A water pipe cleaning device and method for building water supply and drainage

Abstract

The present invention relates to the technical field of pipeline cleaning, and particularly relates to a water pipe cleaning device and method for building water supply and drainage. By arranging a cleaning mechanism and a driving mechanism in the cleaning device, the driving mechanism is used to drive the cleaning mechanism to perform periodic reciprocating movement in each pipeline cleaning section so as to clean each pipeline cleaning section; several pressure sensors are arranged in the cleaning mechanism and are evenly distributed along the pipeline cross-section for collecting the pressure values during the periodic reciprocating movement of the cleaning mechanism; a control unit is arranged in the driving mechanism, and the control unit is used to sample and connect the pressure sensors to obtain pressure value data and determine the total number of cleaning cycles for cleaning each pipeline cleaning section according to the pressure value data. The present invention effectively improves the cleaning effect of pipeline dirt by arranging a cleaning device that can automatically clean the pipeline and adaptively determining the total number of cleaning cycles for cleaning each pipeline cleaning section.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning, and particularly relates to a water pipe cleaning device and method for building water supply and drainage. Background Art

[0002] In order to facilitate building drainage, water pipes usually need to be installed. However, with the passage of time, dirt such as microorganisms and silt often accumulates inside the water pipes, seriously affecting the performance of the water pipes. Therefore, the necessity of cleaning the water pipes is increasing day by day.

[0003] In the prior art, when cleaning a water pipe, the cleaning device usually uses a spherical flexible brush, and the cleaning equipment needs to be manually pulled by a scale rope to drive the cleaning device to move inside the pipeline. Since the spherical flexible brush has poor adaptability to different pipe diameters, and the cleaning method of manually pulling the scale rope to drive the cleaning device to move inside the pipeline will cause the relative position of the cleaning mechanism inside the pipeline to not always be controlled in the central area, resulting in uneven pressure applied to different positions of the pipe wall. At the same time, the magnitude of the pulling force cannot be controlled during the manual pulling process, and with the increase of the cleaning time, the cleaning efficiency is low, and it is easy to cause a poor cleaning effect.

[0004] In addition, during the process of cleaning a water pipe with a cleaning device, a fixed cleaning cycle is usually adopted for cleaning. However, due to the uneven distribution of dirt on the inner wall of the pipeline and the difference in the cleaning difficulty of dirt at different positions, the cleaning method with a fixed cleaning cycle usually easily leads to a poor cleaning effect in some areas of the pipeline. Summary of the Invention

[0005] The purpose of the present invention is to provide a water pipe cleaning device and method for building water supply and drainage, which is used to solve the problem of poor cleaning effect of the existing cleaning device.

[0006] To solve the above technical problems, in a first aspect, the present invention provides a water pipe cleaning device for building water supply and drainage. The cleaning device includes a cleaning mechanism and a driving mechanism. The driving mechanism is used to drive the cleaning mechanism to perform periodic reciprocating movement in each pipe cleaning section to clean each pipe cleaning section. The cleaning mechanism includes a main support rod and a conical umbrella surface. One end of the main support rod is connected to the driving mechanism, and the other end of the main support rod is fixedly connected to the middle of the conical umbrella surface. The conical umbrella surface is also evenly provided with hydrophobic holes. An umbrella bone structure is provided between the main support rod and the conical umbrella surface. The umbrella bone structure can expand the conical umbrella surface to different bottom radii. A flexible brush for cleaning the pipe wall is provided near the outer peripheral edge of the conical umbrella surface. Below the flexible brush, pressure sensors for collecting pressure values during the periodic reciprocating movement of the cleaning mechanism are evenly distributed along the pipe cross-section. A control unit is provided in the driving mechanism. The control unit is used to sample and connect the pressure sensors to obtain pressure value data, and determine the total number of cleaning cycles for cleaning each pipe cleaning section according to the pressure value data.

[0007] Combined with the above first aspect, in some possible implementation manners, the umbrella bone structure includes a bottom sliding seat, a first connecting spring, a fulcrum sliding seat, a second connecting spring, a main umbrella bone, and an umbrella surface support skeleton. The elastic coefficient of the second connecting spring is greater than that of the first connecting spring. The bottom sliding seat and the fulcrum sliding seat can move back and forth along the axial direction of the main support rod. The bottom sliding seat and the fulcrum sliding seat are connected by the first connecting spring. An umbrella core shaft is provided at one end of the main support rod close to the conical umbrella surface. The fulcrum sliding seat is connected to the umbrella core shaft by the second connecting spring. A plurality of telescopic buckles are axially distributed on the main support rod. The bottom sliding seat is provided with grooves matching the telescopic buckles, and the bottom sliding seat locks its position through a plurality of telescopic buckles. There are a plurality of umbrella surface support skeletons. One end of the umbrella surface support skeleton is connected to the edge of the conical umbrella surface, and the other end of the umbrella surface support skeleton is fixedly connected to the umbrella core shaft. There are a plurality of main umbrella bones. The plurality of main umbrella bones are evenly distributed around the circumference of the main support rod. One end of the main umbrella bone is fixedly connected to the fulcrum sliding seat, and the other end of the main umbrella bone is fixedly connected to one end of the umbrella surface support skeleton close to the edge of the conical umbrella surface through a connecting shaft. The flexible brush is provided on the connecting shaft where the main umbrella bone is fixedly connected to the umbrella surface support skeleton.

[0008] Combined with the above first aspect, in some possible implementation manners, both the first connecting spring and the second connecting spring are wrapped with elastic and telescopic anti-fouling leather sleeves. A rubber impact shield is provided at the top of one end of the main support rod close to the conical umbrella surface.

[0009] To solve the above technical problems, in a second aspect, the present invention also provides a method for cleaning a water pipe for building water supply and drainage applied to the water pipe cleaning device for building water supply and drainage described in any one of the above. The method includes the following steps:

[0010] Based on the pressure values of each pressure sensor at each sampling moment within the initial preset minimum number of cleaning cycles during the cleaning of the current pipeline cleaning section, a pressure value sequence on the cleaning line corresponding to each pressure sensor for each cleaning cycle is obtained, and each pressure value in the pressure value sequence corresponds to a cleaning position point on the corresponding cleaning line in the current pipeline cleaning section;

[0011] In the pressure value sequence, according to the difference magnitude between each pressure value and its adjacent pressures, and the pressure value fluctuation condition of the local sequence segment corresponding to each pressure value, the local pressure anomaly degree corresponding to each pressure value is determined;

[0012] Between adjacent cleaning cycles, according to the difference magnitude of the local pressure anomaly degrees corresponding to the pressure values at the same cleaning position points in the pressure value sequences on the same cleaning line, the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined;

[0013] In the same cleaning cycle, according to the difference magnitude of the local pressure anomaly degrees corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and other cleaning lines, the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined;

[0014] According to the cleaning difficulty and the authenticity of the cleaning difficulty, the cleaning difficulty index of the current pipeline cleaning section is determined, and according to the cleaning difficulty index, the number of cleaning cycles that still need to be performed on the current pipeline cleaning section is determined.

[0015] Combined with the second aspect above, in some possible implementation manners, determining the local pressure anomaly degree corresponding to each pressure value includes:

[0016] According to the difference magnitude between each pressure value and its adjacent pressures, the average pressure value difference corresponding to each pressure value is determined;

[0017] The extreme value of all pressure values in the local sequence segment corresponding to each pressure value is determined, and according to the extreme value and the average pressure value difference, the local pressure anomaly degree corresponding to each pressure value is determined, and both the extreme value and the average pressure value difference are positively correlated with the local pressure anomaly degree.

