CN219527926U - Urban water supply and drainage pipeline cleaning robot - Google Patents
Urban water supply and drainage pipeline cleaning robot Download PDFInfo
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- CN219527926U CN219527926U CN202320606225.6U CN202320606225U CN219527926U CN 219527926 U CN219527926 U CN 219527926U CN 202320606225 U CN202320606225 U CN 202320606225U CN 219527926 U CN219527926 U CN 219527926U
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Abstract
The utility model relates to a cleaning robot for urban water supply and drainage pipelines, which comprises the following components: the camera shooting mechanism is used for acquiring an image of the interior of the pipeline; the driving mechanism is used for moving and ensuring close fitting with the inner wall of the pipeline, and providing enough friction force to ensure the movement; a cleaning mechanism; the detection mechanism is used for detecting the pipeline by an eddy current method; the control mechanism comprises a controller, a storage and a driver and is used for receiving the acquired data information, processing and storing the information. The utility model has the following advantages: the module design breaks through the convention, solves the problem that the machinery in the pipeline is difficult to enter the pipeline for detecting and maintaining, lightens the burden of pipeline maintenance workers, adopts one machine to realize a series of complex functions such as movement, detection, cleaning and the like, greatly improves the working efficiency, adopts the principle of central point location, ensures that the whole robot is consistent in the center of the pipeline by the crawler assembly arranged by the triangular mechanism, and ensures that the detection reliability avoids deviation.
Description
Technical Field
The utility model relates to the technical field of detection and maintenance of water supply and drainage pipelines, in particular to a cleaning robot for urban water supply and drainage pipelines.
Background
Water supply and drainage pipelines and tap water pipelines are widely applied to cities in China, are urban (underground) pipe networks and are called as urban blood vessels, and are also an important ring of municipal infrastructure engineering. The pipeline cleaning equipment has the advantages that the problems of abrasion, corrosion, cracking and the like of the pipeline possibly occur due to the temperature, pressure, corrosiveness of a conveying medium, external environmental factors, the service life of the pipeline and the like, leakage of the conveying medium and even explosion occur, the manual maintenance and overhaul are often required, the manual maintenance work difficulty and the labor intensity are high, the cleaning of the pipeline with small pipe diameter is difficult, some places are not cleaned in place, the pipeline is still damaged due to accumulation in daily months, the service life of the pipeline is influenced, the maintenance cost is increased, and the existing pipeline cleaning equipment has the defects of single function and incapability of adapting to pipelines with different pipe diameters, so that the application of the pipeline cleaning equipment is limited.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present utility model is to provide a cleaning robot for urban water supply and drainage pipelines, which integrates detection and cleaning functions, can effectively detect the working condition and damage condition of the pipelines, and can clean the pipelines by using the cleaning function under the condition of dirt adhesion or impurity deposition.
In order to solve the technical problems, the technical scheme provided by the utility model is as follows: a municipal water supply and drainage pipeline cleaning robot, comprising:
the camera shooting mechanism comprises a mounting bracket, and a camera and a searchlight are arranged on the mounting bracket and used for acquiring an image of the interior of the pipeline;
the driving mechanism is provided with three groups and comprises a travelling unit and a reducing unit respectively, and is used for moving and ensuring close fitting with the inner wall of the pipeline, and providing enough friction force to ensure movement;
the cleaning mechanism comprises a sand blasting pipe, two sides of the sand blasting pipe are respectively connected with an auxiliary box body and a sand box, and the outer side walls of the auxiliary box body and the sand box are provided with an adjustable auxiliary moving mechanism;
the detection mechanism comprises a detection probe, the detection probe comprises a first installation box body and a second installation box body, an excitation coil is arranged in the first installation box body, a detection coil is arranged in the second installation box body, the pipeline is subjected to eddy current detection, the detection mechanism further comprises a connecting piece arranged between the first installation box body and the second installation box body, positioning equipment and communication equipment are arranged on the connecting piece, and the auxiliary moving mechanism is arranged on the side walls of the first installation box body and the second installation box body;
the control mechanism is arranged in the auxiliary box body and comprises a controller, a storage and a driver, wherein the controller is used for receiving the data information acquired by the image pickup mechanism and the detection mechanism, processing the information and storing the data information in the storage, and the controller controls the driving mechanism and the cleaning mechanism through the driver.
Preferably, the advancing unit comprises three groups of self-powered track assemblies, a mounting shell and a battery module arranged in the mounting shell, hinge rods are respectively arranged between the three groups of track assemblies and the mounting shell, the hinge rods are respectively hinged with the track assemblies and the mounting shell, and the battery module is electrically connected with the track assemblies.
Preferably, three sets of the track assemblies are circumferentially disposed about the mounting housing with an included angle of 120 ° between adjacent track assemblies.
Preferably, the reducing unit comprises a first motor arranged in the installation shell, an installation plate is arranged above the battery module in the installation shell, a screw rod connected with an output shaft of the first motor is rotatably arranged on the installation plate, a screw rod sliding block is matched on the screw rod, the screw rod sliding block is hinged with the hinge rod piece, and the battery module is electrically connected with the first motor.
