CN114673862A - Cleaning robot and cleaning method - Google Patents

Abstract

The invention relates to the technical field of pipeline cleaning, and discloses a cleaning robot and a cleaning method, wherein the cleaning robot comprises a machine body, a main body frame of the cleaning robot is provided, a sealed cavity is arranged in the machine body, and a control assembly is arranged in the machine body; the running mechanisms are connected with the machine body, are distributed on the peripheral surface of the machine body in a surrounding manner and are used for driving the machine body to move in the middle of the pipeline, so that the running mechanisms also have the function of supporting the machine body; the first cleaning mechanism is arranged at the top of the machine body and used for stripping sundries adhered to the inner wall of the pipeline, the second cleaning mechanism is arranged at the tail of the machine body and used for cleaning the sundries in the moving pipeline, and the two cleaning mechanisms can be used for stripping and transferring the sundries in the pipeline; the camera shooting mechanism is connected with the machine body and used for acquiring images in the pipeline and further judging the working environment and the cleaning effect of the cleaning robot.

Description

Cleaning robot and cleaning method

Technical Field

The invention relates to the technical field of pipeline cleaning, in particular to a cleaning robot and a cleaning method.

Background

The urban drainage system is an engineering facility system for treating and removing urban sewage and rainwater, and is a component of urban public facilities. The urban drainage system is an indispensable system in modern cities and is an important guarantee for ensuring good living environment and sanitation of the cities. Urban drainage system is at the operation in-process, and the pipeline carries various domestic sewage and waste garbage throughout the year, and the environment in the pipeline is complicated and abominable, consequently can have pipeline blocking and the not smooth phenomenon of drainage, causes urban waterlogging to harm resident's living environment, causes harm to resident's health, consequently needs regularly to clear up the silt debris in the pipeline, avoids silt debris accumulation to block up the pipeline.

The existing cleaning modes generally comprise two modes of manual cleaning and machine cleaning. However, manual cleaning has the following drawbacks: due to the fact that the environment in the sewage pipeline is severe and complex, the accumulation of the blocking objects can generate inflammable and explosive gas, personal safety of cleaning personnel has high risk, and the manual cleaning mode cannot reach pipelines with small pipe diameters. The existing machine cleaning has the following defects: insufficient cleaning force, poor flexibility and complex structure.

Disclosure of Invention

The invention mainly aims to provide a cleaning robot which can replace manual cleaning and aims to solve the technical problems of insufficient cleaning force and poor flexibility of the existing cleaning robot.

To achieve the above object, the present invention provides a cleaning robot for cleaning a pipe, comprising:

the cleaning robot comprises a machine body, a cleaning robot and a control module, wherein the machine body is a main body frame of the cleaning robot, a sealed cavity is arranged in the machine body, and the control module is arranged in the machine body;

the plurality of travelling mechanisms are distributed around the circumferential surface of the machine body, connected with the machine body and used for driving the machine body to move in the middle of the pipeline;

the first cleaning mechanism is arranged at the top of the machine body and used for stripping sundries adhered to the inner wall of the pipeline;

the second cleaning mechanism is arranged at the tail part of the machine body and used for cleaning sundries in the moving pipeline;

and the camera shooting mechanism is connected with the machine body and is used for acquiring images in the pipeline.

Optionally, the first cleaning mechanism generates a first high-pressure liquid, and the direction of the first high-pressure liquid is perpendicular to the inner wall of the pipeline;

the second cleaning mechanism generates second high-pressure liquid, and the direction of the second high-pressure liquid forms an included angle of 40-50 degrees with the inner wall of the pipeline.

Optionally, the running mechanism comprises a telescopic mechanism and a track assembly;

the telescopic mechanism is respectively connected with the machine body and the crawler assembly and drives the crawler assembly to do telescopic motion.

Optionally, the number of the traveling mechanisms is 3, and the traveling mechanisms are uniformly distributed on the circumferential surface of the machine body around the central axis of the machine body.

Optionally, the first cleaning mechanism includes a first pipeline and an L-shaped nozzle, the first pipeline is used for liquid transmission, the L-shaped nozzle is used for liquid guiding, and liquid ejected by the L-shaped nozzle is first high-pressure liquid;

the first pipeline penetrates through the machine body, an inlet of the first pipeline is located at the tail of the machine body, an outlet of the first pipeline is located at the top of the machine body, the L-shaped spray head is connected with the outlet of the first pipeline through a rotating interface, and the L-shaped spray head can rotate around the rotating interface.

