Pipeline dredging robot and method for measuring sludge in pipeline

Abstract

The invention discloses a pipeline dredging robot and a method for measuring sludge in a pipeline, and relates to the technical field of pipeline cleaning.The pipeline dredging robot comprises a rack, a walking mechanism, a driving mechanism, a sludge measuring mechanism and a control mechanism, the driving mechanism comprises a first driving assembly, and the first driving assembly is installed on the rack; the first driving assembly is in driving connection with the silt measuring mechanism, the silt measuring mechanism comprises at least two distance measuring sensors, the two distance measuring sensors are used for measuring the distance between the inner wall of the pipeline and the distance measuring sensors respectively, and the other distance measuring sensor is used for measuring the distance between silt and the distance measuring sensors. According to the technical scheme provided by the invention, the driving mechanism drives the silt measuring mechanism to rotate in the pipeline, so that the silt measuring mechanism can accurately obtain the silt deposition information in the pipeline, the silt deposition amount in the pipeline can be accurately obtained, the comprehensiveness of pipeline detection data is improved, and the accuracy of the measurement data is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline cleaning, and in particular to a pipeline silt cleaning robot and a method for measuring silt in a pipeline. Background Art

[0002] As pipelines are used for a long time, silt tends to accumulate inside the pipelines. However, existing robots find it difficult to enter pipelines to measure the amount of silt accumulated inside the pipelines, and thus are unable to effectively obtain information on silt deposition in pipelines, making it impossible to accurately assess the siltation in pipelines, which is not conducive to dredging the pipelines. Summary of the invention

[0003] The main purpose of the present invention is to propose a pipeline dredging robot and a method for measuring sludge in a pipeline, which aims to drive a sludge measuring mechanism to rotate in the pipeline through a driving mechanism, so that the sludge measuring mechanism can accurately obtain sludge deposition information inside the pipeline, so as to accurately obtain the sludge accumulation amount inside the pipeline, thereby improving the comprehensiveness of pipeline detection data and ensuring the accuracy of measurement data.

[0004] To achieve the above object, the pipeline desilting robot proposed in the present invention comprises:

[0005] frame;

[0006] A walking mechanism, wherein the walking mechanism is mounted on the frame;

[0007] A driving mechanism, the driving mechanism comprising a first driving assembly, the first driving assembly being mounted on the frame;

[0008] A siltation measuring mechanism, wherein the siltation measuring mechanism is mounted on the frame, the first driving assembly is drivingly connected to the siltation measuring mechanism, and the siltation measuring mechanism comprises at least two distance measuring sensors, wherein the two distance measuring sensors are respectively used to measure the distance between the inner wall of the pipeline and the distance measuring sensors, and the other distance measuring sensor is used to measure the distance between the silt and the distance measuring sensor; and

[0009] A control mechanism is installed on the frame and located on one side of the first driving assembly. The control mechanism is electrically connected to the walking mechanism, the first driving assembly and the siltation measuring mechanism to control the first driving assembly to drive the siltation measuring mechanism to rotate.

[0010] In one embodiment, the driving mechanism further comprises a rotating member, which is rotatably mounted on the frame and is located on one side of the first driving assembly;

[0011] The pipeline dredging robot also includes a dredging mechanism, the rotating member is connected to one side of the dredging mechanism, the first driving component is drivingly connected to the other side of the dredging mechanism, the dredging mechanism rotates with the rotating member under the drive of the first driving component to rise or fall relative to the frame, and at least two of the ranging sensors are installed on the dredging mechanism at intervals.

[0012] In one embodiment, the dredging mechanism includes a mounting plate, a dredging assembly and a sewage suction assembly, the rotating member is connected to the sewage suction assembly on a side away from the frame, the mounting plate is arranged on a side of the sewage suction assembly away from the frame, the dredging assembly is installed on the mounting plate, at least two of the ranging sensors are installed on the mounting plate at intervals, and the first driving assembly is drivingly connected to the mounting plate.

[0013] In one embodiment, the dredging assembly includes a connecting shell, a second driving member and two spirally connected members, the connecting shell is connected to the mounting plate, the second driving member is arranged in the connecting shell, the two spirally connected members are respectively arranged on both sides of the connecting shell, and the second driving member is respectively driven and connected to the two spirally connected members.

