A pipeline inner wall cleaning robot and use method thereof

Abstract

The invention discloses a pipeline inner wall cleaning robot and a use method thereof, and relates to the technical field of cleaning robots. The pipeline inner wall cleaning robot comprises a transition barrel cover, which is installed inside a cleaning robot body. A mounting base plate is provided on the lower end face of the transition barrel cover, and the mounting base plate is fixedly connected to the transition barrel cover. A lifting mechanism is installed on one side of the inner wall of the cleaning robot body, and the lifting mechanism is fixedly connected to the mounting base plate. A cleaning mechanism is installed inside the transition barrel cover, and the cleaning mechanism is transmission-connected to the inside of the transition barrel cover through a climbing anti-skid rubber strip, and three climbing anti-skid rubber strips are provided. An annular rotating end head is provided on the upper end face of the cleaning mechanism, and a reserved hollow cavity is provided inside the middle position of the annular rotating end head. The invention solves the problems in the prior art that the cleaning of the inner wall of a vertical pipeline with a suspension cable inside is difficult, risky and has a poor effect.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a pipeline inner wall cleaning robot and a use method thereof. Background Art

[0002] In production and life, pipelines with different functions are widely used. For example, oil pipelines need to be cleaned regularly, otherwise blockage may occur, resulting in poor operation of production and life.

[0003] For example, the Chinese patent with the authorization announcement number CN112934871B discloses a pipeline inner wall cleaning robot and its use method, including: a bottom plate 1, the top of the bottom plate 1 is fixedly connected to a transmission box, the bottom of the bottom plate 1 is fixedly connected to a motor box 1, the bottom of the motor box 1 is fixedly connected to a motor 1, the output end of the motor 1 passes through the outside of the motor box 1 and is fixedly connected to a transmission column 1, and the top of the transmission column 1 passes through the bottom plate 1 and the transmission box in turn and extends to the inside of the transmission box. The invention can realize intuitive display and observation of the internal conditions of the pipeline by configuring LED lights and carrying cameras. After observing the internal conditions, if impurities are found adhering to the inner wall of the pipeline, a suitable scraper can be selected according to the diameter of the pipeline. The user picks up the scraper and completes the installation of the scraper by inserting the plug into the inside of the slot, scraping off the impurities with the scraper, and then cleaning and flushing the inner wall of the pipeline through the nozzle.

[0004] However, in the prior art, there are problems such as great difficulty, high risk and poor effect in cleaning the inner wall of a vertical pipeline with a suspension cable. Therefore, in order to solve the problems in the prior art, the present invention proposes a pipeline inner wall cleaning robot and a method for using the same. Summary of the invention

[0005] The object of the present invention is to provide a pipeline inner wall cleaning robot and a method of using the same, so as to solve the problems of difficulty, high risk and poor effect in cleaning the inner wall of a vertical pipeline with a suspension cable mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pipeline inner wall cleaning robot, comprising: a cleaning robot body, and also comprising:

[0007] A transitional barrel cover is installed inside the cleaning robot body, and a mounting base plate is provided on the lower end surface of the transitional barrel cover, and the mounting base plate is fixedly connected to the transitional barrel cover;

[0008] A lifting mechanism, which is installed on one side of the inner wall of the cleaning robot body, and the lifting mechanism is fixedly connected to the mounting base plate;

[0009] A cleaning mechanism is installed inside the transition barrel cover. The cleaning mechanism rolls and rubs against the inner wall of the transition barrel cover through a climbing mechanism. Three climbing mechanisms are provided. Climbing anti-slip rubber strips are provided at the middle positions inside the three climbing mechanisms. An annular rotating end head is provided on the upper end face of the cleaning mechanism. A reserved hollow cavity is provided inside the annular rotating end head.

[0010] Preferably, a plurality of adjustable and replaceable brushes are evenly distributed on the outer wall of the annular rotating end head, and the plurality of brushes are wrapped by three annular cloths, and the three annular cloths are fixed by a plurality of drawstring clips with safety clips evenly distributed on the outer wall of the annular rotating end head, and the three climbing mechanisms are detachably connected to the cleaning mechanism.

[0011] Preferably, the lifting mechanism is connected to the cleaning robot body for up and down movement via a lifting conveyor belt.

[0012] Preferably, a double-speed sprocket mechanism is provided between the lifting mechanism and the lifting conveyor belt, and the double-speed sprocket mechanism doubles the speed at which the lifting conveyor belt moves up and down.

