Ultrasonic cleaning robot for water supply pipeline

Abstract

The invention relates to the technical field of water supply pipeline cleaning, and provides a water supply pipeline ultrasonic cleaning robot which comprises a robot body, a controller, an ultrasonic cleaning mechanism, an advancing mechanism, a detecting mechanism and a rotating mechanism, and the ultrasonic cleaning mechanism, the advancing mechanism, the detecting mechanism and the rotating mechanism are electrically connected with the controller. The controller is arranged in the robot main body; the multiple sets of ultrasonic cleaning mechanisms are annularly distributed in the robot body. The detection mechanism is arranged on the robot body and used for detecting dirt component information and path information in the water supply pipeline. The two rotating mechanisms are arranged at the head end and the tail end of the robot body correspondingly, one ends of the two advancing mechanisms are connected with the rotating mechanisms correspondingly, the other ends of the two advancing mechanisms are used for making contact with the inner wall of the water supply pipeline correspondingly, and the advancing mechanisms are used for driving the robot body to advance in the water supply pipeline. The rotating mechanism is used for driving the robot body to rotate around the axis of the water supply pipeline. And the water supply pipeline cleaning efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of water supply pipeline cleaning technology, and more specifically, to an ultrasonic cleaning robot for water supply pipelines. Background Technology

[0002] As a core infrastructure ensuring the safety of drinking water for urban residents and maintaining the normal operation of cities, the cleanliness of municipal water supply networks directly affects drinking water safety and water transmission efficiency. Currently, the average service life of some public water supply networks has exceeded 30 years, and in some cities, the service life has even exceeded 40 years, far exceeding the prescribed service life of pipelines. During the extended service life of pipelines, pipe wall corrosion, microbial growth, and upstream suspended solids deposition lead to scale covering the pipe walls. The rough morphology of the scale affects the hydraulic transport efficiency of the pipeline, and the risk of excessive metal and microorganisms caused by scale shedding is extremely high, endangering water supply safety. Therefore, water supply pipelines need to be cleaned regularly.

[0003] Currently, traditional cleaning techniques for water supply networks mainly focus on conventional methods such as mechanical cleaning and chemical cleaning. Traditional mechanical cleaning, represented by high-pressure water jet technology, can remove some hard scale through the impact of high-pressure water flow, but it has almost no effect on removing highly viscous and adhesive biofilms. Furthermore, the operation requires segmented sealing of the pipeline, limiting the length of each cleaning cycle, and the frequent start-stop process leads to low overall efficiency. Simultaneously, the water hammer effect generated by the high-pressure water flow can easily peel off the inner protective layer of brittle pipes such as ductile iron pipes, causing damage to the inner wall and reducing the quality of the cleaned pipeline. Chemical cleaning relies on chemical agents such as citric acid and sodium hypochlorite. While these agents can penetrate and decompose biofilms, the reaction between the agents and the scale requires a long settling time, resulting in a long cleaning cycle and low efficiency. More importantly, chemical residues can easily contaminate the subsequent water supply, and the chemicals can accelerate the corrosion of the pipeline's metal substrate, shortening the pipeline's lifespan. This not only fails to guarantee the quality of the cleaned water but also causes additional damage to the pipeline itself. In summary, current water supply pipeline cleaning technologies cannot effectively balance efficiency and quality, resulting in problems such as incomplete removal of scale, low work efficiency, easy damage to pipelines, and impact on water quality. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to improve the efficiency and quality of water supply pipeline cleaning.

[0005] This invention provides an ultrasonic cleaning robot for water supply pipelines, comprising a robot body, a controller, and an ultrasonic cleaning mechanism, a traveling mechanism, a detection mechanism, and a rotating mechanism, all electrically connected to the controller. The robot body is a hollow and sealed cylindrical structure, and the controller is located inside the robot body; Multiple sets of the ultrasonic cleaning mechanisms are arranged in a ring within the robot body; The detection mechanism is located on the robot body and is used to detect the composition and path information of dirt in the water supply pipeline. The two sets of rotating mechanisms are respectively disposed at the head end and tail end of the robot body. One end of each of the two sets of traveling mechanisms is connected to the two sets of rotating mechanisms respectively. The other end of each of the two sets of traveling mechanisms is used to contact the inner wall of the water supply pipe. The traveling mechanism is used to drive the robot body to travel inside the water supply pipe, and the rotating mechanism is used to drive the robot body to rotate around the axis of the water supply pipe.

[0006] Optionally, the ultrasonic cleaning mechanism includes a multi-frequency ultrasonic generator and a sound pressure feedback sensor, which are electrically connected to the controller.

[0007] Optionally, the traveling mechanism includes a telescopic cylinder and a traveling wheel. The telescopic cylinder is electrically connected to the controller. One end of the telescopic cylinder is rotatably connected to the rotating mechanism, and the other end is rotatably connected to the traveling wheel. The traveling wheel is used to contact the inner wall of the water supply pipe.

[0008] Optionally, the traveling mechanism further includes a steering motor, a rotary motor, and an electromagnet, all electrically connected to the controller. The steering motor is connected between the traveling wheel and the telescopic cylinder, the rotary motor is connected between the telescopic cylinder and the rotating mechanism, and the electromagnet is disposed on the traveling wheel.

[0009] Optionally, the ultrasonic cleaning robot for water supply pipes further includes an annular inflatable airbag electrically connected to the controller. The two annular inflatable airbags are respectively connected around the outer wall of the robot body near its head and tail ends. The annular inflatable airbags are used to abut against the inner wall of the water supply pipe after inflation. The ultrasonic cleaning mechanism is located between the two annular inflatable airbags.

