Intelligent cleaning equipment based on AI identification technology

Abstract

The invention discloses intelligent cleaning equipment based on an AI identification technology, and relates to the technical field of submarine pipeline cleaning. Comprising a moving platform, the moving platform is provided with an AI recognition device, driving devices are installed on the two sides of the moving platform, the moving platform is fixedly connected with a mounting frame, the mounting frame is rotationally connected with a rotating shaft, the rotating shaft is rotationally connected with symmetrically-distributed fixing sleeves, and the rotating shaft is fixedly connected with a surrounding shell; and the symmetrically-distributed fixing sleeves are jointly and fixedly connected with the surrounding shell, an arc-shaped sliding rail is installed in the surrounding shell, the arc-shaped sliding rail is slidably connected with a movable frame, and the movable frame is rotatably connected with evenly-distributed cleaning plates. According to the underwater pipeline cleaning device, the position of an underwater pipeline is accurately determined through the driving device and the AI recognition device on the moving platform, impurities on the outer wall of the pipeline are cleaned through the evenly-distributed cleaning plates, stopping is not needed, the continuity of cleaning work is guaranteed, and then the cleaning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine pipeline cleaning, and in particular to an intelligent cleaning device based on AI recognition technology. Background Art

[0002] The laying of marine pipelines is a key technology in the process of modern industrialization and globalization. There are two ways to lay marine pipelines: laying them directly on the seabed and suspending them in the water through a series of floating bodies (such as buoys or pontoon ships). The main uses of pipelines laid in the ocean include oil resource transportation, underwater communications and power transportation, sewage discharge and fresh water transportation. Since the marine environment is rich in salt and microorganisms, it will accelerate the corrosion of pipelines. At the same time, marine organisms (such as barnacles, seaweed, etc.) attach to the pipelines and grow on the surface of the pipelines. These organisms will secrete acidic substances after death, which will further corrode the pipelines, causing the outer wall of the pipeline to be rough and increase the weight of the pipeline. The burden on the pipeline is so great that the outer wall of the marine pipeline needs to be cleaned to increase the service life of the marine pipeline. The existing cleaning method for suspended pipelines is that the cleaner uses high-pressure water to spray the surface of the pipeline to complete the cleaning of the pipeline. The impurities on the outer wall of the pipeline are removed by high-pressure water. Since the high-pressure water spray will cause the impurities attached to the pipeline to float up, the floating impurities will block the cleaner's sight, so that the cleaner cannot accurately determine the specific location of the impurities on the pipeline, which leads to the pipeline outer wall not being cleaned properly. At the same time, due to the high pressure in the deep sea, the cleaner cannot stay underwater for a long time, which leads to the inability to carry out the cleaning work continuously, resulting in low cleaning efficiency. Summary of the invention

[0003] In order to overcome the shortcomings mentioned in the above background technology, the present invention provides an intelligent cleaning device based on AI recognition technology.

[0004] The technical solution is: an intelligent cleaning device based on AI recognition technology, comprising a mobile platform, a side wall of the mobile platform is provided with an AI recognition device, driving devices are installed on both sides of the mobile platform, a mounting frame is fixedly connected to one side of the mobile platform, the mounting frame is rotatably connected to a rotating shaft, the rotating shaft is rotatably connected to a symmetrically distributed fixed sleeve, the rotating shaft is fixedly connected to an enclosing shell, the symmetrically distributed fixed sleeves are also fixedly connected to the enclosing shell, an arc-shaped slide rail is installed in the enclosing shell, a mobile frame is slidably connected to the arc-shaped slide rail, and a uniformly distributed cleaning plate is rotatably connected to the mobile frame, a torsion spring is fixedly connected between the cleaning plate and the adjacent mobile frame, a splicing component for merging two enclosing shells is provided on the mounting frame, three groups of detection components for detecting processed objects are commonly provided in the two enclosing shells, and three groups of centering components for positioning adjacent cleaning plates are commonly provided in the two enclosing shells.

[0005] As a further preferred solution, the movable frame is slidably connected to a limiting ring, the cleaning plate is limitedly matched with the adjacent limiting ring, a spring is fixed between the limiting ring and the adjacent surrounding shell, and the adjacent limiting rings on different movable frames are squeezed and matched with each other.

[0006] As a further preferred solution, the limiting ring is composed of an arc-shaped plate and evenly distributed L-shaped plates, and the length of the limiting ring located at the outer side of the adjacent moving frame is greater than the length of its L-shaped plate.

[0007] As a further preferred embodiment, the splicing assembly includes a first driving member, which is installed on the mounting frame, and a first plate is fixedly connected to the power output end of the first driving member, and the first plate is provided with a second plate, and the second plate is provided with a third plate, and the third plate is fixedly connected with a centrally symmetrically distributed rack, and the rotating shaft and one of the fixed sleeves are fixedly connected with a gear, and the gear is meshed with the adjacent rack.

