Modular tool exchange and integrated pipeline pigging robot system

Abstract

The present application relates to the technical field of sludge treatment, and provides a modular tool exchange and integrated pipeline dredging robot system, which comprises a server, a robot main body, a tool module, a conversion module, an evaluation module, a moving module and a posture adjustment module.The tool module cleans the sludge in the pipeline and the pipeline wall, the evaluation module collects pipeline environment data, evaluates the pipeline according to the collected pipeline environment data to form an evaluation result, and drives the robot main body to move in the pipeline, and the posture adjustment module adjusts the posture of the moving module to adapt to different pipelines.Through the cooperation between the evaluation module and the conversion module, the cleaning tool can be converted and the pipeline can be cleaned, the conversion efficiency of the cleaning tool is improved, and the entire system can accurately evaluate the cleaning position, adapt to different pipeline evaluation needs, has high flexibility and high intelligence.

Description

Technical Field

[0001] This invention relates to the field of sludge treatment technology, and in particular to a modular tool exchange and integration pipeline dredging robot system. Background Technology

[0002] Traditional pipeline dredging methods vary widely, ranging from mechanical to chemical approaches, each with its limitations. Existing robotic pipeline dredging systems typically have fixed dredging tools, restricting their application in different environments and under various pipeline blockage conditions.

[0003] For example, Chinese patent CN206800494U discloses a negative pressure conveying dredging robot. Although it can move in hidden and narrow places such as culverts, it has the defects of pipe recovery and inaccurate position control. At the same time, the position of the robot cannot be adjusted and controlled, which makes it easy to have incomplete cleaning.

[0004] Another typical example is the culvert dredging robot disclosed in Chinese patent CN219137937U, which uses special tools to clean sludge of different particle sizes. However, it has the drawback of not being able to completely clean the inner wall of the culvert, resulting in blind spots in the cleaning process.

[0005] In addition, existing pipeline dredging technologies have several inherent problems:

[0006] 1) Many existing pipeline dredging robots are only equipped with fixed types of dredging tools, which means they can only deal with specific types of blockages, such as solid waste and grease. However, in practical applications, the causes and nature of blockages may vary, and a single tool can hardly meet all needs;

[0007] 2) Due to the lack of modular design, when tools need to be changed, operators may need to stop the machine and go through a cumbersome change procedure, which is not only time-consuming, but may also require professional skills and tools;

[0008] 3) Different pipe diameters, lengths, curves, and materials can affect the effectiveness of dredging tools. Existing systems often cannot adapt to these changes, resulting in poor dredging performance.

[0009] 4) Existing pipeline dredging robots may lack effective sensors and control systems, making it difficult for operators to obtain real-time information on dredging progress and robot status;

[0010] This invention was developed to address the common problems in the field, such as low dredging efficiency, inability to switch tools, inability to assess dredging cleanliness, inability to adapt to different culvert sizes, limited applicability, and low intelligence. Summary of the Invention

[0011] The purpose of this invention is to address the shortcomings of current systems by proposing a modular tool exchange and integration pipeline dredging robot system.

[0012] To overcome the shortcomings of the prior art, the present invention adopts the following technical solution:

[0013] A modular tool exchange and integration pipeline dredging robot system is disclosed. The system includes a server and a robot body. The system further comprises a tool module, a conversion module, an evaluation module, a movement module, and a posture adjustment module. The server is connected to each of these modules, and stores intermediate and process data in its database.

[0014] The tool module cleans the sludge and pipe walls in the pipe. The evaluation module collects the pipe environment data and evaluates the pipe based on the collected data to form an evaluation result. The conversion module adjusts the position of the tool module based on the evaluation result. The movement module is mounted on the robot body and moves the robot body in the pipe. The posture adjustment module adjusts the posture of the movement module to adapt to different pipes.

[0015] The conversion module includes a conversion unit, a positioning unit, and a sensing unit. The positioning unit positions the conversion unit to determine the conversion position, the conversion unit converts the position of the tool module, and the sensing unit senses the size of the pipe.

[0016] The conversion unit includes a conversion base, a conversion drive mechanism, and a connecting rod. One end of the connecting rod is connected to the conversion base, and the other end of the connecting rod is driven to the conversion drive mechanism to form a drive unit. The drive unit is disposed on the robot body.

[0017] The tool module is mounted on the conversion seat and rotates with the conversion seat to clean the pipe wall.

[0018] Optionally, the sensing unit is located at the front end of the robot body in the direction of travel and senses the size of the pipe;

[0019] The sensing unit includes a support rod, a first reset spring, a second reset spring, a first sensing plate, a second sensing plate, and at least one touch sensor.

[0020] One end of the support rod is connected to the front end of the robot body, and the other end of the support rod extends toward the side away from the robot body. The first sensor plate and the second sensor plate are symmetrically arranged on both sides of the support rod. One end of the first sensor plate is hinged to the support rod, and the other end of the first sensor plate extends toward the side of the robot body. One end of the second sensor plate is hinged to the support rod, and the other end of the second sensor plate extends toward the side of the robot body. One end of the first reset spring is connected to the end face of the first sensor plate, and the other end of the first reset spring is connected to the rod body of the support rod. One end of the second reset spring is connected to the end face of the second sensor plate, and the other end of the second reset spring is connected to the rod body of the support rod.

[0021] In this embodiment, at least one of the touch sensors is distributed at equal intervals along the length extension directions of the first sensing plate and the second sensing plate, respectively.