[0013] Preferably, a dust suction mechanism is provided on one side of the outer wall of the cleaning mechanism, and the dust suction mechanism is embedded and fixedly connected to the cleaning mechanism. An integrated drawer is provided inside the dust suction mechanism, and a filter is provided above the integrated drawer, and the filter is detachably connected to the inner wall of the integrated drawer, and a secondary filter cup is provided above the filter.

[0014] Preferably, a first inner cavity is provided inside the transition tube cover, a storage pipe is provided below the inside of the first inner cavity, a transmission wire is provided inside the storage pipe, and one end of the transmission wire is fixedly connected to the cleaning robot body.

[0015] Preferably, a connecting pipe is provided below the interior of the cleaning mechanism, and the upper end of the connecting pipe is fixedly connected to the interior of the cleaning mechanism, a second inner cavity is provided inside the connecting pipe, and the other end of the transmission wire passes through the second inner cavity and extends to the interior of the cleaning mechanism, and is fixedly connected to the interior of the cleaning mechanism.

[0016] Preferably, a servo motor is arranged above the interior of the cleaning mechanism, and the servo motor is rotatably connected to the lower end surface of the annular rotating end through a power transmission end.

[0017] Preferably, the outer wall of the transition barrel cover is provided with a split mounting plate, and a plurality of the split mounting plates are provided, and the plurality of the split mounting plates are all threadedly connected to the transition barrel cover through a bolt mechanism.

[0018] Preferably, a display screen is provided on the cleaning robot body, and operation buttons are provided on one side of the display screen, and there are several operation buttons. A connecting rod is provided on one side of the upper end surface of the cleaning robot body, and the lower end of the connecting rod is threadedly connected to the cleaning robot body, and a laser probe sensor element is provided on the upper end surface of the connecting rod, and a bottom plate is provided on the lower end surface of the cleaning robot body, a power rotating wheel is provided at the middle position of the lower end surface of the bottom plate, and the power rotating wheel is rotatably connected to the cleaning robot body, and universal wheels are provided at the four corners of the lower end surface of the bottom plate, and there are four universal wheels, and the four universal wheels are all rotatably connected to the bottom plate.

[0019] Preferably, the pipe inner wall cleaning robot further includes a processor, a control system is configured in the processor, the control system includes a data processing module and an execution control module, the data processing module is configured with an operation strategy and a path strategy, the path strategy includes constructing a spatial coordinate system, obtaining the position coordinates of the robot and the position coordinates of the pipe to be cleaned based on the spatial coordinate system, and generating a moving path for controlling the movement of the robot, the operation strategy includes calling the moving path and controlling the robot to move to the coordinate position of the pipe to be cleaned, the execution control module is configured with a lifting strategy, the lifting strategy includes controlling the double-speed sprocket mechanism in the lifting mechanism to lift after the robot moves to the coordinate position of the pipe to be cleaned, so as to drive the cleaning robot body to enter the interior of the pipe to be cleaned.

[0020] Preferably, the laser probe sensor element is further provided with a visual sensing unit, and a target mark is provided at the position of the pipeline to be cleaned, and the visual sensing unit is used to identify the target mark. ; where x target ,y target represents the horizontal and vertical coordinates of the target marker;

[0021] The current position of the center point of the laser probe sensor element is ; where x current ,y current It is expressed as the horizontal and vertical coordinates of the current position of the center point of the laser probe sensor element;

[0022] The operation strategy includes calculating the moving direction of the robot, the moving direction includes the moving angle and the moving distance, and the moving angle is calculated by the following formula:

[0023] ;

[0024] in, is the moving angle, is the inverse tangent function; the distance the robot moves in the next step Adjust according to real-time dynamic movement; according to the moving angle and moving distance , update the position coordinates of the robot;

[0025] ;

[0026] ;

[0027] Among them, x new ,y new The horizontal and vertical coordinates of the robot's updated position;

[0028] The position coordinates of the robot are repeatedly updated until the robot reaches the target mark of the pipe to be cleaned, a moving path is generated, and a lifting instruction is generated.

