Pipeline Maintenance Operation Detection System

Abstract

The present invention provides a pipeline maintenance operation and maintenance system, including: establishing a communication connection between a command terminal and a pipeline maintenance operation vehicle, putting the pipeline maintenance operation vehicle into a municipal pipeline to be maintained, and after the pipeline maintenance operation vehicle determines to set an automatic working mode, automatically walking in the municipal pipeline; constructing a first pipeline twin space corresponding to the municipal pipeline, and performing coordinate processing on the first pipeline twin space to obtain a first pipeline twin space with coordinate information; displaying the twin operation vehicle in real time in the first pipeline twin space; establishing fluid information of a first liquid level height in the first pipeline twin space, and establishing corresponding first siltation information in the first pipeline twin space; determining the silt removal diameter of the pipeline maintenance operation vehicle according to a first side image, and controlling the pipeline maintenance operation vehicle to perform silt removal according to the silt removal diameter; replacing the first siltation information in the first pipeline twin space with second siltation information.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline maintenance, and particularly to a pipeline inspection operation detection system. Background Art

[0002] Municipal drainage pipelines are composed of several sections of concrete pipes connected together. After long-term use of the drainage pipelines, local blockages and other situations are likely to occur on their pipe walls, which can easily affect the overall drainage effect of the drainage pipelines. In the prior art, it is impossible to effectively detect the pipelines and effectively display the pipelines to the staff. Summary of the Invention

[0003] An embodiment of the present invention provides a pipeline inspection operation detection system, which can construct a twin space corresponding to the pipeline in a digital manner, effectively display the pipeline to the staff, and perform rapid detection, repair, silt cleaning, etc. of the pipeline based on a pipeline inspection operation vehicle.

[0004] In a first aspect of an embodiment of the present invention, a pipeline inspection operation and repair system is provided, including:

[0005] Establish a communication connection between a command terminal and a pipeline inspection operation vehicle, place the pipeline inspection operation vehicle into a municipal pipeline to be inspected, and after the pipeline inspection operation vehicle determines to set an automatic working mode, it automatically walks in the municipal pipeline;

[0006] The command terminal constructs a first pipeline twin space corresponding to the municipal pipeline according to the laying structure of the municipal pipeline, and performs coordinate processing on the first pipeline twin space according to a preset coordinate origin to obtain a first pipeline twin space with coordinate information;

[0007] According to the relative position between the pipeline inspection operation vehicle and the preset coordinate origin, determine the twin operation vehicle corresponding to the pipeline inspection operation vehicle in the first pipeline twin space, and display the twin operation vehicle in real time in the first pipeline twin space;

[0008] According to the liquid level information detected by the pipeline inspection operation vehicle, establish fluid information of a first liquid level height in the first pipeline twin space, and according to the first infrared information detected by the pipeline inspection operation vehicle, establish corresponding first silt blockage information in the first pipeline twin space;

[0009] Control the pipeline inspection operation vehicle to walk to a preset distance from the silt blockage, determine the silt cleaning diameter of the pipeline inspection operation vehicle according to a first side image, and control the pipeline inspection operation vehicle to perform silt cleaning according to the silt cleaning diameter;

[0010] After the command terminal determines that the blockage has been cleared, it generates second blockage information corresponding to the cleared blockage information based on the clearance data of the pipeline maintenance vehicle, and replaces the first blockage information in the first pipeline twin space with the second blockage information.

[0011] Optionally, in a possible implementation manner of the first aspect, the command terminal constructs a first pipeline twin space corresponding to the municipal pipeline according to the laying structure of the municipal pipeline, and performs coordinate processing on the first pipeline twin space according to a preset coordinate origin to obtain a first pipeline twin space with coordinate information, including:

[0012] Set a first positioning device at any point of the wellhead of the municipal pipeline on the ground, and establish a space coordinate system with the first positioning point corresponding to the first positioning device as the preset coordinate origin;

[0013] According to the position relationship between each pipeline position point in the first pipeline twin space and the preset coordinate origin, obtain the coordinate information of each pipeline position point in the space coordinate system.

[0014] Optionally, in a possible implementation manner of the first aspect, the method for determining the twin vehicle corresponding to the pipeline maintenance vehicle in the first pipeline twin space according to the relative position between the pipeline maintenance vehicle and the preset coordinate origin, and displaying the twin vehicle in the first pipeline twin space in real time, includes:

[0015] Set a second positioning device at the twin vehicle, obtain the second positioning information of the second positioning device, and obtain the coordinate information of the twin vehicle according to the position relationship between the second positioning information and the preset coordinate origin;

[0016] Real-time obtain the coordinate information of the twin vehicle, and continuously update and display the position of the twin vehicle in the first pipeline twin space according to a preset update frequency.

[0017] Optionally, in a possible implementation manner of the first aspect, the method for establishing fluid information of the first liquid level height in the first pipeline twin space according to the liquid level information detected by the pipeline maintenance vehicle, and establishing corresponding first blockage information in the first pipeline twin space according to the first infrared information detected by the pipeline maintenance vehicle, includes:

[0018] Determine the coordinate information of the bottom coordinates of all horizontal pipelines in the first pipeline twin space, establish fluid information of the first liquid level height in the first pipeline twin space according to the coordinate information of the bottom coordinates, and add a first transparency to the corresponding fluid information;

[0019] Based on the infrared detection sensors of the pipeline maintenance vehicle, it is determined that the substance blocking the infrared transmission among the multiple infrared rays output is the blockage;

[0020] Determine the distance between each part of the side of the blockage facing the pipeline maintenance vehicle, and generate the first side image of the side of the blockage close to the pipeline maintenance vehicle;

[0021] Stretch the first side image according to the preset length information to obtain the corresponding first blockage information established in the first pipeline twin space.

[0022] Optionally, in a possible implementation manner of the first aspect, controlling the pipeline maintenance vehicle to travel to a preset distance from the blockage, determining the dredging diameter of the pipeline maintenance vehicle according to the first side image, and controlling the pipeline maintenance vehicle to perform dredging according to the dredging diameter includes:

[0023] Determine the closest part of the blockage facing the pipeline maintenance vehicle as the first part, and control the pipeline maintenance vehicle to travel towards the blockage until the pipeline maintenance vehicle is at a preset distance from the first part;

[0024] Determine the coordinate information of all parts in the first side image, extract the maximum Z-axis coordinate and the minimum Z-axis coordinate of all coordinate information, and generate the corresponding dredging diameter according to the maximum Z-axis coordinate and the minimum Z-axis coordinate;

[0025] Control the pipeline maintenance vehicle to perform dredging according to the dredging diameter, and determine the moment when the dredging starts as the dredging start moment.

[0026] Optionally, in a possible implementation manner of the first aspect, after the command terminal determines that the blockage has been removed, generating the corresponding second blockage information according to the removal data of the pipeline maintenance vehicle, and replacing the first blockage information in the first pipeline twin space with the second blockage information includes:

[0027] The pipeline maintenance vehicle uploads the collected second infrared information to the command terminal during the dredging process. When the command terminal determines that all the infrared rays in the second infrared information are not blocked within the preset distance, it determines that the corresponding blockage has been removed, and determines the moment when the blockage is removed as the dredging end moment;

[0028] Calculate the dredging time period according to the dredging start moment and the dredging end moment;

[0029] Obtain the dredging walking speed of the pipeline maintenance vehicle after the dredging start moment, and calculate the dredging length corresponding to the blockage information according to the dredging walking speed and the dredging time period;

[0030] Stretch the first side image according to the described dredging length to obtain a first three-dimensional dredging image, and perform mirror processing on the center line of the first side image relative to the first three-dimensional dredging image to obtain a second side image;

[0031] Obtain second blockage information according to the second side image and the first three-dimensional dredging image, and replace the first blockage information in the first pipeline twin space with the second blockage information.

