Underground pipe network defect visual identification robot with barrier breaking and self-cleaning functions

Abstract

The invention discloses an underground pipe network defect visual identification robot with barrier breaking and self-cleaning functions, and belongs to the technical field of pipeline robots. The underground pipe network defect visual identification robot comprises a visual identification robot assembly arranged in a required underground pipeline, the visual recognition robot assembly comprises a robot shell and an obstacle breaking pushing plate arranged at the advancing end of the robot shell in a telescopic mode. The barrier breaking assembly is arranged in the middle of the surface of the barrier breaking pushing plate and used for inserting and dividing the barrier; the barrier-breaking and sewage-discharging assembly is arranged behind the barrier-breaking pushing plate and can discharge accumulated barriers pushed by the barrier-breaking pushing plate out of the pipeline to the ground; the lens cleaning assemblies are arranged at the upper end and the lower end of the visual recognition CCD camera and used for cleaning and wiping the lens. The robot can effectively treat obstacles, especially large-size sludge blocks or hard obstacles, it is ensured that the robot smoothly advances in the complex pipeline environment, and the success rate of tasks is greatly increased.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline robots, and in particular to an underground pipeline network defect visual recognition robot with obstacle-breaking and self-cleaning functions. Background Art

[0002] The application of pipeline robots in drainage pipeline endoscopic inspection is mainly divided into four directions: inspection of the operation and management of existing drainage pipes, inspection of the structural safety of new pipeline networks, safety inspection of ground collapse structures, and inspection of pipeline detection directions. (1) Inspection of the operation and management of existing drainage pipes: The operation, maintenance, and management of existing drainage pipes require CCTV inspection technology to master the functions and structural conditions of the pipes, understand the operation conditions of existing drainage pipes, and promptly clear and manage the drainage pipes, and replace aging drainage pipes to enable the pipes to operate normally. During the application of existing drainage pipes, the high water level in the pipes has become an important barrier to the application of CCTV technology. (2) Inspection of the structural safety of new pipeline networks: The structural safety inspection of new pipeline networks is mainly to understand the structural safety status of new pipeline networks, promptly discover structural defects such as ruptures, misalignments, and disconnections in drainage pipes, discover pipeline defects at the beginning of new construction, and cooperate with the construction party to carry out defect management. (3) Ground collapse structural safety inspection: CCTV detection technology is used to detect major structural defects inside the pipeline, such as level 3 and 4 ruptures, misalignment, deformation and other major defect types that cause ground collapse. In combination with surface detection technology, the impact of defects on ground collapse is analyzed and the harmfulness of defects to ground collapse is evaluated, thereby providing important technical basis and data for the discovery, detection and management of ground collapse hazards. (4) Pipeline detection and direction inspection: Using CCTV detection technology, entering the pipeline, it is possible to confirm the internal direction of the pipeline, discover the internal connection of the pipeline, and thus find out the direction of the stone removal pipeline.

[0003] However, existing pipeline robots have the following problems:

[0004] 1. The pipeline robot encountered a large obstacle during its movement, resulting in a stop. The large obstacles in the pipeline are basically easy-to-clean materials such as mud. This disease affects the efficiency of pipeline inspection;

[0005] 2. When the pipeline robot is inspecting a pipe section with a small amount of water, sewage often contaminates the lens, affecting the shooting effect of the pipeline inspection video. The current way to deal with this situation is to immediately end the recording, lift the pipeline robot out of the pipeline, and have the inspectors wipe and clean it before putting it back into the pipeline to re-record the inspection video, which affects the efficiency of the inspection work. Summary of the invention

[0006] The purpose of the present invention is to provide an underground pipe network defect visual recognition robot with obstacle breaking and self-cleaning functions to solve the problems raised in the background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a visual recognition robot for underground pipe network defects with obstacle removal and self-cleaning functions, comprising:

[0008] A visual recognition robot assembly is placed in the required underground pipeline, and the visual recognition robot assembly includes a robot shell and an obstacle-breaking push plate telescopically arranged at the forward end of the robot shell;

[0009] The obstacle removal component is arranged in the middle of the surface of the obstacle removal push plate and is used for plugging and separating obstacles;

[0010] The obstacle removal and sewage discharge component is arranged behind the obstacle removal and pushing plate, and can push the accumulated obstacles on the obstacle removal and pushing plate out of the pipeline to the ground;

[0011] A visual recognition CCD camera is arranged on the top surface of the robot housing;

[0012] The lens cleaning assembly is arranged at the upper and lower ends of the visual recognition CCD camera and is used for cleaning and wiping the lens.

[0013] Preferably, the lower portion of the robot shell has a T-shaped frame, and the forward end surface of the T-shaped frame is connected to an obstacle-breaking pushing plate through a telescopic pushing obstacle-avoiding component, so that the telescopic pushing obstacle-avoiding component pushes away obstacles in the pipeline in the forward direction of the robot shell.