Preferably, the track assembly comprises a support, the support with the hinge member is articulated, lean on both sides to be equipped with drive wheel and follow driving wheel respectively on the support, the drive wheel with the cover is equipped with the track on the follow driving wheel, be equipped with pressure sensor on the track and be used for detecting pressure between track and the pipeline, rotate on the support and be equipped with a plurality of tight pulleys that rise and be used for rising tightly the track, lean on one side coaxial driven gear that is equipped with on the drive wheel, be equipped with the motor mounting panel on the support and install the second motor, install the encoder on the second motor and be used for measuring output rotational speed, the output shaft of second motor has the driving gear, the last meshing of driving gear have with driven gear engagement's intermediate gear.
Preferably, the three groups of hinge rods respectively comprise two support rods hinged with the support and telescopic, the other ends of the two support rods are respectively hinged with the installation shell, three slotted holes are correspondingly formed in the installation shell and correspond to the crawler components, three connecting rods respectively penetrating through the three slotted holes are hinged on the screw sliding block, and the other ends of the three connecting rods are respectively hinged with the adjacent support rods, so that the three groups of crawler components can shrink or expand synchronously.
Preferably, the diameter of the driving wheel is larger than that of the driven wheel, and the plurality of tensioning wheels are matched with the driven wheel, so that the crawler belt between the tensioning wheels and the driven wheel always presents a horizontal state.
Preferably, the auxiliary moving mechanism comprises supporting legs and a hydraulic rod which are both rotatably arranged, the supporting legs and the hydraulic rod are arranged on two sides, rotating wheels are arranged at the distal ends of the supporting legs, and the hydraulic rod is hinged with the supporting legs.
Preferably, the cleaning mechanism and the detecting mechanism are respectively arranged between the three driving mechanisms at intervals and are respectively and semi-rigidly connected with the driving mechanisms.
Preferably, the camera mechanism is configured with a big data collection processing module for data collection, data preprocessing, data storage, data processing and analysis, data presentation/data visualization and data application.
After adopting the structure, the utility model has the following advantages:
(1) The module design breaks through the convention, solves the problem that the machinery in the pipeline is difficult to enter for detection and maintenance, and reduces the burden of pipeline maintenance workers;
(2) The segmented semi-rigid connection and crawler traveling mode is adopted, so that the robot can have enough ground grabbing area in a smooth pipeline, and a plurality of groups of crawler assemblies with power are arranged, so that the pipeline robot can stand by for a long time, the reliability under a severe working environment is improved, and the functions of turning and climbing in the pipeline can be realized through the semi-rigid connection;
(3) The multifunctional robot has the advantages that a series of complex functions such as movement, detection and cleaning are realized, and the working efficiency is greatly improved;
(4) The camera and the searchlight are provided, so that the shooting record of the conditions in the pipeline can be realized, and the robot can be guided;
(5) The sand blasting mechanism is adopted, so that the cleaning device has higher reliability and larger degree of freedom for cleaning different positions of the inner wall of the pipeline, and is more beneficial to improving the cleaning effect;
(6) The design adopts the principle of central point location, and the crawler belt assembly arranged by the triangular mechanism ensures that the whole robot is consistent in the center of the pipeline, so that the detection reliability is ensured to avoid deviation;
(7) The power drive is designed in the caterpillar tracks, the three caterpillar tracks are respectively provided with a motor, even if the water stain and the soil on the surface of the pipeline are more, the place easy to slip can still move forwards, a plurality of driving devices are arranged in front and back, and the rotation speed of the motors is adjusted when the vehicle turns;
(8) Various data in various pipelines can be collected through the camera, and the data is stored at a remote computer, so that the purpose of collecting the data is achieved, and pipeline information is fed back through calculation of big data of the computer, so that the pipeline repairing and maintaining work can be carried out conveniently and intelligently.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present utility model will become apparent by reference to the drawings and the following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a schematic diagram of the structure of the image pickup mechanism of the present utility model.
Fig. 3 is a schematic structural view of the driving mechanism of the present utility model.
Fig. 4 is a schematic view of the track assembly of the present utility model.
Fig. 5 is a schematic structural view of the reducing unit and the hinge rod member of the present utility model.
Fig. 6 is a schematic structural view of the cleaning mechanism of the present utility model.
FIG. 7 is a schematic diagram of the structure of the detection mechanism of the present utility model.
FIG. 8 is a schematic layout of the track assembly of the present utility model.
Fig. 9 is a schematic diagram of the design of the reducing unit of the present utility model.
Fig. 10 is a schematic diagram of a reducing unit of the present utility model.
FIG. 11 is a diagram of a pipeline simulation environment in accordance with the present utility model.
Fig. 12 is a diagram of a differential motion model of the present utility model.
Fig. 13 is a control flow diagram of the present utility model.
