[雙語翻譯]機器人設(shè)計外文翻譯--管道清潔和檢查機器人的研究（英文）

1、A study of pipe-cleaning and inspection robot Nguyen Truong-Thinh Department of Mechatronics University of Technical Education Ho Chi Minh City, Viet Nam thinhnt@hcmute.edu.vn Nguyen Ngoc-Phuong Department of Mechatro

2、nics University of Technical Education Ho Chi Minh City, Viet Nam phuongnn@hcmute.edu.vn Tuong Phuoc-Tho Department of Mechatronics University of Technical Education Ho Chi Minh City, Viet Nam tuongphuoctho@gmail.

3、comAbstract—Pipe cleaning and inspection robot is one of the new concepts of professional service robots. Sewer pipes are typically of non-man-entry classification (less than 0.8 m diameter). In this paper, a pipe-cle

4、aning and inspection robot specifically designed for this function is proposed. This paper presents a new approach for design and development of cleaning robots in an unknown pipe workspace. To do so, we propose a new

5、 cutting method for cleaning work as well as an underwater inspection method. In this study, we discuss a communication which makes the cleaning robot navigate the sewer pipe. Finally, we also evaluate the performanc

6、e of our proposed inspection and cleaning processes via experiments and real tests. Also, we verify the effectiveness of the proposed methods through computer simulations. Keywords-sewer robot; cleaning robot; inspecti

7、on robot. I. INTRODUCTION The public sewage system in Viet Nam works in no good conditions: sewage may leak out, possibly polluting soil and ground water, and it may wash away soil, possibly crowding the foundations o

8、f buildings or the underground of streets and pavements. Often wastewater contains other chemicals used in modern life. These include heavy metals which are not biodegradable and may accumulate in river sediments, pla

9、nts, insects, and fish. They originate from both industrial and domestic sources and (above certain levels) can be toxic to animals and humans. In Viet Nam, sometimes, the industrial discharges flow to sewers or hous

10、eholders always flush away toxic everything or products they use to the sewage. Almost of waste-water pipes in Viet Nam is non-man-sized passable sewages with a diameter less than 80cm. Maintenance of thousands km of

11、 sewer requires their permanent surveying. This paper presents the design and developed of wheeled, one- link vehicles for monitoring and cleaning works. The sewer robot is remote controlled via cable. These are genera

12、lly surveyed by mounting a camera and a light either on a sled, which is dragged, or on a tractor, which is driven through the sewer, producing a video record of the pipe’s condition. In both cases ground operators w

13、ho control the vehicle use a cable for guidance and data acquisition. The above process is both complicated and labour intensive in practice. This is the basic motivation of designing a robot that is able to travel a

14、utonomously through sewers. Several approaches are made on how to use a sewer video record to recover instant camera orientation and to assess sewer pipe deformations. The objective of our paper is to look into possib

15、ilities of an active vision system for, i.e. to investigate how a sewer robot can use its camera to keep orientation within a pipe while moving. The work is part of a project aimed at developing a robot for autonomous

16、 sewer surveying. The study is concentrated upon typical concrete sewer. The robot, which is about half size of the sewer diameter, must be able to align itself with the pipe axis. The only a priory information known

17、is the geometrical shape of the sewer (cylindrical, etc.). This implies a geometrical constraint on the environment the robot can expect. Works for sewer cleaning and inspection are usually dangerous, tedious, boring,

18、 and repetitive tasks and thus a clear candidate for the application for robotics[1-2]. Researchers in artificial intelligence and robotics have made huge efforts, but it is still an open problem because of the unstru

19、ctured environment of the cleaning operation. In this paper, a new robot for sewage pipe-cleaning operations in an underwater environment is proposed (Fig. 1). There are a several articles dealing with sewer problems

20、 associated with mobile robots, most of which are applicable to the pipe-inspection problem. However, there are a small number of papers dealing specifically with pipe-cleaning robots however they only described the

21、simple cleaning works. These tend to be rather specialized, with the coverage movements as the main subject of interest, not focus on cleaning methods[3], thus it is difficult to apply to Viet Nam sewers. Conversely,

22、this paper describes the integrated use of different competencies oriented toward the design of a complete-cleaning-and-inspection mobile robot, the most feasible industrial robotic operation. In the following sectio

23、ns the basic mechanical robot design, discussions about cleaning and inspection processes, details of motor control and robot control, and some functional tests are presented. The tests are carried out in lab and real

