Control method of pipeline cleaning robot

Abstract

The present application relates to a control method for a pipeline cleaning robot. When the pressure between the cleaning head and the inner wall of the pipeline and the pressure between the crawler running disc and the inner wall of the pipeline are adjusted to meet the set requirements, the umbrella-shaped cleaning mechanism is controlled to clean the pipeline; when the control mechanism determines that there is an obstacle in the pipeline based on the obstacle information obtained in the pipeline, the crawler running mechanism is controlled to move to avoid the obstacle. The present application can adjust the cleaning diameter range by controlling the pipeline cleaning robot, making it suitable for cleaning pipelines of different diameters; the pipeline cleaning robot has a simple structure, fast control, strong cleaning ability, and obstacle avoidance ability, and can be used in pipelines of different diameters and shapes.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular, to a control method for a pipeline cleaning robot. Background Art

[0002] In the fields of industrial applications such as oil, natural gas, nuclear industry, water supply and drainage, pipeline transportation, etc., pipelines have always played a very important role as an important means of transportation. Pipelines are a common means of transportation in industry, such as sewage discharge pipelines, oil and gas pipelines, central air conditioning ventilation pipelines, etc. Due to the complexity of the environment in which the pipelines are located and industrial needs, these pipelines are not just simple straight pipes, but in various forms, such as pipelines with a certain slope, pipelines with varying diameters, bends with arcs, T-shaped pipelines, etc. In the process of using pipelines, problems such as pipeline oil pollution, deformation, blockage, breakage, and leakage have always existed. The inspection, maintenance, and cleaning of pipelines is a complicated and difficult task.

[0003] In the traditional manual maintenance method, there are problems such as high cost, high risk, and low maintenance quality. With the development of science and technology and new materials in recent years, the emergence of pipeline cleaning robots has greatly solved the problem of pipeline maintenance. Pipeline cleaning robots are a special type of industrial robots. Generally speaking, pipeline cleaning robots carry various sensors and operating equipment and perform routine inspection and maintenance of pipelines inside the pipeline under the control of operators or computers. It is specially developed for the inspection, cleaning, and welding of transmission pipelines. Through regular and specific inspection, maintenance, and cleaning of pipelines, pipeline safety can be guaranteed for a long time. However, the existing pipeline cleaning robots have poor applicability to special types of pipelines during operation and cannot guarantee the cleaning effect. Summary of the invention

[0004] In order to overcome at least one deficiency in the prior art, an embodiment of the present application provides a control method for a pipeline cleaning robot.

[0005] In a first aspect, a control method for a pipeline cleaning robot is provided, comprising:

[0006] The pipeline cleaning robot includes an umbrella-shaped cleaning mechanism, a crawler walking mechanism, a detection and protection mechanism, a control mechanism and a control box. The control mechanism is arranged inside the control box. The umbrella-shaped cleaning mechanism and the crawler walking mechanism are both connected to the control box. The detection and protection mechanism is connected to the umbrella-shaped cleaning mechanism.

[0007] The umbrella-shaped cleaning mechanism is used to clean the pipeline, and includes a plurality of cleaning heads, and the plurality of cleaning heads are connected to the control box through a pressure regulating mechanism;

[0008] The crawler walking mechanism is used to realize the walking and support of the pipeline cleaning robot in the pipeline, and includes a plurality of crawler running discs, each crawler running disc is connected to the control box through a supporting bracket;

[0009] The detection and protection mechanism is used to realize the detection and safety protection of obstacles in the pipeline by the pipeline cleaning robot, and includes a shield-shaped mechanical protection head, on which at least one ultrasonic sensor is installed, and the ultrasonic sensor is used to detect obstacle information in the pipeline;

[0010] The control mechanism obtains the posture information of the umbrella-shaped cleaning mechanism and the pressure between the cleaning head and the inner wall of the pipeline, and controls the pressure regulating mechanism to move according to the posture information and pressure of the umbrella-shaped cleaning mechanism to regulate the pressure between the cleaning head and the inner wall of the pipeline;

[0011] The control mechanism obtains the posture information of the crawler traveling mechanism and the pressure between the crawler traveling disc and the inner wall of the pipeline, and controls the movement of the support bracket according to the posture information and pressure of the crawler traveling mechanism to adjust the pressure between the crawler traveling disc and the inner wall of the pipeline;

[0012] When the pressure between the cleaning head and the inner wall of the pipe, and the pressure between the crawler traveling disc and the inner wall of the pipe reach the set requirements, the control mechanism controls the umbrella-shaped cleaning mechanism to clean the pipe; when the control mechanism determines that there is an obstacle in the pipe based on the obstacle information obtained in the pipe, it controls the crawler traveling mechanism to move to avoid the obstacle.

