Cylindrical pile cleaning and inspection robot

Abstract

The present invention discloses a cylindrical pile cleaning and inspection robot, comprising a supporting component, a climbing component, a cleaning component, a detection component, a control unit, and a control center; the supporting component is connected to the climbing component and the cleaning component; the cleaning component is a split structure, and can rotate along the supporting component; the detection component and the control unit are both arranged on the supporting component, and the control unit is respectively connected to the climbing component, the cleaning component and the detection component; the control center remotely connects and controls the control unit, and receives and analyzes the return data of the control unit. The control unit of the present invention can control the climbing component and the cleaning component to realize automatic cleaning of the cylindrical pile body, and the cleaning is efficient and convenient; the control unit receives the data of the detection component and transmits the data to the control center, and the control center can remotely check the cleaning status of the cylindrical pile and whether there are defects on the surface of the cylindrical pile through analysis, and then the defects can be marked for subsequent repair and maintenance operations.

Description

Technical Field

[0001] The invention relates to the technical field of cylindrical pile cleaning equipment, and in particular to a cylindrical pile cleaning and detection robot. Background Art

[0002] With the extensive use of marine resources, the number of marine platforms in the world is increasing. At present, my country has more than 200 offshore oil and gas platforms and more than 100 cross-sea bridges standing on the sea. At the same time, a large number of marine structures such as seaports and docks have been built. The main supporting components of these marine structures are cylindrical piles. Cylindrical piles are the main load-bearing and supporting components. However, since most of the cylindrical piles are placed underwater all year round after installation, they are often attached by fouling organisms in the ocean, and marine organisms reproduce and grow on the surface of the cylindrical piles, such as oysters and barnacles. The reproduction and growth of these marine organisms will destroy the anti-corrosion layer on the surface of the cylindrical piles, causing the cylindrical piles to corrode and damage faster in the complex environment of seawater. Therefore, it is necessary to clean the marine organisms on the cylindrical piles to prevent them from damaging and corroding the surface of the cylindrical piles.

[0003] The existing cleaning of aquatic organisms on the surface of cylindrical piles mainly relies on manpower, mainly by building a platform on the horizontal plane. The cylindrical piles exposed on the horizontal plane can be cleaned directly, while the cylindrical piles immersed below the horizontal plane rely on people to dive and clean. During the diving cleaning process, the underwater environment is complex, the cleaning process has certain risks, and the cleaning needs to carry relevant equipment for cleaning the cylindrical piles, which is inconvenient to clean. The time spent on manual cleaning and maintenance is long and the efficiency is low. Summary of the invention

[0004] In view of the above-mentioned shortcomings, the present invention provides a cylindrical pile cleaning and inspection robot which can automatically clean the cylindrical pile body, and the cleaning process is efficient and convenient. At the same time, the cleaning and inspection status of the cylindrical pile can be checked remotely, so that the defective parts of the cylindrical pile can be recorded conveniently, which is convenient for the subsequent repair and maintenance of the cylindrical pile body.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A cylindrical pile cleaning and inspection robot comprises a supporting component, a climbing component, a cleaning component, a detecting component, a control unit and a control center; the supporting component is a split structure, with the upper part connected to the climbing component and the lower part connected to the cleaning component; the cleaning component is a split structure and can rotate along the supporting component; the detecting component and the control unit are both arranged on the supporting component, and the control unit is respectively connected to the climbing component, the cleaning component and the detecting component; the control center remotely connects to and controls the control unit, and receives and analyzes the return data of the control unit.

[0007] Furthermore, the support component includes a circular support plate, a connecting plate and bolts; the support plate has two pieces, each of which is a split design formed by two semicircular plates connected by bolts, and the two support plates are connected by a connecting plate A, the upper support plate is installed with the climbing component, and the lower support plate is connected with the cleaning component. Bolts are used to connect the two semicircular plates to form a circular ring, which is convenient for connecting the robot with the cylindrical pile body; the support plate facilitates the installation or connection of the entire support component with other components, and facilitates the integrated assembly of the components of the entire cleaning and detection robot.

