CN113625638A - Intelligent pipe network robot system - Google Patents
Intelligent pipe network robot system Download PDFInfo
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- CN113625638A CN113625638A CN202110936011.0A CN202110936011A CN113625638A CN 113625638 A CN113625638 A CN 113625638A CN 202110936011 A CN202110936011 A CN 202110936011A CN 113625638 A CN113625638 A CN 113625638A
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- network robot
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- communication module
- vehicle body
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- 238000004891 communication Methods 0.000 claims abstract description 51
- 239000010802 sludge Substances 0.000 claims abstract description 46
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 239000010865 sewage Substances 0.000 claims description 36
- 238000004804 winding Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 12
- 239000000523 sample Substances 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 239000002689 soil Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000003756 stirring Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
Abstract
The invention discloses a smart pipe network robot system, which comprises: the pipe network robot comprises a first main control module, a first communication module and a video module, wherein the first communication module and the video module are respectively and electrically connected with the first main control module; operation control platform, including second host system module, second communication module, display screen and remote control unit, second host system module respectively with second communication module the display screen with the remote control unit electricity is connected, the pipe network robot with operation control platform passes through first communication module with the communication of second communication module. According to the intelligent pipe network robot system, the pipe network robot can be placed in a pipeline firstly, and then the pipe network robot is controlled on the ground through the operation control console so as to clean sludge in the pipeline, so that automatic cleaning of the sludge in the pipeline is realized, the dredging efficiency can be improved, the manual work is reduced, and the safety risk of working in the pipeline of workers is avoided.
Description
Technical Field
The invention relates to the field of pipeline dredging, in particular to an intelligent pipe network robot system.
Background
Urban rainwater, water supply, sewage and other drainage pipelines are used as main municipal facilities of cities, and after long-time operation and use, sundries such as silt, sand and stone are easy to deposit in the pipelines, so that the water delivery flow of the pipelines is greatly influenced, and therefore the inside of the pipelines needs to be subjected to dredging treatment regularly.
When dredging, the pipeline to be dredged is segmented, then a high-pressure water vehicle is used for irrigating water into the two segmented inspection wells, then a dredging stirrer is used for stirring sludge in the inspection wells and the sewage pipeline, and after the sludge is diluted, the sludge in the two inspection wells is pumped completely by a sewage suction vehicle, so that the sludge in the pipeline is cleaned.
However, the existing pipeline dredging method needs manual work and machinery to stir the sludge continuously until the sludge is diluted into water, so that great manpower is consumed, and the manual work efficiency is low. Meanwhile, due to the fact that sludge in the pipeline needs to be stirred, workers need to enter the pipeline to operate, the environment in the pipeline is complex, dangerous gas, bacteria, harmful liquid and the like are filled in the pipeline, and safety of the workers is threatened.
Disclosure of Invention
The present invention is directed to a smart pipe network robot system, which solves the above problems in the prior art.
In order to achieve the above object, the present invention provides a smart pipe network robot system, which includes:
the pipe network robot comprises a first main control module, a first communication module and a video module, wherein the first main control module is electrically connected with the first communication module and the video module respectively;
operation control platform, including second host system module, second communication module, display screen and remote control unit, second host system module respectively with second communication module the display screen with the remote control unit electricity is connected, the pipe network robot with operation control platform passes through first communication module with the communication of second communication module.
Preferably, the pipe network robot further comprises:
a first vehicle body;
the first driving device is used for driving the first vehicle body to move;
the twisting and sucking device is arranged in front of the first vehicle body and comprises a mounting seat and a twisting and sucking head which is rotatably arranged on the mounting seat, and the mounting seat is hinged with the first vehicle body;
the second driving device is used for driving the cutter suction device to put down and retract, and the output end of the second driving device is connected with the mounting seat;
the first sewage suction pipe is arranged on the first vehicle body, one end of the first sewage suction pipe is connected with the mounting seat and communicated with the space where the twisting suction head is located, and the other end of the first sewage suction pipe is used for being connected with external sludge suction equipment.
