Foreign matter fishing device and method

Abstract

The invention discloses a foreign matter salvaging device and method, and the device comprises a telescopic sleeve which is hollow and is provided with a first end and a second end; the shooting module is arranged at the first end of the telescopic sleeve and used for shooting the foreign matter in the tank body so as to obtain the position of the foreign matter, and the shooting module is provided with an LED unit and provides auxiliary illumination for shooting of the device; the display unit is arranged at the second end of the telescopic sleeve and used for receiving shooting information of the shooting module, determining the position of the foreign matter based on the shooting information and further determining the telescopic length needed by the telescopic sleeve; and the grabbing module is detachably arranged in the telescopic sleeve in a penetrating mode and extends out of the first end of the telescopic sleeve, and the grabbing module is used for grabbing the foreign matter. The device can adapt to a relatively complex environment, is simple in structure and reliable in function, can effectively salvage foreign matters in a tank body which is inconvenient for personnel to enter and has a relatively small opening, and meanwhile, realizes visual monitoring in the tank body.

Description

Technical Field

[0001] The present invention relates to the technical field of foreign matter cleaning, and in particular to a foreign matter salvaging device and method. Background Art

[0002] In engineering projects, there are a large number of closed or semi-closed tanks and other tanks, which may store toxic and hazardous media, such as concentrated acid, concentrated alkali, radioactive substances, etc. If foreign objects fall into these tanks, it will have a serious impact on the safe and stable operation of the system. Since these tanks store harmful media and / or have small openings, personnel cannot enter and can only rely on tools to remove foreign objects.

[0003] However, when using tools to remove foreign objects, the small opening of the tank limits the operating range and flexibility of the tools, making it very inconvenient to use the tools to remove foreign objects. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the inconvenience of using current tools to remove foreign objects in a tank, thereby providing a foreign object salvaging device and method for performing foreign object salvaging operations in a tank when the tank opening is small and personnel cannot enter, when there are toxic and harmful media in the tank, or when there is a radioactive environment.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A foreign body salvaging device, comprising:

[0007] A telescopic sleeve, wherein the interior of the telescopic sleeve is hollow and has a first end and a second end. During salvage operations, the first end of the telescopic sleeve extends into the interior of the tank body, and the second end of the telescopic sleeve is located outside the tank body;

[0008] A shooting module, the shooting module is arranged at the first end of the telescopic sleeve, the shooting module is used to shoot the foreign matter inside the tank to obtain the location of the foreign matter, and the shooting module is provided with an LED unit to provide auxiliary lighting for the device shooting;

[0009] a display unit, the display unit being disposed at the second end of the telescopic sleeve, the display unit being used to receive shooting information of the shooting module, determine the position of the foreign object based on the shooting information, and determine the required telescopic length of the telescopic sleeve based on the position information of the foreign object;

[0010] The grabbing module is detachably arranged inside the telescopic sleeve and extends from the first end of the telescopic sleeve, and is used for grabbing foreign objects.

[0011] To further optimize the technical solution, a scale is provided on the outer side wall of the telescopic sleeve.

[0012] To further optimize the technical solution, the retractable sleeve and the grabbing module are both made of corrosion-resistant materials.

[0013] To further optimize the technical solution, the grabbing module includes a rod body and a grabbing head, both of which can pass through a telescopic sleeve, and the grabbing head is arranged at one end of the rod body extending from the telescopic sleeve, and the grabbing head is used to hook foreign objects.

[0014] To further optimize the technical solution, the rod body and the grab head are made of stainless steel;

[0015] And / or, the grabbing head comprises at least one hook, and when there are two or more hooks, the angle between the two hooks does not exceed 60°;

[0016] and / or, the gripping head is no longer than 2 cm;

[0017] and / or, the shapes of the rod body and the grabbing head are determined based on the shape of the foreign object;

[0018] And / or, the grabbing head is detachably connected to the rod body, and the grabbing head can be replaced.

