Prestressed pipeline cleaning method and device

Abstract

The invention discloses a prestressed pipeline cleaning method and device.The method comprises the steps that S100, the device is placed into a to-be-cleaned pipeline, and a base is adjusted to stretch automatically till supporting wheels and driving wheels are attached to the inner wall of the pipeline; s200, the telescopic rod extends till the cleaning brush is attached to the pipeline; s300, a telescopic rod is driven to rotate, and a dust collection unit is started to provide negative pressure for a dust collection bin; s400, the adjusting base is rotated, so that an angle is formed between the supporting wheel and the driving wheel and the advancing direction of the device, and the driving unit drives the driving wheel to rotate to drive the rotating wheel to advance; s500, the telescopic rod continuously rotates, so that the cleaning brush continuously rubs with the inner wall of the pipeline, sundries on the cleaning brush are swept, and the swept sundries are sucked into a dust collection bin by a dust collection head; and S600, when all impurities in the pipeline are cleaned, or the electric quantity of the device is about to be exhausted, the telescopic rod is shrunk, the dust collection unit is closed, and the driving wheel rotates reversely to exit from the pipeline. The cleaning efficiency is improved, the adaptability to different pipe diameters is guaranteed, and the cleaning effect is optimized.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline cleaning, and more specifically, relates to a prestressed pipeline cleaning method and device. Background Art

[0002] At present, the equipment for cleaning prestressed pipes mainly includes micro-cleaning equipment for small apertures that uses manually driven long-line pipes for connection, as well as handheld water pressure flushing equipment for large aperture pipes and automatic cleaning equipment for large aperture pipes. The cleaning distance of micro-cleaning equipment is limited and it is only suitable for small apertures. The handheld water pressure flushing has low efficiency and difficult to collect wastewater. Analysis of current cleaning equipment shows that the equipment is not suitable for different apertures. There are few equipment for cleaning long-distance pipes or they are semi-automatic mechanical equipment; the dust and impurities cleaning and collection device is simple and the collection efficiency is not high.

[0003] The Chinese patent with publication number CN113319074A discloses a pipeline cleaning machine, wherein a hand strap is fixedly arranged on the top of the main body shell, a round groove is opened at the bottom of the main body shell, a handle is fixedly arranged at one end of the main body shell, a stepper motor is built-in at the other end of the main body shell, a gear is arranged on the stepper motor through the motor shaft, a vibration motor is built-in the main body shell, a vibration rod is arranged on the vibration motor, one end of the vibration rod is connected to the vibration motor through the motor shaft, the other end of the vibration rod passes through the middle of the other end of the main body shell and extends to the outside of the main body shell, a guide tube is arranged on the top of the main body shell, one end of the guide tube is vertically arranged on the main body, and then bends 90° to one end of the main body shell and extends parallelly. The garbage cleaned up can be transported by the spiral bristles to avoid the garbage pushing the cleaning device into the deep of the pipeline when cleaning.

[0004] However, the Chinese patent with publication number CN113319074A cannot adapt to the cleaning of pipes with different diameters. Therefore, a prestressed pipe cleaning machine and a method of use are needed to solve the problem that different equipment needs to be replaced for cleaning pipes with different diameters, and improve the applicability of the equipment for cleaning pipes with different diameters. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a prestressed pipe cleaning method and device, which ensures uniform contact and appropriate pressure on the inner walls of pipes of various diameters by automatically adjusting the base and the telescopic rod. When started, the support wheel and the drive wheel will automatically adjust to adapt to the specific size of the pipe, which not only improves the cleaning efficiency but also ensures the adaptability to different pipe diameters, and more effectively removes debris attached to the pipe wall. The working intensity of the dust collection unit is intelligently adjusted according to the monitored resistance size, thereby optimizing the dust collection effect and ensuring that the cleaning task can be successfully completed even in dirty or deposited conditions.