Fig. 14 is a block diagram of a closed loop control system of the travel unit of the present utility model.
Fig. 15 is a block diagram of a closed loop control system of a variable diameter unit of the present utility model.
FIG. 16 is a schematic diagram of the eddy current testing of the present utility model.
As shown in the figure: 1. an image pickup mechanism; 11. a bracket; 12. a searchlight; 13. a camera; 2. a driving mechanism; 21. a hinge rod; 211. a mounting plate; 212. a first motor; 213. a screw rod; 214. a screw rod sliding block; 215. a connecting rod; 216. a support rod; 22. a track assembly; 221. a bracket; 222. a motor mounting plate; 223. a second motor; 224. a drive gear; 225. a track; 226. an intermediate gear; 227. a driving wheel; 228. a tensioning wheel; 229. driven wheel; 23. a mounting shell; 24. a battery module; 3. a cleaning mechanism; 31. an auxiliary box body; 32. a sand box; 33. a sand blasting pipe; 4. a detection mechanism; 41. a first mounting case; 42. a second mounting case; 43. a connecting piece; 5. an auxiliary moving mechanism; 51. support legs; 52. a hydraulic rod; 53. and rotating the wheel.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1 to 7, a cleaning robot for urban water supply and drainage pipelines comprises: an imaging mechanism 1, a driving mechanism 2, a cleaning mechanism 3, a detecting mechanism 4 and a control mechanism.
The camera shooting mechanism 1, the camera shooting mechanism 1 includes a mounting bracket 11, and a camera 13 and a searchlight 12 are arranged on the mounting bracket 11 and are used for acquiring images in the pipeline.
The driving mechanism 2 is provided with three groups and comprises a travelling unit and a reducing unit respectively, and is used for moving and ensuring close fitting with the inner wall of the pipeline, and providing enough friction force to ensure movement.
The advancing unit comprises three groups of self-powered track assemblies 22, a mounting shell 23 and battery modules 24 arranged in the mounting shell 23, hinge rods 21 are respectively arranged between the three groups of track assemblies 22 and the mounting shell 23, the hinge rods 21 are respectively hinged with the track assemblies 22 and the mounting shell 23, the battery modules 24 are electrically connected with the track assemblies 22, and the three groups of track assemblies 22 are circumferentially arranged around the mounting shell 23 and the included angle between the adjacent track assemblies 22 is 120 degrees.
The reducing unit comprises a first motor 212 arranged in a mounting shell 23, a mounting plate 211 is arranged above a battery module 24 in the mounting shell 23, a screw rod 213 connected with an output shaft of the first motor 212 is rotatably arranged on the mounting plate 211, a screw rod sliding block 214 is matched on the screw rod 213, the screw rod sliding block 214 is hinged with the hinge rod piece 21, and the battery module 24 is electrically connected with the first motor 212.
The crawler assembly 22 comprises a support 221, the support 221 is hinged to the hinge rod 21, a driving wheel 227 and a driven wheel 229 are respectively arranged on two sides of the support 221, the driving wheel 227 and the driven wheel 229 are sleeved with a crawler 225, a pressure sensor is arranged on the crawler 225 and used for detecting pressure between the crawler 225 and a pipeline, a plurality of tensioning wheels 228 are rotatably arranged on the support 221 and used for tensioning the crawler 225, a driven gear is coaxially arranged on one side of the driving wheel 227, a motor mounting plate 222 is arranged on the support 221 and is provided with a second motor 223, an encoder is arranged on the second motor 223 and used for measuring output rotating speed, an output shaft of the second motor 223 is connected with a driving gear 224, an intermediate gear 226 meshed with the driven gear is meshed on the driving gear 224, and the diameter of the driving wheel 227 is larger than that of the driven wheel 228 and the driven wheel 229 are matched with the tensioning wheels 228 so that the crawler 225 between the tensioning wheels 228 and the driven wheel 229 always presents a horizontal state.
The three groups of hinge rods 21 respectively comprise two telescopic support rods 216 hinged with the support 221, the other ends of the two support rods 216 are respectively hinged with the installation shell 23, three slotted holes are correspondingly formed in the installation shell 23 and the crawler assembly 22, three connecting rods 215 penetrating through the three slotted holes respectively are hinged on the screw sliding block 214, and the other ends of the three connecting rods 215 are respectively hinged with the adjacent support rods 216, so that the three groups of crawler assemblies 22 shrink or expand synchronously.
The cleaning mechanism 3, the cleaning mechanism 3 includes the sandblast pipe 33, the both sides of sandblast pipe 33 are connected with auxiliary box 31 and sand box 32 respectively, auxiliary box 31 with be equipped with adjustable auxiliary movement mechanism 5 on the lateral wall of sand box 32, auxiliary movement mechanism 5 is including supporting leg 51 and the hydraulic rod 52 that all rotate the setting, supporting leg 51 with the hydraulic rod 52 leans on both sides to set up, the distal end of supporting leg 51 is equipped with rotation wheel 53, hydraulic rod 52 with supporting leg 51 articulates.
