针对管道维护以及煤矿井下事故现场信息采集等问题,设计并研制了一种管道探测机器人系统。介绍了管道探测机器人系统的组成和功能,论述了探测机器人控制系统的组成和程序控制方法,该机器人可实时采集管道内的环境图像信息和气体、温度等各种数据,并上传到上位机进行处理,为管道更新和修复工作以及煤矿事故抢险提供依据。 Aiming at the problem of pipeline maintenance and scene information collection of coal mine accident, a kind of pipeline exploration robot system was designed and developed. The composition and function of the pipeline detection robot system are introduced. The composition and program control method of the detection robot control system are discussed. The robot can collect various environmental image information and gas, temperature and other data in the pipeline in real time and upload it to the host computer Processing, pipeline renovation and repair work and provide a basis for coal mine accident rescue.