A pipeline dredging robot control system and method

Abstract

The present invention discloses a pipeline dredging robot control system and method, including: a positioning device and a wireless charging device. The wireless charging device includes a wireless charging receiving end and a wireless charging transmitting end. The wireless charging receiving end is installed on the pipeline dredging robot, and the wireless charging transmitting end is a free end; the wireless charging transmitting end includes a rectifying and filtering circuit, a high-frequency inverter circuit, a resonant circuit one, and a transmitting coil connected in sequence; the wireless charging receiving end includes a DC / DC converter, a rectifying and filtering circuit, a resonant circuit two, and a receiving coil connected in sequence. The DC / DC converter is connected to a charging battery; the positioning module includes an extremely low-frequency electromagnetic transmitting coil provided on the wireless charging receiving end and a magnetic sensor provided on the wireless charging transmitting end. The pipeline dredging robot is charged through magnetic resonance wireless charging, which can continuously supply power during the working process of the pipeline robot. The wireless charging receiving end is positioned through an extremely low-frequency magnetic signal, improving the efficiency of magnetic resonance wireless charging.

Description

Technical Field

[0001] The present invention belongs to the technical field of electrical control, and more specifically, the present invention relates to a pipeline dredging robot control system and method. Background Art

[0002] With the development of modern industrial technology, the demand for energy such as oil and natural gas has gradually increased, and the cleaning work of energy transmission pipelines has become a major problem. Due to the particularity of industrial pipelines, maintenance personnel cannot carry out manual operations inside the pipelines, and the traditional pipeline dredging methods have unsatisfactory dredging effects and are time-consuming and laborious. Therefore, pipeline dredging robots have emerged. However, the current pipeline dredging robots are limited by the battery capacity, and their working endurance is limited. Summary of the Invention

[0003] The present invention provides a pipeline dredging robot control system, which realizes the precise positioning of the pipeline dredging robot through extremely low frequency magnetic signals and charges the working pipeline dredging robot based on magnetic resonance wireless charging, aiming to solve the problem of limited battery capacity of existing pipeline dredging robots.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a pipeline dredging robot control system, the system includes: a positioning device and a wireless charging device, the wireless charging device includes: a wireless charging receiving end and a wireless charging transmitting end, the wireless charging receiving end is installed on the pipeline dredging robot, and the wireless charging transmitting end is a free end;

[0005] Among them, the wireless charging transmitting end includes: a rectifier filter circuit, a high-frequency inverter circuit, and a resonance circuit I connected in sequence. An emission coil is provided in the resonance circuit I. The wireless charging receiving end includes a DC / DC converter, a rectifier filter circuit, and a resonance circuit II connected in sequence. A receiving coil is provided in the resonance circuit II. The receiving coil and the emission coil are arranged opposite to each other. Among them, the DC / DC converter is connected to the charging battery of the pipeline dredging robot;

[0006] The positioning module includes: an extremely low frequency electromagnetic emission coil provided on the wireless charging receiving end and a magnetic sensor provided on the wireless charging transmitting end.

[0007] Further, the system further includes:

[0008] An infrared sensor, an ultrasonic sensor and a controller provided on the pipeline dredging robot. The output ends of the infrared sensor and the ultrasonic sensor are connected to the input end of the controller, and the output end of the controller is wirelessly connected to the input end of the upper computer.

[0009] Further, the system further includes:

[0010] The camera installed on the pipeline dredging robot, the output end of the camera is connected to the input end of the controller.

[0011] Furthermore, the system further includes:

[0012] An operating handle, the output end of the operating handle is connected to the input end of the controller through a host computer, the output end of the controller is connected to the input ends of two DC motors, and the two DC motors are used to drive two runners at the bottom of the pipeline dredging robot.

[0013] Furthermore, the system further includes:

[0014] A power detection unit for detecting the remaining power of the rechargeable battery, the output end of the power detection unit is connected to the input end of the controller.

[0015] Furthermore, the system further includes:

[0016] An inclination sensor installed on the pipeline dredging robot, the output end of the inclination sensor is connected to the input end of the controller.

[0017] Furthermore, the system further includes:

[0018] A humidity sensor, the output end of the humidity sensor is connected to the input end of the controller.

