Research on Structure Design and Intelligent Control of Pipeline Desilting Robot

摘要

Urban drainage pipes are long in length, complicated in layout and often buried underground, which makes routine manual inspection and maintenance difficult and expensive. Traditional robots have not yet realized intelligent desilting. Therefore, designing an intelligent desilting robot for urban drainage pipes is of great significance to improve work efficiency and protect personnel safety. Aiming at this, a new intelligent robot for pipe desilting is designed. The mechanical structure design and control system construction of the robot are completed. The robot is mainly composed of a crawler walking mechanism, a modular silt removal mechanism, a detection and acquisition mechanism and a control system. The mud state is identified by image recognition algorithm. For the control system, the attitude autonomous control method based on multi-sensor fusion decision and the adaptive control technology of high synchronization drive and control integrated controller based on fuzzy logic control are proposed. The experimental results show that the robot is stable, flexible and can adapt to a variety of silt environments.