[0032] Optionally, in a possible implementation manner of the first aspect, it further includes:

[0033] The pipeline maintenance operation vehicle collects the inner wall image of the municipal pipeline and sends it to the command terminal. The pipeline maintenance operation vehicle is controlled by the command terminal to move to the area with gaps on the inner wall of the municipal pipeline, and is controlled by the command terminal to repair the gap area through a preset rubber hose.

[0034] Optionally, in a possible implementation manner of the first aspect, it further includes a pipeline maintenance operation vehicle. The pipeline maintenance operation vehicle includes a vehicle body and wheel bodies arranged on both sides of the vehicle body. An expansion rod is provided in the internal cavity of the vehicle body, and the end of the expansion rod is rotationally connected to a rotation unit;

[0035] The rotation unit includes a support frame, the support frame abuts against the rotation unit, the rotation unit includes a rotatable control bottom plate, a light-emitting lamp strip and a first-stage mechanical arm expansion arm are fixedly arranged at the rotatable control bottom plate, and the first-stage mechanical arm expansion arm is connected to the second-stage mechanical arm expansion arm through a mechanical arm spreading slider;

[0036] A driving motor is arranged in the internal cavity. The driving shaft of the driving motor passes through the end of the expansion rod and is fixed to the center of the rotation unit. The driving motor is used to drive the rotation unit to rotate;

[0037] The first-stage mechanical arm expansion arm is hinged to the rotatable control bottom plate. A first servo motor is arranged inside the first-stage mechanical arm expansion arm to control the expansion angle of the first-stage mechanical arm expansion arm relative to the rotatable control bottom plate. A second servo motor is arranged inside the mechanical arm spreading slider to control the expansion angle of the second-stage mechanical arm expansion arm relative to the first-stage mechanical arm expansion arm.

[0038] Optionally, in a possible implementation manner of the first aspect, controlling the pipeline maintenance operation vehicle to perform dredging treatment according to the described dredging diameter and determining the start time of the dredging treatment as the dredging start time includes:

[0039] If it is determined that the dredging diameter is less than or equal to the preset diameter, control the first servo motor to rotate so that the expansion angle between the first-stage mechanical arm expansion arm and the rotatable control bottom plate is set at 90 degrees vertically;

[0040] Control the second servo motor to rotate so that the deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm is set at a perpendicular 90 degrees;

[0041] If it is determined that the dredging diameter is greater than the preset diameter, calculate the difference between the dredging diameter and the preset diameter to obtain a radius difference;

[0042] Calculate an increased angle value based on the radius difference and the preset angle coefficient, and calculate an increased deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm based on the increased angle value. Calculate the increased deployment angle through the following formula:

[0043]

[0044] where j enl is the increased deployment angle, R1 is the dredging diameter, R pre is the preset diameter, α adj is the preset angle coefficient, and k is the angle weight value;

[0045] Control the second-stage deployment arm of the robotic arm to perform dredging treatment according to the increased deployment angle.

[0046] Optionally, in a possible implementation manner of the first aspect, it further includes:

[0047] When it is determined that it is necessary to repair the area with gaps on the inner wall of the municipal pipeline according to the pipeline maintenance vehicle, control the corresponding pipeline maintenance vehicle to travel to the wellhead on the ground of the municipal pipeline, control the first servo motor to rotate, and make the first-stage deployment arm of the robotic arm in a relatively parallel state with the rotatable control bottom plate. At this time, the first-stage deployment arm of the robotic arm is in a horizontal state;

[0048] Control the second servo motor to rotate so that the second-stage deployment arm of the robotic arm is in a relatively parallel state with the first-stage deployment arm of the robotic arm. At this time, the second-stage deployment arm of the robotic arm is in a horizontal state;

[0049] Sheathe a rubber hose on the first-stage deployment arm and the second-stage deployment arm of the robotic arm, control the pipeline maintenance vehicle to travel to the area with gaps on the inner wall of the municipal pipeline, control the first servo motor to rotate, and the light-emitting strip lights up. The light of the light-emitting strip can soften the rubber hose sheath, continuously increase the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control bottom plate, and the maximum deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control bottom plate is 90 degrees;

[0050] If it is determined that the contact between the hose sleeve and the pipe wall causes the first-stage deployment arm of the robotic arm to be in a state where it cannot be deployed and the first servo motor cannot rotate, then stop the rotation of the first servo motor, control the rotatable control baseplate to rotate, thereby driving the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate. After the rotatable control baseplate rotates for a first preset time, stop the rotation of the rotatable control baseplate to reset the first-stage deployment arm and the second-stage deployment arm of the robotic arm;

[0051] If it is determined that the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control baseplate is 90 degrees, then stop the operation of the first servo motor and control the second servo motor to drive the second-stage deployment arm of the robotic arm;

[0052] If it is determined that the contact between the hose sleeve and the pipe wall causes the second-stage deployment arm of the robotic arm to be in a state where it cannot be deployed and the second servo motor cannot rotate, then stop the rotation of the second servo motor, control the rotatable control baseplate to rotate, thereby driving the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate;

[0053] Calculate according to the angle rotation time of the second servo motor to obtain the repair angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm, and determine the pressing rotation time of the first-stage deployment arm and the second-stage deployment arm of the robotic arm at each position in the pipe according to the repair angle;

[0054] Obtain the moving distance of the pipeline inspection vehicle according to the length of the hose sleeve, obtain a plurality of rotation position points according to the moving distance and the average distance, control the pipeline inspection vehicle to move according to the moving distance to each rotation position point in turn, and control the rotatable control baseplate to rotate at each corresponding rotation time.

[0055] In a second aspect of the embodiments of the present invention, a storage medium is provided, in which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the methods of the first aspect and various possible designs of the first aspect of the present invention.

[0056] A pipeline maintenance operation and maintenance system provided by the present invention can establish a communication connection between a command terminal and a pipeline maintenance vehicle, and construct a corresponding first pipeline twin space according to the laying structure of municipal pipelines. The present invention will detect the environmental information inside the pipeline through the pipeline maintenance vehicle, calculate according to the corresponding liquid level information and infrared information, construct a second pipeline twin space corresponding to the pipeline environment, and detect the blockage according to the infrared information, so as to control the pipeline maintenance vehicle to carry out silt cleaning. During the process of constructing the second pipeline twin space, the present invention will calculate the shape of the blockage and replace the first blockage information in the first pipeline twin space with the second blockage information, so that the liquid and blockage in the corresponding pipeline twin space correspond to the liquid and blockage in the actual pipeline, which is convenient for the working personnel to count and determine the environmental conditions in the actual pipeline.

[0057] When the present invention performs silt cleaning, it will determine the corresponding silt cleaning radius according to the volume of the blockage, and control the pipeline maintenance vehicle to work according to the corresponding silt cleaning radius, so that when the pipeline maintenance vehicle performs silt cleaning on blockages of different volumes, it can have an appropriate silt cleaning radius, neither too large nor too small, ensuring that the silt cleaning is carried out with the silt cleaning radius closest to the blockage, greatly improving the silt cleaning efficiency.

[0058] The present invention will repair the inner wall of the pipeline through a preset rubber hose, and will achieve the purpose of bonding and fixing the preset rubber hose to the inner wall of the pipeline according to the coordinated work between the first-stage expansion arm of the robotic arm and the second-stage expansion arm of the robotic arm. This repair method realizes the repair of pipeline gaps. Compared with the traditional method that requires steps such as excavating and replacing cracked pipelines, it has advantages such as high processing efficiency and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a schematic flow chart of the pipeline maintenance operation and maintenance system;

[0060] Figure 2 is a structural diagram of the first embodiment of the pipeline maintenance vehicle;

[0061] Figure 3 is an exploded structural diagram of the pipeline maintenance vehicle.