[0008] Furthermore, a plurality of lifting rings are evenly arranged on the top of the upper support plate. When in use, the lifting rings can be connected to the hoisting machine through steel wires to realize the hoisting of the robot and can be used as an alternative climbing mechanism in cooperation with the external hoisting machine when the climbing component fails. At the same time, if the robot fails during operation, it can be hoisted and recovered by the hoisting machine.

[0009] Furthermore, the cleaning component includes a power mechanism, a support, a rotating mechanism and a scraper; the power member and the support are both arranged on the lower support plate, and the power mechanism is connected to the control unit; the rotating mechanism is a split structure, embedded in the inner ring of the annular support plate, the upper end is connected to the power mechanism and the support, and the bottom is connected to the scraper. The scraper has a certain adjustment ability along the radial direction of the pile body, and can be adjusted before work according to the diameter of the pile body; continuous cleaning can be achieved under the cooperation of the cleaning component rotation speed, the single cleaning length of the scraper and the climbing component; when in use, the control unit controls the movement of the power mechanism, the power mechanism is connected to the rotating mechanism and provides power to the rotating mechanism to rotate it, and the rotating mechanism drives the scraper to rotate to clean the surface of the cylindrical pile body; the support is fixedly mounted on the lower support plate and connected to the rotating mechanism to provide a certain support force for the rotating mechanism to ensure stable use, while preventing the rotating mechanism from separating from the support during use, resulting in the inability to carry out the cleaning operation normally.

[0010] Furthermore, the rotating mechanism includes an upper plate and a lower plate, a connecting plate B, a connecting block and a rotating guide wheel. The upper plate and the lower plate are both annular plates, and the corresponding notches of the upper plate and the lower plate are connected by connecting plates B respectively; the connecting block connects two adjacent connecting plates; the rotating guide wheel is arranged between the upper plate and the lower plate. When in use, the upper plate is connected to the power mechanism and the supporting component respectively, and the lower plate is connected to the scraper; the connection and disassembly of the split rotating mechanism is through the connection and release between the connecting block and the connecting plate B, which is convenient for installation or disassembly with the cylindrical pile body; the rotating guide wheel strengthens the contact between the rotating component and the surface of the cylindrical pile body during operation, and cleans the surface of the cylindrical pile body during use, further ensuring the cleaning effect of the surface of the cylindrical pile body.

[0011] Furthermore, the power mechanism is provided with a gear; the support structure includes a support frame and a bearing, the support frame is fixedly mounted on the lower support plate, and the support frame is provided with a bearing; the outer diameter of the upper plate is smaller than the inner diameter of the support plate, and a transmission gear connected to the power mechanism is provided on the top, and an annular groove connected to the bearing is provided on the outer periphery of the upper plate. The power mechanism adopts an electric motor or a hydraulic motor, and the bearing adopts an angular contact ball bearing; when in use, the control unit drives the power mechanism to move, and while the power mechanism moves, the gear meshes with the transmission gear of the rotating mechanism, driving the rotating mechanism to rotate, and at the same time driving the lower plate to rotate, and the scraper on the lower plate cleans the surface of the cylindrical pile body; when the rotating mechanism rotates, the bearing is embedded in the annular groove to support the rotating mechanism to prevent the rotating mechanism from slipping during use, resulting in failure to clean the cylindrical pile body.

[0012] Furthermore, the climbing component includes a climbing mechanism and a climbing power mechanism; the climbing mechanism includes a bracket and a climbing wheel, the bracket is fixedly arranged on the upper part of the supporting component, and the climbing wheel is installed on the bracket; the climbing power mechanism is connected to the climbing wheel through a crankshaft, and the climbing mechanism is connected to the control unit. The climbing power mechanism adopts a motor reducer combination or a hydraulic motor; when in use, the climbing wheel abuts against the cylindrical pile body, the control unit controls the driving climbing power mechanism to operate, drives the crankshaft to rotate, and the crankshaft drives the climbing wheel to move upward or downward to achieve the climbing operation; the climbing process only needs to control the control unit to achieve the control of the climbing component, which is easy to use and convenient for programming of the control unit.