[0014] Preferably, the telescopic pushing obstacle avoidance assembly includes a hydraulic cylinder member fixedly mounted on the surface of the T-shaped frame and a positioning cross bar member symmetrically arranged on both sides of the hydraulic cylinder member, and the telescopic free end of the hydraulic cylinder member is fixedly connected to the obstacle-breaking pushing plate.

[0015] Preferably, the obstacle breaking assembly includes an obstacle breaking pushing block fixedly mounted at a middle position of a lower portion of an outer wall of the obstacle breaking pushing plate.

[0016] Preferably, the obstacle breaking pushing block has a triangular structure, and the end of the obstacle breaking pushing block facing away from the obstacle breaking pushing plate is a sharp obstacle pushing and avoiding end, which applies force to push away and separate obstacles, so that the obstacles are separated by the obstacle breaking pushing block and are stacked and discharged separately on both sides.

[0017] Preferably, mud pushing auxiliary plates are embedded in the outer walls of both sides of the obstacle clearing and pushing block, and a double-headed cylinder is fixed in the inner cavity of the obstacle clearing and pushing block. Both ends of the double-headed cylinder have piston rods that can move telescopically in a synchronous manner, and the end of the piston rod away from the double-headed cylinder is fixedly connected to the back of the adjacent mud pushing auxiliary plate.

[0018] In this solution, the obstacle removal and sewage discharge assembly includes two sewage discharge pipes symmetrically penetrating the inner walls on both sides of the obstacle removal and pushing plate, and a sewage discharge hose sealedly connected to the tail end of each sewage discharge pipe;

[0019] The end of the sewage hose away from the sewage pipe is connected to the negative pressure mud pump on the ground, and the mud discharge ports of the two sewage pipes are symmetrically arranged on both sides of the obstacle removal and pushing block. At the same time, the two sewage pipes are respectively located on both sides of the robot housing, and the mud pushing auxiliary plate pushes the separated obstacle mud toward the adjacent mud discharge port, and at the same time, it is discharged from the mud discharge port under the negative pressure of the negative pressure mud pump.

[0020] Preferably, an extension cross bar is welded above the obstacle breaking push block and on the outer wall of the obstacle breaking push plate, and the crushing assembly includes a first electric lifting rod fixed to the bottom surface of the free end of the extension cross bar, an arranging bracket welded to the bottom lifting end of the first electric lifting rod, and a plurality of obstacle breaking mud cutting blades equidistantly installed on the bottom surface of the arranging bracket, and the obstacle breaking mud cutting blades are located in front of the obstacle breaking push block.

[0021] Preferably, a fixed block is welded on the top surface of the robot shell, the top of the fixed block is connected to the visual recognition CCD camera via an elevation adjustment assembly, and the lens cleaning assembly includes a cleaning piece arranged below the visual recognition CCD camera and a cleaning wiper arranged above the visual recognition CCD camera.

[0022] Preferably, in this solution, there is an extended cleaning installation hole below the visual recognition CCD camera and located in the robot shell, the outer wall of the cleaning installation hole is fitted with a blocking cover, the inner wall of the blocking cover is integrally formed with a supporting back plate, the cleaning part includes an electric telescopic rod which is telescopically movable in the cleaning installation hole and fixedly connected to the back side of the supporting back plate, an L-frame plate fixed to the upper part of the outer wall of the cleaning installation hole, and a plurality of cleaning nozzles equidistantly arranged on the outer wall of the L-frame plate, and the cleaning nozzles are directed toward the lens of the visual recognition CCD camera.

[0023] Compared with the prior art, the technical effects and advantages of the present invention are as follows:

[0024] This underground pipe network defect visual recognition robot with obstacle-breaking and self-cleaning functions is

[0025] Traditional underground pipe network inspection robots can usually only perform simple obstacle avoidance and cannot effectively handle larger obstacles (such as silt blocks), which can easily cause the robot to get stuck or the mission to fail. This technical solution is driven by hydraulic cylinder parts and can telescopically push obstacles to both sides to prevent them from blocking the robot's forward path. The obstacle-breaking push block is located in the middle of the surface of the obstacle-breaking push plate. It has a triangular structure and a sharp end, which can further cut and separate obstacles to ensure that they are completely decomposed. The mud-pushing auxiliary plate is driven by a double-headed cylinder and can be opened from both sides of the obstacle-breaking push block to further push and disperse obstacles to prevent them from accumulating again. This technical solution can effectively handle obstacles, especially large silt blocks or hard obstacles, through a multi-stage obstacle-breaking mechanism (preliminary cutting + pushing + segmentation), ensuring that the robot can move forward smoothly in a complex pipeline environment, greatly improving the success rate of the mission.

[0026] Existing robots usually lack an effective sewage discharge system, resulting in obstacles remaining in the pipeline after being cleared, which can easily cause secondary blockage and affect subsequent inspection and maintenance work. The obstacle removal and sewage discharge assembly of this technical solution includes a sewage pipe and a sewage discharge hose symmetrically arranged on both sides of the obstacle removal push plate, and the obstacles are extracted from the mud discharge port and discharged to the ground through a negative pressure mud pump. The negative pressure mud pump can quickly and efficiently extract the obstacles from the pipeline through the negative pressure effect, ensuring that there is no residue in the pipeline. Through the integrated sewage discharge system, this technical solution can clear obstacles in real time while removing obstacles, avoid the accumulation of residues in the pipeline, ensure that the pipeline is unobstructed, and greatly improve the cleaning efficiency and pipeline safety.