[0019] In order to achieve the above object, the technical solution adopted by the present invention is: a pipeline dredging robot control method, and the method is as follows:

[0020] Detect whether the environmental humidity is less than the humidity threshold. If the detection result is yes, drive the pipeline dredging robot to continue moving forward;

[0021] Detect the distance between the pipeline dredging robot and the object in front.

[0022] If the distance is less than the distance threshold, judge whether the object in front is an obstacle based on the collected image. If it is determined that the object in front is an obstacle, control the pipeline dredging robot to dredge the pipeline.

[0023] Furthermore, during the forward movement or dredging process of the pipeline robot, regularly detect the remaining power of the rechargeable battery. If the remaining power is lower than the power threshold, send a charging warning through the host computer.

[0024] Furthermore, during the forward movement or dredging process of the pipeline robot, real-time detect the inclination of the pipeline dredging robot. If the inclination exceeds the inclination threshold, reduce the slip difference between the two DC motors.

[0025] The pipeline dredging robot control system provided by the present invention has the following beneficial effects:

[0026] 1. The pipeline dredging robot is charged through magnetic resonance wireless charging, which solves the problem of the working endurance of the pipeline robot, enabling the robot to no longer be troubled by insufficient power and allowing for continuous power supply during the operation of the robot, thereby improving the endurance of the pipeline dredging robot. In addition, the wireless charging receiver is positioned through extremely low frequency magnetic signals, which have good penetrability and can penetrate rocks and metal pipe walls of a certain thickness. Through communication inside and outside the pipeline, real-time and accurate positioning of the wireless charging receiver can be achieved, improving the efficiency of magnetic resonance wireless charging.

[0027] 2. The information collected by the infrared sensor and the ultrasonic sensor is processed through a data fusion algorithm, and the processed data results are far superior to those of a single sensor in terms of stability and accuracy, improving the accuracy of the measurement distance between the pipeline dredging robot and the blockage. Brief Description of the Drawings

[0028] Figure 1 It is a schematic structural diagram of the pipeline dredging robot control system provided by an embodiment of the present invention.

[0029] Figure 2 It is a connection diagram of the controller and the DC motor connected through a ZigBee wireless communication module provided by an embodiment of the present invention.

[0030] Figure 3 It is a flowchart of the pipeline dredging robot control method provided by an embodiment of the present invention.

[0031] Figure 4 It is a connection diagram of the high-frequency inverter circuit provided by an embodiment of the present invention.

[0032] Figure 5 It is a connection diagram of the rectifier filter circuit provided by an embodiment of the present invention.

[0033] Figure 6 It is a connection diagram of the resonant circuit provided by an embodiment of the present invention. Detailed Embodiments

[0034] The following further details the specific embodiments of the present invention by describing the embodiments with reference to the drawings, so as to help those skilled in the art have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0035] Figure 1 It is a schematic structural diagram of the pipeline dredging robot control system provided by an embodiment of the present invention. For the convenience of description, only the parts related to the embodiments of the present invention are shown.

[0036] The system includes:

[0037] Positioning device and wireless charging device. The wireless charging device includes a wireless charging receiving end and a wireless charging transmitting end. The wireless charging receiving end is installed on a pipeline dredging robot, and the wireless charging transmitting end is a free end.

[0038] Among them, the wireless charging transmitting end includes: a rectifying and filtering circuit, a high-frequency inverter circuit, and a first resonant circuit connected in sequence. A transmitting coil is provided in the first resonant circuit; the wireless charging receiving end includes a DC / DC converter, a rectifying and filtering circuit, and a second resonant circuit connected in sequence. A receiving coil is provided in the second resonant circuit. The receiving coil and the transmitting coil are arranged opposite to each other. Among them, the DC / DC converter is connected to the charging battery of the pipeline dredging robot.

[0039] The positioning module includes: an extremely low-frequency electromagnetic emission coil provided on the wireless charging receiving end, and a magnetic sensor provided on the wireless charging transmitting end. Among them, the extremely low-frequency electromagnetic emission coil is powered by the charging battery or an external power supply.