[0018] Combined with the second aspect above, in some possible implementation manners, determining the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section includes:

[0019] Between every two adjacent cleaning cycles, determine the difference value of the local pressure anomaly degree corresponding to the pressure value at the same cleaning position point in the pressure value sequence on the same cleaning line according to the difference in the local pressure anomaly degree corresponding to the pressure value at the same cleaning position point in the pressure value sequence on the same cleaning line;

[0020] Between all two adjacent cleaning cycles, determine the average difference value of the local pressure anomaly degree corresponding to the pressure value at the same cleaning position point in the pressure value sequence on the same cleaning line;

[0021] Perform negative correlation normalization processing on the average difference value of the local pressure anomaly degree, so as to obtain the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0022] Combined with the second aspect above, in some possible implementation manners, determining the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section includes:

[0023] In the same cleaning cycle, determine the change difference in the local pressure anomaly degree corresponding to the pressure value at the same sampling moment in the pressure value sequence between each cleaning line and each other cleaning line according to the difference in the local pressure anomaly degree corresponding to the pressure value at the same sampling moment in the pressure value sequence between each cleaning line and each other cleaning line;

[0024] In the same cleaning cycle, according to the change difference in the local pressure anomaly degree corresponding to the pressure value at the same sampling moment in the pressure value sequence between each cleaning line and its symmetric cleaning line, and the discrete situation of the change difference in the local pressure anomaly degree corresponding to the pressure value at the same sampling moment in the pressure value sequence between each cleaning line and each other cleaning line, determine the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle;

[0025] According to the average distribution situation of the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in all cleaning cycles, determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0026] Combined with the second aspect above, in some possible implementation manners, determining the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle includes:

[0027] In the same cleaning cycle, determine the variance of the variation differences of the local pressure anomaly degrees corresponding to the pressure values at the same sampling moments in the pressure value sequences between each cleaning line and every other cleaning line, to obtain the discrete index of the variation differences of the local pressure anomaly degrees;

[0028] In the same cleaning cycle, determine the sum value of the variation differences of the local pressure anomaly degrees corresponding to the pressure values at each sampling moment in the corresponding pressure value sequence of each cleaning line and the adjustment coefficient, and calculate the ratio of the discrete index of the variation differences of the local pressure anomaly degrees corresponding to the pressure values at each sampling moment in the corresponding pressure value sequence of each cleaning line to the corresponding sum value, so as to obtain the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle.

[0029] Combined with the above second aspect, in some possible implementation manners, determining the cleaning difficulty index of the current pipeline cleaning section includes:

[0030] According to the cleaning difficulty and the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section, determine the corrected cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section;

[0031] According to the overall distribution level of the corrected cleaning difficulties corresponding to all cleaning position points on all cleaning lines in the current pipeline cleaning section, determine the cleaning difficulty index of the current pipeline cleaning section.

[0032] Combined with the above second aspect, in some possible implementation manners, determining the number of cleaning cycles that still need to be performed on the current pipeline cleaning section includes:

[0033] Calculate the product value of the difference between the maximum number of cleaning cycles and the preset minimum value and the cleaning difficulty index, and round the product value to an integer, and take the rounded integer result as the number of cleaning cycles that still need to be performed on the current pipeline cleaning section.

[0034] To solve the above technical problems, in a third aspect, the present invention further provides a building water supply and drainage pipe cleaning system, including a memory and a processor. The memory is used to store executable program codes, and the processor is used to call and run the executable program codes from the memory, so that the device executes the step of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in the above second aspect or any one of the possible implementation manners of the second aspect.

[0035] To solve the above technical problems, in a fourth aspect, the present invention further provides a computer program product, which includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute the step of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in the second aspect or any possible implementation manner of the second aspect.

[0036] To solve the above technical problems, in a fifth aspect, the present invention further provides a computer-readable storage medium, which stores computer program code, when the computer program code runs on a computer, it causes the computer to execute the step of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in the second aspect or any possible implementation manner of the second aspect.

[0037] The present invention has the following beneficial effects: By providing a cleaning mechanism and a driving mechanism in the cleaning device, the driving mechanism can drive the cleaning mechanism to move periodically back and forth in each pipeline cleaning section to automatically clean each pipeline cleaning section. At the same time, by providing a number of pressure sensors evenly distributed along the pipeline cross-section in the cleaning mechanism to collect the pressure values during the periodic reciprocating movement of the cleaning mechanism, during the process of the driving mechanism driving the cleaning mechanism to move periodically back and forth, by analyzing these pressure data, the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined. This cleaning difficulty reflects the degree of difficulty in cleaning the dirt at each cleaning position point on each cleaning line corresponding to each pressure sensor in the current pipeline cleaning section. At the same time, by analyzing the situation of the sudden increase in pressure data due to dirt and the sudden increase in pressure data due to the influence of water flow, the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined. This authenticity of the cleaning difficulty reflects the credibility level of the corresponding cleaning difficulty. Finally, the cleaning difficulty index of the current pipeline cleaning section is obtained, and based on this cleaning difficulty index, the number of cleaning cycles required to further clean the current pipeline cleaning section is determined. The present invention effectively improves the cleaning effect of pipeline dirt by providing a cleaning device that can automatically clean the pipeline and adaptively determining the total number of cleaning cycles for cleaning each pipeline cleaning section. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0039] Figure 1A schematic diagram of the structure of a water pipe cleaning device for building water supply and drainage provided by an embodiment of the present invention;

[0040] Figure 2 It is a structural schematic diagram of a cleaning mechanism according to an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of a supporting umbrella cover structure according to an embodiment of the present invention;

[0042] Figure 4 It is a front structural schematic diagram of a driving mechanism of an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the partial side structure of the driving mechanism of an embodiment of the present invention along the extending direction of the pipeline;

[0044] Figure 6 A flowchart of the steps of determining the total number of cleaning cycles for cleaning each pipeline cleaning section by the above-mentioned building water supply and drainage water pipe cleaning device provided by the embodiment of the present invention;

[0045] Figure 7 A schematic diagram of the structure of a water pipe cleaning system for building water supply and drainage provided by an embodiment of the present invention;

[0046] In the accompanying drawings: 1 represents a driving mechanism, 2 represents a cleaning mechanism, 3 represents a retractable buckle, 4 represents a supporting main rod, 5 represents a bottom slide, 6 represents a first connecting spring, 7 represents a fulcrum slide, 8 represents a second connecting spring, 9 represents an anti-fouling leather cover, 10 represents a main umbrella rib, 11 represents a fixed axis, 12 represents an umbrella core axis, 13 represents a connecting axis, 14 represents an umbrella support skeleton, 15 represents an annular mesh umbrella, 16 represents a hydrophobic hole, 17 represents a capacitive pressure sensor, 18 represents a flexible brush, 19 represents a rubber impact shield, 20 represents a pulley, 21 represents a pipeline fixer, 22 represents a hydrophobic triangular partition, 23 represents a connecting pipeline, 24 represents a line collection roller, 25 represents a servo motor, 26 represents a scale meter, 27 represents an integrated control unit, 28 represents a rubber ring, 29 represents a shell, 30 represents a control button, and 31 represents a flexible scale pipeline. DETAILED DESCRIPTION

[0047] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0048] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the scope of protection of the present invention.

[0049] It should be understood that the various steps recited in the method embodiments of the present invention can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0050] As used herein, the term "comprising" and its variations are open-ended, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0051] It should be noted that the concepts such as "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships.

[0052] It should be noted that the modifications of "one" and "a plurality" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more". In the description of the present invention, unless otherwise specified, "a plurality" means two or more, and other quantifiers are similar; "at least one item (piece)", "one item (piece) or a plurality of items (pieces)" or their similar expressions refer to any combination of these items (pieces), including any combination of a single item (piece) or a plural number of items (pieces).

[0053] In the embodiments of the present invention, although the operations or steps are described in a specific order in the drawings, it should not be understood that these operations or steps are required to be executed in the specific order shown or in a serial order, or that all the operations or steps shown are required to be executed to obtain the desired result. In the embodiments of the present invention, these operations or steps can be executed serially; they can also be executed in parallel; or a part of these operations or steps can be executed.

[0054] Meanwhile, it can be understood that the data involved in the technical solution of the present invention (including but not limited to the data itself, the acquisition or use of data) should comply with the requirements of relevant laws, regulations and related provisions. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs, and all parameters or indicators in the formulas involved in the present invention are numerical values after normalization that eliminate the influence of dimensions.

