【摘要】 大型压力容器在石化、火电、核能等领域有着十分广泛的应用，其通常处于高压、高温和腐蚀等复杂环境，故定期对焊缝进行无损检测是保证工程安全的必要措施。然而，压力容器内外部环境复杂，检测难度大，传统检测手段往往难以满足高效、精准的检测需求。为此，利用机器人技术、计算机视觉、人工智能等技术开发的机器人系统成为大型压力容器焊缝无损检测的有效手段。聚焦于高空作业、密闭空间等特殊环境中的焊缝无损检测机器人，介绍其在机器人移动方法、缺陷数据采集和缺陷识别等方面的发展现状，并探讨人工智能在缺陷识别中的发展应用状况。更多还原

【Abstract】 Large-scale pressure vessels are widely used in petrochemical, thermal power, nuclear energy, and other fields. As they are usually used in high-pressure, high-temperature, and corrosive environments, periodic testing is a necessary measure to ensure engineering safety. However, the internal and external environment of pressure vessels is complex and difficult to detect. Traditional testing methods often cannot meet the needs of efficient and accurate detection. To this end, robotic systems developed based on technologies such as robotics, computer vision, and artificial intelligence have become an effective approach of nondestructive testing. This paper focused on the development status of weld nondestructive testing robot in special operating environments such as work at heights and confined spaces, introduced the movement methods, defect data acquisition and identification technologies then discussed the application status and development prospects of artificial intelligence in defect identification.更多还原