[0040] In the embodiment of the present invention, the circuit connection diagram of the high-frequency inverter circuit is as shown in Figure 4. The high-frequency inverter circuit includes:

[0041] Four MOS tubes connected in a full bridge, including M1, M2, M4, and M3 connected in sequence. Among them, capacitors C5 and a DC power supply are connected in parallel at both ends of M1 and M3 in sequence. Four RCD absorption circuits are respectively connected in parallel between the source and drain of M1, M2, M3, and M4. A load is provided on the bridge arm. Among them, the RCD absorption circuit includes: resistors (R1, R2, R3, R4) and diodes (D1, D2, D3, D4) connected in parallel. The anodes of the diodes are connected to one end of capacitors (C1, C2, C3, C4). The cathodes of the diodes are connected to the source of the MOS tube. The other ends of the capacitors are connected to the drain of the MOS tube.

[0042] To ensure that the system can be upgraded to a higher-power load, the high-frequency inverter circuit adopts a full-bridge inverter circuit. The advantages are small drive power, low withstand voltage value, small passing current, high working frequency, and faster switching speed than IGBT. MOSFET is used as the switching device of the inverter, and the high-power field-effect transistor IXFB100N50P produced by IXYS Corporation is adopted. In the actual full-bridge inverter circuit, due to the existence of stray inductance, if a buffer circuit is not added, it will cause too high a voltage at both ends of the drain of the MOS tube, which may exceed the withstand voltage value and cause the switching tube to breakdown. Therefore, it is necessary to design a buffer circuit for protection. The present invention designs an RCD absorption circuit to absorb the current generated by the stray inductance when the switching tube is turned off. The working principle of the RCD absorption circuit is that when the switching tube is turned off, the stray inductance current will flow through the capacitor and the diode to charge the capacitor, thereby avoiding the generation of an instantaneous high voltage. When the switching tube is turned on, the capacitor discharges, and the electrical energy in the capacitor is consumed on the resistor.

[0043] In the embodiment of the present invention, the circuit connection diagram of the rectifier filter circuit is as shown in FIG. 5. The circuit of the rectifier filter circuit includes:

[0044] Four diodes connected in a bridge, including diode D7, diode D5, diode D6, and diode D8 connected in sequence. Capacitor C6 and a load are connected in parallel at both ends of diode D6 and diode D8 in sequence. One end of capacitor C6 is connected to one end of inductor L1, the other end of capacitor C6 is connected to the anodes of diode D7 and diode D8, the other end of inductor L1 is connected to the cathode of diode D6, and an AC power supply is provided on the bridge arm.

[0045] When the bridge rectifier filter circuit works, two diodes are conducting and the other two diodes are cut off, which is equivalent to the two diodes jointly bearing the reverse peak voltage. Therefore, the requirement for the maximum reverse peak voltage bearing capacity of the diodes is relatively low, and at the same time, the positive and negative cycles of the voltage can be rectified. To ensure the safe operation of the system and the improvement of the system output power, the fast recovery rectifier diode of model APT30D100B is selected for this system. The high-frequency alternating current becomes a pulsating DC voltage after passing through the bridge rectifier circuit and needs to be filtered to obtain a smooth DC voltage before it can be supplied to the battery load for use. The filter circuit of this patent selects an LC filter, and its filtering effect is significantly improved compared with that of a first-order filter composed of a single capacitor.

[0046] In the embodiment of the present invention, the connection diagram of resonance circuit 1 is as shown in FIG. 6. Resonance circuit 1 includes:

[0047] Inductor L connected in sequence f , capacitor C p and resistor R p , resistor R p is connected to the transmitting coil L p , the transmitting coil L p is connected in parallel with capacitor C f and the AC power supply AC in sequence. Capacitor C p and resistor R p are provided between the transmitting coil L p and capacitor C f , and inductor L f is provided between capacitor C f and the AC power supply AC.

[0048] In the embodiment of the present invention, the connection diagram of resonance circuit 2 is as shown in FIG. 6. Resonance circuit 2 includes:

[0049] Resistor R connected in series s , capacitor C s and a load. Resistor R s is connected to one end of the receiving coil L s ​s The other end is connected to the load.