24、ity. This paper ends with the main conclusions. Figure 1. Modeling of sewage pipe-cleaning and inspection robot. 978-1-4577-2138-0/11/$26.00 © 2011 IEEE 2593Proceedings of the 2011 IEEEInternational Conference on

25、Robotics and BiomimeticsDecember 7-11, 2011, Phuket, ThailandIII. CLEANING PRINCIPLES AND STRUCTURE Most sewer cleaning robots use a water-jet as the principle cleaning device, but in our case, there are several differ

26、ences from other ones. In Viet Nam, the sewer network is used for a long time, the dregs on the sewage pipe is solid, humus, garbage sometimes they are rubble and water-block. Thus a new concept for cleaning the sewa

27、ge pipe should be given and used in Viet Nam. In this paper, a concept of the cleaning device has been designed because the aim of this paper is to focus on the cleaning and inspection problem. The cleaning principle

28、 of this robot is based on an electrical-powered roller brush that is ideal for a robotic application. Depending on the surface type, the roller brush can be very effective because it cleans by cutting and the rotatio

29、n itself also generates a cutting force then it jets the water that avoids dust generation. Moreover, its design is very simple and cheap, having only three parts: a roller brush, a cutting plate, and a water-jet. Ro

30、tation axis of cutting plate coincides with pipe’s centerline. Thus the cutting tool removes out the rigid sludge spots. Figure 4. Principle of removing the sludge spots on pipe surface. Figure 5. Simulated deformat

31、ions of cutting plate by Abaqus. There are many methods to remove the solid dreg cling to pipe’s surface as waterjet or mechanical impacts by cutting. However in this study a cutting plate is chosen to cleaning the se

32、wage pipe. The selection of cutting tool depends on level of stick between pipe and dreg. If the cling objects are dust and garbage, the waterjet can be used. Sometimes there are rigid soil and brickbat stick on pipe,

33、 it is difficult to remove them, for this case the mechanical effect by cutting should be used. The tool uses in the robot for cutting is known as a cutting plate. In cleaning process, the cutting tool shears the humu

34、s, garbage rather than cuts it. The dreg sticks the sewage pipe, thus it is difficult to remove it. The dreg is shorn by relative motion between the cutting tool and the inside-surface of pipe. The shearing takes pla

35、ce when the cutting plate rotates around the its axis and impact to pipe’s surface to generate the shearing force then cut the solid dreg. In paper a new concept of cleaning sewage pipe suggests removing the material

36、apart with a thin knife of cutting plate shown in Fig. 4. In process of cutting for leaning, there is a relation of rotation speed and feed rates of tool. This relationship is very important if quality and effective

37、are considered. To analyze the stress and mechanical deformation of a cutting plate in the cleaning process, analytical processes of stress and deformation are required first. By using simulation obtained in deformat

38、ion analysis based on cutting force input to sludge on the pipe, the stress and deformation analysis is conducted with a commercial ABAQUS package program. Fig. 5 shows the deformation shape of the cutting plate used

39、for analysis. The cutting plate has a length of 280 mm, a width of 30 mm and the material properties of High Speed Steel (HSS). In the analysis, the cutting plate is assumed to be cut one direction by several cutting

40、 knights, and symmetric to center of cutting plate. Because of the symmetric condition of the geometry, half of the plate is selected to be a solution domain. IV. ELECTRICAL DESIGN Almost sewage pipes are not accessi

41、ble for human. The current state of the art to maintain such pipes uses teleoperated robot platforms. The designed platform in this paper is connected to outside world by a cable that gets used for energy supply, for

42、 transmission of commands form the human operator to the device, for data transmission back to the operator, as a life-line in case the device gets stuck in the pipe, and as a measuring line for the distance travelled

43、. An alternative to such systems is an autonomous robot which is able to operate remotely. The implementation of the communication link and the power supply becomes more difficult, a disadvantage which is outweighed

44、by the mobility gained. It can be designed to move over obstacles and through junctions. Many problems of current systems could be solved. However, the sewerage system is a hazardous environment for robots to work in.

45、 It is a narrow, slippery, dirty and wet place. It can involve all levels of water in a sewer pipe from dry to a completely flooded one. It may include obstacles like sediments and damages like cracks, holes, non-exp

46、ertly built junctions or roots grown into the pipe. The hardware architecture is an important part of the control architecture for the mobile robot. In order to travel accurately along the planned route, and in order