哈尔滨商业大学学报（自然科学版）2026，Vol.42Issue(4)：461-468,512,9.
一种管道清洁装置牵引性能及管道缺陷分析
Traction performance of pipe cleaning device and analysis of pipe defects
摘要
Abstract
Aiming at the blockages of urban sewage pipelines and the limitations of manual cleaning,a novel adaptive variable-diameter tracked pipeline cleaning and inspection robot was developed.The robot was equipped with three sets of tracked drive mechanisms circumferentially,a compound mechanism consisting of a sweeping brush and a driller at the front end,and high-pressure spray guns on both sides,while a pendulum-screw variable-diameter mechanism and an infrared sensor were integrated inside.Mechanical calculations and finite element analysis demonstrated that the robot possessed excellent adaptability within straight and curved pipelines ranging from 900 mm to 1200 mm,where the maximum traction force was linearly and positively correlated with the normal pressure,and the strength of key links satisfied the design requirements.Meanwhile,the YOLOv8 deep learning algorithm was introduced for defect recognition.Experimental results showed that when the intersection over union(IoU)was 0.5,the mean average precision(mAP)for four types of defects—leakage,deformation,obstacle,and scaling—reached 0.765.This study significantly enhanced the intelligence level of pipeline clearing and inspection,providing an efficient solution for the lifecycle operation and maintenance of drainage pipe networks.关键词
管道清洗装置/牵引力分析/履带式机器人/管道缺陷分析/变径机构/深度学习Key words
pipe cleaning device/traction analysis/tracked robot/pipe defect detection/variable-diameter mechanism/deep learning分类
信息技术与安全科学引用本文复制引用
蒋东升,张文杰,方天阳,顾彬,金发阳..一种管道清洁装置牵引性能及管道缺陷分析[J].哈尔滨商业大学学报（自然科学版）,2026,42(4):461-468,512,9.基金项目
国家基金青年项目(No.52405169)项目名称:考虑多样性接触特征耦合作用的颗粒类流态形成机理与润滑性能调控 （No.52405169）