[0013] In one embodiment, the pressure between the cleaning head and the inner wall of the pipe reaches the set requirement, which means that the pressure between the cleaning head and the inner wall of the pipe satisfies the following formula:

[0014]

[0015] Among them, F n represents the real-time measured pressure sampling value between the cleaning head and the inner wall of the pipe, i represents the i-th sector divided by the cleaning circular range, i = 1, 2, 3 ..., 360, a i represents the cleaning head pressure reference value of the i-th sector, and δ1 is the maximum pressure difference of the cleaning head in the pipeline.

[0016] In one embodiment, the pressure between the track disc and the inner wall of the pipe reaches the set requirement, which means that the pressure between the track disc and the inner wall of the pipe satisfies the following formula:

[0017]

[0018] Where Fn represents the real-time measured pressure between the crawler plate and the inner wall of the pipeline, j represents the jth 90-degree sector of the crawler travel range, j = 1, 2, 3, 4, b jrepresents the pressure reference value of the track disc of the jth sector, and δ2 represents the maximum pressure difference of the track disc in the pipeline.

[0019] In one embodiment, the control mechanism includes a system controller, an umbrella-type cleaning mechanism posture control unit, and a crawler walking mechanism posture control unit. The umbrella-type cleaning mechanism posture control unit and the crawler walking mechanism posture control unit are both connected to the system controller; the umbrella-type cleaning mechanism posture control unit and the crawler walking mechanism posture control unit are respectively used to control the umbrella-type cleaning mechanism and the crawler walking mechanism to achieve corresponding functions.

[0020] In one embodiment, the control mechanism obtains gas information and temperature information in the pipeline, and controls the detection and protection mechanism to spray water according to the gas information and temperature information.

[0021] In one embodiment, the control mechanism includes a system detection unit and a cleaning system spray control unit. The system detection unit includes a gas sensor and a temperature sensor. The gas sensor and the temperature sensor are used to obtain gas information and temperature information in the pipeline respectively. The cleaning system spray control unit is used to control the detection and protection mechanism to spray water.

[0022] In one embodiment, two umbrella-shaped cleaning mechanisms are provided. When the pipeline cleaning robot cleans the pipeline, the two umbrella-shaped cleaning mechanisms are located at both ends of the pipeline cleaning robot along the length direction of the pipeline.

[0023] In one embodiment, the pressure regulating mechanism includes: a support rod, a plurality of ribs, a plurality of rib stretching rods, and a plurality of electric drive boxes;

[0024] One end of the support rod is connected to the control box, and the other end of the support rod is connected to the detection and protection mechanism;

[0025] The support rod is equipped with multiple cleaning heads through multiple umbrella ribs, and each cleaning head is connected to the water tank in the control box for cleaning the pipeline; the middle position of each umbrella rib is connected to the support rod through an umbrella rib stretching rod, and the multiple umbrella ribs are folded or unfolded under the action of the multiple umbrella rib stretching rods;

[0026] An electric drive box is installed on each cleaning head, and the electric drive box is used to drive the cleaning head to rotate to clean the pipe; a pressure sensor is installed in the electric drive box to detect the pressure between the cleaning head and the inner wall of the pipe.

[0027] In one embodiment, the crawler plate includes a crawler drive box, a rotating shaft and a crawler mechanism, and the crawler drive box drives the crawler mechanism to rotate through the rotating shaft; a pressure sensor is installed in the crawler drive box to detect the pressure between the crawler plate and the inner wall of the pipeline;

[0028] The supporting bracket includes a chassis connecting rod, a transverse supporting square rod, two movable limit rods, and a vertical retractable limit rod. The vertical retractable limit rod is provided with a supporting spring. One end of the chassis connecting rod is connected to the track traveling disc, and the other end is connected to the transverse supporting square rod. The transverse supporting square rod is connected to the control box through two movable limit rods and the vertical retractable limit rod. The transverse supporting square rod is movably connected to the two movable limit rods and the vertical retractable limit rod.

