【摘要】 季节性雨水、城市建设等自然、人类活动对城市排水能力提出较高要求,维持排水管网的正常运行是城市基础设施运维的重要内容。目前,城市排水管道运维主要依靠人工作业,存在作业难、作业量大、风险性高等问题。以机械代替人工作业的模式因为具有安全、高效的特点成为了城市排水管道运维作业的发展趋势。介绍了国内外管道检测、作业机器人的研究现状,从作业方式、机械设计、控制模式三个方面分析了现有技术存在的不足;提出了排水管道运维机器人的作业规程并总结其发展方向,如检测技术提升、功能模块优化、控制模式智能化等,为排水管道运维机器人的研究发展提供新思路。更多还原

【Abstract】 Seasonal rain,urban construction and other natural and human activities put forward higher requirements for urban drainage capacity,maintaining the smooth operation of drainage pipe network is an important content of urban infrastructure operation and maintenance.At present,the operation and maintenance of urban sewer mainly depends on manual operation,which has the problems of difficult,massive operation and high risk,etc.Replacing manual operation with machinery has become the development trend of urban sewer operation and maintenance,which has the characteristics of safety and efficiency.The mode of replacing manual operation with machinery has become the development trend of urban pipeline operation and maintenance because of its characteristics of safety efficienty.This paper introduces the research status of pipeline detection and operation robot at home and abroad,and analyzes the shortcomings of the existing technology from the aspects of operation mode,mechanical design and control mode.This paper puts forward the operation procedures of sewer operation and maintenance robot,and summarizes its development direction such as improvement of detection technology,optimization of functional modules,intelligent control mode,etc.,which provides new ideas for the research and development of drainage pipeline operation and maintenance robot.更多还原