[0027] After working for a long time, the lens of traditional robots is easily stained, resulting in blurred images and affecting detection accuracy. Most robots require manual intervention for cleaning, which increases maintenance costs and working time. The lens cleaning components of this technical solution include a cleaning nozzle, a cleaning nozzle, an electric telescopic rod, a sealing cover and a hidden cleaning cotton block, which can automatically spray cleaning fluid and wipe the lens to keep the lens clean. When the visual recognition CCD camera detects stains on the lens, the system will automatically start the cleaning program without manual intervention. This technical solution ensures that the visual recognition CCD camera lens is always clean through the automated self-cleaning function, thereby obtaining clear image quality and improving detection accuracy and reliability. At the same time, it reduces the need for manual maintenance and reduces operating costs.

[0028] Through the coordinated work of the obstacle-breaking push plate, obstacle-breaking push block and obstacle-breaking mud-cutting blade, the robot can effectively handle various types of obstacles, especially large silt blocks or hard obstacles. This multi-level obstacle-breaking mechanism not only improves the robot's ability to pass, but also ensures unobstructed flow inside the pipeline. The obstacle-breaking and sewage-discharging component is connected to the negative pressure mud pump through the sewage pipe and sewage hose, which can remove obstacles in real time while breaking obstacles and avoid the accumulation of residues in the pipeline. This not only improves the cleaning efficiency, but also ensures the safety and smooth flow of the pipeline.

[0029] The obstacle-breaking push block of the present technical solution is located in the middle of the surface of the obstacle-breaking push plate. It has a triangular structure and a sharp end, and can cut and separate obstacles. The triangular structure of the obstacle-breaking push block can not only cut obstacles, but also guide the water flow during the advancement process, helping the cleaning liquid to cover the surface of the obstacle more evenly and accelerate its decomposition. When cutting obstacles, the sharp end of the obstacle-breaking push block can divide large obstacles into small pieces, making it easier for the subsequent sewage discharge system to discharge them smoothly. At the same time, the unfolding action of the mud-pushing auxiliary plate can further push the obstacles toward the mud discharge port, enhancing the sewage discharge effect. The obstacle-breaking push block not only improves the obstacle-breaking efficiency, but also enhances the sewage discharge effect, ensuring the cleanliness of the inside of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a structural schematic diagram of the present invention;

[0032] Figure 2 It is a schematic diagram of the disassembly structure of the obstacle-breaking pushing plate of the present invention;

[0033] Figure 3 It is a schematic diagram of the installation structure of the hydraulic cylinder component of the present invention;

[0034] Figure 4 It is a schematic diagram of the installation structure of the cleaning nozzle of the present invention;

[0035] Figure 5 It is a schematic diagram of the installation structure of the obstacle-breaking mud-cutting blade of the present invention;

[0036] Figure 6 It is a cross-sectional view of the obstacle-breaking pushing block of the present invention;

[0037] Figure 7It is a schematic diagram of the installation structure of the visual recognition CCD camera of the present invention;

[0038] Figure 8 It is a schematic diagram of the connection structure of the hidden cleaning cotton block of the present invention.

[0039] Description of reference numerals:

[0040] In the figure: 1. Visual recognition robot assembly; 2. Robot shell; 3. Obstacle removal push plate; 4. Visual recognition CCD camera; 5. Obstacle removal push block; 6. Obstacle removal mud cutting blade; 7. Lens cleaning component; 8. Obstacle removal and sewage removal component; 9. Obstacle removal component;

[0041] 10. Crushing assembly; 11. Drain pipe; 12. Drain hose; 13. Hydraulic cylinder; 14. Positioning cross bar; 15. Fixed stand; 16. Blocking cover; 17. T-shaped frame; 18. Positioning ear plate; 19. Lifting ring;

[0042] 20. Connecting plate; 21. Cleaning installation hole; 22. Track; 23. Support back plate; 24. Electric telescopic rod; 25. L frame; 26. Cleaning nozzle; 27. Cleaning nozzle; 28. Cleaning liquid pipe; 29. ​​Extension cross bar;

[0043] 30. First electric lifting rod; 31. Arrangement bracket; 32. Mud-pushing auxiliary plate; 33. Mud-discharging port; 34. Inner partition; 35. Piston rod; 36. Double-head cylinder; 37. First connecting rod; 38. First elevation motor; 39. Second connecting rod;

[0044] 40. Second elevation motor; 41. Vertical column; 42. Top plate; 43. Cleaning box; 44. Lifting hidden plate; 45. Second electric lifting rod; 46. Hidden cleaning cotton block; 47. Sealing rubber ring. DETAILED DESCRIPTION

[0045] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0046] Unless otherwise defined, the up, down, left, right, front, back, inside and outside directions involved in this document are based on the up, down, left, right, front, back, inside and outside directions in the figures shown in the present invention, and are explained here together.