[0019] To further optimize the technical solution, the shooting module includes:

[0020] A camera, wherein the camera is sealed at a location where it intersects with the first end of the telescopic sleeve;

[0021] A connecting cable, wherein the portion of the connecting cable connected to the camera is buried in the tube wall of the telescopic sleeve, and the portion of the connecting cable away from the camera connection is arranged inside the telescopic sleeve.

[0022] A foreign body salvage method, which is performed based on the foreign body salvage device, comprises the following steps:

[0023] S1. Extend the retractable sleeve into the tank;

[0024] S2. Use the camera module to photograph the foreign matter inside the tank and preliminarily determine the location and direction of the foreign matter;

[0025] S3. Based on the preliminary determination of the position and direction of the foreign body, the retractable sleeve is controlled to extend to the position of the foreign body, and the extension information of the retractable sleeve is obtained;

[0026] S4. The grab module is disposed in the retractable sleeve, and the grab module is passed through the first end of the retractable sleeve;

[0027] S5. Extend the retractable sleeve equipped with the grab module into the tank, and based on the elongation information of the retractable sleeve, extend the retractable sleeve to a specified length;

[0028] S6. Grab the foreign object through the grab module, and pull the grab module, the retractable sleeve and the foreign object out of the tank simultaneously.

[0029] Further optimizing the technical solution, in step S2, further includes: photographing the appearance of the foreign object, transmitting the appearance information of the foreign object to the display unit, and the display unit determines the type of the foreign object and the grasping position information;

[0030] Before step S4, the method further includes: based on the determined type of foreign matter and grasping position information, selecting a grasping module that matches the type of foreign matter and the grasping position information.

[0031] Further optimizing the technical solution, in step S6, when the display unit determines that the type of the foreign body is a tubular structure, the rod body and the grabbing head of the grabbing module are extended from one end of the tubular structure until the grabbing head is extended from the other end of the tubular structure, and then the grabbing module is pulled outward so that the grabbing head of the grabbing module hooks the wall of the tubular structure and pulls out the tubular structure;

[0032] When the display unit determines that the type of the foreign object is a structure with a pull ring, the grabbing head of the grabbing module is hooked on the pull ring, and the grabbing module is pulled outward to pull out the structure with the pull ring;

[0033] When the display unit determines that the type of the foreign object is a structure with a hole, after the grabbing head of the grabbing module is hooked into the hole, the grabbing module is pulled outward to pull out the structure with the pull ring.

[0034] To further optimize the technical solution, in step S6, when the grasping module does not correspond to the grasping part on the foreign object, the grasping module and the retractable sleeve are moved to make the grasping module correspond to the grasping part on the foreign object, so that the grasping module can grasp the foreign object.

[0035] The technical solution of the present invention has the following advantages:

[0036] 1. The foreign body salvage device provided by the present invention can adapt to more complex environments (such as strong acid, strong alkali, narrow salvage holes, etc.), has a simple structure and reliable functions, and can effectively salvage foreign bodies in tanks with small openings that are inconvenient for personnel to enter, while realizing visual monitoring inside the tank.

[0037] The retractable sleeve can adjust its length according to the specific conditions inside the tank and adapt to tanks of different depths and shapes, thus achieving adjustable depth for salvaging foreign objects and improving operational flexibility.

[0038] The grabbing module is detachably inserted into the retractable sleeve, and the grabbing module can be replaced at any time. Different grabbing tools can be replaced according to different types of foreign objects, thereby improving the scope of application.

[0039] The shooting module is arranged at the first end of the retractable sleeve, which can shoot the situation inside the tank in real time and provide high-definition images, so as to realize the visualization of the salvage process and facilitate rapid salvage.

[0040] The display unit is arranged at the second end of the telescopic sleeve, and can receive the shooting information of the shooting module to help the operator accurately determine the location of the foreign object. The display unit determines the location of the foreign object based on the shooting information, and determines the required telescopic length of the telescopic sleeve according to the location information, so as to ensure the accuracy of the operation.

[0041] The operator can operate outside the tank based on the information displayed on the display unit, avoiding the risk of direct contact with harmful media and improving the safety of operation. Through intelligent design, the number of manual interventions is reduced, reducing the operational risks. The cooperation between the camera module and the display unit allows the operator to quickly determine the location of foreign objects and the required operating steps, improving work efficiency. Accurate positioning and real-time feedback reduce operational errors and increase the success rate of operations.