[0008] As a further preferred scheme, the centering component includes a second driving member, which is installed on the adjacent enclosing shell, and the power output end of the second driving member is fixedly connected to a first limiting plate, the first limiting plate is slidably connected to a fixed frame, and a spring is fixed between the two, the fixed frame is rotatably connected to symmetrically distributed support wheels, and one side of the fixed frame is provided with a locking component for locking the adjacent and evenly distributed cleaning plates.

[0009] As a further preferred scheme, the detection assembly includes a first support frame, the first support frame is slidably connected to the adjacent enclosing shell, the first support frame is fixedly connected to the adjacent fixing frame, the first support frame is fixedly connected to a mounting seat on the side away from the adjacent second driving member, the mounting seat is equipped with a detection head, and the mounting seat is provided with an adjustment assembly for controlling the detection range of the adjacent detection head.

[0010] As a further preferred scheme, the adjustment assembly includes a second support frame, the second support frame is fixed to the side of the adjacent enclosing shell away from the adjacent second driving member, the mounting seat is rotatably connected to a symmetrically distributed shielding plate, a torsion spring is fixed between the shielding plate and the adjacent mounting seat, the shielding plate is fixed to a winding wheel, and a pull rope is fixed between the winding wheel and the adjacent second support frame.

[0011] As a further preferred scheme, the locking assembly includes a sliding seat, the sliding seat is fixedly connected to a side of an adjacent fixed frame away from an adjacent second driving member, the sliding seat is slidably connected to a second limit plate, the second limit plate is slidably connected to the adjacent surrounding shell, the second limit plate is extruded and matched with the adjacent first limit plate, the second limit plate is slidably connected to a fixed rod, the fixed rod is equipped with a rotating ring, the rotating ring is slidably connected to the adjacent mobile frame, and a spring is fixed therebetween, a side of the rotating ring close to the adjacent mobile frame is provided with evenly distributed limit grooves, a side of the cleaning plate close to the adjacent rotating ring is fixedly connected to a limit column, and the limit column is limit-matched with the adjacent limit groove.

[0012] As a further preferred scheme, it also includes a first electric component, the first electric component is fixed to the upper side of the second plate, the second electric component is fixed to the upper side of the first plate, the second electric component is magnetically matched with the first electric component, the first plate is slidably connected to the second plate, the second plate is slidably connected to the third plate, and a first elastic component is fixed between the two, and a second elastic component is fixed between the third plate and the mounting frame.

[0013] As a further preferred solution, the elastic force of the first elastic member is smaller than the magnetic attraction force between the second electric member and the first electric member.

[0014] Compared with the prior art, the present invention has the following advantages: the present invention accurately determines the position of the underwater pipeline through the driving device and AI recognition device on the mobile platform, and uses evenly distributed cleaning plates to clean the impurities on the outer wall of the pipeline. During the process of cleaning the pipeline, there is no need to stop, which ensures the continuity of the cleaning work and improves the cleaning efficiency; The present invention positions adjacent surrounding shells by means of symmetrically distributed supporting wheels on a fixed frame, so that the center of the cylinder formed by the two surrounding shells is consistent with the center of the pipeline, thereby ensuring smooth cleaning work and avoiding the deflection of the device during movement, which causes uneven cleaning. The contact between the supporting wheels and the pipeline is used to determine the radius of the pipeline, which is convenient for subsequent work. The present invention moves the support wheel and the detection head together, so that the distance between the detection head and the outer wall of the pipeline is a constant value, ensuring that the force of all cleaning plates on the pipeline is at a constant value, and using the detection head to timely detect the amount of impurities attached to the pipeline, adjust the rotation speed of the arc-shaped slide rail to drive the adjacent moving frame, and then control the contact time between the cleaning plate and the unit length of the pipeline, thereby improving the cleaning effect; The present invention controls the distance between two adjacent shielding plates by determining the radius of the pipeline, thereby controlling the detection range of adjacent detection heads, so that the detection range of the detection head is always located on the outer wall of the pipeline, thereby ensuring the accuracy of detection by the detection head; The present invention controls the two surrounding shells to separate after the circuit system in the mobile platform is powered off by the cooperation of the first elastic member and the second elastic member, thereby reducing the number of times the staff go into the water and further ensuring the life safety of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 A three-dimensional structural cross-sectional view of the enclosure shell of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the components in the enclosure of the present invention; Figure 4 It is a three-dimensional structural cross-sectional view of the mobile frame of the present invention; Figure 5 It is a three-dimensional structural cross-sectional view of the mounting frame of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the second driving member and the first supporting frame of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the adjustment component of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the sliding seat of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the rotating collar and the limiting groove of the present invention; Fig.10 It is a schematic diagram of the three-dimensional structure of the first electric component and the second electric component of the present invention.