Optionally, the L-shaped nozzle is integrally formed;

or the L-shaped spray head comprises a switching port and a straight spray head, the straight spray head is connected with the switching port, and the switching port is connected with an outlet of the first pipeline through a rotary port.

Optionally, the second cleaning mechanism includes a liquid inlet, a first cavity, a second cavity, and a tailstock component;

the first cavity is communicated with the liquid inlet;

the second chamber is annular and is formed by an inner annular surface and an outer annular surface in a surrounding mode, the second chamber is communicated with the first chamber through a plurality of communicating pipelines, a plurality of spraying holes are formed in the outer annular surface of the second chamber and are uniformly distributed around the annular center line of the second chamber, liquid is sprayed out through the spraying holes in a radial mode with a preset included angle, and the liquid sprayed out through the spraying holes is high-pressure liquid;

the tailstock part is used for connecting the second chamber and the machine body.

Optionally, an included angle between the direction of the liquid sprayed from the spray holes and the direction of the liquid flow in the liquid inlet is 40-50 degrees;

the included angle between the direction of the liquid sprayed out from the spray hole and the flow direction of the fluid in the communication pipeline is 130-140 degrees;

the liquid flow direction in the liquid inlet is vertical to the liquid flow direction in the communicating pipeline.

Optionally, the camera mechanism includes a camera and an illumination mechanism;

the camera is arranged at the top of the machine body, and the illuminating mechanism is arranged at the top of the machine body.

Optionally, the cleaning machine further comprises a second pipeline, the second pipeline penetrates through the machine body, an inlet of the second pipeline is located at the tail of the machine body, an outlet of the second pipeline is connected with a nozzle at the top of the machine body, the nozzle faces the camera and the illuminating mechanism, and the nozzle is used for cleaning sundries on the surfaces of the camera and the illuminating mechanism.

Correspondingly, the invention also provides a cleaning method, which is realized by the cleaning robot and comprises the following steps:

putting a cleaning robot into a pipeline to be cleaned;

cleaning a self-adaptive unfolding walking mechanism of the robot;

the cleaning robot walks along the first direction of the pipeline to generate rotary high-pressure liquid to peel off impurities on the surface of the inner wall of the pipeline;

the cleaning robot walks along the second direction of the pipeline to generate radial high-pressure liquid to deposit the stripped impurities to a preset position;

judging the environment in the pipeline, and controlling the advancing speed and the advancing direction by the cleaning robot according to the environment in the pipeline;

and recovering the cleaning robot from the pipeline.

Compared with the prior art, the invention has the following beneficial effects:

the cleaning robot provided by the invention realizes walking in the pipeline through the walking mechanism, and the walking mechanism is arranged on the peripheral surface of the machine body in a surrounding manner, so that the walking mechanism also has the function of supporting the machine body; the first cleaning mechanism peels off the sundries accumulated and adhered on the inner wall of the pipeline, the second cleaning mechanism transfers the sundries in the pipeline which are peeled off and accumulated at the bottom of the pipeline, and the two cleaning mechanisms can realize the peeling and transfer of the sundries in the pipeline; the camera shooting mechanism is used for acquiring images inside the pipeline, and then judging the working environment and the cleaning effect of the cleaning robot.

Drawings

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

FIG. 1 is a schematic view of an embodiment of a cleaning robot of the present invention;

FIG. 2 is a front view of an embodiment of the cleaning robot of the present invention;

FIG. 3 is a right side view of an embodiment of the cleaning robot of the present invention;

FIG. 4 is an enlarged view of a portion of an embodiment of the cleaning robot of the present invention;

FIG. 5 is an enlarged view of a portion of another embodiment of the cleaning robot of the present invention;

FIG. 6 is a schematic view of a second cleaning mechanism of the cleaning robot in accordance with the present invention;

FIG. 7 is a front view of a second cleaning mechanism of the embodiment of the cleaning robot of the present invention;

FIG. 8 is a first cross-sectional view of a second cleaning mechanism of an embodiment of the cleaning robot of the present invention;

FIG. 9 is a second cross-sectional view of a second cleaning mechanism of the cleaning robot in accordance with the present invention;

FIG. 10 is a third cross-sectional view of a second cleaning mechanism of the embodiment of the cleaning robot of the present invention;

FIG. 11 is a schematic piping diagram of an embodiment of the cleaning robot of the present invention;

FIG. 12 is a schematic diagram of a cleaning method according to an embodiment of the present invention.

