文献类型：会议论文

英文题名：Attitude Control of a Robot in Sewer Pipe Based on Fuzzy Algorithm

作者：Yang Qingmei[1];Chi Xiaozhu[2]

第一作者：杨清梅

通讯作者：Yang, QM[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]China Meteorol Adm, Meteorol Observat Ctr, Beijing 100081, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

会议论文集：29th Chinese Control Conference

会议日期：JUL 29-31, 2010

会议地点：Beijing, PEOPLES R CHINA

语种：英文

外文关键词：Robot; Fuzzy Control; Sewer; Measurement System

摘要：Cleaning sewer pipes in time is important to the use of sewer pipes. Based on the analysis of status of sewer cleaning technology, a new robot used in sewer line to improve the efficiency of sewer cleaning is put forward in this paper. It is an autonomous mobile robot which can move in abominable sewer pipe. It can pull the cable at the same time. Attitude control of the in-sewer robot is a key to ensure that the robot sewer can move along the sewer pipe. To prevent the in-sewer robot from overturning in the sewer line, real time attitude measurement module is designed. Fuzzy control is a good real time control method. Therefore, Fuzzy control arithmetic is used in attitude control of the robot.