[0029] In one embodiment, the control mechanism further includes: a communication unit, a system power supply unit and a battery pack; the communication unit is used to realize communication between the pipeline cleaning robot and the outside world, and the system power supply unit and the battery pack are used to supply power to each unit of the pipeline cleaning robot.

[0030] Compared with the prior art, the present application has the following beneficial effects: the present application controls the umbrella-shaped cleaning mechanism to clean the pipeline by adjusting the pressure between the cleaning head and the inner wall of the pipeline, and the pressure between the crawler traveling disc and the inner wall of the pipeline to reach the set requirements; when the control mechanism determines that there is an obstacle in the pipeline based on the obstacle information obtained in the pipeline, the crawler walking mechanism is controlled to move to avoid the obstacle. The present application can adjust the cleaning diameter range by controlling the pipeline cleaning robot, making it suitable for cleaning pipelines of different diameters; the pipeline cleaning robot has a simple structure, fast control, strong cleaning ability, and obstacle avoidance ability, and can be used in pipelines of different diameters and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present application may be better understood by referring to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification. In the drawings:

[0032] Figure 1 A schematic structural diagram of a pipeline cleaning robot according to an embodiment of the present application is shown;

[0033] Figure 2 A structural schematic diagram of an umbrella-type cleaning mechanism according to an embodiment of the present application is shown;

[0034] Figure 3 A schematic structural diagram of a cleaning head according to an embodiment of the present application is shown;

[0035] Figure 4 A schematic structural diagram of a crawler walking mechanism according to an embodiment of the present application is shown;

[0036] Figure 5 A schematic diagram of the structure of a crawler track travel disc according to an embodiment of the present application is shown;

[0037] Figure 6 A schematic diagram of the structure of a detection and protection mechanism according to an embodiment of the present application is shown;

[0038] Figure 7 A schematic structural diagram of a control mechanism according to an embodiment of the present application is shown.

[0039] Reference numerals:

[0040] 1-pipeline; 2-shield-shaped mechanical protection head; 3-support rod; 4-control box; 5-fixed sleeve; 6-movable sleeve; 7-rib stretching rod; 8-rib; 9-electric drive box; 10-cleaning head; 11-water supply pipe; 12-crawler mechanism; 13-chassis connecting rod; 14-lateral supporting square rod; 15-movable limit rod; 16-vertical retractable limit rod; 17-support spring; 18-crawler drive box; 19-flexible connecting rope; 20-water injection hole; 21-rotating shaft; 22-spraying head; 23-ultrasonic sensor; 24-system controller; 25-umbrella cleaning mechanism posture control unit; 26-cleaning system spraying control unit; 27-water tank; 28-crawler walking mechanism posture control unit; 29-system detection unit; 30-communication unit; 31-system power supply unit; 32-battery pack. DETAILED DESCRIPTION

[0041] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions can be made in the process of developing any such actual embodiments in order to achieve the specific goals of the developer, and these decisions may vary from embodiment to embodiment.

[0042] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure closely related to the scheme according to the present application is shown in the drawings, while other details that are not closely related to the present application are omitted.

[0043] It should be understood that the present application is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. In this article, where feasible, the embodiments can be combined with each other, features between different embodiments can be replaced or borrowed, and one or more features can be omitted in one embodiment.

[0044] Figure 1 A schematic diagram of the structure of a pipeline cleaning robot according to an embodiment of the present application is shown. Figure 1 The pipeline cleaning robot includes: an umbrella-type cleaning mechanism, a crawler walking mechanism, a detection and protection mechanism, a control mechanism and a control box 4. The control mechanism is arranged inside the control box 4. The umbrella-type cleaning mechanism and the crawler walking mechanism are both connected to the control box 4. The detection and protection mechanism is connected to the umbrella-type cleaning mechanism. The specific structure of each mechanism in the pipeline cleaning robot is introduced in detail below.

