中文摘要：

研究一种利用流体能量驱动和发电的管道机器人，该机器人完全浸润在充满流动介质的管道内，利用流体压力以及流体速度能量获得驱动力。机器人随着管内流体的流动向前推进，需要克服惯性质量以及与管壁之间的摩擦阻力的影响，对于不同的流体介质，机器人需要根据工作要求自动进行速度调节，因此必须对机器人的结构和尺寸进行合理设计，确定管道内的流体力学条件，并设计速度控制装置，对机器人速度实现行为控制。

英文摘要：

A power self-support in-pipe robot is studied. The robot is entirely immersed in the pipe that is full of fluid. Depending on driving force generated by the pressure of fluid and energy of fluid speed, the robot moves forward with the fluid in the pipe. According to the different fluid medium, the robot must conquer inertia mass, overcome the fi＇iction force between pipe-walls, and keep proper working speed state. So the design of broad sense physical dimension and hydromecbanics condition that the pipe must provide with are studied.