[0016] Wherein: 1-moving platform, 2-mounting frame, 3-rotating shaft, 4-fixed sleeve, 5-enclosing shell, 6-arc slide rail, 7-moving frame, 8-cleaning plate, 9-limiting ring, 201-first driving member, 202-first plate, 203-second plate, 204-third plate, 205-rack, 206-gear, 301-second driving member, 302-first limiting plate, 303-fixed frame, 401-first supporting frame, 402-mounting seat, 403-detection head, 404-second supporting frame, 405-shielding plate, 406-winding wheel, 501-sliding seat, 502-second limiting plate, 503-fixed rod, 504-rotating sleeve, 5041-limiting groove, 505-limiting column, 601-first electric member, 602-second electric member, 603-first elastic member, 604-second elastic member. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with specific embodiments. It should also be noted that, unless otherwise clearly specified and limited, terms such as "setting" and "installation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0018] Embodiment 1: The existing method for cleaning suspended pipes is to use high-pressure water jets to spray the surface of the pipes by the cleaners to complete the cleaning of the pipes. The impurities on the outer wall of the pipes are removed by high-pressure water. Since the high-pressure water jets will cause the impurities attached to the pipes to float, the floating impurities will cause the cleaners' line of sight to be blocked, so that the cleaners cannot accurately determine the specific location of the impurities on the pipes, which leads to the outer wall of the pipes not being cleaned cleanly. At the same time, due to the high pressure in the deep sea, the cleaners cannot stay underwater for a long time, which leads to the inability to carry out the cleaning work continuously, resulting in low cleaning efficiency. In this regard, the present invention proposes an intelligent cleaning device based on AI recognition technology, and the specific scheme is as follows: like Figure 1-Figure 4As shown, it includes a mobile platform 1, and an AI recognition device is arranged on the front side wall of the mobile platform 1. The AI ​​recognition device is an image recognition sensor. The mobile platform 1 is externally connected to a remote control terminal for determining the position of the pipeline and the moving direction of the device. Driving devices are installed on the left and right sides of the mobile platform 1. The remote control terminal is electrically connected to the driving device. The driving device is an existing device, which mainly includes two driving propellers. A mounting frame 2 is fixedly connected to the lower side of the mobile platform 1. The mounting frame 2 is rotatably connected to a rotating shaft 3. The rotating shaft 3 is rotatably connected to two symmetrically distributed fixed sleeves 4. The rotating shaft 3 is fixedly connected to an enclosing shell 5. The symmetrically distributed fixed sleeves 4 are jointly fixedly connected to the enclosing shell 5. When the two enclosing shells 5 are combined, they jointly form a complete cylinder, which is used to wrap the entire pipeline. An arc-shaped slide rail 6 is installed in the enclosing shell 5. The remote control terminal is electrically connected to the arc-shaped slide rail 6. The two arc-shaped slide rails 6 jointly form A complete circular slide rail, a movable frame 7 is slidably connected to the arc-shaped slide rail 6. After the two arc-shaped slide rails 6 are merged, the two movable frames 7 can slide on the two arc-shaped slide rails 6, and then the pipeline is cleaned circumferentially. Three evenly distributed cleaning plates 8 are rotatably connected to the movable frame 7. A torsion spring is fixed between the cleaning plate 8 and the adjacent movable frame 7. The torsion spring is used to drive the adjacent cleaning plates 8 to fit the outer wall of the pipeline, and is initially in a force storage state. A splicing component for merging the two enclosing shells 5 is provided on the mounting frame 2. The enclosing shell 5 on the left is provided with two groups of detection components and two groups of centering components. The enclosing shell 5 on the right is provided with one group of detection components and one group of centering components. The detection component is used to detect the processed objects on the pipeline, and the centering component is used to position the adjacent cleaning plates 8. When the two enclosing shells 5 are spliced ​​into a cylinder, the three groups of centering components are circumferentially evenly spaced and the three groups of detection components are also circumferentially distributed.

[0019] like Figure 3 and Figure 4 As shown, the movable frame 7 is slidably connected with two limit rings 9, and the cleaning plate 8 is limitedly matched with the adjacent limit rings 9. The limit rings 9 are used to limit the initial position of the adjacent cleaning plates 8. A spring is fixedly connected between the limit rings 9 and the adjacent surrounding shells 5, and the spring is used to drive the adjacent limit rings 9 to reset. Two adjacent limit rings 9 on different movable frames 7 are squeezed and matched with each other. The limit rings 9 are composed of an arc plate and three evenly distributed L-shaped plates, and the length of the limit ring 9 located on the outer side of the adjacent movable frame 7 is greater than the length of its L-shaped plate. The evenly distributed cleaning plates 8 on the left and right sides have the same inclination direction. The contact position of the evenly distributed cleaning plate 8 on the left side and the adjacent limit ring 9 is located on the side of the adjacent cleaning plate 8 away from its rotation axis, and the contact position of the evenly distributed cleaning plate 8 on the right side and the adjacent limit ring 9 is located on the side of the rotation axis of the adjacent cleaning plate 8.

