文献类型：会议论文

英文题名：On a new detecting robot in sewer pipe

作者：Qingmei, Yang[1]; Jianmin, Sun[2]

第一作者：杨清梅

通讯作者：Qingmei, Y.

机构：[1] College of Automation, Beijing Union University, Beijing 100101, China; [2] School of Mechanical-electronic and Automobile Engineering, Beijing Institute of Civil Engineering and Architecture, Beijing 100044, 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]College of Automation, Beijing Union University, Beijing 100101, 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：Proceedings of the 26th Chinese Control Conference, CCC 2007

会议日期：July 26, 2007 - July 31, 2007

会议地点：Zhangjiajie, China

语种：英文

外文关键词：Algorithms - Charge coupled devices - Leak detection - Sewer linings - Visual servoing

摘要：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.