[0045] Figure 2 shows a schematic structural diagram of an umbrella-type cleaning mechanism according to an embodiment of the present application, Figure 3 A schematic diagram of the structure of a cleaning head according to an embodiment of the present application is shown. Figure 2 and Figure 3 The umbrella-shaped cleaning mechanism is used to clean the pipeline, and includes a plurality of cleaning heads 10, which can be specifically set to 6. The plurality of cleaning heads 10 are connected to the control box 4 through a pressure regulating mechanism. There are two umbrella-shaped cleaning mechanisms. During the process of the pipeline cleaning robot cleaning the pipeline, the two umbrella-shaped cleaning mechanisms are located at both ends of the pipeline cleaning robot along the length direction of the pipeline, which can efficiently complete the cleaning of the pipeline.

[0046] The pressure regulating mechanism includes: a support rod 3, multiple umbrella ribs 8, multiple umbrella rib stretching rods 7, and multiple electric drive boxes 9; one end of the support rod 3 is connected to the control box 4, and the other end of the support rod 3 is connected to the detection and protection mechanism; the support rod 3 is equipped with multiple cleaning heads 10 through multiple umbrella ribs 8, and each cleaning head 10 is connected to the water tank 27 in the control box 4; the middle position of each umbrella rib 8 is connected to the support rod 3 through an umbrella rib stretching rod 7, and the multiple umbrella ribs 8 are folded or unfolded under the action of the multiple umbrella rib stretching rods 7 to adjust the distance between the cleaning head 10 and the inner wall of the pipeline, and an electric drive box 9 is correspondingly installed on each cleaning head 10, and the electric drive box 9 is used to drive the cleaning head 10 to rotate to clean the pipeline; a pressure sensor is installed in the electric drive box 9 to detect the pressure between the cleaning head 10 and the inner wall of the pipeline. Here, one end of the rib 8 is connected to the support rod 3 through a fixed sleeve 5, and the fixed sleeve 5 is fixed on the support rod 3. The other end of the rib 8 is hinged to the electric drive box 9. Multiple ribs 8 are evenly distributed in space, and every two ribs 8 are connected by a flexible connecting rope 19 to limit the maximum angle of the rib 8. One end of the rib stretching rod 7 is hinged to the rib 8, and the other end is hinged to the movable sleeve 6. The movable sleeve 6 is connected to the stretching device inside the support rod 3, and the stretching device can be extended and retracted under the action of the control mechanism. The two umbrella-shaped cleaning mechanisms are 30 degrees different from each other in spatial angle. During the cleaning operation of the pipeline cleaning robot, the cleaning heads of the two umbrella-shaped cleaning mechanisms rotate in opposite directions and at a constant speed. Here, the water injection hole 20 of each electric drive box 9 is connected to the water tank 27 through a water supply pipe 11 to provide cleaning water for the cleaning head 10.

[0047] Figure 4 The structure diagram of the crawler walking mechanism according to the embodiment of the present application is shown. Figure 5 A schematic diagram of the structure of the crawler track disc according to an embodiment of the present application is shown. Figure 4 and Figure 5The crawler walking mechanism is used to realize the walking and support of the pipeline cleaning robot in the pipeline, including multiple crawler traveling discs, each crawler traveling disc is connected to the control box through a supporting bracket, and 4 crawler traveling discs can be set here;