[0010] Optionally, the ultrasonic cleaning robot for water supply pipelines further includes a high-pressure water cleaning mechanism electrically connected to the controller. A clean water tank is provided inside the robot body. The high-pressure water cleaning mechanism is disposed on the cylinder wall of the robot body and communicates with the clean water tank. The high-pressure water cleaning mechanism is located between the two annular inflation and deflation airbags.

[0011] Optionally, the robot body is further provided with a sewage tank, and the cylindrical wall of the robot body is also provided with a water collection port. The sewage tank is connected to the outside of the robot body through the water collection port, and the water collection port is located between the two annular inflation and deflation airbags.

[0012] Optionally, the ultrasonic cleaning robot for water supply pipelines further includes an electric telescopic support and a scraper. One end of the electric telescopic support is connected to the outer wall of the robot body, and the other end is connected to the scraper. The electric telescopic support is electrically connected to the controller, and the scraper is located between the two annular inflatable airbags.

[0013] Optionally, the detection mechanism includes a lidar, an inertial measurement sensor, an ultrasonic echo positioning sensor, and a laser-induced breakdown spectroscopy sensor, all electrically connected to the controller.

[0014] Optionally, the ultrasonic cleaning robot for water supply pipelines also includes an industrial endoscope, an ultrasonic wall thickness measuring sensor, and a turbidity sensor, which are electrically connected to the controller and disposed on the cylindrical wall near the tail end of the robot body.

[0015] Compared with related technologies, the ultrasonic cleaning robot for water supply pipelines provided by this invention has the following technical advantages: The ultrasonic cleaning robot for water supply pipelines provided by this invention features a hollow and sealed cylindrical robot body as its main structure. A controller can be installed inside to prevent interference from water and dirt within the pipeline. The cylindrical structure is better suited to the shape of the pipeline, facilitating movement and rotation. Rotating mechanisms are located at the front and rear ends of the robot body, connected to corresponding traveling mechanisms. The traveling mechanism contacts the inner wall of the pipeline and drives the robot body along its axial direction. The rotating mechanism rotates the robot body relative to the traveling mechanism, that is, it rotates around the axis of the pipeline, allowing the robot body to rotate. The rotating and traveling mechanisms at the front and rear ends provide stable support and rotational movement for the robot body within the pipeline, resulting in a more reliable and stable structure. During the robot's rotation process, multiple sets of ultrasonic cleaning mechanisms arranged in a ring within the robot can perform comprehensive ultrasonic cleaning of the inner wall of the water supply pipe. Utilizing the inherent characteristics of ultrasound, cavitation and vibration effects are generated to peel and decompose the dirt on the inner wall of the water supply pipe, without damaging the pipe or causing secondary pollution to the water. Furthermore, by incorporating a detection mechanism on the robot body, the robot can detect the composition and path of the dirt within the pipe and transmit this information to the controller. The controller can then process this information accordingly, adjusting the travel and rotation paths of the traveling and rotating mechanisms based on the actual situation. This results in adaptive movement for water supply pipes with different paths and diameters, and adjustments to the frequency or power of the ultrasonic cleaning mechanisms to clean dirt of different compositions. This makes the cleaning operation more efficient and precise, improving both the efficiency and quality of water supply pipe cleaning. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the planar structure of the ultrasonic cleaning robot for water supply pipelines according to an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the cross-sectional structure; Figure 3 This is a planar structural schematic diagram of the ultrasonic cleaning robot for water supply pipelines according to another embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 10-Robot body, 11-Mounting frame, 12-Clean water tank, 13-Sewage tank, 14-Water inlet, 15-Clean water pipe, 16-Sewage pipe, 20-Ultrasonic cleaning mechanism, 21-Multi-frequency ultrasonic generator, 22-Sound pressure feedback sensor, 30-Traveling mechanism, 31-Telescopic cylinder, 32-Walking wheel, 40-Rotation mechanism, 50-Annular inflation / deflation airbag, 60-High-pressure water cleaning mechanism, 71-Electric telescopic bracket, 72-Scraper, 01-Water supply pipe. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0020] In the description of this invention, the terms "up," "down," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. These are used solely for the purpose of describing the invention and are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. Furthermore, a coordinate system XYZ is used herein, where the positive direction of the X-axis represents the right direction, the negative direction of the X-axis represents the left direction, the positive direction of the Y-axis represents the forward direction, the negative direction of the Y-axis represents the backward direction, the positive direction of the Z-axis represents the upward direction, and the negative direction of the Z-axis represents the downward direction.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0023] To solve the above technical problems, such as Figure 1 and Figure 2 As shown in the figure, this embodiment of the invention provides an ultrasonic cleaning robot for water supply pipelines, including a robot body 10, a controller, and an ultrasonic cleaning mechanism 20, a traveling mechanism 30, a detection mechanism, and a rotating mechanism 40, all electrically connected to the controller. The robot body 10 is a hollow and sealed cylindrical structure, and the controller is located inside the robot body 10. Multiple sets of the ultrasonic cleaning mechanisms 20 are arranged in a ring within the robot body 10; The detection mechanism is installed on the robot body 10 and is used to detect the composition and path information of dirt in the water supply pipe 01. Two sets of rotating mechanisms 40 are respectively disposed at the head end and tail end of the robot body 10. One end of each set of traveling mechanisms 30 is connected to the two sets of rotating mechanisms 40 respectively. The other end of each set of traveling mechanisms 30 is used to contact the inner wall of the water supply pipe 01. The traveling mechanism 30 is used to drive the robot body 10 to travel in the water supply pipe 01, and the rotating mechanism 40 is used to drive the robot body 10 to rotate around the axis of the water supply pipe 01.