Reference numerals:

100-body; 200-a traveling mechanism; 210-a telescoping mechanism; 220-a track assembly; 300-a first cleaning mechanism; 310-a first conduit; 320-L type spray head; 321-long end; 322-short end; 323-a transfer port; 324-straight type showerhead; 330-rotary interface; 400-a second cleaning mechanism; 410-a liquid inlet; 420-a first chamber; 430-a second chamber; 431-jet orifice; 432-inner annular surface; 433-outer annular surface; 434-through holes; 440-a communication line; 450-an interface component; 451-guard rings; 452-mounting holes; 4521 — first line interface; 4522 — second line interface; 4523-sensor; 4524-wire connection; 460-a sealing gasket; 470-tail seat piece; 500-a camera mechanism; 510-a camera; 520-an illumination mechanism; 530-a second conduit; 540-nozzle; 600-electromagnetic valve.

Detailed Description

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only. In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as implicitly indicating the number of technical features indicated. Thus, unless otherwise specified, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "plurality" means two or more. The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or combinations thereof may be present or added.

Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, fixed connections, removable connections, and integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The invention provides cleaning robot embodiments.

The cleaning robot provided by the embodiment of the invention is suitable for cleaning the interior of a pipeline, and is particularly suitable for cleaning the pipeline with the inner diameter of 46cm-57cm in an urban pipe network.

As shown in fig. 1 to 3, in one embodiment, the cleaning robot includes a body 100, a traveling mechanism 200, a first cleaning mechanism 300, a second cleaning mechanism 400, and a camera mechanism 500. The machine body 100 is used as a main body frame of the cleaning robot, a sealed cavity is arranged in the machine body 100, and a control assembly is arranged in the sealed cavity. The traveling mechanism 200 is circumferentially distributed around the circumference of the machine body 100, and is connected to the machine body 100 for driving the machine body 100 to move in the middle of the pipeline. The first cleaning mechanism 300 is disposed on the top of the machine body 100 and is used for stripping off impurities adhered to the inner wall of the pipeline. The second cleaning mechanism 400 is disposed at the tail of the machine body 100 and is used for cleaning the impurities in the moving pipeline. The camera 500 is connected to the body 100 for acquiring images in the pipeline.

In particular, the body 100 is of a cylindrical structure, in particular a cylindrical structure, which is compact and simple and suitable for industrial production. The inside sealed cavity that is of organism 100 avoids inside liquid and the debris of external environment to get into organism 100, prevents that the control assembly, spare part, liquid pipeline and the relevant circuit structure of organism inside 100 from receiving the damage. The control components in the interior of the machine body 100 are conventional circuit boards, and are not described in detail herein. The first cleaning mechanism 300 peels off the deposited and adhered impurities such as sludge and garbage from the inner wall surface of the pipeline by generating high-pressure liquid to impact the inner wall of the pipeline, and the second cleaning mechanism 400 pushes the deposited impurities at the bottom of the pipeline to a predetermined place by generating high-pressure liquid and then performs centralized recovery. The camera mechanism 500 obtains the image in the pipeline and transmits the image to the control terminal, and an operator or software controls the cleaning robot in the pipeline according to the image, and judges the cleaning condition and the cleaning degree in the pipeline according to the image.

In an embodiment, the traveling mechanism 200 is mainly composed of two parts, i.e., a telescopic mechanism 210 and a track assembly 220, the telescopic mechanism 210 is respectively connected to the machine body 100 and the track assembly 220, and the telescopic mechanism 210 drives the track assembly 220 to perform telescopic motion.

Further, the quantity of running gear 200 in this embodiment is 3 to running gear 200 is around the axis evenly distributed of organism 100 global in organism 100, is equilateral triangle structure, and the contained angle between two liang of running gear 200 is the same promptly, is 60 degrees, and this kind of structural design stability is good, and the clearance robot is more stable when walking in the pipeline. Correspondingly, the number of the telescoping mechanisms 210 and the track assemblies 220 is also three.

Specifically, the telescopic mechanism 210 and the track assembly 220 are connected with a control assembly of the machine body 100, and the control assembly controls the telescopic size of the telescopic mechanism 210 according to the inner diameter of the pipeline, so that the track assembly 220 is in contact with the inner wall of the pipeline during operation, the machine body 100 is located in the middle of the pipeline, the machine body 100 is prevented from being in contact with the inner wall of the pipeline and sundries adhered to the inner wall, and the machine body 100 is prevented from being damaged. The telescoping mechanism 210 may be embodied as a link telescoping mechanism. The control assembly controls the travel speed of the track assembly 220.