[0048] Specifically, the crawler plate includes a crawler drive box 18, a rotating shaft 21 and a crawler mechanism 12. The crawler drive box 18 is provided with a motor drive system, and the crawler mechanism 12 is driven to rotate by the rotating shaft 21; a pressure sensor is installed in the crawler drive box 18 for detecting the pressure between the crawler plate and the inner wall of the pipeline; the support bracket includes a chassis connecting rod 13, a transverse supporting square rod 14, two movable limit rods 15, and a vertically retractable limit rod 16. A support spring 17 is mounted on the vertically retractable limit rod 16. One end of the chassis connecting rod 13 is connected to the crawler plate The other end is connected to the transverse support square rod 14, and the transverse support square rod 14 is connected to the control box 4 through two movable limit rods 15 and a vertical retractable limit rod 16. One end of the vertical retractable limit rod 16 passes through the transverse support square rod 14, and one end of the two movable limit rods 15 is hinged with the transverse support square rod 14 to adjust the longitudinal displacement of the transverse support square rod 14. Here, the support spring 17 can effectively suppress the vibration problem of the crawler walking mechanism during the travel process, and at the same time, it can ensure that the crawler walking mechanism is suitable for pipeline working environments with different diameters. Using crawlers as the main structure of the robot walking can increase the friction between the robot and the inner pipe surface of the pipeline, and ensure that the robot does not slide arbitrarily during cleaning work. The mechanism can also adjust the contact distance with the inner wall of the pipeline through the support bracket, which can meet the cleaning of pipelines with different diameters. When the cleaning robot enters pipelines with different diameters, the control mechanism judges the pipeline characteristics according to the pressure sensor information sent back by the umbrella cleaning mechanism and the crawler walking mechanism, and gradually adjusts the posture of the umbrella cleaning mechanism and the crawler walking mechanism structure until the values ​​of each pressure sensor of the robot meet the theoretical calculation value. As the robot enters pipes of different diameters, the cleaning work continues until the entire cleaning task is completed.

[0049] Figure 6 A schematic diagram of the structure of the detection and protection mechanism according to an embodiment of the present application is shown. Figure 6 The detection and protection mechanism is used to realize the detection and safety protection of obstacles in the pipeline by the pipeline cleaning robot, including a shield-shaped mechanical protection head 2. There are two detection and protection mechanisms, which are respectively installed on two umbrella-shaped cleaning mechanisms. The shield-shaped mechanical protection head 2 can protect the safe operation of the pipeline cleaning robot control mechanism, umbrella-shaped cleaning mechanism, and crawler walking mechanism. At least one ultrasonic sensor 23 is installed on the shield-shaped mechanical protection head 2, and the ultrasonic sensor 23 is used to detect obstacle information in the pipeline; at least one spray head 22 is set on the shield-shaped mechanical protection head 2, which is used to spray water mist according to the command of the control mechanism to reduce the concentration of dangerous smoke and dust.

[0050] Figure 7 A schematic diagram of the structure of the control mechanism according to an embodiment of the present application is shown. Figure 7 The control mechanism includes a system controller 24, an umbrella-type cleaning mechanism posture control unit 25, and a crawler walking mechanism posture control unit 28. The umbrella-type cleaning mechanism posture control unit 25 and the crawler walking mechanism posture control unit 28 are both connected to the system controller 24; the umbrella-type cleaning mechanism posture control unit 25 and the crawler walking mechanism posture control unit 28 are respectively used to control the umbrella-type cleaning mechanism and the crawler walking mechanism to realize corresponding functions.

[0051] Among them, the system controller 24 is an STM32 controller, mainly using the STM32F103C8T6 control chip. The chip is a 32-bit microcontroller with a program memory capacity of 64KB, a voltage of 2V to 3.6V, and an operating temperature of -40°C to 85°C. The chip uses a high-performance ARM Cortex-M3 72 MHz 32-bit RISC core operating system with high-speed embedded memory and a wide range of enhanced I / O and other peripherals. The chip's rich interfaces and peripherals can realize the system's umbrella-shaped cleaning structure, cleaning system spraying control, crawler walking mechanism posture control, obstacle detection, communication and other functions.

[0052] The control mechanism also includes a system detection unit 29 and a cleaning system spray control unit 26. The system detection unit 29 includes a posture angle sensor, a gas sensor and a temperature sensor. The posture angle sensor is used to obtain the posture information of the umbrella-type cleaning mechanism and the posture information of the crawler walking mechanism. The gas sensor and the temperature sensor are used to obtain the gas information and temperature information in the pipeline respectively. The cleaning system spray control unit 26 is used to control the water spraying of the detection and protection mechanism. The cleaning system spray control unit 26 is also used to control the amount of water delivered to the cleaning head; the control mechanism also includes a GPS satellite positioning module, which can realize the precise positioning of the robot inside the pipeline.

[0053] The control mechanism also includes: a communication unit 30, a system power supply unit 31 and a battery pack 32; the communication unit 30 is used to realize communication between the pipeline cleaning robot and the outside world, and the system power supply unit 31 and the battery pack 32 are used to supply power to each unit of the pipeline cleaning robot.