[0013] Furthermore, the detection component includes a plurality of high-definition cameras and a plurality of distance measuring sensors, wherein the plurality of high-definition cameras are evenly arranged on the upper support plate, and the cameras are respectively connected to the control unit, and the plurality of distance measuring sensors are evenly arranged on the lower support plate, and the distance measuring sensors are respectively connected to the control unit. When in use, the plurality of high-definition cameras collect image information on the surface of the cylindrical pile body, and transmit the information to the control unit, which is uniformly transmitted to the control center by the control unit, and the image is integrated and analyzed in the control center to determine whether the cylindrical pile body is cleaned and whether there are defective positions, so as to facilitate subsequent repair and maintenance; at the same time, the plurality of distance measuring sensors detect the distance from the current position to the water surface, and send the detected information to the control unit after receiving it, which is uniformly transmitted to the control center by the control unit, and the transmission data of the plurality of distance measuring sensors are analyzed in the control center to determine the position of the robot from the water surface, so as to facilitate monitoring of the working condition of the robot.

[0014] Furthermore, the control unit includes a plc control chip and a signal transceiver, and the plc control chip is connected to the signal transceiver. The information of the detection component is transmitted to the plc control chip, and the plc control chip sends it to the control center through the signal transceiver, and the control center performs the next step of analysis and judgment; the signal transceiver receives the control signal sent by the control center, and controls the plc control chip according to the received signal.

[0015] Furthermore, the control center is remotely connected to the control unit via wireless signals, and the control center includes a data analysis module and a remote control module; the data analysis module analyzes the data sent back by the control unit, and integrates the data to establish a proportional model of the cylindrical pile body, and the analysis results are marked on the model; the remote control module sends control information to the control unit to control the control unit. The control center is remotely connected to the control unit via wireless signals, so that the range of action of the robot is not limited by the length of the data transmission line when in use, which is convenient for the movement of the robot; the data analysis module establishes a proportional analysis model, and marks the analysis results on the model, so that the analysis results can be intuitively expressed through the model, which is convenient for the staff to view the cleaning effect of the cylindrical pile body and the test results.

[0016] The design of the split structure of the support component and the cleaning component facilitates the connection of the robot to the cylindrical pile. The cleaning rate and single cleaning distance of the cleaning component cooperate with the speed of the climbing component to realize continuous cleaning. When in use, the robot is connected to the cylindrical pile, and the control unit is turned on. The single cleaning steps of the robot are as follows: the control unit first controls the cleaning component to turn on. After the cleaning component is turned on, it rotates along the cylindrical pile and cleans the surface of the cylindrical pile at the same time. The cleaning component rotates one circle to complete the cleaning. After that, the cleaning component stops. The control unit controls the climbing component to move downward and turns on the detection component to detect the surface of the cylindrical pile at the same time, and transmits the detection result back to the control unit. The control unit transmits the detection result to the control center, which analyzes and determines the detection status and records the judgment result. The single cleaning is completed. Then the control unit controls the robot to repeat the single cleaning steps several times until the entire cylindrical pile is cleaned. After the cylindrical pile is cleaned, the control unit controls the climbing component to climb upward, and then separates the robot from the cylindrical pile. The entire cylindrical pile cleaning and detection operation is completed. In the above control process, the control center receives the detection information of the detection component sent back by the control unit, analyzes the information, and determines the cleaning status of the cylindrical pile and the surface status of the cylindrical pile.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] 1. The present invention controls the climbing component and the cleaning component through the control unit to realize the automatic cleaning operation of the robot, and the process is efficient and convenient; the control unit receives the data of the detection component and transmits the data to the control center, and then the control center analyzes the data to obtain the cleaning or detection results, and marks the defective positions, which is convenient for the staff to remotely view the cleaning effect of the robot and the defects on the surface of the cylindrical pile body during use, and is convenient for the subsequent repair and maintenance of the cylindrical pile body.

