A visual recognition robot for underground pipe network defects with obstacle breaking and self-cleaning functions

Abstract

This invention discloses a visual recognition robot for underground pipeline defects with obstacle-breaking and self-cleaning functions, belonging to the field of pipeline robot technology. It includes: a visual recognition robot assembly placed in the required underground pipeline; the assembly comprising a robot shell and an obstacle-breaking push plate telescopically mounted at the forward end of the robot shell; an obstacle-breaking component positioned at the center of the push plate's surface for inserting and separating obstacles; an obstacle-breaking and waste-discharging component positioned behind the push plate, capable of pushing accumulated obstacles out of the pipeline to the surface; and a lens cleaning component positioned at the top and bottom of the visual recognition CCD camera for cleaning and wiping the lens. This invention can effectively handle obstacles, especially large sludge blocks or hard obstacles, ensuring the robot's smooth movement in complex pipeline environments and greatly improving the success rate of tasks.

Description

Technical Field

[0001] This invention belongs to the field of pipeline robot technology, and in particular to a visual recognition robot for underground pipeline defects with obstacle breaking and self-cleaning functions. Background Technology

[0002] The application of pipeline robots in the endoscopic inspection of drainage pipelines is mainly divided into four directions: inspection of the operation and management of existing drainage pipes, inspection of the structural safety of newly built pipeline networks, inspection of the safety of ground collapse structures, and inspection of pipeline detection routes. (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 understand the function and structural condition of the pipelines, understand the operation status of existing drainage pipes, clean and manage the drainage pipes in a timely manner, and replace aging drainage pipes so that the pipelines can operate normally. In the process of applying existing drainage pipes, the water level in the pipeline is too high, which becomes an important obstacle to the application of CCTV technology. (2) Inspection of the structural safety of newly built pipeline networks: The structural safety inspection of newly built pipeline networks mainly involves understanding the structural safety status of newly built pipeline networks, timely discovering structural defects such as cracks, misalignments, and disconnections in drainage pipelines, discovering pipeline defects at the beginning of construction, and cooperating with the construction party to carry out defect management. (3) Safety inspection of ground collapse structures: CCTV inspection technology is used to discover major structural defects inside the pipeline, such as third and fourth-level ruptures, misalignment, deformation, and other major defect types that cause ground collapse. Combined with surface detection technology, the impact of defects on ground collapse is analyzed, and the hazard of defects to ground collapse is assessed, thus providing important technical basis and data for the discovery, detection, and treatment of ground collapse hazards. (4) Pipeline detection and route inspection: Using CCTV inspection technology, the pipeline can be entered to confirm its internal route and discover the internal pipe connections, thereby clarifying the route of the rock dumping pipeline.

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

[0004] 1. The pipeline robot encountered large obstacles during its journey, causing it to stop. The large obstacles in the pipeline are mainly easy-to-clean materials such as mud. This problem affects the efficiency of pipeline inspection.

[0005] 2. When the pipeline robot inspects pipe sections with a small amount of water, the camera lens is often contaminated by sewage, affecting the recording quality of the pipeline inspection video. The current practice for dealing with this situation is to immediately stop recording, lift the pipeline robot out of the pipe, have the inspectors wipe and clean it, and then put it back into the pipe to re-record the inspection video, which affects the efficiency of the inspection work. Summary of the Invention

[0006] The purpose of this invention is to provide a visual recognition robot for underground pipeline defects with obstacle breaking and self-cleaning functions, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a visual recognition robot for underground pipeline defects with obstacle-breaking and self-cleaning functions, comprising:

[0008] A visual recognition robot assembly is placed in the required underground pipeline. The visual recognition robot assembly includes a robot shell and a telescopic obstacle-breaking push plate that is set at the forward end of the robot shell.

[0009] The obstacle-breaking component is located in the middle of the surface of the obstacle-breaking push plate and is used to insert and separate obstacles;

[0010] The obstacle-breaking and sewage discharge component is located behind the obstacle-breaking push plate and can push the accumulated obstacles out of the pipe to the ground.

[0011] A visual recognition CCD camera is mounted on the top surface of the robot's casing;

[0012] The lens cleaning assembly is located at the top and bottom of the vision recognition CCD camera and is used to clean and wipe the lens.