[0006] To achieve the above objectives, according to a first aspect of an embodiment of the present invention, a prestressed pipe cleaning method is provided, which specifically comprises the following steps:

[0007] S100, placing the pipeline cleaning device into the pipe opening of the pipeline to be cleaned, starting the device, and all the adjustment bases automatically extend at the same time until the support wheels and driving wheels thereon are completely in contact with the inner wall of the pipeline;

[0008] S200, all telescopic rods are extended at the same time until the cleaning brushes thereon are completely in contact with the inside of the pipe and a certain pressure is exerted;

[0009] S300, the driving unit drives the transmission shaft to drive the telescopic rod to rotate, and at the same time starts the dust collection unit to provide negative pressure in the dust collection bin until the telescopic rod reaches a designed rotation speed;

[0010] S400, rotating the adjustment base so that the support wheel and the driving wheel form an angle with the forward direction of the device, so that the driving unit drives the driving wheel to rotate, and drives the entire device to rotate and move forward in the pipeline;

[0011] S500, when the device moves forward in the pipe, the telescopic rod rotates continuously, so that the cleaning brush at the front end of the device continuously rubs against the inner wall of the pipe to clean the debris thereon, and the cleaned debris is sucked into the dust collection bin along the suction pipe by the suction head;

[0012] S600, when all debris inside the pipe is cleaned up, or when the power of the device is about to run out, the telescopic rod is stopped from being driven and retracted, the dust collection unit is closed, the driving wheel is reversed to exit the pipe, and the debris in the dust collection bin is cleaned up.

[0013] Furthermore, in step S400, the process of the device rotating and advancing in the pipeline further includes the following steps:

[0014] S410, when the pipeline is horizontal, the angle between the rotation direction of the support wheel and the driving wheel and the moving direction of the device is small;

[0015] S420, when the pipeline begins to tilt, adjusting the rotation of the base to increase the angle between the rotation direction of the support wheel and the driving wheel and the moving direction of the device;

[0016] S430. When encountering a bend, the speed of the driving wheel close to the inside of the bend is reduced, so that the driving wheel on the outside can move faster, so that the device can pass through the bend smoothly.

[0017] Furthermore, in step S420, it is necessary to calculate the normal force F between the driving wheel and the inner wall of the pipe. n , specifically:

[0018] F n =Wcos(θ),

[0019] Where W is the deadweight of the device,

[0020] θ is the inclination angle of the pipeline;

[0021] Then through the normal force F n The friction force F between the driving wheel and the inner wall of the pipe is calculated f :

[0022] F f =μF n ,

[0023] Where μ is the friction coefficient.

[0024] Furthermore, the output power P of the driving wheel is calculated as:

[0025] P=F f υ,

[0026] Where, υ is the moving speed of the device;

[0027] The angle α between the rotation direction of the support wheel and the driving wheel and the moving direction of the device is calculated as:

[0028]

[0029] Furthermore, the linear velocity of the i-th driving wheel at the bend is i for:

[0030]

[0031] Among them, r i is the distance from the first driving wheel to the center of the curve,

[0032] R is the average radius of the curve,

[0033] R min is the minimum radius of the inner side of the curve;

[0034] Get the angular velocity ω of the i-th driving wheel i for:

[0035]

[0036] Among them, r w is the radius of the driving wheel;

[0037] Then determine the speed n of the i-th driving wheel i for:

[0038]

[0039] Furthermore, the angle α between the rotation direction of the i-th driving wheel and the forward direction of the device isi for:

[0040]

[0041] Among them, θ i is the azimuth angle of the i-th driving wheel relative to the center of the curve,

[0042] ω rot is the angular velocity of the device rotating around the pipeline axis.

[0043] Furthermore, step S500 further includes the following steps:

[0044] S510, continuously monitoring the resistance of the cleaning brush, and judging the amount of debris on the pipe wall by the resistance, and then adjusting the suction force of the dust collection unit so that the debris is smoothly sucked into the dust collection head;

[0045] S520, continuously monitoring the pressure in the dust collection pipe conversion plate and the dust collection bin, and determining whether the dust collection pipe is blocked by comparing the difference between the negative pressure of the two and the normal situation;

[0046] S530. If the blockage is not serious, increase the suction force of the dust suction unit and continue the cleaning operation. If the blockage is serious, stop driving the telescopic rod and retract it, turn off the dust suction unit, reverse the drive wheel to exit the pipeline, and inspect the device.