[0019] 2. The support mechanism of the present invention facilitates the installation of the climbing component, the cleaning component, the detection component, and the control unit, so that the overall structure of the robot is compact after assembly and is easy to use; the cleaning component drives the movement of the rotating mechanism through the power mechanism, and at the same time drives the scraper to rotate to clean the surface of the cylindrical pile body, with simple transmission and good cleaning effect; the climbing component drives the climbing wheel to automatically move upward or downward along the surface of the cylindrical pile body through the climbing power mechanism, without manual assistance, and is simple and convenient to use.

[0020] 3. The control center data analysis module of the present invention not only realizes the analysis of the returned data, but also establishes a proportional model of the cylindrical pile body and marks the analysis results on the model, so that the detection results are clear and easy for the staff to view. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a schematic diagram of the main structure when a cylindrical pile cleaning and inspection robot is connected to a cylindrical pile body.

[0022] Figure 2 The utility model is a top view structural schematic diagram of a cylindrical pile cleaning and inspection robot connected to a cylindrical pile body.

[0023] Figure 3 The present invention is a three-dimensional structural schematic diagram of a cylindrical pile cleaning and inspection robot connected to a cylindrical pile body.

[0024] Figure ID:

[0025] Support component-1, support plate-11, connecting plate A-12, bolt-13, lifting ring-15, climbing component-2, climbing mechanism-21, bracket-211, climbing wheel-212, climbing power mechanism-22, cleaning component-3, power mechanism-31, support-32, support frame-321, bearing-322, rotating mechanism-33, upper plate-331, lower plate-332, connecting plate B-333, connecting block-334, rotating guide wheel-335, transmission gear-336, annular groove-337, scraper-34, detection component-4, high-definition camera-41, ranging sensor-42, control unit-5. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings.

[0027] Embodiment 1:

[0028] A cylindrical pile cleaning and inspection robot comprises a supporting component 1, a climbing component 2, a cleaning component 3, a detecting component 4, a control unit 5 and a control center; the supporting component 1 is a split structure, with the upper portion connected to the climbing component 2 and the lower portion connected to the cleaning component 3; the cleaning component 3 is a split structure and can rotate along the supporting component 1; the detecting component 4 and the control unit 5 are both arranged on the supporting component 1, and the control unit 5 is respectively connected to the climbing component 2, the cleaning component 3 and the detecting component 4; the control center remotely connects to and controls the control unit 5, and receives and analyzes the feedback data of the control unit 5.

[0029] The design of the split structure of the supporting component 1 and the cleaning component 3 facilitates the connection between the robot and the cylindrical pile. The cleaning rate and single cleaning distance of the cleaning component 3 cooperate with the speed of the climbing component 2 to realize continuous cleaning. When in use, the robot is connected to the cylindrical pile, and the control unit 5 is turned on. The single cleaning steps of the robot are as follows: the control unit 5 first controls the cleaning component 3 to turn on. After the cleaning component 3 is turned on, it rotates along the cylindrical pile and cleans the surface of the cylindrical pile at the same time. The cleaning component 3 rotates one circle to complete the cleaning, and then the cleaning component 3 stops. The control unit 5 controls the climbing component 2 to move downward, and at the same time turns on the detection component 4 to detect the surface of the cylindrical pile. , and transmits the detection result back to the control unit 5, the control unit 5 transmits the detection result to the control center, the control center analyzes and determines the detection status, and records the judgment result, and the single cleaning is completed; thereafter, the control unit 5 controls the robot to repeat the single cleaning steps several times until the entire cylindrical pile is cleaned. After the cylindrical pile is cleaned, the control unit 5 controls the climbing component 2 to climb upwards, and then separates the robot from the cylindrical pile, and the entire cylindrical pile cleaning and detection operation is completed; in the above control process, the control center receives the detection information of the detection component 4 sent back by the control unit 5, analyzes the information, and determines the cleaning status of the cylindrical pile and the surface condition of the cylindrical pile.