The detection mechanism 4, the detection mechanism 4 includes the detection probe, the detection probe includes first mounting box body 41 and second mounting box body 42, set up exciting coil in the first mounting box body 41, set up detecting coil in the second mounting box body 42, the pipeline carries out the vortex method and detects, the detection mechanism 4 still is including setting up first mounting box body 41 with connecting piece 43 between the second mounting box body 42, install locating device and communication equipment on the connecting piece 43, first mounting box body 41 with set up on the lateral wall of second mounting box body 42 auxiliary moving mechanism 5.
The cleaning mechanism 3 and the detecting mechanism 4 are respectively arranged between the three driving mechanisms 2 at intervals and are respectively and semi-rigidly connected with the driving mechanisms 2.
The control mechanism is arranged in the auxiliary box 31 and comprises a controller, a storage and a driver, wherein the controller is used for receiving the data information acquired by the image pickup mechanism 1 and the detection mechanism 4 and processing the information, storing the data information in the storage, and controlling the driving mechanism 2 and the cleaning mechanism 3 through the driver.
The driving mechanism 2 provides power traction for the advancing of the robot, as shown in fig. 3 and 8, three tracks 225 are combined with the movable foot legs, an included angle between each track 225 is 120 degrees, the three tracks 225 are connected through the hinge rod piece 21, the robot can be retracted and expanded simultaneously, the robot is guaranteed to be always in the center, the feasible basis is passed for the detection of the robot, the robot can adapt to different pipe diameters, and the robot turns and changes the diameter, so that the use is more convenient, and the obstacle crossing capability is strong.
Each set of crawler belt components 22 is self-powered, and a complete driving system is arranged in the crawler belt 225, so that the crawler belt components can coordinate with each other, the differential steering of the robot can be realized, and sufficient power can be provided for the running process of the robot. The crawler belt 225 is designed to have a slightly larger end and a smaller end, so that the middle part always presents a horizontal state, is better contacted with the inner wall of the pipeline, and can easily surmount the obstacle.
The turning radius is small, the traction force is enough, the moving speed in the pipeline meets the design requirement, the crawler belt 225 is in sufficient contact with the inner wall of the pipeline to adapt to the rough surface, and the reducing unit enables the robot to adapt to different changes of the pipeline.
The advantages and disadvantages compared to other movement patterns are shown in table 1 below:
TABLE 1 advantages and disadvantages of various movement modes
The reducing function is realized by driving the screw rod 213 to rotate by the first motor 212 in the cavity, thereby driving the screw rod slide block 214 and the connecting rod 215 connected to the screw rod slide block 214 to axially move along the screw rod 213, so that the three crawler belt components 22 synchronously shrink or expand, as shown in fig. 9, and the working principle is as follows: the lead screw 213 starts to rotate under the drive of the first motor 212, and the lead screw sliding block 214 positioned on the lead screw 213 moves on the lead screw 213 to push the connecting rod 215, the supporting rod 216 is connected with the connecting rod 215 through a hinge, when the connecting rod 215 moves, the self inclination angle is changed, and the supporting rod 216 is driven to swing back and forth, so that the contact between the track assembly 22 and the inner wall of a pipeline is regulated.
As shown in fig. 10 to 11, in the theoretical calculation, the force balance equation is obtained by neglecting the influence of the friction force:
in the calculation formula: r is R 2 For the length of the push rod BC, R 1 For supporting the distance between the rod points A, C, R 3 The distance between the support rod points C, D is equal, and the alpha is the support angle.
Solving the horizontal thrust:
wherein:
due to the relationship between horizontal thrust and motor torque:
preset pipelineThe solvent of the robot is V Container with a cover ：
V Container with a cover ＝35×35×35＝42875cm 3
m＝ρV＝3.5×42875＝1.50×10 5 g＝150kg
G＝mg＝150×9.8＝1470.6N
F'＝400N
∴2×cos60°×F 2 ＝G+F 1
∴F 2 -G+F 1 -1470.6-400-1870.6N
Because the pipeline robot adopts a three-group crawler design and is uniformly distributed around the carriage, the pipeline robot is subjected to frictional resistance and is uniform.
∴F Driving device ≥2×μ×F 2 +μ×F 1 (wherein μ is the coefficient of friction between rubber and steel)
The working stroke speed of the pipeline taking robot is as follows: v=0.5 m/s
∴W Total (S) ＝F Driving device ×V＝3312.96×0.5＝1656.48W(W Total (S) Is effective power
The robot is integrally designed into three groups of crawler-type travelling mechanisms, so that the power of a driving motor of each crawler is at least:
W＝W total (S) ÷3＝1656.48÷3＝552.16W
Therefore, at least 800W is selected when the power of the second motor 223 is selected, and meanwhile, the requirement that the robot can realize speed change when turning is met, the moving speed of the robot is moderate in the working process, and the comprehensive analysis considers that the DC gear motor is selected.