[0055] In order to solve the problem of poor cleaning effect of the existing cleaning device, the embodiment of the present invention provides a water pipe cleaning device and method for building water supply and drainage. By designing a front-section cleaning mechanism with an adjustable opening and closing diameter and a servo motor to make periodic movements in the pipeline, the problem of poor adaptability of the traditional cleaning mechanism to different pipe diameters is solved, and the cleaning efficiency of the water pipe is improved; by designing a feedback control mechanism with a pressure sensor and monitoring the pressure change performance of the cleaning mechanism in the pipeline, and then judging the cleaning difficulty within a pipeline cleaning section, the working cycle length of the servo motor is controlled and adjusted based on the analysis result, so as to improve the adaptability and cleaning ability to different dirt; by analyzing the deformation performance during the operation of the cleaning mechanism, and then judging the authenticity of the cleaning difficulty reflected by the pressure data monitored by the pressure sensors at different positions, avoiding the influence of the random change of water flow on the authenticity of the dirt cleaning effect monitored and analyzed by the pressure sensor during the process of the motor pulling the cleaning mechanism, improving the accuracy of the final number of cleaning cycles, reducing unnecessary energy consumption and improving the cleaning efficiency.

[0056] Next, a water pipe cleaning device and method for building water supply and drainage provided by the embodiment of the present invention will be introduced in detail with reference to the accompanying drawings.

[0057] Figure 1 The structural schematic diagram of a water pipe cleaning device for building water supply and drainage provided by the embodiment of the present invention is shown as Figure 1 shown. The cleaning device includes a cleaning mechanism 2 and a driving mechanism 1. Among them, the cleaning mechanism 2 makes periodic reciprocating movements in the water pipe under the drive of the driving mechanism 1 to automatically clean the water pipe, so as to realize the effective cleaning of different cleaning sections of the water pipe. Next, the above-mentioned cleaning mechanism 2 and driving mechanism 1 will be introduced in detail with reference to Figures 2 - 5 the following to introduce the above-mentioned cleaning mechanism 2 and driving mechanism 1 in detail.

[0058] As shown in Figure 2 and Figure 3As shown in the figure, the above-mentioned cleaning mechanism 2 is a support umbrella structure, which is integrally composed of a telescopic buckle 3, a support main rod 4, a bottom sliding seat 5, a first connecting spring 6, a fulcrum sliding seat 7, a second connecting spring 8, an anti-fouling leather sleeve 9, a main umbrella rib 10, a fixed shaft 11, an umbrella core shaft 12, a connecting shaft 13, an umbrella surface support skeleton 14, an annular mesh umbrella surface 15, a hydrophobic hole 16, a flexible brush 18 and a rubber impact shield 19. The bottom sliding seat 5, the first connecting spring 6, the fulcrum sliding seat 7, the second connecting spring 8, the main umbrella rib 10 and the umbrella surface support skeleton 14 together constitute the umbrella rib structure. Among them, the telescopic buckle 3 is arranged on the support main rod 4, and the bottom sliding seat 5 and the fulcrum sliding seat 7 can move back and forth along the support main rod 4, and the two sliding seats are connected by the first connecting spring 6; 8 main umbrella ribs 10 are connected to the fulcrum sliding seat 7 through the fixed shaft 11, and the other end of the main umbrella rib 10 is connected to one end of the umbrella surface support skeleton 14 by the connecting shaft 13, and the end of the umbrella surface support skeleton 14 connected to the main umbrella rib 10 is connected to the edge of the annular mesh umbrella surface 15; the umbrella core shaft 12 is arranged at one end of the support main rod 4 close to the annular mesh umbrella surface 15, and the fulcrum sliding seat 7 is connected to the umbrella core shaft 12 through the second connecting spring 8, and the above two springs are both wrapped by the anti-fouling leather sleeve 9; the other end of the umbrella surface support skeleton 14 is connected to the umbrella core shaft 12, and there is an annular mesh umbrella surface 15 between two adjacent umbrella surface support skeletons 14. The annular mesh umbrella surface 15 is also called a conical umbrella surface. There is a water drainage hole 16 with a radius of 1 / 4 of the length of the umbrella surface support skeleton 14 on one side of the annular mesh umbrella surface 15 close to the umbrella core shaft 12; there is an annular flexible brush 18 with a certain width on one side of the annular mesh umbrella surface 15 close to the outer end of the umbrella surface support skeleton 14, which is fixed on the connecting shaft 13, and the capacitive pressure sensor 17 is arranged below the annular flexible brush 18; a rubber impact shield 19 is installed at the top of the support main rod 4, that is, at one end of the support main rod 4 close to the annular mesh umbrella surface 15. The annular mesh umbrella surface 15, the hydrophobic hole 16, the flexible brush 18 and the rubber impact shield 19 together constitute the support umbrella umbrella surface structure, Figure 2 which is the structural schematic diagram of the support umbrella umbrella surface structure. The end of the cleaning mechanism 2, that is, the end of the support main rod 4 far from the support umbrella umbrella surface structure, is connected to the flexible scale pipeline 31 in the driving mechanism 1.

[0059] Since the cleaning mechanism in the existing cleaning device has limited adaptability to water pipes with different diameters, when its own radius does not match the pipe diameter, it is likely to cause a relatively small pressure on the inner edge of the pipe during the cleaning process. During the cleaning process of driving the brush by friction, too small a pressure results in a lower friction force, greatly reducing the final cleaning effect. Therefore, in the above-mentioned cleaning mechanism 2 of the embodiment of the present invention, a plurality of retractable buckles 3 at different positions are provided on the support main rod 4 to adjust the overall opening and closing radius of the support umbrella structure. When moving forward, the triangular retractable buckle 3 automatically expands and contracts. When the bottom slide 5 passes through the retractable buckle 3 at a certain position, the buckle rises to block the backward movement of the bottom slide 5, thereby adjusting the overall opening and closing size of the support umbrella structure by setting multiple different length gears. By expanding the support umbrella structure, the bottom slide 5 is caused to push the fulcrum slide 7 to move forward along the support main rod 4; a first connecting spring 6 is provided between the bottom slide 5 and the fulcrum slide 7, and the elasticity of the first connecting spring 6 is lower than that of the second connecting spring 8, that is, the elastic coefficient of the second connecting spring is greater than that of the first connecting spring. Therefore, it always remains in a contracted state when the cleaning mechanism is not working to provide a backward thrust along the support main rod 4, so that the bottom slide 5 is always in close contact with the retractable buckle 3 at the current position; an elastic and retractable anti-fouling leather sleeve 9 is wrapped around the first connecting spring 6 to block stains in the pipe and prevent dirt from staying in the spring and being difficult to clean. Eight main umbrella ribs 10 are connected to the fulcrum slide 7 and are fixed by a fixed shaft 11. When the fulcrum slide 7 moves, it drives the change in the opening and closing size of the main umbrella ribs 10; the other end of the main umbrella ribs 10 is connected to the umbrella surface support skeleton 14 by a connecting shaft 13, so that the angle between the main umbrella ribs 10 and the umbrella surface support skeleton 14 can be adjusted as the fulcrum slide 7 moves.

[0060] Since the cleaning mechanism in the existing cleaning device cleans the inner wall of the water pipe based on friction, and according to prior knowledge, the magnitude of the friction force depends on the magnitude of the vertical pressure. Therefore, to solve the problem that the cleaning mechanism has poor cleaning ability for the dirt inside the pipe, in the above-mentioned cleaning mechanism 2 of the embodiment of the present invention, a second connecting spring 8 with a relatively large elasticity is provided between the fulcrum slide 7 and the umbrella core shaft 12 to counteract the pressure of the water flow on the annular mesh umbrella surface 15 in the water flow direction; at the same time, the annular mesh umbrella surface 15 is used to appropriately obtain the pressure of the water flow on the umbrella surface, so that the overall support umbrella structure increases the opening and closing size when receiving the water flow pressure; at the same time, to avoid excessive opening and closing angles and too fast water flow giving too much pressure to the overall structure and causing damage to the structure, a water delivery hole 16 is provided to ensure that part of the water flow passes directly through. By driving the back-and-forth movement of the entire support umbrella structure, the flexible brush 18 is caused to move back and forth on the inner wall of the pipe by friction to clean the dirt composed of biofilm and silt inside the pipe; at the same time, the rubber impact shield 19 at the front section is used to impact the larger hard silt in the pipe to decompose it as much as possible.