In the non-working state, the non-working state refers to that the telescopic mechanism 210 is in the contraction state before the cleaning robot is thrown to the designated cleaning position, the outer diameter of the overall profile of the cleaning robot is in a smaller state, and the cleaning robot can be conveniently transferred and thrown in the state. In the operating state, the telescoping mechanism 210 is now in a deployed state, the deployed size being compatible with the inside diameter of the pipe, and the track assembly 220 is in contact with the inside wall of the pipe.

In one embodiment, the first cleaning mechanism 300 generates a first high pressure liquid, which is directed perpendicular to the inner wall of the pipe; the second cleaning mechanism 400 generates a second high pressure liquid, the direction of which forms an angle of 40-50 degrees with the inner wall of the pipe. The liquid mentioned in the embodiments of the present invention may specifically be water. The high-pressure water generated by the first cleaning mechanism 300 vertically acts on the inner wall of the pipeline, and according to the mechanics principle, the vertically acting force does not generate additional component force, so that the generated acting force is maximum, and no additional force loss exists. The impurities adhered to the surface of the pipe wall are peeled off under the action of the high-pressure water generated by the first cleaning mechanism 300. The direction of the high-pressure water generated by the second cleaning mechanism 400 forms a certain included angle with the inner wall of the pipeline, the generated pressure can be decomposed into a radial force perpendicular to the pipe wall and an axial force parallel to the pipe wall according to the mechanics principle, wherein the axial force parallel to the direction of the inner wall of the pipeline can push impurities in the pipeline to move along the axial direction of the pipeline, the impurities can be transferred, the radial force perpendicular to the direction of the inner wall of the pipeline can peel off the impurities adhered to the inner wall of the pipeline for the second time, the included angle can be 45 degrees, and the magnitudes of the generated radial force and the generated axial force can be adjusted by adjusting the magnitude of the included angle.

As shown in fig. 4, in an embodiment, the first cleaning mechanism 300 includes a first pipeline 310 and an L-shaped spray head 320, the first pipeline 300 is used for liquid transmission, the L-shaped spray head 320 is used for liquid guiding, and the liquid sprayed by the L-shaped spray head 320 is a first high-pressure liquid; the first pipe 310 passes through the machine body 100, an inlet of the first pipe 310 is located at the rear of the machine body 100, an outlet of the first pipe 310 is located at the top of the machine body 100, the L-shaped nozzle 320 is connected with the outlet of the first pipe 310 through a rotary joint 330, and the L-shaped nozzle 320 can rotate around the rotary joint 330.

Specifically, the import of first pipeline 310 even has the barb interface, and first pipeline 310 passes through the external high pressure liquid supply equipment of barb interface, and the part that first pipeline 310 is located organism 100 inside is the hose, makes things convenient for arranging and designing of pipeline, and the export of first pipeline 310 passes through rotary interface 330 with L type shower nozzle 320 to be connected, and rotary interface 330 passes through the inside rotating electrical machines of organism 100 and drives rotatoryly, and then drives L type shower nozzle rotation. The rotary connector 330 is disposed at the middle of the top surface of the machine body 100 and is located on the central axis of the cylindrical machine body 100, so that the L-shaped nozzle 320 rotates around the central axis, thereby realizing 360-degree circumferential surface coverage of the inner wall of the pipeline, and the rotation speed of the L-shaped nozzle is preferably 2100 + 2200 r/m. The L-shaped spray head 320 comprises a long end 321 and a short end 322, the long end 321 and the short end 322 are vertically arranged, the short end 322 is connected with the rotary interface 330, the length of the long end 321 is not more than the radius of the outer contour of the whole cleaning robot in the contraction state of the walking mechanism 200, and interference between the L-shaped spray head 320 and the inner wall of a pipeline in the working and rotating process is avoided. The L-shaped spray head 320 is used for guiding the liquid, so that the high-pressure liquid is perpendicular to the inner wall of the pipeline, the acting force generated at the moment is the largest, and in addition, the rotating tangential force generated by the rotation of the L-shaped spray head 320 also has the function of stripping impurities on the inner wall of the pipeline. The outlet of the L-shaped nozzle 320 is a tapered flat structure, which can increase the output pressure and the acting area, and the width of the L-shaped nozzle 320 is preferably about 50 mm.

