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The robot has wide application scenarios in industrial field. In this article, the advantages and disadvantages and applicable scenes for inspection robots with different structures are discussed; structure and such key technologies as motion control of self-propelled orbit type inspection robot are mainly studied; frame structure, such modules of constituting inspection robot as main control system, control device of motion and walking, signal pickup assembly of vision and sensor, power management (charging device), wireless communication system and auxiliary functions and hardware design of corresponding modules are introduced; motion control method with proportion integration differentiation (PID) control technology of inspection robots and motion control optimization method of inspection robot with the technology of artificial neural network are studied; detection method of motion track for inspection robot based on radio frequency identification (RFID) technology is discussed; applications of inspection robot in industrial field are briefly introduced finally. The movement velocity and stability of inspection robot are improved so that its movement process is effectively optimized with the technologies and methods described in the paper, which could provide the technical support for applications of inspection robot in industrial field.

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机器人在工业领域有着广泛的应用场景。文章探讨了不同构造巡检机器人的优缺点以及适用场景；主要研究了自行轨道式巡检机器人的构造与运动控制等关键技术；介绍了巡检机器人的框架结构以及组成巡检机器人的主控系统、运动与行走控制装置、视觉与传感器信号采集装置、电源管理（充电装置）、无线通信系统以及辅助功能等模块及相应模块的硬件设计；研究了采用PID控制技术的巡检机器人的运动控制方法以及采用人工神经网络技术的巡检机器人运动控制优化方法；论述了基于RFID技术的巡检机器人运动轨迹检测方法；最后简要介绍了巡检机器人在工业领域的应用情况。采用文章中所述技术与方法提高了巡检机器人的运动速度与稳定性，有效优化了巡检机器人的运动过程，为巡检机器人在工业领域的应用提供了技术支持。

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芦建文（1969-），男，山西省朔州市人，硕士，正高级工程师，现从事计算机与自动化研究工作。

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芦建文（1969-），男，山西省朔州市人，硕士，正高级工程师，现从事计算机与自动化研究工作。

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