[0050] The energy transmission part of the magnetic resonance wireless charging system consists of a transmitting-end resonant circuit and a receiving-end resonant circuit. The resonant topology is generally divided into four states, namely: series - series structure (SS), series - parallel structure (SP), parallel - parallel structure (PP), and parallel - series structure (PS). The most commonly used resonant topology is the series - series (SS) structure. The resonant state of the SS structure system is stable, and the value of the transmitting-end resonant capacitor is not affected by the coupling coefficient between the transmitting and receiving coils and the load. However, the current in the transmitting coil will change with the coupling coefficient and the load. Therefore, the present invention adopts the LCC - S type as the resonant compensation structure of the wireless charging module. In the resonant circuit, C r and C s are the transmitting-end and receiving-end resonant capacitors respectively, L p and L s are the transmitting coil and receiving coil respectively, R p and R s are the internal resistances of the transmitting coil and receiving coil respectively, and M is the mutual inductance between the transmitting coil and the receiving coil. The LCC - S resonant topology has zero input reactive power characteristics compared with the above four resonant topologies. The gain of the circuit can be adjusted by the inductor L f , and the current in the transmitting coil is independent of the load, and a stable electromagnetic field can be formed at the transmitting end, thus making up for the deficiencies of the SS structure. In the embodiment of the present invention, when it is necessary to charge the pipeline dredging robot, the magnetic sensor is activated to detect the extremely low-frequency magnetic signal emitted by the extremely low-frequency electromagnetic transmitting coil, that is, to detect the position of the receiving end. The transmitting end is moved above the receiving end, and the wireless charging transmitting end is activated (the AC power supply is connected). The alternating current is converted into high-frequency alternating current through the rectifier filter circuit and the high-frequency inverter circuit, and the electric energy is converted into magnetic energy and emitted through the transmitting coil in the form of electromagnetic resonance. When the receiving coil and the transmitting coil are tuned to the same or a specific frequency, resonance occurs, thereby powering the pipeline dredging robot.

[0051] In the embodiment of the present invention, the system further includes:

[0052] The infrared sensor, ultrasonic sensor and controller are provided on the pipeline dredging robot. The output ends of the infrared sensor and ultrasonic sensor are connected to the input end of the controller, and the output end of the controller is wirelessly connected to the input end of the upper computer. The controller selects the STM32F429IGT6 chip and is wirelessly connected through the zigbee wireless communication module. A data fusion algorithm (existing algorithm) is integrated on the controller. The infrared sensor and ultrasonic sensor send the distance information of the obstacle in front of the driving to the controller, and the controller sends the distance information of the pipeline dredging robot from the obstacle to the upper computer for display. When the pipeline dredging robot travels to the obstacle, the pipeline dredging robot can be controlled to dredge the pipeline.

[0053] In the embodiment of the present invention, the system further includes:

[0054] A camera is provided on the pipeline dredging robot. The output end of the camera is connected to the input end of the controller. The camera collects the image in front of the robot in real time and sends it to the upper computer for display through the controller, which is convenient for the staff on the ground to timely understand the environment in the pipeline.

[0055] In the embodiment of the present invention, the system further includes:

[0056] An operating handle, the output end of the operating handle is connected to the input end of the upper computer, the output end of the upper computer is connected to the input end of the controller, and the output end of the controller is connected to the input ends of two DC motors. The two DC motors are used to drive two runners at the bottom of the pipeline dredging robot. The circuit connection schematic diagram of the controller and the two DC motors is as Figure 2 shown;

[0057] STM32F429IGT6 adopts a 32-bit Cortex-M4 core, and the system clock frequency can reach up to 180MHz at most. It includes 3 12-bit ADCs, 2 DACs, 1 low-power RTC, 2 32-bit general-purpose timers, and 12 16-bit general-purpose timers including two PWM timers for motor drive. One timer can be divided into 4 PWM signal channels, which can ensure the PWM signals of the DC motors on both sides at the bottom of the robot.

[0058] Figure 2Connection diagram of the minimum system of STM32F429IGT6 with Zigbee module and DC motor module. The minimum system can be divided into four parts: reset unit, external crystal oscillator (32.768KHz), startup mode, and system power supply. The RX1 and TX1 pins of the Zigbee module are respectively connected to the PD5 and PD6 pins of the STM32F429IGT6 chip. The maximum output voltage of STM32F429IGT6 is 3.3V (current not exceeding 20mA), which cannot directly drive the DC motor. To make the DC motor work properly, the L298N motor driver chip is selected. The IN1 and IN2 pins of the L298N driver chip are respectively connected to the PA5 and PA6 pins of the main control chip, and the IN3 and IN4 pins of the L298N driver chip are respectively connected to the PA7 and PA8 pins of the main control chip. The main control chip sends drive signals to the L298N driver chip through the four pins of PA5, PA6, PA7, and PA8, and the driver chip can indirectly drive the DC motor, thus realizing the control of the DC motors on both sides of the robot bottom by the main control chip.