[0014] In one embodiment, the outer peripheral wall of each spiral twisted element is provided with a plurality of twist teeth arranged at intervals.

[0015] In one embodiment, the first driving assembly includes a first mounting seat, a second mounting seat and a first driving member, the first mounting seat is mounted on the frame, the second mounting seat is mounted on the mounting plate, one side of the first driving member is connected to the first mounting seat, and the other side of the first driving member is connected to the second mounting seat.

[0016] In one embodiment, the silt measuring mechanism also includes a connecting plate, one side of the connecting plate is connected to the mounting plate, the connecting plate is provided with two spaced-apart distance measuring sensors on the side facing the inner wall of the pipe, and the connecting plate is provided with one distance measuring sensor on the side facing the silt.

[0017] The present invention also proposes a method for measuring sludge in a pipeline, which is applied to the pipeline desilting robot as described in any one of the above items. The method for measuring sludge in a pipeline comprises the following steps:

[0018] Control the walking mechanism to load the silt removal mechanism and the silt measuring mechanism into the pipeline;

[0019] Controlling the first driving assembly to rotate so that two of the distance measuring sensors face the inner wall of the pipe, and the distances to the inner wall of the pipe measured by the two distance measuring sensors are AM, or the distances to the inner wall of the pipe measured by the two distance measuring sensors are BN, and at the same time, the other distance measuring sensor faces the direction of the sludge, and the distance to the sludge measured by the distance measuring sensor is BP;

[0020] The thickness of the silt is obtained based on AM, BN and BP.

[0021] In one embodiment, assuming that the pipe is square at this time, step 2 includes:

[0022] Define that when the first driving component rotates for the first time, the distances between the two distance measuring sensors and the inner wall of the pipe are A1M1 and B1N1 respectively, and control the first driving component to rotate for the second time so that AM1 is equal to BN1, and at this time, the distance between the other distance measuring sensor and the sludge is B1P1;

[0023] Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors is PH1, PH1 = A1M1 = B1N1;

[0024] Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the width of the pipeline as w, and defining the travel distance of the walking mechanism as d, then t=H-A1M1(B1N1)-B1P1;

[0025] According to the formula of cross-sectional area S=d·t and the formula of volume V=S·w, the amount of sludge accumulation in the pipeline can be obtained.

[0026] In one embodiment, assuming that the pipe is circular at this time, step 2 includes:

[0027] Define that when the first driving component rotates for the first time, the distances between the two distance measuring sensors and the inner wall of the pipe are A2M2 and B2N2 respectively, and control the first driving component to rotate for the second time so that A2M2 is equal to B2N2, and at this time, the distance between the other distance measuring sensor and the sludge is B2P2;

[0028] Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors is PH2, PH2 = A2M2 = B2N2;

[0029] Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the radius of the pipeline as r, and the travel distance of the walking mechanism as d, then t=H-A2M2(B2N12)-B2P2;

[0030] By using the radius r and thickness t, according to the formula of the central angle θ and cross-sectional area formula Calculate the cross-sectional area of ​​the sludge, and then use the volume formula V=S·d to obtain the amount of sludge accumulated in the pipeline.

[0031] The technical solution of the present invention drives the silt measuring mechanism to rotate in the pipeline through a driving mechanism, so that the silt measuring mechanism can accurately obtain the silt deposition information inside the pipeline, so as to accurately obtain the silt accumulation amount inside the pipeline, thereby improving the comprehensiveness of the pipeline detection data and ensuring the accuracy of the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0033] Figure 1 A schematic structural diagram of an embodiment of a pipeline desilting robot provided by the present invention;

[0034] Figure 2 A schematic diagram of the structure of a dredging component of an embodiment of a pipeline dredging robot provided by the present invention;

[0035] Figure 3 This is a rendering of an embodiment of a pipeline desilting robot provided by the present invention;

[0036] Figure 4 This is a rendering of another embodiment of the pipeline dredging robot provided by the present invention;

[0037] Figure 5 The present invention provides a flow chart of the method for measuring sludge in a pipeline.

