Fuzzy Control of Non-Cable Type Autonomous Dredging Robot for Municipal Drainage Pipe
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.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
F. Wang "Fuzzy Control of Non-Cable Type Autonomous Dredging Robot for Municipal Drainage Pipe", Advanced Materials Research, Vols. 139-141, pp. 1612-1615, 2010