[0042] The above-mentioned foreign body salvage device, through the combination of the retractable sleeve, the shooting module, the display unit and the grabbing module, not only improves the flexibility and accuracy of the operation, but also greatly improves the safety and efficiency of the operation. Moreover, the above-mentioned foreign body salvage device can be used not only to salvage foreign bodies, but also to inspect and maintain the inside of the tank, and has a wide range of applicability. The design of the retractable sleeve and the grabbing module enables the device to adapt to tanks of different sizes and shapes, thereby improving compatibility.

[0043] 2. The foreign body salvaging device provided by the present invention has a modular design and can be disassembled into three parts: an extendable casing, a display unit, and a grabbing module. It is easy to transport and store, and can also be assembled quickly.

[0044] 3. The foreign body salvage device provided by the present invention has a scale on the outer side wall of the telescopic sleeve, which is convenient for determining the depth of the foreign body and can help the operator to intuitively measure and confirm the telescopic length of the telescopic sleeve to ensure that the length of the sleeve extending into the tank body is accurate.

[0045] 4. The foreign body salvage device provided by the present invention, the retractable sleeve and the grabbing module are made of corrosion-resistant materials, which can effectively resist corrosive media such as acids, alkalis, and salts that may exist inside the tank, ensuring that the device can still work normally in harsh environments. Corrosion-resistant materials can significantly extend the service life of the device, reduce damage and replacement frequency caused by corrosion, and reduce maintenance costs.

[0046] 5. In the foreign body salvaging device provided by the present invention, the shapes of the rod body and the grabbing head are determined based on the shape of the foreign body, which can ensure that the grabbing head matches the foreign body and improve the success rate of grabbing.

[0047] 6. The foreign body salvaging device provided by the present invention has a grabbing head of the grabbing module that is detachably connected to the rod body, and the grabbing head can be replaced. By replacing different grabbing heads according to the type of foreign body, it can adapt to more types of foreign bodies and improve the flexibility and efficiency of operation.

[0048] 7. The present invention provides a foreign body salvage method, which realizes efficient and accurate salvage of foreign bodies inside the tank body by using a foreign body salvage device, combined with camera shooting, precise control of the retractable sleeve and efficient operation of the grabbing module, which not only improves the success rate and efficiency of salvage, but also reduces the risks and interferences during the operation, ensuring the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic diagram of the structure of the foreign body salvaging device provided by the present invention;

[0051] Figure 2 This is a schematic diagram of the structure of the foreign body salvaging device provided by the present invention when performing foreign body salvaging.

[0052] Reference numerals:

[0053] 1. retractable sleeve, 2. grabbing module, 21. rod body, 22. grabbing head, 3. display unit, 4. camera, 5. connecting cable. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected 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.

[0057] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0058] Example 1

[0059] like Figure 1 As shown, this embodiment discloses a foreign body salvaging device, including a telescopic sleeve 1, a shooting module, a display unit 3 and a grabbing module 2.

[0060] The structure of the telescopic sleeve 1 is a hollow cylinder, bamboo-shaped, similar to an old-fashioned TV antenna. The length of the telescopic sleeve and the depth of insertion into the tank can be adjusted according to the depth of the foreign object falling into the tank. The telescopic sleeve 1 has a first end and a second end. When performing a salvage operation, the first end of the telescopic sleeve 1 extends into the interior of the tank, and the second end of the telescopic sleeve 1 is located outside the tank. The telescopic sleeve 1 is composed of a plurality of nested pipe sections and can be extended and retracted electrically or manually. The main functions of the telescopic sleeve 1 are: first, to support the grabbing module 2 to ensure that the grabbing module 2 can reach the predetermined position; second, as a carrier of the shooting module, it can easily find foreign objects based on the shooting module at the front end of the sleeve.

