008,08(02):006.
　Chen Shengjun.Study on Reliability Prediction Method of Industrial Robot System[J].Journal of Nanjing Normal University(Engineering and Technology),2008,08(02):006.
[2]国海涛,朱庆保,徐守江,等.基于栅格法的机器人路径规划快速搜索随机树算法[J].南京师范大学学报(工程技术版),2007,07(02):058.
　Guo Haitao,Zhu Qingbao,Xu Shoujiang.Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method[J].Journal of Nanjing Normal University(Engineering and Technology),2007,07(02):058.
[3]汤云峰,赵 静,谢 非,等.基于改进遗传算法的机器人路径规划方法[J].南京师范大学学报(工程技术版),2021,21(03):049.[doi:10.3969/j.issn.1672-1292.2021.03.007]
　Tang Yunfeng,Zhao Jing,Xie Fei,et al.Robot Path Planning Method Based on Improved Genetic Algorithm[J].Journal of Nanjing Normal University(Engineering and Technology),2021,21(02):049.[doi:10.3969/j.issn.1672-1292.2021.03.007]

备注/Memo

备注/Memo:
作者简介: 朱玉芳( 1974- ) , 女, 硕士, 助教, 主要从事智能机器人的教学与研究. E-mail: yufangz@ sohu. com
更新日期/Last Update: 2013-04-29