[0047] Furthermore, in step S510, the suction force P of the dust collection unit υ (t) is:

[0048]

[0049] Among them, P υ0 is the initial suction force of the dust collection unit,

[0050] F r is the resistance of the cleaning brush.

[0051] k1 is the attenuation coefficient of the system,

[0052] k2 is the proportionality coefficient.

[0053] Further, in step S520, the pressure difference ΔP between the i-th sensor and the i+1-th sensor between the dust collector head and the dust collection bin is i，i+1 for:

[0054] ΔP i，i+1 =P i -P i+1 ,

[0055] Among them, P i is the pressure at the i-th sensor,

[0056] P i+1 is the pressure at the i+1th sensor;

[0057] In step S530, the degree of congestion is evaluated by a scoring function S, which is:

[0058]

[0059] Among them, w i is the weight of the ith pressure difference,

[0060] ΔP base，i is the reference pressure difference at the i-th position;

[0061] If 0.5<S≤2, the degree of blockage is determined to be slight blockage; if S>2, the degree of blockage is determined to be severe blockage.

[0062] According to a second aspect of an embodiment of the present invention, there is provided a prestressed pipe cleaning device, comprising a cleaning component, a walking component and a dust collecting component;

[0063] The cleaning assembly includes a driving unit, a transmission shaft arranged at the front end of the driving unit, a telescopic rod arranged at the front end of the transmission shaft, and a cleaning brush arranged at the front end of the telescopic rod;

[0064] The walking assembly includes an adjustment base arranged along the circumference of the driving unit and a driving wheel arranged at the front end of the adjustment base;

[0065] The dust suction assembly comprises a dust suction pipe arranged on the telescopic rod, a dust suction head arranged at the front end of the dust suction pipe, and a dust suction pipe conversion plate arranged at the front end of the driving unit.

[0066] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0067] 1. The pipeline cleaning method of the present invention ensures uniform contact and appropriate pressure on the inner walls of pipelines of various diameters by automatically adjusting the base and the telescopic rod. When started, the support wheel and the driving wheel will automatically adjust to adapt to the specific size of the pipeline, which not only improves the cleaning efficiency, but also ensures adaptability to different pipe diameters, and more effectively removes debris attached to the pipe wall. The working intensity of the dust collection unit can be intelligently adjusted according to the monitored resistance size, thereby optimizing the dust collection effect and ensuring that the cleaning task can be successfully completed even in dirty or deposited conditions.

[0068] 2. The pipeline cleaning method of the present invention can intelligently control the speed difference between the inner and outer driving wheels when encountering a curve, so that the entire device can transition smoothly. For variable terrains such as horizontal, inclined, and vertical, by dynamically changing the angle of the driving wheel relative to the moving direction, the purpose of smooth progress while maintaining good grip is achieved, thereby expanding its scope of application scenarios.

[0069] 3. The pipeline cleaning method of the present invention continuously monitors multiple key parameters to detect potential problems in a timely manner. Once the vacuum pipe is detected to be blocked, the system immediately takes corresponding measures to solve the problem and prevent further damage. The instant response feature extends the service life of the equipment and also reduces the risk of loss caused by improper operation.

[0070] 4. The pipeline cleaning method of the present invention automatically collects debris into the dust collection bin for temporary storage during cleaning, thereby solving the problem of incomplete removal and collection of the dust and impurities swept down, solving the problem of insufficient automatic mechanization for cleaning pipelines of different diameters, and improving the efficiency of pipeline cleaning and dust and impurity collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 A schematic flow chart of a prestressed pipe cleaning method according to an embodiment of the present invention;

[0072] Figure 2 This is a specific flow chart of step S400 in a prestressed pipe cleaning method according to an embodiment of the present invention;

[0073] Figure 3 This is a specific flow chart of step S500 in a prestressed pipe cleaning method according to an embodiment of the present invention;

[0074] Figure 4 The present invention is a schematic diagram of the overall structure of a prestressed pipe cleaning device according to an embodiment of the present invention.