Preferably, the mounting seat comprises a back plate and two side plates arranged at intervals, the two side plates are respectively positioned at two sides of the back plate and connected with the back plate, the back plate is provided with a sewage suction port penetrating through the inner side and the outer side of the back plate and a sewage suction joint communicated with the sewage suction port, the sewage suction joint is connected with one end of the sewage suction pipe, and the twisting suction head is rotatably arranged between the two side plates.
Preferably, the cutter suction head comprises a hollow rotating rod and two spiral sheet bodies arranged on the rotating rod, the spiral sheet bodies are arranged along the axial direction of the rotating rod in a spiral mode, the spiral directions of the spiral sheet bodies are opposite, and the dirt suction port is located between the two spiral sheet bodies.
Preferably, wisdom pipe network robot system still including locating sonar device on the first automobile body, sonar device include drive assembly and with the sonar probe that drive assembly's output is connected, sonar probe pass through the fixing base with drive assembly's output is connected.
Preferably, wisdom pipe network robot system still includes signal relay transceiver equipment, the operation control platform passes through signal relay transceiver equipment with pipe network robot communication is connected, signal relay transceiver equipment includes third host system and third communication module and the wire winding module rather than the electricity be connected respectively, third communication module with connect through the cable electricity between the first communication module, the wire winding module is used for receive and release third communication module with cable between the first communication module.
Preferably, the signal relay transceiver device further comprises an automatic wire organizer and an odometer.
Preferably, the smart pipe network robot system further comprises a power towing cabin, wherein the power towing cabin comprises a second vehicle body and a second sewage suction pipe arranged on the second vehicle body, and the second sewage suction pipe is connected with the first sewage suction pipe.
Preferably, a battery module and a pumping module are mounted on the power towing cabin, the battery module is used for supplying power to the pipe network robot, and the pumping module is used for discharging sludge cleaned by the pipe network robot.
Preferably, wisdom pipe network robot system still includes the remote monitoring platform, the remote monitoring platform passes through signal relay transceiver with pipe network robot communication is connected.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
according to the intelligent pipe network robot system, the pipe network robot can be placed in a pipeline firstly, and then the pipe network robot is controlled on the ground through the operation control console so as to clean sludge in the pipeline, so that automatic cleaning of the sludge in the pipeline is realized, the dredging efficiency can be improved, the manual work is reduced, and the safety risk of working in the pipeline of workers is avoided.
Drawings
FIG. 1 is a schematic diagram of a smart grid robot system according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a smart grid robot system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the pipe network robot shown in FIG. 1;
FIG. 4 is a schematic diagram of the internal structure of the pipe network robot shown in FIG. 3;
FIG. 5 is a schematic diagram of the internal structure of the pipe network robot shown in FIG. 3;
FIG. 6 is a schematic diagram of the internal structure of the pipe network robot shown in FIG. 3;
FIG. 7 is a schematic structural diagram of a winching device of the pipe network robot shown in FIG. 3;
FIG. 8 is a schematic structural diagram of a winching device of the pipe network robot shown in FIG. 3;
FIG. 9 is a schematic diagram of a smart grid robot system according to another embodiment of the present invention;
FIG. 10 is a functional block diagram of a smart pipe network robot system according to another embodiment of the present invention;
fig. 11 is a schematic structural diagram of a signal relay transceiver in another embodiment of the present invention;
FIG. 12 is a schematic diagram of a smart grid robot system according to another embodiment of the present invention;
fig. 13 is a schematic structural diagram of a smart grid robot system according to yet another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
Example one
Referring to fig. 1-2, an embodiment of the invention provides a smart pipe network robot system, which includes:
the pipe network robot 10 comprises a first main control module 11, a first communication module 12 and a video module 13, wherein the first main control module 11 is electrically connected with the first communication module 12 and the video module 13 respectively;
the operation console 20 comprises a second main control module 21, a second communication module 22, a display screen 23 and a remote control device 24, the second main control module 21 is electrically connected with the second communication module 22, the display screen 23 and the remote control device 24 respectively, and the pipe network robot 10 and the operation console 20 are communicated with the second communication module 22 through the first communication module 12.