[0061] The shooting module is arranged at the first end of the telescopic sleeve 1. The shooting module is used to shoot foreign objects inside the tank to obtain the location of the foreign objects, and can transmit the recorded images in real time, and then view the situation inside the tank in real time through the display unit 3. The shooting module is provided with an LED unit to provide auxiliary lighting for the device shooting. The LED unit can be an LED lamp. The insertion depth of the shooting module can change with the extension and retraction of the telescopic sleeve 1, and the detection angle can also be changed with the forward, backward, left and right movement of the telescopic sleeve 1.

[0062] The display unit 3 is arranged at the second end of the telescopic sleeve 1. The display unit is a display terminal similar to a tablet computer. It is connected to the connection plug of the shooting module through an external line, reads the shooting module information, and can automatically save the video information. In the real-time display process, it can take pictures, screenshots, zoom in and out the video screen in real time. The display unit 3 is used to receive the shooting information of the shooting module, determine the position of the foreign object based on the shooting information, and determine the required telescopic length of the telescopic sleeve 1 based on the position information of the foreign object, so that the operator can adjust the position of the telescopic sleeve 1 according to the picture situation.

[0063] The grabbing module 2 is detachably installed inside the telescopic sleeve 1 and extends from the first end of the telescopic sleeve 1. The grabbing module 2 is used to grab foreign objects when the telescopic sleeve 1 is extended to a specified length.

[0064] In the above-mentioned foreign body salvage device, the telescopic sleeve 1 can adjust the length according to the specific conditions inside the tank body, adapt to tank bodies of different depths and shapes, realize the adjustable depth of foreign body salvage, and improve the flexibility of operation. The grabbing module 2 is detachably arranged inside the telescopic sleeve 1, and the grabbing module 2 can be replaced at any time. Different grabbing tools can be replaced according to different types of foreign bodies, which improves the scope of application. The shooting module is arranged at the first end of the telescopic sleeve 1, which can shoot the situation inside the tank body in real time, provide high-definition images, realize the visualization of the salvage process, and facilitate rapid salvage. The display unit 3 is arranged at the second end of the telescopic sleeve 1, which can receive the shooting information of the shooting module to help the operator accurately determine the location of the foreign body. The display unit 3 determines the location of the foreign body based on the shooting information, and determines the required telescopic length of the telescopic sleeve 1 according to the position information to ensure the accuracy of the operation.

[0065] The operator can operate outside the tank based on the information displayed on the display unit 3, avoiding the risk of direct contact with harmful media and improving the safety of operation. Through intelligent design, the number of manual interventions is reduced, reducing the operational risks. The cooperation between the shooting module and the display unit 3 enables the operator to quickly determine the location of the foreign matter and the required operating steps, improving work efficiency. Accurate positioning and real-time feedback reduce operational errors and improve the success rate of operations.

[0066] The above-mentioned foreign body salvage device, through the combination of the telescopic sleeve, the shooting module, the display unit and the grabbing module, not only improves the flexibility and accuracy of the operation, but also greatly improves the safety and efficiency of the operation. Moreover, the above-mentioned foreign body salvage device can be used not only to salvage foreign bodies, but also to inspect and maintain the inside of the tank, and has a wide range of applicability. The design of the telescopic sleeve 1 and the grabbing module 2 enables the device to adapt to tanks of different sizes and shapes, thereby improving compatibility.

[0067] The above-mentioned foreign body salvaging device has a modular design and can be disassembled into three parts: an extendable casing, a display unit, and a grabbing module. It is easy to transport and store, and can also be assembled quickly.

[0068] In some embodiments, a scale is provided on the outer wall of the telescopic sleeve 1. More specifically, each bamboo sleeve is provided with a length scale, which is convenient for determining the depth of the foreign body and can help the operator to intuitively measure and confirm the telescopic length of the telescopic sleeve 1, ensuring that the length of the sleeve extending into the tank is accurate. The existence of the scale allows the operator to quickly calibrate the telescopic length of the telescopic sleeve 1 without the need for other measuring tools, thereby simplifying the operation process.

[0069] In some embodiments, a displacement sensor is installed inside the telescopic sleeve 1, which can accurately measure the elongation length. The output end of the displacement sensor is connected to the input end of the display unit 3. The displacement sensor can transmit the elongation information of the telescopic sleeve 1 to the display unit 3, and the elongation information is displayed through the display unit 3.

