Robotic systems for cleaning and inspection of large concrete pipes
作者： Jose Saenz , Norbert Elkmann , Thomas Stuerze , Sven Kutzner , Heiko Althoff
DOI: 10.1109/CARPI.2010.5624448
关键词:
摘要: Concrete pipes are used in a variety of areas for conducting media underground (eg wastewater, cooling water, etc.) or for transportation purposes. Regular cleaning and inspection is required to ensure the static integrity of the pipe and to insure against the problems associated with failure of the pipe. In this paper, the SVM-RS system for cleaning and inspecting large concrete pipes will be presented. Various aspects of the robot including its kinematics, the cleaning system, the sensor system, the media supply, communications …
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