In this embodiment, the pipe network robot 10 is used to clean the sludge in the pipe, and during the process of cleaning the sludge, it sends the collected pipe information and the running state data of itself to the operation console 20 in a wired or wireless manner. An operator can observe video and other data information sent by the pipe network robot 10 through the display screen 23, and then the remote control device 24 is used for remotely controlling the pipe network robot 10 in the pipeline, so that the pipe network robot 10 works according to the control instruction of the operator.
Specifically, the pipe network robot 10 includes a main control module 11, a communication module 12 and a video module 13, and the video module 13 includes a camera, and the camera is arranged on the vehicle body, such as the front side, the rear side, the left side, the right side and the like of the vehicle body, so as to obtain the video picture in the pipeline in real time through the camera. Preferably, the cameras provided in the present embodiment are three, wherein two cameras are provided at the front and the other camera is provided at the rear, which is only exemplary and not limiting.
The video frame acquired by the video module 13 is sent to the operation console 20 through the first communication module 12 in real time to be displayed on the display screen 23 of the operation console 20 in real time, so that the operator can observe the environment in the pipeline and the working condition of the pipeline robot 10 in real time. According to the video picture displayed in real time, the operator can well control the dredging work of the pipe network robot 10 in the pipeline so as to completely remove the sludge in the pipeline.
The first communication module 12 and the second communication module 22 can communicate with each other by wire or wirelessly, and those skilled in the art can design them according to the actual situation.
The pipe network robot 10 provided by the invention comprises a modularized operation head, wherein the modularized operation head is designed in a modularized mode according to use scenes and requirements, for example, a modularized cutter suction operation head integrating pipe network dredging and silt suction, a modularized flushing operation head for cleaning a pipeline, and a modularized cutting operation head for cutting large hard foreign matters in the pipeline, wherein the modularized operation head is not limited to the above types.
The pipe network robot 10 provided by the invention can replace manual work to carry out dredging, so that the safety risk caused by the fact that workers enter the pipeline to work is avoided. Simultaneously, because the silt of pipe network robot 10 in can replacing the manual work to the pipeline stirs, and the staff only need control pipe network robot 10 on ground, need not the staff even and control, pipe network robot 10 can construct the route of marcing according to the environment in the pipeline is automatic, consequently, will reduce the human cost when the pipeline desilting greatly. In addition, the pipeline dredging efficiency is greatly improved by replacing the manual work with the pipeline network robot 10.
Example two
Referring to fig. 3 to 7, the pipe network robot 10 according to the embodiment of the present invention further includes:
a first vehicle body 14;
a first driving device 15 for driving the first vehicle body 14 to move;
the cutter suction device 16 is arranged in front of the first vehicle body 14, the cutter suction device 16 comprises a mounting seat 161 and a cutter suction head 162 which is rotatably arranged on the mounting seat 161, and the mounting seat 161 is hinged with the first vehicle body 14;
the second driving device 17 is used for driving the cutter-suction device 16 to be put down and retracted, and the output end of the second driving device 17 is connected with the mounting seat 161;
and the first sewage suction pipe 18 is arranged on the first vehicle body 14, one end of the first sewage suction pipe 18 is connected with the mounting seat 161 and communicated with the space where the winch head 162 is located, and the other end of the first sewage suction pipe is used for being connected with external sludge suction equipment.