[0038] Description of Figure Numbers:

[0039] 100. Pipeline dredging robot; 1. Frame; 2. Traveling mechanism; 3. Driving mechanism; 31. First driving assembly; 311. First mounting seat; 312. Second mounting seat; 313. First driving member; 32. Rotating member; 4. Sedimentation measuring mechanism; 41. Distance measuring sensor; 42. Connecting plate; 5. Control mechanism; 6. Dredging mechanism; 61. Mounting plate; 62. Dredging assembly; 621. Connecting shell; 622. Spiral twisted piece; 6221. Twist teeth; 63. Sewage suction assembly; 631. Sewage suction pipe; 632. Sewage suction head; 633. Diverter plate; 6331. Diverter hole; 7. Camera; 8. Light.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The present invention proposes a pipeline silt cleaning robot and a method for measuring silt in a pipeline, aiming to drive a silt measuring mechanism to rotate in a pipeline through a driving mechanism, so that the silt measuring mechanism can accurately obtain silt deposition information inside the pipeline, so as to accurately obtain the silt accumulation amount inside the pipeline, thereby improving the comprehensiveness of pipeline detection data and ensuring the accuracy of measurement data.

[0045] See also Figures 1 to 5 In one embodiment of the present invention, the pipeline desilting robot 100 includes:

[0046] Rack 1;

[0047] A walking mechanism 2, wherein the walking mechanism 2 is mounted on the frame 1;

[0048] A driving mechanism 3, wherein the driving mechanism 3 comprises a first driving assembly 31, and the first driving assembly 31 is mounted on the frame 1;

[0049] A siltation measuring mechanism 4, wherein the siltation measuring mechanism 4 is mounted on the frame 1, the first driving assembly 31 is drivingly connected to the siltation measuring mechanism 4, and the siltation measuring mechanism 4 comprises at least two distance measuring sensors 41, wherein the two distance measuring sensors 41 are respectively used to measure the distance between the inner wall of the pipe and the distance measuring sensors 41, and the other distance measuring sensor 41 is used to measure the distance between the silt and the distance measuring sensor 41; and

[0050] A control mechanism 5 is installed on the frame 1 and is located on one side of the first driving assembly 31. The control mechanism 5 is electrically connected to the walking mechanism 2, the first driving assembly 31 and the siltation measuring mechanism 4 to control the first driving assembly 31 to drive the siltation measuring mechanism 4 to rotate.

[0051] In this embodiment, the pipeline dredging robot 100 includes a frame 1, a walking mechanism 2, a driving mechanism 3, a siltation measuring mechanism 4 and a control mechanism 5. The driving mechanism 3 includes a first driving component 31, and the first driving component 31 is installed on the frame 1; the siltation measuring mechanism 4 is installed on the frame 1, and the first driving component 31 drives the siltation measuring mechanism 4 connected to rotate in the pipeline, so that the siltation measuring mechanism 4 can more comprehensively detect the internal condition of the pipeline, and then the siltation measuring mechanism 4 can accurately and effectively measure the silt deposition information inside the pipeline, so as to accurately obtain the siltation amount inside the pipeline, thereby improving the comprehensiveness of the pipeline detection data, thereby ensuring the accuracy of the measurement data.

[0052] Specifically, in order to improve the measurement accuracy of the silt measuring mechanism 4, the silt measuring mechanism 4 includes at least two distance measuring sensors 41, for example, two, three or more than three, and two of the distance measuring sensors 41 are respectively used to measure the distance between the inner wall of the pipeline and the distance measuring sensor 41, and the other distance measuring sensor 41 is used to measure the distance between the sludge and the distance measuring sensor 41. At the same time, the three distance measuring sensors 41 can smoothly rotate in the pipeline under the drive of the first driving component 31, toward the inner wall of the pipeline or toward the sludge, so as to obtain the distance from the inner wall of the pipeline to the distance measuring sensor 41 and the distance from the distance measuring sensor 41 to the sludge. Therefore, the siltation amount of the sludge inside the pipeline is measured by at least two distance measuring sensors 41, so that the measured sludge data is more accurate.