[0075] In all the drawings, the same reference numerals represent the same technical features, specifically: 1-cleaning brush, 2-telescopic rod, 3-drive shaft, 4-dust suction pipe, 5-dust suction head, 6-dust suction pipe conversion plate, 7-drive unit, 8-adjustment base, 9-dust collection bin, 10-dust suction unit, 11-support wheel, 12-corrugated connecting hose, 13-drive wheel. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0077] Example 1

[0078] like Figure 1 As shown, an embodiment of the present invention provides a prestressed pipe cleaning method, which specifically includes the following steps:

[0079] S100, placing the pipeline cleaning device into the pipe opening of the pipeline to be cleaned, starting the device, and all the adjustment bases 8 automatically extend at the same time until the support wheels 11 and the driving wheels 13 thereon are completely in contact with the inner wall of the pipeline;

[0080] S200, all telescopic rods 2 are extended at the same time until the cleaning brushes 1 thereon are completely in contact with the inside of the pipe and a certain pressure exists;

[0081] S300, the driving unit 7 drives the transmission shaft 3 to drive the telescopic rod 2 to rotate, and at the same time starts the dust collection unit 10 to provide negative pressure in the dust collection bin 9 until the telescopic rod 2 reaches the designed rotation speed;

[0082] S400, rotating the adjustment base 8, so that the support wheel 11 and the driving wheel 13 form an angle with the forward direction of the device, so that the driving unit 7 drives the driving wheel 13 to rotate, and drives the entire device to rotate and move forward in the pipeline;

[0083] S500, when the device moves forward in the pipe, the telescopic rod 2 rotates continuously, so that the cleaning brush 1 at the front end of the telescopic rod 2 continuously rubs against the inner wall of the pipe to clean the debris thereon, and the cleaned debris is sucked into the dust collection bin 9 by the dust suction head 5 along the dust suction pipe 4;

[0084] S600, when all the debris inside the pipeline is cleaned up, or when the power of the device is about to run out, the telescopic rod 2 is stopped from being driven and retracted, the dust collection unit 10 is closed, the driving wheel 13 is reversed to exit the pipeline, and the debris in the dust collection bin 9 is cleaned up.

[0085] In step S100, after starting the device, the judgment standard for making the support wheel 11 and the driving wheel 13 completely fit the inner wall of the pipe is: monitoring the external pressure exerted on the support wheel 11 and the driving wheel 13, when the pressure on the bottom side begins to increase, and all the support wheels 11 and the driving wheels 13 monitor the pressure, it means that the support wheels 11 and the driving wheels 13 are already in contact with the inner wall of the pipe. In order to enhance the friction, the pressure is increased again.

[0086] like Figure 2 As shown, in step S400, the process of the device rotating and advancing in the pipeline further includes the following steps:

[0087] S410, when the pipeline is horizontal, the angle between the rotation direction of the support wheel 11 and the driving wheel 13 and the moving direction of the device is small;

[0088] S420, when the pipeline begins to tilt, the base 8 is adjusted to rotate so that the angle between the rotation direction of the support wheel 11 and the driving wheel 13 and the moving direction of the device increases;

[0089] S430, when encountering a curved pipe, the rotation speed of the driving wheel 13 close to the inner side of the curve is reduced, so that the driving wheel 13 on the outer side is faster, so that the device can pass the curve smoothly.

[0090] In step S420, it is necessary to calculate the normal force F between the driving wheel 13 and the inner wall of the pipe. n , specifically:

[0091] F n =Wcos(θ),

[0092] Where W is the deadweight of the device,

[0093] θ is the inclination angle of the pipeline;

[0094] Then through the normal force F n The friction force F between the driving wheel 13 and the inner wall of the pipe is calculated f :

[0095] F f =μF n ,

[0096] Where μ is the friction coefficient.