In this embodiment, the pipe network robot 10 can walk in the pipeline, and particularly, the first driving device 15 drives the vehicle body to move. When the pipe-network robot 10 travels in the pipeline, sludge in the pipeline may be stirred by the winch head 162 provided in front of the first vehicle body 14 so that the sludge can be more easily sucked by the first sewage suction pipe 18. One end of the first soil suction pipe 18 is connected to the mounting seat 161 and communicates with a space where the winch head 162 is located so that the sludge stirred by the winch head 162 can be sucked into the first soil suction pipe 18, and the other end of the first soil suction pipe 18 is connected to an external sludge suction apparatus so as to generate suction in the first soil suction pipe 18 by the external sludge suction apparatus.
The working principle of the pipe network robot 10 proposed in the present embodiment is as follows: firstly, the pipe network robot 10 is put into a shaft, then the second driving device 17 puts down the twisting and sucking device 16 in front of the first vehicle body 14, then the first vehicle body 14 is driven to advance through the first driving device 15, in the advancing process of the first vehicle body 14, the twisting and sucking head 162 of the twisting and sucking device 16 can continuously rotate so as to stir the sludge in the pipeline, the stirred sludge is sent to the first sludge sucking pipe 18, so that the first sludge sucking pipe 18 can conveniently suck the sludge, after the sludge in the pipeline is cleaned, the twisting and sucking device 16 in front of the first vehicle body 14 is withdrawn through the second driving device 17, then the first vehicle body 14 is driven to move to the shaft opening through the first driving device 15, and finally the pipe network robot 10 is taken out from the shaft, so that the automatic cleaning of the sludge in the pipeline is completed.
In some embodiments, the second driving device 17 is an electric push rod horizontally disposed on the first vehicle body, which is only exemplary and not limiting, and the skilled person can design the second driving device according to practical situations, such as an air cylinder, an oil cylinder, or an electric motor.
In some embodiments, the first soil suction pipe 18 is provided at a middle position of the first vehicle body 14 and inside the first vehicle body 14, and one end of the first soil suction pipe 18 protrudes from the front of the first vehicle body 14 and the other end protrudes from the rear of the first vehicle body 14.
EXAMPLE III
Referring to fig. 7-8, the mounting base 161 according to the embodiment of the present invention includes a back plate 1611 and two side plates 1612 spaced apart from each other, the two side plates 1612 are respectively located at two sides of the back plate 1611 and connected to the back plate 1611, the back plate 1611 is provided with a dirt suction port 1613 penetrating through the back plate 1611 and a dirt suction joint 1614 communicating with the dirt suction port 1613, the dirt suction joint 1614 is connected to one end of a dirt suction pipe, and the twisting head 162 is rotatably disposed between the two side plates 1612. In this embodiment, the mounting base 161 is U-shaped, and includes a back plate 1611 and two side plates 1612, the twisting head 162 is rotatably disposed between the two side plates 1612, a dirt suction port 1613 and a dirt suction joint 1614 are configured on the back plate 1611, and the dirt suction port 1613 penetrates through the inner and outer side walls of the back plate 1611 to communicate with the space where the twisting head 162 is located. One end of the sewage suction joint 1614 is communicated with the sewage suction port 1613, and the other end of the sewage suction joint 1614 is communicated with the first sewage suction pipe 18, so that the sludge sucked at the sewage suction port 1613 is discharged through the first sewage suction pipe 18, for example, into a sewage suction truck.