[0053] Further, the pipeline desilting robot 100 also includes a control mechanism 5, which is installed on the frame 1 and located on one side of the first drive assembly 31. The control mechanism 5 is electrically connected to the walking mechanism 2, the first drive assembly 31 and the silt measuring mechanism 4 to control the first drive assembly 31 to drive the silt measuring mechanism 4 to rotate. The walking mechanism 2 is under the control of the control mechanism 5, and the walking mechanism 2 drives the driving mechanism 3 and the silt measuring mechanism 4 to enter the pipeline, and the control mechanism 5 also controls the first drive assembly 31 to drive the silt measuring mechanism 4 to rotate, so that the silt measuring mechanism 4 rotates in the pipeline and also measures the silt in the pipeline. It should be noted that the pipeline desilting robot 100 also includes an intelligent terminal and a cable, and the intelligent terminal and the control mechanism 5 are electrically connected to the cable, and the data measured by the silt measuring mechanism 4 can be transmitted back to the intelligent terminal through the cable. It should be further noted that the intelligent terminal can be an industrial computer, a laptop, a tablet computer or a mobile phone, which can provide a human-computer interaction interface to realize the robot's data collection reception and robot control.

[0054] It should be noted that the walking mechanism 2 is a prior art and is not limited in this application.

[0055] In one embodiment, see Figure 1 and Figure 2 , the driving mechanism 3 further includes a rotating member 32, the rotating member 32 is rotatably mounted on the frame 1 and is located on one side of the first driving assembly 31;

[0056] The pipeline dredging robot 100 also includes a dredging mechanism 6, the rotating member 32 is connected to one side of the dredging mechanism 6, and the first driving component 31 is drivingly connected to the other side of the dredging mechanism 6. The dredging mechanism 6 rotates with the rotating member 32 under the drive of the first driving component 31 to rise or fall relative to the frame 1. At least two ranging sensors 41 are installed at intervals on the dredging mechanism 6. The dredging mechanism 6 and the ranging mechanism are driven by the first driving component 31 to rise or fall relative to the frame 1 at the same time.

[0057] In this embodiment, the driving mechanism 3 further includes a rotating member 32, which is rotatably mounted on the frame 1 and is located on one side of the first driving assembly 31. At the same time, the pipeline dredging robot 100 further includes a dredging mechanism 6. It should be noted that there are two rotating members 32, which are relatively arranged on the frame 1, and each rotating member 32 is connected to one side of the dredging mechanism 6 on the side away from the frame 1. Therefore, the dredging mechanism 6 is driven by the first driving assembly 31 and rotates with the rotation of the rotating member 32 to rise or fall relative to the frame 1. Further, at least two distance measuring sensors 41 are installed at intervals on the dredging mechanism 6, and then when the dredging mechanism 6 rises or falls relative to the frame 1, at least two distance measuring sensors 41 also rise or fall relative to the frame 1.

[0058] In one embodiment, see Figure 1 and Figure 2 The dredging mechanism 6 includes a mounting plate 61, a dredging component 62 and a sewage suction component 63. The rotating member 32 is connected to the sewage suction component 63 on a side away from the frame 1. The mounting plate 61 is arranged on a side of the sewage suction component 63 away from the frame 1. The dredging component 62 is installed on the mounting plate 61. At least two of the distance measuring sensors 41 are installed on the mounting plate 61 at intervals. The first driving component 31 is drivingly connected to the mounting plate 61.

[0059] In this embodiment, the dredging mechanism 6 includes a mounting plate 61, a dredging assembly 62 and a dirt suction assembly 63, the rotating member 32 is connected to the dirt suction assembly 63 on the side away from the frame 1, the mounting plate 61 is arranged on the side of the dirt suction assembly 63 away from the frame 1, and the dredging assembly 62 is mounted on the mounting plate 61, and at least two distance sensors 41 are arranged on the mounting plate 61 at intervals and are located on one side of the dredging assembly 62, and at the same time, the first driving assembly 31 is driven and connected to the mounting plate 61 to drive the dredging assembly 62 and the dirt suction assembly 63 to rise or fall relative to the frame 1, so as to perform large-scale dredging and realize the cleaning of the siltation in the pipeline. When the dredging assembly 62 rises or falls relative to the frame 1, at least two distance sensors 41 also rise or fall relative to the frame 1, so that the distance sensors 41 can accurately obtain the required data. Specifically, the dredging component 62 is used to break up the sludge, and the sewage suction component 63 is used to discharge the sludge, that is, the sludge in the pipeline is first broken up and stirred by the dredging component 62, and then discharged to the outside through the sewage suction component 63.

