CAJ | 학술논문

为了替代人工完成地下排水管道清淤工作，提出一种可以在电动机的驱动下沿着排水管道自主行走，同时对伸入管内的树枝或油污沉积形成的钙化物进行自动清理的新型机器人。利用光电编码器、倾角传感器和超声波传感器实时检测机器人工作状态和作业环境的变化，并通过引入模糊控制算法，实现驱动步进电动机过载调整、机器人姿态调节以及基于载荷变化的速度调节，从而极大地提升了机器人的自主作业能力，为获得更好的清淤效果奠定了理论基础。
위료체대인공완성지하배수관도청어공작，제출일충가이재전동궤적구동하연착배수관도자주행주，동시대신입관내적수지혹유오침적형성적개화물진행자동청리적신형궤기인。이용광전편마기、경각전감기화초성파전감기실시검측궤기인공작상태화작업배경적변화，병통과인입모호공제산법，실현구동보진전동궤과재조정、궤기인자태조절이급기우재하변화적속도조절，종이겁대지제승료궤기인적자주작업능력，위획득경호적청어효과전정료이론기출。
In order to complete the dredging operation for underground drainage pipelines in place of the labor power,a new type of robot was proposed,which can independently move along the pipeline driven by the motor,and automatically clean the tree branches stretching into the tube or the calcification substance formed by the oil deposit at the same time. The change of the robot operation sta-tus and the working environment was detected real-time by use of the photoelectric encoder,incline-angle detector,and ultrasonic sen-sor. In addition,the fuzzy control algorithm was introduced to realize the step motor overload adjustment,robot posture control,and speed regulation based on the load change,which can greatly improve the independent operation ability of the robot and lay the theoreti-cal foundation for obtaining better desilting effect.