[0097] The output power P of the driving wheel 13 is calculated as:

[0098] P=F f υ,

[0099] Where, υ is the moving speed of the device;

[0100] The angle α between the rotation direction of the support wheel 11 and the driving wheel 13 and the moving direction of the device is calculated to be:

[0101]

[0102] In step S430, at the curve, it is necessary to ensure that the rotation speed of the driving wheel 13 on the inner side of the curve is less than the rotation speed of the driving wheel 13 on the outer side of the curve, and during the movement, the device as a whole rotates forward, resulting in the positions of the inner and outer driving wheels 13 being interchanged. Therefore, it is necessary to determine the rotation speed of the driving wheel 13 at different distances from the inner side of the curve according to the radius of the curve and the moving speed of the device.

[0103] The linear velocity v of the i-th driving wheel 13 at the bend i for:

[0104]

[0105] Among them, r i is the distance from the ith driving wheel to the center of the curve,

[0106] R is the average radius of the curve,

[0107] R min is the minimum radius of the inside of the curve.

[0108] The angular velocity ω of the i-th driving wheel 13 is obtained i for:

[0109]

[0110] Among them, r w is the radius of the driving wheel 13.

[0111] Then determine the speed n of the i-th driving wheel 13 i for:

[0112]

[0113] At this time, the angle α between the rotation direction of the i-th driving wheel 13 and the forward direction of the device i for:

[0114]

[0115] Among them, θ i is the azimuth angle of the i-th driving wheel 13 relative to the center of the curve,

[0116] ω rot is the angular velocity of the device rotating around the pipeline axis.

[0117] like Figure 3 As shown, step S500 also includes the following steps:

[0118] S510, continuously monitoring the resistance of the cleaning brush 1, and judging the amount of debris on the pipe wall by the resistance, and then adjusting the suction force of the dust collection unit 10 so that the debris can be smoothly sucked into the dust collection head 5;

[0119] S520, continuously monitor the pressure between the dust collecting head 5 and the dust collecting bin 9, and determine whether the dust collecting pipe 4 is blocked by comparing the difference between the negative pressure and the normal situation;

[0120] S530. If the blockage is not serious, increase the suction force of the dust suction unit 10 and continue the cleaning operation. If the blockage is serious, stop driving the telescopic rod 2 and retract it, close the dust suction unit 10, reverse the drive wheel 13 to exit the pipeline, and inspect the device.

[0121] In step S510, the suction force P of the dust collection unit 10 is υ (t) is:

[0122]

[0123] Among them, P υ0 is the initial suction force of the dust collection unit,

[0124] F r is the resistance of the cleaning brush.

[0125] k1 is the attenuation coefficient of the system,

[0126] k2 is the proportionality coefficient.

[0127] In step S520, the pressure difference ΔP between the i-th sensor and the i+1-th sensor between the dust collecting head 5 and the dust collecting bin 9 is i，i+1 for:

[0128] ΔP i，i+1 =P i -P i+1 ,

[0129] Among them, P i is the pressure at the i-th sensor,

[0130] P i+1 is the pressure at the i+1th sensor.

[0131] In step S530, the degree of congestion is evaluated by a scoring function S, which is:

[0132]

[0133] Among them, w i is the weight of the ith pressure difference,

[0134] ΔP base，i is the reference pressure difference at the i-th position;

[0135] If 0.5<S≤2, the degree of blockage is determined to be slight blockage; if S>2, the degree of blockage is determined to be severe blockage.