[0020] like Figure 5As shown, the splicing assembly includes a first driving member 201, the first driving member 201 is an electric push rod, the remote control terminal is electrically connected to the first driving member 201, the first driving member 201 is installed in the middle of the mounting frame 2, the power output end of the first driving member 201 is fixedly connected to a first plate 202, the first plate 202 is provided with a second plate 203, the second plate 203 is provided with a third plate 204, the third plate 204 is fixedly connected to two racks 205 distributed symmetrically around the center, the rotating shaft 3 and one of the fixed sleeves 4 are fixedly connected to a gear 206, the gear 206 is meshed with the adjacent rack 205, and the device is provided with a housing for protecting the above-mentioned parts, which is not shown in the figure.

[0021] like Figure 6 and Figure 8 As shown, the centering component includes a second driving member 301, which is installed on the adjacent enclosing shell 5. The second driving member 301 is an electric push rod. The remote control terminal is electrically connected to the second driving member 301. The power output end of the second driving member 301 is fixedly connected to a first limit plate 302. The front side of the first limit plate 302 is provided with an inclined surface. The first limit plate 302 is slidably connected to a fixing frame 303, and a spring is fixed therebetween. The spring is used to drive the adjacent fixing frame 303 to reset. The fixing frame 303 is rotatably connected to symmetrically distributed support wheels. The support wheels are used to fit with the pipeline. The front side of the fixing frame 303 is provided with a locking assembly for locking adjacent and evenly distributed cleaning plates 8.

[0022] like Figure 6 and Figure 7 As shown, the detection component includes a first support frame 401, the first support frame 401 is slidably connected to the adjacent enclosing shell 5, the first support frame 401 is fixedly connected to the adjacent fixed frame 303, the front side of the first support frame 401 is fixedly connected to a mounting seat 402, the mounting seat 402 is installed with a detection head 403, the detection head 403 is an existing detection device, which is used to detect the amount of impurities attached to the pipeline, adjust the rotation speed of the arc slide rail 6 to drive the adjacent moving frame 7, and then control the contact time between the cleaning plate 8 and the unit length of the pipeline, and the mounting seat 402 is provided with an adjustment component for controlling the detection range of the adjacent detection head 403.

[0023] like Figure 7As shown, the adjustment component includes a second support frame 404, the second support frame 404 is fixedly connected to the front side of the adjacent surrounding shell 5, the mounting seat 402 is rotatably connected to two symmetrically distributed baffles 405, the baffles 405 can block the detection range of the adjacent detection head 403, but will not affect the detection result of the detection head 403, a torsion spring is fixedly connected between the baffle plate 405 and the adjacent mounting seat 402, the baffle plate 405 is fixedly connected to a winding wheel 406, and a pull rope is fixedly connected between the winding wheel 406 and the adjacent second support frame 404, by controlling the distance between the two adjacent baffles 405, and then controlling the detection range of the adjacent detection head 403, the detection range of the detection head 403 is always located on the outer wall of the pipeline, thereby ensuring the accuracy of the detection of the detection head 403.

[0024] like Figure 6 , Figure 8 and Fig. 9 As shown, the positioning assembly includes a sliding seat 501, the sliding seat 501 is fixed to the front side of the adjacent fixing frame 303, the sliding seat 501 is slidably connected to the second limiting plate 502, the second limiting plate 502 is slidably connected to the adjacent surrounding shell 5, the second limiting plate 502 is pressed and matched with the adjacent first limiting plate 302, the second limiting plate 502 is slidably connected to the fixing rod 503, the fixing rod 503 is installed with a rotating ring 504, and the rotating ring 504 consists of two mutually rotating The fixing rod 503 is fixedly connected to the adjacent rear ring, the front ring of the rotating collar 504 is slidably connected to the adjacent movable frame 7, and a spring is fixedly connected between the two, the front ring of the rotating collar 504 is provided with uniformly distributed limiting grooves 5041, the limiting grooves 5041 are spline grooves, the rear side of the cleaning plate 8 is fixedly connected to the limiting column 505, the rear side of the limiting column 505 is provided with a spline rod, the spline rod of the limiting column 505 is limitedly matched with the adjacent limiting grooves 5041.

[0025] When the submarine pipeline needs to be cleaned, the staff puts the device into the water and turns on the driving device on the mobile platform 1. The mobile platform 1 drives the device to move to the position of the pipeline to be cleaned. Then the remote control terminal turns on the first driving member 201. The power output end of the first driving member 201 drives the first plate 202 to move downward, the first plate 202 drives the second plate 203 to move downward, the second plate 203 drives the third plate 204 to move downward, the third plate 204 drives the two racks 205 thereon to move downward, the rack 205 on the right side drives the adjacent gear 206 to rotate, the gear 206 drives the fixed sleeve 4 to rotate, the fixed sleeve 4 drives the surrounding shell 5 on the right side to rotate, and the rack 205 on the left side drives the adjacent gear 206 to rotate. 05 drives the adjacent gear 206 to rotate, and the gear 206 drives the rotating shaft 3 to rotate, and the rotating shaft 3 drives the surrounding shell 5 on the left to rotate, and the two surrounding shells 5 move relative to each other around the rotating shaft 3, and at the same time, the surrounding shells 5 drive all parts thereon to move. When the two surrounding shells 5 are about to contact, the limit rings 9 on the two contact and squeeze each other, and the four limit rings 9 stop rotating, and the two surrounding shells 5 continue to rotate. At this time, the surrounding shells 5 move relative to the adjacent limit rings 9, and at the same time, the limit rings 9 compress the adjacent springs. After the two surrounding shells 5 contact, the remote control terminal closes the first driving member 201. At this time, the two surrounding shells 5 are spliced ​​into a cylinder, and the two arc-shaped slide rails 6 are spliced ​​into a complete circular slide rail.