[0022] Optionally, the evaluation module includes a sampling unit and an evaluation unit. The sampling unit collects the pipeline environmental data, and the evaluation unit evaluates the pipeline based on the pipeline environmental data to form an evaluation result.

[0023] The sampling unit includes a data storage device, a pressure sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, a gas analyzer, and a tactile sensor. The pressure sensor measures the ambient pressure inside the pipe, the humidity sensor collects the humidity inside the pipe, the temperature sensor collects the temperature inside the pipe, the ultrasonic sensor collects the sludge thickness inside the pipe, the gas analyzer collects the gas concentration inside the pipe, and the tactile sensor collects the viscosity of the sludge or sediment inside the pipe. The data storage device stores the ambient pressure collected by the pressure sensor, the temperature collected by the temperature sensor, the humidity collected by the humidity sensor, the sludge thickness collected by the ultrasonic sensor, the gas concentration collected by the gas analyzer, and the viscosity value collected by the tactile sensor.

[0024] Optionally, the evaluation unit acquires the environmental data of the pipeline collected by the sampling unit, and calculates the cleanliness index (Sanitation) of the pipeline according to the following formula:

[0025]

[0026] In the formula, k is the amplification factor, the value of which is set according to the system, and state is the state function of the pipeline, the value of which is calculated according to the following formula:

[0027]

[0028] In the formula, a, b, c, and d are weighting coefficients, the values ​​of which are set by the system according to the actual state of the pipeline, P is the air pressure value of the pipeline obtained by the pressure sensor, T is the temperature value obtained from the temperature sensor, H is the humidity value obtained from the humidity sensor, U is the sludge thickness value of the pipeline obtained from the ultrasonic sensor, G is the concentration value of harmful or flammable gas in the pipeline obtained from the gas analyzer, and V is the sludge hardness and viscosity value of the pipeline obtained from the tactile sensor.

[0029] If the cleanliness index Sanitation exceeds the system-set monitoring threshold G', the conversion module is triggered to convert the tool currently being used by the tool module.

[0030] Optionally, the moving module includes a support frame, moving wheels, and a moving drive mechanism. The support frame supports the moving wheels, and the moving drive mechanism is driven to connect with the moving wheels to form a moving part. The moving part is disposed on the support frame.

[0031] Optionally, the posture adjustment module includes a limiting rod, an adjusting rod, an adjustment drive mechanism, and an extension detection element. One end of the limiting rod is hinged to the robot body, and the other end of the limiting rod is hinged to the side wall of the support frame. One end of the adjusting rod is hinged to the rod body of the limiting rod, and the other end of the adjusting rod is driven to the adjustment drive mechanism to form an adjustment part. The adjustment part is disposed on the robot body. The extension detection element detects the extension length of the adjusting rod to obtain the extension amount of the adjusting rod.

[0032] Optionally, the tool module includes a first lifting unit, a second lifting unit, a third lifting unit, a suction unit, a cleaning unit, and a scraping unit. The first lifting unit adjusts the position of the suction unit, the second lifting unit adjusts the position of the cleaning unit, and the third lifting unit adjusts the position of the scraping unit. The suction unit sucks up the sludge in the pipe, the cleaning unit cleans the adsorbed material on the pipe wall, and the scraping unit scrapes the pipe wall.

[0033] The sludge suction unit includes a sludge suction pipe, a sludge suction pump, and a sludge collection vehicle. One end of the suction pipe is located at the front end of the robot body, and the other end of the suction pipe is connected to the suction pump to suction the sludge or debris in the pipe onto the sludge collection vehicle.

[0034] Optionally, the positioning unit includes an identification component and at least one positioning marker. The at least one positioning marker is respectively disposed at the location of the tool module. The identification component identifies the at least one positioning marker and transmits the identified positioning data back to the conversion unit.

[0035] Optionally, the moving module is disposed on the periphery of the robot body and contacts the pipe wall during movement.

[0036] Optionally, the first lifting unit, the second lifting unit, and the third lifting unit adjust the positions of the suction unit, the cleaning unit, and the scraping unit respectively based on the pipe size data sensed by the sensing unit, so that the suction unit, the cleaning unit, and the scraping unit can clean the pipe wall.

[0037] The beneficial effects achieved by this invention are:

[0038] 1. Through the cooperation between the evaluation module and the conversion module, the cleaning tool can be converted and the pipeline can be cleaned, which improves the conversion efficiency of the cleaning tool and ensures that the whole system can accurately evaluate the cleaning location, adapt to different culvert evaluation needs, and has the advantages of high flexibility and high intelligence.

[0039] 2. Through the cooperation between the movement module and the posture adjustment module, the robot body can move along the pipeline, ensuring the efficiency and reliability of the entire system in dredging the pipeline;

[0040] 3. Through the cooperation of the movement module and the posture adjustment module, the posture of the movement module can be adjusted to adapt to different pipe sizes, ensuring that the whole system has the advantages of wider applicability, adaptability to different pipe sizes, and high intelligence.

[0041] 4. Through the cooperation of the conversion module and the tool module, the tool can be converted, enabling various parts of the pipeline to be cleaned, thereby improving the overall cleaning effect and cleaning capability of the pipeline.

[0042] 5. Through the cooperation between the conversion module and the tool module, the tools can be converted to each other and the dirt in the pipes can be cleaned, which improves the cleaning efficiency of the entire system and ensures that the entire system has the advantages of convenient tool conversion, adaptability to different pipe sizes and wide application scenarios, and high flexibility. Attached Figure Description

[0043] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0044] Figure 1 This is a schematic diagram of the overall block shape of the present invention.