[0030] Embodiment 2:

[0031] The difference from Example 1 is that the support component 1 includes a circular support plate 11, a connecting plate and a bolt 13; the support plate 11 has two pieces, each of which is formed by two semicircular plates connected by bolts 13 to form a split design, and the two support plates 11 are connected by a connecting plate A12, the upper support plate 11 is installed with the climbing component 2, and the lower support plate 11 is connected with the cleaning component 3. The two semicircular plates are connected by bolts 13 to form a circular ring, which is convenient for the connection between the robot and the cylindrical pile body; the support plate 11 facilitates the installation or connection of the entire support component 1 with other components, and facilitates the integrated assembly of the components of the entire cleaning and detection robot.

[0032] The top of the upper support plate 11 is evenly provided with a plurality of lifting rings 15. When in use, the lifting rings 15 can be connected to the hoisting machine through a steel wire to realize the hoisting of the robot and can be used as an alternative climbing mechanism 21 in cooperation with the external hoisting machine when the climbing component 2 fails. At the same time, if the robot fails during operation, it can be hoisted and recovered by the hoisting machine.

[0033] The cleaning component 3 includes a power mechanism 31, a support member 32, a rotating mechanism 33 and a scraper 34; the power member and the support member 32 are both arranged on the lower support plate, and the power mechanism 31 is connected to the control unit 5; the rotating mechanism 33 is a split structure, embedded in the inner ring of the annular support plate 11, the upper end is connected to the power mechanism 31 and the support member 32, and the bottom is connected to the scraper 34. The scraper 34 has a certain adjustment ability along the radial direction of the pile body, and can be adjusted before work according to the diameter of the pile body; when in use, the control unit 5 controls the movement of the power mechanism 31, the power mechanism 31 is connected to the rotating mechanism 33 and provides power to the rotating mechanism 33 to rotate, and the rotating mechanism 33 drives the scraper 34 to rotate to clean the surface of the cylindrical pile body; the support member 32 is fixedly installed on the lower support plate and connected to the rotating mechanism 33, providing a certain support force for the rotating mechanism 33 to ensure stable use, and at the same time prevent the rotating mechanism 33 from separating from the support member 32 during use, resulting in the inability to perform the cleaning operation normally.

[0034] The rotating mechanism 33 includes an upper plate 331 and a lower plate 332, a connecting plate B333, a connecting block 334 and a rotating guide wheel 335. The upper plate 331 and the lower plate 332 are both annular plates, and the corresponding notches of the upper plate 331 and the lower plate 332 are connected by connecting plates B333 respectively; the connecting block 334 connects two adjacent connecting plates; the rotating guide wheel 335 is arranged between the upper plate 331 and the lower plate 332. When in use, the upper plate 331 is connected to the power mechanism 31 and the supporting component 1 respectively, and the lower plate 332 is connected to the scraper 34; the connection and disassembly of the split rotating mechanism 33 is through the connection and release between the connecting block 334 and the connecting plate B333, which is convenient for installation or disassembly with the cylindrical pile body; the rotating guide wheel 335 strengthens the contact between the rotating component and the surface of the cylindrical pile body during operation, and cleans the surface of the cylindrical pile body when in use, further ensuring the cleaning effect of the surface of the cylindrical pile body.

[0035] The power mechanism 31 is provided with a gear; the support structure includes a support frame 321 and a bearing 322, the support frame 321 is fixedly mounted on the lower support plate 11, and the support frame 321 is provided with a bearing 322; the outer diameter of the upper plate 331 is smaller than the inner diameter of the support plate 11, and a transmission gear 336 connected to the power mechanism 31 is provided on the top, and an annular groove 337 connected to the bearing 322 is provided on the outer periphery of the upper plate 331. The power mechanism 31 adopts an electric motor or a hydraulic motor, and the bearing 322 adopts an angular contact ball bearing; when in use, the control unit 5 drives the power mechanism 31 to move, and while the power mechanism 31 moves, the gear meshes with the transmission gear 336 of the rotating mechanism 33, driving the rotating mechanism 33 to rotate, and at the same time driving the lower plate 332 to rotate, and the scraper 34 on the lower plate 332 cleans the surface of the cylindrical pile body; when the rotating mechanism 33 rotates, the bearing 322 is embedded in the annular groove 337 to support the rotating mechanism 33, so as to prevent the rotating mechanism 33 from slipping during use, resulting in failure to clean the cylindrical pile body.