[0060] Furthermore, the sewage suction component 63 includes a sewage suction pipe 631 and a sewage suction head 632. The sewage suction pipe 631 is installed on the frame 1. The two rotating parts 32 are respectively arranged on both sides of the sewage suction pipe 631, and one end of the sewage suction pipe 631 is connected to the sewage suction head 632. The sewage suction head 632 is arranged close to the dredging component 62. The other end of the sewage suction pipe 631 is connected to the outside world to discharge the sludge. Through the sewage suction pipe 631 and the sewage suction head 632, the dredging robot can quickly and efficiently transport the excavated sludge to the designated location, greatly improving the work efficiency. It should be noted that the sewage suction component 63 also includes a diverter plate 633, which is arranged on the side of the sewage suction head 632 away from the sewage suction pipe 631, and a plurality of diverter holes 6331 arranged at intervals are provided on the diverter plate 633, so that the sludge can be smoothly discharged to the outside through the sewage suction head 632 and the sewage suction pipe 631 under the guidance of the plurality of diverter holes 6331. By providing a plurality of diverter holes 6331, it is effectively prevented that sludge blocks all the diverter holes 6331, so that the silt can pass smoothly.

[0061] In one embodiment, see Figure 1 and Figure 2 The dredging component 62 includes a connecting shell 621, a second driving member and two spiral members 622. The connecting shell 621 is connected to the mounting plate 61. The second driving member is arranged in the connecting shell 621. The two spiral members 622 are respectively arranged on both sides of the connecting shell 621. The second driving member is respectively driven and connected to the two spiral members 622, so that the spiral members 622 can break up and stir the accumulated silt, and facilitate the sewage suction component 63 to transport the silt.

[0062] In this embodiment, the dredging assembly 62 includes a connecting shell 621, a second driving member and a spiral member 622. The connecting shell 621 is connected to the mounting plate 61, the second driving member is arranged in the connecting shell 621, and the two spiral members 622 are respectively arranged on both sides of the connecting shell 621, and the two spiral members 622 are driven to rotate simultaneously by the second driving member. When the second driving member is started, the entire spiral member 622 will rotate accordingly, thereby effectively completing the dredging work. It should be noted that the second driving member is a prior art and is not limited in this application.

[0063] In one embodiment, see Figure 1 and Figure 2The outer peripheral wall of each of the spiral twisted elements 622 is provided with a plurality of spaced apart teeth 6221, and the plurality of teeth 6221 are evenly arranged in the extension direction of each spiral twisted element 622 away from the connecting shell 621, which not only increases the structural strength of the spiral twisted element 622, but also in actual work, they can better grasp and remove siltation. In this way, the working efficiency and effect of the dredging robot are significantly improved.

[0064] In one embodiment, see Figure 1 and Figure 2 The first driving assembly 31 includes a first mounting seat 311, a second mounting seat 312 and a first driving member 313. The first mounting seat 311 is mounted on the frame 1, and the second mounting seat 312 is mounted on the mounting plate 61. One side of the first driving member 313 is connected to the first mounting seat 311, and the other side of the first driving member 313 is connected to the second mounting seat 312. The dredging assembly 62 and the sewage suction assembly 63 are driven to rotate simultaneously by the first driving member 313, so that the dredging assembly 62 and the sewage suction assembly 63 can perform a wide range and multi-angle all-round dredging operation to realize the cleaning of silt in the pipeline. It should be noted that a pair of first mounting seats 311 and first driving members 313 are provided, and the two first mounting seats 311 are arranged opposite to each other on the frame 1, one end of each first driving member 313 is connected to each first mounting seat 311, and the other end of each first driving member 313 is connected to one side of the second mounting seat 312. It should be further noted that the first driving member 313 can be a driving member such as a hydraulic cylinder, a motor, or of course other driving members, and this application does not limit this.