[0045] Figure 2This is a block diagram of the sensing unit, conversion unit, positioning unit, and tool module of the present invention.

[0046] Figure 3 This is a block diagram of the vibration unit and vibration analysis module of the present invention.

[0047] Figure 4 This is a block diagram of the conversion unit, suction unit, scraping unit, and cleaning unit of the present invention.

[0048] Figure 5 This is a schematic diagram of the overall structure of the present invention.

[0049] Figure 6 for Figure 5 A cross-sectional view at point CC.

[0050] Figure 7 for Figure 5 Enlarged diagram of point A in the middle.

[0051] Figure 8 for Figure 5 Enlarged diagram of point B in the middle.

[0052] Figure 9 This is a rear view diagram of the present invention.

[0053] Explanation of reference numerals in the attached drawings: 1. Robot body; 2. Limiting rod; 3. Moving wheel; 4. Adjusting rod; 5. Lifting mechanism; 6. Tactile sensor; 7. Converter seat; 8. Third lifting rod; 9. Scraper; 10. Cleaning brush; 11. First lifting rod; 12. Suction nozzle; 13. Fixed seat; 14. Telescopic rod; 15. First sensing plate; 16. Touch sensor; 17. First return spring; 18. Connecting rod; 19. Vibration plate; 20. Ultrasonic sensor; 21. Third lifting rod; 22. Suction pipe; 23. Support rod. Detailed Implementation

[0054] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0055] Example 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, this embodiment provides a modular tool exchange and integration pipeline dredging robot system. The pipeline dredging robot system includes a server and a robot body 1. The system further includes a tool module, a conversion module, an evaluation module, a movement module, and a posture adjustment module. The server is connected to the tool module, conversion module, evaluation module, movement module, and posture adjustment module respectively, and stores the intermediate and process data of the tool module, conversion module, evaluation module, movement module, and posture adjustment module in the server's database.

[0056] The tool module cleans the sludge and pipe walls in the pipe. The evaluation module collects the pipe environment data and evaluates the pipe based on the collected data to form an evaluation result. The conversion module adjusts the position of the tool module based on the evaluation result. The movement module is mounted on the robot body 1 and moves the robot body 1 in the pipe. The posture adjustment module adjusts the posture of the movement module to adapt to different pipes.

[0057] The pipeline dredging robot system also includes a central processing unit (CPU), which is connected to the tool module, conversion module, evaluation module, movement module, and posture adjustment module. The CPU provides centralized control over these modules to enhance the overall system's collaborative capabilities.

[0058] The conversion module includes a conversion unit, a positioning unit, and a sensing unit. The positioning unit positions the conversion unit to determine the conversion location, the conversion unit converts the tool module, and the sensing unit senses the dimensions of the pipe.

[0059] The conversion unit includes a conversion seat 7, a conversion drive mechanism, and a connecting rod 18. One end of the connecting rod 18 is connected to the conversion seat 7, and the other end of the connecting rod 18 is drivenly connected to the conversion drive mechanism to form a drive unit. The drive unit is disposed on the robot body 1.

[0060] The tool module is mounted on the conversion seat 7 and rotates with the conversion seat 7 to clean the sludge and pipe walls.

[0061] Optional, such as Figure 5As shown, the sensing unit is located at the front end of the robot body 1 in the direction of travel and senses the size of the pipe. The sensing unit includes a support rod, a first return spring 17, a second return spring, a first sensing plate 15, a second sensing plate, and at least one touch sensor 16. One end of the support rod is connected to the front end of the robot body 1, and the other end of the support rod extends away from the robot body 1. The first sensing plate 15 and the second sensing plate are symmetrically arranged on both sides of the support rod. One end of the first sensing plate 15 is hinged to the support rod, and the other end of the first sensing plate 15 extends towards one side of the robot body. One end of the second sensing plate is hinged to the support rod, and the other end of the second sensing plate extends towards one side of the robot body. One end of the first return spring 17 is connected to the end face of the first sensing plate 15, and the other end of the first return spring 17 is connected to the rod body of the support rod. One end of the second return spring is connected to the end face of the second sensing plate, and the other end of the second return spring is connected to the rod body of the support rod.

[0062] Wherein, at least one of the touch sensors 16 is distributed at equal intervals along the length extension direction of the first sensing plate 15 and the second sensing plate;

[0063] When the first sensing plate 15 and the second sensing plate come into contact with the pipe, there will be a contact force between the first sensing plate 15 and the second sensing plate, and the size data of the pipe will be captured by the first sensing plate 15 and the second sensing plate.

[0064] like Figure 5 As shown, the specific capture process is as follows: When the first sensing plate and the second sensing plate abut against the pipe wall of the pipe, at least one touch sensor 16 set on the first sensing plate 15 and the second sensing plate comes into contact with the pipe wall and is squeezed to generate contact data, thereby forming corresponding pipe size data according to the position of the touch sensor that generates the contact data.

[0065] Specifically, by acquiring the size data of the pipe, the central processing unit can adjust the posture of the posture adjustment module, the tool module, and the conversion module;

[0066] Optionally, the positioning unit includes an identification component and at least one positioning marker. The at least one positioning marker is respectively disposed at the location of the tool module. The identification component identifies the at least one positioning marker and transmits the identified positioning data back to the conversion unit.

[0067] Specifically, the positioning marker is disposed on the rotating base, and at least one positioning marker corresponds to a tool of the tool module, so that each tool can be accurately switched.