[0029] Preferably, the laser probe sensor element and the visual sensing unit mark the vertical distance between the highest point of the transition tube cover and the lower port of the pipeline to be cleaned to obtain the height value; the visual sensing unit is also used to obtain the moving distance of the robot. , and set the moving base threshold and moving extreme threshold;

[0030] The lifting strategy is to identify the lifting command according to the moving basic threshold and moving extreme value threshold , obtaining a moving speed of the robot; the moving speed of the robot includes a first moving speed, a second moving speed and a third moving speed;

[0031] The robot's moving speed The calculation formula is:

[0032] ;

[0033] in, , , are the first moving speed, the second moving speed and the third moving speed respectively, and usually have > > ;

[0034] The lifting strategy also includes matching the moving speed with the height value through a double-speed sprocket mechanism in the lifting mechanism, and monitoring the height value in real time and making real-time adjustments through a laser probe sensor element and a visual sensing unit.

[0035] Among them, the first moving speed: is applicable to the scenario where the robot's moving distance is less than or equal to the basic moving threshold, and this speed is set higher;

[0036] Second moving speed: Applicable to scenarios where the robot's moving distance is greater than the basic moving threshold and less than or equal to the extreme moving threshold. This speed is moderate.

[0037] The third moving speed: It is suitable for the scenario where the robot's moving distance exceeds the moving extreme threshold. This speed is slow.

[0038] The present invention also discloses a method for using the pipeline inner wall cleaning robot, comprising the following steps:

[0039] S1: The path of the cleaning robot body is planned by the laser probe sensor element, and the power rotating wheel provides the cleaning robot body with power to move forward;

[0040] S2: When the cleaning robot body moves to the bottom of the pipe to be cleaned and stabilizes, the lifting mechanism is lifted. While the lifting mechanism is lifted, the bottom plate is installed to simultaneously lift the transition tube cover, and the upper end surface of the transition tube cover is fitted with the lower end of the pipe to be cleaned;

[0041] S3: Then, by sending an operation instruction to the cleaning mechanism, the transmission wire transmits power to the climbing mechanism, opens the climbing anti-slip rubber strip on the climbing mechanism, and sends the cleaning mechanism from the inside of the transition tube cover into the inside of the pipeline to be cleaned;

[0042] S4: After entering the pipe to be cleaned, the servo motor is turned on, and the annular rotating end is driven to rotate through the power transmission end. The rotating annular rotating end can rotate the brush at high speed, and the brush drives the annular wiping cloth to remove impurities from the inner wall of the pipe to be cleaned, and the impurities adsorbed on the inner wall of the pipe are swept off;

[0043] S5: When the device is performing a sweeping operation, the dust suction mechanism can suck in and clean the internal impurities, so that the internal impurities are separated from the inside of the pipe. When the annular rotating end is rotating, the climbing mechanism continues to move upward slowly. When the cleaning is completed, the climbing anti-slip rubber strip on the climbing mechanism runs in the opposite direction, and the cleaning mechanism can be recovered to the inside of the transition tube cover, and then the lifting mechanism is reset and recovered to the inside of the cleaning robot body.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention arranges a cleaning mechanism on the cleaning robot body, and arranges an annular rotating end head, a brush, an annular rag, a climbing mechanism, a climbing anti-skid rubber strip, a connecting pipe, a second inner cavity, a transmission wire and a servo motor inside the cleaning mechanism. When cleaning the pipe, the servo motor is turned on, and the annular rotating end head is driven to rotate by the power transmission end head. The rotating annular rotating end head can rotate the brush at high speed, and the brush provides support for the annular rag, so that the annular rag can sweep away the impurities adsorbed on the inner wall of the pipe. Through the supporting effect of the brush, the flexible avoidance effect can be effectively exerted when entering and exiting the pipe opening to be cleaned. The arranged dust suction mechanism can suck in the impurities that are cleaned and dropped, so as to prevent the dropped impurities from entering the interior of the pipe and causing secondary pollution. The present invention effectively solves the problems of great difficulty, high risk and poor effect in cleaning the inner wall of a vertical pipe with a suspension cable inside.

[0046] The present invention provides a reserved hollow cavity, so that when the cleaning mechanism cleans the inside of the pipeline, the cable bodies inside the pipeline can be uniformly placed in the reserved hollow cavity, thereby avoiding damage to objects such as cables during cleaning and improving the cleaning efficiency of the pipeline inner wall cleaning robot.

[0047] Through the setting of the path strategy and the timely adjustment of the position, the cleaning robot body can accurately correspond to the position of the pipe to be cleaned, so that the pipe inner wall cleaning robot moves to a final position to fit the position of the pipe to be cleaned; and the setting of the lifting strategy can allow the transition tube cover to rise quickly within a safe height, and when the set basic movement threshold or extreme movement threshold is reached, the corresponding matching speed is increased; when the present invention is embeddedly connected to the interface of the pipe to be cleaned, abnormal misalignment is avoided, and the staff can adjust the components in time.