[0059] The operation handle sends direction control instructions, which are sent based on the direction control keys, including the forward control key and the backward control key. The controller sends the direction control instructions to the controller through the upper computer. The controller controls the steering of the DC motor based on the direction control instructions, so that the pipeline dredging robot travels in the direction corresponding to the direction control instructions.

[0060] In the embodiment of the present invention, the system further includes:

[0061] Power detection unit, the output end of the power detection unit is connected to the input end of the controller. The power detection unit detects the remaining power of the rechargeable battery and sends the detected remaining power value to the controller. If the remaining power is lower than the power threshold, a charging warning signal is sent through the upper computer.

[0062] In the embodiment of the present invention, the system further includes:

[0063] An inclination sensor provided on the pipeline dredging robot, the output end of the inclination sensor is connected to the input end of the controller. If the inclination sensor detects that the inclination of the pipeline dredging robot is greater than the inclination threshold, the controller reduces the rotational speed difference between the two DC motors to prevent the pipeline dredging robot from tipping over.

[0064] In the embodiment of the invention, the system further includes:

[0065] Humidity sensor, the output end of the humidity sensor is connected to the input end of the controller. The humidity sensor is used to detect the humidity value in the environment. If the humidity value is greater than the humidity threshold, it controls the two DC motors to stop rotating and sends a prompt through the upper computer.

[0066] Figure 3 The flowchart of the control method for the pipeline dredging robot provided by the embodiment of the present invention is as follows. The method specifically includes the following steps:

[0067] S1. Detect whether the environmental humidity is less than the humidity threshold. If the detection result is yes, drive the pipeline dredging robot to continue moving forward. If the detection result is no, control the DC motor to stop rotating;

[0068] S2. Detect the distance between the pipeline dredging robot and the object in front;

[0069] S3. If the distance to the object in front is less than the distance threshold, judge whether the object in front is an obstacle based on the collected image. If it is determined that the object in front is an obstacle, control the pipeline dredging robot to dredge the pipeline.

[0070] During the forward movement or dredging process of the pipeline robot, regularly detect the remaining power of the rechargeable battery. If the remaining power is lower than the power threshold, send a charging warning through the upper computer. In addition, during the forward movement or dredging process of the pipeline robot, real-time detect the inclination angle of the pipeline dredging robot. If the inclination angle exceeds the inclination threshold, reduce the slip difference between the two DC motors.

[0071] The pipeline dredging robot control system provided by the present invention has the following beneficial effects:

[0072] 1. Charge the pipeline dredging robot through the magnetic resonance wireless charging method, solve the working endurance problem of the pipeline robot, so that the robot is no longer troubled by insufficient power, and can be continuously powered during the working process of the robot to improve the endurance of the pipeline dredging robot. In addition, position the wireless charging receiver through the extremely low frequency magnetic signal. The extremely low frequency magnetic signal has good penetration and can penetrate rocks and metal pipe walls with a certain thickness. Through communication inside and outside the pipeline, the wireless charging receiver can be accurately positioned in real time, and the magnetic resonance wireless charging efficiency can be improved;

[0073] 2. Process the information collected by the infrared sensor and the ultrasonic sensor through the data fusion algorithm. The processed data results are far superior to the effects of a single sensor in terms of stability and accuracy, and improve the accuracy of the measured distance between the pipeline dredging robot and the blockage;