[0054] The external control center issues a cleaning command, and the cleaning robot control system enters the pipeline and starts cleaning according to the control command received by the communication unit. The pressure detector, ultrasonic sensor, attitude angle sensor, gas sensor, temperature sensor and other detection sensors of the cleaning robot start working in real time and feedback the detection data to the system controller. At the same time, these data are wirelessly uploaded to the control center outside the pipeline through the communication unit. The cleaning robot control strategy adjusts the robot's umbrella cleaning mechanism and crawler walking mechanism in real time according to the real-time detection data of the pressure sensor and attitude angle sensor. When the robot approaches the pipeline inspection port, the robot's cleaning operation stops and enters standby mode. At this time, the water tank is manually replenished with cleaning water. If the battery pack is low, the battery pack is manually improved in time and simple equipment maintenance is performed. After the robot is in normal state, the robot continues to perform cleaning tasks until the cleaning of the entire pipeline is completed.

[0055] The present application provides a control method for a pipeline robot, including:

[0056] Step 1: Install a temporary communication antenna at the pipeline inspection port and start the pipeline cleaning robot.

[0057] Step 2: System initialization: Set the control system parameters and check whether the various mechanisms of the pipeline cleaning robot are normal.

[0058] Step 3, the control mechanism obtains the posture information of the umbrella-shaped cleaning mechanism and the pressure between the cleaning head and the inner wall of the pipe, and controls the pressure regulating mechanism to move according to the posture information and pressure of the umbrella-shaped cleaning mechanism to regulate the pressure between the cleaning head and the inner wall of the pipe;

[0059] Specifically, the system controller determines the current posture of the umbrella-type cleaning mechanism according to the posture information of the umbrella-type cleaning mechanism obtained. When it is detected that the pressure between the cleaning head and the inner wall of the pipe does not meet the set requirement, the system controller controls the stretching device in the support rod through the umbrella-type cleaning mechanism posture control unit to drive the ribs and rib stretching rods of the pressure regulating mechanism to move according to the current posture of the umbrella-type cleaning mechanism, so that the umbrella-type cleaning mechanism is unfolded, so that the cleaning head is close to the inner wall of the pipe;

[0060] Step 4, the control mechanism obtains the posture information of the crawler traveling mechanism and the pressure between the crawler traveling disc and the inner wall of the pipeline, and controls the movement of the support bracket according to the posture information and pressure of the crawler traveling mechanism to adjust the pressure between the crawler traveling disc and the inner wall of the pipeline;

[0061] Specifically, the system controller determines the current posture of the crawler walking mechanism according to the posture information of the crawler walking mechanism obtained. When it is detected that the pressure between the crawler running disc and the inner wall of the pipeline does not meet the set requirement, the crawler running mechanism posture control unit controls the movement of the two movable limit rods of the supporting bracket according to the posture information of the crawler running mechanism, so that the crawler running disc is close to the inner wall of the pipeline. When the two movable limit rods are close to each other, the vertical distance between the crawler running mechanism and the inner wall of the pipeline is reduced. When the two movable limit rods are away from each other, the vertical distance between the crawler running mechanism and the inner wall of the pipeline is increased. The displacement change of the two movable limit rods can adjust the effective distance between the crawler running mechanism and the inner wall of the pipeline, thereby achieving the task of adjusting the umbrella-type cleaning mechanism to be close to the inner wall of the pipeline for cleaning operations.

[0062] Step 5, when the pressure between the cleaning head and the inner wall of the pipe, and the pressure between the track traveling disc and the inner wall of the pipe reach the set requirements, the control mechanism controls the umbrella-shaped cleaning mechanism to clean the pipe; here, the cleaning system spray control unit in the control mechanism controls the water in the water tank to enter the cleaning head, and controls the amount of water entering the cleaning head, thereby reducing the cleaning resistance of the cleaning head and improving the cleaning quality.

[0063] When the control mechanism determines that there is an obstacle in the pipeline based on the acquired obstacle information in the pipeline, the crawler walking mechanism is controlled to move to avoid the obstacle.