[0024] Specifically, the robot body 10 is capsule-shaped, meaning its front and rear ends are arc-shaped bowl structures, and the middle section between the front and rear ends is a cylindrical structure. The front and rear ends can be installed to the middle cylindrical structure via threaded connections or welding. This structure of the robot body 10 facilitates axial movement and circumferential rotation within the water supply pipe 01. It should be noted that "front and rear" refers to the front and rear ends of the robot's forward direction, such as... Figure 1 The positive Y-axis indicates the forward direction, with the positive Y-axis representing the beginning and the negative Y-axis representing the end. The Y-axis is parallel to or coaxial with the axes of the water supply pipe 01 and the robot body 10. Furthermore, a mounting frame 11 can be installed inside the robot body 10 to mount components such as the detection mechanism, controller, and ultrasonic cleaning mechanism 20. This can be a frame structure or a support structure, etc., without specific limitations. Preferably, the detection mechanism and controller are mounted on the mounting frame 11 inside the robot body 10, near the beginning, i.e., inside the front end of the robot body 10. This facilitates the detection mechanism's forward detection of the path and dirt information of the water supply pipe 01, and allows for joint control with the controller. The ultrasonic cleaning mechanism 20 is located within the central circular tube structure, facilitating the formation of a uniformly distributed ring array for thorough, unobstructed cleaning, and allowing for precise control of the cleaning position.

[0025] The ultrasonic cleaning mechanism 20 cleans the inner wall of the water supply pipe 01 by using ultrasonic cleaning characteristics through a ring-shaped array of components inside the robot body 10. The detection mechanism integrates multiple sensors to detect the condition inside the water supply pipe 01, and integrates corresponding receiving, processing, and analysis modules in the controller for information processing and command generation. The controller can then process and analyze the dirt composition and path information detected by the detection mechanism within the water supply pipe 01, and adjust the traveling mechanism 30, rotating mechanism 40, and ultrasonic cleaning mechanism 20 accordingly to adapt to the actual conditions of the water supply pipe 01, operating in the most optimal and efficient manner to further improve cleaning efficiency and quality. For example, the rotating mechanism 40 may include a rotating motor and a mounting plate. Two rotating motors can be respectively located at the arc-shaped top positions of the front and rear ends of the robot body 10. The mounting plate is connected to the output end of the rotating motors, and the traveling mechanism 30 is connected to the mounting plate, resulting in a more stable and reliable structure.

[0026] In this embodiment, the ultrasonic cleaning robot for water supply pipes provided uses a hollow and sealed cylindrical robot body 10 as its body structure. A controller can be installed inside to ensure it is not affected by water or dirt inside the water supply pipe 01. The cylindrical structure is more suitable for the shape of the water supply pipe 01, facilitating movement and rotation. Rotating mechanisms 40 are respectively provided at the head and tail ends of the robot body 10, and correspondingly connected to traveling mechanisms 30. The traveling mechanism 30 can contact the inner wall of the water supply pipe 01 and drive the robot body 10 along its axial direction. The rotating mechanism 40 can drive the robot body 10 to rotate relative to the traveling mechanism 30, that is, to rotate relative to the water supply pipe 01 around its axis. This allows the robot body 10 to form a spiral motion. Furthermore, the rotating mechanism 40 and traveling mechanism 30 at the head and tail ends enable the robot body 10 to form stable support and spiral motion within the water supply pipe 01, making the structure more robust. The robot body 10, while rotating, utilizes multiple sets of ultrasonic cleaning mechanisms 20 arranged in a ring within it to perform comprehensive ultrasonic cleaning of the inner wall of the water supply pipe 01. Through the inherent characteristics of ultrasound, cavitation and vibration effects are generated to peel and decompose the dirt on the inner wall of the water supply pipe 01, without damaging the pipe or causing secondary pollution to the water. Furthermore, a detection mechanism on the robot body 10 can detect the composition and path of the dirt within the water supply pipe 01 and transmit this information to the controller. The controller can then process this information accordingly, adjusting the travel paths of the traveling mechanism 30 and the rotating mechanism 40 based on the actual situation. This results in adaptive movement of the water supply pipe 01 with different paths and diameters, and adjustments to the frequency or power of the ultrasonic cleaning mechanisms 20 to clean dirt of different compositions. This makes the cleaning operation more efficient and precise, improving the efficiency and quality of the water supply pipe 01 cleaning process.

[0027] Optionally, such as Figure 2 As shown, the ultrasonic cleaning mechanism 20 includes a multi-frequency ultrasonic generator 21 and a sound pressure feedback sensor 22, which are electrically connected to the controller.

[0028] It should be noted that some related technologies also use ultrasonic technology to clean water supply pipe 01. However, the frequency and power of the ultrasonic waves generated are relatively limited and cannot be adapted to the various types of dirt in the water supply pipe 01. For example, in cases where the dirt is thick and complex, the dirt may not be cleaned thoroughly. In cases where there is little or no dirt, or where the pipe wall is thin, it may cause damage to the pipe wall, such as cracks.

[0029] Specifically, in this embodiment, the multi-frequency ultrasonic generator 21 and the sound pressure feedback sensor 22 are arranged in a ring on the inner wall of the cylindrical structure in the middle section of the robot body 10. Each group of multi-frequency ultrasonic generators 21 includes an array of multi-frequency ultrasonic generating modules ranging from 18kHz to 220kHz. The array of multi-frequency ultrasonic generating modules adopts a piezoelectric ceramic stacked structure. The low-frequency cavitation generating unit can generate a large number of microbubbles. When the bubbles burst near the pipe wall of the water supply pipe 01, they generate a strong impact force, effectively removing dirt. The high-frequency resonance unit uses high-frequency vibration to further refine the dirt particles, making them easier to remove. The power output range of this module is 50W to 300W and is continuously adjustable, allowing for flexible power adjustment according to the actual situation of the dirt. The sound pressure feedback sensor 22 monitors the ultrasonic sound pressure in real time to ensure the stable and efficient operation of the ultrasonic system.