[0047] This embodiment provides Figures 1 to 8The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions shown includes a visual recognition robot assembly 1, an obstacle removal component 9, an obstacle removal and sewage removal component 8, a visual recognition CCD camera 4, and a lens cleaning component 7.

[0048] In this embodiment, the visual recognition robot assembly 1 is placed in the required underground pipeline, and the visual recognition robot assembly 1 includes a robot shell 2 and an obstacle-breaking pushing plate 3 telescopically arranged at the forward end of the robot shell 2; the obstacle-breaking pushing plate 3 is used to push obstacles in the pipeline in the forward direction; the obstacle-breaking component 9 is arranged in the middle position of the surface of the obstacle-breaking pushing plate 3, and is used to plug and separate obstacles (sludge blocks); the obstacle-breaking sewage discharge component 8 is arranged behind the obstacle-breaking pushing plate 3, and can push the accumulated obstacles of the obstacle-breaking pushing plate 3 out of the pipeline to the ground; the visual recognition CCD camera 4 is arranged on the top surface of the robot shell 2; the lens cleaning component 7 is arranged at the upper and lower ends of the visual recognition CCD camera 4 and is used to clean and wipe the lens.

[0049] In this embodiment, the lower part of the robot shell 2 has a T-shaped frame 17, and the forward end surface of the T-shaped frame 17 is connected to the obstacle-breaking pushing plate 3 through a telescopic pushing obstacle-avoiding component, so that the telescopic pushing obstacle-avoiding component pushes away obstacles in the pipeline in the forward direction of the robot shell 2.

[0050] In this embodiment, the telescopic push obstacle avoidance assembly includes a hydraulic cylinder member 13 fixedly mounted on the surface of a T-shaped frame 17 and positioning cross bars 14 symmetrically arranged on both sides of the hydraulic cylinder member 13, and the telescopic free end of the hydraulic cylinder member 13 is fixedly connected to the obstacle removal push plate 3. A connecting plate 20 is welded to the telescopic free end of the hydraulic cylinder member 13, and the connecting plate 20 is fixedly connected to the obstacle removal push plate 3 by bolts.

[0051] In this embodiment, the obstacle removing component 9 includes an obstacle removing pushing block 5 fixedly installed at the middle position of the lower part of the outer wall of the obstacle removing pushing plate 3 .

[0052] In this embodiment, the obstacle-breaking push block 5 is in a triangular structure, and the end of the obstacle-breaking push block 5 facing away from the obstacle-breaking push plate 3 is a sharp obstacle-avoiding end, which pushes and separates the obstacles, so that the obstacles are separated by the obstacle-breaking push block 5 and piled up and discharged separately on both sides. It can not only avoid obstacles, separate and destroy them, but also help discharge the obstacles, and improve the discharge efficiency and prevent blockage by reducing the volume of the obstacles.

[0053] In this embodiment, mud-pushing auxiliary plates 32 are embedded in the outer walls of both sides of the obstacle-clearing and pushing block 5. A double-headed cylinder 36 is fixed in the inner cavity of the obstacle-clearing and pushing block 5. Both ends of the double-headed cylinder 36 have piston rods 35 that can be telescopically moved synchronously. The end of the piston rod 35 away from the double-headed cylinder 36 is fixedly connected to the back of the adjacent mud-pushing auxiliary plate 32. When the double-headed cylinder 36 drives the two piston rods 35 to extend synchronously, the two mud-pushing auxiliary plates 32 are pushed to open from the outer wall of the obstacle-clearing and pushing block 5 in reverse. During the process of opening the mud-pushing auxiliary plates 32, the mud-pushing auxiliary plates 32 can push obstacles such as silt accumulated in front of the obstacle-clearing and pushing plates 3. The obstacle silt is pushed away and moved to the obstacle-clearing and sewage-discharging component 8, so that the obstacle-clearing and sewage-discharging component 8 can discharge the pushed obstacle silt to the ground, which can not only avoid obstacles in the pipeline, but also quickly discharge the accumulated obstacle silt through the pushing of the mud-pushing auxiliary plates 32, thereby reducing the robot shell 2. The obstacle sludge is pushed forward when the obstacle breaking pushing plate 3 is driven forward, and at the same time, the sludge is prevented from accumulating or exceeding the load that the obstacle breaking pushing plate 3 can bear. When the sludge accumulated in front of the obstacle breaking pushing plate 3 is separated and discharged, it is helpful to the forward efficiency of the robot shell 2; the synchronous separation of the other two mud pushing auxiliary plates 32 can also re-apply force to split and tear apart the obstacles that were not completely separated when the obstacle breaking pushing block 5 was split, so as to prevent large pieces of obstacle sludge from being unable to be discharged or hindering the forward movement of the robot shell 2. An inner partition plate 34 is integrally formed at the center of the inner cavity of the obstacle breaking pushing block 5, and a double-headed cylinder 36 is fixedly embedded in the inner partition plate 34.