[0068] Meanwhile, the identification component includes a positioning rod and an identification probe. One end of the positioning rod is connected to the frame, and the other end of the positioning rod extends upward toward the conversion seat 7. The identification probe is disposed at the end of the positioning rod and extends toward at least one positioning marker to identify at least one positioning marker.

[0069] When the conversion drive mechanism drives the conversion seat 7 to rotate, the positioning unit positions the rotation position to achieve more precise and efficient tool conversion.

[0070] Optionally, the evaluation module includes a sampling unit and an evaluation unit. The sampling unit collects the pipeline environmental data, and the evaluation unit evaluates the pipeline based on the pipeline environmental data to form an evaluation result.

[0071] The sampling unit includes a data storage device, a pressure sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor 20, a gas analyzer, and a tactile sensor 6. The pressure sensor measures the ambient pressure inside the pipe, the humidity sensor collects the humidity inside the pipe, the temperature sensor collects the temperature inside the pipe, the ultrasonic sensor 20 collects the sludge thickness inside the pipe, the gas analyzer collects the gas concentration inside the pipe, and the tactile sensor 6 collects the viscosity of the sludge or sediment inside the pipe. The data storage device stores the ambient pressure collected by the pressure sensor, the temperature collected by the temperature sensor, the humidity collected by the humidity sensor, the sludge thickness collected by the ultrasonic sensor 20, the gas concentration collected by the gas analyzer, and the viscosity value collected by the tactile sensor 6.

[0072] Specifically, pressure sensors, temperature sensors, humidity sensors, ultrasonic sensors 20, and gas analyzers are mounted on the robot body 1;

[0073] The sampling unit further includes a lifting component, which is used to adjust the position of the tactile sensor 6; the lifting component includes a lifting rod, a lifting drive mechanism, and a lifting detection component, the lifting detection component detects the extension length of the lifting rod, and the lifting drive mechanism is driven to drive the lifting rod, thereby causing the lifting rod to perform a telescopic movement;

[0074] Specifically, one end of the lifting rod is connected to the tactile sensor 6, and the other end of the lifting rod is driven to connect to the lifting drive mechanism to form a lifting part. The lifting part is disposed on the robot body 1 and extends toward the bottom wall of the pipe.

[0075] Optionally, the evaluation unit acquires the environmental data of the pipeline collected by the sampling unit, and calculates the cleanliness index (Sanitation) of the pipeline according to the following formula:

[0076]

[0077] In the formula, k is the amplification factor, the value of which is set according to the system, and state is the state function of the pipeline, the value of which is calculated according to the following formula:

[0078]

[0079] In the formula, a, b, c, and d are weighting coefficients, the values ​​of which are set by the system according to the actual state of the pipeline, P is the air pressure value of the pipeline obtained by the pressure sensor, T is the temperature value obtained from the temperature sensor, H is the humidity value obtained from the humidity sensor, U is the sludge thickness value of the pipeline obtained from the ultrasonic sensor, G is the concentration value of harmful or flammable gas in the pipeline obtained from the gas analyzer, and V is the sludge hardness and viscosity value of the pipeline obtained from the tactile sensor.

[0080] The magnification factor is used to change the output size of the cleanliness index. It is assumed that the output of the state function is theoretically between -10 and +10, while the expected value of the cleanliness index varies between 0 and 100.

[0081] If the output of the state function is directly mapped to the cleanliness index, a magnification factor is needed to linearly map the output of the state function from -10 to +10 to 0 to 100. In this case, k can be set to 10 (because 100 / 10 = 10).

[0082] If the cleanliness index Sanitation exceeds the system-set monitoring threshold G', the conversion module is triggered to convert the tool currently being used by the tool module.

[0083] If the cleanliness index Sanitation is lower than the monitoring threshold G' set by the system, the conversion module will not be triggered to switch the tool currently used by the tool module, and the current tool will continue to be used to clean the pipe.

[0084] The monitoring threshold G' is set by the system or administrator according to the actual situation. This is a technical means well known to those skilled in the art. Those skilled in the art can consult relevant technical manuals to learn about this technology. Therefore, it will not be described in detail in this embodiment.

[0085] The weighting coefficients for a, b, c, and d are typically between 0 and 1, and the sum of these coefficients is usually 1. This implementation provides an example illustrating the determination of these weighting coefficients:

[0086] 1) Initially, if there is not enough information to determine which sensor data is more important, the weights can be equally distributed;

[0087] 2) If it is known that a certain parameter usually has a greater impact on cleanliness, a higher weight may be assigned to that parameter, for example: a = 0.4, b = 0.3, c = 0.2, d = 0.1;

[0088] 3) Adjust the weights based on the actual performance feedback of pipeline cleaning; if pressure has a greater impact on cleanliness than gas and tactile data, the following settings may be used: for example: a = 0.5, b = 0.2, c = 0.2, d = 0.1;

[0089] 4) Weighting coefficients can also be analyzed based on experimental or historical data. Suppose that through a series of experiments and data analysis, it is found that pressure data is highly correlated with the cleanliness of the pipeline, followed by temperature and humidity data, while ultrasonic data and gas and tactile data are relatively less important; then, the weighting coefficients may be set as: a = 0.5, b = 0.3, c = 0.1, d = 0.1.

[0090] Through the cooperation between the evaluation module and the conversion module, the cleaning tool can be converted and the pipeline can be cleaned, which improves the conversion efficiency of the cleaning tool and ensures that the whole system can accurately evaluate the cleaning location, adapt to different culvert evaluation needs, and has the advantages of high flexibility and high intelligence.