[0026] After the two enclosing shells 5 come into contact, the enclosing shells 5 and the adjacent limiting rings 9 stop moving relative to each other. At this time, the limiting rings 9 lose contact with the adjacent cleaning plates 8. The cleaning plates 8 swing toward the side close to the pipeline under the action of the adjacent torsion springs until the cleaning plates 8 fit the pipeline and stop rotating.

[0027] After the cleaning plate 8 is in contact with the pipeline, the remote control terminal turns on the second driving member 301, and the power output end of the second driving member 301 drives the adjacent first limiting plate 302 to move toward the side close to the pipeline. The first limiting plate 302 drives the fixing frame 303 thereon to move synchronously through the spring, and the fixing frame 303 drives the two supporting wheels thereon to move. All the supporting wheels move relatively and gradually fit with the pipeline. After all the supporting wheels are in contact with the pipeline, the remote control terminal turns off the second driving member 301. At this time, all the cleaning plates 8 are in contact with the pipeline and their inclination angles are consistent, and the distance between the inner wall of the surrounding shell 5 and the outer wall of the pipeline is consistent.

[0028] During the relative movement of all the fixed frames 303, the fixed frame 303 drives the first support frame 401 thereon to move, the first support frame 401 drives the adjacent mounting seat 402 to move, and the mounting seat 402 drives the detection head 403 thereon to move synchronously. As the support wheels on the fixed frame 303 gradually move, the distance between the detection head 403 and the outer wall of the pipeline gradually decreases. At this time, the moving distance of the support wheels and the detection head 403 is inversely proportional to the radius of the pipeline. After all the support wheels are in contact with the pipeline, the distance from all the detection heads 403 to the outer wall of the pipeline is the same, and no matter how the radius of the pipeline changes, the distance between the detection head 403 and the outer wall of the pipeline is a constant, ensuring that the force of all cleaning plates 8 on the pipeline is at a constant value.

[0029] During the relative movement of all mounting seats 402, the mounting seats 402 drive the two shielding plates 405 thereon to move, and the shielding plates 405 drive the adjacent winding wheels 406 to move, and the distance between the winding wheels 406 and the adjacent second support frames 404 gradually increases. During the movement of the winding wheels 406, the winding wheels 406 release the pull rope between it and the adjacent second support frames 404, and the pull rope drives the adjacent winding wheels 406 to rotate, and the winding wheels 406 drive the adjacent shielding plates 405 to rotate, and the torsion springs on the shielding plates 405 store force. During this process, the two shielding plates 405 on the same mounting seat 402 rotate relative to each other and move closer to each other. The detection range of adjacent detection heads 403 decreases. When the radius of the pipeline is smaller, the distance that the support wheel moves increases, and the distance that the mounting base 402 moves increases, and the relative rotation angle of the two baffles 405 increases (that is, the smaller the distance between two adjacent baffles 405, the smaller the detection range of the detection head 403). Therefore, the distance between two adjacent baffles 405 is proportional to the radius of the pipeline. By sensing the radius of the pipeline, the distance between two adjacent baffles 405 is controlled, and then the detection range of adjacent detection heads 403 is controlled, so that the detection range of the detection head 403 is always located on the outer wall of the pipeline, thereby ensuring the accuracy of detection by the detection head 403.

[0030] During the relative movement of all the fixed frames 303, the fixed frame 303 drives the adjacent sliding seat 501 to move, and the sliding seat 501 drives the adjacent second limiting plate 502 to move along the corresponding surrounding shell 5, and the second limiting plate 502 moves relative to the adjacent fixed rod 503. As the fixed frame 303 moves, when the supporting wheel thereon fits with the outer wall of the pipeline, the fixed frame 303 stops moving, the sliding seat 501 stops moving, and the second limiting plate 502 also stops moving. At this time, the power output end of the second driving member 301 continues to extend, and the power output end of the second driving member 301 drives the adjacent first limiting plate 302 to move, and the spring between the first limiting plate 302 and the adjacent fixed frame 303 is compressed, and the first limiting plate 302 squeezes the adjacent second limiting plate 502, and the second limiting plate 502 is squeezed and moves forward, and the second limiting plate 502 moves relative to the adjacent sliding seat 501, and the second limiting plate 502 drives the adjacent fixed rod 503 to move forward.