[0048] The present invention arranges a lifting mechanism and a lifting conveyor belt on the cleaning robot body, so that the cleaning mechanism can be recovered to the maximum extent when not in use, and also performs efficient alignment operations on pipes with a certain height when they are aligned.

[0049] The present invention uses a dust collecting mechanism arranged on the outer wall of the cleaning mechanism to absorb impurities cleaned by a brush, thereby improving the cleanliness of the interior of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the overall structure of a pipeline inner wall cleaning robot according to the present invention;

[0051] Figure 2 A side view of a pipeline inner wall cleaning robot according to the present invention;

[0052] Figure 3 It is a schematic diagram of lifting the transition tube cover of the present invention;

[0053] Figure 4 It is a schematic diagram of the partial structure of the transition tube cover of the present invention;

[0054] Figure 5 It is a schematic diagram of the cleaning mechanism structure of the present invention;

[0055] Figure 6 It is a schematic diagram of the internal structure of the transition tube cover and the cleaning mechanism of the present invention;

[0056] Figure 7 It is a schematic diagram of the outer wall structure of the cleaning mechanism of the present invention;

[0057] Figure 8 It is a schematic diagram of the structure of the brush and the annular wiping cloth of the present invention;

[0058] Fig. 9 It is a schematic diagram of the partial structure of the dust collection mechanism of the present invention.

[0059] Reference numerals: 100, cleaning robot body; 101, bottom plate; 102, universal wheel; 103, operation button; 104, display screen; 105, connecting rod; 106, laser probe sensor element; 107, power rotating wheel; 200, lifting mechanism; 201, lifting conveyor belt; 202, double-speed sprocket mechanism; 400, transition cylinder cover; 401, installation bottom plate; 402, split installation plate; 403, bolt mechanism; 404, first inner cavity; 405 , storage pipe; 500, cleaning mechanism; 5001, dust collection mechanism; 5002, integrated drawer; 5003, filter net; 5004, secondary filter cup; 501, annular rotating end; 502, brush; 50201, annular rag; 503, climbing mechanism; 504, climbing non-slip rubber strip; 505, connecting pipe; 506, second inner cavity; 507, transmission wire; 508, servo motor; 509, power transmission end; 510, reserved hollow cavity. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0061] Example 1

[0062] See also Figure 1-Figure 9 The present invention provides an embodiment: a pipeline inner wall cleaning robot, comprising: a cleaning robot body 100, and further comprising:

[0063] A transitional barrel cover 400 is installed inside the rear side of the cleaning robot body 100. A mounting base plate 401 is provided on the lower end surface of the transitional barrel cover 400, and the mounting base plate 401 is fixedly connected to the transitional barrel cover 400;

[0064] A lifting mechanism 200 is installed on one side of the inner wall of the cleaning robot body 100, and the lifting mechanism 200 is fixedly connected to the mounting base plate 401;

[0065] The cleaning mechanism 500 is installed inside the transition barrel cover 400. The cleaning mechanism 500 rolls and rubs against the inner wall of the transition barrel cover 400 through a climbing mechanism 503, and three climbing mechanisms 503 are provided. A climbing anti-slip rubber strip 504 is provided at the middle position inside the three climbing mechanisms 503. The upper end face of the cleaning mechanism 500 is provided with an annular rotating end head 501, and a reserved hollow cavity 510 is provided inside the annular rotating end head 501.

[0066] See also Figure 5 , Figure 7 and Figure 8 A plurality of adjustable and replaceable brushes 502 are evenly distributed on the outer wall of the annular rotating end 501, and the plurality of brushes 502 are wrapped by three annular cloths 50201. The three annular cloths 50201 are fixed by a plurality of safety buckle clips evenly distributed on the outer wall of the annular rotating end 501, and the three climbing mechanisms 503 are detachably connected to the cleaning mechanism 500.

[0067] See also Figure 1 and Figure 3 The lifting mechanism 200 is connected to the cleaning robot body 100 for up and down movement through the lifting conveyor belt 201. A double-speed sprocket mechanism 202 is arranged between the lifting mechanism 200 and the lifting conveyor belt 201, and the double-speed sprocket mechanism 202 increases the speed of the lifting conveyor belt 201 up and down by multiple times. The lifting speed of the double-speed sprocket mechanism 202 is 1.5 times the speed of the lifting conveyor belt 201.