[0054] In this embodiment, the mud pushing auxiliary plate 32 assists the obstacle removal pushing block 5 in pushing and splitting obstacles, is embedded in both sides of the obstacle removal pushing block 5, and is driven by the double-headed cylinder 36 to open in opposite directions, effectively pushing and dispersing obstacles, reducing sludge accumulation, and improving sewage discharge efficiency. The crawler 22, as the moving mechanism of the robot, provides traction, allowing the robot to move smoothly in the pipeline, enhancing the terrain adaptability of the robot, and enabling it to work in various complex environments.

[0055] In this embodiment, the obstacle removal and sewage discharge assembly 8 includes two sewage pipes 11 symmetrically penetrating the inner walls on both sides of the obstacle removal and pushing plate 3 and a sewage hose 12 sealedly connected to the tail end of each sewage pipe 11; the end of the sewage hose 12 away from the sewage pipe 11 is connected to the negative pressure mud pump on the ground, and the mud discharge ports 33 of the two sewage pipes 11 are symmetrically arranged on both sides of the obstacle removal and pushing block 5. At the same time, the two sewage pipes 11 are respectively located on both sides of the robot housing 2, and the mud pushing auxiliary plate 32 pushes the separated obstacle sludge toward the adjacent mud discharge port 33, and at the same time, it is discharged from the mud discharge port 33 under the negative pressure of the negative pressure mud pump.

[0056] In this embodiment, an extension cross bar 29 is welded above the obstacle removal push block 5 and on the outer wall of the obstacle removal push plate 3. The crushing assembly 10 includes a first electric lifting rod 30 fixed to the bottom surface of the free end of the extension cross bar 29, an arrangement bracket 31 welded to the bottom lifting end of the first electric lifting rod 30, and a plurality of obstacle removal mud cutting blades 6 equidistantly installed on the bottom surface of the arrangement bracket 31. The obstacle removal mud cutting blades 6 are located in front of the obstacle removal push block 5. When an obstacle is found, the first electric lifting rod 30 first drives the arrangement bracket 31 and the obstacle removal mud cutting blades 6 to descend, so that the plurality of obstacle removal mud cutting blades 6 equidistantly cut the obstacle mud block below, thereby reducing the volume of the obstacle mud. At the same time, the obstacle mud cut equidistantly is again split and torn apart by the obstacle removal push block 5, thereby further reducing the volume of the mud. After the two-stage segmentation, the obstacle mud not only no longer blocks the obstacle removal push plate 3 and the robot housing 2, but also can be quickly discharged, thereby improving the efficiency of pipeline endoscopy detection.

[0057] In this embodiment, a fixed block 15 is welded to the top surface of the robot shell 2, and the top of the fixed block 15 is connected to the visual recognition CCD camera 4 through an elevation adjustment assembly. The lens cleaning assembly 7 includes a cleaning part arranged below the visual recognition CCD camera 4 and a cleaning wiper arranged above the visual recognition CCD camera 4.

[0058] In this embodiment, there is an extended cleaning installation hole 21 below the visual recognition CCD camera 4 and located in the robot housing 2. The outer wall of the cleaning installation hole 21 is matched with a blocking cover 16. The inner wall of the blocking cover 16 is integrally formed with a support back plate 23. The cleaning parts include an electric telescopic rod 24 that telescopes in the cleaning installation hole 21 and is fixedly connected to the back of the support back plate 23, an L-frame plate 25 fixed to the upper part of the outer wall of the cleaning installation hole 21, and a plurality of cleaning nozzles 26 equidistantly arranged on the outer wall of the L-frame plate 25. The cleaning nozzles 26 face the lens of the visual recognition CCD camera 4. The electric telescopic rod 24 drives the support back plate 23 and the blocking cover 16 to telescope in the cleaning installation hole 21. When the electric telescopic rod 24 is extended, the blocking cover 16 opens the cleaning installation hole 21 and extends the cleaning nozzle 26 to align with the lens of the visual recognition CCD camera 4. When the electric telescopic rod 24 is retracted, it drives the blocking cover 16 to close the cleaning installation hole 21. An L-frame plate 25 is welded on the upper part of the outer wall of the supporting back plate 23, and a cleaning nozzle 26 is fixed on the L-frame plate 25. A cleaning liquid pipe 28 is also connected to the outer wall of the cleaning nozzle 26. The cleaning liquid pipe 28 passes through the cleaning installation hole 21 and is connected to the cleaning liquid source on the ground outside the pipeline. The cleaning liquid is transported toward the cleaning liquid pipe 28 and the cleaning nozzle 26 through a water pump. The cleaning nozzle 27 sprays the cleaning liquid evenly onto the lens of the visual recognition CCD camera 4, and is equidistantly arranged on the outer wall of the cleaning nozzle 26 to ensure that the cleaning liquid covers the entire lens surface, providing a comprehensive and uniform cleaning effect, and ensuring that the lens is cleaned without dead angles. The electric telescopic rod 24 controls the telescopic action of the cleaning nozzle 26 and the blocking cover 16, extends or contracts as needed, opens or closes the cleaning installation hole 21, and drives the cleaning nozzle 26 to aim at the lens, realizing an automated lens cleaning process and improving cleaning efficiency and accuracy.