[0062] REFERENCE SIGNS:

[0063] 1, vehicle body; 2, wheel body; 3, telescopic rod; 4, support frame; 5, rotatable control base plate; 51, extension groove; 6, light-emitting strip; 7, first-stage expansion arm of robotic arm; 8, spreading slider of robotic arm; 9, second-stage expansion arm of robotic arm; 10, wheel; 11, hanging ring; 12, infrared detection device; 13, robotic arm shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0065] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0066] It should be understood that in various embodiments of the present invention, the magnitude of the sequence number of each process does not mean the order of execution is prior or subsequent, and the execution order of each process should be determined by its function and internal logic and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0067] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0068] It should be understood that in the present invention, "a plurality of" means two or more. "And / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. "Including A, B and C", "including A, B, C" means that all of A, B, and C are included, "including A, B or C" means including any one of A, B, and C, and "including A, B and / or C" means including any one or any two or all three of A, B, and C.

[0069] It should be understood that in the present invention, "B corresponding to A", "B corresponding to A relatively", "A corresponding to B relatively" or "B corresponding to A relatively" means that B is associated with A, and B can be determined according to A. Determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information. The matching of A and B means that the similarity between A and B is greater than or equal to a preset threshold.

[0070] Depending on the context, as used herein, "if" can be interpreted as "when" or "while" or "in response to determining" or "in response to detecting".

[0071] Prior art one: Excavation and repair technology, for replacing the entire pipe. For concrete pipes with cracks or fissures, the main repair method is to remove the entire pipe and then replace it with a new concrete pipe. This technical solution has the following defects: For concrete pipes with cracks or fissures, when overhauling, the entire pipe needs to be removed, and the construction cost of excavation and repair is much higher than the pipe itself. This repair method not only wastes a lot of manpower, material resources and financial resources, but the long repair period will seriously affect the water supply to residents, greatly reducing the happiness of people's lives.

[0072] Prior art two: Trenchless repair technology, lining and repairing hoses in the original pipeline. The advantages of this technology are no excavation and no replacement of the entire pipe. The disadvantages are that the process is complicated, a lot of equipment is required, and the equipment is large in volume and occupies a large area when working. It is necessary to first press the hose into a U shape, then use a machine to pass a rope through the pipeline to be replaced, then drag the steel wire to the other end with the rope, use the steel wire to drive the U-shaped pressed hose through the replaced pipeline, and then inflate the hose to make it finally take shape. The whole process can only repair the entire pipe, and a large U-pressing machine needs to be used, and the pipe threading at least three times back and forth is time-consuming and laborious.

[0073] The technical solution provided by the present invention: An operation vehicle for overhauling municipal drainage pipelines does not require large-scale excavation and replacement of the entire pipeline. Based on the data and information of existing pipe network information systems, GIS systems, data acquisition devices, etc. through digital detection of municipal pipelines in existing residential areas, a pipe network digital twin model is established. Through a new generation of high-intelligent algorithms, the working conditions of pipeline leakage points at different positions and leakage amounts are simulated and imitated. Then, an operation vehicle for overhauling municipal drainage pipelines is used to accurately dredge the local area. Finally, an impregnated photosensitive resin composite hose is brought in by the operation vehicle to repair the inner wall of the original pipeline without replacing the pipeline.

[0074] Advantages of the present invention compared with prior art one:

[0075] No excavation: The invention does not require removing each section of the concrete pipe and then laying a new concrete pipe, thus greatly saving the construction period and labor costs.

[0076] Less pollution: The noise, dust, etc. generated during the excavation process have a great impact on the health of workers and the environment. This technology directly conducts underground operations without workers entering the well.

[0077] High efficiency: The pipeline cleaning and repair work can be completed by two people on the ground. Due to the accurate leak point location in the early stage, only repair is needed without replacement.

[0078] Material saving: It not only saves pipeline materials but also reduces the generation of construction waste.

[0079] Advantages of the present invention compared to Technology 2:

[0080] Fewer processes: In the construction process of Technology 2, it is necessary to press through wires - thread steel wires - thread pipes. Although the time for excavation is saved in the whole process, it is still more laborious compared to the technical solution of this patent. This technical solution only requires a small work vehicle to go down to solve the problems of dredging and leak repair, without the need for multiple processes.

[0081] Material saving: This invention does not need to repair the entire section of the sewer pipe. Only by calculating the blockage points and leak points through the calculation platform and precisely repairing the measured locations, the waste of repair materials is greatly reduced.

[0082] Technical advantages: Compared with the traditional method of dealing with cracks or fissures in drainage pipes, this invention does not need to take out each section of concrete pipe and then lay new concrete pipes. Only by calculating the blockage points and leak points through the calculation platform and precisely repairing, that is, there is no need to replace the concrete pipes. With the help of the manholes at both ends of the pipeline, precise point repair of the pipeline is implemented. Applied to the maintenance of municipal drainage pipes, it avoids the excavation of the original pipeline, reduces the pipeline repair cost, and compared with replacing the new pipeline after excavation, reduces the construction cost by 25% - 30%. At the same time, it greatly shortens the construction period and reduces the impact of excavation and repair on the social environment. It has the advantages of saving materials, working hours, manpower, financial resources, and not requiring large-scale excavation compared with the traditional replacement technology. It effectively achieves low noise and low disturbance. It saves a large amount of construction costs and equipment costs for enterprises and protects the environment. The work vehicle has the characteristics of multi-purpose, reusable, and small volume (each work vehicle occupies less than 1 cubic meter), is convenient for transportation and easy to store.

[0083] The technical solution of the present invention will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0084] The present invention provides a pipeline maintenance operation and maintenance system, as Figure 1 shown in its flowchart, including:

[0085] Step S110: Establish a communication connection between the command terminal and the pipeline maintenance work vehicle, put the pipeline maintenance work vehicle into the municipal pipeline to be maintained, and after the pipeline maintenance work vehicle determines to set the automatic working mode, it automatically walks in the municipal pipeline. Among them, the command terminal can be a terminal with control functions such as a computer or a mobile phone, and the pipeline maintenance work vehicle can be asFigure 2 As shown, the pipeline maintenance vehicle and the command terminal are preferably connected through a line, and this communication method has the advantage of stable transmission.

[0086] According to different requirements of municipal pipelines, the present invention adopts different control methods for the pipeline maintenance vehicle. For example, when it is necessary to carry out dredging operations on the pipeline, the present invention will perform dredging control on the pipeline maintenance vehicle. For example, when it is necessary to carry out repair operations on the pipeline, the present invention will perform repair control on the pipeline maintenance vehicle.

[0087] In general actual work, first, the pipeline maintenance vehicle is placed into the corresponding municipal pipeline for corresponding detection and dredging. It should be noted that the pipeline maintenance vehicle does not need to rely on other auxiliary equipment for dredging, but it needs to rely on a prefabricated rubber hose sleeve for pipeline repair. Therefore, the present invention needs to first place the pipeline maintenance vehicle into the municipal pipeline to be repaired. The command terminal can actively control the pipeline maintenance vehicle, that is, move forward and backward according to the instructions of the command terminal, or set an automatic walking mode, that is, move forward automatically. At this time, after the pipeline maintenance vehicle determines that the automatic working mode is set, it will automatically walk in the municipal pipeline.

[0088] Step S120: The command terminal constructs a first pipeline twin space corresponding to the municipal pipeline according to the laying structure of the municipal pipeline, and performs coordinate transformation on the first pipeline twin space according to a preset coordinate origin to obtain a first pipeline twin space with coordinate information. In order to enable the intelligent terminal to more detailedly understand the state of the pipeline maintenance vehicle, the command terminal will construct a first pipeline twin space corresponding to the municipal pipeline. Municipal pipelines generally have corresponding two-dimensional and three-dimensional drawings of engineering software such as CAD and Solid-Works. Therefore, the corresponding first pipeline twin space can be directly constructed according to the drawings of the municipal pipeline. The present invention will perform coordinate transformation on the first pipeline twin space according to the preset coordinate origin, so that each position in the municipal pipeline will have corresponding coordinate information.