[0068] See also Figure 7 and Fig. 9 A dust suction mechanism 5001 is arranged on one side of the outer wall of the cleaning mechanism 500. The dust suction mechanism 5001 is embedded and fixedly connected with the cleaning mechanism 500. An integrated drawer 5002 is arranged inside the dust suction mechanism 5001. A filter net 5003 is arranged above the integrated drawer 5002. The filter net 5003 is detachably connected to the inner wall of the integrated drawer 5002. A secondary filter cup 5004 is arranged above the filter net 5003.

[0069] See also Figure 6A first inner cavity 404 is provided inside the transition tube cover 400, a storage pipe 405 is provided below the first inner cavity 404, a transmission wire 507 is provided inside the storage pipe 405, and one end of the transmission wire 507 is fixedly connected to the cleaning robot body 100, a connecting pipe 505 is provided below the inside of the cleaning mechanism 500, and the upper end of the connecting pipe 505 is fixedly connected to the inside of the cleaning mechanism 500, a second inner cavity 506 is provided inside the connecting pipe 505, the other end of the transmission wire 507 passes through the inside of the second inner cavity 506 and extends to the inside of the cleaning mechanism 500, and is fixedly connected to the inside of the cleaning mechanism 500, a servo motor 508 is provided above the inside of the cleaning mechanism 500, and the servo motor 508 is rotatably connected to the lower end surface of the annular rotating end 501 through a power transmission end 509, and the power transmission end 509 is fixedly mounted on the lower end surface of the annular rotating end 501.

[0070] See also Figure 4 The outer wall of the transition barrel cover 400 is provided with a split mounting plate 402 , and a plurality of split mounting plates 402 are provided, and the plurality of split mounting plates 402 are all threadedly connected to the transition barrel cover 400 through a bolt mechanism 403 .

[0071] See also Figure 1 A display screen 104 is provided on the upper side of the front end surface of the cleaning robot body 100, and an operation button 103 is provided on one side of the display screen 104, and a plurality of operation buttons 103 are provided. A connecting rod 105 is provided on one side of the upper end surface of the cleaning robot body 100, and the lower end of the connecting rod 105 is threadedly connected to the cleaning robot body 100, and a laser probe sensor element 106 is provided on the upper end surface of the connecting rod 105. A bottom plate 101 is provided on the lower end surface of the cleaning robot body 100, and a power rotating wheel 107 is provided at the middle position of the lower end surface of the bottom plate 101, and the power rotating wheel 107 is rotatably connected to the cleaning robot body 100, and universal wheels 102 are provided at the four corners of the lower end surface of the bottom plate 101, and four universal wheels 102 are provided, and the four universal wheels 102 are rotatably connected to the bottom plate 101.

[0072] See also Figure 1-Figure 9, a pipe inner wall cleaning robot also includes: a processor, a control system is configured in the processor, the control system includes a data processing module and an execution control module, the data processing module is configured with an operation strategy and a path strategy, the path strategy includes constructing a spatial coordinate system, obtaining the position coordinates of the robot and the position coordinates of the pipe to be cleaned based on the spatial coordinate system, and generating a moving path for controlling the movement of the robot, the operation strategy includes calling the moving path and controlling the robot to move to the coordinate position of the pipe to be cleaned, the execution control module is configured with a lifting strategy, the lifting strategy includes controlling the double-speed sprocket mechanism 202 in the lifting mechanism 200 to lift after the robot moves to the coordinate position of the pipe to be cleaned, so as to drive the cleaning robot body 100 to enter the pipe to be cleaned.

[0073] See also Figure 1-Figure 9 The laser probe sensor element 106 is provided with a visual sensing unit, and a target mark is provided at the position of the pipeline to be cleaned. The visual sensing unit is used to identify the target mark. ; where x target ,y target represents the horizontal and vertical coordinates of the target marker;

[0074] The current position of the center point of the laser probe sensor element 106 is ; where x current ,y current The horizontal and vertical coordinates are represented as the current position of the center point of the laser probe sensor element 106;

[0075] The operation strategy includes calculating the moving direction of the robot, the moving direction includes the moving angle and the moving distance, and the moving angle is calculated by the following formula:

[0076] ;

[0077] in, is the moving angle, is the inverse tangent function; the distance the robot moves in the next step Adjust according to real-time dynamic movement; according to the moving angle and moving distance , update the position coordinates of the robot;

[0078] ;

[0079] ;

[0080] Among them, x new ,y new The horizontal and vertical coordinates of the robot's updated position;

[0081] The position coordinates of the robot are repeatedly updated until the robot reaches the target mark of the pipe to be cleaned, a moving path is generated, and a lifting instruction is generated.