[0061] like Figure 4 and Figure 5 As shown, the driving mechanism 1 as a whole is composed of a capacitive pressure sensor 17, a flexible scale pipeline 31, a pulley 20, a pipeline fixture 21, a hydrophobic triangular partition 22, a connecting pipe 23, a line collection roller 24, a servo motor 25, a scale meter 26, an integrated control unit 27, a rubber ring 28, a housing 29, and a control button 30. Among them, the two ends of the flexible scale pipeline 31 are respectively fixed on the line collection roller 24 and the supporting umbrella structure corresponding to the above-mentioned cleaning mechanism 2, and the flexible scale pipeline 31 passes through the pulley 20 and is fixed by the pipeline fixture 21 composed of a relatively hard steel wire; at the same time, the pulley 20 and the flexible scale pipeline 31 in the vertical direction of the pipeline fixture 21 are wrapped by the hydrophobic triangular partition 22; the above-mentioned various structures are all in the connecting pipe 23, and the diameter of the connecting pipe 23 is 1.1 times the maximum opening and closing diameter of the supporting umbrella structure corresponding to the above-mentioned cleaning mechanism 2; the rubber ring 28 is fixed on the other side of the connecting pipe 23. The axis of the line collection roller 24 is connected to the servo motor 25, on which a scale meter 26 is installed; the integrated control unit 27 is also called a control unit. Inside the entire structure, it drives the connected servo motor 25 to control the entire cleaning mechanism 2 to perform periodic reciprocating movement in each pipeline cleaning section; the structure is wrapped by a shell 29, and a control button 30 is installed on the outermost layer of the upper layer of the shell 29. The capacitive pressure sensor 17 is installed on the connecting shaft 13 in the above-mentioned cleaning mechanism 2. Since the connecting shaft 13 is evenly distributed, 8 capacitive pressure sensors 17 are evenly distributed on the plane perpendicular to the supporting main rod 4, that is, on the pipeline cross section. The integrated control unit 27 also samples the connected capacitive pressure sensor 17. In the above-mentioned driving mechanism 1, by connecting the connecting pipe 23 to the water pipe and putting the water pipe on the rubber ring 28, the gap between the two pipes is eliminated to prevent the water pipe from falling due to excessive water flow. In order to avoid uneven pressure on the flexible brush 18 from the outer periphery of the supporting umbrella structure, the front section of the supporting umbrella structure is placed in the center of the pipeline through the pipeline fixture 21, and then the extension direction of the flexible scale pipeline 31 is changed by the pulley 20 to facilitate the collection of the line collection roller 24. At the same time, in order to avoid the influence of too fast water flow on the stability and life of the pulley 20, the pulley 20 and the flexible scale pipeline 31 in the vertical direction of the pipeline fixture 21 are wrapped with a hydrophobic triangular partition 22, and the pressure of the water flow on the pulley 20 is reduced based on the prior streamline body related operation mechanism.

[0062] Since the existing cleaning device requires manual pulling of the scale rope to drive the cleaning mechanism to move inside the pipeline, this method may cause the relative position of the cleaning mechanism inside the pipeline to not always be controlled in the central area, resulting in uneven pressure applied to different positions of the pipe wall. At the same time, the magnitude of the pulling force cannot be controlled during the manual pulling process, and with the increase of the cleaning time, the cleaning efficiency is low. Therefore, in the embodiments of the present invention, the cleaning mechanism 2 driven by the driving mechanism 1 is used to clean the water pipe pipeline, thereby improving the cleaning efficiency.

[0063] When the cleaning mechanism 2 is used to clean the water pipe pipeline, the staff obtains the inner diameter of the water pipe through the existing water pipe design drawing or direct measurement, and adjusts the position of the bottom slide seat 5 inside the support umbrella structure so that the diameter of the initial state of the support umbrella structure is 2 / 3 of the inner diameter; the machine operation is started by adjusting the button 30, and during the process of water flowing along the pipeline, the support umbrella structure is released to move along the inside of the pipeline.

[0064] Since the existing cleaning device cannot control the pressure and friction force applied by the brush to the inner wall of the pipeline, when the diameter of the cleaning mechanism is too large, it is easy to cause the cleaning mechanism to be too close to the inner wall, resulting in limited movement of the cleaning mechanism inside the pipeline, while a too small diameter will result in poor cleaning effect in the above logic. Therefore, to solve this problem, the above-mentioned cleaning mechanism 2 provided in the embodiments of the present invention adopts the following cleaning method under the drive of the driving mechanism 1:

[0065] During the cleaning process, water flows through the pipe itself, and the supporting umbrella structure opens. At this time, the static state of the annular mesh umbrella surface 15 is used as a reference. When the supporting umbrella structure is released to move forward, the thrust of the annular mesh umbrella surface 15 received by the water flow decreases. At this time, the opening and closing diameter of the supporting umbrella structure is slightly reduced. At this time, the pressure on the pipe wall is relatively small, so as to reduce the impact of the excessive diameter on the movement restriction of the cleaning mechanism. The extended length of the supporting umbrella structure in the pipe is determined by the scale meter 26. Its approximate position can be determined according to the length in the water pipe design. Therefore, the scale meter 26 is used to record the scale of the supporting umbrella structure once. The corresponding position of the scale is the starting position of the local cleaning process of the cleaning mechanism 2. At this time, the line collection roller 24 is used to rotate in the opposite direction to pull the supporting umbrella structure to move in the opposite direction. Relative to the static state of the annular mesh umbrella surface 15, the thrust of the water flow received increases. At this time, the supporting umbrella structure has a tendency to increase the opening and closing diameter, and based on the bottom slide 5 and the first connecting spring provided in the cleaning mechanism 2. 6, the fulcrum slide 7, and the second connecting spring 8 make the bottom slide 5 maintain its original position, while the fulcrum slide 7 moves away from the bottom slide 5, thereby increasing the opening and closing diameter. Assuming that the water flow rate remains unchanged, it is in a balanced state from the perspective of force analysis. As the opening and closing diameter increases, the pressure on the flexible brush 18 fixed on the connecting shaft 13 increases during the backward movement of the supporting umbrella structure, thereby increasing the friction force, thereby increasing the cleaning effect of the outer side on the inner wall of the pipe during the backward movement of the supporting umbrella structure, solving the problem of poor cleaning effect due to too low pressure.

[0066] The driving mechanism 1 controls the line collecting roller 24 to rotate back and forth, so that the supporting umbrella structure starts to move back and forth at the starting position, that is, controls the supporting umbrella structure to move backward several centimeters along the starting position, and then releases the line collecting roller 24 to make it move quickly to the starting position until it reaches the initial position of the scale mark; the position is cleaned multiple times continuously, that is, it is set as a cleaning process for one position.

[0067] It should be noted that since there may be dirt blockage in the water pipe, resulting in water flow compensation, in order to solve this problem, a rubber impact shield 19 is designed in the front section of the supporting umbrella structure in the cleaning mechanism. The specific working process is as follows: within a cleaning cycle of the supporting umbrella structure, the line collection roller 24 will not generate any pulling force, so the entire supporting umbrella structure has obvious dynamic potential energy under the control of the water flow. At this time, the rubber impact shield 19 will be used to impact the larger hard sludge in the pipeline to decompose it as much as possible. By traversing all the initial positions in the water pipe, the cleaning process is completed. Microorganisms, sludge and other dirt either adhere to the flexible brush 18 or fall off directly and are discharged in the direction of the water flow, thereby solving the above-mentioned problem of poor cleaning effect. At the same time, the above-mentioned overall driving mechanism solves the problem of poor cleaning effect and low efficiency caused by manually pulling the cleaning mechanism in the prior art.

[0068] In addition, when the fixed cleaning cycle at each position during the cleaning process of the cleaning mechanism is set manually, due to the uneven distribution of dirt on the inner wall of the pipeline and the difference in the difficulty of cleaning dirt at different positions, if a fixed cleaning cycle is set at this time, it is likely to result in a poor cleaning effect for some areas inside the pipeline. Therefore, by using a number of capacitive pressure sensors 17 located on the support umbrella structure to feedback the real-time pressure changes during the cleaning process, the relevant pressure data collected is transmitted to the integrated control unit 27, and then the integrated control unit 27 is used to regulate the above-mentioned servo motor 25 to adjust the number of cleaning cycle at different positions during the cleaning process, so as to achieve adaptive control of different pipeline cleaning sections, thereby effectively improving the cleaning effect of the water pipe. For each pipeline cleaning section, the method for determining the pipeline cleaning section will be introduced in detail below in combination with the accompanying drawings and specific steps.