[0070] In some embodiments, the telescopic sleeve 1 and the grabbing module 2 are both made of corrosion-resistant materials, which can effectively resist corrosive media such as acids, alkalis, and salts that may exist inside the tank body, ensuring that the device can still work normally in harsh environments. Corrosion-resistant materials can significantly extend the service life of the device, reduce damage and replacement frequency caused by corrosion, and reduce maintenance costs. The telescopic sleeve 1 is made of stainless steel or other materials resistant to acid and alkali corrosion. The material of the grabbing module 2 is stainless steel or other materials resistant to acid and alkali corrosion. Preferably, the material of the grabbing module 2 can be selected from stainless steel wire with moderate hardness, which has a certain hardness to facilitate insertion into the tank body, and can be appropriately bent to be inserted into the holes of foreign objects.

[0071] In some embodiments, the grabbing module 2 includes a rod body 21 and a grabbing head 22, both of which can pass through the telescopic sleeve 1, and the grabbing head 22 is arranged at one end of the rod body extending from the telescopic sleeve 1, and the grabbing head 22 is used to hook foreign objects. In order to ensure that different types of grabbing modules can be inserted into the telescopic sleeve 1 and to ensure that different types of grabbing modules can be used smoothly, the diameter of the rod body 21 of the grabbing module is relatively small. And because the diameter of the rod body 21 is relatively small, the operator can more accurately control the position and movement of the grabbing head 22 to ensure that foreign objects are accurately hooked. In this embodiment, by replacing different types of grabbing modules, it is possible to adapt to foreign objects of different types and sizes, thereby improving the scope of application of the device.

[0072] In some embodiments, the grabbing head 22 includes at least one hook, and multiple hooks can be provided to grab foreign objects in different directions. When there are more than two hooks, the angle between the two hooks does not exceed 60°. The length of the grabbing head 22 is generally not more than 2 cm, and can be adjusted according to the shape of the foreign object.

[0073] The shapes of the rod body 21 and the grab head 22 are determined based on the shape of the foreign object. Customizing the shape of the grab head 22 according to the shape of the foreign object can ensure that the grab head 22 matches the foreign object and improve the success rate of grabbing. The grab head 22 of a specific shape can better fit the contour of the foreign object and reduce slippage caused by shape mismatch.

[0074] In addition, the grabbing module 2 has a variety of different structural forms, such as curved hook filaments, top clips and other different shapes.

[0075] In some embodiments, the gripping head 22 of the gripping module 2 is detachably connected to the rod body 21, and the gripping head 22 can be replaced. Different gripping heads, such as flat hooks, curved hooks, and clamps, can be replaced according to the type of foreign matter. The gripping module 2 can be equipped with multiple operation modes, such as rotation, telescopic, bending, etc., to adapt to foreign matters of different shapes and positions. The multifunctional gripping module can adapt to more types of foreign matters and improve the flexibility and efficiency of operation.

[0076] In some embodiments, the shooting module includes a camera 4 and a connecting cable 5. The sealing arrangement at the intersection of the edge of the camera 4 and the first end of the telescopic sleeve 1 can effectively prevent the medium in the tank from entering the camera 4, thereby preventing the medium in the tank from corroding the camera 4 and the connecting cable 5.

[0077] The portion of the connection cable 5 connected to the camera 4 is buried inside the wall of the telescopic sleeve 1, which can avoid the problem of short circuit caused by the contact of the portion with the medium in the tank, and can reduce the breakage or loosening of the connection cable at the first end of the camera 4 and the telescopic sleeve 1 caused by external pulling. The portion of the connection cable 5 away from the connection with the camera 4 is arranged inside the telescopic sleeve 1, that is, except for the first section of the connection cable of the camera buried in the wall of the telescopic sleeve, the rest of the cable is placed in the telescopic sleeve.