Example four
Referring to fig. 8, the winch suction head 162 according to the embodiment of the present invention includes a rotating rod 1621 having a hollow interior and two spiral pieces 1622 disposed on the rotating rod 1621, wherein the spiral pieces 1622 are disposed spirally along an axial direction of the rotating rod 1621, the spiral directions of the two spiral pieces 1622 are opposite, and the dirt suction port 1613 is located between the two spiral pieces 1622. In this embodiment, the rotating rod 1621 is a roller-shaped arrangement, and two spiral piece bodies 1622 are arranged on the rotating rod 1621, and the two spiral piece bodies 1622 are arranged along the axial direction of the rotating rod 1621 in a spiral manner, and the spiral directions of the two spiral piece bodies 1622 are opposite, and the dirt suction opening 1613 is located between the two spiral piece bodies 1622. When the winch suction head 162 stirs sludge in the pipeline, because the spiral directions of the two spiral sheet bodies 1622 are opposite, the sludge loosened by the two rotary spiral sheet bodies 1622 can be conveyed to the sludge suction port 1613 at the middle position, so that the sludge suction pipe can suck more sludge, and the sludge cleaning efficiency is improved.
EXAMPLE five
Referring to fig. 4-5, the smart pipe network robot 10 system according to the embodiment of the present invention further includes a sonar device 19 disposed on the first vehicle body 14, the sonar device 19 includes a driving component 191 and a sonar probe 192 connected to an output end of the driving component 191, and the sonar probe 192 is connected to an output end of the driving component 191 through a fixing base 193. In this embodiment, when the silt in the pipeline is cleared up, the sonar probe 192 is extended to the front of the cutter-suction device 16 through the driving component 191, so as to avoid the influence of the cutter-suction device 16 on the detection of the sonar probe 192, and the damage and the clogging condition in the pipeline can be quantitatively measured through the sonar probe 192. Preferably, the mounting base 161 provided in the present embodiment is provided with a space-avoiding groove for preventing the mounting base 161 from colliding with the sonar probe 192 when it is retracted.
EXAMPLE six
Referring to fig. 9-10, the smart pipe network robot 10 system according to the embodiment of the present invention further includes a signal relay transceiver 30, the operation console 20 is connected to the pipe network robot 10 through the signal relay transceiver 30, the signal relay transceiver 30 includes a third main control module 31, and a third communication module 32 and a wire winding module 33 respectively connected to the third main control module 31 and the third communication module 32, the third communication module 32 is electrically connected to the first communication module 12 through a cable, and the wire winding module 33 is used for winding and unwinding the cable between the third communication module 32 and the first communication module 12. In this embodiment, the pipe network robot 10 can be directly powered from the power supply system on the ground through a cable, that is, the pipe network robot 10 is electrically connected to the power supply system through a cable. The cable needs to be dragged when the pipe network robot 10 moves in the pipeline, the excessive or too few cables are located in the pipeline, the excessive cables can cause the cables to drag on the pipeline ground, the cables are easy to damage, and the too few cables can drag the pipe network robot 10 backwards, so that the advancing speed of the pipe network robot 10 is influenced. For this reason, the signal relay transceiver device 30 of the present embodiment includes the winding module 33, and the winding module 33 includes a reel for cable collection so that the cable is wound thereon, a winding control module and a winding power module, and the cable control module and the winding power module can automatically wind and unwind the cable according to the traveling condition of the pipeline robot 10, so as not to position the cable in the pipeline too much and not to drag the pipeline robot 10 due to too little cable unwinding. The console 20 and the signal relay device can communicate with each other in a wired or wireless manner, and those skilled in the art can design the communication according to actual situations. Further, the wire winding module 33 of the present embodiment can also wind and unwind the communication cable.
EXAMPLE seven
Referring to fig. 11, the signal relay transceiver device 30 according to the embodiment of the present invention further includes an automatic wire organizer 34 and an odometer 35. In this embodiment, the automatic wire arrangement device 34 can arrange the cables neatly when taking up the wires, and in the cable winding and unwinding process, the odometer 35 can record the cable winding and unwinding distance in real time, so as to assist in judging the position of the exit pipe network robot 10 at the pipeline. Further, the signal relay transceiver 30 provided in this embodiment further includes a universal wheel, and the signal relay transceiver 30 can be moved and carried conveniently by the universal wheel.