[0065] In one embodiment, see Figure 1 and Figure 2 The silt measuring mechanism 4 also includes a connecting plate 42, one side of the connecting plate 42 is connected to the mounting plate 61, and the connecting plate 42 is provided with two spaced-apart distance measuring sensors 41 on the side facing the inner wall of the pipeline, and the two distance measuring sensors 41 are used to measure the distance between the silt and the distance measuring sensor 41, and the connecting plate 42 is provided with a distance measuring sensor 41 on the side facing the silt, and the distance measuring sensor 41 is used to measure the distance between the silt and the distance measuring sensor 41. By providing the connecting plate 42, it is convenient to install the distance measuring sensor rod on the mounting plate 61, and ensure that the first driving member 313 can smoothly drive the distance measuring sensor 41 to rotate in the pipeline while driving the silt removal component 62 and the sewage suction component 63 to rotate, so that the distance measuring sensor 41 can accurately measure the amount of silt accumulation inside the pipeline.

[0066] In one embodiment, see Figure 1 and Figure 2The pipeline desilting robot 100 also includes a camera 7 and a lighting lamp 8, which are installed on the frame 1 at intervals, and the control mechanism 5 is electrically connected to the camera 7 and the lighting lamp 8. By setting the camera 7, the specific situation in the pipeline can be obtained in all directions.

[0067] In this embodiment, in order to obtain the situation in the pipeline in real time, a camera 7 and a lighting lamp 8 are also included. The camera 7 and the lighting lamp 8 are installed at intervals on the frame 1. The control mechanism 5 is electrically connected to the camera 7 and the lighting lamp 8. When the walking mechanism 2 drives the control mechanism 5 and the frame 1 to enter the pipeline, the lighting lamp 8 provides lighting for the camera 7. The camera 7 is used to obtain the video image in the pipeline and send the video image to the smart terminal. The staff obtains the working conditions in the pipeline through the smart terminal and remotely controls the pipe network dredging robot to work according to the actual working conditions. By setting up the camera 7, the pipeline structure and surrounding conditions of the pipeline dredging can be fed back to the ground staff in real time, so that the pipeline dredging robot 100 has the effect of real-time feedback of the on-site conditions, further enhancing the dredging ability of the pipeline. It should be noted that the camera 7 is a waterproof camera 7.

[0068] The present invention also provides a method for measuring sludge in a pipeline, which is applied to the pipeline desilting robot 100 as described in any of the above items, see Figure 3 and Figure 5 , the method for measuring sludge in a pipeline comprises the following steps:

[0069] Control the walking mechanism 2 to load the silt removal mechanism 6 and the silt measuring mechanism 4 into the pipeline;

[0070] Controlling the first driving assembly 31 to rotate so that two of the distance measuring sensors 41 face the inner wall of the pipe, and the distances to the inner wall of the pipe measured by the two distance measuring sensors 41 are AM, or the distances to the inner wall of the pipe measured by the two distance measuring sensors 41 are BN, and at the same time, the other distance measuring sensor 41 faces the direction of the sludge, and the distance to the sludge measured by the distance measuring sensor 41 is BP;

[0071] The thickness of the silt is obtained based on AM, BN and BP.

[0072] When it is necessary to measure the amount of silt deposited in the pipeline, the control mechanism 5 controls the walking mechanism 2 to load the silt removal mechanism 6 and the silt measuring mechanism 4 to enter the pipeline. After entering the pipeline, the control device controls the first driving component 31 to rotate so that the two distance measuring sensors 41 face the inner wall of the pipeline, and the distances measured by the two distance measuring sensors 41 to the inner wall of the pipeline are set as AM or BN respectively. At the same time, the other distance measuring sensor 41 is driven by the first driving component 31 to face the direction of the silt, and the distance measured by the distance measuring sensor 41 to the silt is set as BP, and the thickness of the silt is obtained through these three data.

[0073] In one embodiment, see Figure 3 and Figure 5 , assuming that the pipe is square at this time, step 2 includes:

[0074] Define that when the first driving component 31 rotates for the first time, the distances between the two distance measuring sensors 41 and the inner wall of the pipe are A1M1 and B1N1 respectively, and control the first driving component 31 to rotate for the second time so that AM1 is equal to BN1, and at this time, the distance between the other distance measuring sensor and the sludge is B1P1;

[0075] Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors 41 is PH1, PH1 = A1M1 = B1N1;

[0076] Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the width of the pipeline as w, and defining the travel distance of the walking mechanism 2 as d, then t=H-A1M1(B1N1)-B1P1;

[0077] According to the formula of cross-sectional area S=d·t and the formula of volume V=S·w, the amount of sludge accumulation in the pipeline can be obtained.