[0074] The above has described the present invention in an exemplary manner with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A pipeline dredging robot control system, characterized in that, The system includes: a positioning device and a wireless charging device. The wireless charging device includes: a wireless charging receiving end and a wireless charging transmitting end. The wireless charging receiving end is installed on the pipeline dredging robot, and the wireless charging transmitting end is a free end; Among them, the wireless charging transmitting end includes: a rectifier filter circuit, a high-frequency inverter circuit, and a first resonant circuit connected in sequence. A transmitting coil is provided in the first resonant circuit; the wireless charging receiving end includes a DC / DC converter, a rectifier filter circuit, and a second resonant circuit connected in sequence. A receiving coil is provided in the second resonant circuit, and the receiving coil is disposed opposite to the transmitting coil; among them, the DC / DC converter is connected to the charging battery of the pipeline dredging robot; The positioning module includes: an extremely low-frequency electromagnetic transmitting coil provided on the wireless charging receiving end and a magnetic sensor provided on the wireless charging transmitting end; The high-frequency inverter circuit includes: four MOS tubes connected in a full bridge, including M1, M2, M4, and M3 connected in sequence. Among them, capacitors C5 and a DC power supply are connected in parallel at both ends of M1 and M3. Four RCD absorption circuits are respectively connected in parallel between the source and drain of M1, M2, M3, and M4. A load is provided on the bridge arm. Among them, the RCD absorption circuit includes: resistors R1, R2, R3, and R4 connected in parallel, and diodes D1, D2, D3, and D4. The anodes of the diodes are connected to one end of capacitors C1, C2, C3, and C4. The cathodes of the diodes are connected to the source of the MOS tube, and the other ends of the capacitors are connected to the drain of the MOS tube; The circuit of the rectifier filter circuit includes: four diodes connected in a bridge, including diode D7, diode D5, diode D6, and diode D8 connected in sequence. Capacitor C6 and a load are connected in parallel at both ends of diode D6 and diode D8. One end of capacitor C6 is connected to one end of inductor L1. The other end of capacitor C6 is connected to the anodes of diode D7 and diode D8. The other end of inductor L1 is connected to the cathode of diode D6. An AC power supply is provided on the bridge arm; Resonant circuit 1 includes: an inductor L connected in sequence f , a capacitor C p , and a resistor R p . The resistor R p is connected to the transmitting coil L p . The transmitting coil L p is connected in parallel with the capacitor C f and the AC power supply AC in sequence. The capacitor C p and the resistor R p are arranged between the transmitting coil L p and the capacitor C f . The inductor L f is arranged between the capacitor C f and the AC power supply AC; The second resonant circuit includes: a resistor R connected in series s 、 a capacitor C s and a load, the resistor R s is connected to one end of the receiving coil L s and the other end of the receiving coil L s is connected to the load.

2. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: An infrared sensor, an ultrasonic sensor, and a controller provided on the pipeline dredging robot. The output ends of the infrared sensor and the ultrasonic sensor are connected to the input end of the controller, and the output end of the controller is wirelessly connected to the input end of the upper computer.

3. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: A camera provided on the pipeline dredging robot. The output end of the camera is connected to the input end of the controller.

4. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: An operation handle. The output end of the operation handle is connected to the input end of the controller through the upper computer. The output end of the controller is connected to the input ends of two DC motors. The two DC motors are used to drive two runners at the bottom of the pipeline dredging robot.

5. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: A power detection unit for detecting the remaining power of the charging battery. The output end of the power detection unit is connected to the input end of the controller.

6. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: An inclination sensor provided on the pipeline dredging robot. The output end of the inclination sensor is connected to the input end of the controller.

7. The pipeline dredging robot control system according to claim 1, characterized in that, The system further includes: A humidity sensor. The output end of the humidity sensor is connected to the input end of the controller.

8. A pipeline dredging robot control method based on the pipeline dredging robot control system according to any one of claims 1 to 7, characterized in that, The method is specifically as follows: Detect whether the environmental humidity is less than the humidity threshold. If the detection result is yes, drive the pipeline dredging robot to continue moving forward; Detect the distance between the pipeline dredging robot and the object in front; If the distance is less than the distance threshold, judge whether the object in front is an obstacle based on the collected image. If it is determined that the object in front is an obstacle, control the pipeline dredging robot to dredge the pipeline.

9. The pipeline dredging robot control method according to claim 8, characterized in that, During the forward movement or dredging process of the pipeline robot, regularly detect the remaining power of the rechargeable battery. If the remaining power is lower than the power threshold, send a charging warning through the host computer.

10. The pipeline dredging robot control method according to claim 8, characterized in that, During the forward movement or dredging process of the pipeline robot, real-time detect the inclination angle of the pipeline dredging robot. If the inclination angle exceeds the inclination threshold, reduce the slip difference between the two DC motors.

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