Attitude control of a robot in sewer pipe based on fuzzy algorithm

摘要

Cleaning sewer pipes in time is important to the use of sewer pipes. Based on the analysis of status of sewer cleaning technology, a new robot used in sewer line to improve the efficiency of sewer cleaning is put forward in this paper. It is an autonomous mobile robot which can move in abominable sewer pipe. It can pull the cable at the same time. Attitude control of the in-sewer robot is a key to ensure that the robot sewer can move along the sewer pipe. To prevent the in-sewer robot from overturning in the sewer line, real time attitude measurement module is designed. Fuzzy control is a good real time control method. Therefore, Fuzzy control arithmetic is used in attitude control of the robot.