[0089] In a possible implementation manner of the technical solution provided by the present invention, step S120 includes:

[0090] A first positioning device is set at any point of the wellhead of the municipal pipeline on the ground, and a space coordinate system is established with the first positioning point corresponding to the first positioning device as the preset coordinate origin. The present invention will first set a first positioning device at any point of the wellhead of the municipal pipeline on the ground. At this time, the first positioning device can be a positioning device such as Beidou. The present invention will establish a space coordinate system with the first positioning point corresponding to the first positioning device as the preset coordinate origin.

[0091] According to the positional relationship between each pipeline position point in the first pipeline twin space and the preset coordinate origin, the coordinate information of each pipeline position point in the space coordinate system is obtained. In the present invention, the positional relationship (distance) between each pipeline position point in the first pipeline twin space and the preset coordinate origin is determined according to two-dimensional and three-dimensional drawings, and then the coordinate information of each pipeline position point in the space coordinate system is determined.

[0092] Step S130: Determine the twin vehicle corresponding to the pipeline inspection vehicle in the first pipeline twin space according to the relative position between the pipeline inspection vehicle and the preset coordinate origin, and display the twin vehicle in real time in the first pipeline twin space. In order to enable the user to master the position of the pipeline inspection vehicle through the command terminal, in the present invention, the position of the pipeline inspection vehicle in the actual municipal pipeline is located to generate a corresponding twin vehicle, and the twin vehicle is displayed in real time in the first pipeline twin space.

[0093] In a possible implementation manner of the technical solution provided by the present invention, step S130 includes:

[0094] A second positioning device is set at the twin vehicle to obtain the second positioning information of the second positioning device, and according to the positional relationship between the second positioning information and the preset coordinate origin, the coordinate information of the twin vehicle is obtained. In the present invention, a second positioning device is set at the twin vehicle. The second positioning device can also be a positioning module such as Beidou. Through the second positioning device, the actual second positioning information of the pipeline inspection vehicle can be obtained. According to the second positioning information, the present invention can combine its positional relationship with the preset coordinate origin to obtain the coordinate information of the twin vehicle.

[0095] The coordinate information of the twin vehicle is obtained in real time, and the position of the twin vehicle in the first pipeline twin space is continuously updated and displayed according to a preset update frequency. In the present invention, the coordinate information of the twin vehicle is obtained in real time. According to the preset update frequency, when the pipeline inspection vehicle is actually moving, the twin vehicle in the first pipeline twin space will be updated synchronously. The preset update frequency can be preset, such as 1S, 2S, etc. The present invention continuously updates and displays the position of the twin vehicle in the first pipeline twin space, so that the staff at the command end can master the position of the pipeline inspection vehicle in the actual pipeline in real time through the positional relationship between the first pipeline twin space and the twin vehicle.

[0096] Step S140: Based on the liquid level information detected by the pipeline maintenance vehicle, establish fluid information with a first liquid level height in the first pipeline twin space. Based on the first infrared information detected by the pipeline maintenance vehicle, establish corresponding first blockage information in the first pipeline twin space. In an actual application scenario, the pipeline maintenance vehicle is respectively provided with a liquid level sensor and an infrared detection device.

[0097] The liquid level sensor can monitor the liquid level in the municipal pipeline to obtain corresponding liquid level information. Since the staff cannot observe the corresponding liquid level information in the pipeline twin space in the intelligent terminal, the present invention will establish fluid information with a first liquid level height in the first pipeline twin space according to the liquid level information. This fluid information can be regarded as the liquid flowing in the first pipeline twin space. At this time, the height of the liquid in the first pipeline twin space corresponds to and is proportional to the height of the liquid in the actual pipeline. The present invention will also obtain the first infrared information according to the infrared detection device at the pipeline maintenance vehicle. The pipeline maintenance vehicle emits infrared rays forward. If the infrared rays are blocked by the blockage, they will be reflected. At this time, the blockage in front of the pipeline maintenance vehicle can be determined according to the reflection of the infrared rays. Therefore, the present invention can establish corresponding first blockage information in the first pipeline twin space according to the first infrared information.

[0098] Through the above technical solutions, when the staff repairs the pipeline through the system provided by the present invention, they can establish a first pipeline twin space corresponding to the actual pipeline environment based on the liquid level information and infrared information collected by the pipeline maintenance vehicle.

[0099] In a possible implementation manner of the technical solution provided by the present invention, step S140 includes:

[0100] Determine the coordinate information of the bottom coordinates of all horizontal pipelines in the first pipeline twin space. Based on the coordinate information of the bottom coordinates, establish fluid information with a first liquid level height in the first pipeline twin space, and add a first transparency to the corresponding fluid information. For example, the coordinate information of the bottom coordinates of the horizontal pipeline is (x n , z n , z n ). At this time, z n is the height in the coordinate information of the bottom coordinates. For example, the first liquid level height is 0.2 meters. At this time, all (x n , z n , z n ) to (x n , z n , z nAll points between +0.2) will be considered liquid points and liquid contact points, that is, the height of the corresponding liquid in the municipal pipeline is 0.2 meters. Therefore, at this time, the present invention will establish fluid information of the first liquid level height in the first pipeline twin space according to the coordinate information of the bottom coordinates. The fluid information can be an image, such as a blue image. The present invention will add a first transparency to the fluid information so that the blue liquid has a certain transparency, and the corresponding blockage and pipeline maintenance vehicle can be observed through the liquid with transparency.

[0101] According to the infrared detection sensor of the pipeline maintenance vehicle, it is determined that the substance blocking the infrared transmission is a blockage by the multiple infrared rays output. The present invention will determine the blockage through the infrared detection sensor because the blockage will cause reflection of infrared rays, and the distance of each part of the blockage relative to the infrared detection sensor can be determined according to the emission time.

[0102] Determine the distance of each part of the side of the blockage facing the pipeline maintenance vehicle, and generate a first side image of the side of the blockage close to the pipeline maintenance vehicle. As mentioned above, the present invention will determine the distance of each part of the blockage from the pipeline maintenance vehicle and obtain a first side image of the side of the blockage close to the pipeline maintenance vehicle. It can be understood in this way that since there are many types of blockages, such as dirt, leaves, industrial waste, etc., the structures and surfaces of the blockages formed by various items randomly may be different and uneven. Therefore, the present invention can obtain a first side image of the side close to the pipeline maintenance vehicle according to the distance of each part.

[0103] Lengthen the first side image according to the preset length information to obtain corresponding first blockage information established in the first pipeline twin space. After obtaining the first side image, the length of the blockage cannot be known at this time. Therefore, the present invention will lengthen the first side image according to a preset length information. The preset length information can be 0.5 meters, etc. At this time, the obtained first blockage information may have a certain difference from the actual length and contour of the blockage, but the corresponding blockage can already be displayed through the first pipeline twin space, enabling the staff to know that there is corresponding first blockage information at the corresponding position.

[0104] Step S150: Control the pipeline maintenance vehicle to move to a preset distance from the blockage, determine the dredging diameter of the pipeline maintenance vehicle according to the first side image, and control the pipeline maintenance vehicle to perform dredging according to the dredging diameter. The present invention will continuously control the pipeline maintenance vehicle so that it is at a preset distance from the blockage. The preset distance can be, for example, 0.1 meter, 0.2 meter, etc. The present invention will determine the dredging diameter of the pipeline maintenance vehicle according to the first side image. If the height of the blockage in the first side image is higher, the corresponding dredging diameter will be larger. On the contrary, if the height of the blockage in the first side image is lower, the corresponding dredging diameter will be smaller.