[0136] Example 2

[0137] like Figure 4As shown, an embodiment of the present invention provides a prestressed corrugated pipe cleaning device, including: a cleaning component, a walking component and a dust collection component. The cleaning component includes a driving unit 7, a transmission shaft 3 arranged at the front end of the driving unit 7, a telescopic rod 2 arranged at the front end of the transmission shaft 3, and a cleaning brush 1 arranged at the front end of the telescopic rod 2. The driving unit 7 has a built-in power supply and a motor, and the output shaft of the motor is connected to the telescopic rod 2 through the transmission shaft 3. The telescopic rod 2 can be freely extended and retracted, and its length is adjusted according to the diameter of the pipeline so that the cleaning brush 1 at its front end just contacts the inner wall of the pipeline. The telescopic rod 2 is used in multiple ways at the same time, and is arranged at equal angles in the same plane, and the rear ends of the multiple telescopic rods 2 are synchronously fixed to the front end of the transmission shaft 3. The driving unit 7 drives the transmission shaft 3 to rotate, driving the cleaning brush 1 to slide along the inner wall of the pipeline to scrub the inner wall of the pipeline.

[0138] The walking assembly includes an adjustment base 8 arranged along the circumference of the driving unit 7 and a driving wheel 13 arranged at the front end of the adjustment base 8. The adjustment base 8 is arranged circumferentially at least at two cross-sections of the driving unit 7 to support the driving unit 7 so that it is always located in the middle of the pipeline. The adjustment base 8 is a telescopic rod, which is adjusted according to the inner wall of the pipeline so that the driving wheel 13 thereon is close to the inner wall of the pipeline. The driving wheel 13 is driven by the driving unit 7 to drive the device to move forward and backward in the pipeline to reach the area to be cleaned.

[0139] There is a certain angle between the driving wheel 13 and the cross section of the pipeline, and the angles of all driving wheels 13 are kept consistent. When they rotate, the driving unit 7 moves forward in a spiral in the pipeline.

[0140] The dust suction assembly includes a dust suction tube 4 arranged on the telescopic rod 2, a dust suction head 5 arranged at the front end of the dust suction tube 4, and a dust suction tube conversion plate 6 arranged at the front end of the driving unit 7. The front and rear ends of the dust suction tube conversion plate 6 are sealed and rotatably connected, and its rear end is fixed to the front end of the driving unit 7. The front end is fixedly connected to the transmission shaft 3, and is driven by the transmission shaft 3 to rotate synchronously with the telescopic rod 2. A cavity is provided between the front and rear ends of the dust suction tube conversion plate 6. The dust suction head 5 is in close contact with the cleaning brush 1, and is used to suck away the debris swept by the cleaning brush 1. The dust suction tube 4 is fixed on the telescopic rod 2, and is synchronously extended and rotated with it. The rear end of the dust suction tube 4 passes through the front end of the dust suction tube conversion plate 6 and is connected to the cavity inside it. The dust suction head 5 sucks in the debris and puts it into the cavity through the dust suction tube 4.

[0141] The dust collection assembly also includes a dust collection bin 9 disposed at the rear end of the drive unit 7 and a dust collection unit 10 disposed at the rear end of the dust collection bin 9. The dust collection bin 9 is connected to the drive unit 7 via a corrugated connecting hose 12, and a dust collection channel is provided inside the drive unit 7, which passes through the rear end of the dust collection pipe conversion plate 6 and is connected to the cavity inside the drive unit 7. The dust collection unit 10 provides negative pressure for the dust collection bin 9, and the debris in the internal cavity of the dust collection pipe conversion plate 6 is sucked into the dust collection bin 9 through the dust collection channel for temporary storage.

[0142] The connection between the corrugated connecting hose 12 and the driving unit 7 is connected by a bearing, so that it can rotate along the axis of the driving unit 7, preventing the corrugated connecting hose 12 from twisting during the spiral advancement of the driving unit 7, ensuring that debris can enter the dust collection bin 9 smoothly, and at the same time enabling the driving unit 7 to maintain effective pulling force on the dust collection bin 9, driving it to move inside the pipeline.