[0013] In a preferred embodiment, the lower part of the robot housing has a T-shaped frame, and the forward end surface of the T-shaped frame is connected to the obstacle-breaking push plate through a telescopic push obstacle-avoidance component, so that the telescopic push obstacle-avoidance component pushes away obstacles in the pipe in the forward direction of the robot housing.

[0014] In a preferred embodiment of this scheme, the telescopic pushing obstacle avoidance component includes a hydraulic cylinder component fixedly installed on the surface of the T-shaped frame and positioning crossbar components symmetrically arranged on both sides of the hydraulic cylinder component. The telescopic free end of the hydraulic cylinder component is fixedly connected to the obstacle-breaking pushing plate.

[0015] In a preferred embodiment of this solution, the obstacle-breaking component includes an obstacle-breaking push block that is fixedly installed at the lower middle position of the outer wall of the obstacle-breaking push plate.

[0016] In this preferred embodiment, the obstacle-breaking push block has a triangular shape, and the end of the obstacle-breaking push block facing away from the obstacle-breaking push plate is a push-and-avoid sharp end. The push-and-avoid sharp end applies force to push and separate the obstacle, so that the obstacle is separated by the obstacle-breaking push block and then piles up and discharges sewage separately to both sides.

[0017] In this preferred embodiment, both outer walls of the obstacle-breaking pushing block are embedded with mud-pushing auxiliary plates, and a double-headed cylinder is fixed in the inner cavity of the obstacle-breaking pushing block. Both ends of the double-headed cylinder have piston rods that move synchronously. 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 a preferred embodiment of this scheme, the obstacle-breaking and sewage discharge assembly includes two sewage discharge pipes symmetrically extending through the inner walls of both sides of the obstacle-breaking push plate, and a sewage discharge hose sealed and connected to the end of each sewage discharge pipe.

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

[0020] In a preferred embodiment, an extension crossbar is welded above the obstacle-breaking push block and on the outer wall of the obstacle-breaking push plate. The breaking assembly includes a first electric lifting rod fixed to the bottom surface of the free end of the extension crossbar, an arrangement bracket welded to the bottom lifting end of the first electric lifting rod, and multiple obstacle-breaking mud-cutting blades equidistantly installed on the bottom surface of the arrangement bracket. The obstacle-breaking mud-cutting blades are located in front of the obstacle-breaking push block.

[0021] In a preferred embodiment, a fixed block is welded to the top surface of the robot shell, and the top of the fixed block is connected to a vision recognition CCD camera via an elevation adjustment component. The lens cleaning component includes a cleaning component located below the vision recognition CCD camera and a cleaning and wiping component located above the vision recognition CCD camera.

[0022] In a preferred embodiment, the visual recognition CCD camera has an extended cleaning mounting hole located below it and within the robot housing. The outer wall of the cleaning mounting hole is fitted with a sealing cover, and the inner wall of the sealing cover is integrally formed with a support back plate. The cleaning component includes an electric telescopic rod that moves telescopically within the cleaning mounting hole and is fixedly connected to the back of the support back plate, an L-shaped frame plate fixed to the upper part of the outer wall of the cleaning mounting hole, and multiple cleaning nozzles equidistantly arranged on the outer wall of the L-shaped frame plate. The cleaning nozzles face 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 pipeline defect visual recognition robot features obstacle breaking and self-cleaning capabilities.

[0025] Traditional underground pipeline inspection robots typically only handle simple obstacle avoidance and are ineffective against larger obstacles (such as sludge clumps), easily leading to robot jamming or mission failure. This technical solution uses hydraulic cylinders to extend and push obstacles to the sides, preventing them from obstructing the robot's path. A triangular obstacle-breaking pusher, located in the center of the obstacle-breaking pusher plate, has a sharp end for further cutting and separating obstacles, ensuring complete disintegration. A mud-pushing auxiliary plate, driven by a double-headed cylinder, opens from opposite sides of the obstacle-breaking pusher plate, further pushing and dispersing obstacles to prevent re-accumulation. This technical solution, through a multi-stage obstacle-breaking mechanism (initial cutting + pushing + segmentation), effectively handles obstacles, especially large sludge clumps or hard obstacles, ensuring smooth robot movement in complex pipeline environments and significantly improving mission success rates.

