In-pipe robot for inspection and sampling tasks
In-pipe robot for inspection and sampling tasks
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DOI：
10.1108/01439910710718432
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发表时间：
2007-01
期刊：
影响因子：
--
通讯作者：
C. Zhu
中科院分区：
文献类型：
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作者：
C. Zhu
目的 – 开发一种管道内机器人，用于检查废物处理场下方的管道，并对管道周围孔中泄漏的污水进行采样。设计/方法/途径 – 本文介绍了机器人机械和电子系统的紧凑设计，并利用该管道内机器人的一些特性开发了一种简单实用的方法来确定孔位置。研究结果 – 开发精心设计的多功能管道内机器人是可行的，多个梯形轮具有良好的性能为机器人提供较大的牵引力并使机器人在管道中保持水平。良好的机械结构设计可以通过利用对象系统的某些特定功能来大大降低控制和计算成本。研究限制/启示——本研究为多功能管道内机器人的未来设计提供指导。实际意义——视觉系统和机械手的结合可以执行管道内...
Purpose – To develop an in‐pipe robot to be used for inspecting pipes that are laid underneath a waste disposal site and for sampling sewage water leaking from holes around the pipe.Design/methodology/approach – The paper presents a compact design of the robot's mechanical and electronic systems, and develops a simple and practical method for determining the hole position using some characteristics of this in‐pipe robot.Findings – Development of a multi‐functional in‐pipe robot with elaborate design is feasible, and multiple trapezoidal‐shaped wheels have good capabilities of providing the robot large traction force and keeping the robot horizontal in pipeline. A good mechanical structure design can greatly reduce control and computation cost by using some specific features of the object system.Research limitations/implications – This study provides guidance for future design of multi‐functional in‐pipe robots.Practical implications – The combination of a vision system and a manipulator can perform in‐pip...