Water-jet Cleaning Motion of the In-Pipe Robot with Screw Drive Inside the Water Pipes
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.
Abstract
For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.
참고문헌 (7)
- Hyun-Dong Lee, "Renovation technologies in maintenance of water distribution systems", Journal of the Korean Society of Environmental Engineers, 29(12), pp.1297~1309 (2007)
- 배철호, "주철관의 잔존강도 평가에 관한 연구", 상하수도학회지, 20(6), pp.867~874 (2006), 대한상하수도학회
- Atsushi Kakogawa, "Mobility of In-pipe robot with screw drive mechanism inside curved pipes", Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.1530~1535 (2010)
- Mihaita Horodinca, "A simple architecture for in-pipe inspection robots", Proceedings of the International Colloquium on Mobile and Autonomous Systems, pp.61~64 (2002)
- Shigeo Hirose, "Design of in-pipe inspection vehicles for φ25,φ50,φ150 pipes", Proceedings of 1999 IEEE International Conference on Robotics & Automation, pp.2309~2314 (1999)
- Iwao Hayashi, "The running characteristics of a screw-principle microrobot in a small bent pipe", Proceeding of the Sixth International Symposium on Micro Machine and Human Science, pp.225~228 (1995)
- S. Poozesh, "Design and development of a smart vehicle for inspection of in-service water mains", Proceedings of the Canadian Conference on Electrical and Computer Engineering, pp.1203~1206 (2007)