Simulating the differential steering of the robot by invoking path following for a differential drive robot in MATLAB to simulate the actual steering, as shown in FIG. 12, O C The speed instant center of the robot can neglect the horizontal sliding effect during low-speed movement, and the speed V of the point C can be known according to the kinematic knowledge C The size of (2) is:
V C ＝(V 1 +V 2 )/2
let the angular velocity of the robot body be ω, and move clockwise, there are:
V 1 ＝ω(R+1/2)
V 2 ＝ω(R-1/2)
according to the principle of rigid body translation, the motion of the machine at any moment can be regarded as instantaneous center O of the machine body C The rotation radius R is:
R＝V C /ω＝(1/2)×(V 1 +V 2 )/(V 1 -V 2 )
from V 1 ，V 2 Three relations between them determine three movement modes of the differential drive robot:
(1) When V is 1 ＝V 2 When vc=v 1 ＝V 2 R is = infinity, and the robot moves linearly;
(2) When V is 1 ＝-V 2 When vc=0, r=0, the robot performs spin-in-place motion;
(3) When V is 1 ≠V 2 And V is 1 ≠-V 2 At the time Vc= (V 1 +V 2 ) 2, the trolley is R= (l/2) x (V 1 +V 2 )/(V 1 -V 2 ) Is a circular arc motion of (c).
According to the hardware module type selection and the demand analysis of the floating point type data calculation of the robot system, the design adopts an STM32F407VET6 singlechip as a controller of an image processing and differential steering system. The controller takes ARM Cortex-M4 as a core, the main frequency of a CPU is 168MHz, the memory capacity is 512KB, and the controller is provided with a plurality of externally arranged resources such as a timer, a USART interface, an IIC interface, an SPI interface, an ADC channel, a DAC channel, a DMA channel and the like, so that the design requirement can be completely met.
The control block diagram of the control system is shown in fig. 13, the whole control system mainly adopts a conventional two-loop closed-loop control system, the controller receives signals of a front sensor and responds to send control instructions, the first motor 212 and the second motor 223 are used as executing elements, and the first motor and the second motor 223 are started after receiving signals transmitted from a background, so that the screw 213 is rotated, the variable-diameter unit is driven to stretch and retract, the track assembly is driven to work, and the advancing of the advancing unit is realized.
The travelling unit is an important component part of the robot, plays a decisive role in the process, and the detection of the pipeline by the detection mechanism can be realized through the movement of the travelling unit, so that the design of the control system of the travelling unit plays a vital role in the working speed of the robot.
In order to meet the requirement that the robot can rapidly and stably travel in a pipeline, a motor with good speed regulation performance, strong overload capacity and large torque is required to be selected as an executive component. In order to realize better control, a closed-loop control system is also selected, the moving speed of the robot is detected through a detection device and fed back to the controller, the speed regulation of the motor is realized, and the moving speed of the robot is ensured to fluctuate within a working demand range. The control system is shown in fig. 14.
The reducing unit is mainly adjusted according to the size of the pipeline, so that the first motor 212 of the executing element is selected before the reducing control system is realized, the stepping motor is stable in the whole working process and is not easy to be interfered by external factors, but the stepping angle of the stepping motor has errors, and therefore, the starting, stopping and reversing states are required to be controlled and adjusted well.
The control system of the reducing unit selects a closed-loop control system according to the requirement of the reducing unit in the working process. The control system is shown in fig. 15.
When the pipeline robot judges faults, the staff should comprehensively consider and analyze other factors in all aspects, and fully combine the actual results and the running instructions. And when the actual result and the theoretical result corresponding to the operation instruction are different, judging that the operation of the automatic comprehensive device is faulty. Since the instruction system and the result feedback system are in independent states in design, the error rate of the automatic fault judgment mode is very low.
In the running program of the pipeline inspection robot, the forward and backward are two common information instructions, and the corresponding running result is that the position in the pipeline is changed. When the corresponding relation between the running instruction and the actual result is simple, an automatic fault judging mode can be used. The state monitoring network based on the Internet of things reduces the need for regular field inspection and eliminates the trouble of manually recording data. In addition to minimizing human error, this also helps to save costs and increase productivity for workers as they can focus on more important tasks. The on-site working time of a plumber is reduced, and particularly, the maintenance and detection of the pipeline in a remote area are reduced, the working time of other machines is also reduced, and the fuel use and emission are reduced.
Along with the development of information technology, 3D digitization of engineering information has been a trend, and the Internet of things is accessed through various networks, so that ubiquitous connection of things and people is realized, and intelligent perception, identification and management of articles and processes are realized. In the pipeline cleaning robot, the internet of things enables all common physical objects which can be independently addressed to form an interconnection network.