Example eight
Referring to fig. 12, the smart pipe network robot 10 system according to the embodiment of the present invention further includes a power towing cabin 40, where the power towing cabin 40 includes a second vehicle body 41 and a second suction pipe 42 disposed on the second vehicle body 41, and the second suction pipe 42 is connected to the first suction pipe 18. In this embodiment, the power towing compartment 40 has a power system, can move autonomously, can share instructions with the pipe network robot 10, and keeps movement coordination with the pipe network robot 10, so that no additional traction load is caused to the pipe network robot 10. The power towing tank 40 comprises a second sewage suction pipe 42, one end of the second sewage suction pipe 42 is connected with the first sewage suction pipe 18 through a sludge conveying pipe, and the other end discharges sludge onto the bottom surface through a sludge discharge pipe.
Example nine
Referring to fig. 9, the power towing compartment 40 according to the embodiment of the present invention is mounted with a battery module for supplying power to the pipe network robot 10 and a pumping module for discharging sludge cleaned by the pipe network robot 10. In this embodiment, the pipe network robot 10 is limited in size and cannot carry large-sized equipment, and therefore, such equipment can be carried in the power towing tank 40 and operated. Preferably, the power towing tank 40 proposed in the present embodiment is mounted with a battery module for supplying power to the pipe network robot 10 and a pumping module for sucking the sludge collected by the pipe network robot 10 to the power towing tank 40 through a sludge conveying pipe and discharging the sludge to the ground through a sludge discharging pipe.
Example ten
Referring to fig. 13, the smart pipe network robot 10 system according to the embodiment of the present invention further includes a remote monitoring platform 50, wherein the remote monitoring platform 50 is communicatively connected to the pipe network robot 10. In this embodiment, the remote monitoring platform 50 is composed of a central control display large screen, a server, and a transceiver. The transceiver forwards data and information returned by all the networked robots 10 in the area covered by the remote monitoring platform 50 to the server. The server carries out automatic processing on the data and the information and displays the data and the information on a large central control display screen in a platform software mode. The staff can control the pipe network health condition in the district directly and efficiently through the information operation platform software displayed on the large screen through the central control display, and meanwhile, can issue work instructions to the specific pipe network robot 10.
The application scenes of the invention comprise dredging, detection and daily maintenance of a drainage pipe network; cleaning and detecting pipelines of a water supply pipe network; and the overhaul and troubleshooting of the gas pipeline. The pipe network robot 10 not only comprises a robot body in a pipeline, but also can replace different working modules on the robot body according to working requirements based on modular design, and complete a series of work such as detection, operation, daily maintenance and the like.
The signal relay transceiver device 30 and the power supply system are arranged on the ground part outside the pipeline, the pipe network robot 10 transmits data to the signal relay transceiver device 30 on the ground, and the data are transmitted to the command center through the signal relay transceiver device 30. The remote background is provided with a server and an operation monitoring platform covering the area, and the system can be used for coordination and allocation of work of a plurality of pipe network robots 10 in the area, data acquisition and real-time monitoring of pipe network health.
The pipe network robot 10 transmits the collected pipe information and its own operation state data to the signal relay transceiver device 30 in a wired or wireless manner. The signal relay transceiver device 30 can transmit information to the operation console 20, and the operation console 20 can transmit control commands to the pipe network robot 10 according to the video and other data transmitted by the signal relay transceiver device 30. The power supply system can provide stable power supply for all parts of the whole set of system, and the power supply system can also enter a pipeline in a mode of pulling a battery, is dragged by the pipe network robot 10 and provides required electric energy for the pipe network robot 10, so that the pipe network robot 10 is free from the constraint of ground power supply. The signal relay transceiver 30 can transmit the collected information to the remote monitoring platform 50 in a wireless or wired manner, and the remote monitoring platform 50 can monitor the working states of all the network robots 10 in the area under jurisdiction and collect detailed information of the network in the area under jurisdiction.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (10)
1. A smart pipe network robot system, comprising:
the pipe network robot comprises a first main control module, a first communication module and a video module, wherein the first main control module is electrically connected with the first communication module and the video module respectively;
operation control platform, including second host system module, second communication module, display screen and remote control unit, second host system module respectively with second communication module the display screen with the remote control unit electricity is connected, the pipe network robot with operation control platform passes through first communication module with the communication of second communication module.