[0069] Figure 6 The flowchart shows the total number of cleaning cycles for determining the cleaning of each pipeline cleaning section implemented by the above-mentioned water pipe cleaning device for building water supply and drainage provided by the embodiment of the present invention, which specifically includes the following steps:

[0070] Step S1: According to the pressure values of each pressure sensor at each sampling moment within the initial preset minimum number of cleaning cycles during the cleaning of the current pipeline cleaning section, obtain the pressure value sequence on the cleaning line corresponding to each pressure sensor for each cleaning cycle. Each pressure value in the pressure value sequence corresponds to a cleaning position point on the corresponding cleaning line in the current pipeline cleaning section.

[0071] During the process of cleaning the water pipe using the above-mentioned water pipe cleaning device for building water supply and drainage provided by the embodiment of the present invention, for any one pipeline cleaning section, it is defined that each time the cleaning mechanism 2 is completely pulled back under the drive of the drive mechanism 1 after the first release until it is released again to the position reached at the first release as a cleaning cycle, that is, a complete back-and-forth movement process of the cleaning mechanism 2 is used as a cleaning cycle, and the preset minimum value D of the cleaning cycle is set to 5, that is, at least 5 complete cleaning cycles are required for any one pipeline cleaning section.

[0072] Hereinafter, any one pipeline cleaning section is referred to as the current pipeline cleaning section. The cleaning device is used to first clean the current pipeline cleaning section for the preset minimum value D, that is, 5 cleaning cycles. In each cleaning cycle, 8 capacitive pressure sensors 17 in the drive mechanism 1 are used to synchronously collect pressure values according to the set sampling frequency, and the pressure values at each sampling moment collected are sent to the integrated control unit 27 in the drive mechanism 1. The set sampling frequency can be reasonably set according to needs. In the embodiment of the present invention, the set sampling frequency is set to 1 time / second.

[0073] Since the cleaning process is periodic and based on the structure of the above cleaning device, it can be seen that the pressure received by the cleaning mechanism 2 during different moving directions is different. When the pressure is most obvious, the support umbrella structure of the cleaning mechanism 2 is in a slow moving process along the reverse direction of the water flow. To avoid the influence of pressure data on actual analysis during the release process, the pressure value data in the first half of the pulling-back process is taken as the reference data. Therefore, the integrated control unit 27 receives the pressure value data sent by 8 capacitive pressure sensors 17, and filters out the pressure value data in the first half of the pulling-back process in the pressure value data sent by each capacitive pressure sensor 17, and arranges these pressure value data in chronological order, so as to obtain the pressure value sequence corresponding to each capacitive pressure sensor 17. In each cleaning cycle, since there are 8 capacitive pressure sensors 17, 8 pressure value sequences can be obtained. Since each capacitive pressure sensor corresponds to a cleaning line on the current pipeline cleaning section during the pulling-back process, and this cleaning line is composed of the moving positions of the corresponding capacitive pressure sensor during the pulling-back process, each pressure value in the pressure value sequence corresponds to a cleaning position point on the current pipeline cleaning section on the corresponding cleaning line.

[0074] Step S2: In the pressure value sequence, determine the local pressure anomaly degree corresponding to each pressure value according to the difference between each pressure value and its adjacent pressures, and the pressure value fluctuation condition of the local sequence segment corresponding to each pressure value.

[0075] Through analysis, it can be seen that for dirt such as microorganisms and silt with high cleaning difficulty, it usually shows irregular shapes in the pressure value sequence. Therefore, during the process of pulling back the cleaning mechanism 2 in the reverse direction, the local protrusion reduces the distance between the center of the support umbrella structure corresponding to the cleaning mechanism 2 and the pipe wall, causing a certain degree of deformation of the support umbrella structure. At this time, the water flow velocity and traction remain unchanged, so the pressure exerted by the support umbrella structure on the pipe wall increases. Therefore, for the pressure data during the reverse movement process, it shows a sharp increase in pressure data; for the situation where the cleaning is completed or there is no dirt that is difficult to clean, the pressure data is stable and there is no sharp protrusion. And since each pressure value in each pressure value sequence corresponding to the reverse movement process corresponds to a cleaning position point on the current pipeline cleaning section on the corresponding cleaning line, the cleaning difficulty of the cleaning position corresponding to any pressure value in the pressure value sequence during the cleaning process can be analyzed based on the performance of the pressure value data in the pressure value sequence.

[0076] Therefore, in the embodiments of the present invention, for any one of the above 5 cleaning cycles, according to the pressure value sequence corresponding to each capacitive pressure sensor 17, the local pressure anomaly degree corresponding to each pressure value is determined according to the difference between each pressure value and the pressures around it, as well as the pressure value fluctuation of the local sequence segment corresponding to each pressure value. The implementation steps include:

[0077] Determine the average pressure value difference corresponding to each pressure value according to the difference between each pressure value and its adjacent pressures;

[0078] Determine the extreme value of all pressure values in the local sequence segment corresponding to each pressure value, and determine the local pressure anomaly degree corresponding to each pressure value according to the extreme value and the average pressure value difference. Both the extreme value and the average pressure value difference are positively correlated with the local pressure anomaly degree.

[0079] For the above steps, for any i-th pressure value in the pressure value sequence corresponding to each capacitive pressure sensor 17 in any one cleaning cycle, obtain 10 adjacent pressure values, 5 on each side, and determine the absolute value of the difference between the arbitrary i-th pressure value and its r-th adjacent pressure value, to obtain the pressure value difference between the arbitrary i-th pressure value and its r-th adjacent pressure value and calculate the average value of the pressure value differences between the arbitrary i-th pressure value and all its adjacent pressure values, so as to obtain the average pressure value difference The larger the value of this average pressure value difference is, the higher the abnormal degree of change of the i-th pressure value compared to its adjacent pressure values. At the same time, considering the problem that the characteristic performance ability of the arbitrary i-th pressure value is poor when it is not at the convex peak point, form a local sequence segment with the arbitrary i-th pressure value and its 10 adjacent pressure values, and obtain the extreme value of all pressure values in this local sequence segment Normalize the extreme value using the norm function to obtain a normalized value with a value range of (0, 1) The closer this value is to 1, the more obvious the tendency of the arbitrary i-th pressure value to have a convex performance compared to other pressure value data in the local sequence segment.

[0080] Thus, based on the average pressure value difference and the normalized value of the extreme value , the local pressure anomaly degree corresponding to the arbitrary i-th pressure value can be obtained. The corresponding calculation formula is:

[0081] ;

[0082] Wherein, Indicates the degree of local pressure anomaly corresponding to any i-th pressure value in the pressure value sequence; Indicates the extreme value of the local sequence segment corresponding to any i-th pressure value in the pressure value sequence; Represents the normalized value of the extreme value of the local sequence segment corresponding to any i-th pressure value in the pressure value sequence; Represents the average pressure value difference corresponding to any i-th pressure value in the pressure value sequence.

[0083] In the above calculation formula, when the average pressure value difference The larger the normalized value of the extreme value The larger the value of is, the greater the difference between any i-th pressure value in the pressure value sequence and its adjacent pressures. The i-th pressure value has a more obvious tendency to convex compared with other pressure value data in the local sequence segment. At this time, the i-th pressure value has a greater possibility of irregular dirt in the cleaning position, and the corresponding local pressure abnormality is higher. The larger the value of .

[0084] Step S3: between adjacent cleaning cycles, the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined according to the difference in the degree of local pressure anomaly corresponding to the pressure values ​​of the same cleaning position point in the pressure value sequence on the same cleaning line.