The GPS can well participate in the system, so that the production efficiency and the precision are greatly improved. The underground and overground pipelines in the city are densely distributed, traffic is mixed, the technology of the Internet of things, the technology of GPS and the like can realize that man-machine interaction technology can accurately position and block, damage the pipelines and clean and repair the pipelines at fixed points. The internet of things technology can realize remote control and provide more efficient service for users. In the densely distributed pipelines in the city, engineering machinery equipment and a pipeline robot have faults, various fault information data can be timely transmitted to a system control room, and then an expert returns a solution to finally finish the solution of the problem. The service quality is greatly improved through the Internet of things, loss of clients caused by robot faults is saved, and the service cost is saved.
The realization of the internet of things technology depends on an internet of things card, which is based on three operators (mobile, communication and telecom) to provide mobile communication access service of a special number segment (11 bits or 13 bits) of the internet of things, the hardware and the appearance of the mobile communication access service are completely the same as those of a common SIM card, the special functions of intelligent hardware and internet of things equipment are borne, and the special number segment and independent network units are adopted to fully meet the management requirements of the intelligent hardware and the internet of things on the equipment networking and the mobile information application requirements of the group company linkage enterprises. The flexibility and the data security of the Internet of things card are higher, and communication and information interaction can be well realized when the Internet of things card is applied to the pipeline cleaning robot. The industrial-grade internet of things card among the internet of things cards provides multi-form cards such as plug-in type, patch type and electronic card, and meets the working demands of the pipeline robot on aspects such as earthquake resistance, corrosion resistance, high and low temperature resistance and the like.
In order to diversify operation and control, a PC client control platform is designed to enable operators to perform more complex operation, the platform is based on cloud computing technology, aims to integrate a plurality of relatively low-cost computing entities into a perfect system with strong computing capability through a network, and enables end users to obtain services with the strong computing capability by means of advanced business modes. The core concept is to continuously improve the processing capacity of the cloud, continuously reduce the processing burden of the user terminal, finally simplify the processing load into a simple input/output device, and enjoy the powerful computing processing capacity of the cloud as required. The sensing layer of the Internet of things acquires a large amount of pipeline data information, the data information is transmitted through the network layer and then is put on a standard platform, the data information is processed by utilizing high-performance cloud computing, and the data intelligence is endowed to be finally converted into information useful for end users
And collecting various stored data by the pipeline robot, and carrying out 'cloud' calculation on the data and the computer.
The robot camera shooting mechanism 1 adopts a front 360-degree rotary camera 13, and searchlight 12 is arranged at two sides of the camera 13 to provide illumination for shooting.
The camera mechanism 1 starts to work, and an infrared visual transmission technology is adopted to provide an environment image for the mobile background terminal, so that the driving mechanism 2 can react to the judgment of the front road information, and simultaneously, the real-time image is transmitted to the ground staff, so that the emergency event can be processed.
The camera mechanism 1 is further provided with a big data collection processing module, and mainly comprises links such as data collection, data preprocessing, data storage, data processing and analysis, data display/data visualization, data application and the like, wherein the data quality is throughout the whole big data flow, and each data processing link can affect the big data quality.
During the pipeline data collection process, the data source can affect the authenticity, integrity data collection, consistency, accuracy and security of the big data quality. For Web data, a Web crawler mode is adopted for collection, and time setting is needed for crawler software to ensure the timeliness quality of the collected data. For example, the starting and stopping of the acquisition task can be flexibly controlled by using the value-added API setting of the easy-sea-aggregation acquisition software. In the data acquisition process, one or more data sources are usually provided, and the data sources comprise isomorphic or heterogeneous databases, file systems, service interfaces and the like and are susceptible to noise data, data value loss, data conflict and the like, so that the collected big data set needs to be preprocessed firstly to ensure the accuracy and the value of big data analysis and prediction results.
Various data in various pipelines can be collected through the camera 13 arranged on the pipeline robot, and the data can be stored at a remote computer so as to achieve the purpose of collecting the data, and pipeline information is fed back through calculation of big data of the computer so as to repair and maintain.
In addition, terminal equipment such as a smart phone, a high-performance tablet computer and the like can be accessed into the pipeline robot application network in a short time. The pipeline inspection robot has various functions of a sensing network. Important hardware devices typically include 3 important parts: robot, ground basic station, transmission network node and gateway node. Because the installation positions of the robots are random, and most engineering sites are not suitable for large-scale arrangement, the pipeline robots, the ground base stations and the transmission network nodes generally adopt an industrial wireless communication mode for communication.
The eddy current detection has the advantages of simple mechanical mechanism design, low processing cost, mature prior art and wide application. The eddy current detection is a low-frequency eddy current capable of penetrating through the pipe wall, and the detection probe mainly comprises two solenoid coils coaxial with the pipe, wherein one coil is an excitation coil, and the other coil is a detection coil. The working principle diagram is shown in figure 16.
The pipeline robot can judge the relative position of the robot and the pipeline fault in the underground pipeline which cannot be visually detected by manpower after the pipeline robot is provided with the positioning chip, senses the surrounding environment, and transmits the sensed information to a computer through the wireless transceiver module, so that the follow-up calculation and statistics of pipeline data are facilitated.
