A mechatronic concept for a sewer inspection robot

1999 ◽  
Author(s):  
V. Kepplin ◽  
K.-U. Scholl ◽  
K. Berns
Keyword(s):  
Inspection Robot ◽  
Sewer Inspection

NAVIGATION OF AN AUTONOMOUS SEWER INSPECTION ROBOT BASED ON STEREO CAMERA IMAGES AND LASER SCANNER DATA

2007 ◽  
Vol 16 (04) ◽  
pp. 611-625 ◽  
Author(s):  
ALIREZA AHRARY ◽  
LI TIAN ◽  
SEI-ICHIRO KAMATA ◽  
MASUMI ISHIKAWA
Keyword(s):  
Laser Scanner ◽  
Distance Estimation ◽  
Test Field ◽  
Scanner Data ◽  
Sewer Pipe ◽  
Stereo Camera ◽  
Pipe System ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Sewer Inspection

Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

scholarly journals Dynamic Replanning in Uncertain Environments for a Sewer Inspection Robot

10.5772/5617 ◽  
2004 ◽  
Vol 1 (1) ◽  
pp. 4 ◽  
Author(s):  
Oliver Adria ◽  
Hermann Streich ◽  
Joachim Hertzberg
Keyword(s):  
Uncertain Environments ◽  
Inspection Robot ◽  
Sewer Inspection

A Review on Various Methodologies for AC Duct Cleaning

2020 ◽  
Vol 07 (3&4) ◽  
pp. 1-5
Author(s):  
Soyab A Jamadar ◽  
Keyword(s):  
Air Quality ◽  
Indoor Air Quality ◽  
Indoor Air ◽  
Health Issues ◽  
Conventional System ◽  
Rectangular Shape ◽  
Inspection Robot ◽  
Different Types ◽  
Robot Systems ◽  
Articulated Robot

Cleaning of the AC ducts is the need because it creates problems such as the bad indoor air quality which results in health issues and it also causes the large maintenance of the system. The uncleaned air ducts become home for fungi, dust and harmful microbial. The causes and effects of this thing are mentioned following. The AC ducts can be cleaned through various methodologies i.e. conventional and by using robots. In the conventional system, there is manual cleaning by using some equipment. Cleaning the ducts by using robots would be a good solution for this. Different types of robot systems i.e. crawling robot, articulated robot and inspection robot are deployed for the application. There are different types of robots and their equipment according to size and type of duct. The cleaning of rectangular shape ducts is quite difficult than others. Finally, it results that cleaning ducts is the most important thing and using robots is the best methodology for it.

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