[0030] In this embodiment, the adjustable frequency band and power of the multi-frequency ultrasonic generator 21 enable targeted cleaning of different types of dirt. Real-time monitoring by the sound pressure feedback sensor 22 and dynamic adjustment by the controller ensure that the ultrasonic output is always within the optimal range for efficient cleaning and safe protection. This thoroughly removes various types of dirt, such as biofilm and scale, while avoiding damage to the inner wall of the water supply pipe 01, thus solving the technical defects of traditional ultrasonic cleaning. Specifically, the controller first receives dirt composition information (such as "hard scale") from the detection mechanism, instructs the multi-frequency ultrasonic generator 21 to start the corresponding frequency band and set the initial power. Simultaneously, the sound pressure feedback sensor 22 collects the actual sound pressure signal inside the water supply pipe 01 in real time, converts it into an electrical signal, and transmits it to the controller. The controller compares the "actual sound pressure" with the "target sound pressure" (preset according to the dirt composition information). If the actual sound pressure is too low (e.g., due to energy diffusion caused by increased pipe diameter), the controller instructs the multi-frequency ultrasonic generator 21 to increase the power; if the sound pressure is too high (e.g., due to energy concentration caused by decreased pipe diameter), the controller reduces the power, forming a closed-loop control. This allows for efficient cleaning and precise adjustment.

[0031] Optionally, such as Figures 1 to 3 As shown, the traveling mechanism 30 includes a telescopic cylinder 31 and a traveling wheel 32. The telescopic cylinder 31 is electrically connected to the controller. One end of the telescopic cylinder 31 is rotatably connected to the rotating mechanism 40, and the other end is rotatably connected to the traveling wheel 32. The traveling wheel 32 is used to contact the inner wall of the water supply pipe 01.

[0032] Specifically, the telescopic cylinder 31 is an actuator that drives a piston rod to move linearly using gas pressure. It can be implemented using an electric cylinder, with the telescopic stroke controlled by adjusting the air pressure via a controller, thereby adjusting the contact pressure between the traveling wheel 32 and the inner wall of the water supply pipe 01. The traveling wheel 32 is a rolling component used to support the movement of the robot body 10. It can be implemented using a rubber-coated metal hub, which adapts to the uneven shape of the inner wall of the water supply pipe 01 through elastic deformation, and increases the friction with the pipe wall, preventing the robot from deviating due to the smooth pipe wall during movement, thus ensuring accurate cleaning path. Preferably, three sets of traveling mechanisms 30 are respectively arranged at the head and tail ends of the robot body 10, namely, three sets of telescopic cylinders 31 and walking wheels 32. The rotating mechanism 40 is located at the apex of the arc at the head and tail ends of the robot body 10. The axis of the telescopic cylinder 31 is inclined with the axis of the robot body 10 and the water supply pipe 01, thus forming three sets of traveling mechanisms 30 at each end of the robot body 10. Each set of traveling mechanisms 30 is equivalent to a multi-degree-of-freedom robotic arm, similar to the legs of a crawler. The telescopic movement of each telescopic cylinder 31 is controlled by the controller to form a crawling and creeping motion similar to that of a crawler, so that the robot can perform controllable and adjustable traveling movements within the water supply pipe 01. The structure operates stably and reliably, and the path is easy to adjust.

[0033] In this embodiment, by setting the traveling mechanism 30 to a structure in which the telescopic cylinder 31 is rotatably connected to the walking wheel 32, and by rotatably connecting the telescopic cylinder 31 to the rotating mechanism 40, the telescopic cylinder 31 can be controlled by the controller to extend and retract, thereby driving the robot body 10 to move within the water supply pipe 01. Furthermore, by extending and retracting the telescopic cylinder 31 and rotatably connecting it to the rotating mechanism 40, it can adapt to water supply pipes 01 of different diameters, thus broadening its application range. Moreover, it can be adjusted at any time to adapt to different conditions within the water supply pipe 01, further improving its adaptability.

[0034] Optionally, such as Figures 1 to 3 As shown, the traveling mechanism 30 also includes a steering motor, a rotation motor, and an electromagnet, which are electrically connected to the controller. The steering motor is connected between the traveling wheel 32 and the telescopic cylinder 31, the rotation motor is connected between the telescopic cylinder 31 and the rotating mechanism 40, and the electromagnet is disposed on the traveling wheel.

[0035] Specifically, the steering motor is a drive device used to adjust the direction of travel of the walking wheel 32. It can be implemented using a servo motor, with the steering angle adjusted by a controller to match the curved path of the water supply pipe 01. The rotation motor is the power source that drives the telescopic cylinder 31 to rotate relative to the rotating mechanism 40. It can be implemented using a stepper motor, with the tilt angle of the telescopic cylinder 31 relative to the robot body 10 and the water supply pipe 01 adjusted to accommodate different pipe diameters. The electromagnet is a device that uses current to control magnetic attraction. It can be implemented using a combination of rare-earth permanent magnets and coils. The magnetic force enhances the contact stability between the walking wheel 32 and the inner wall of the iron pipe, and the controller controls whether the power is applied to regulate whether the walking wheel 32 has magnetic attraction to the pipe wall. This facilitates precise control of the path and stable movement.