[0091] Optionally, the mobile module includes a support frame, mobile track and mobile wheel 3, and a mobile drive mechanism. The support frame supports the mobile track and mobile wheel 3, and the mobile drive mechanism is drivenly connected to the mobile track and mobile wheel 3 to form a mobile part. The mobile part is disposed on the support frame.

[0092] Optional, such as Figure 5 or Figure 6 As shown, the posture adjustment module includes a limiting rod 2, an adjusting rod 4, an adjustment drive mechanism, and an extension detection component. The other end of the limiting rod is hinged to the side wall of the support frame, and the other end of the limiting rod 2 is hinged to the side wall of the support frame. One end of the adjusting rod 4 is hinged to the rod body of the limiting rod 2, and the other end of the adjusting rod 4 is driven to the adjustment drive mechanism to form an adjustment part. The adjustment part is disposed on the robot body. The extension detection component detects the extension length of the adjusting rod 4 to obtain the extension amount of the adjusting rod.

[0093] Through the cooperation between the movement module and the posture adjustment module, the robot body can move along the pipeline, ensuring the efficiency and reliability of the entire system in dredging the pipeline.

[0094] In addition, the cooperation between the moving module and the posture adjustment module allows the posture of the moving module to be adjusted to adapt to different pipe sizes, ensuring that the entire system has the advantages of wider applicability, adaptability to different pipe sizes, and high intelligence.

[0095] Optionally, the tool module includes a first lifting unit, a second lifting unit, a third lifting unit, a suction unit, a cleaning unit, and a scraping unit. The first lifting unit adjusts the position of the suction unit, the second lifting unit adjusts the position of the cleaning unit, and the third lifting unit adjusts the position of the scraping unit. The suction unit sucks up the sludge in the pipe, the cleaning unit cleans the adsorbed material on the pipe wall, and the scraping unit scrapes the pipe wall.

[0096] Specifically, the first lifting unit, the second lifting unit, and the third lifting unit are mounted on the adjusting seat and rotate with the adjustment seat.

[0097] Optionally, the first lifting unit, the second lifting unit, and the third lifting unit adjust the positions of the suction unit, the cleaning unit, and the scraping unit respectively according to the pipe size data sensed by the sensing unit, so that the suction unit, the cleaning unit, and the scraping unit can clean the pipe wall;

[0098] Specifically, the suction unit, cleaning unit, and scraping unit are in a retracted state when not in use. When the suction unit, cleaning unit, and scraping unit need to be used, their extension amounts are adjusted by the first lifting unit, the second lifting unit, and the third lifting unit, respectively, thereby adjusting their positions.

[0099] In addition, during the process of adjusting the extension amount of the suction unit, cleaning unit and scraping unit through the first lifting unit, the second lifting unit and the third lifting unit, it is necessary to determine the extension amount according to the pipe size data to prevent the suction unit, cleaning unit and scraping unit from being damaged by excessive extension or damage to the pipe wall.

[0100] The first lifting unit, the second lifting unit, and the third lifting unit have similar structures and functions. That is, they all adjust the positions of the suction unit, the cleaning unit, and the scraping unit so that the suction unit, the cleaning unit, and the scraping unit can adapt to the needs of pipes with different circumferences, thereby realizing the actual needs of cleaning and suctioning the inner wall of the pipe.

[0101] When the suction unit, cleaning unit, and scraping unit are not in use, their positions are restored to their initial state.

[0102] In this embodiment, the initial state is set to the retracted state; the working state is the extended state;

[0103] The first lifting unit includes a first lifting rod 11, a first lifting detection element, and a first lifting drive mechanism. One end of the first lifting rod 11 is connected to the first lifting drive mechanism to form a first lifting part. The first lifting part is disposed on the steering seat. The first lifting detection element is used to detect the lifting height of the first lifting rod 11. The other end of the first lifting rod 11 extends toward the axis of the support seat, and the end of the first lifting rod 11 is connected to the suction unit.

[0104] The second lifting unit includes a second lifting rod, a second lifting detection element, and a second lifting drive mechanism. One end of the second lifting rod is connected to the second lifting drive mechanism to form a second lifting part. The second lifting part is disposed on the steering seat. The second lifting detection element is used to detect the lifting height of the second lifting rod. The other end of the second lifting rod extends toward the axis of the support seat, and the end of the second lifting rod is connected to the cleaning unit.

[0105] The third lifting unit includes a third lifting rod 21, a third lifting detection element, and a third lifting drive mechanism. One end of the third lifting rod 21 is connected to the third lifting drive mechanism to form a third lifting part. The third lifting part is disposed on the steering seat. The third lifting detection element is used to detect the lifting height of the third lifting rod 21. The other end of the third lifting rod 21 extends toward the axis of the support seat, and one end of the third lifting rod 21 is connected to the scraping unit.

[0106] The first lifting unit, the second lifting unit, and the third lifting unit adjust the positions of the suction unit, the cleaning unit, and the scraping unit respectively based on the pipe size data sensed by the sensing unit. This position is the extension amount, because the pipe data is the size of the pipe. If the extension amount is adjusted arbitrarily without considering the size of the pipe, the inner wall of the pipe will be damaged or the tools will be damaged.

[0107] Meanwhile, during the process of extending and adjusting the cleaning unit, the cleaning unit, and the scraping unit, the first lifting unit, the second lifting unit, and the third lifting unit need to be adjusted according to the size of the pipe so that the cleaning unit, the cleaning unit, and the scraping unit can be extended and contacted with the inner wall of the pipe under the adjustment of the first lifting unit, the second lifting unit, and the third lifting unit, so as to ensure that the sludge and pollutants in the pipe can be cleaned.

