Recognition and control system of snakelike pipeline robot

Abstract

A recognition and control system of a snakelike pipeline robot comprises an infrared control system, a pressure control system, a cutter head control system and a centering control system, wherein the infrared control system detects the front condition in real time, and when abnormal conditions occur in the front, the infrared control system transmits obtained relevant data to the pressure control system and the cutter head control system, manual judgment is carried out, and the pressure control system and the cutter head control system make corresponding responses. The centering control system performs real-time detection, so that the machine is always located in the center of the pipeline. A solution is provided for various problems possibly faced by a pipeline robot in the pipeline, the applicability is high, the operation efficiency is high, and the potential safety hazard is low.

Description

technical field [0001] The invention relates to the field of power electronics, in particular to an identification and control system for a serpentine pipeline robot. Background technique [0002] With the development of society and economy, the urbanization process is accelerating, and the scale of urban pipeline tunnel drainage system is also increasing. However, if the long-term pipeline and tunnel silt deposits are not cleaned up in a timely and effective manner, it will easily cause urban waterlogging and bring great harm to people's lives. Inconvenience will also cause certain losses to the economy, so the pipeline tunnel silt must be cleaned up in a timely and effective manner. my country's current dredging technology mainly includes manual dredging technology, winch dredging technology, hydraulic dredging technology, high-pressure water jet dredging technology and cutting drainage pipe dredging technology and other methods. However, at present, manual dredging is st...

AI Technical Summary

Problems solved by technology

The specific operation is that the operator goes down to the bottom of the mud retention well, uses a high-pressure water gun or a high-pressure water drill bit of a dredger to flush the sludge in the sewer pipe to the mud retention well, and then the sludge is sucked out by the sewage suction truck. In some cases, it needs to be cut off with an air bag After the water flows, the dredging work is completed. The operation is more complicated and the efficiency is average. The very harsh working environment in the mine brings great inconvenience to the work and is likely to cause safety accidents;

[0004] (2) Large-scale pipeline tunnels in cities basically use manual dredging, and the internal working conditions are complicated and difficult to clean

Some environmental protection companies use manual and mud pumps to complete underwater dredging operations, which improves the dredging efficiency to a certain extent, but the problems of personal safety and large particle cleaning have not been effectively alleviated, and they often encounter large Blockage of pipes by particles, flocculation or wire-wound blades burn out the mud pump, which also leads to new problems, such as underwater maintenance and repair equipment, etc.;

[0005] (3) On the whole, the hydraulic dredging method requires special geographical environment factors. It requires that the pipeline itself must have a certain flow rate, the silt should not be too much, and the upstream water cannot flow away from other branches. The backflow enters the nearby buildings, and improper operation may cause new silt in the upstream pipeline; the trencher technology requires smooth and regular pipe walls and not too much silt, which is not suitable for urban pipelines; high-pressure water jet technology is usually limited to diameters less than 130cm pipelines, and the cost of cleaning water is relatively high, and the operating efficiency is low; the mixed sediment particles in the high-pressure water jet pipe wall It will also have a certain impact; the manual cleaning method has low work efficiency, high labor intensity, and many potential safety hazards

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