[0078] In some embodiments, the display unit 3 integrates an image recognition algorithm to automatically identify the type and characteristics of foreign matter. Based on the recognition results, the system automatically selects the most suitable gripping module 2 and operation mode, and displays them, so that the operator can intuitively obtain this information and select the gripping module 2 and the operation mode based on this information. The operation mode includes rotation, extension, bending, etc. of the gripping module 2. In this embodiment, the system automatically selects the optimal gripping method, which can reduce misoperation caused by human judgment errors.

[0079] Among them, the display unit 3 integrates an image recognition algorithm, and the specific implementation method of automatically identifying the type and characteristics of foreign objects is as follows: 1) Collecting data transmitted by the camera 4. 2) De-noising the collected image to reduce noise interference and improve image quality. Convert the color image to a grayscale image to simplify subsequent processing steps. Normalize the image to make it more consistent under different lighting conditions. 3) Feature extraction: Use edge detection algorithms (such as Canny operators) to extract edge information in the image. Use shape analysis algorithms (such as contour extraction and Hu moments) to extract the shape characteristics of foreign objects. Use texture analysis algorithms (such as LBP and GLCM) to extract the texture characteristics of foreign objects. Extract the color characteristics of foreign objects for auxiliary identification. 4) Model training: Collect different types of foreign object images and construct a training data set. Annotate the images in the training data set to mark the type and characteristics of the foreign objects. Select a suitable deep learning model, such as a convolutional neural network (CNN), a support vector machine (SVM), etc. Use the annotated data set to train the model, adjust the model parameters, and improve the recognition accuracy. 5) Model deployment: Deploy the trained model to the display unit 3, and use the inference engine for real-time image recognition. The model is optimized to ensure its efficient operation on the embedded device. 6) Result output: The display unit 3 outputs the recognition result, including the type and characteristics of the foreign body. The recognition result is displayed on the display screen for easy viewing and confirmation by the operator.

[0080] Example 2

[0081] like Figure 1 and Figure 2 As shown, this embodiment discloses a foreign body salvaging method, which is based on a foreign body salvaging device and includes the following steps:

[0082] S1. Extend the telescopic sleeve 1 into the interior of the tank body. The tank body may also be a box body.

[0083] S2. Use the camera module to take a picture of the foreign object inside the tank and preliminarily determine the location and direction of the foreign object. In this step, the high-resolution shooting of the camera 4 can accurately identify the location and direction of the foreign object. Through video monitoring, the operator can fully understand the internal situation of the tank and reduce the blind spot of operation.

[0084] S3. Based on the preliminary determination of the position and direction of the foreign object, the telescopic sleeve 1 is controlled to extend to the position of the foreign object, the extension information of the telescopic sleeve 1 is obtained, and the depth of the foreign object is determined. In this step, the telescopic sleeve 1 is used as a measurement structure for the depth of the foreign object in the tank, and the position of the foreign object is determined by the obtained extension information of the telescopic sleeve 1. The extension information of the telescopic sleeve 1 can be obtained by manually reading the scale information on the telescopic sleeve.

[0085] S4. Based on the elongation information of the telescopic sleeve 1, a grabbing module 2 of appropriate length is selected, the grabbing module 2 is inserted into the telescopic sleeve 1, and the grabbing module 2 is passed out from the first end of the telescopic sleeve 1, and the grabbing module 2 is installed into the telescopic sleeve 1 to prepare for the grabbing operation.

[0086] S5. Extend the telescopic sleeve 1 with the grab module 2 installed into the tank, and based on the extension information of the telescopic sleeve 1 in step S3, extend the telescopic sleeve 1 to a specified length to ensure that the grab module 2 reaches the vicinity of the foreign object. According to the real-time display of the foreign object position on the display unit by the camera at the end of the telescopic sleeve 1 and the depth information of the foreign object determined by the telescopic sleeve 1, the sleeve and the grab module are delivered to the foreign object that needs to be salvaged.

[0087] S6. After reaching the location of the foreign object to be salvaged, the foreign object is grabbed by the grabbing module 2. More specifically, the grabbing module hooks a certain part of the foreign object; then the grabbing module 2, the telescopic sleeve 1 and the foreign object are simultaneously pulled out of the tank.