[0078] Specifically, when the first driving component 31 rotates for the first time, the distances between the two distance measuring sensors 41 and the inner wall of the pipe are A1M1 and B1N1 respectively. The first driving component 31 is controlled to rotate for the second time so that A1M1 is equal to B1N1. At this time, the distance between the other distance measuring sensor and the sludge is B1P1. Suppose the distance from the inner wall of the pipe to the two distance measuring sensors 41 is set to PH1, PH1=A1M1=B1N1; the height of the pipe is defined as H, the thickness of the sludge is t, the width of the pipe is w, and the travel distance of the walking mechanism 2 is defined as d, then the thickness of the sludge t=H-A1M1(B1N1)-B1P1, and the cross-sectional area formula is used to obtain the cross-sectional area of ​​the sludge, and then the volume formula V=S·w is used to obtain the amount of sludge accumulation in the pipe.

[0079] In one embodiment, see Figure 3 and Figure 5, assuming that the pipe is circular at this time, step 2 includes:

[0080] Define that when the first driving component 31 rotates for the first time, the distances between the two distance measuring sensors 41 and the inner wall of the pipe are A2M2 and B2N2 respectively, and control the first driving component 31 to rotate for the second time so that A2M2 is equal to B2N2, and at this time, the distance between the other distance measuring sensor and the sludge is B2P2;

[0081] Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors 41 is PH2, PH2 = A2M2 = B2N2;

[0082] Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the radius of the pipeline as r, and the travel distance of the walking mechanism 2 as d, then t=H-A2M2(B2N12)-B2P2;

[0083] By using the radius r and thickness t, according to the formula of the central angle θ and cross-sectional area formula Calculate the cross-sectional area of ​​the sludge, and then use the volume formula V=S·d to obtain the amount of sludge accumulated in the pipeline.

[0084] Specifically, when the first driving component 31 rotates for the first time, the distances between the two distance measuring sensors 41 and the inner wall of the pipe are A2M2 and B2N2 respectively. The first driving component 31 is controlled to rotate for the second time so that A2M2 is equal to B2N2. At this time, the distance between the other distance measuring sensor and the sludge is B2P2. The distance from the inner wall of the pipe to the two distance measuring sensors 41 is set to PH2, PH2=A2M2=B2N2; the height of the pipe is defined as H, the thickness of the sludge is t, the width of the pipe is w, and the travel distance of the walking mechanism 2 is defined as d, then the thickness of the sludge t=H-A2M2(B2N2)-B2P2, through the radius r and the thickness t, according to the formula of the central angle θ and cross-sectional area formula The cross-sectional area of ​​the sludge is obtained, and then the amount of sludge accumulated in the pipeline is obtained through the volume formula V=V=S·d.

[0085] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A pipeline desilting robot, characterized in that: The pipeline desilting robot comprises: frame; A walking mechanism, wherein the walking mechanism is mounted on the frame; A driving mechanism, the driving mechanism comprising a first driving assembly, the first driving assembly being mounted on the frame; A siltation measuring mechanism, wherein the siltation measuring mechanism is mounted on the frame, the first driving assembly is drivingly connected to the siltation measuring mechanism, and the siltation measuring mechanism comprises at least two distance measuring sensors, wherein the two distance measuring sensors are respectively used to measure the distance between the inner wall of the pipeline and the distance measuring sensors, and the other distance measuring sensor is used to measure the distance between the silt and the distance measuring sensor; and A control mechanism is installed on the frame and located on one side of the first driving assembly. The control mechanism is electrically connected to the walking mechanism, the first driving assembly and the siltation measuring mechanism to control the first driving assembly to drive the siltation measuring mechanism to rotate.

2. The pipeline desilting robot according to claim 1, characterized in that: The driving mechanism further comprises a rotating member, which is rotatably mounted on the frame and is located on one side of the first driving assembly; The pipeline dredging robot also includes a dredging mechanism, the rotating member is connected to one side of the dredging mechanism, the first driving component is drivingly connected to the other side of the dredging mechanism, the dredging mechanism rotates with the rotating member under the drive of the first driving component to rise or fall relative to the frame, and at least two of the ranging sensors are installed on the dredging mechanism at intervals.