Furthermore, the L-shaped nozzle 320 is an integrally formed structure, that is, the long end 321 and the short end 322 of the L-shaped nozzle 320 are integrally formed, and there is no connection gap or interface between the two, so that the sealing performance is good. In other embodiments, as shown in fig. 5, the L-shaped nozzle 320 may also be composed of an adapter 323 and a straight nozzle 324, so that the separated design may facilitate the industrial production, wherein the adapter 323 is equivalent to the short end 322 of the L-shaped nozzle 320, and the straight nozzle 324 is equivalent to the long end 321 of the L-shaped nozzle 320. The straight nozzle 324 is connected with the adapter 323, the adapter 323 is connected with the outlet of the first pipeline 310 through the rotary interface 330, the adapter 323 can be modified on the basis of the rotary interface 330, and the adapter 323 and the rotary interface 330 can be of the same structure.

As shown in fig. 6-10, in one embodiment, the second cleaning mechanism 400 includes a fluid inlet 410, a first chamber 420, a second chamber 430, and a communication conduit 440. Wherein, the liquid inlet 410 is externally connected with a high-pressure liquid supply device or system for inputting high-pressure liquid, and the liquid inlet 410 may be a barb interface. The first chamber 420 is in communication with the loading port 410. The second chamber 430 is annular, the first chamber 420 is located in the middle of the annular structure of the second chamber 430, the second chamber 430 is communicated with the first chamber 420 through a plurality of communication pipes 440, a plurality of spray holes 431 are formed in the surface of the second chamber 430, and annular spray liquid is generated through the annular second chamber 430 to cover the circumferential surface of the inner wall of the whole pipeline. The direction of the liquid sprayed out from the spray holes 431 forms a predetermined included angle with the inner wall of the pipeline, and the liquid sprayed out from the spray holes 431 is high-pressure liquid.

Further, the second chamber 430 is surrounded by an inner annular surface 432 and an outer annular surface 433, the plurality of injection holes 431 are arranged on the outer annular surface 433, and the plurality of injection holes 431 are uniformly distributed around the annular center line of the second chamber 430, so that the uniform distribution can ensure that the liquid pressure ejected from each injection hole 431 is the same. The outer annular surface 433 is a curved surface, which enables the spray holes 431 to form a predetermined included angle, so that the direction of the liquid sprayed from the spray holes 431 forms a predetermined included angle with the inner wall of the pipeline. The predetermined included angle is in the range of 40-50 degrees. Because the direction of the sprayed liquid forms an included angle with the inner wall of the pipeline, the pressure generated by the sprayed high-pressure liquid is decomposed according to the mechanics principle, so that the axial force parallel to the inner wall of the pipeline and the radial force vertical to the inner wall of the pipeline can be obtained, wherein the axial force can be used as a thrust force to move sundries in the pipeline, and the radial force can play a role in peeling off the sundries adhered to the inner wall of the pipeline.

The first chamber 420 is used for temporary storage of liquid, and may be cylindrical, wherein the top surface is connected to the liquid inlet 410, and the bottom surface is a closed surface. The plurality of communication pipelines 440 are uniformly distributed along the cylindrical surface of the first chamber 420, and the plurality of communication pipelines 440 are communicated with the second chamber 430 through the inner annular surface 431, so that the amount of liquid filled in each part of the second chamber 430 can be the same, and the same pressure sprayed out from the spraying holes 431 is ensured.

In one embodiment, the first chamber 420 and the communication pipe 440 are integrally formed, and the inner annular surface 432 of the second chamber 430 is provided with a plurality of through holes 434, and the through holes 434 are correspondingly matched with the communication pipe 440. The separated design is beneficial to industrial production.

In one embodiment, the nozzle orifice 431 is oriented at an angle of 40-50 degrees, preferably 45 degrees, to the center line of the inlet port 410; the included angle between the orientation of the orifice 431 and the plane of the center line of the communication pipe 440 is 130 degrees and 140 degrees, preferably 135 degrees; the center line of the inlet port 410 is perpendicular to the plane of the center line of the communication pipe 440. Through the arrangement, the liquid inlet direction is opposite to the component force direction of the liquid sprayed from the spray hole 431 along the inner wall of the pipeline, and the liquid spraying device is particularly suitable for being arranged at the tail part of a cleaning robot. Namely, the above structure can achieve the following effects: the included angle between the direction of the liquid sprayed from the spray holes 431 and the flow direction of the liquid in the liquid inlet 410 is 40-50 degrees; the included angle between the direction of the liquid sprayed from the spraying hole 431 and the direction of the fluid in the communication pipeline 440 is 130 degrees and 140 degrees; the liquid flow in the inlet port 410 is perpendicular to the liquid flow in the communication conduit 440.