[0143] The dust collecting bin 9 is provided with an adjustment base 8 along its circumference, which is provided circumferentially at least at two cross sections of the dust collecting bin 9 to support the dust collecting bin 9 so that it is always located in the middle of the pipe. The front end of the adjustment base 8 on the dust collecting bin 9 is also provided with a support wheel 11, which is also in contact with the inner wall of the pipe. When the driving unit 7 moves inside the pipe, it pushes the dust collecting bin 9 to move to the rear end or pulls the dust collecting bin 9 to move to the front end. At this time, due to the universal directionality of the corrugated connecting hose 12, when encountering a bend, the axes of the driving unit 7 and the dust collecting bin 9 are not in the same straight line, and they can also maintain a good connection.

[0144] A force sensor is provided at the connection between the telescopic rod 2 and the cleaning brush 1 , a force sensor is provided at the connection between the adjustment base 8 and the driving wheel 13 and the supporting wheel 11 , and a plurality of pressure sensors are provided between the vacuum head 5 and the dust collecting bin 9 .

[0145] The dust suction tube conversion plate 6 is provided with a spring connected to the dust suction tube 4. When the telescopic rod 2 is shortened, the spring pulls the dust suction tube 4 back into the dust suction tube conversion plate 6. When the telescopic rod 2 is extended, the dust suction tube 4 is extended freely with it. The dust suction head 5 at the front end of the dust suction tube 4 can always keep synchronous movement with the cleaning brush 1, and ensure that the dust suction tube 4 is freely extended and retracted with it, so as to avoid the dust suction tube 4 being tangled due to disorder and affecting the operation of the device.

[0146] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A prestressed pipe cleaning method, characterized in that: The specific steps include: S100, placing the pipeline cleaning device into the pipe opening of the pipeline to be cleaned, starting the device, and all the adjustment bases (8) automatically extend at the same time until the support wheels (11) and the driving wheels (13) thereon are completely in contact with the inner wall of the pipeline; S200, all telescopic rods (2) are extended simultaneously until the cleaning brushes (1) thereon are completely in contact with the inside of the pipe and a certain pressure is exerted; S300, the driving unit (7) drives the transmission shaft (3) to drive the telescopic rod (2) to rotate, and at the same time starts the dust collection unit (10) to provide negative pressure in the dust collection bin (9) until the telescopic rod (2) reaches a designed rotation speed; S400, rotating the adjustment base (8) so that the support wheel (11) and the driving wheel (13) form an angle with the forward direction of the device, so that the driving unit (7) drives the driving wheel (13) to rotate, thereby driving the entire device to rotate and move forward in the pipeline; S500, when the device moves forward in the pipe, the telescopic rod (2) continuously rotates, so that the cleaning brush (1) at its front end continuously rubs against the inner wall of the pipe to clean the debris thereon, and the cleaned debris is sucked into the dust collection bin (9) along the dust suction pipe (4) by the dust suction head (5); S600: When all debris inside the pipe is cleaned up, or when the power of the device is about to run out, the telescopic rod (2) is stopped from being driven and retracted, the dust collection unit (10) is closed, the driving wheel (13) is reversed to exit the pipe, and the debris in the dust collection bin (9) is cleaned up.

2. A prestressed pipe cleaning method according to claim 1, characterized in that: In step S400, the process of the device rotating and advancing in the pipeline further includes the following steps: S410, when the pipeline is horizontal, the angle between the rotation direction of the support wheel (11) and the driving wheel (13) and the moving direction of the device is small; S420, when the pipeline begins to tilt, the base (8) is adjusted to rotate so that the angle between the rotation direction of the support wheel (11) and the driving wheel (13) and the moving direction of the device increases; S430, when encountering a curved pipe, the rotation speed of the driving wheel (13) close to the inner side of the curve is reduced, so that the driving wheel (13) on the outer side is faster, so that the device can pass through the curve smoothly.

3. A prestressed pipe cleaning method according to claim 2, characterized in that: In step S420, it is necessary to calculate the normal force F between the driving wheel (13) and the inner wall of the pipe. n , specifically: F n =Wcos(θ), Where W is the deadweight of the device, θ is the inclination angle of the pipeline; Then through the normal force F n The friction force F between the driving wheel (13) and the inner wall of the pipe is calculated f : F f =μF n , Where μ is the friction coefficient.

