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管道健康监测是管道能源运输的热点问题。针对在役管道健康监测的管道机器人方案,在役管道内探伤机器人能量供给是系统设计的一个关键问题。文中采用将在役管道中流体的动能转化为电能存储并对储能部件充放电,实现乒乓管理方法,提高整个机器人系统的续航能力,给出了双锂电池组交替乒乓充放电管理软硬件设计。实验验证该能量供给方案使机器人超长距离作业成为可能。
Pipeline health monitoring is a hot issue in pipeline energy transportation. For the pipeline robot program of in-service pipeline health monitoring, detecting the robot energy supply in service pipeline is a key issue in system design. In this paper, the kinetic energy of the fluid in the pipeline is converted into electric energy storage and charging and discharging of the energy storage components to achieve the ping-pong management method and improve the endurance of the entire robot system. . Experimental verification of the energy supply scheme makes it possible for the robot to operate over long distances.