[0059] In this embodiment, the cleaning wiper comprises a column 41, a top plate 42 welded to the top of the column 41, a cleaning box 43 mounted on the bottom surface of the free end of the top plate 42, a lifting hidden plate 44 hidden and lifted in the cleaning box 43, and a hidden cleaning cotton block 46 bonded to the inner wall of the lifting hidden plate 44. A second electric lifting rod 45 is mounted on the top surface of the lifting hidden plate 44, and the top tail of the second electric lifting rod 45 is fixed to the inner top wall of the cleaning box 43. When it is necessary to clean and wipe the lens of the visual recognition CCD camera 4, the second electric lifting rod 45 drives the lifting hidden plate 44 to descend and extend from the cleaning box 43. The height of the second electric lifting rod 45 is adjusted by lifting and lowering, so that the hidden cleaning cotton block 46 is attached to the lens of the visual recognition CCD camera 4. The hidden cleaning cotton block 46 is driven by the lifting and moving to wipe the lens and dry the moisture. When the hidden cleaning cotton block 46 is not needed, the second electric lifting rod 45 drives the hidden cleaning cotton block 46 to be retracted into the cleaning box 43 and hidden, so as to keep the hidden cleaning cotton block 46 dry. At the same time, a heating plate is provided on the inner wall of the cleaning box 43 and in contact with the inner wall of one side of the hidden cleaning cotton block 46. The heating plate has an electric heating wire, so as to dry the hidden cleaning cotton block 46.

[0060] In this embodiment, a sealing rubber ring 47 is bonded to the circumference of the bottom end of the lifting hidden plate 44. When the lifting hidden plate 44 is hidden in the cleaning box 43, the sealing rubber ring 47 can increase the sealing performance and prevent water from entering the cleaning box 43. The lifting hidden plate 44 carries the hidden cleaning cotton block 46 and controls its extension and retraction. It is hidden and lifted in the cleaning box 43 and driven by the second electric lifting rod 45, realizing the automatic operation of the hidden cleaning cotton block 46 and improving the cleaning efficiency. The second electric lifting rod 45 controls the lifting and lowering action of the lifting hidden plate 44. The tailstock is fixed to the inner top wall of the cleaning box 43, driving the lifting hidden plate 44 to move up and down, realizing the automatic extension and retraction of the hidden cleaning cotton block 46, and improving the convenience of the cleaning operation. The hidden cleaning cotton block 46 is used to wipe the lens of the visual recognition CCD camera 4. It is bonded to the inner wall of the lifting hidden plate 44 and wipes the lens surface to effectively remove moisture and stains on the lens, ensure image clarity, and improve detection quality. The sealing rubber ring 47 increases the sealing between the cleaning box 43 and the lifting hidden plate 44, and is bonded to the peripheral side of the bottom end of the lifting hidden plate 44 to prevent water from entering the cleaning box 43, thereby protecting the components in the cleaning box 43 from moisture and extending the service life of the equipment.

[0061] In this embodiment, the elevation adjustment assembly includes a first connecting rod 37 fixed to the top of the fixed stand 15, a first elevation motor 38 fixed to the free end of the first connecting rod 37, a second connecting rod 39 fixedly connected to the output shaft at the bottom of the first elevation motor 38, and a second elevation motor 40 installed at the free end of the second connecting rod 39. The output shaft of the second elevation motor 40 is fixedly connected to the outer frame of the visual recognition CCD camera 4. The first elevation motor 38 drives the second connecting rod 39 to adjust the circumferential position of the visual recognition CCD camera 4. The second elevation motor 40 drives the visual recognition CCD camera 4 to move and adjust the elevation of the visual recognition CCD camera 4. The bottom end of the column 41 is fixed to the top of the first elevation motor 38. The first elevation motor 38 adjusts the circumferential position of the visual recognition CCD camera 4, is connected to the second connecting rod 39 through the output shaft, and drives the visual recognition CCD camera 4 to rotate, thereby realizing the fine adjustment of the angle of the visual recognition CCD camera 4 to meet different shooting requirements. The second elevation motor 40 adjusts the elevation angle of the visual recognition CCD camera 4 and is fixedly connected to the outer frame of the visual recognition CCD camera 4 via an output shaft, thereby driving the camera to move up and down, thereby realizing multi-angle shooting of the visual recognition CCD camera 4 and improving the detection range and accuracy.

[0062] In this embodiment, a plurality of lifting rings 19 are symmetrically installed on the top surface of the robot shell 2, and positioning ear plates 18 are symmetrically connected to the lower two sides of the T-shaped frame 17. One end of the two positioning cross bars 14 are welded to the back side of the obstacle clearing pushing plate 3, and the other ends of the two positioning cross bars 14 pass through the two positioning ear plates 18 respectively, so that when the obstacle clearing pushing plate 3 is pushed to move, the positioning cross bar 14 can be horizontally positioned for the movement of the obstacle clearing pushing plate 3.