4. A prestressed pipe cleaning method according to claim 3, characterized in that: The output power P of the driving wheel (13) is calculated as: P=F f v, Wherein, v is the moving speed of the device; The angle α between the rotation direction of the support wheel (11) and the driving wheel (13) and the moving direction of the device is calculated to be:

5. A prestressed pipe cleaning method according to claim 2, characterized in that: The linear velocity v of the i-th driving wheel (13) at the bend i for: Among them, r i is the distance from the first driving wheel to the center of the curve, R is the average radius of the curve, R min is the minimum radius of the inner side of the curve; Get the angular velocity ω of the i-th driving wheel (13) i for: Among them, r w is the radius of the driving wheel (13); Then determine the speed n of the i-th driving wheel (13) i for:

6. A prestressed pipe cleaning method according to claim 5, characterized in that: The angle α between the rotation direction of the i-th driving wheel (13) and the forward direction of the device i for: Among them, θ i is the azimuth angle of the i-th driving wheel (13) relative to the center of the curve, ω rot is the angular velocity of the device rotating around the pipeline axis.

7. A prestressed pipe cleaning method according to any one of claims 1 to 6, characterized in that: Step S500 also includes the following steps: S510, continuously monitoring the resistance of the cleaning brush (1), and judging the amount of debris on the pipe wall by the resistance, and then adjusting the suction force of the dust collection unit (10) so that the debris can be smoothly sucked into the dust collection head (5); S520, continuously monitoring the pressure in the dust suction pipe conversion plate (6) and the dust collection bin (9), and judging whether the dust suction pipe (4) is blocked by comparing the difference between the negative pressure of the two and the normal situation; S530. If the blockage is not serious, increase the suction force of the dust suction unit (10) and continue the cleaning operation. If the blockage is serious, stop driving the telescopic rod (2) and retract it, close the dust suction unit (10), reverse the driving wheel (13) to exit the pipeline, and inspect the device.

8. A prestressed pipe cleaning method according to claim 7, characterized in that: In step S510, the suction force P of the dust collection unit (10) is v (t) is: Among them, P v0 is the initial suction force of the dust collection unit, F r is the resistance of the cleaning brush. k1 is the attenuation coefficient of the system, k2 is the proportionality coefficient.

9. A prestressed pipe cleaning method according to claim 8, characterized in that: In step S520, the pressure difference ΔP between the i-th sensor and the i+1-th sensor between the dust collector head (5) and the dust collection bin (9) is i，i+1 for: ΔP i，i+1 =P i -P i+1 , Among them, P i is the pressure at the i-th sensor, P i+1 is the pressure at the i+1th sensor; In step S530, the degree of congestion is evaluated by a scoring function s, which is: Among them, w i is the weight of the ith pressure difference, ΔP base，i is the reference pressure difference at the i-th position; If 0.5<S≤2, the degree of blockage is determined to be slight blockage; if S>2, the degree of blockage is determined to be severe blockage.

10. A prestressed pipe cleaning device, used to implement a prestressed pipe cleaning method according to any one of claims 1 to 9, characterized in that: Including cleaning components, walking components and dust collection components; The cleaning assembly comprises a driving unit (7), a transmission shaft (3) arranged at the front end of the driving unit (7), a telescopic rod (2) arranged at the front end of the transmission shaft (3), and a cleaning brush (1) arranged at the front end of the telescopic rod (2); The walking assembly comprises an adjustment base (8) arranged along the circumference of the driving unit (7) and a driving wheel (13) arranged at the front end of the adjustment base (8); The dust suction assembly comprises a dust suction pipe (4) arranged on the telescopic rod (2), a dust suction head (5) arranged at the front end of the dust suction pipe (4), and a dust suction pipe conversion plate (6) arranged at the front end of the driving unit (7).

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