[0031] During the movement of the fixed rod 503, the fixed rod 503 drives the adjacent rotating ring 504 and its upper limit groove 5041 to move forward together, the rotating ring 504 slides along the adjacent moving frame 7 and compresses the adjacent spring, the limiting groove 5041 moves forward and contacts the adjacent limiting column 505 (during the operation of the above-mentioned second driving member 301, when the second driving member 301 is closed, the limiting column 505 is located in the adjacent limiting groove 5041). At this time, the limiting column 505 cannot rotate due to the limiting effect of the adjacent limiting groove 5041, and the adjacent cleaning plate 8 on the limiting column 505 cannot rotate. Since the cleaning plate 8 is in contact with the outer wall of the pipeline at this time, the cleaning plate 8 is in a locked state under the limiting effect of the limiting column 505 and cannot rotate, so as to avoid the adjacent cleaning plate 8 from being deflected due to the squeezing of impurities during the process of the cleaning plate 8 cleaning impurities on the outer wall of the pipeline, thereby ensuring that the cleaning plate 8 is always in contact with the outer wall of the pipeline, thereby improving the pipeline cleaning efficiency.

[0032] After all the above operations, all the cleaning plates 8 are in contact with the outer wall of the pipe, all the supporting wheels on the fixing frames 303 are in contact with the outer wall of the pipe, the distances between all the detection heads 403 and the outer wall of the pipe are kept constant and consistent, and all the limiting columns 505 are inserted into the adjacent limiting grooves 5041 (the adjacent cleaning plates 8 are limited). At this point, the preliminary preparations for the device are completed, and then the cleaning of the pipe can be started.

[0033] After the preliminary preparation work is completed, the remote control terminal turns on the two arc-shaped slide rails 6, and the two arc-shaped slide rails 6 respectively drive the moving frames 7 thereon to slide, and the circular ring formed by the two moving frames 7 rotates along the circular slide rails formed by the two arc-shaped slide rails 6, and the two moving frames 7 respectively drive the cleaning plates 8 thereon to rotate, and then the remote control terminal turns on the driving device on the mobile platform 1, so that the driving device drives the device to move forward along the pipeline and move to the impurity area of ​​the pipeline. During the rotation of the cleaning plate 8, the cleaning plate 8 removes the impurities on the outer wall of the pipeline, thereby completing the cleaning of the pipeline. During the forward movement of the device, all the detection heads 403 clean the impurities on the outer wall of the pipeline. Detection, when the number of detected impurities is large, the detection head 403 transmits the detection signal to the remote control terminal, and adjusts the arc slide rail 6 through the remote control terminal to increase the rotation speed of the adjacent moving frame 7, thereby increasing the number of contacts between the cleaning plate 8 and the impurities on the outer wall of the pipeline, so that the impurities on the outer wall of the pipeline fall off quickly. At the same time, in the process of cleaning the pipeline, when the AI ​​recognition device of this device detects that a floating body passes in front, the power output end of the first driving member 201 is controlled by the remote control terminal to open the two enclosing shells 5 and move away from the pipeline. After passing the floating body, the remote control terminal controls the power output end of the first driving member 201 to merge the two enclosing shells 5 and continue to clean the pipeline.

[0034] After the pipeline is cleaned, the remote control terminal controls the two arc slide rails 6 to restore the two moving frames 7 to their original positions. The remote control terminal controls the power output end of the second driving member 301 to restore its original position, so that all the first limit plates 302 are reset to their original positions, and the springs thereon are restored to their original positions. The first limit plate 302 drives the adjacent fixed frame 303 to restore its original position through the spring, so that all the support wheels lose contact with the pipeline. The fixed frame 303 drives the adjacent first support frame 401 to restore its original position, and the first support frame 401 drives the mounting seat 402 and the corresponding detection head 403 to restore their initial positions. During the resetting process of the mounting seat 402, the winding wheel 406 rotates and winds up the adjacent pull rope under the action of the torsion spring thereon, and at the same time drives the adjacent baffle plate 405 to reset. During the resetting process of the first limit plate 302, the first limit plate 302 loses its squeezing on the adjacent sliding seat 501, and the rotating ring 504 is rotated on the adjacent spring Under the action of, it returns to its original position backward, and the rotating ring 504 drives the second limit plate 502 to return to its original position through the adjacent fixing rod 503. After all the parts in the two enclosing shells 5 are restored to their original positions, the remote control terminal controls the power output end of the first driving member 201 to return to its original position, and the first plate 202, the second plate 203 and the third plate 204 move upward together to return to their original positions, and the third plate 204 drives the two racks 205 thereon to reset, and the two racks 205 rotate with the adjacent gears 206 respectively, and drive the adjacent enclosing shells 5 to return to their original positions. After the two enclosing shells 5 are opened, the two limit rings 9 return to their original positions under the action of the adjacent springs, and the remote control terminal controls the driving device on the mobile platform 1 to drive the device to move upward and move to the water surface. After the device is moved out of the water, the staff rotates all the cleaning plates 8 to make them match with the adjacent limit rings 9 again, thus ending the use of the device.