[0088] The above-mentioned foreign body salvage method, by using a foreign body salvage device, combined with camera shooting, precise control of the retractable sleeve and efficient operation of the grabbing module, realizes the efficient and accurate salvage of foreign bodies inside the tank body, which not only improves the success rate and efficiency of salvage, but also reduces the risks and interferences during the operation, ensuring the safety and reliability of the operation.

[0089] In some embodiments, step S2 further includes: photographing the appearance of the foreign object, transmitting the appearance information of the foreign object to the display unit 3, and determining the type of the foreign object and the grasping part information by the display unit 3. The grasping part information includes but is not limited to holes, pull rings, handles, etc.

[0090] According to the foreign body type and grasping part information determined by the display unit 3, the most suitable grasping module 2 is selected. Before step S4, it also includes: based on the determined foreign body type and grasping part information, selecting a grasping module 2 that matches the foreign body type and grasping part information can greatly improve the grasping success rate, reduce the number of trial and error, and improve the operation efficiency.

[0091] In some embodiments, in step S6, when the display unit 3 determines that the type of foreign body is a tubular structure, the rod body 21 and the grabbing head 22 of the grabbing module 2 are inserted from one end of the tubular structure until the grabbing head 22 is extended from the other end of the tubular structure, and then the grabbing module 2 is pulled outward so that the grabbing head 22 of the grabbing module 2 hooks the wall of the tubular structure and pulls out the tubular structure. In this step, the grabbing head 22 is inserted from one end of the tubular structure and extended from the other end, which can ensure that the grabbing head 22 firmly hooks the wall of the tubular structure to avoid slipping. This grabbing method causes less damage to the tubular structure and protects the foreign body being grabbed.

[0092] If the position of the tubular structure is not convenient for inserting into the grabbing module, the tubular structure can be moved by the telescopic sleeve 1 and the grabbing module to make the tubular structure in a position and angle convenient for insertion, and then it can be hooked.

[0093] When the display unit 3 determines that the type of foreign object is a structure with a pull ring, the grabbing head 22 of the grabbing module 2 is hooked on the pull ring, and the grabbing module 2 is pulled outward to pull out the structure with the pull ring. In this step, the grabbing module 2 can directly hook the pull ring to quickly and effectively grab the foreign object, thereby improving the operation efficiency.

[0094] When the display unit 3 determines that the type of foreign object is a structure with a hole, the gripping head 22 of the gripping module 2 is hooked into the hole, and the gripping module 2 is pulled outward to pull out the structure with the pull ring. In this step, the gripping module 2 grips the hole of the foreign object, which can ensure that the gripping module 2 is firmly fixed on the foreign object to prevent slipping.

[0095] In this step, selecting the appropriate grasping method according to the type of foreign object can reduce failure or damage caused by misoperation. Through different grasping methods, damage to foreign objects can be reduced and the grasped objects can be protected.

[0096] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A foreign body salvaging device, characterized in that: include: A telescopic sleeve (1), the interior of the telescopic sleeve (1) is hollow, the telescopic sleeve (1) has a first end and a second end, and when performing a salvage operation, the first end of the telescopic sleeve (1) extends into the interior of the tank body, and the second end of the telescopic sleeve (1) is located outside the tank body; a photographing module, the photographing module being arranged at the first end of the telescopic sleeve (1), the photographing module being used to photograph the foreign matter inside the tank body to obtain the location of the foreign matter, the photographing module being provided with an LED unit to provide auxiliary lighting for the device to photograph; a display unit (3), the display unit (3) being arranged at the second end of the telescopic sleeve (1), the display unit (3) being used to receive shooting information from the shooting module, determine the position of the foreign object based on the shooting information, and determine the required telescopic length of the telescopic sleeve (1) based on the position information of the foreign object; A gripping module (2), wherein the gripping module (2) is detachably inserted into the interior of the telescopic sleeve (1) and extends out from the first end of the telescopic sleeve (1), and the gripping module (2) is used to grip foreign objects.

2. The foreign body salvaging device according to claim 1, characterized in that: The outer side wall of the telescopic sleeve (1) is provided with scales.

