Title :
On a New Detecting Robot in Sewer Pipe
Author :
Qingmei, Yang ; Jianmin, Sun
Author_Institution :
Beijing Union Univ., Beijing
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;
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
DOI :
10.1109/CHICC.2006.4347347