[0035] In this embodiment, the first plate 202 and the second plate 203 are fixedly connected, and the second plate 203 and the third plate 204 are also fixedly connected. In the next embodiment, the first plate 202 and the second plate 203 are slidably connected, and the second plate 203 and the third plate 204 are also slidably connected.

[0036] Embodiment 2: Based on embodiment 1, Figure 5 and Fig.10As shown, it also includes a first electric component 601, the first electric component 601 is an electromagnet, the remote control terminal is electrically connected to the first electric component 601, the first electric component 601 is fixed to the upper side of the second plate 203, the upper side of the first plate 202 is fixed to the second electric component 602, the second electric component 602 is magnetically matched with the first electric component 601, the second electric component 602 is an electromagnet, the remote control terminal is electrically connected to the second electric component 602, after the first electric component 601 and the second electric component 602 are energized, the two are in contact with each other under the action of electromagnetic force, the first plate 202 is slidably connected to the second plate 203, the second plate 203 is slidably connected to the third plate 204, and a first elastic component is fixed between the two 603, the first elastic member 603 is a spring, when the first electric member 601 and the second electric member 602 are in contact with each other, the spring is in a compressed state, a second elastic member 604 is fixedly connected between the third plate 204 and the mounting frame 2, the second elastic member 604 is a tension spring, the first driving member 201 is an electric push rod, and the interior of the electric push rod is a structure in which the telescopic end can be passively retracted after power is cut off, that is, the power output end of the first driving member 201 has no self-locking structure, and the elastic force of the first elastic member 603 is less than the magnetic attraction between the second electric member 602 and the first electric member 601, ensuring that when the second electric member 602 and the first electric member 601 are in an energized adsorption contact state, the first elastic member 603 is in a compressed state.

[0037] When using the device, the staff first fixes the traction rope on the device, and then when cleaning the pipeline, the remote control terminal turns on the first electric component 601 and the second electric component 602, and the two are adsorbed by magnetic force, so that the first plate 202 and the second plate 203 are combined into a whole, and the first elastic component 603 is in a compressed state. When the remote control terminal turns on the first driving component 201, the power output end of the first driving component 201 moves downward and drives the third plate 204 to move downward through the first plate 202 and the second plate 203, and the third plate 204 stretches the second elastic component 604. When the circuit system of the device is damaged, the staff needs to dive into the water to remove the device from the pipeline and then take the device out of the water. During this operation, since the staff needs to dive into the water again to operate, this will cause the staff to be subjected to huge underwater pressure and affect their life safety. The specific operation is as follows: When the circuit system fails, the electrical components of the device are in a power-off state. At this time, the first electric component 601 and the second electric component 602 lose their magnetic adsorption effect. Subsequently, the second plate 203 moves backward under the action of the first elastic component 603, and the second plate 203 slides along the first plate 202 and the third plate 204. After the first plate 202 and the second plate 203 lose contact, the third plate 204 moves upward under the action of the second elastic component 604, and the third plate 204 drives the two racks 205 on its lower side to move upward. At the same time, the power output end of the first driving component 201 returns to its original position, and then repeats the above operation process to separate the two enclosing shells 5. After the two enclosing shells 5 are separated, the staff pulls the device out of the water by pulling the traction rope and repairs the device, thereby reducing the number of times the staff go into the water and ensuring the life safety of the staff.

[0038] The technical principles of the embodiments of the present invention are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the embodiments of the present invention and cannot be interpreted in any way as limiting the protection scope of the embodiments of the present invention. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the embodiments of the present invention without creative work, and these methods will fall within the protection scope of the embodiments of the present invention.

Claims

1. An intelligent cleaning device based on AI recognition technology, comprising a mobile platform (1), a side wall of the mobile platform (1) is provided with an AI recognition device, and driving devices are installed on both sides of the mobile platform (1), characterized in that: The invention also comprises a mounting frame (2), wherein the mounting frame (2) is fixedly connected to one side of the mobile platform (1), the mounting frame (2) is rotatably connected to a rotating shaft (3), the rotating shaft (3) is rotatably connected to symmetrically distributed fixed sleeves (4), the rotating shaft (3) is fixedly connected to an enclosing shell (5), the symmetrically distributed fixed sleeves (4) are also commonly fixedly connected to the enclosing shell (5), an arc-shaped slide rail (6) is installed in the enclosing shell (5), a mobile frame (7) is slidably connected to the arc-shaped slide rail (6), the mobile frame (7) is rotatably connected to evenly distributed cleaning plates (8), a torsion spring is fixedly connected between the cleaning plate (8) and the adjacent mobile frame (7), a splicing component for merging two enclosing shells (5) is arranged on the mounting frame (2), three groups of detection components for detecting the processed object are commonly arranged in the two enclosing shells (5), and three groups of centering components for positioning the adjacent cleaning plates (8) are commonly arranged in the two enclosing shells (5).