In one embodiment, the plurality of communication conduits 440 have a total cross-sectional area that is no less than the cross-sectional area of the loading port 410. The structural design can reduce the loss of liquid pressure as much as possible and avoid energy waste.

In one embodiment, the interface assembly 450 is further included, the interface assembly 450 includes a guard ring 451 and a plurality of mounting holes 452, the mounting holes 450 are distributed in the space between the communicating pipelines 440, and the mounting holes 450 are used for mounting the related pipeline interfaces and other related components, so that the structure is compact. The liquid inlet 410 is located in the protection ring 451, the height of the protection ring 451 is larger than that of the liquid inlet 410, the protection ring 451 has the function of protecting the internal liquid inlet 410 and related parts, damage to the parts in the protection ring 451 due to collision in a working state is avoided, and safety of the parts is improved. Further, guard ring 451 adopts a hollowed-out design, which can reduce the weight of itself, thereby reducing the weight of second cleaning mechanism 400, and further reducing the weight of the cleaning robot equipped with this second cleaning mechanism 400.

Specifically, a first pipe interface 4521, a second pipe interface 4522, a sensor 4523 and a wire connector 4524 are respectively disposed in the mounting hole 452. Wherein the first pipeline interface 4521 is a barbed interface and is connected to the first pipeline 310, and the second pipeline interface 4522 is also a barbed interface and is connected to the second pipeline 530. The sensor 4523 is used for acquiring environment information, the environment information may be an external environment of the cleaning robot or an internal environment of the cleaning robot, the sensor 4523 may be a vacuum gauge, a water depth sensor, and the like, the vacuum gauge may detect a sealing degree of the internal environment of the cleaning robot, and the water depth sensor may detect a water depth of an environment where the cleaning robot is located. The wire connector 4524 is used for connecting a cable, and the cable connected with the wire connector 4524 connects the cleaning robot with the control terminal and the energy supply device, so that energy supply and communication of the cleaning robot are realized. The outlet end of the first pipe interface 4521 comprises at least two interfaces, and can realize connection of a plurality of pipes.

Further, a sealing washer 460 is disposed on the connection surface of the inlet port 410 and the first chamber 420, and a sealing washer 460 is disposed on the connection surface of the communication pipeline 440 and the second chamber 430. The sealing of the entire second cleaning means 400 is ensured by a sealing washer 460. The second cleaning mechanism 400 is connected with the machine body 100 through a tail seat 470, and a sealing gasket 460 is arranged between the contact surface of the tail seat 470 and the machine body 100, so as to ensure the sealing performance of the internal environment of the cleaning robot.

In one embodiment, the camera 500 includes a camera 510 and an illumination mechanism 520, the camera 510 is disposed on the top of the body 100, and the illumination mechanism 520 is disposed on the top of the body 100. The camera 510 is used for acquiring images, the illumination mechanism 520 provides a shooting light source for the camera 510, and the illumination mechanism 520 may be specifically an LED lamp.

Specifically, as shown in fig. 3 to 4, the number of the cameras 510 and the lighting mechanisms 520 is two, and the two cameras 510 and the two lighting mechanisms 520 are arranged in a cross manner. Wherein two cameras 510 set up respectively in the upper and lower side at organism 100 top, and the camera 510 of upside is towards dead ahead for acquire the place ahead image of cleaning robot, and the camera 510 of downside is towards the pipeline bottom, is used for acquiring the image of pipeline bottom. The two illumination mechanisms 520 are symmetrically disposed at the left and right sides of the top of the body 100 to provide a wide range of illumination.

Further, a second pipeline 530 is also included. The second pipeline 530 passes through the machine body 100, and the part of the second pipeline 530 passing through the machine body 100 is a hose, which is convenient to arrange and design. The inlet of the second pipeline 530 is located at the tail of the machine body 100 and connected with the second pipeline interface 4522, the outlet of the second pipeline 530 is connected with the nozzle 540 at the top of the machine body 100, the nozzle 540 faces the camera 510 and the illuminating mechanism 520, the number and the position of the nozzle 540 and the number and the position of the camera 510 and the illuminating mechanism 520 are correspondingly arranged, and high-pressure liquid sprayed out of the nozzle 540 is used for cleaning impurities on the surfaces of the camera 510 and the illuminating mechanism 520, so that the definition of an acquired image is ensured.

