As a special type of working robot, "Through cordage in the city drainage pipelines" robot has almost not been used in this areas.
城市主排水管道穿缆检测机器人属特种作业机器人，在国内外还很少有投入实际使用的。
As a special type of working robot, "Inspection and detection in city drainage pipelines" robot is applied for dredge and detection in drainage pipelines.
城市主排水管道穿缆、检测机器人应用于城市排水管道的疏通与检测工作，属于特种作业机器人。
By an analysis of the backfill tamping problems in drainage pipelines, and after many years of practice, the author has found corresponding measures with good results.
通过对排水管道回填土夯实存在问题的分析，经过近几年的实践找到了相应的措施和对策，并收到了良好的效果。
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