[0064] The pressure between the cleaning head and the inner wall of the pipe reaches the set requirement, which means that the pressure satisfies the following formula:

[0065]

[0066] Among them, F n represents the real-time measured pressure sampling value between the cleaning head and the inner wall of the pipe, i represents the i-th sector divided by the cleaning circular range, i = 1, 2, 3 ..., 360, a i represents the cleaning head pressure reference value of the i-th sector, δ1 is the maximum pressure difference of the cleaning head in the pipeline;

[0067] The pressure between the track disc and the inner wall of the pipe reaches the set requirement, which means that the pressure satisfies the following formula:

[0068]

[0069] Where Fn represents the real-time measured pressure between the crawler plate and the inner wall of the pipeline, j represents the jth 90-degree sector of the crawler travel range, j = 1, 2, 3, 4, b j represents the pressure reference value of the track disc of the jth sector, and δ2 represents the maximum pressure difference of the track disc in the pipeline.

[0070] In one embodiment, the method further includes: the control mechanism obtains gas information and temperature information in the pipeline, and controls the detection and protection mechanism to spray water according to the gas information and temperature information.

[0071] In this embodiment, the system controller continuously analyzes the detection values ​​of the gas detection sensor. When dangerous smoke appears, the system controller starts the water pump to uniformly pressurize the clean water in the water tank through the water pipe to the spray head of the detection and protection mechanism. The sprayed water mist can reduce the concentration of dangerous smoke, thereby improving the safety of the robot and the working stability of each sub-equipment.

[0072] In summary, the present application controls the umbrella-shaped cleaning mechanism to clean the pipeline by adjusting the pressure between the cleaning head and the inner wall of the pipeline, and the pressure between the crawler traveling disc and the inner wall of the pipeline to reach the set requirements; when the control mechanism determines that there is an obstacle in the pipeline based on the obstacle information obtained in the pipeline, the crawler walking mechanism is controlled to move to avoid the obstacle. The present application can adjust the cleaning diameter range by controlling the pipeline cleaning robot, making it suitable for cleaning pipelines of different diameters; the pipeline cleaning robot has a simple structure, fast control, strong cleaning ability, and obstacle avoidance ability, and can be used in pipelines of different diameters and shapes.

[0073] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for a pipeline cleaning robot, characterized in that: include: The pipeline cleaning robot comprises an umbrella-shaped cleaning mechanism, a crawler walking mechanism, a detection and protection mechanism, a control mechanism and a control box, wherein the control mechanism is arranged inside the control box, the umbrella-shaped cleaning mechanism and the crawler walking mechanism are both connected to the control box, and the detection and protection mechanism is connected to the umbrella-shaped cleaning mechanism; The umbrella-shaped cleaning mechanism is used to clean the pipeline, and includes a plurality of cleaning heads, and the plurality of cleaning heads are connected to the control box via a pressure regulating mechanism; The crawler walking mechanism is used to realize the walking and support of the pipeline cleaning robot in the pipeline, and includes a plurality of crawler running discs, each of which is connected to the control box via a supporting bracket; The detection and protection mechanism is used to realize the detection and safety protection of obstacles in the pipeline by the pipeline cleaning robot, and includes a shield-shaped mechanical protection head, on which at least one ultrasonic sensor is installed, and the ultrasonic sensor is used to detect obstacle information in the pipeline; The control mechanism obtains the posture information of the umbrella-shaped cleaning mechanism and the pressure between the cleaning head and the inner wall of the pipe, and controls the movement of the pressure regulating mechanism according to the posture information of the umbrella-shaped cleaning mechanism and the pressure to regulate the pressure between the cleaning head and the inner wall of the pipe; The control mechanism obtains the posture information of the crawler walking mechanism and the pressure between the crawler running disc and the inner wall of the pipe, and controls the movement of the support bracket according to the posture information of the crawler walking mechanism and the pressure to adjust the pressure between the crawler running disc and the inner wall of the pipe; When the pressure between the cleaning head and the inner wall of the pipeline and the pressure between the crawler running disc and the inner wall of the pipeline reach the set requirements, the control mechanism controls the umbrella-shaped cleaning mechanism to clean the pipeline; when the control mechanism determines that there is an obstacle in the pipeline according to the acquired obstacle information in the pipeline, the crawler running mechanism is controlled to move to avoid the obstacle; The pressure between the cleaning head and the inner wall of the pipe reaches the set requirement, which means that the pressure between the cleaning head and the inner wall of the pipe satisfies the following formula: Among them, F n represents the real-time measured pressure sampling value between the cleaning head and the inner wall of the pipe, i represents the i-th sector divided by the cleaning circular range, i = 1, 2, 3 ..., 360, a i represents the cleaning head pressure reference value of the i-th sector, δ1 is the maximum pressure difference of the cleaning head in the pipeline; The pressure between the track disc and the inner wall of the pipe reaches the set requirement, which means that the pressure between the track disc and the inner wall of the pipe satisfies the following formula: Among them, T n represents the real-time measured pressure between the crawler plate and the inner wall of the pipe, j represents the jth 90-degree sector of the crawler travel range, j = 1, 2, 3, 4, b j represents the pressure reference value of the track disc of the jth sector, δ2 represents the maximum pressure difference of the track disc in the pipeline; The crawler track disc includes a crawler drive box, a rotating shaft and a crawler mechanism, and the crawler drive box drives the crawler mechanism to rotate through the rotating shaft; a pressure sensor is installed in the crawler drive box to detect the pressure between the crawler track disc and the inner wall of the pipeline; The supporting bracket includes a chassis connecting rod, a transverse supporting square rod, two movable limit rods, and a vertical retractable limit rod. The vertical retractable limit rod is provided with a supporting spring. One end of the chassis connecting rod is connected to the track traveling disc, and the other end is connected to the transverse supporting square rod. The transverse supporting square rod is connected to the control box through two movable limit rods and the vertical retractable limit rod. The transverse supporting square rod is movably connected to the two movable limit rods and the vertical retractable limit rod.