Further, as shown in fig. 11, the first pipeline 310, the second pipeline 530 and the inlet 410 are externally connected with high pressure liquid of 8Mpa, and each pipeline is provided with an electromagnetic valve 600 for controlling the on-off of the pipeline.

The present invention further provides an embodiment of a cleaning method, which is implemented by the above cleaning robot embodiment, as shown in fig. 12, and includes the following steps:

s100, putting the cleaning robot into a pipeline to be cleaned;

s200, cleaning a self-adaptive unfolding walking mechanism of the robot;

s300, the cleaning robot walks along the first direction of the pipeline to generate rotary high-pressure liquid to peel off impurities on the surface of the inner wall of the pipeline;

s400, the cleaning robot walks along a second direction of the pipeline to generate radial high-pressure liquid to deposit the stripped impurities to a preset position;

s500, judging the environment in the pipeline, and controlling the advancing speed and the advancing direction by the cleaning robot according to the environment in the pipeline;

s600, recovering the cleaning robot from the pipeline.

Specifically, in step S100, the cleaning robot may be manually dropped into the pipeline to be cleaned, or may be dropped into the pipeline to be cleaned through the cable suspension device, and in the dropping process, the traveling mechanism of the cleaning robot is in a retracted state to reduce the size and facilitate dropping.

In step S200, after the cleaning robot is thrown to a designated position in the pipeline to be cleaned, the traveling mechanism is self-adaptively unfolded to contact with the inner wall of the pipeline, and at this time, the traveling mechanism support body is located in the middle of the pipeline, and the preparation before the cleaning operation of the cleaning robot is completed.

In step S300, the cleaning robot travels in a first direction along the pipeline, i.e., the cleaning robot travels in front of the pipeline and travels forward. When the pipeline cleaner moves forwards, the first cleaning mechanism starts to work, and the rotating high-pressure liquid acts on the inner wall of the pipeline to strip impurities on the surface of the inner wall of the pipeline.

In step S400, the cleaning robot walks in the second direction of the pipeline, that is, the cleaning robot walks in the rear direction of the pipeline and walks in the rear direction. And when the robot walks backwards, the second cleaning mechanism starts to work, the radial high-pressure liquid is generated to flush and accumulate the stripped impurities to a preset position, and then the impurities at the preset position are uniformly recovered.

In step S500, a picture in the pipeline is obtained by the camera mechanism, and the control terminal determines the environment in the pipeline, so as to control the walking speed and the walking direction of the cleaning robot. In general, taking a pipeline with a length of about 160 meters as an example, the minimum time for the cleaning robot to run the whole pipeline is about 8 minutes, and the minimum single-pass completion time for the full-pipeline helical scanning of the second cleaning mechanism is about 3 hours.

In step S600, after the cleaning is finished, the cleaning robot is recovered from the pipeline through a manual or cable-hanging device, and in the recovery process, the traveling mechanism of the cleaning robot is in a retracted state to reduce the volume and facilitate the recovery.

In summary, in the embodiments provided by the present invention, the cleaning robot travels inside the pipeline through the traveling mechanism, and the traveling mechanism is disposed around the circumferential surface of the machine body, so that the traveling mechanism also has a function of supporting the machine body, and when the cleaning robot works, the machine body is located in the middle of the pipeline, so as to prevent the machine body from colliding with the sundries adhered to the inner wall of the pipeline during the traveling process; the first cleaning mechanism peels off the sundries accumulated and adhered on the inner wall of the pipeline, the second cleaning mechanism transfers the peeled sundries accumulated at the bottom of the pipeline, and the two cleaning mechanisms can peel off and transfer the sundries in the pipeline; the camera shooting mechanism is used for acquiring images inside the pipeline, and then judging and cleaning the working environment and the cleaning effect of the robot. The embodiment provided by the invention has the advantages of simple structure, strong cleaning force and good flexibility.

The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims (11)

1. A cleaning robot for pipe cleaning, comprising:

the cleaning robot comprises a machine body, a cleaning robot and a control module, wherein the machine body is a main body frame of the cleaning robot, a sealed cavity is arranged in the machine body, and the control module is arranged in the machine body;

the plurality of travelling mechanisms are distributed around the circumferential surface of the machine body, connected with the machine body and used for driving the machine body to move in the middle of the pipeline;

the first cleaning mechanism is arranged at the top of the machine body and used for stripping sundries adhered to the inner wall of the pipeline;

the second cleaning mechanism is arranged at the tail part of the machine body and used for cleaning sundries in the moving pipeline;

and the camera shooting mechanism is connected with the machine body and is used for acquiring images in the pipeline.