[0063] Working principle:

[0064] The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions, through the lifting ring 19, lifts the visual recognition robot assembly 1 into the underground pipe to be inspected. Ensure that the robot shell 2 is placed stably in the pipe. Connect the cleaning liquid pipe 28 and the sewage hose 12 to the cleaning liquid source and the negative pressure mud pump outside the pipe respectively to ensure the normal operation of the cleaning and sewage systems. The crawler 22 provides traction, allowing the robot to move smoothly in the pipe and adapt to different terrains and slopes. The T-shaped frame 17 provides additional structural support for the robot, enhances its stability, and ensures stable operation in complex environments. The lifting ring 19 facilitates the transportation and installation of the robot outside the pipe and simplifies the deployment process of the robot.

[0065] The robot is driven by the crawler 22 and moves along the inner wall of the pipeline. The visual recognition CCD camera 4 captures the image of the inside of the pipeline in real time and transmits the image to the control system. Image recognition is used to detect whether there are obstacles or pipeline defects in front. As needed, the first elevation motor 38 and the second elevation motor 40 adjust the angle of the visual recognition CCD camera 4 to ensure that images in all directions inside the pipeline can be captured. The first elevation motor 38 and the second elevation motor 40 adjust the angle to ensure that images in all directions inside the pipeline can be captured. The system automatically analyzes the image and identifies obstacles (such as silt blocks) and possible defects (such as cracks and corrosion) in the pipeline.

[0066] When there is an obstacle (mud block) in front, the first electric lifting rod 30 drives the arrangement bracket 31 and the obstacle-breaking mud-cutting blade 6 to descend and approach the obstacle. The obstacle-breaking mud-cutting blade 6 cuts the obstacle equidistantly and divides it into smaller parts, reducing the volume of the obstacle and facilitating subsequent processing. After the cutting is completed, the first electric lifting rod 30 is retracted, and the obstacle-breaking mud-cutting blade 6 returns to the initial position.

[0067] The hydraulic cylinder component 13 extends, pushing the obstacle-breaking push plate 3 forward and pushing the cut obstacles to both sides. The sharp end of the obstacle-breaking push block 5 further cuts and separates the obstacles to ensure that they are completely decomposed. The double-headed cylinder 36 drives the piston rod 35 to push the mud-pushing auxiliary plate 32 to open from both sides of the obstacle-breaking push block 5 to further push and disperse the obstacles. After the obstacles are dispersed, the double-headed cylinder 36 is retracted and the mud-pushing auxiliary plate 32 returns to its initial position. Through the telescopic action of the hydraulic cylinder component 13, the obstacles are pushed to both sides to prevent them from blocking the robot's forward path. Located in the middle position of the surface of the obstacle-breaking push plate 3, it has a triangular structure and a sharp end, which can further cut and separate obstacles. The piston rod 35 is driven by the double-headed cylinder 36 to push the mud-pushing auxiliary plate 32 to expand, further push and disperse the obstacles to ensure that they will not accumulate again.

[0068] When the obstacles (mud blocks) are dispersed, the sewage pipe 11 and the sewage hose 12 are started, and the negative pressure mud pump draws the obstacles out of the pipeline through the mud outlet 33 and discharges them to the ground. The robot continues to move forward, and the sewage system continues to work to ensure that there are no residual obstacles in the pipeline. When the robot detects that there are no obstacles ahead, the negative pressure mud pump stops working, and the sewage pipe 11 and the sewage hose 12 are closed. The sewage pipe 11 and the sewage hose 12 use the negative pressure mud pump to draw the obstacles out of the pipeline and discharge them to the ground to prevent the pipeline from being blocked. They are symmetrically arranged on both sides of the obstacle-breaking push plate 3 to ensure that the obstacles can be discharged from the pipeline smoothly.

[0069] When there is dirt on the lens of the visual recognition CCD camera 4, the electric telescopic rod 24 extends, driving the blocking cover 16 to open the cleaning installation hole 21, and the cleaning nozzle 27 in the cleaning nozzle 26 sprays cleaning liquid toward the lens. The second electric lifting rod 45 drives the lifting hidden plate 44 to descend, and the hidden cleaning cotton block 46 fits the surface of the lens to wipe and clean it. After cleaning, the electric telescopic rod 24 and the second electric lifting rod 45 are retracted, the blocking cover 16 closes the cleaning installation hole 21, and the hidden cleaning cotton block 46 returns to the cleaning box 43. The cleaning liquid pipe 28 transports the cleaning liquid from the outside to the cleaning nozzle 26 through a water pump to ensure a continuous supply of cleaning liquid.

[0070] When the robot completes the inspection task of the entire pipeline, it is ready to exit. The robot reverses through the crawler 22 and gradually exits the pipeline. The robot is lifted out of the pipeline through the lifting ring 19 to complete the task.