2. The method according to claim 1, characterized in that The control mechanism includes a system controller, an umbrella-type cleaning mechanism posture control unit, and a crawler walking mechanism posture control unit. The umbrella-type cleaning mechanism posture control unit and the crawler walking mechanism posture control unit are both connected to the system controller; the umbrella-type cleaning mechanism posture control unit and the crawler walking mechanism posture control unit are respectively used to control the umbrella-type cleaning mechanism and the crawler walking mechanism to realize corresponding functions.

3. The method according to claim 1, characterized in that The control mechanism obtains gas information and temperature information in the pipeline, and controls the detection and protection mechanism to spray water according to the gas information and temperature information.

4. The method according to claim 3, characterized in that The control mechanism includes a system detection unit and a cleaning system spray control unit. The system detection unit includes a gas sensor and a temperature sensor. The gas sensor and the temperature sensor are respectively used to obtain gas information and temperature information in the pipeline. The cleaning system spray control unit is used to control the detection and protection mechanism to spray water.

5. The method according to claim 1, characterized in that There are two umbrella-shaped cleaning mechanisms. When the pipeline cleaning robot cleans the pipeline, the two umbrella-shaped cleaning mechanisms are located at two ends of the pipeline cleaning robot along the length direction of the pipeline.

6. The method according to claim 1, characterized in that The pressure regulating mechanism comprises: a support rod, a plurality of ribs, a plurality of rib stretching rods, and a plurality of electric drive boxes; One end of the support rod is connected to the control box, and the other end of the support rod is connected to the detection and protection mechanism; The support rod is provided with a plurality of cleaning heads through a plurality of ribs, each of the cleaning heads being connected to a water tank in the control box for cleaning the pipe; the middle position of each rib is connected to the support rod through a rib stretching rod, and the ribs are folded or unfolded under the action of the rib stretching rods; An electric drive box is installed on each cleaning head, and the electric drive box is used to drive the cleaning head to rotate to clean the pipe; a pressure sensor is installed in the electric drive box to detect the pressure between the cleaning head and the inner wall of the pipe.

7. The method according to claim 1, characterized in that The control mechanism further includes: a communication unit, a system power supply unit and a battery pack; the communication unit is used to realize communication between the pipeline cleaning robot and the outside world, and the system power supply unit and the battery pack are used to supply power to various units of the pipeline cleaning robot.

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