[0036] In this embodiment, by setting up a steering motor, a rotation motor, and an electromagnet, all electrically connected to the controller, when the robot moves within the water supply pipe 01, the steering motor adjusts the deflection angle of the walking wheels 32 based on the path information fed back by the detection mechanism, causing the robot to move along a preset trajectory. The rotation motor drives the telescopic cylinder 31 to rotate relative to the rotating mechanism 40, causing the walking wheels 32 to tilt at a corresponding angle, thereby adapting to deformation of the inner wall of the water supply pipe 01 or local obstacles, and adapting to different pipe diameters. The electromagnet generates an attractive force when the walking wheels 32 contact the iron pipe, preventing slippage due to insufficient friction during movement. For example, when working on a vertical pipe section, the electromagnet can enhance the adhesion of the walking wheels 32 to overcome the influence of gravity. Meanwhile, in case of slippage or insufficient friction, the electromagnets at the front and rear ends can be alternately energized. Combined with the telescopic cylinder 31's extension and retraction, this makes the movement more stable and reliable. Furthermore, in areas requiring partial cessation of movement and intensive cleaning, the magnetic attraction at the front and rear ends can be increased, providing stable and reliable support and fixation for the entire robot. Through this structural design, the robot's movement pattern, path, and stability are further improved, facilitating precise control and thus enhancing the efficiency and quality of cleaning operations.

[0037] Optionally, such as Figure 1 and Figure 2 As shown, the ultrasonic cleaning robot for water supply pipes also includes annular inflatable airbags 50 electrically connected to the controller. The two annular inflatable airbags 50 are respectively connected around the outer wall of the robot body 10 near its head and tail ends. The annular inflatable airbags 50 are used to abut against the inner wall of the water supply pipe 01 after inflation. The ultrasonic cleaning mechanism 20 is located between the two annular inflatable airbags 50.

[0038] Specifically, the annular inflatable airbag 50 refers to an inflatable annular structure made of flexible material. It can be made of rubber or silicone material combined with a solenoid valve to control the air pump and air circuit to achieve inflation and deflation. An internal pressure sensor can be installed, and it is made of wear-resistant and corrosion-resistant material. Its function is to form a sealed contact with the inner wall of the water supply pipe 01 through inflation, preventing liquid or dirt leakage during cleaning. Alternatively, when targeted cleaning of stubborn dirt, if the robot body 10 needs to stop moving, the air pressure of the annular inflatable airbag 50 can be adjusted by the controller. Increasing the atmospheric pressure increases the friction between the annular inflatable airbag 50 and the inner wall of the water supply pipe 01, thereby fixing the position of the robot body 10. The outer wall near the front and rear ends of the robot body 10 refers to the annular area of ​​the robot cylinder near the front and relative ends in the forward direction. The annular inflatable airbag 50 can be fixed by adhesive or snap-fit ​​connection. Its function is to form a closed cleaning operation space through the two airbags at the front and rear, limiting the range of ultrasonic waves and improving energy utilization.

[0039] In this embodiment, annular inflatable airbags 50 are respectively provided on the outer wall of the robot body 10 near its head and tail ends, and the ultrasonic cleaning mechanism 20 is placed between the two annular inflatable airbags 50. During the cleaning operation, the controller controls the two annular inflatable airbags 50 to inflate and contact the inner wall of the water supply pipe 01 to form a sealed space. This sealed space can also be dynamically formed as the robot moves. The dynamic sealed space enhances the intensity of the ultrasonic cavitation effect in this area, thereby enhancing the ability to remove stubborn dirt. At the same time, the dual-airbag structure prevents the diffusion of cleaning wastewater and dirt to adjacent pipe sections, avoiding secondary pollution and reducing the workload of subsequent cleaning, thus reducing water consumption while ensuring cleaning quality.

[0040] Optionally, such as Figure 1 and Figure 2 As shown, the ultrasonic cleaning robot for water supply pipelines also includes a high-pressure water cleaning mechanism 60 electrically connected to the controller. A clean water tank 12 is provided inside the robot body 10. The high-pressure water cleaning mechanism 60 is disposed on the cylinder wall of the robot body 10 and communicates with the clean water tank 12. The high-pressure water cleaning mechanism 60 is located between the two annular inflation and deflation airbags 50.

[0041] Specifically, the high-pressure water cleaning mechanism 60 refers to a device that impacts the pipe wall with pressurized water flow. It can be implemented using a combination of a plunger pump and an adjustable nozzle. The plunger pump pressurizes the water in the clean water tank 12 and then forms a directional jet through the nozzle. The clean water tank 12 is a sealed container for storing cleaning water, and its connection to the high-pressure water cleaning mechanism 60 can be controlled by a solenoid valve. The high-pressure water cleaning mechanism 60 can be embedded in the outer wall of the robot body 10 for installation and is equipped with a corresponding sealing ring structure for sealing. Simultaneously, a clean water pipe 15 can be installed, extending into the robot body 10 and connecting to the clean water tank 12. The clean water pipe 15 can extend to the outside of the water supply pipe 01, providing sufficient cleaning water to the clean water tank 12 and the high-pressure water cleaning mechanism 60 from the outside. For example, when the robot body 10 moves within the water supply pipe 01, the controller can activate the ultrasonic cleaning mechanism 20 and the high-pressure water cleaning mechanism 60 as needed, based on the dirt distribution and composition information fed back by the detection mechanism. After being pressurized by a high-pressure pump, the water in the clean water tank 12 is ejected from the nozzle on the cylinder wall of the robot body 10 to impact the hard scale on the pipe wall. At the same time, the ultrasonic cavitation effect acts on soft dirt such as biofilm, forming a targeted cleaning operation and further improving cleaning efficiency.