[0082] See also Figure 1-Figure 9 The laser probe sensor element 106 and the visual sensing unit mark the vertical distance between the highest point of the transition tube cover 400 and the lower port of the pipeline to be cleaned to obtain the height value; the visual sensing unit is also used to obtain the moving distance of the robot , and set the moving base threshold and moving extreme threshold;

[0083] The lifting strategy is to identify the lifting command according to the moving basic threshold and moving extreme value threshold , obtaining a moving speed of the robot; the moving speed of the robot includes a first moving speed, a second moving speed and a third moving speed;

[0084] The robot's moving speed The calculation formula is:

[0085] ;

[0086] in, , , are the first moving speed, the second moving speed and the third moving speed respectively, and usually have > > ;

[0087] The lifting strategy also includes matching the moving speed with the height value through the double-speed sprocket mechanism 202 in the lifting mechanism 200, and monitoring the height value in real time and making real-time adjustments through the laser probe sensor element 106 and the visual sensing unit.

[0088] The first moving speed is fast movement, which is suitable for scenarios where the robot's moving distance is less than or equal to the basic moving threshold. This speed is set higher so that the robot can reach the destination quickly.

[0089] Second moving speed: Normal movement, applicable to scenarios where the robot's moving distance is greater than the basic moving threshold and less than or equal to the extreme moving threshold. This speed is moderate and balances efficiency and energy consumption.

[0090] The third moving speed is slow movement, which is suitable for scenarios when the robot's moving distance exceeds the moving extreme threshold. This speed is used to ensure safety and reduce energy consumption.

[0091] Example 2

[0092] The present invention discloses a method for using a pipeline inner wall cleaning robot, which is implemented based on the above pipeline inner wall cleaning robot and includes the following steps:

[0093] S1: The laser probe sensor element 106 is used to plan the path of the cleaning robot body 100, and the power rotating wheel 107 provides the cleaning robot body 100 with power to move forward;

[0094] S2: After the cleaning robot body 100 moves to the bottom of the pipe to be cleaned and stabilizes, the lifting mechanism 200 is lifted. While the lifting mechanism 200 is lifted, the installation base plate 401 simultaneously lifts the transition tube cover 400, and the upper end surface of the transition tube cover 400 is fitted with the lower end of the pipe to be cleaned;

[0095] S3: Then, by sending an operation instruction to the cleaning mechanism 500, the transmission wire 507 transmits power to the climbing mechanism 503, opens the climbing anti-slip rubber strip 504 on the climbing mechanism 503, and sends the cleaning mechanism 500 from the inside of the transition tube cover 400 into the inside of the pipeline to be cleaned;

[0096] S4: After entering the pipe to be cleaned, the servo motor 508 is turned on, and the annular rotating end 501 is driven to rotate through the power transmission end 509. The rotating annular rotating end 501 can rotate the brush 502 at high speed, and the brush 502 drives the annular wiping cloth 50201 to remove impurities from the inner wall of the pipe to be cleaned, and sweep away the impurities adsorbed on the inner wall of the pipe;

[0097] S5: When the cleaning mechanism 500 is performing the sweeping operation, the dust suction mechanism 5001 can suck in and clean the internal impurities, so that the internal impurities are separated from the inside of the pipe. When the annular rotating end head 501 is rotating, the climbing mechanism 503 continues to move upward slowly. When the cleaning is completed, the climbing anti-slip rubber strip 504 on the climbing mechanism 503 runs in the opposite direction, and the cleaning mechanism 500 can be recovered to the inside of the transition tube cover 400, and then the lifting mechanism 200 is reset and recovered to the inside of the cleaning robot body 100.

