桨驱动小型智能水下管道机器人

城市管道的维护对于保护社会资源和提升资源运输效率具有至关重要的作用。管道机器人是执行管道检查和维护任务的关键设备。其中，游泳式管道机器人以其结构紧凑和高度灵活性的特点，在城市自来水管道检查与维护中扮演着核心角色。然而，现有的游泳式管道机器人在集成度，操作性和环境感知能力方面仍存在不足。本文设计一种面向狭窄自来水管道的微型游泳式管道机器人（Miniature In-pipe Swimming Robot，MISR），MISR最大直径为5.62 cm，长度为12.88 cm，最高稳定速度可达10 cm/s，续航时间超过1.5 h。通过将MISR在水中的运动分解为水平和垂直运动，本文提出简化水下机器人动力学模型，并设计双环PID(Proportional Integral Derivative)控制器，以实现深度和偏航角的稳定控制。针对弱感知能力的小型管道机器人，提出基于特征的反应式导航策略，实现机器人在管道内自主巡检。在水箱和自建管道中实际测试MISR的运动能力，包括基础运动实验、偏航角控制实验、深度控制实验、直管道导航实验、管道岔口实验和反应式导航实验等。结果表明，MISR具备良好的运动能力，能在管道内根据人工特征实现自主巡检。本文创新点为设计一种面向狭窄自来水管道的微型游泳式管道机器人，利用人工特征实现城市自来水管道的自主巡检。

The maintenance of urban pipelines plays a crucial role in protecting societal resources and enhancing the efficiency of resource transportation. Pipeline robots are key devices for performing inspections and maintenance tasks. Among these, swimming pipeline robots, with compact structures and high flexibility, play a central role in the inspection and maintenance of urban water pipelines. However, existing swimming pipeline robots still lack integration, operability, and environmental perception capabilities. This paper designs a miniature in-pipe swimming robot (MISR) for narrow water pipelines. MISR has a maximum diameter of 5.62 cm and a length of 12.88 cm, with a top stable speed of 10 cm/s and a battery life of over 1.5 hours. By decomposing MISR's movements in water into horizontal and vertical motions, this paper proposes a simplified underwater robot dynamics model and designs a dual-loop PID(Proportional Integral Derivative) controller to achieve stable depth and yaw angle control. For small pipeline robots with weak perception capabilities, a feature-based reactive navigation strategy is proposed to enable autonomous inspection within the pipelines. The motion capabilities of MISR were practically tested in water tanks and custom-built pipelines, including basic motion, yaw angle control, depth control, straight pipeline navigation, pipeline junction navigation, and reactive navigation experiments. The results show that MISR has excellent motion capabilities and can autonomously inspect within pipelines based on artificial features. The innovation of this article is to design a miniature in-pipe swimming robot for narrow water pipes, using artificial features to realize autonomous inspections in urban water pipelines.

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