[0042] In this embodiment, a high-pressure water cleaning mechanism 60 electrically connected to the controller is provided, and a clean water tank 12 connected to it is installed inside the robot body 10. The controller can adjust the high-pressure water cleaning mechanism 60 to perform high-pressure water cleaning operations based on the detected location and composition of different dirt. This effectively removes strong, complex pipe scale. For example, high-pressure water flow physically peels off hard scale, while ultrasonic cavitation decomposes biofilm. The synergistic effect of these two methods improves the removal rate of stubborn dirt. At the same time, the dynamic sealing space formed by two annular inflation / deflation airbags 50 and the closed cleaning zone design prevent disordered water flow diffusion and reduce clean water consumption. The clean water tank 12 has an independent water supply to avoid introducing external pollutants and ensure the safety of the water quality after cleaning. This improves the cleaning quality while ensuring water safety.

[0043] Optionally, such as Figure 1 and Figure 2 As shown, a sewage tank 13 is also provided inside the robot body 10, and a water collection port 14 is also provided on the cylindrical wall of the robot body 10. The sewage tank 13 is connected to the outside of the robot body 10 through the water collection port 14, and the water collection port 14 is located between the two annular inflation and deflation airbags 50.

[0044] Specifically, the wastewater tank 13 is a container used to store liquid or suspended matter containing dirt generated during the cleaning process. It can be made of corrosion-resistant materials. This device can collect wastewater in real time during the cleaning process, preventing secondary deposition of pollutants in the pipe. The water inlet 14 is an opening structure set in the wall of the robot body 10. It can be a funnel-shaped design with a one-way valve, and a rubber sealing ring is set at the edge of the opening to prevent leakage. This structure can guide wastewater into the wastewater tank 13 in a directional manner, while preventing the water in the wastewater tank 13 from overflowing in the opposite direction. At the same time, a wastewater pipe 16 can be equipped to extend into the robot body 10 and connect to the wastewater tank 13. The wastewater pipe 16 can extend to the outside of the water supply pipe 01 to discharge the wastewater collected in the wastewater tank 13 to a designated location, preventing the wastewater tank 13 from overflowing. For example, when the robot enters the pipe section to be cleaned, the annular inflation and deflation airbags 50 at both ends are inflated, forming a closed working space with the inner wall of the pipe. The high-frequency vibrations generated by the ultrasonic cleaning mechanism 20 after startup cause the dirt on the pipe wall to peel off, while the high-pressure water cleaning mechanism 60 sprays water to wash away the loose dirt. During this process, wastewater containing dirt particles is sucked into the wastewater tank 13 through the water collection port 14 on the cylinder wall. Since the water collection port 14 is located between the two annular inflation and deflation airbags 50, the wastewater collection process is confined to the closed working space, effectively preventing untreated wastewater from spreading to the cleaned area.

[0045] In this embodiment, by setting a wastewater tank 13 inside the robot body 10 and configuring a water collection port 14 to connect it to the outside, wastewater can be recycled simultaneously during the pipeline cleaning process, avoiding the disorderly diffusion of dirt particles in the pipeline. The synergistic effect of the wastewater tank 13, the water collection port 14, and the annular inflation / deflation airbag 50 ensures the controllability of water flow in the working area, effectively improving the coverage length and cleaning quality of a single cleaning operation, and preventing the dirt and wastewater after cleaning from causing secondary pollution to other sections of the water supply pipeline 01, ensuring water quality safety, and eliminating the need for secondary cleaning or rinsing operations, further improving cleaning efficiency.

[0046] Optionally, such as Figure 1 and Figure 2 As shown, the ultrasonic cleaning robot for water supply pipelines also includes an electric telescopic bracket 71 and a scraper 72. One end of the electric telescopic bracket 71 is connected to the outer wall of the robot body 10, and the other end is connected to the scraper 72. The electric telescopic bracket 71 is electrically connected to the controller. The scraper 72 is located between the two annular inflatable airbags 50.

[0047] Specifically, the electrically telescopic support 71 refers to a support structure whose telescopic length can be adjusted via an electrical control signal. It can be implemented using a hydraulic cylinder, a stepper motor-driven lead screw, or a gear and rack mechanism-driven linkage assembly, used to dynamically adjust the contact pressure between the scraper 72 and the pipe wall according to the pipe's inner diameter. The scraper 72 is a physical scraping tool with a sharp cutting edge, specifically made of tungsten carbide alloy and designed with serrated or wavy edges, used to directly scrape away stubborn dirt or biofilm adhering to the pipe wall during rotation. For example, when the robot body 10 moves within the water supply pipe 01, the controller controls the extension and retraction of the electrically telescopic support 71 based on the pipe diameter data fed back by the detection mechanism, causing the scraper 72 to adhere to the pipe wall with a preset pressure. As the robot body 10 rotates around the axis of the water supply pipe 01, the scraper 72 mechanically scrapes the pipe wall, removing hard deposits that are difficult to remove with ultrasonic waves. After the two annular inflation and deflation airbags 50 are inflated, they form a sealed section with the pipe wall. The scraper 72 operates in this closed area, and the scraped dirt falls directly into the subsequent water collection port 14, preventing the detached dirt from contaminating the cleaned area with the water flow.

[0048] In this embodiment, by setting an electrically telescopic bracket 71 electrically connected to the controller on the outer wall of the robot body 10 and equipping it with a scraper 72, directional mechanical scraping can be performed simultaneously on the basis of ultrasonic cleaning, effectively removing stubborn pipe scale, reducing cleaning blind spots, and the scraping pressure can be dynamically adjusted by the controller to reduce the risk of damage to the inner wall of the water supply pipe 01. At the same time, the closed working area formed by two annular inflatable airbags 50 realizes the directional collection of dirt, avoiding secondary pollution problems. This further improves the quality of the cleaning operation.