[0105] In a possible implementation manner of the technical solution provided by the present invention, step S150 includes:

[0106] Determine the closest part of the blockage facing the pipeline maintenance vehicle as the first part, and control the pipeline maintenance vehicle to move towards the blockage until the pipeline maintenance vehicle is at a preset distance from the first part. The present invention will take the closest part between the blockage and the pipeline maintenance vehicle as the first part. At this time, the distance between the first part and the pipeline maintenance vehicle will be used as the reference distance. At this time, the present invention will control the pipeline maintenance vehicle to move until the pipeline maintenance vehicle is at a preset distance from the first part. Operations can be carried out at this distance. The preset distance can be pre-set according to the actual scenario, for example, considering factors such as the length dimension of the pipeline maintenance vehicle, etc.

[0107] Determine the coordinate information of all parts in the first side image, extract the maximum Z-axis coordinate and the minimum Z-axis coordinate of all the coordinate information, and generate the corresponding dredging diameter according to the maximum Z-axis coordinate and the minimum Z-axis coordinate. The present invention will determine the coordinate information of all parts in the first side image and obtain the maximum Z-axis coordinate and the minimum Z-axis coordinate. Since the first side images are all located above the bottom surface and the fixed height of each infrared sensor is relative, the maximum Z-axis coordinate and the minimum Z-axis coordinate of the coordinate information can be obtained according to the fixed height of the infrared sensor. At this time, the maximum diameter of the blockage can be calculated according to the maximum Z-axis coordinate and the minimum Z-axis coordinate of the coordinate information.

[0108] Control the pipeline maintenance vehicle to perform dredging treatment according to the dredging diameter, and determine the moment when the dredging treatment starts as the dredging start moment. After the present invention determines the maximum diameter of the blockage, it controls the pipeline maintenance vehicle to be set according to the dredging diameter, performs dredging treatment on the blockage, and takes the moment when the dredging starts as the dredging start moment.

[0109] Step S160: After the command terminal determines that the blockage has been cleared, it generates second blockage information corresponding to the cleared blockage information based on the clearance data of the pipeline maintenance vehicle, and replaces the first blockage information in the first pipeline twin space with the second blockage information. After the blockage is completely cleared, the present invention obtains the second blockage information according to the clearance data of the pipeline maintenance vehicle. At this time, the second blockage information can reflect the actual length of the corresponding blockage, so that the second blockage information is completely corresponding to the blockage being cleared, enabling the staff to understand the situation of the target dredged by the corresponding pipeline maintenance vehicle through the second blockage information.

[0110] In a possible implementation manner of the technical solution provided by the present invention, step S160 includes:

[0111] During the dredging process, the pipeline maintenance vehicle uploads the collected second infrared information to the command terminal. After the command terminal determines that all the infrared rays in the second infrared information are not blocked within a preset distance, it determines that the corresponding blockage has been cleared, and determines the moment when the blockage is cleared as the dredging termination moment. In the present invention, during the dredging process, the second infrared information is uploaded to the command terminal. If there is always silt, the detected object distance uploaded by the second infrared information is relatively close. After determining that all the infrared rays in the second infrared information are not blocked within a preset distance, it proves that there is no longer silt nearby. Therefore, at this time, it can be determined that the corresponding blockage has been cleared, and the moment when the blockage is cleared is determined as the dredging termination moment.

[0112] Calculate the dredging time period based on the dredging start moment and the dredging termination moment. The present invention records the dredging start moment and the dredging termination moment accordingly, and obtains the corresponding dredging time period based on the dredging start moment and the dredging termination moment.

[0113] Obtain the dredging walking speed of the pipeline maintenance vehicle after the dredging start moment, and calculate the dredging length corresponding to the blockage information based on the dredging walking speed and the dredging time period. The present invention obtains the dredging walking speed, which is generally preset in advance. Therefore, the present invention can calculate based on the dredging walking speed and the dredging time period to obtain the corresponding dredging length, which can be regarded as the length of the silt being cleared.

[0114] The first side image is elongated according to the dredging length to obtain a first three-dimensional dredging image, and the first side image is mirrored with respect to the center line of the first three-dimensional dredging image to obtain a second side image. In the present invention, the corresponding first side image is elongated in combination with the dredging length to obtain a first three-dimensional dredging image. At this time, the length of the first three-dimensional dredging image corresponds to the length of the actual image. Then, the present invention mirrors the first side image so that the other side of the first three-dimensional dredging image corresponds to the first side image, which is more in line with and closer to the actual mode of the blockage.

[0115] Second blockage information is obtained based on the second side image and the first three-dimensional dredging image, and the first blockage information in the first pipeline twin space is replaced with the second blockage information. Through the above steps, second blockage information closer to the actual blockage is obtained, and the first blockage information is replaced with the second blockage information. In this way, all the blockages after being cleaned can also be displayed in the first pipeline twin space, facilitating subsequent viewing of the dredging work by the staff.

[0116] In a possible implementation manner, the technical solution provided by the present invention further includes:

[0117] The pipeline maintenance operation vehicle collects the inner wall image of the municipal pipeline and sends it to the command terminal. The pipeline maintenance operation vehicle is controlled by the command terminal to move to the area with gaps on the inner wall of the municipal pipeline, and is controlled by the command terminal to repair the gap area through a preset rubber hose. In an actual application scenario, the pipeline maintenance operation vehicle also collects the inner wall image of the municipal pipeline and sends the corresponding inner wall image to the command terminal. When maintaining the inner wall of the pipeline, at this time, it is necessary to combine the operation of the staff to move the pipeline maintenance operation vehicle to the corresponding area and repair the gap area of the pipeline based on the preset rubber hose.

[0118] In a possible implementation manner, the technical solution provided by the present invention, as Figure 3 shown, further includes a pipeline maintenance operation vehicle. The pipeline maintenance operation vehicle includes a vehicle body and wheel bodies arranged on both sides of the vehicle body. An expansion rod is provided in the inner cavity of the vehicle body, and the end of the expansion rod is rotationally connected to a rotation unit. The wheel bodies can drive the pipeline maintenance operation vehicle to travel. A first driving motor, a speed reducer and other devices can be arranged inside the vehicle body, and the wheel bodies are driven to rotate by the driving motor and the speed reducer. An expansion rod is provided in the inner cavity of the vehicle body. A first cylinder is arranged in the inner cavity, and the expansion cylinder is driven to move vertically by the cylinder.

[0119] The rotating unit includes a support frame that abuts the rotating unit. The rotating unit includes a rotatable control base plate, to which a light strip and a first-stage deployment arm of the robot arm are fixedly mounted. The first-stage deployment arm of the robot arm is connected to the second-stage deployment arm of the robot arm via a robot arm deployment slider. The support frame can abut the rotating unit to support the rotating unit. The rotating unit includes a rotatable control base plate, which can be rotated by a second drive motor disposed in the internal cavity.

[0120] A drive motor is disposed within the internal cavity. The drive shaft of the drive motor passes through the end of the telescopic rod and is fixed to the center of the rotating unit. The drive motor is used to drive the rotating unit to rotate. This drive motor, referred to as the second drive motor, is fixed to the center of the rotating unit through the drive shaft of the second drive motor, which passes through the end of the telescopic rod and is fixed to the center of the rotating unit. This second drive motor is capable of driving the rotatable control base plate to rotate.

[0121] The first-level deployment arm of the robotic arm is hinged to the rotatable control base plate. A first servo motor is provided inside the first-level deployment arm of the robotic arm to control the deployment angle of the first-level deployment arm of the robotic arm compared to the rotatable control base plate. A second servo motor is provided inside the spreading slider of the robotic arm to control the deployment angle of the second-level deployment arm of the robotic arm compared to the first-level deployment arm of the robotic arm.

