An articulated service robot for autonomous sewer inspection tasks

摘要

In this paper a multijoint robot for sewer inspection tasks is presented. In order to increase the operating scope the robot has been made able to run round or over obstacles, to follow sewage branches and is aimed to work wirelessly unlike most other sewer inspection robots. As a result of the wireless approach the robot has to carry an energy resource and must be able to act autonomously. This article is focused on the mechanical design and the control hardware of the system. Additionally, we describe a first approach of a control strategy and some results of first tests.