[0071] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0072] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for visually identifying underground pipe network defects with obstacle-breaking and self-cleaning functions, characterized in that: include: A visual recognition robot assembly (1) is placed in a desired underground pipeline, wherein the visual recognition robot assembly (1) comprises a robot housing (2) and an obstacle-breaking push plate (3) telescopically arranged at the forward end of the robot housing (2); The obstacle removal component (9) is arranged at the middle position of the surface of the obstacle removal pushing plate (3) and is used for plugging and splitting obstacles; The obstacle removal and sewage discharge component (8) is arranged behind the obstacle removal and pushing plate (3) and is capable of pushing the accumulated obstacles pushed by the obstacle removal and pushing plate (3) out of the pipeline and onto the ground; A visual recognition CCD camera (4) is arranged on the top surface of the robot housing (2); The lens cleaning assembly (7) is arranged at the upper and lower ends of the visual recognition CCD camera (4) and is used for cleaning and wiping the lens.

2. According to claim 1, a robot for visually identifying underground pipe network defects with obstacle-breaking and self-cleaning functions is characterized by: The lower part of the robot housing (2) is provided with a T-shaped frame (17), and the forward end surface of the T-shaped frame (17) is connected to the obstacle-breaking pushing plate (3) via a telescopic pushing obstacle-avoiding component, so that the telescopic pushing obstacle-avoiding component pushes away obstacles in the pipeline in the forward direction of the robot housing (2).

3. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 2 is characterized by: The telescopic pushing obstacle avoidance assembly comprises a hydraulic cylinder member (13) fixedly mounted on the surface of a T-shaped frame (17) and positioning cross bars (14) symmetrically arranged on both sides of the hydraulic cylinder member (13); the telescopic free end of the hydraulic cylinder member (13) is fixedly connected to the obstacle-breaking pushing plate (3).

4. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 2 is characterized by: The obstacle removal component (9) comprises an obstacle removal pushing block (5) fixedly mounted at a middle position of the lower part of the outer wall of the obstacle removal pushing plate (3).

5. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 4 is characterized by: The obstacle-breaking pushing block (5) has a triangular structure, and one end of the obstacle-breaking pushing block (5) facing away from the obstacle-breaking pushing plate (3) is a sharp obstacle-avoiding pushing end, and the sharp obstacle-avoiding pushing end applies force to push away and separate obstacles, so that the obstacles are separated by the obstacle-breaking pushing block (5) and then piled up and discharged toward both sides.

6. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 5 is characterized by: Mud-pushing auxiliary plates (32) are embedded in the outer walls of both sides of the obstacle-clearing pushing block (5), and a double-headed cylinder (36) is fixed in the inner cavity of the obstacle-clearing pushing block (5). Both ends of the double-headed cylinder (36) have piston rods (35) that can move telescopically in a synchronous manner, and the end of the piston rod (35) away from the double-headed cylinder (36) is fixedly connected to the back of the adjacent mud-pushing auxiliary plate (32).

7. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 6 is characterized by: The obstacle removal and sewage discharge component (8) comprises two sewage discharge pipes (11) symmetrically penetrating the inner walls on both sides of the obstacle removal and pushing plate (3), and a sewage discharge hose (12) sealedly connected to the tail end of each sewage discharge pipe (11); One end of the sewage hose (12) away from the sewage pipe (11) is connected to a negative pressure mud pump on the ground, and the mud discharge ports (33) of the two sewage pipes (11) are symmetrically arranged on both sides of the obstacle-breaking pushing block (5).

8. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 7 is characterized by: An extension cross bar (29) is welded above the obstacle-breaking and pushing block (5) and on the outer wall of the obstacle-breaking and pushing plate (3); The crushing assembly (10) comprises a first electric lifting rod (30) fixed to the bottom surface of the free end of the extension cross bar (29), an arrangement bracket (31) welded to the bottom lifting end of the first electric lifting rod (30), and a plurality of obstacle breaking mud cutting blades (6) equidistantly installed on the bottom surface of the arrangement bracket (31), wherein the obstacle breaking mud cutting blades (6) are located in front of the obstacle breaking push block (5).

9. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 8, characterized in that: A fixed block (15) is welded to the top surface of the robot housing (2), the top end of the fixed block (15) is connected to the visual recognition CCD camera (4) via an elevation adjustment component, and the lens cleaning component (7) comprises a cleaning component arranged below the visual recognition CCD camera (4) and a cleaning wiper arranged above the visual recognition CCD camera (4).

10. The underground pipe network defect visual recognition robot with obstacle removal and self-cleaning functions according to claim 9, characterized in that: A cleaning installation hole (21) is provided below the visual recognition CCD camera (4) and in the robot housing (2); the outer wall of the cleaning installation hole (21) is fitted with a blocking cover (16); and the inner wall of the blocking cover (16) is integrally formed with a supporting back plate (23); The cleaning component comprises an electric telescopic rod (24) which is telescopically movable in the cleaning installation hole (21) and fixedly connected to the back of the supporting back plate (23), an L-frame plate (25) fixed to the upper part of the outer wall of the cleaning installation hole (21), and a plurality of cleaning nozzles (26) equidistantly arranged on the outer wall of the L-frame plate (25), wherein the cleaning nozzles (26) face the lens of the visual recognition CCD camera (4).

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