[0049] Optionally, such as Figure 1 and Figure 2 As shown, the detection mechanism includes a lidar, an inertial measurement sensor, an ultrasonic echo positioning sensor, and a laser-induced breakdown spectroscopy sensor, all electrically connected to the controller.

[0050] Specifically, the lidar, inertial measurement sensor, ultrasonic echo positioning sensor, and laser-induced breakdown spectrum sensor are all located at the front end of the robot body 10, and can be mounted on the mounting frame 11 inside the front end. The detection probes of the lidar, inertial measurement sensor, ultrasonic echo positioning sensor, and laser-induced breakdown spectrum sensor can be embedded in the cylinder wall of the robot body 10 or extended out of the cylinder wall, and are equipped with a sealing structure such as a hood.

[0051] The system includes several key components: a lidar (Light Detection and Ranging) device, which generates three-dimensional point cloud data by emitting laser beams and receiving reflected signals; a pulsed laser scanner; and a controller that integrates an accelerometer and gyroscope to construct a three-dimensional topographic model of the inner wall of the water supply pipe 01 and identify areas of dirt distribution. An inertial measurement unit (IMU) sensor, which integrates an accelerometer and gyroscope, is used to monitor the robot's motion posture and trajectory deviation within the water supply pipe 01 in real time. An ultrasonic echo positioning sensor, which is a ranging device based on the ultrasonic time-of-flight principle and can be implemented using a transceiver array, measures the distance between the robot body 10 and the inner wall of the water supply pipe 01 and corrects its path. A laser-induced breakdown spectroscopy (LAS) sensor, which uses a high-energy laser to excite matter to generate plasma and analyze its spectral composition, is used to identify the metal elements, organic matter, and microbial content of the scale online. The controller integrates a multi-source data fusion algorithm based on factor graph optimization and an ultrasonic power adaptive adjustment algorithm. These, in conjunction with the aforementioned sensors, enable precise positioning of the robot within the water supply pipe 01 and environmental map construction, assisting the robot in autonomously planning its cleaning path. The ultrasonic power adaptive adjustment algorithm automatically adjusts the ultrasonic power based on the dirt detection status, improving cleaning efficiency. Furthermore, the controller integrates a multi-frequency ultrasonic impedance spectroscopy analysis unit, which works in conjunction with a laser-induced breakdown spectroscopy sensor and incorporates a dirt type classification algorithm based on convolutional neural networks to accurately determine dirt types, providing scientific guidance for cleaning strategy development.

[0052] In this embodiment, a lidar is configured to scan circumferentially along the robot body 10, reconstructing the cross-sectional contour of the water supply pipe 01 using point cloud data and identifying raised areas of deposits on the pipe wall. An inertial measurement sensor continuously collects data such as the robot's pitch angle, yaw angle, and acceleration for trajectory matching. An ultrasonic echo positioning sensor emits ultrasonic pulses at a fixed frequency and calculates the real-time distance between the robot body 10 and the pipe wall based on the echo delay time. A laser-induced breakdown spectroscopy sensor triggers a laser beam when a target area is detected, and the chemical composition of the dirt is determined by analyzing the plasma emission spectrum. The data from these four sensors are fused and processed by the controller to generate a heat map of the scale distribution and cleaning parameter optimization instructions. This allows for simultaneous online analysis of dirt composition, real-time calibration of the robot's posture, and precise positioning of the cleaning area during the cleaning process. It ensures that the ultrasonic cleaning mechanism 20 automatically switches its operating frequency according to the type of dirt, while simultaneously guiding the traveling mechanism 30 to adjust its path and posture to maintain the robot's centered movement, thus achieving targeted cleaning of dirt with different compositions and full-process quality control. This further improves the efficiency and quality of the cleaning operation.

[0053] Optionally, such as Figure 1 and Figure 2As shown, the ultrasonic cleaning robot for water supply pipelines also includes an industrial endoscope, an ultrasonic wall thickness measuring sensor, and a turbidity sensor, which are electrically connected to the controller and disposed on the cylinder wall near the tail end of the robot body 10.

[0054] Specifically, the cameras and sensor probes of the industrial endoscope, ultrasonic wall thickness measurement sensor, and turbidity sensor can be embedded in or extend from the cylinder wall of the robot body 10, and are equipped with a sealing structure such as a sealing ring. The industrial endoscope is an optical inspection device used to acquire real-time images of the inside of pipes. It can be implemented using a 360-degree high-definition camera with a waterproof housing and adjustable focus, analyzing the distribution of residual dirt on the pipe wall through image acquisition. The ultrasonic wall thickness measurement sensor is a pipe wall thickness detection device based on the principle of ultrasonic pulse reflection. It can be implemented using a multi-chip array probe combined with an echo signal processing module, calculating thickness changes by measuring the propagation time of sound waves in the pipe wall. The turbidity sensor is an optical sensor used to detect the concentration of suspended particulate matter in water. It can be implemented using a 90-degree scattered light measurement unit combined with a temperature compensation circuit, determining the degree of dirt removal by detecting changes in water transmittance during cleaning.

