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针对垃圾填埋场渗滤液导排管道检测的需要,研究了一种基于CCD摄像方法的管道检测机器人系统,该系统主要由机器人的驱动装置、预清洗装置、检测系统、控制系统和地面工作站等组成。详细介绍了管道检测机器人的系统总体设计和各组成部分的功能。经系统测试和现场实验表明,该系统能够在管道内平稳运行、传输出清晰地管道内壁图像、完成管道清洗的工作,实现管道机器人的远程信息的交换和控制。
In view of the need of landfill leachate guide pipe inspection, a pipeline inspection robot system based on CCD camera is studied. The system mainly consists of the robot’s driving device, pre-cleaning device, detection system, control system and ground station composition. The overall design of the pipeline inspection robots and the functions of each component are introduced in detail. The system test and field experiments show that the system can run smoothly in the pipeline, transmit the clear image of the inner wall of the pipeline, complete the pipeline cleaning work, and realize the remote exchange and control of the pipeline robot.