[0085] Considering that with the replacement of cleaning cycles, if the cleaning is done properly, the value of the local pressure abnormality corresponding to the same cleaning position point should gradually decrease, while for irregular dirt that is difficult to clean, the degree of abnormality decreases slightly or does not change. Therefore, according to the above logic, for the initial 5 cleaning cycles, the difference in the local pressure abnormality corresponding to the pressure value of the same cleaning position point (i.e., the same serial number) in the pressure value sequence corresponding to the same capacitive pressure sensor 17 on the same cleaning line in two adjacent cleaning cycles along the time sequence direction is obtained, thereby obtaining the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0086] In an embodiment of the present invention, the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined, and the implementation steps include:

[0087] Between each two adjacent cleaning cycles, according to the difference in the degree of local pressure anomaly corresponding to the pressure values ​​corresponding to the same cleaning position point in the pressure value sequence on the same cleaning line, the difference value of the degree of local pressure anomaly corresponding to the pressure values ​​corresponding to the same cleaning position point in the pressure value sequence on the same cleaning line is determined;

[0088] Between all two adjacent cleaning cycles, determine the difference value of the average local pressure anomaly degree corresponding to the pressure values at the same cleaning position points in the same cleaning line in the pressure value sequence;

[0089] Perform negative correlation normalization processing on the difference value of the average local pressure anomaly degree, so as to obtain the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0090] For the above steps, for each cleaning cycle, since each pressure value in the pressure value sequence corresponding to the same cleaning line, that is, the same capacitive pressure sensor 17, corresponds to a cleaning position point, and the pressure values with the same serial number in these pressure value sequences correspond to the same cleaning position point, therefore, for the initial 5 cleaning cycles, obtain the difference in the local pressure anomaly degree corresponding to the pressure values at the same cleaning position points in the pressure value sequences corresponding to the adjacent j-th and j + 1-th cleaning cycles along the time sequence direction, that is, calculate the difference between the local pressure anomaly degree corresponding to any i-th pressure value in the pressure value sequence corresponding to the j-th cleaning cycle on this cleaning line and the local pressure anomaly degree corresponding to the i-th pressure value in the pressure value sequence corresponding to the j + 1-th cleaning cycle on this cleaning line, thereby obtaining the local pressure anomaly degree difference value . Calculate the average value of the local pressure anomaly degree difference values corresponding to the i-th pressure value in the pressure value sequence corresponding to this cleaning line between all adjacent two cleaning cycles, obtain the average local pressure anomaly degree difference value, and perform negative correlation normalization processing on the average local pressure anomaly degree difference value, so as to obtain the cleaning difficulty of each cleaning position point on this cleaning line.

[0091] In the embodiment of the present invention, the calculation formula for determining the cleaning difficulty of each cleaning position point on each cleaning line in the current pipeline cleaning section is:

[0092] ;

[0093] Wherein, represents the cleaning difficulty of the cleaning position point corresponding to the i-th pressure value in each pressure value sequence corresponding to each cleaning line in the current pipeline cleaning section; represents the difference between the local pressure anomaly degree corresponding to the i-th pressure value in the pressure value sequence corresponding to the j-th cleaning cycle on each cleaning line in the current pipeline cleaning section and the local pressure anomaly degree corresponding to the i-th pressure value in the pressure value sequence corresponding to the j + 1-th cleaning cycle on this cleaning line, that is, the local pressure anomaly degree difference value between the i-th pressure values in the pressure value sequences corresponding to the j-th and j + 1-th cleaning cycles on this cleaning line; D represents the number of cleaning cycles, that is, the preset minimum value; represents the normalization function; A correction parameter is used to prevent the denominator from being zero. In the embodiments of the present invention, .

[0094] In the above calculation formula, by taking the average of the local pressure anomaly degree difference values corresponding to the pressure value sequences of all cleaning cycles at the same cleaning position point, the average local pressure anomaly degree difference value is obtained. , when this value is smaller, it indicates that the change range of the local pressure anomaly degree at this cleaning position point is smaller. Therefore, for the average local pressure anomaly degree difference value and the correction parameter After adding them and taking the reciprocal to modify the logic, and then normalizing based on the norm function, the cleaning difficulty is obtained . The larger this value is, the greater the cleaning difficulty for this cleaning position point.

[0095] Step S4: In the same cleaning cycle, according to the difference in the local pressure anomaly degree corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and each other cleaning line, determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0096] During the process of cleaning the water pipe using the above cleaning device, since water needs to be continuously pumped into the pipeline, theoretically, when the pipeline is completely filled with water, the influence of the water flow on the pressure sensor can be ignored. However, since the support umbrella structure corresponding to the cleaning mechanism 2 is not a streamlined body, the change of the water flow is random due to the structural influence during the pulling process. It will cause turbulence in the water body around the hydrophobic hole 16 and the annular mesh umbrella surface 15, resulting in uneven pressure exerted by the support umbrella structure on the pipe wall. It may cause similar pressure mutations in the pressure data corresponding to a single sensor, resulting in the distortion of the calculated cleaning difficulty above, and further affecting the regulation of the final cycle. Therefore, it is necessary to correct the calculated cleaning difficulty above.

[0097] According to the design of the support umbrella structure corresponding to the cleaning mechanism 2 and the prior knowledge of force conduction above, in the same cleaning cycle, assuming that there is dirt with a higher cleaning difficulty on one side of the capacitive pressure sensor, the capacitive pressure sensor on the opposite side will also be affected by the sudden increase in pressure on the current side; compared with the influence of the water flow on the pressure, the pressure change generated by it is evenly generated on each sensor; therefore, based on this characteristic, the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section can be analyzed.

[0098] In the embodiments of the present invention, to determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section, the implementation steps include:

[0099] In the same cleaning cycle, according to the difference in the degree of local pressure anomaly corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and every other cleaning line, determine the change difference in the degree of local pressure anomaly corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and every other cleaning line;

[0100] In the same cleaning cycle, according to the change difference in the degree of local pressure anomaly corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and its symmetric cleaning line, and the discrete situation of the change difference in the degree of local pressure anomaly corresponding to the pressure values at the same sampling moment in the pressure value sequences between each cleaning line and every other cleaning line, determine the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle;

[0101] According to the average distribution of the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in all cleaning cycles, determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

[0102] For the above steps, first number the 8 capacitive pressure sensors 17 arranged on the connecting shaft 13 in the support umbrella structure corresponding to the cleaning mechanism 2 in the counterclockwise order. Any sensor can be arbitrarily selected as the starting position of the numbering, so that the numbers of the 8 capacitive pressure sensors 17 can be determined. The value range of the numbers is 1-8. From the distribution positions of the 8 capacitive pressure sensors 17, for the capacitive pressure sensor 17 with the current number q, then the number of the capacitive pressure sensor 17 on its symmetric side is ,the value of which is q + 4 or q - 4. Among them, when q ≤ 4, then the number of the capacitive pressure sensor 17 on the symmetric side of the capacitive pressure sensor 17 with the current number q is q + 4, otherwise the number of the capacitive pressure sensor 17 on the symmetric side of the capacitive pressure sensor 17 with the current number q is q - 4. Obtain the absolute value of the difference in the degree of local pressure anomaly corresponding to the cleaning position points of the pressure values at the same position (i.e., the same sampling moment) in the pressure value sequences within the same cleaning cycle between the capacitive pressure sensor 17 with the current number q and the capacitive pressure sensor 17 on its symmetric side, thereby obtaining the change difference in the degree of local pressure anomaly , represents the cleaning position point corresponding to the i-th pressure value in the pressure value sequence on the cleaning line corresponding to the capacitive pressure sensor 17 with the number q in the j-th cleaning cycle, and the number of the symmetric side is The difference in the change of the local pressure anomaly degree between the cleaning position points corresponding to the i-th pressure value in the pressure value sequence on the cleaning line corresponding to the capacitive pressure sensor 17. The smaller the value of this difference in the change of the local pressure anomaly degree is, the closer the local pressure anomaly degrees of the two cleaning position points corresponding to the same sampling moment are, and the higher the consistency of the pressure data changes of the two cleaning position points corresponding to the same sampling moment.

[0103] According to the same calculation method as above, obtain the difference in the change of the local pressure anomaly degree between the cleaning position points corresponding to the pressure values at the same position (i.e., the same sampling moment) in the pressure value sequences within the same cleaning period between the currently labeled capacitive pressure sensor 17 and each of its capacitive pressure sensors 17. Thus, a set of differences in the change of the local pressure anomaly degree corresponding to the cleaning position points corresponding to the i-th pressure value in the pressure value sequence on the cleaning line corresponding to the currently labeled capacitive pressure sensor 17 can be obtained. Obtain the variance of all the differences in the change of the local pressure anomaly degree in this set of differences in the change of the local pressure anomaly degree, and thus obtain the discrete index of the difference in the change of the local pressure anomaly degree , represents the variance of the difference in the change of the local pressure anomaly degree between the cleaning position points corresponding to the i-th pressure value in the pressure value sequence on the cleaning line corresponding to the capacitive pressure sensor 17 labeled q in the j-th cleaning period and the cleaning position points corresponding to the i-th pressure value in the pressure value sequences on the cleaning lines corresponding to each of the other capacitive pressure sensors 17, that is, the discrete index of the difference in the change of the local pressure anomaly degree. The smaller the value of this discrete index of the difference in the change of the local pressure anomaly degree, the higher the consistency of the pressure data changes at each cleaning position point of each capacitive pressure sensor 17 at the same sampling moment.