And the pipeline robot is also provided with radio frequency identification. Radio frequency identification is one of automatic identification technologies, and is used for non-contact bidirectional data communication in a radio frequency mode, and a recording medium (an electronic tag or a radio frequency card) is read and written in a radio frequency mode, so that the purposes of identification target and data exchange are achieved.
The pipeline robot is connected with a database system through a wireless communication and a data access technology by a radio wave contact rapid information exchange and storage technology based on a wireless radio frequency identification technology, so that non-contact bidirectional communication is realized, the purpose of identification is achieved, and the pipeline robot is used for data exchange and is connected with a very complex system in series. In the identification system, the machine realizes the reading and writing and communication of the electronic tag through electromagnetic waves. According to the communication distance, the near field and the far field can be classified, and for this purpose, the data exchange manner between the read/write device and the electronic tag is correspondingly classified into load modulation and backscatter modulation, and all-weather insights into the pipe integrity mean that any anomalies or deviations can be reported immediately. While pressure drop clearly indicates the presence of a leak, other sensor parameters may help to determine structural problems with the pipe earlier before a severe leak or a fatal explosion occurs, for example, ultrasonic and sonic sensors may report abnormal sound waves that suggest the onset and spread of cracks and delamination, and magnetic sensors may detect changes in pipe wall thickness due to corrosion.
Its smart sensor can communicate not only the early damage condition but also its location and severity to identify and accelerate the required actions. Minimizing the time interval between failure and repair is critical to minimizing material loss and contamination due to product leakage. In addition, discovering damage from the beginning also simplifies the repair process, thereby reducing the costs and downtime associated with repair. The sensor data of the Internet of things can analyze and know pipeline behaviors under different external conditions, including structural loads, weather changes, soil characteristics, humidity, pH value and the like. This information helps to improve future engineering and construction practices to optimize the effective life of the pipeline. Furthermore, for old pipes that have been used for decades, the sensor data can verify their integrity in order to continue safe operation.
The working principle is as follows: the camera shooting mechanism 1 starts to work, an infrared visual transmission technology is adopted to provide an environment image for the mobile background terminal, so that the driving mechanism 2 can react to the judgment of the front road information, meanwhile, the real-time image is transmitted to ground staff to process an emergency event, when the camera shooting mechanism 1 detects that a front pipeline turns, the controller can send corresponding differential steering instructions to the driving mechanism 2 according to different directions of the front turning, and steering is realized; when the photographing mechanism 1 detects that the front pipeline is contracted or expanded, the controller sends different instructions to the first motor 212 of the driving mechanism 2 according to the contraction or expansion of the pipeline, so as to control the radial dimension of the machine body to adapt to the thickness of the pipeline, in the advancing process of the pipeline robot, the detecting mechanism 4 carries out eddy current detection on the pipeline through the eddy current detector, judges whether the pipeline is worn, corroded and cracked through the change of a magnetic field, records the position of the pipeline and stores the pipeline in a storage of the control mechanism, and meanwhile, the cleaning mechanism 3 carries out simple cleaning on the inner wall of the pipeline by sand blasting from the sand blasting pipe 33.
The utility model and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the utility model as shown throughout. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present utility model.
Claims (10)
1. Urban water supply and drainage pipeline cleaning robot, characterized by comprising:
the camera shooting mechanism (1), the camera shooting mechanism (1) comprises a mounting bracket (11), and a camera (13) and a searchlight (12) are arranged on the mounting bracket (11) and are used for acquiring an image of the interior of the pipeline;
the driving mechanism (2) is provided with three groups of driving mechanisms (2) and comprises a travelling unit and a reducing unit respectively, and the driving mechanisms are used for moving and ensuring close fitting with the inner wall of the pipeline, and provide enough friction force to ensure movement;
the cleaning mechanism (3), the cleaning mechanism (3) comprises a sand blasting pipe (33), two sides of the sand blasting pipe (33) are respectively connected with an auxiliary box body (31) and a sand box (32), and the outer side walls of the auxiliary box body (31) and the sand box (32) are provided with an adjustable auxiliary moving mechanism (5);
the detection mechanism (4), the detection mechanism (4) comprises a detection probe, the detection probe comprises a first mounting box body (41) and a second mounting box body (42), an exciting coil is arranged in the first mounting box body (41), a detection coil is arranged in the second mounting box body (42), the pipeline is subjected to eddy current detection, the detection mechanism (4) further comprises a connecting piece (43) arranged between the first mounting box body (41) and the second mounting box body (42), positioning equipment and communication equipment are arranged on the connecting piece (43), and an auxiliary moving mechanism (5) is arranged on the side walls of the first mounting box body (41) and the second mounting box body (42);
the control mechanism is arranged in the auxiliary box body (31) and comprises a controller, a storage and a driver, wherein the controller is used for receiving data information acquired by the image pickup mechanism (1) and the detection mechanism (4) and processing the information, storing the data information in the storage, and controlling the driving mechanism (2) and the cleaning mechanism (3) through the driver.
