Fuzzy Control of Non-Cable Type Autonomous Dredging Robot for Municipal Drainage Pipe

Feng Wang

doi:10.4028/www.scientific.net/AMR.139-141.1612

Paper Titles

Study on the Engine Start/Stop Control Strategy of Hybrid Vehicles
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Design and Analysis of Automatic Cutting Robot for Vertical-Pull Glass Pipe
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A System with Dynamic Reactive Power Compensating for High Power Windings Rotor Induction Motor
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Research on Drive Control Method of Scanning Mechanism of Radar Scatterometer Antenna
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Fuzzy Control of Non-Cable Type Autonomous Dredging Robot for Municipal Drainage Pipe
p.1612

Application Research of FlexRay Communication Protocol in Engineering Vehicle
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A New Energy Recycle Test Bench for Hydraulic Winches
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Study Control System Based on Creep Test in High Density Baler
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Research on Static Stiffness Characteristics of Parallel Machine Tool
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 139-141Fuzzy Control of Non-Cable Type Autonomous...

Fuzzy Control of Non-Cable Type Autonomous Dredging Robot for Municipal Drainage Pipe

Abstract:

In view of the problems existing in the cleaning of municipal drainage pipes with diameter of 300-600 mm, a new type of robot was developed to replace the manual to clean the sewers automatically. It was powered by the self-contained storage battery. To make the robot have a degree of operating autonomy, four photoelectrical encoders were used to detect the stepper motor overload, the wheel slippage and the robot’s blockage in real time; an inclinometer was used to detect the robot’s operating posture; an ultrasonic sensor to the thickness of the calcified layer deposited on the pipe wall. Regular fuzzy control was introduced in the motor overload ajustment. To improve the control performance and simplify the control complexity, a hierarchical fuzzy control algorithm was presented in the robot’s posture-load regulation. The engineering result verifies the effectiveness of the fuzzy controllers and the enhanced autonomous operating capability of the robot.

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Periodical:

Advanced Materials Research (Volumes 139-141)

Pages:

1612-1615

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.139-141.1612

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Online since:

October 2010

Authors:

Feng Wang

Keywords:

Autonomous Dredging Robot, Fuzzy Control, Hierarchical Control, Municipal Drainage Pipe, Non-Cable Type

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