[0122] Because the first-stage deployment arm of the manipulator is hinged to the rotatable control base plate, a certain angle can be formed between the first-stage deployment arm and the rotatable control base plate. Because the second-stage deployment arm of the manipulator is connected to the first-stage deployment arm of the manipulator via the manipulator deployment slider, a certain angle can be formed between the second-stage deployment arm and the first-stage deployment arm of the manipulator. The present invention can control the first servo motor to obtain the deployment angle of the first-stage deployment arm of the manipulator relative to the rotatable control base plate, and the present invention can control the second servo motor to obtain the angle of the first-stage deployment arm of the manipulator relative to the second-stage deployment arm of the manipulator.

[0123] Wheels of a first diameter are pre-set on either side of the rear of the vehicle body, driving the entire pipeline inspection vehicle to move. Wheels of a second diameter are pre-set on either side of the front of the vehicle body, where the first diameter is preferably larger than the second diameter. By driving the motorized wheels to move, the corresponding wheels also move, thereby moving the entire pipeline inspection vehicle forward. The support frame is fixed to the vehicle body, supporting the first and second deployment arms of the manipulator arm. The manipulator arm shaft allows the first deployment arm to rotate relative to the rotatable control base plate.

[0124] In a possible implementation manner of the technical solution provided by the present invention, the control pipeline maintenance operation vehicle performs silt cleaning according to the silt cleaning diameter, and determines the moment when the silt cleaning starts as the silt cleaning start moment, including:

[0125] If it is determined that the silt cleaning diameter is less than or equal to the preset diameter, control the first servo motor to rotate so that the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate is set at 90 degrees perpendicular. When performing silt cleaning, the present invention first compares the silt cleaning diameter with the preset diameter. If the silt cleaning diameter is less than or equal to the preset diameter, it proves that the range of silt to be cleaned is small. Therefore, at this time, control the first servo motor to rotate so that the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate is set at 90 degrees perpendicular.

[0126] Control the second servo motor to rotate so that the deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm is set at 90 degrees perpendicular. When the range of silt to be cleaned is small, the present invention also sets the deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm at 90 degrees perpendicular. In this way, the small range of silt can be quickly cleared.

[0127] If it is determined that the silt cleaning diameter is greater than the preset diameter, calculate the difference between the silt cleaning diameter and the preset diameter to obtain the radius difference. In some cases, the diameter of the silt to be cleaned may be large, so at this time the silt cleaning diameter will be greater than the preset diameter. At this time, the present invention will calculate that the silt cleaning diameter is greater than the preset diameter.

[0128] Calculate the increased angle value according to the radius difference and the preset angle coefficient, and calculate the increased deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm according to the increased angle value. Calculate the increased deployment angle through the following formula:

[0129]

[0130] where j enl is the increased deployment angle, R1 is the silt cleaning diameter, R pre is the preset diameter, α adj is the preset angle coefficient, and k is the angle weight value. The radius difference can be obtained by calculating the difference of R1 - R pre . The larger the radius difference R1 - R pre , the larger the deployment angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm. At this time, the rotation radius formed by the second-stage deployment arm of the robotic arm will also be larger. The present invention will calculate according to to obtain the increased angle value, and then add the increased angle value of 1 to 90 to obtain the increased deployment angle.

[0131] Control the secondary deployment arm of the robotic arm to perform silt cleaning according to the increased deployment angle. After obtaining the deployment angle in the present invention, silt cleaning will be performed according to the increased deployment angle of the secondary deployment arm of the robotic arm, that is, control the primary deployment arm and the secondary deployment arm of the robotic arm to rotate, drive the silt to loosen, and achieve the purpose and effect of silt cleaning.

[0132] The technical solution provided by the present invention, in a possible implementation manner, further includes:

[0133] When it is judged that it is necessary to repair the area with gaps on the inner wall of the municipal pipeline according to the pipeline maintenance vehicle, control the corresponding pipeline maintenance vehicle to travel to the wellhead on the ground of the municipal pipeline, control the first servo motor to rotate, so that the primary deployment arm of the robotic arm and the rotatable control bottom plate are in a relatively parallel state, and at this time the primary deployment arm of the robotic arm is in a horizontal state. When it is necessary to repair the inner wall of the municipal pipeline, the present invention will first control the pipeline operation vehicle to travel from inside the pipeline to the wellhead on the ground, and control the first servo motor to rotate. At this time, the primary deployment arm of the robotic arm is in a stretched state in the horizontal direction. At this time, the diameter formed by the primary deployment arm of the robotic arm is smaller.

[0134] Control the second servo motor to rotate, so that the secondary deployment arm of the robotic arm and the primary deployment arm of the robotic arm are in a relatively parallel state, and at this time the secondary deployment arm of the robotic arm is in a horizontal state. When the primary deployment arm of the robotic arm is in a stretched state in the horizontal direction, the present invention will control the second servo motor to rotate, so that the secondary deployment arm of the robotic arm and the primary deployment arm of the robotic arm are in a relatively parallel state. At this time, the diameter formed by the secondary deployment arm of the robotic arm is smaller, and the diameter formed by the combination of the primary deployment arm and the secondary deployment arm of the robotic arm is smaller.

[0135] Sheath the rubber hose on the primary deployment arm and the secondary deployment arm of the robotic arm, control the pipeline maintenance vehicle to travel to the area with gaps on the inner wall of the municipal pipeline, control the first servo motor to rotate, and the light-emitting strip lights up. The light of the light-emitting strip can soften the rubber hose, continuously increase the deployment angle between the primary deployment arm of the robotic arm and the rotatable control bottom plate, and the maximum deployment angle between the primary deployment arm of the robotic arm and the rotatable control bottom plate is 90 degrees. This stage is in the stage of sheathing the rubber hose and controlling the primary deployment arm of the robotic arm to deploy. During this stage, first, the rubber hose will be sheathed on the primary deployment arm and the secondary deployment arm of the robotic arm, or it can also be sheathed only on the secondary deployment arm of the robotic arm, which can be determined according to the actual size of the rubber hose, the maintenance scenario, and the working conditions. The rubber hose can be softened by the light of the light-emitting strip. At this time, continuously increase the deployment angle between the primary deployment arm of the robotic arm and the rotatable control bottom plate, thereby driving the diameter of the softened rubber hose to gradually increase.

[0136] If it is determined that the contact between the hose sleeve and the pipe wall causes the first-stage deployment arm of the robotic arm to be in a state where it cannot be deployed and the first servo motor cannot rotate, then stop the rotation of the first servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate. After the rotatable control base plate rotates for the first preset time, stop the rotation of the rotatable control base plate to reset the first-stage deployment arm and the second-stage deployment arm of the robotic arm. At this time, a part of the first-stage deployment arm of the robotic arm has effectively contacted the hose with the pipe wall. At this time, the first-stage deployment arm of the robotic arm is in a state where it cannot be deployed. Therefore, at this time, it is necessary to stop the rotation of the first servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate, and continuously press against the hose, so that the entire softened hose is driven to effectively fit with the inner wall of the pipe. The present invention will stop the rotation of the rotatable control base plate after the rotatable control base plate rotates for the first preset time. At this time, the corresponding hose has been effectively fitted with the inner wall of the pipe. Therefore, at this time, the first-stage deployment arm and the second-stage deployment arm of the robotic arm can be reset so that the first-stage deployment arm and the second-stage deployment arm of the robotic arm can be in a horizontal state. At this time, the pipeline inspection vehicle can be continuously controlled to move forward for detection, dredging, etc.

[0137] If it is determined that the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate is 90 degrees, then stop the operation of the first servo motor and control the second servo motor to drive the second-stage deployment arm of the robotic arm. At this time, the first-stage deployment arm of the robotic arm has reached the maximum deployment amplitude. Therefore, at this time, it is necessary to stop the operation of the first servo motor and control the corresponding second servo motor to drive the second-stage deployment arm of the robotic arm. During the deployment of the second-stage deployment arm at this time, the entire inspection vehicle will have a relatively larger diameter.