[0108] The sludge suction unit includes a sludge suction pipe 22, a sludge suction pump, and a sludge collection vehicle. One end of the suction pipe is located at the front end of the robot body, and the other end of the sludge suction pipe 22 is connected to the suction pump to suction the sludge or debris in the pipe onto the sludge collection vehicle.

[0109] The sludge suction unit also includes a sludge suction adjustment component, which adjusts the position of the sludge suction pipe 22 so that the pipe end of the sludge suction pipe 22 contacts the pipe wall, thereby sucking the sludge in the pipe clean.

[0110] The suction adjustment component includes a fixed base 13, a telescopic rod 14, a telescopic drive mechanism, and a deformable suction nozzle 12. The fixed base 13 is nested around the suction nozzle 12. One end of the telescopic rod 14 is driven to connect with the telescopic drive mechanism to form a telescopic part. The telescopic part is disposed on the fixed base 13. The other end of the telescopic rod 14 is connected to the outer wall of the suction nozzle 12.

[0111] In this embodiment, only three tools are described as examples. Those skilled in the art can add more tools, so they will not be described in detail in this embodiment.

[0112] When the telescopic rod 14 extends or retracts, the outer wall of the suction nozzle 12 deforms, thereby inserting into the sludge and sucking the sludge out of the pipe.

[0113] The cleaning unit includes a cleaning component and a rotating component. The rotating component is used to adjust the position of the cleaning component, and the cleaning component cleans the inner wall of the pipe.

[0114] The cleaning component includes a cleaning brush 10, a cleaning seat, and a connecting rod 18. One end of the connecting rod 18 is connected to the cleaning brush 10, and the other end of the connecting rod 18 is hinged to the cleaning seat. The cleaning seat is used to support the cleaning brush 10. The rotating component is disposed on the cleaning seat and drives the cleaning brush 10 to rotate, thereby causing the cleaning brush 10 to rotate along the axis of the connecting rod 18, thus cleaning the pipe wall.

[0115] Wherein, one end of the second lifting rod is connected to the cleaning seat, and the other end of the second lifting rod is driven to be connected to the second lifting drive mechanism to form a second lifting part, and the second lifting part is disposed on the steering seat;

[0116] The rotating component includes a rotating gear and a rotating drive mechanism. The rotating gear is disposed on the cleaning brush 10, and the rotating drive mechanism is disposed on the cleaning seat and drives the cleaning brush 10 to rotate along the axis of the connecting rod 18, thereby brushing the dirt on the pipe wall and ensuring that the dirt can be cleaned.

[0117] The scraping unit includes a scraping component and a connecting seat. The connecting seat is disposed on the scraping component and is detachably connected to the third lifting rod 21 through the connecting seat. The scraping component includes a scraping plate 9 and a scraping protrusion disposed on the scraping plate 9. The scraping protrusion is disposed along the length direction of the scraping plate 9.

[0118] During the process of the scraper 9 cleaning the sludge in the pipe, the scraper protrusion can contact the dirt in the pipe, so that the sludge can be easily scraped away, thereby cleaning the dirt in the pipe; after the dirt is scraped away, the sludge or other dirt is sucked out of the pipe by the suction unit, thereby achieving the purpose of dredging the pipe.

[0119] Optionally, the moving module is disposed on the periphery of the robot body and contacts the pipe wall when moving, thereby contacting the inner wall surface of the pipe. Under the drive of the moving drive mechanism, the robot body is moved and the sludge in the inner wall of the pipe is cleaned.

[0120] In this embodiment, the pipe (or culvert pipe) is designed as a circular central column.

[0121] Through the cooperation between the conversion module and the tool module, the tools can be switched and the dirt in the pipe can be cleaned, thereby improving the cleaning efficiency of the entire system and ensuring that the entire system has the advantages of convenient tool switching, adaptability to different pipe sizes and wide application scenarios, and high flexibility.

[0122] Example 2: This example should be understood as including all the features of any of the foregoing examples, and further improving upon them, according to... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the pipeline dredging robot system also includes a collection module, which is used to collect the dirt in the pipeline and, together with the suction unit, collect and gather the sludge.

[0123] The collection module is located at the front end of the robot body and is used to clean the dirt in the pipe;

[0124] The collection module includes a vibration unit and a support unit. The vibration unit is used to vibrate the dirt in the forward direction of the robot body. Because the sludge is vibrated, the sludge or other dirt can be collected. The support unit is used to vibrate the vibration unit.

[0125] The support unit includes a connecting rod 18, a support rod, and a support drive mechanism. The support rod is telescopic. One end of the support rod is connected to the vibration unit, and the other end of the support rod is driven to the support drive mechanism to form a support part. The connecting rod 18 is used to support the support part. Specifically, the support part is disposed on the connecting rod 18.

[0126] The support rod is configured as a telescopic structure and, driven by the support drive mechanism, achieves telescopic movement, thereby realizing the telescopic movement of the vibrating component, and thus enabling the collection of sludge through the vibrating unit.

[0127] The vibration unit includes a vibrator, a vibrating plate 19, and a placement cavity disposed on the vibrating plate 19. The vibrator is disposed in the placement cavity and generates vibration, so that the vibrating plate 19 vibrates, thereby aggregating the collected sludge and improving the sludge suction efficiency and suction effect of the suction unit.

