Abstract:In order to complete the dredging operation for underground drainage pipelines in place of the labor power, a new type of robot was proposed,which can independently move along the pipeline driven by the motor, and automatically clean the tree branches stretching into the tube or the calcification substance formed by the oil deposit at the same time. The change of the robot operation status and the working environment was detected real-time by use of the photoelectric encoder, incline-angle detector, and ultrasonic sensor. In addition, the fuzzy control algorithm was introduced to realize the step motor overload adjustment, robot posture control, and speed regulation based on the load change, which can greatly improve the independent operation ability of the robot and lay the theoretical foundation for obtaining better desilting effect.