On a New Detecting Robot in Sewer Pipe

The information of sewer underground can be received by detecting sewer. It is a key for ensuring that sewer pipe can normally run and decrease some accidents such as drainpipe barrage leakage and so on. According to the analysis of status on robot in sewer and drainpipe detecting technology, a new sewer detecting robot is put forward. It's a automatic equipment used in sewers for d detecting sewer. The robot can take CCD visual sensor and other sensors so that it can detect objections of sewer pipe such as crackles, corrupts to avoid the accidents of leak, block and so on. It consists of mechanical structure, measurement system, control system and CCD system. The hardware and software on drive system of the sewer detecting robot are designed. The digital PID algorithm is applied in motor drive system of the sewer detecting robot.