3. The foreign body salvaging device according to claim 1, characterized in that: The telescopic sleeve (1) and the grabbing module (2) are both made of corrosion-resistant materials.

4. The foreign body salvaging device according to claim 1, characterized in that: The grabbing module (2) comprises a rod body (21) and a grabbing head (22), wherein both the rod body (21) and the grabbing head (22) can pass through the telescopic sleeve (1), and the grabbing head (22) is arranged at one end of the rod body extending from the telescopic sleeve (1), and the grabbing head (22) is used to hook foreign objects.

5. The foreign body salvaging device according to claim 4, characterized in that: The grabbing head (22) comprises at least one hook, and when there are two or more hooks, the angle between the two hooks does not exceed 60°; and / or, the length of the grabbing head (22) does not exceed 2 cm; and / or, the shapes of the rod body (21) and the grabbing head (22) are determined based on the shape of the foreign matter; And / or, the grabbing head (22) and the rod body (21) are detachably connected, and the grabbing head (22) can be replaced.

6. The foreign body salvaging device according to any one of claims 1 to 5, characterized in that: The shooting module comprises: A camera (4), wherein the camera (4) is sealed at a location where it intersects with the first end of the telescopic sleeve (1); A connecting cable (5), wherein the portion of the connecting cable (5) connected to the camera (4) is buried inside the wall of the telescopic sleeve (1), and the portion of the connecting cable (5) away from the connection with the camera (4) is arranged inside the telescopic sleeve (1).

7. A method for salvaging foreign matter, characterized in that: The method is carried out based on the foreign body salvaging device according to any one of claims 1 to 6, and comprises the following steps: S1. Extend the retractable sleeve (1) into the tank; S2. Use the camera module to photograph the foreign matter inside the tank and preliminarily determine the location and direction of the foreign matter; S3. Based on the preliminary determination of the position and direction of the foreign body, the telescopic sleeve (1) is controlled to extend to the position of the foreign body, and the extension information of the telescopic sleeve (1) is obtained; S4. The grabbing module (2) is inserted into the telescopic sleeve (1), and the grabbing module (2) is inserted out from the first end of the telescopic sleeve (1); S5. Extend the telescopic sleeve (1) equipped with the grab module (2) into the interior of the tank, and based on the elongation information of the telescopic sleeve (1), extend the telescopic sleeve (1) to a specified length; S6. The foreign object is grasped by the grasping module (2), and the grasping module (2), the telescopic sleeve (1) and the foreign object are simultaneously pulled out of the tank body.

8. The foreign body salvaging method according to claim 7, characterized in that: In step S2, it also includes: photographing the appearance of the foreign object, transmitting the appearance information of the foreign object to the display unit (3), and the display unit (3) determines the type of the foreign object and the grasping position information; Before step S4, the method further includes: based on the determined type of foreign matter and grasping position information, selecting a grasping module (2) that matches the type of foreign matter and the grasping position information.

9. The foreign body salvaging method according to claim 8, characterized in that: In step S6, when the display unit (3) determines that the type of foreign body is a tubular structure, the rod body (21) and the grabbing head (22) of the grabbing module (2) are inserted from one end of the tubular structure until the grabbing head (22) is extended from the other end of the tubular structure, and then the grabbing module (2) is pulled outward so that the grabbing head (22) of the grabbing module (2) hooks the wall of the tubular structure and pulls out the tubular structure; When the display unit (3) determines that the type of foreign matter is a structure with a pull ring, the grabbing head (22) of the grabbing module (2) is hooked onto the pull ring, and the grabbing module (2) is pulled outward to pull out the structure with the pull ring; When the display unit (3) determines that the type of foreign matter is a structure with a hole, the grabbing head (22) of the grabbing module (2) is hooked into the hole, and the grabbing module (2) is pulled outward to pull out the structure with the pull ring.

10. The foreign body salvaging method according to any one of claims 7 to 9, characterized in that: In step S6, when the grasping module (2) does not correspond to the grasping part on the foreign object, the grasping module (2) and the telescopic sleeve (1) are moved so that the grasping module (2) corresponds to the grasping part on the foreign object, so that the grasping module (2) can grasp the foreign object.

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