2. The intelligent cleaning device based on AI recognition technology according to claim 1, characterized in that: The movable frame (7) is slidably connected to a limiting ring (9), the cleaning plate (8) is limitedly matched with an adjacent limiting ring (9), a spring is fixedly connected between the limiting ring (9) and the adjacent surrounding shell (5), and the adjacent limiting rings (9) on different movable frames (7) are pressed and matched with each other.

3. The intelligent cleaning device based on AI recognition technology according to claim 2 is characterized in that: The limiting ring (9) is composed of an arc-shaped plate and evenly distributed L-shaped plates, and the length of the limiting ring (9) located on the outer side of the adjacent moving frame (7) is greater than the length of its L-shaped plate.

4. The intelligent cleaning device based on AI recognition technology according to claim 1, characterized in that: The splicing assembly comprises a first driving member (201), the first driving member (201) is mounted on the mounting frame (2), a power output end of the first driving member (201) is fixedly connected to a first plate (202), the first plate (202) is provided with a second plate (203), the second plate (203) is provided with a third plate (204), the third plate (204) is fixedly connected to racks (205) distributed symmetrically around the center, the rotating shaft (3) and one of the fixed sleeves (4) are both fixedly connected to gears (206), and the gears (206) are meshed with the adjacent racks (205).

5. The intelligent cleaning device based on AI recognition technology according to claim 1, characterized in that: The centering component comprises a second driving member (301), the second driving member (301) is mounted on the adjacent surrounding shell (5), a power output end of the second driving member (301) is fixedly connected to a first limiting plate (302), the first limiting plate (302) is slidably connected to a fixing frame (303), and a spring is fixedly connected therebetween, the fixing frame (303) is rotatably connected to symmetrically distributed supporting wheels, and a locking assembly for locking adjacent and evenly distributed cleaning plates (8) is provided on one side of the fixing frame (303).

6. The intelligent cleaning device based on AI recognition technology according to claim 5, characterized in that: The detection component includes a first support frame (401), the first support frame (401) is slidably connected to the adjacent surrounding shell (5), the first support frame (401) is fixedly connected to the adjacent fixing frame (303), a mounting seat (402) is fixedly connected to the side of the first support frame (401) away from the adjacent second driving member (301), a detection head (403) is installed on the mounting seat (402), and an adjustment component for controlling the detection range of the adjacent detection head (403) is arranged on the mounting seat (402).

7. The intelligent cleaning device based on AI recognition technology according to claim 6, characterized in that: The adjustment assembly comprises a second support frame (404), the second support frame (404) being fixedly connected to a side of the adjacent enclosing shell (5) away from the adjacent second driving member (301), the mounting seat (402) being rotatably connected to symmetrically distributed shielding plates (405), a torsion spring being fixedly connected between the shielding plates (405) and the adjacent mounting seat (402), the shielding plates (405) being fixedly connected to a winding wheel (406), and a pull rope being fixedly connected between the winding wheel (406) and the adjacent second support frame (404).

8. The intelligent cleaning device based on AI recognition technology according to claim 7, characterized in that: The locking assembly comprises a sliding seat (501), the sliding seat (501) being fixedly connected to a side of the adjacent fixing frame (303) away from the adjacent second driving member (301), the sliding seat (501) being slidably connected to a second limiting plate (502), the second limiting plate (502) being slidably connected to the adjacent surrounding shell (5), the second limiting plate (502) being pressed and matched with the adjacent first limiting plate (302), the second limiting plate (502) being slidably connected to a fixing rod (503), ), the fixed rod (503) is provided with a rotating collar (504), the rotating collar (504) is slidably connected to the adjacent moving frame (7), and a spring is fixedly connected therebetween, the rotating collar (504) is provided with uniformly distributed limiting grooves (5041) on one side close to the adjacent moving frame (7), the cleaning plate (8) is fixedly connected to a limiting column (505) on one side close to the adjacent rotating collar (504), and the limiting column (505) is limitedly matched with the adjacent limiting groove (5041).

9. The intelligent cleaning device based on AI recognition technology according to claim 4, characterized in that: The invention also comprises a first electric component (601), wherein the first electric component (601) is fixedly connected to the upper side of the second plate (203), a second electric component (602) is fixedly connected to the upper side of the first plate (202), the second electric component (602) and the first electric component (601) are magnetically matched, the first plate (202) and the second plate (203) are slidably connected, the second plate (203) and the third plate (204) are slidably connected, a first elastic component (603) is fixedly connected between the two, and a second elastic component (604) is fixedly connected between the third plate (204) and the mounting frame (2).

10. The intelligent cleaning device based on AI recognition technology according to claim 9, characterized in that: The elastic force of the first elastic component (603) is smaller than the magnetic attraction force between the second electric component (602) and the first electric component (601).

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