[0104] On this basis, in the same cleaning period, for the currently labeled capacitive pressure sensor 17, with this capacitive pressure sensor 17 and its symmetric side labeled The consistency of the pressure data changes at the same sampling moment between the capacitive pressure sensors 17 is used as the main reference object to reflect the consistency of the data performance when affected by irregular dirt. At the same time, the consistency of the pressure data changes at each cleaning position point of each capacitive pressure sensor 17 at the same sampling moment is used as the secondary reference object to reflect the consistency of the data performance when affected by water flow. Thus, the authenticity of the sub-cleaning difficulty of each cleaning position point corresponding to each pressure value in the pressure value sequence of the capacitive pressure sensor 17 with the current label q in the current pipeline cleaning section in each cleaning cycle can be obtained. Since the capacitive pressure sensor 17 with the current label q corresponds to the qth cleaning line, the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle can be determined.

[0105] In the embodiment of the present invention, to determine the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle, the corresponding calculation formula is:

[0106] ;

[0107] Wherein, represents the authenticity of the sub-cleaning difficulty corresponding to the ith cleaning position point on the qth cleaning line in the current pipeline cleaning section in the jth cleaning cycle; represents the discrete index of the change difference in the local pressure anomaly degree corresponding to the ith cleaning position point on the qth cleaning line in the current pipeline cleaning section in the jth cleaning cycle. This discrete index of the change difference in the local pressure anomaly degree is actually a variance value; represents the ith cleaning position point on the qth cleaning line in the current pipeline cleaning section in the jth cleaning cycle, and the th cleaning line, and the change difference in the local pressure anomaly degree between the ith cleaning position points. That is, in the current pipeline cleaning section, the change difference in the local pressure anomaly degree between the cleaning position point corresponding to the ith pressure value in the pressure value sequence on the cleaning line corresponding to the capacitive pressure sensor 17 with the label q in the jth cleaning cycle and the cleaning position point corresponding to the ith pressure value in the pressure value sequence on the cleaning line corresponding to the capacitive pressure sensor 17 with the label ; represents the adjustment coefficient, which is used to prevent the denominator from being 0. In the embodiment of the present invention, .

[0108] In the above calculation formula, if the pressure value data collected by the capacitive pressure sensor 17 at the cleaning position point corresponding to the current collection moment is a pressure surge caused by dirt, then will have a smaller value, and The value of will be relatively large; on the contrary, if the pressure surge is caused by the influence of water flow, then the value of will be relatively large, while the value of will be relatively small. Based on this logic, the authenticity of the cleaning difficulty at the cleaning position point can be obtained.

[0109] Traverse the initially preset minimum number of cleaning cycles, that is, 5 cleaning cycles, when cleaning the current pipeline cleaning section, and determine the average value of the sub-cleaning difficulty authenticity corresponding to the i-th cleaning position point on the q-th cleaning line in the current pipeline cleaning section, so as to obtain the final cleaning difficulty authenticity corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section. This final cleaning difficulty authenticity characterizes the authenticity level of the cleaning difficulty of the corresponding cleaning position point.

[0110] Step S5: According to the cleaning difficulty and the authenticity of the cleaning difficulty, determine the cleaning difficulty index of the current pipeline cleaning section, and according to the cleaning difficulty index, determine the number of cleaning cycles that still need to be carried out for the current pipeline cleaning section.

[0111] Based on the cleaning difficulty and the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section determined above, use the authenticity of the cleaning difficulty corresponding to each cleaning position point to weight and correct the cleaning difficulty of this cleaning position point, so as to obtain the corrected cleaning difficulty of this cleaning position point, that is, calculate the product value of the cleaning difficulty and the authenticity of the cleaning difficulty corresponding to each cleaning position point, and use this product value as the corrected cleaning difficulty of this cleaning position point.

[0112] Considering that the higher the cleaning difficulty, the more cleaning cycles are required. In order to determine the number of cleaning cycles that still need to be carried out for the current pipeline cleaning section, set the maximum number of cleaning cycles , and the embodiments of the present invention set this maximum number of cleaning cycles . According to the overall distribution level of the corrected cleaning difficulties corresponding to all cleaning position points on all cleaning lines in the current pipeline cleaning section, obtain the average value of the corrected cleaning difficulties corresponding to all cleaning position points on all cleaning lines, get the average corrected cleaning difficulty, and normalize the average corrected cleaning difficulty by using the norm function, so as to obtain the cleaning difficulty index of the current pipeline cleaning section. This cleaning difficulty index reflects the overall cleaning difficulty of the dirt in the current pipeline cleaning section. Furthermore, according to the difference between the maximum number of cleaning cycles and the above preset minimum value D, and the cleaning difficulty index, determine the number of cleaning cycles that still need to be carried out for the current pipeline cleaning section.

[0113] In the embodiment of the present invention, the number of cleaning cycles for determining that the current pipeline cleaning section still needs to be cleaned is calculated by the following formula:

[0114] ;

[0115] Wherein, represents the number of cleaning cycles for determining that the current pipeline cleaning section still needs to be cleaned; represents the maximum number of cleaning cycles; D represents the preset minimum value; represents the cleaning difficulty index of the current pipeline cleaning section; represents the rounding function.

[0116] In the above calculation formula, by obtaining the difference between the maximum number of cleaning cycles and the preset minimum value , the remaining adjustable number of cleaning cycles is obtained, and the cleaning difficulty index of the current pipeline cleaning section is used to weight the remaining adjustable number of cleaning cycles, and the final weighted result is rounded to obtain the remaining number of cleaning times of the current pipeline cleaning section.

[0117] After determining the number of cleaning cycles for determining that the current pipeline cleaning section still needs to be cleaned by the above method, the integrated control unit 27 in the driving mechanism 1 of the cleaning device will control the cleaning mechanism 2 by driving the servo motor 25 to continue cleaning the current pipeline cleaning section, and the number of cleaning cycles for continuing cleaning is the number of cleaning cycles for determining that the current pipeline cleaning section still needs to be cleaned as described above, and finally the cleaning work of the current pipeline cleaning section is completed. After the cleaning of the current pipeline cleaning section is completed, in the same way, other pipeline cleaning sections of the water pipe are cleaned, and finally the cleaning work of the entire water pipe is completed.

[0118] Based on the same inventive concept, the embodiment of the present invention also provides a building water supply and drainage pipeline cleaning method applied to the above-mentioned building water supply and drainage pipeline cleaning device, and the method includes the following steps:

[0119] According to the pressure values of each pressure sensor at each sampling moment within the initial preset minimum number of cleaning cycles when cleaning the current pipeline cleaning section, a pressure value sequence on the cleaning line corresponding to each pressure sensor for each cleaning cycle is obtained, and each pressure value in the pressure value sequence corresponds to a cleaning position point on the corresponding cleaning line in the current pipeline cleaning section;

[0120] In the pressure value sequence, according to the difference between each pressure value and its adjacent pressures, and the pressure value fluctuation condition of the local sequence segment corresponding to each pressure value, the local pressure abnormality degree corresponding to each pressure value is determined;

[0121] Between adjacent cleaning cycles, according to the difference in the degree of local pressure anomaly corresponding to the pressure values at the same cleaning position points in the pressure value sequence corresponding to the same cleaning line in the current pipeline cleaning section, determine the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section;

[0122] In the same cleaning cycle, according to the difference in the degree of local pressure anomaly corresponding to the pressure values at the same sampling moment in the pressure value sequence between each cleaning line and each other cleaning line, determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section;

[0123] According to the cleaning difficulty and the authenticity of the cleaning difficulty, determine the cleaning difficulty index of the current pipeline cleaning section, and according to the cleaning difficulty index, determine the number of cleaning cycles that still need to be carried out on the current pipeline cleaning section.

