随着中国在役油气管道数量的增加、时间的增长，管道腐蚀、老化、几何变形等缺陷逐步显现而出。由于人工检测受空间复杂、管径窄小等因素限制，应用管道机器人进行检测等作业已成为国内外研究的主流趋势。针对油气管道长时间服役后存在的失效风险，掌握油气管道机器人的最新研究趋势，有助于制定前沿性的发展目标并减少研究重复的可能性。对近年来在役油气管道机器人的研究现状进行详细阐述，根据运动结构、工作环境将管道机器人分为管道内（被动式、主动式）、管道外机器人两大类，通过详细举例各类型管道机器人，对比分析各运动结构的综合性能，提出现场适用性需要考虑的关键点，研究管道机器人的未来发展方向，提出管道机器人实现多参数融合，将对未来油气管道的安全服役有重要意义。

With the increasing number and aging of in-service oil and gas pipelines in China, issues such as corrosion, aging, and geometric deformation have become increasingly apparent. Due to the limitations of manual inspections, such as complex spatial environments and narrow pipe diameters, the use of pipeline robots for inspection and maintenance has emerged as a dominant trend in both domestic and international research. To address the risks of pipeline failure after prolonged service, understanding the latest advancements in pipeline robotics is crucial for setting forward-looking development goals and minimizing redundant research efforts. A comprehensive review of recent developments in in-service pipeline robotics was provided, these robots were divides into two main types based on their movement mechanisms and working environments: internal (passive and active) and external pipeline robots. By examining specific examples of each type, their overall performance were compared and highlighted key considerations for field applicability. Furthermore, the future directions were explored for pipeline robotics, emphasizing the importance of multi-parameter integration in ensuring the safe operation of oil and gas pipelines in the future.