[0036] The working principle of this embodiment is the same as that of embodiment 1.

[0037] Embodiment 3:

[0038] The difference from the embodiment 1 is that the climbing component 2 includes a climbing mechanism 21 and a climbing power mechanism 22; the climbing mechanism 21 includes a bracket 211 and a climbing wheel 212, the bracket 211 is fixedly arranged on the upper part of the supporting component 1, and the climbing wheel 212 is installed on the bracket 211; the climbing power mechanism 22 is connected to the climbing wheel 212 through a crankshaft, and the climbing mechanism 21 is connected to the control unit 5. The climbing power mechanism 22 adopts a motor reducer combination or a hydraulic motor; when in use, the climbing wheel 212 is against the cylindrical pile body, and the control unit 5 controls the driving of the climbing power mechanism 22 to operate, drive the crankshaft to rotate, and the crankshaft drives the climbing wheel 212 to move upward or downward to achieve the climbing operation; the climbing process only needs to control the control unit 5 to realize the control of the climbing component 2, which is convenient to use and convenient for programming the control unit 5.

[0039] The working principle of this embodiment is the same as that of embodiment 1.

[0040] Embodiment 4:

[0041] The difference from the embodiment 1 is that the detection component 4 includes a plurality of high-definition cameras 41 and a plurality of distance sensors 42. The plurality of high-definition cameras 41 are evenly arranged on the upper support plate 11, and the cameras are respectively connected to the control unit 5. The plurality of distance sensors 42 are evenly arranged on the lower support plate, and the distance sensors 42 are respectively connected to the control unit 5. When in use, the plurality of high-definition cameras 41 collect image information on the surface of the cylindrical pile body, and transmit the information to the control unit 5, which is uniformly transmitted to the control center by the control unit 5, and the image is integrated and analyzed in the control center to determine whether the cylindrical pile body is cleaned and whether there are defective positions, so as to facilitate subsequent repair and maintenance; at the same time, the plurality of distance sensors 42 detect the distance from the current position to the water surface, and send the detected information to the control unit 5 after receiving it, which is uniformly transmitted to the control center by the control unit 5, and the transmission data of the plurality of distance sensors 42 are analyzed in the control center to determine the position of the robot from the water surface, so as to facilitate monitoring the working condition of the robot.

[0042] The working principle of this embodiment is the same as that of embodiment 1.

[0043] Embodiment 5:

[0044] The difference from Example 1 is that the control unit 5 includes a plc control chip 5 and a signal transceiver, and the plc control chip 5 is connected to the signal transceiver. The information of the detection component 4 is transmitted to the plc control chip, and the plc control chip sends it to the control center through the signal transceiver, and the control center performs the next step of analysis and judgment; the signal transceiver receives the control signal sent by the control center, and controls the plc control chip according to the received signal.

[0045] The control center is remotely connected to the control unit 5 via wireless signals, and the control center includes a data analysis module and a remote control module; the data analysis module analyzes the data sent back by the control unit 5, and integrates the data to establish a proportional model of the cylindrical pile body, and the analysis results are marked on the model; the remote control module sends control information to the control unit 5 to control the control unit 5. The control center is remotely connected to the control unit 5 via wireless signals, so that the range of action of the robot is not limited by the length of the data transmission line when it is used, which is convenient for the movement of the robot; the proportional analysis model established by the data analysis module and the analysis results are marked on the model, so that the analysis results can be intuitively expressed through the model, which is convenient for the staff to view the cleaning effect of the cylindrical pile body and the detection results.

[0046] The working principle of this embodiment is the same as that of embodiment 1.