[0138] If it is determined that the contact between the hose sleeve and the pipe wall causes the second-stage deployment arm of the robotic arm to be in a state where it cannot be deployed and the second servo motor cannot rotate, then stop the rotation of the second servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate. At this time, the deployment amplitude of the second-stage deployment arm of the robotic arm has reached the maximum in the pipe. At this time, the hose sleeve has effectively contacted the pipe wall. Therefore, at this time, it is necessary to stop the rotation of the second servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate, so that the first-stage deployment arm and the second-stage deployment arm of the robotic arm press against the hose during rotation, so that the hose effectively contacts the inner wall of the pipe.

[0139] Calculate according to the angular rotation time of the second servo motor to obtain the repair angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm. Determine the pressing rotation time of the first-stage deployment arm and the second-stage deployment arm of the robotic arm at each position in the pipeline according to the repair angle. It can be understood in this way that if the rotation time of the second servo motor is longer, the deployment amplitude of the second-stage deployment arm of the robotic arm will be relatively larger. The present invention can calculate in combination with the rotation time to obtain the repair angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm. The ratio between the rotation time and the repair angle can be preset. For example, when rotating for 1 second, the rotated angle can be 1 degree. Then when the rotation time is 10 seconds, the repair angle at this time is 10 degrees plus 90 degrees, which is 100 degrees.

[0140] The present invention will determine the pressing rotation time of the first-stage deployment arm and the second-stage deployment arm of the robotic arm at each position in the pipeline according to the repair angle. If the repair angle is larger, the effective contact area between the second-stage deployment arm of the robotic arm and the rubber hose will be smaller. Therefore, it is necessary to determine the pressing rotation time of the first-stage deployment arm and the second-stage deployment arm of the robotic arm at each position in the pipeline according to the repair angle, which can be determined according to the preset time correspondence table. The preset time correspondence table has repair angle intervals, and each repair angle interval has a corresponding pressing rotation time. For example, if the repair angle interval is greater than or equal to 90 degrees and less than 100 degrees, the corresponding pressing rotation time at this time can be 1 minute. When the repair angle interval is greater than or equal to 100 degrees and less than 110 degrees, the corresponding pressing rotation time at this time can be 1.5 minutes.

[0141] Obtain the moving distance of the pipeline inspection vehicle according to the length of the rubber hose sleeve. Obtain multiple rotation position points according to the moving distance and the average distance. Control the pipeline inspection vehicle to move according to the moving distance to each rotation position point in turn, and control the rotatable control bottom plate to rotate at each rotatable control bottom plate according to the corresponding rotation time. The present invention will obtain the moving distance of the pipeline inspection vehicle according to the length of the rubber hose sleeve. For example, if the length of the rubber hose sleeve is 0.5 meters, then the length of the rubber hose sleeve at this time may be 0.5 meters or 0.6 meters. The relationship between the length of the rubber hose sleeve and the moving distance can be preset. The present invention will obtain multiple rotation position points according to the moving distance and the average distance. The rotation position points can be regarded as the position points where the end of the second-stage deployment arm of the robotic arm needs to rotate. The present invention will sequentially control the pipeline inspection vehicle to move to each rotation position point according to the moving distance in turn, and at the corresponding rotation position point, the rotatable control bottom plate will rotate according to the corresponding rotation time at each rotatable control bottom plate, so that when the first-stage deployment arm and the second-stage deployment arm of the robotic arm have different deployment diameters, the maximum diameter of the second-stage deployment arm of the robotic arm can be effectively contacted with each part of the rubber hose sleeve, ensuring effective fitting between the rubber pipeline and the inside of the pipeline.

[0142] The present invention also provides a storage medium storing a computer program, which is used to implement the methods provided by the above various embodiments when being executed by a processor.

[0143] Among them, the storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium facilitating the transmission of a computer program from one place to another. The computer storage medium can be any available medium accessible by a general-purpose or special-purpose computer. For example, the storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuits (ASIC). Additionally, the ASIC can be located in a user device. Of course, the processor and the storage medium can also exist as discrete components in a communication device. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0144] The present invention also provides a program product including execution instructions stored in a storage medium. At least one processor of a device can read the execution instructions from the storage medium, and the execution of the execution instructions by at least one processor causes the device to implement the methods provided by the above various embodiments.

[0145] In the above embodiments of the terminal or the server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the present invention can be directly embodied as being completed by the execution of a hardware processor, or by a combination of hardware and software modules in the processor.

[0146] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Pipeline maintenance operation maintenance system, characterized in that, Including: Establish a communication connection between the command terminal and the pipeline maintenance vehicle, place the pipeline maintenance vehicle into the municipal pipeline to be maintained, and after the pipeline maintenance vehicle determines to set the automatic working mode, it automatically walks in the municipal pipeline; The command terminal constructs a first pipeline twin space corresponding to the municipal pipeline according to the laying structure of the municipal pipeline, and performs coordinate processing on the first pipeline twin space according to a preset coordinate origin to obtain a first pipeline twin space with coordinate information; According to the relative position between the pipeline maintenance vehicle and the preset coordinate origin, determine the twin vehicle corresponding to the pipeline maintenance vehicle in the first pipeline twin space, and display the twin vehicle in real time in the first pipeline twin space; According to the liquid level information detected by the pipeline maintenance vehicle, establish fluid information of the first liquid level height in the first pipeline twin space, and according to the first infrared information detected by the pipeline maintenance vehicle, establish corresponding first silt information in the first pipeline twin space; Control the pipeline maintenance vehicle to walk to a preset distance from the silt, determine the dredging diameter of the pipeline maintenance vehicle according to the first side image, and control the pipeline maintenance vehicle to perform dredging according to the dredging diameter; After the command terminal determines that the silt has been removed, generate second silt information corresponding to the removed silt information according to the removal data of the pipeline maintenance vehicle, and replace the first silt information in the first pipeline twin space with the second silt information; A pipeline maintenance vehicle, which includes a vehicle body and wheel bodies arranged on both sides of the vehicle body. An expansion rod is provided in the inner cavity of the vehicle body, and the end of the expansion rod is rotatably connected to a rotating unit; The rotating unit includes a support frame, the support frame is in contact with the rotating unit, the rotating unit includes a rotatable control bottom plate, a light-emitting lamp strip and a first-stage mechanical arm expansion arm are fixedly arranged at the rotatable control bottom plate, and the first-stage mechanical arm expansion arm is connected to the second-stage mechanical arm expansion arm through a mechanical arm spreading slider; A drive motor is arranged in the inner cavity, and the drive shaft of the drive motor passes through the end of the expansion rod and is fixed to the center of the rotating unit. The drive motor is used to drive the rotating unit to rotate; The first-stage mechanical arm expansion arm is hinged to the rotatable control bottom plate. A first servo motor is arranged inside the first-stage mechanical arm expansion arm to control the expansion angle of the first-stage mechanical arm expansion arm relative to the rotatable control bottom plate. A second servo motor is arranged inside the mechanical arm spreading slider to control the expansion angle of the second-stage mechanical arm expansion arm relative to the first-stage mechanical arm expansion arm.

2. The pipeline maintenance and repair system according to claim 1, wherein The command terminal constructs a first pipeline twin space corresponding to the municipal pipeline according to the laying structure of the municipal pipeline, and performs coordinate processing on the first pipeline twin space according to a preset coordinate origin to obtain a first pipeline twin space with coordinate information, including: Set a first positioning device at any point of the wellhead of the municipal pipeline on the ground, and establish a space coordinate system with the first positioning point corresponding to the first positioning device as the preset coordinate origin; According to the positional relationship between each pipeline position point in the first pipeline twin space and the preset coordinate origin, obtain the coordinate information of each pipeline position point in the space coordinate system.