[0098] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0099] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A pipeline inner wall cleaning robot, comprising a cleaning robot body (100), characterized in that: Also includes: A transition barrel cover (400) is installed inside the cleaning robot body (100), the lower end surface of the transition barrel cover (400) is provided with a mounting base plate (401), and the mounting base plate (401) is fixedly connected to the transition barrel cover (400); A lifting mechanism (200) mounted on one side of the inner wall of the cleaning robot body (100), the lifting mechanism (200) being fixedly connected to a mounting base plate (401); A cleaning mechanism (500) is installed inside the transition barrel cover (400), the cleaning mechanism (500) rolls and rubs against the inner wall of the transition barrel cover (400) through a climbing mechanism (503), and three climbing mechanisms (503) are provided, and a climbing anti-slip rubber strip (504) is provided at the middle position inside the three climbing mechanisms (503), and an annular rotating end head (501) is provided on the upper end surface of the cleaning mechanism (500), and a reserved hollow cavity (510) is provided inside the annular rotating end head (501); A connecting rod (105) is mounted on one side of the upper end surface of the cleaning robot body (100), and the lower end of the connecting rod (105) is threadedly connected to the cleaning robot body (100), and a laser probe sensor element (106) is provided on the upper end surface of the connecting rod (105); The system further comprises a processor, wherein the processor is configured with a control system, wherein the control system comprises a data processing module and an execution control module, wherein the data processing module is configured with an operation strategy and a path strategy, wherein the path strategy comprises constructing a spatial coordinate system, obtaining the position coordinates of the robot and the position coordinates of the pipe to be cleaned based on the spatial coordinate system, and generating a movement path for controlling the movement of the robot; the operation strategy comprises retrieving the movement path and controlling the robot to move to the coordinate position of the pipe to be cleaned; and the execution control module is configured with a lifting strategy, wherein the lifting strategy comprises controlling the double-speed sprocket mechanism (202) in the lifting mechanism (200) to lift after the robot moves to the coordinate position of the pipe to be cleaned, so as to drive the cleaning robot body (100) to enter the interior of the pipe to be cleaned; The laser probe sensor element (106) is provided with a visual sensing unit, a target mark is provided at the position of the pipeline to be cleaned, and the visual sensing unit is used to identify the target mark. ; where x target ,y target represents the horizontal and vertical coordinates of the target marker; The current position of the center point of the laser probe sensor element (106) is ; where x current ,y current The horizontal and vertical coordinates are represented as the current position of the center point of the laser probe sensor element (106); The operation strategy includes calculating the moving direction of the robot, the moving direction includes the moving angle and the moving distance, and the moving angle is calculated by the following formula: ； in, is the moving angle, is the inverse tangent function; the distance the robot moves in the next step Adjust according to real-time dynamic movement; according to the moving angle and moving distance , update the position coordinates of the robot; ； ； Among them, x new ,y new The horizontal and vertical coordinates of the robot's updated position; The position coordinates of the robot are repeatedly updated until the robot reaches the target mark of the pipeline to be cleaned, a moving path is generated, and a lifting instruction is generated; the laser probe sensor element (106) and the visual sensing unit mark the vertical distance between the highest point of the transition tube cover (400) and the lower port of the pipeline to be cleaned to obtain a height value; the visual sensing unit is also used to obtain the moving distance of the robot , and set the moving base threshold and moving extreme threshold; The lifting strategy is to identify the lifting command according to the moving basic threshold and moving extreme value threshold , obtaining a moving speed of the robot; the moving speed of the robot includes a first moving speed, a second moving speed and a third moving speed; The robot's moving speed The calculation formula is: ； in, , , are the first moving speed, the second moving speed and the third moving speed respectively, and usually have > > ; The lifting strategy also includes matching the moving speed with the height value through a double-speed sprocket mechanism (202) in the lifting mechanism (200), and monitoring the height value in real time and making real-time adjustments through a laser probe sensor element (106) and a visual sensing unit.

2. A pipeline inner wall cleaning robot according to claim 1, characterized in that: The outer wall of the annular rotating end (501) is evenly provided with adjustable and replaceable brushes (502), the brushes (502) are wrapped by three annular wiping cloths (50201), the three annular wiping cloths (50201) are fixed by drawstring clips evenly provided on the outer wall of the annular rotating end (501), and the three climbing mechanisms (503) are all detachably connected to the cleaning mechanism (500).

3. A pipeline inner wall cleaning robot according to claim 2, characterized in that: The lifting mechanism (200) is connected to the cleaning robot body (100) via a lifting conveyor belt (201).

4. A pipeline inner wall cleaning robot according to claim 3, characterized in that: A double-speed sprocket mechanism (202) is provided between the lifting mechanism (200) and the lifting conveyor belt (201), and the double-speed sprocket mechanism (202) doubles the speed at which the lifting conveyor belt (201) moves up and down.