2. The smart pipe network robot system according to claim 1, further comprising:
a first vehicle body;
the first driving device is used for driving the first vehicle body to move;
the twisting and sucking device is arranged in front of the first vehicle body and comprises a mounting seat and a twisting and sucking head which is rotatably arranged on the mounting seat, and the mounting seat is hinged with the first vehicle body;
the second driving device is used for driving the cutter suction device to put down and retract, and the output end of the second driving device is connected with the mounting seat;
the first sewage suction pipe is arranged on the first vehicle body, one end of the first sewage suction pipe is connected with the mounting seat and communicated with the space where the twisting suction head is located, and the other end of the first sewage suction pipe is used for being connected with external sludge suction equipment.
3. The intelligent pipe network robot system according to claim 2, wherein the mounting base comprises a back plate and two spaced side plates, the two side plates are respectively located at two sides of the back plate and connected with the back plate, the back plate is provided with a sewage suction port penetrating through the back plate and a sewage suction joint communicated with the sewage suction port, the sewage suction joint is connected with one end of the sewage suction pipe, and the winch head is rotatably arranged between the two side plates.
4. The intelligent pipe network robot system according to claim 2, wherein the cutter-suction head comprises a hollow rotating rod and two spiral pieces arranged on the rotating rod, the spiral pieces are spirally arranged along the axial direction of the rotating rod, the spiral directions of the two spiral pieces are opposite, and the dirt suction port is located between the two spiral pieces.
5. The smart pipe network robot system according to claim 2, further comprising a sonar device disposed on the first vehicle body, wherein the sonar device comprises a driving component and a sonar probe connected with an output end of the driving component, and the sonar probe is connected with an output end of the driving component through a fixing seat.
6. The intelligent pipe network robot system according to claim 1, further comprising a signal relay transceiver, wherein the operation console is communicatively connected to the pipe network robot through the signal relay transceiver, the signal relay transceiver comprises a third main control module, and a third communication module and a wire winding module electrically connected to the third main control module, the third communication module is electrically connected to the first communication module through a cable, and the wire winding module is used for winding and unwinding the cable between the third communication module and the first communication module.
7. The smart pipe network robotic system of claim 6, wherein the signal relay transceiver device further comprises an automated wire organizer and an odometer.
8. The smart pipe network robot system according to claim 2, further comprising a power towing cabin, wherein the power towing cabin comprises a second vehicle body and a second suction pipe provided on the second vehicle body, and the second suction pipe is connected to the first suction pipe.
9. The smart pipe network robot system according to claim 8, wherein a battery module for supplying power to the pipe network robot and a pumping module for discharging sludge cleaned by the pipe network robot are mounted on the power towing compartment.
10. The intelligent pipe network robot system according to claim 6, further comprising a remote monitoring platform, wherein the remote monitoring platform is communicatively connected to the pipe network robot through the signal relay transceiver device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110936011.0A CN113625638A (en) | 2021-08-13 | 2021-08-13 | Intelligent pipe network robot system |
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| CN114991245A (en) * | 2022-07-07 | 2022-09-02 | 山东鲁班机械科技有限公司 | Mining sump desilting system |
| CN115190142A (en) * | 2022-06-20 | 2022-10-14 | 深圳潜水侠创新动力科技有限公司 | Data transmission system of pipeline robot |
| CN117301020A (en) * | 2023-11-29 | 2023-12-29 | 中煤科工集团沈阳研究院有限公司 | Gas-electricity combined coal mine robot and use method thereof |
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Application publication date: 20211109 |