3. The pipeline maintenance operation and maintenance system according to claim 2, wherein Determining the twin operation vehicle corresponding to the pipeline maintenance operation vehicle in the first pipeline twin space according to the relative position between the pipeline maintenance operation vehicle and the preset coordinate origin, and displaying the twin operation vehicle in real time in the first pipeline twin space, includes: Set a second positioning device at the twin operation vehicle, obtain the second positioning information of the second positioning device, and obtain the coordinate information of the twin operation vehicle according to the positional relationship between the second positioning information and the preset coordinate origin; Obtain the coordinate information of the twin operation vehicle in real time, and continuously update and display the position of the twin operation vehicle in the first pipeline twin space at a preset update frequency.

4. The pipeline maintenance operation and maintenance system according to claim 3, wherein Establishing fluid information with a first liquid level height in the first pipeline twin space according to the liquid level information detected by the pipeline maintenance operation vehicle, and establishing corresponding first blockage information in the first pipeline twin space according to the first infrared information detected by the pipeline maintenance operation vehicle, includes: Determine the coordinate information of the bottom coordinates of all horizontal pipelines in the first pipeline twin space, establish fluid information with a first liquid level height in the first pipeline twin space according to the coordinate information of the bottom coordinates, and add a first transparency to the corresponding fluid information; Determine that the substance blocking the infrared ray transmission is a blockage according to the multiple infrared rays output by the infrared detection sensor of the pipeline maintenance operation vehicle; Determine the distance between each part of the side of the blockage facing the pipeline maintenance operation vehicle, and generate a first side image of the side of the blockage close to the pipeline maintenance operation vehicle; Stretch the first side image according to the preset length information to obtain the corresponding first blockage information established in the first pipeline twin space.

5. The pipeline maintenance operation and maintenance system according to claim 4, wherein Controlling the pipeline maintenance operation vehicle to travel to a preset distance from the blockage, determining the cleaning diameter of the pipeline maintenance operation vehicle according to the first side image, and controlling the pipeline maintenance operation vehicle to perform cleaning according to the cleaning diameter, includes: Determine the closest part of the blockage facing the pipeline maintenance operation vehicle as the first part, and control the pipeline maintenance operation vehicle to move towards the blockage until the pipeline maintenance operation vehicle is at a preset distance from the first part; Determine the coordinate information of all parts in the first side image, extract the maximum Z-axis coordinate and the minimum Z-axis coordinate of all coordinate information, and generate a corresponding cleaning diameter according to the maximum Z-axis coordinate and the minimum Z-axis coordinate; Control the pipeline maintenance operation vehicle to perform cleaning treatment according to the cleaning diameter, and determine the moment when the cleaning treatment starts as the cleaning start moment.

6. The pipeline maintenance operation and maintenance system according to claim 5, characterized in that after the command terminal determines that the blockage has been removed, it generates second blockage information corresponding to the removed blockage information based on the removal data of the pipeline maintenance vehicle, and replaces the first blockage information in the first pipeline twin space with the second blockage information, including: During the dredging process, the pipeline maintenance vehicle uploads the collected second infrared information to the command terminal. After the command terminal determines that all the infrared rays in the second infrared information are not blocked within a preset distance, it determines that the corresponding blockage has been removed, and determines the moment when the blockage is removed as the dredging end moment; Calculate the dredging time period based on the dredging start moment and the dredging end moment; Obtain the dredging walking speed after the dredging start moment of the pipeline maintenance vehicle, and calculate the dredging length corresponding to the blockage information based on the dredging walking speed and the dredging time period; Lengthen the first side image according to the dredging length to obtain a first three-dimensional dredging image, and perform mirror processing on the center line of the first side image relative to the first three-dimensional dredging image to obtain a second side image; Obtain the second blockage information based on the second side image and the first three-dimensional dredging image, and replace the first blockage information in the first pipeline twin space with the second blockage information.

7. The pipeline maintenance operation and maintenance system according to claim 6, characterized in that, It further includes: The pipeline maintenance vehicle collects the inner wall image of the municipal pipeline and sends it to the command terminal. The pipeline maintenance vehicle is controlled by the command terminal to move to the area of the inner wall of the municipal pipeline with gaps, and is controlled by the command terminal to repair the area of the gaps through a preset rubber hose.

8. The pipeline maintenance operation and maintenance system according to claim 1, characterized in that controlling the pipeline maintenance vehicle to perform dredging treatment according to the dredging diameter, and determining the moment when the dredging treatment starts as the dredging start moment, including: If it is determined that the dredging diameter is less than or equal to the preset diameter, control the first servo motor to rotate so that the expansion angle of the first-stage expansion arm of the robotic arm and the rotatable control base plate is set at 90 degrees perpendicular; Control the second servo motor to rotate so that the expansion angle of the second-stage expansion arm of the robotic arm relative to the first-stage expansion arm of the robotic arm is set at 90 degrees perpendicular; If it is determined that the dredging diameter is greater than the preset diameter, calculate the difference between the dredging diameter and the preset diameter to obtain a radius difference; Calculate an increased angle value based on the radius difference and the preset angle coefficient, and calculate the expanded angle of the second-stage expansion arm of the robotic arm relative to the first-stage expansion arm of the robotic arm after the increase according to the increased angle value. Calculate the expanded angle after the increase through the following formula where j enl is the increased expansion angle, R1 is the dredging diameter, and R pre is the preset diameter, α adj is the preset angle coefficient, and k is the angle weight value; Control the second-stage expansion arm of the robotic arm to perform dredging treatment according to the expanded angle after the increase.

9. The pipeline maintenance operation and maintenance system according to claim 1, characterized in that It further includes: [[ID= Control the second servo motor to rotate so that the second-stage deployment arm of the robotic arm and the first-stage deployment arm of the robotic arm are in a relatively parallel state. At this time, the second-stage deployment arm of the robotic arm is in a horizontal state; Sheathe the rubber hose on the first-stage deployment arm and the second-stage deployment arm of the robotic arm. Control the pipeline inspection vehicle to move to the area with gaps on the inner wall of the municipal pipeline. Control the first servo motor to rotate, and the light-emitting strip lights up. The light of the light-emitting strip can soften the rubber hose sleeve, and continuously increase the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate. The maximum deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate is 90 degrees; If it is judged that the contact between the rubber hose sleeve and the pipeline wall causes the first-stage deployment arm of the robotic arm to be in a non-deployable state and the first servo motor cannot rotate, then stop the rotation of the first servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate. After the rotatable control base plate rotates for the first preset time, stop the rotation of the rotatable control base plate to reset the first-stage deployment arm and the second-stage deployment arm of the robotic arm; If it is judged that the deployment angle between the first-stage deployment arm of the robotic arm and the rotatable control base plate is 90 degrees, then stop the operation of the first servo motor and control the second servo motor to drive the second-stage deployment arm of the robotic arm; If it is judged that the contact between the rubber hose sleeve and the pipeline wall causes the second-stage deployment arm of the robotic arm to be in a non-deployable state and the second servo motor cannot rotate, then stop the rotation of the second servo motor, control the rotatable control base plate to rotate, and then drive the first-stage deployment arm and the second-stage deployment arm of the robotic arm to rotate; Calculate according to the angle rotation time of the second servo motor to obtain the repair angle of the second-stage deployment arm of the robotic arm relative to the first-stage deployment arm of the robotic arm, and determine the pressing rotation time of the first-stage deployment arm and the second-stage deployment arm of the robotic arm at each position in the pipeline according to the repair angle; Obtain the moving distance of the pipeline inspection vehicle according to the length of the rubber hose sleeve. Obtain multiple rotation position points according to the moving distance and the average distance. Control the pipeline inspection vehicle to move according to the moving distance to each rotation position point in turn, and control the rotatable control base plate to rotate at each corresponding rotation time of the rotatable control base plate.

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