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Tham khảo tài liệu 'field and service robotics - corke p. and sukkarieh s.(eds) part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 568 N. Elkmann et al. of water will be discharged into the sewer constantly. Legal guidelines require a sewer system s structural and operational condition be inspected and recorded on a scheduled regular and systematic basis. At present structural condition is usually detected by optical inspection TV inspection or walk-through inspection .Conventional inspection methods cannot be used to inspect the Emscher sewer system because of its constant partial filling. The automatic inspection and cleaning systems to be designed as part of the project should effectively do away with walk-through sewer inspections. Hence among other things approval of the one-pipe sewer will depend on demonstrating that inspection and cleaning can be done by using remote controlled or automatic systems. As part of the project the following main components were designed and tested for their feasibility and fulfillment of the requirements Carrier system motion kinematics robot for positioning along the sewer line Sensor and measuring systems for inspecting pipe condition above and below the water line as well as for detecting deposits Sewer cleaning system Media supply power data communication water etc. Control system operation System navigation and positioning in the sewer Handling systems for positioning sensors and cleaning tools on and along the sewer wall. A large test station with various reinforced concrete pipes and different types of damage e.g. cracks or spalling was set up at the Fraunhofer Institute IFF in Magdeburg. The sensors for inspection were mostly new developments. In consultation with the Emschergenossenschaft the Fraunhofer IFF has developed and built a prototype of the rough inspection system as well as a test prototype of the cleaning system and a test prototype of the inspection system in order to test these in a comparable already existing sewer system diameter 2300 mm . 2 Inspection Strategy and Systems The strategy for automatically inspecting and cleaning the .