[0055] In this embodiment, an industrial endoscope, an ultrasonic wall thickness measurement sensor, and a turbidity sensor are installed on the cylindrical wall near the tail end of the robot body 10 and connected to the controller. The industrial endoscope continuously captures images of the inner wall of the water supply pipe 01 during the robot's movement. The captured data is processed by the controller to generate a heat map of dirt coverage. The ultrasonic wall thickness measurement sensor emits ultrasonic waves at a preset frequency to the pipe wall and dynamically generates a pipe wall thickness change curve based on the reflected wave time difference. The turbidity sensor collects water samples flowing through the tail end of the robot in real time, i.e., water samples after cleaning. The turbidity value can be calculated by converting the light intensity attenuation value with the controller. After the controller fuses and processes the above three types of data, it can simultaneously determine the dirt removal effect, pipe wall corrosion degree, and water pollution status of the current cleaning area. It can simultaneously acquire pipe wall structural integrity data, visual evidence of dirt removal, and water quality change trends during the cleaning operation, forming a closed-loop feedback control system. At the same time, it can generate a test report to present the cleaning effect. It can dynamically adjust the ultrasonic frequency intensity and robot speed based on real-time detection data. For example, it can automatically increase the sound pressure intensity when removing stubborn dirt, reduce the cleaning power to prevent structural damage when a thinning area of ​​the pipe wall is detected, and determine the backflow status of the cleaning wastewater by the turbidity change point to trigger the drainage operation, thereby achieving dual optimization of cleaning quality and pipeline protection.

[0056] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An ultrasonic cleaning robot for water supply pipelines, characterized in that, It includes a robot body (10), a controller, and an ultrasonic cleaning mechanism (20), a traveling mechanism (30), a detection mechanism, and a rotating mechanism (40) that are electrically connected to the controller. The robot body (10) is a hollow and sealed cylindrical structure, and the controller is located inside the robot body (10). Multiple sets of ultrasonic cleaning mechanisms (20) are arranged in a ring within the robot body (10); The detection mechanism is located on the robot body (10) and is used to detect the composition and path information of dirt in the water supply pipe (01); Two sets of rotating mechanisms (40) are respectively disposed at the head end and tail end of the robot body (10). One end of each set of traveling mechanisms (30) is connected to the two sets of rotating mechanisms (40). The other end of each set of traveling mechanisms (30) is used to contact the inner wall of the water supply pipe (01). The traveling mechanism (30) is used to drive the robot body (10) to travel inside the water supply pipe (01), and the rotating mechanism (40) is used to drive the robot body (10) to rotate around the axis of the water supply pipe (01).

2. The ultrasonic cleaning robot for water supply pipelines according to claim 1, characterized in that, The ultrasonic cleaning mechanism (20) includes a multi-frequency ultrasonic generator (21) and a sound pressure feedback sensor (22) that are electrically connected to the controller.

3. The ultrasonic cleaning robot for water supply pipelines according to claim 1, characterized in that, The traveling mechanism (30) includes a telescopic cylinder (31) and a traveling wheel (32). The telescopic cylinder (31) is electrically connected to the controller. One end of the telescopic cylinder (31) is rotatably connected to the rotating mechanism (40), and the other end is rotatably connected to the traveling wheel (32). The traveling wheel (32) is used to contact the inner wall of the water supply pipe (01).

4. The ultrasonic cleaning robot for water supply pipelines according to claim 3, characterized in that, The traveling mechanism (30) also includes a steering motor, a rotating motor and an electromagnet, which are electrically connected to the controller respectively. The steering motor is connected between the traveling wheel (32) and the telescopic cylinder (31), the rotating motor is connected between the telescopic cylinder (31) and the rotating mechanism (40), and the electromagnet is disposed on the traveling wheel.

5. The ultrasonic cleaning robot for water supply pipelines according to claim 1, characterized in that, The ultrasonic cleaning robot for the water supply pipeline also includes an annular inflatable airbag (50) electrically connected to the controller. The two annular inflatable airbags (50) are respectively connected around the outer wall of the robot body (10) near its head and tail ends. The annular inflatable airbags (50) are used to abut against the inner wall of the water supply pipeline (01) after inflation. The ultrasonic cleaning mechanism (20) is located between the two annular inflatable airbags (50).

6. The ultrasonic cleaning robot for water supply pipelines according to claim 5, characterized in that, The ultrasonic cleaning robot for water supply pipelines also includes a high-pressure water cleaning mechanism (60) electrically connected to the controller. A clean water tank (12) is provided inside the robot body (10). The high-pressure water cleaning mechanism (60) is located on the cylinder wall of the robot body (10) and communicates with the clean water tank (12). The high-pressure water cleaning mechanism (60) is located between the two annular inflation and deflation airbags (50).

7. The ultrasonic cleaning robot for water supply pipelines according to claim 6, characterized in that, The robot body (10) is also provided with a sewage tank (13), and the robot body (10) is also provided with a water collection port (14) on its cylindrical wall. The sewage tank (13) is connected to the outside of the robot body (10) through the water collection port (14), and the water collection port (14) is located between the two annular inflation and deflation airbags (50).

8. The ultrasonic cleaning robot for water supply pipelines according to claim 5, characterized in that, The ultrasonic cleaning robot for water supply pipelines also includes an electric telescopic bracket (71) and a scraper (72). One end of the electric telescopic bracket (71) is connected to the outer wall of the robot body (10), and the other end is connected to the scraper (72). The electric telescopic bracket (71) is electrically connected to the controller. The scraper (72) is located between the two annular inflation and deflation airbags (50).

9. The ultrasonic cleaning robot for water supply pipelines according to claim 1, characterized in that, The detection mechanism includes a lidar, an inertial measurement sensor, an ultrasonic echo positioning sensor, and a laser-induced breakdown spectroscopy sensor, all electrically connected to the controller.

10. The ultrasonic cleaning robot for water supply pipelines according to claim 1, characterized in that, The ultrasonic cleaning robot for water supply pipelines also includes an industrial endoscope, an ultrasonic wall thickness measurement sensor, and a turbidity sensor, which are electrically connected to the controller and are mounted on the cylinder wall near the tail end of the robot body (10).

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