[0047] In the description of the present invention, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A cylindrical pile cleaning and inspection robot, characterized in that: The invention comprises a supporting component (1), a climbing component (2), a cleaning component (3), a detecting component (4), a control unit (5), and a control center; the supporting component (1) is a split structure, the upper part of which is connected to the climbing component (2), and the lower part of which is connected to the cleaning component (3); the cleaning component (3) is a split structure, and is capable of rotating along the supporting component (1); the detecting component (4) and the control unit (5) are both arranged on the supporting component (1), and the control unit (5) is respectively connected to the climbing component (2), the cleaning component (3), and the detecting component (4); the control center is remotely connected to and controls the control unit (5), and receives and analyzes the returned data from the control unit (5); The support component (1) comprises a circular support plate (11), a connecting plate and bolts (13); the support plate (11) comprises two pieces, each support plate (11) is formed by two semicircular plates connected by bolts (13) to form a split design, the two support plates (11) are connected by a connecting plate A (12), the upper support plate (11) is installed with the climbing component (2), and the lower support plate (11) is connected with the cleaning component (3); The cleaning component (3) comprises a power mechanism (31), a support member (32), a rotating mechanism (33) and a scraper (34); the power member and the support member (32) are both arranged on a lower support plate, and the power mechanism (31) is connected to a control unit (5); the rotating mechanism (33) is a split structure, embedded in the inner ring of the annular support plate (11), with the upper end connected to the power mechanism (31) and the support member (32), and the bottom connected to the scraper (34); The rotating mechanism (33) comprises a split annular upper plate (331) and a lower plate (332), a connecting plate B (333), a connecting block (334) and a rotating guide wheel (335); the upper plate (331) and the lower plate (332) are both annular plates; corresponding notches of the upper plate (331) and the lower plate (332) are connected via connecting plates B (333); the connecting block (334) connects two adjacent connecting plates; and the rotating guide wheel (335) is arranged between the upper plate (331) and the lower plate (332); The control center is remotely connected to the control unit (5) via wireless signals, and the control center comprises a data analysis module and a remote control module; the data analysis module analyzes the data sent back by the control unit (5), and integrates the data to establish a proportionally scaled model of the cylindrical pile body, and the analysis results are marked on the model; the remote control module sends control information to the control unit (5) to control the control unit (5).

2. A cylindrical pile cleaning and inspection robot as claimed in claim 1, characterized in that: A plurality of lifting rings (15) are evenly arranged on the top of the upper support plate (11).

3. A cylindrical pile cleaning and inspection robot as claimed in claim 1, characterized in that: The power mechanism (31) is provided with a gear; the support structure comprises a support frame (321) and a bearing (322); the support frame (321) is fixedly mounted on the lower support plate (11); the support frame (321) is provided with a bearing (322); the outer diameter of the upper plate (331) is smaller than the inner diameter of the support plate (11); a transmission gear (336) connected to the power mechanism (31) is provided on the top; and an annular groove (337) connected to the bearing (322) is provided on the outer periphery of the upper plate (331).

4. A cylindrical pile cleaning and inspection robot as claimed in claim 1, characterized in that: The climbing component (2) comprises a climbing mechanism (21) and a climbing power mechanism (22); the climbing mechanism (21) comprises a bracket (211) and a climbing wheel (212); the bracket (211) is fixedly arranged on the upper part of the supporting component (1), and the climbing wheel (212) is mounted on the bracket (211); the climbing power mechanism (22) and the climbing wheel (212) are connected via a crankshaft, and the climbing mechanism (21) is connected to a control unit (5).

5. The cylindrical pile cleaning and inspection robot according to claim 1, characterized in that: The detection component (4) comprises a plurality of high-definition cameras (41) and a plurality of distance measuring sensors (42); the plurality of high-definition cameras (41) are evenly arranged on an upper support plate (11), and the cameras are respectively connected to a control unit (5); the plurality of distance measuring sensors (42) are evenly arranged on a lower support plate, and the distance measuring sensors (42) are respectively connected to the control unit (5).

6. A cylindrical pile cleaning and testing robot as claimed in claim 1, characterized in that: The control unit (5) comprises a PLC control chip (5) and a signal transceiver, and the PLC control chip is connected to the signal transceiver.

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