2. The urban water supply and drainage pipeline cleaning robot according to claim 1, wherein: the advancing unit comprises three groups of self-powered track assemblies (22), a mounting shell (23) and a battery module (24) arranged in the mounting shell (23), hinge rods (21) are respectively arranged between the three groups of track assemblies (22) and the mounting shell (23), the hinge rods (21) are respectively hinged with the track assemblies (22) and the mounting shell (23), and the battery module (24) is electrically connected with the track assemblies (22).
3. The urban water supply and drainage pipeline cleaning robot according to claim 2, wherein: the three groups of track assemblies (22) are arranged circumferentially around the mounting housing (23) and the included angle between adjacent track assemblies (22) is 120 degrees.
4. The urban water supply and drainage pipeline cleaning robot according to claim 2, wherein: the reducing unit comprises a first motor (212) arranged in a mounting shell (23), a mounting plate (211) is arranged above a battery module (24) in the mounting shell (23), a screw (213) connected with an output shaft of the first motor (212) is rotatably arranged on the mounting plate (211), a screw slider (214) is matched on the screw (213), the screw slider (214) is hinged with a hinge rod piece (21), and the battery module (24) is electrically connected with the first motor (212).
5. The urban water supply and drainage pipeline cleaning robot according to claim 4, wherein: the crawler assembly (22) comprises a support (221), the support (221) is hinged to the hinge rod piece (21), a driving wheel (227) and a driven wheel (229) are respectively arranged on two sides of the support (221), the driving wheel (227) and the driven wheel (229) are sleeved with a crawler belt (225), a pressure sensor is arranged on the crawler belt (225) and used for detecting pressure between the crawler belt (225) and a pipeline, a plurality of tensioning wheels (228) are rotatably arranged on the support (221) and used for tensioning the crawler belt (225), a driven gear is coaxially arranged on one side of the driving wheel (227), a motor mounting plate (222) is arranged on the support (221) and is provided with a second motor (223), an encoder is arranged on the second motor (223) and used for measuring output rotating speed, an output shaft of the second motor (223) is connected with a driving gear (224), and an intermediate gear (226) meshed with the driven gear is meshed on the driving gear (224).
6. The urban water supply and drainage pipeline cleaning robot according to claim 5, wherein: the three groups of hinge rod pieces (21) respectively comprise two support rods (216) which are hinged with the support frames (221) and telescopic, the other ends of the two support rods (216) are respectively hinged with the installation shell (23), three slotted holes are correspondingly formed in the installation shell (23) and the crawler assembly (22), three connecting rods (215) which respectively penetrate through the three slotted holes are hinged on the screw rod sliding block (214), and the other ends of the three connecting rods (215) are respectively hinged with the adjacent support rods (216), so that the three groups of crawler assemblies (22) can shrink or expand synchronously.
7. The urban water supply and drainage pipeline cleaning robot according to claim 5, wherein: the diameter of the driving wheel (227) is larger than that of the driven wheel (229), and the plurality of tensioning wheels (228) are matched with the driven wheel (229) so that the crawler belt (225) between the tensioning wheels (228) and the driven wheel (229) always presents a horizontal state.
8. The urban water supply and drainage pipeline cleaning robot according to claim 1, wherein: the auxiliary moving mechanism (5) comprises supporting legs (51) and hydraulic rods (52) which are arranged in a rotating mode, the supporting legs (51) and the hydraulic rods (52) are arranged on the two sides, rotating wheels (53) are arranged at the distal ends of the supporting legs (51), and the hydraulic rods (52) are hinged to the supporting legs (51).
9. The urban water supply and drainage pipeline cleaning robot according to claim 1, wherein: the cleaning mechanism (3) and the detection mechanism (4) are respectively arranged between the three driving mechanisms (2) at intervals and are respectively and semi-rigidly connected with the driving mechanisms (2).
10. The urban water supply and drainage pipeline cleaning robot according to claim 1, wherein: the camera shooting mechanism (1) is provided with a big data collection processing module which is used for data collection, data preprocessing, data storage, data processing and analysis, data display/data visualization and data application.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320606225.6U CN219527926U (en) | 2023-03-24 | 2023-03-24 | Urban water supply and drainage pipeline cleaning robot |
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| CN202320606225.6U CN219527926U (en) | 2023-03-24 | 2023-03-24 | Urban water supply and drainage pipeline cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220178488A1 (en) * | 2019-08-23 | 2022-06-09 | Envirosight Llc | Pipe inspection device with variable height control |
| CN117291476A (en) * | 2023-11-27 | 2023-12-26 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
-
2023
- 2023-03-24 CN CN202320606225.6U patent/CN219527926U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220178488A1 (en) * | 2019-08-23 | 2022-06-09 | Envirosight Llc | Pipe inspection device with variable height control |
| CN117291476A (en) * | 2023-11-27 | 2023-12-26 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
| CN117291476B (en) * | 2023-11-27 | 2024-02-13 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
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