【作者】 杨清梅； 孙建民；

【Author】 Yang Qingmei1,Sun Jianmin2 1.College of Automation,Beijing Union University,Beijing 100101,P.R.China 2.School of Mechanical-electronic and Automobile Engineering,Beijing Instit ute of Civil Engineering and Architecture,Beijing 100044,China

【机构】 北京联合大学自动化学院； 北京建筑工程学院；

【摘要】 对排水管道进行检测可获得排水管道当前的状况信息,这是保证排水管道经济可靠地正常运行和减少各种排水管道阻塞和泄漏事故发生的关键。通过对国内外的排水管道机器人的研究现状分析,提出了一种新型排水管道检测机器人方案。该排水管道检测机器人是一种用于城市主排水管道检测的自动化检测装置,可携带CCD视觉系统和其他的检测排水管道的传感器。该机器人包括机器人的机械本体、视觉监控控制装置和检测控制系统等。机器人的电机驱动采用了数字PID算法,设计了机器人的电机驱动控制系统的控制硬件和软件。更多还原

【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 ro-bot are designed.The digital PID algorithm is applied in motor drive system of the sewer detecting robot.更多还原