On a New Detecting Robot in Sewer Pipe

Author

Qingmei, Yang ; Jianmin, Sun

Author_Institution

Beijing Union Univ., Beijing

fYear

2007

Firstpage

189

Lastpage

192

Abstract

The information of sewer underground can be received by detecting sewer. It is a key for ensuring that sewer pipe can normally run and decrease some accidents such as drainpipe barrage leakage and so on. According to the analysis of status on robot in sewer and drainpipe detecting technology, a new sewer detecting robot is put forward. It´s a automatic equipment used in sewers for d detecting sewer. The robot can take CCD visual sensor and other sensors so that it can detect objections of sewer pipe such as crackles, corrupts to avoid the accidents of leak, block and so on. It consists of mechanical structure, measurement system, control system and CCD system. The hardware and software on drive system of the sewer detecting robot are designed. The digital PID algorithm is applied in motor drive system of the sewer detecting robot.

Keywords

CCD image sensors; crack detection; digital control; inspection; mobile robots; pipes; robot vision; three-term control; CCD system; CCD visual sensor; control system; digital PID algorithm; drainpipe barrage leakage; measurement system; mechanical structure; motor drive system; pipe cracks; pipe status analysis; sewer pipe detection robot; Accidents; Automatic control; Charge coupled devices; Control systems; Hardware; Leak detection; Mechanical sensors; Mechanical variables measurement; Robot sensing systems; Robotics and automation; Detecting Technology; Drive Means; PID Control; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4347347

Filename

4347347