2. The cleaning robot of claim 1,

the first cleaning mechanism generates first high-pressure liquid, and the direction of the first high-pressure liquid is vertical to the inner wall of the pipeline;

the second cleaning mechanism generates second high-pressure liquid, and the direction of the second high-pressure liquid forms an included angle of 40-50 degrees with the inner wall of the pipeline.

3. A cleaning robot as claimed in claim 1,

the walking mechanism comprises a telescopic mechanism and a crawler belt assembly;

the telescopic mechanism is respectively connected with the machine body and the crawler assembly and drives the crawler assembly to do telescopic motion.

4. A cleaning robot as claimed in claim 1 or 3,

the number of the travelling mechanisms is 3, and the travelling mechanisms are uniformly distributed on the circumferential surface of the machine body around the central axis of the machine body.

5. A cleaning robot as claimed in claim 1 or 2,

the first cleaning mechanism comprises a first pipeline and an L-shaped spray head, the first pipeline is used for liquid transmission, the L-shaped spray head is used for liquid guiding, and liquid sprayed by the L-shaped spray head is first high-pressure liquid;

the first pipeline penetrates through the machine body, an inlet of the first pipeline is located at the tail of the machine body, an outlet of the first pipeline is located at the top of the machine body, the L-shaped spray head is connected with the outlet of the first pipeline through a rotating interface, and the L-shaped spray head can rotate around the rotating interface.

6. A cleaning robot as claimed in claim 5,

the L-shaped spray head is integrally formed;

or the L-shaped sprayer comprises an adapter and a straight sprayer, the straight sprayer is connected with the adapter, and the adapter is connected with the outlet of the first pipeline through a rotary interface.

7. A cleaning robot according to claim 1 or 2,

the second cleaning mechanism comprises a liquid inlet, a first cavity, a second cavity and a tailstock part;

the first cavity is communicated with the liquid inlet;

the second chamber is annular and is defined by an inner annular surface and an outer annular surface, the second chamber is communicated with the first chamber through a plurality of communicating pipelines, a plurality of spray holes are formed in the outer annular surface of the second chamber, the spray holes are uniformly distributed around the annular center line of the second chamber, liquid is sprayed out through the spray holes in a radial shape with a preset included angle, and the liquid sprayed out through the spray holes is high-pressure liquid;

the tailstock part is used for connecting the second chamber and the machine body.

8. A cleaning robot as claimed in claim 7,

an included angle between the direction of the liquid sprayed from the spray holes and the flow direction of the liquid in the liquid inlet is 40-50 degrees;

the included angle between the direction of the liquid sprayed out from the spray holes and the flow direction of the fluid in the communication pipeline is 130-140 degrees;

the liquid flow direction in the liquid inlet is vertical to the liquid flow direction in the communicating pipeline.

9. A cleaning robot as claimed in claim 1,

the camera shooting mechanism comprises a camera and an illuminating mechanism;

the camera is arranged at the top of the machine body, and the illuminating mechanism is arranged at the top of the machine body.

10. A cleaning robot as claimed in claim 9,

the camera comprises a body, and is characterized by further comprising a second pipeline, wherein the second pipeline penetrates through the body, an inlet of the second pipeline is located at the tail of the body, an outlet of the second pipeline is connected with a nozzle at the top of the body, the nozzle faces the camera and the illuminating mechanism, and the nozzle is used for cleaning sundries on the surfaces of the camera and the illuminating mechanism.

11. A cleaning method, characterized by being implemented by a cleaning robot according to any of claims 1-10, comprising the steps of:

putting a cleaning robot into a pipeline to be cleaned;

cleaning a self-adaptive unfolding walking mechanism of the robot;

the cleaning robot walks along the first direction of the pipeline to generate rotary high-pressure liquid to peel off impurities on the surface of the inner wall of the pipeline;

the cleaning robot walks along the second direction of the pipeline to generate radial high-pressure liquid to deposit the stripped impurities to a preset position;

judging the environment in the pipeline, and controlling the advancing speed and the advancing direction by the cleaning robot according to the environment in the pipeline;

and recovering the cleaning robot from the pipeline.

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