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A visual robot method and device for removing shellfish in raw water pipelines

A technology of robots and cleaning devices, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inaccurate calculation of the accumulation volume of shellfish objects, pollution, poor effect, etc., to achieve high cleaning efficiency, reduce pollution, Easy to control and effective

Active Publication Date: 2022-05-03
ZHONGKAI UNIV OF AGRI & ENG
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Problems solved by technology

These methods are not effective, and the accumulation of drug kills and dead shellfish that have not been cleaned still cause pollution
Although there are some pipeline cleaning robots at home and abroad, they do not accurately calculate the accumulation volume of shellfish objects, the maximum and the vertical distance between the accumulation objects and the pipeline along the pipe wall, so as to determine the optimal tool center and target center through detection and calculation. to effectively remove accumulations

Method used

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  • A visual robot method and device for removing shellfish in raw water pipelines
  • A visual robot method and device for removing shellfish in raw water pipelines
  • A visual robot method and device for removing shellfish in raw water pipelines

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] see Figure 1-Figure 4 , a visual robot device for removing shellfish in raw water pipelines, comprising a robot 1, a cleaning device 2 is provided on the driving arm of the robot 1, and a crushing device 3 and binocular The vision device 4 also includes a controller, the binocular vision device 4 communicates with the controller, and the controller communicates with the robot 1 , the cleaning device 2 and the crushing device 3 respectively.

[0031] The binocular vision device 4 includes two visual cameras and searchlights, which are used for image acquisition in the shellfish removal process, shellfish sundry identification, pipe arc wall identification, obstacle identification, and positioning of the combined tool for shellfish removal by profiling. , robot and distance measurement.

[0032] The cleaning device 2 includes a motor and a conve...

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Abstract

The invention discloses a visual robot method and device for removing shellfish in a raw water pipeline, comprising a robot, a cleaning device is provided on the driving arm of the robot, and a crushing device and a binocular device are respectively provided at the front end of the cleaning device. The vision device also includes a controller, the binocular vision device communicates with the controller, and the controller communicates with the robot, the cleaning device and the crushing device respectively. The present invention has the advantages of convenient and reasonable control, cleaning With the advantages of high efficiency and strong practicability, compared with the existing technology, it can automatically remove shellfish and their wreckage in the raw water pipe, realize automatic identification, crushing and cleaning, improve efficiency and reduce pollution.

Description

technical field [0001] The invention particularly relates to a visual robot method and device for removing shellfish in raw water pipelines. Background technique [0002] The number of dams in China accounts for 50% of the world's total. There are accumulations of shellfish activity and debris on the inner surface of some water delivery pipelines and water intake pipelines. Will pollute water sources. Because shellfish with strong adsorption force are adsorbed on the inner wall of the pipeline, on the one hand, it is difficult for people to find them from the outside; on the other hand, countless superimposed active shellfish have a strong adsorption force. Clear puzzles. In order to reduce the accumulation and growth of shellfish on the inner wall of the pipeline, people take different measures, including fish that eat shellfish, injecting a certain proportion of drugs to kill shellfish, and manual cleaning. These methods are ineffective and contamination is still caused...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/0085B25J9/1697
Inventor 唐昀超丘嘉俊吴东晓孟繁张芸齐丘顺萍刘俊辉
Owner ZHONGKAI UNIV OF AGRI & ENG
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