[0128] The pipeline dredging robot system also includes a vibration assessment and analysis module, which collects the vibration state of the vibration unit and analyzes the vibration state based on the collected vibration state data.

[0129] The vibration analysis and evaluation module includes a vibration acquisition unit and an analysis unit. The vibration acquisition unit is set on the vibration plate 19 and acquires the state data of the sludge. The analysis unit analyzes the state of the sludge based on the sludge state data acquired by the vibration acquisition unit.

[0130] The vibration acquisition unit includes an ultrasonic sensor 20, a conductivity sensor, and a data storage device. The ultrasonic sensor 20 acquires ultrasonic data of the sludge surrounding the vibrating plate 19, the conductivity sensor acquires conductivity data of the sludge surrounding the vibrating plate 19, and the data storage device stores the data acquired by the ultrasonic sensor 20 and the conductivity sensor.

[0131] The analysis unit acquires the ultrasonic data and electrical conductivity data of the sludge collected by the vibration acquisition unit, and processes the ultrasonic data and electrical conductivity data, including but not limited to eliminating noise and outliers.

[0132] The analysis unit acquires processed ultrasonic and conductivity data, and calculates the sludge aggregation index AI according to the following formula:

[0133] AI=w1·f(I,A)+w2·tanh(R);

[0134] In the formula, w1 and w2 are weighting coefficients, whose values ​​are derived from experience or historical data. Specifically, if historical data or experience indicates that ultrasonic data is more critical for judging the sludge aggregation state, then w1 is given a larger weight, such as w1 = 0.7, w1 = 0.3. At the same time, w1 + w2 = 1. f(I,A) is a function that converts the intensity I and attenuation coefficient A of the ultrasonic signal into a sludge aggregation scoring function, where I is the intensity of the reflected signal from the ultrasonic sensor, A is the attenuation coefficient of the ultrasonic signal, and Tanh(R) is the hyperbolic tangent function of the rate of change of conductivity R, where R is the rate of change of conductivity acquired by the conductivity sensor, and its value satisfies:

[0135]

[0136] In the formula, C is the conductivity detected by the conductivity sensor, and t is the detection time of the conductivity sensor;

[0137] f(I,A) is determined according to the following formula:

[0138]

[0139] In the formula, α1 and α2 are weighting coefficients, the values ​​of which are obtained through experience or historical data, A(t) is the signal amplitude at time t, T is the entire measurement period, I0 is the intensity of the transmitted ultrasonic signal, and I is the intensity of the received ultrasonic signal.

[0140] For α1 and α2, which are weighting coefficients, an example is provided:

[0141] 1) If, through a series of experiments, the signal strength I is more important than the attenuation coefficient A in assessing the sludge aggregation state, a larger value will be assigned to α1; for example: if the effect of signal strength is twice as important as the attenuation coefficient, set α1 = 2 and α2 = 1; if the effect of signal strength is three times as important as the attenuation coefficient, set α1 = 3 and α2 = 1.

[0142] 2) Statistical analysis using historical data may be used to increase the value of α1 if a higher correlation is found between signal strength I and sludge aggregation state.

[0143] If the correlation coefficient between I and the sludge aggregation state is twice that of A, the weighting coefficients may reflect this correlation, for example: α1 = 0.6 and α2 = 0.3;

[0144] If the sludge aggregation index AI exceeds the system-set monitoring threshold PULL, the vibration stops and the suction unit is triggered to suck up the sludge.

[0145] If the sludge aggregation index AI is lower than the system-set monitoring threshold PULL, it means that the sludge aggregation state has not met the set standard, and the sludge aggregation operation continues.

[0146] The monitoring threshold PULL set by the system is set by the system or the administrator according to different locations or types of sludge being cleaned. This is a technical method well known to those skilled in the art. Those skilled in the art can consult relevant technical manuals to learn about this technology, so it will not be described in detail in this embodiment.

[0147] Through the cooperation of the vibration assessment module and the vibration module, sludge in the pipeline can be quickly accumulated, improving the efficiency of sludge collection or accumulation. This gives the entire system the advantages of high cleaning efficiency, high intelligence, and wide applicability.

