Abstract
In this paper, a mechanism on an earthworm-type robot is developed for removing sludge-containing residual water from complicated sewer pipes to obtain clear internal images of sewer pipes with a camera. Conventional mechanisms for removing residual water include water suction pumps. However, there are no pumps of suitable size and flow rate to remove the residual water in such pipes. In addition, it is difficult for a conventional robot with water suction pumps to reach the location of the residual water in complicated pipes. Presence of sludge in the residual water further complicates the removal mechanism. Therefore, a mechanism for removing sludge containing residual water from complicated pipes was developed. It was mounted on an in-pipe inspection robot, PEW-RO V, which was developed in a previous study, to confirm the suction performance. The pump location was determined through experiments to maximize the flow rate. Thus, the PEW-RO V successfully passed through a typical 90-degree curved pipe and suctioned the residual water up to a level where the camera could obtain clear images.
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Uchiyama, K., Sato, H., Ito, F., Kurumaya, S., Nakamura, T. (2022). Residual Water Removal Mechanism for Obtaining Clear Images with Sewer Pipe Inspection Robot. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_13
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DOI: https://doi.org/10.1007/978-3-030-86294-7_13
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