[0124] Based on the same inventive concept, an embodiment of the present invention further provides a water pipe cleaning system for building water supply and drainage, as Figure 7 shown. The control system includes: a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and running on the processor 702. Wherein, when the processor 702 executes the computer program 703, the system can execute the steps of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in any one of the foregoing water pipe cleaning devices for building water supply and drainage.

[0125] An embodiment of the present invention can perform a functional module division on the system according to the above method example. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0126] Based on the same inventive concept, an embodiment of the present invention further provides a computer program product, which includes: computer program code. When the computer program code runs on a computer, the computer executes the steps of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in any one of the foregoing water pipe cleaning devices for building water supply and drainage.

[0127] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer is caused to execute the step of determining the total number of cleaning cycles for cleaning each pipeline cleaning section in any of the aforementioned building water supply and drainage pipeline cleaning devices.

[0128] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for cleaning water pipes for building water supply and drainage, characterized in that: The method comprises the following steps: According to the pressure values ​​of each pressure sensor at each sampling time in the initial preset minimum cleaning cycle when cleaning the current pipeline cleaning section, a pressure value sequence on the cleaning line corresponding to each pressure sensor in each cleaning cycle is obtained, and each pressure value in the pressure value sequence corresponds to a cleaning position point on the corresponding cleaning line in the current pipeline cleaning section; In the pressure value sequence, the degree of abnormality of the local pressure corresponding to each pressure value is determined according to the difference between each pressure value and its adjacent pressures and the pressure value fluctuation of the local sequence segment corresponding to each pressure value; Between adjacent cleaning cycles, the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined according to the difference in the degree of local pressure anomaly corresponding to the pressure value of the same cleaning position point in the corresponding pressure value sequence on the same cleaning line; In the same cleaning cycle, the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined according to the difference in the degree of local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and other cleaning lines; Determine the cleaning difficulty index of the current pipeline cleaning section according to the cleaning difficulty and the authenticity of the cleaning difficulty, and determine the number of cleaning cycles that still need to be performed on the current pipeline cleaning section according to the cleaning difficulty index; The method is applied to a building water supply and drainage water pipe cleaning device, which includes a cleaning mechanism and a driving mechanism, wherein the driving mechanism is used to drive the cleaning mechanism to perform periodic reciprocating movement in each pipeline cleaning section to clean each pipeline cleaning section; the cleaning mechanism includes a supporting main pole and a conical umbrella surface, one end of the supporting main pole is connected to the driving mechanism, and the other end of the supporting main pole is fixedly connected to the middle of the conical umbrella surface, and water-repellent holes are evenly arranged on the conical umbrella surface, and an umbrella rib structure is provided between the supporting main pole and the conical umbrella surface, and the umbrella rib structure can open the conical umbrella surface to different bottom surface radii, and the umbrella rib structure is provided with a flexible brush for cleaning the pipeline wall near the outer peripheral edge of the conical umbrella surface, and a pressure sensor for collecting the pressure value of the periodic reciprocating movement process of the cleaning mechanism is evenly distributed along the pipeline cross section under the flexible brush; a control unit is provided in the driving mechanism, and the control unit is used to sample the connected pressure sensor to obtain pressure value data, and determine the total number of cleaning cycles for cleaning each pipeline cleaning section according to the pressure value data.

2. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: The umbrella rib structure includes a bottom slide, a first connecting spring, a fulcrum slide, a second connecting spring, a main umbrella rib and an umbrella surface supporting frame, the elastic coefficient of the second connecting spring is greater than the elastic coefficient of the first connecting spring; the bottom slide and the fulcrum slide can move back and forth along the axial direction of the supporting main rod, the bottom slide and the fulcrum slide are connected by the first connecting spring, an umbrella core shaft is provided at one end of the supporting main rod close to the conical umbrella surface, and the fulcrum slide is connected to the umbrella core shaft by the second connecting spring; a plurality of retractable buckles distributed along the axial direction are provided on the supporting main rod, and the bottom slide is provided with a retractable buckle connected to the retractable buckle The bottom slide seat is locked in position by a plurality of retractable buckles; there are a plurality of umbrella support frames, one end of which is connected to the edge of the conical umbrella surface, and the other end of which is fixedly connected to the umbrella core shaft; there are a plurality of main umbrella ribs, which are evenly distributed in the circumferential direction of the supporting main rod, one end of which is fixedly connected to the fulcrum slide seat, and the other end of which is fixedly connected to one end of the umbrella support frame close to the edge of the conical umbrella surface through a connecting shaft, and a flexible brush is arranged on the connecting shaft fixedly connecting the main umbrella ribs and the umbrella support frame.

3. A method for cleaning water pipes for building water supply and drainage according to claim 2, characterized in that: The first connecting spring and the second connecting spring are both wrapped with elastic and retractable anti-fouling leather covers, and a rubber impact shield is arranged on the top of one end of the supporting main rod close to the conical umbrella surface.

4. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: Determine the degree of local pressure abnormality corresponding to each pressure value, including: According to the difference between each pressure value and its adjacent pressures, the average pressure value difference corresponding to each pressure value is determined; Determine the range of all pressure values ​​in the local sequence segment corresponding to each pressure value, and determine the degree of local pressure anomaly corresponding to each pressure value based on the difference between the range and the average pressure value. The difference between the range and the average pressure value is positively correlated with the degree of local pressure anomaly.

5. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: Determine the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section, including: Between every two adjacent cleaning cycles, according to the difference in the degree of local pressure anomaly corresponding to the pressure value at the same cleaning position point in the corresponding pressure value sequence on the same cleaning line, the difference value of the degree of local pressure anomaly corresponding to the pressure value at the same cleaning position point in the corresponding pressure value sequence on the same cleaning line is determined; Between all two adjacent cleaning cycles, determine the average local pressure abnormality difference value corresponding to the pressure value of the same cleaning position point in the corresponding pressure value sequence on the same cleaning line; The average local pressure abnormality difference values ​​are negatively correlated and normalized to obtain the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section.

6. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: Determine the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section, including: In the same cleaning cycle, according to the difference in the degree of local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and each other cleaning line, the difference in the change of the local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and each other cleaning line is determined; In the same cleaning cycle, according to the difference in the degree of change of the local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and its symmetrical cleaning line, and the discrete situation of the difference in the degree of change of the local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and each other cleaning line, the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle is determined; According to the average distribution of the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in all cleaning cycles, the authenticity of the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section is determined.

7. A method for cleaning water pipes for building water supply and drainage according to claim 6, characterized in that: Determine the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle, including: In the same cleaning cycle, the variance of the difference in the degree of change of the local pressure anomaly corresponding to the pressure value at the same sampling time in the pressure value sequence between each cleaning line and other cleaning lines is determined to obtain a discrete index of the difference in the degree of change of the local pressure anomaly; In the same cleaning cycle, the sum of the difference in the change in the degree of local pressure anomaly corresponding to the pressure value at each sampling moment in the pressure value sequence corresponding to each cleaning line and the adjustment coefficient is determined, and the ratio of the discrete index of the difference in the change in the degree of local pressure anomaly corresponding to the pressure value at each sampling moment in the pressure value sequence corresponding to each cleaning line to the corresponding sum is calculated, so as to obtain the authenticity of the sub-cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section in each cleaning cycle.

8. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: Determine the cleaning difficulty index of the current pipeline cleaning section, including: Determine the corrected cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section according to the cleaning difficulty corresponding to each cleaning position point on each cleaning line in the current pipeline cleaning section and the authenticity of the cleaning difficulty; The cleaning difficulty index of the current pipeline cleaning section is determined according to the overall distribution level of the corrected cleaning difficulty corresponding to all cleaning position points on all cleaning routes in the current pipeline cleaning section.

9. A method for cleaning water pipes for building water supply and drainage according to claim 1, characterized in that: Determine the number of cleaning cycles that still need to be performed on the current pipeline cleaning section, including: The difference between the maximum number of cleaning cycles and the preset minimum value is calculated, and the product value is rounded to an integer, and the rounded result is used as the number of cleaning cycles that still need to be cleaned for the current pipeline cleaning section.

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