3. The pipeline desilting robot according to claim 2, characterized in that: The dredging mechanism includes a mounting plate, a dredging assembly and a sewage suction assembly. The rotating member is connected to the sewage suction assembly at a side away from the frame. The mounting plate is arranged at a side of the sewage suction assembly away from the frame. The dredging assembly is mounted on the mounting plate. At least two ranging sensors are installed on the mounting plate at intervals. The first driving assembly is drivingly connected to the mounting plate.

4. The pipeline desilting robot according to claim 3, characterized in that: The dredging assembly includes a connecting shell, a second driving member and two spirally twisted members. The connecting shell is connected to the mounting plate, the second driving member is arranged in the connecting shell, the two spirally twisted members are respectively arranged on both sides of the connecting shell, and the second driving member is respectively driven and connected to the two spirally twisted members.

5. The pipeline desilting robot according to claim 4, characterized in that: The outer peripheral wall of each spiral twisted element is provided with a plurality of twist teeth arranged at intervals.

6. The pipeline desilting robot according to claim 3, characterized in that: The first driving assembly includes a first mounting seat, a second mounting seat and a first driving member, the first mounting seat is mounted on the frame, the second mounting seat is mounted on the mounting plate, one side of the first driving member is connected to the first mounting seat, and the other side of the first driving member is connected to the second mounting seat.

7. The pipeline desilting robot according to claim 3, characterized in that: The silt measuring mechanism also includes a connecting plate, one side of which is connected to the mounting plate, the connecting plate is provided with two spaced-apart distance measuring sensors on the side facing the inner wall of the pipe, and the connecting plate is provided with one distance measuring sensor on the side facing the silt.

8. A method for measuring sludge in a pipeline, applied to the pipeline desilting robot according to any one of claims 1 to 7, characterized in that: The method for measuring sludge in a pipeline comprises the following steps: Control the walking mechanism to load the silt removal mechanism and the silt measuring mechanism into the pipeline; Controlling the first driving assembly to rotate so that two of the distance measuring sensors face the inner wall of the pipe, and the distances to the inner wall of the pipe measured by the two distance measuring sensors are AM, or the distances to the inner wall of the pipe measured by the two distance measuring sensors are BN, and at the same time, the other distance measuring sensor faces the direction of the sludge, and the distance to the sludge measured by the distance measuring sensor is BP; The thickness of the silt is obtained based on AM, BN and BP.

9. The method for measuring sludge in a pipeline according to claim 8, characterized in that: Assuming that the pipe is square at this time, step 2 includes: Define that when the first driving component rotates for the first time, the distances between the two distance measuring sensors and the inner wall of the pipe are A1M1 and B1N1 respectively, and control the first driving component to rotate for the second time so that AM1 is equal to BN1, and at this time, the distance between the other distance measuring sensor and the sludge is B1P1; Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors is PH1, PH1 = A1M1 = B1N1; Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the width of the pipeline as w, and defining the travel distance of the walking mechanism as d, then t=H-A1M1(B1N1)-B1P1; According to the formula of cross-sectional area S=d·t and the formula of volume V=S·w, the amount of sludge accumulation in the pipeline can be obtained.

10. The method for measuring sludge in a pipeline according to claim 8, characterized in that: Assuming that the pipe is circular at this time, step 2 includes: Define that when the first driving component rotates for the first time, the distances between the two distance measuring sensors and the inner wall of the pipe are A2M2 and B2N2 respectively, and control the first driving component to rotate for the second time so that A2M2 is equal to B2N2, and at this time, the distance between the other distance measuring sensor and the sludge is B2P2; Assume that the distance from the inner wall of the pipeline to the two distance measuring sensors is PH2, PH2 = A2M2 = B2N2; Step 3 includes: defining the height of the pipeline as H, the thickness of the sludge as t, the radius of the pipeline as r, and the travel distance of the walking mechanism as d, then t=H-A2M2(B2N12)-B2P2; By using the radius r and thickness t, according to the formula of the central angle θ and cross-sectional area formula Calculate the cross-sectional area of ​​the sludge, and then use the volume formula V=S·d to obtain the amount of sludge accumulated in the pipeline.

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