[0148] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. A modular tool exchange and integration sewer cleaning robot system, the sewer cleaning robot system comprising a server, and a robot body, characterized in that, The pipeline dredging robot system further comprises a tool module, a conversion module, an evaluation module, a movement module, and a posture adjustment module, the server is connected with the tool module, the conversion module, the evaluation module, the movement module, and the posture adjustment module respectively, and intermediate data and process data of the tool module, the conversion module, the evaluation module, the movement module, and the posture adjustment module are stored in a database of the server; The tool module cleans the sludge and the pipeline wall in the pipeline, the evaluation module collects pipeline environment data and evaluates the pipeline according to the collected pipeline environment data to form an evaluation result, the conversion module adjusts the position of the tool module according to the evaluation result of the evaluation module, the movement module is arranged on the robot body and drives the robot body to move in the pipeline, and the posture adjustment module adjusts the posture of the movement module to adapt to different pipelines. The conversion module comprises a conversion unit, a positioning unit, and a sensing unit, the positioning unit positions the conversion position of the conversion unit, the conversion unit converts the position of the tool module, and the sensing unit senses the size of the pipeline. The conversion unit comprises a conversion seat, a conversion driving mechanism, and a connecting rod, one end of the connecting rod is connected with the conversion seat, the other end of the connecting rod is drivingly connected with the conversion driving mechanism to form a driving part, and the driving part is arranged on the robot body. The tool module is arranged on the conversion seat and rotates with the conversion seat to clean the pipeline wall. The sensing unit is arranged at the front end of the movement direction of the robot body and senses the size of the pipeline. The sensing unit comprises a supporting rod, a first reset spring, a second reset spring, a first sensing plate, a second sensing plate, and at least one touch sensor. One end of the supporting rod is connected with the front end of the robot body, the other end of the supporting rod extends towards the side away from the robot body, the first sensing plate and the second sensing plate are symmetrically arranged on the two sides of the supporting rod, one end of the first sensing plate is hinged to the supporting rod, the other end of the first sensing plate extends towards the side of the robot body, one end of the second sensing plate is hinged to the supporting rod, the other end of the second sensing plate extends towards the side of the robot body, one end of the first reset spring is connected with the end face of the first sensing plate, the other end of the first reset spring is connected with the rod body of the supporting rod, one end of the second reset spring is connected with the end face of the second sensing plate, and the other end of the second reset spring is connected with the rod body of the supporting rod. At least one touch sensor is distributed along the length extension direction of the first sensing plate and the second sensing plate at equal intervals. The evaluation module comprises a sampling unit and an evaluation unit, the sampling unit collects the pipeline environment data, and the evaluation unit evaluates the pipeline according to the pipeline environment data to form an evaluation result. The sampling unit comprises a data storage, a pressure sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, a gas analyzer and a tactile sensor, the pressure sensor measures the ambient pressure value in the pipeline, the humidity sensor collects the humidity value inside the pipeline, the temperature sensor collects the temperature value inside the pipeline, the ultrasonic sensor collects the sludge thickness value inside the pipeline, the gas analyzer collects the gas concentration value inside the pipeline, and the tactile sensor is used to collect the viscosity value of the sludge or sediment inside the pipeline, and the data storage stores the pressure value of the ambient pressure in the pipeline collected by the pressure sensor, the temperature value collected by the temperature sensor, the humidity value collected by the humidity sensor, the sludge thickness value collected by the ultrasonic sensor, the gas concentration value collected by the gas analyzer, and the viscosity value of the tactile sensor. The evaluation unit obtains the environmental data of the pipeline collected by the sampling unit, and calculates the sanitation index Sanitation of the pipeline according to the following formula: ； In the formula, k is the magnification, which is set according to the system, and state is the state function of the pipeline, which is calculated according to the following formula: ； In the formula, a, b, c and d are weight coefficients, which are set by the system according to the actual state of the pipeline, P is the pressure value of the pipeline obtained by the pressure sensor, T is the temperature value obtained from the temperature sensor, H is the humidity value obtained from the humidity sensor, U is the sludge thickness value of the pipeline obtained from the ultrasonic sensor, G is the harmful or flammable gas concentration value of the pipeline obtained from the gas analyzer, and V is the hard viscosity value of the sludge in the pipeline obtained from the tactile sensor. If the sanitation index Sanitation exceeds the monitoring threshold G' set by the system, the conversion module triggers the tool module to convert the tool currently used.

2. The modular tool exchange and integrated pipe cleaning robot system of claim 1, wherein, The moving module comprises a support frame, moving wheels and a moving drive mechanism, the support frame supports the moving wheels, and the moving drive mechanism is drivingly connected with the moving wheels to form a moving part, and the moving part is arranged on the support frame.

3. The modular tool exchange and integrated pipe pig robot system of claim 2, wherein, The posture adjusting module comprises a limiting rod, an adjusting rod, an adjusting drive mechanism and an extension detection member, one end of the limiting rod is hingedly connected with the robot body, the other end of the limiting rod is hingedly connected with the side wall of the support frame, one end of the adjusting rod is hingedly connected with the rod body of the limiting rod, the other end of the adjusting rod is drivingly connected with the adjusting drive mechanism to form an adjusting part, the adjusting part is arranged on the robot body, and the extension detection member detects the extension length of the adjusting rod to obtain the extension amount of the adjusting rod.

4. The modular tool exchange and integrated pipe pig robot system of claim 3, wherein, The tool module comprises a first lifting unit, a second lifting unit, a third lifting unit, a suction unit, a cleaning unit and a scraping unit, the first lifting unit adjusts the position of the suction unit, the second lifting unit adjusts the position of the cleaning unit, the third lifting unit adjusts the position of the scraping unit, the suction unit sucks the sludge in the pipeline, the cleaning unit cleans the adsorbed objects of the pipeline wall, and the scraping unit scrapes the pipeline wall. The suction unit comprises a suction pipeline, a suction pump and a sludge collection vehicle, one end of the suction pipeline is arranged at the front end of the robot body, and the other end of the suction pipeline is connected with the suction pump to suck the sludge in the pipeline and the sundries in the pipeline to the sludge collection vehicle.

5. The modular tool exchange and integrated pipe pig robot system of claim 4, wherein, The positioning unit comprises an identification member and at least one positioning marker, the at least one positioning marker is arranged at the position of the tool module respectively, the identification member identifies the at least one positioning marker, and feeds back the identified positioning data to the conversion unit.

6. The modular tool exchange and integrated pipe pig robot system of claim 5, wherein, The moving module is arranged at the side of the robot body and is in contact with the pipeline wall during movement.

7. The modular tool exchange and integrated pipe pig robot system of claim 6, wherein, The first lifting unit, the second lifting unit and the third lifting unit adjust the positions of the suction unit, the cleaning unit and the scraping unit respectively according to the pipeline size data sensed by the sensing unit, so that the suction unit, the cleaning unit and the scraping unit realize the cleaning of the pipeline wall.

Images