下水管路 檢査 및 連結 突出部 切斷用 로봇 開發

Abstract

The city water and sewage pipelines that had been installed tens of years ago make big problems more seriously for the nation these days for the sanitation and flood measures in the viewpoint of environment and health as the country is developed into industrialized society and the population is concentrated into cities. Reviewing the reality of the city water and sewage pipelines buried nationwide, tens-of-years old pipes are more than some kilometers long, which have been piled up with dregs and garbage, more than half of them have been clogged up to cause the water contamination, decayed malodor and various harmful insects in there, so it is really a big problem for national sanitation, and all of us know the actuality how much financial damage is given to the people and to the country because of the traffic jam and submerged areas when the sewage lines are clogged up when it is heavily raining. Reverse flow or clogging of sewage makes as of the interception of sewage flows by the corrosion or partial crack and sinking of sewage pipelines another big problem while the garbage treatment in sewage has become compulsory in these days. The maintenance and repair of sewage lines is a task that should be accomplished, therefore, for the preservation of clean environment. In order to repair the sewage lines, the rusted or cracked parts must be cut off and replaced with reinforcement. But the sewage lines are buried underground and so it is not possible for workers to get inside the pipes. As the license can not be granted from the local Authority because the breakage of sewage lines or projection of other small channels into the sewage lines are classified as warranty, it is required to develop robots that can repair these defects without digging he ground. The robots will be produced with both cutting tools and grinding tools in it, so the repair time can be significantly reduced as the tool position can be changed freely according to the repair works. Conventional digging repair work has caused many problems such as traffic obstruction, malodor by sewage, noise pollution, reduction of pavement lifetime, damage to underground installations, in the national circumstance that the sewage lines need continuous repair, but the cost will be drastically reduced as well as the traffic jam and dust can be prevented when these robots are practically used to replace the conventional digging work.