5. A pipeline inner wall cleaning robot according to claim 4, characterized in that: A dust suction mechanism (5001) is arranged on one side of the outer wall of the cleaning mechanism (500); the dust suction mechanism (5001) is embedded in the cleaning mechanism (500) and is fixedly connected to the cleaning mechanism (500); an integrated drawer (5002) is arranged inside the dust suction mechanism (5001); a filter screen (5003) is arranged above the integrated drawer (5002); the filter screen (5003) is detachably connected to the inner wall of the integrated drawer (5002); and a secondary filter cup (5004) is arranged above the filter screen (5003).

6. A pipeline inner wall cleaning robot according to claim 5, characterized in that: A first inner cavity (404) is provided inside the transition tube cover (400), a storage pipe (405) is provided below the first inner cavity (404), a transmission wire (507) is provided inside the storage pipe (405), and one end of the transmission wire (507) is fixedly connected to the cleaning robot body (100).

7. A pipeline inner wall cleaning robot according to claim 6, characterized in that: A connecting pipe (505) is provided below the interior of the cleaning mechanism (500), and the upper end of the connecting pipe (505) is fixedly connected to the interior of the cleaning mechanism (500). A second inner cavity (506) is provided inside the connecting pipe (505), and the other end of the transmission wire (507) passes through the interior of the second inner cavity (506) and extends to the interior of the cleaning mechanism (500), and is fixedly connected to the interior of the cleaning mechanism (500).

8. The pipeline inner wall cleaning robot according to claim 7, characterized in that: A servo motor (508) is arranged above the interior of the cleaning mechanism (500), and the servo motor (508) is rotatably connected to the lower end surface of the annular rotating end (501) via a power transmission end (509).

9. A pipeline inner wall cleaning robot according to claim 8, characterized in that: The outer wall of the transition barrel cover (400) is provided with a split mounting plate (402), and a plurality of the split mounting plates (402) are provided, and the plurality of split mounting plates (402) are all threadedly connected to the transition barrel cover (400) via a bolt mechanism (403).

10. The pipeline inner wall cleaning robot according to claim 9, characterized in that: The cleaning robot body (100) is provided with a display screen (104), and an operation button (103) is provided on one side of the display screen (104). The lower end surface of the cleaning robot body (100) is provided with a bottom plate (101), and a power rotating wheel (107) is provided at the middle position of the lower end surface of the bottom plate (101), and the power rotating wheel (107) is rotatably connected to the cleaning robot body (100). Universal rotating wheels (102) are provided at the four corners of the lower end surface of the bottom plate (101), and there are four universal rotating wheels (102), and the four universal rotating wheels (102) are all movably connected to the bottom plate (101).

11. A method for using a pipeline inner wall cleaning robot, implemented based on the pipeline inner wall cleaning robot according to any one of claims 1 to 10, characterized in that: The following steps are involved: S1: planning the path of the cleaning robot body (100) by means of a laser probe sensor element (106), and then providing the cleaning robot body (100) with power to move forward by means of a power rotating wheel (107); S2: When the cleaning robot body (100) moves to the bottom of the pipe to be cleaned and becomes stable, the lifting mechanism (200) is lifted. When the lifting mechanism (200) is lifted, the installation base plate (401) simultaneously lifts the transition tube cover (400), and the upper end surface of the transition tube cover (400) is fitted to the lower end of the pipe to be cleaned; S3: Then, by sending an operation instruction to the cleaning mechanism (500), the transmission wire (507) transmits power to the climbing mechanism (503), the climbing anti-slip rubber strip (504) on the climbing mechanism (503) is opened, and the cleaning mechanism (500) is sent from the interior of the transition tube cover (400) into the interior of the pipeline to be cleaned; S4: After entering the pipe to be cleaned, the servo motor (508) is turned on, and the annular rotating end (501) is driven to rotate through the power transmission end (509). The rotating annular rotating end (501) can make the brush (502) rotate at a high speed, and the brush (502) drives the annular wiping cloth (50201) to remove impurities from the inner wall of the pipe to be cleaned; S5: When the cleaning mechanism (500) is performing an impurity separation operation, the dust suction mechanism (5001) can suck in and clean the internal impurities, so that the internal impurities are separated from the inside of the pipe. When the annular rotating end (501) continues to rotate, the climbing mechanism (503) continues to move upward slowly. When the cleaning is completed, the climbing anti-slip rubber strip (504) on the climbing mechanism (503) runs in the opposite direction, and the cleaning mechanism (500) can be recovered to the inside of the transition tube cover (400), and then the lifting mechanism (200) is reset and recovered to the inside of the cleaning robot body (100).

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