综述了管道检测机器人的系统总体设计、关键技术和性能实验。
This paper presented the pipe inspection robot system design, the key technique and the performance experiment of the robot.
[1]祝俊。管道检测机器人的运动控制研究[D]。广州：华南理工大学， 2012。
ZHU Jun. Motion Control Investigation of Pipeline Ispection Robot[D]. Guangzhou: South China University of Technology, 2012.
针对自主管道检测机器人的管内定位问题，提出了一种能够提高定位精度的多里程仪测量数据一致性融合方法。
A consensus fusion algorithm for multi-odometer data is presented to improve in-pipeline location precision of the autonomous pipeline inspection robot.
城市主排水管道穿缆、检测机器人应用于城市排水管道的疏通与检测工作，属于特种作业机器人。
As a special type of working robot, "Inspection and detection in city drainage pipelines" robot is applied for dredge and detection in drainage pipelines.
该系统由采用远程网络控制技术的管道机器人移动机构、无损检测传感器和地面工作站等组成。
It is composed of a pipe robot crawling mechanism controlled by remote network system, nondestructive examination sensor system, ground working station and so on.
微型管内机器人是微型机器人领域的一个重要的研究方向，使用微型管内机器人可以提高管道检测的效率和精确度。
The in-pipe micro robot is an important research direction in the field of micro-robot. The efficiency and accuracy of pipe inspection may be increased dramatically by using in-pipe micro robots.
在努力解决这一问题，欧盟TRACT项目正在开发一种螺旋桨驱动检测机器人，保持管道，触摸到最低程度。
In an effort to address that problem, the European Union TRACT project is developing a propeller-driven inspection robot that keeps the pipe-touching to a minimum.
实验证明这种机器人适合作小直径管道检测系统的理想牵引装置。
The simulation experiments proved that it is a desirable tractive device for the inspecting system of small diameter pipe.
微小管道机器人能够帮助人们完成诸如小口径管道内检测等工作，其移动机构是机器人研究领域重要的研究内容之一。
A micro piping robot is able to help people finish tasks such as inspection inside a mini pipe. Research on the mobile mechanism of the robot is very important in the robot researching area.
为了使检测机器人能够在具有螺旋型鳍片的锅炉热交换器承压管道表面上行走，设计了一种新型的复合车轮。
To realize the moving of a detecting robot on the surface of heat exchanger bearing pipes in a boiler with spiral radiators around the pipes, a novel kind of compound wheel was developed.
城市主排水管道穿缆检测机器人属特种作业机器人，在国内外还很少有投入实际使用的。
As a special type of working robot, "Through cordage in the city drainage pipelines" robot has almost not been used in this areas.
城市主排水管道穿缆检测机器人属特种作业机器人，在国内外还很少有投入实际使用的。
As a special type of working robot, "Through cordage in the city drainage pipelines" robot has almost not been used in this areas.
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