[0026] Existing robots often lack effective wastewater discharge systems, resulting in debris remaining in pipes after cleaning, easily causing secondary blockages and affecting subsequent inspection and maintenance. This technical solution's obstacle-breaking and wastewater discharge component includes discharge pipes and hoses symmetrically arranged on both sides of the obstacle-breaking push plate. A negative pressure sludge pump extracts obstacles from the discharge port and discharges them to the ground. The negative pressure sludge pump, through negative pressure, can quickly and efficiently extract obstacles from the pipes, ensuring no residue remains. This technical solution, through its integrated wastewater discharge system, can remove obstacles in real time while breaking them up, preventing the accumulation of residue in the pipes, ensuring unobstructed flow, and greatly improving cleaning efficiency and pipe safety.

[0027] Traditional robots often suffer from lens contamination after prolonged use, leading to blurred images and reduced detection accuracy. Most robots require manual cleaning, increasing maintenance costs and operating time. This technical solution's lens cleaning component includes a cleaning nozzle, cleaning head, motorized telescopic rod, sealing cap, and concealed cleaning pads. It automatically sprays cleaning fluid and wipes the lens, keeping it clean. When the visual recognition CCD camera detects contamination on the lens, the system automatically initiates the cleaning program without manual intervention. This automated self-cleaning function ensures the visual recognition CCD camera lens remains clean, resulting in clear image quality and improved detection accuracy and reliability. Simultaneously, it reduces the need for manual maintenance, lowering operating costs.

[0028] This technical solution utilizes the coordinated operation of an obstacle-breaking pusher plate, obstacle-breaking pusher block, and obstacle-breaking sludge-cutting blade to enable the robot to effectively handle various types of obstacles, especially large clumps of sludge or hard obstacles. This multi-stage obstacle-breaking mechanism not only improves the robot's passability but also ensures unobstructed flow within the pipeline. The obstacle-breaking and sewage discharge component is connected to a negative pressure sludge pump via a sewage pipe and a sewage hose, enabling real-time removal of obstacles while breaking them up, preventing the accumulation of residue within the pipeline. This not only improves cleaning efficiency but also ensures the safety and unobstructed flow of the pipeline.

[0029] The obstacle-breaking pusher block in this technical solution is located in the middle of the obstacle-breaking pusher plate surface. It has a triangular structure with a sharp end, capable of cutting and separating obstacles. The triangular structure of the pusher block not only cuts obstacles but also guides water flow during its advancement, helping the cleaning fluid to more evenly cover the obstacle surface and accelerate its decomposition. The sharp end of the pusher block, when cutting obstacles, can break large obstacles into smaller pieces, facilitating their smooth discharge by the subsequent sewage system. Simultaneously, the unfolding action of the sludge-pushing auxiliary plate further pushes obstacles towards the sludge discharge port, enhancing the sewage discharge effect. The obstacle-breaking pusher block not only improves obstacle-breaking efficiency but also enhances sewage discharge, ensuring the cleanliness of the pipeline interior. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the present invention;

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

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

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

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

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

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

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

[0039] Explanation of reference numerals in the attached figures:

[0040] In the diagram: 1. Visual recognition robot assembly; 2. Robot shell; 3. Obstacle-breaking pusher; 4. Visual recognition CCD camera; 5. Obstacle-breaking pusher block; 6. Obstacle-breaking sludge cutting blade; 7. Lens cleaning assembly; 8. Obstacle-breaking and sewage discharge assembly; 9. Obstacle-breaking assembly;

[0041] 10. Crushing assembly; 11. Sewage pipe; 12. Sewage hose; 13. Hydraulic cylinder components; 14. Positioning crossbar components; 15. Fixing block; 16. Sealing cover; 17. T-shaped frame; 18. Positioning ear plate; 19. Lifting ring;

[0042] 20. Connecting plate; 21. Cleaning mounting hole; 22. Track; 23. Support back plate; 24. Electric telescopic mast; 25. L-frame plate; 26. Cleaning nozzle; 27. Cleaning nozzle; 28. Cleaning fluid pipe; 29. ​​Extension crossbar;

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

[0044] 40. Second elevation motor; 41. Column; 42. Top plate; 43. Cleaning box; 44. Lifting concealed plate; 45. Second electric lifting rod; 46. Concealed cleaning pad; 47. Sealing ring. Detailed Implementation

[0045] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0046] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0047] This embodiment provides, for example Figures 1 to 8The illustrated underground pipeline defect visual recognition robot with obstacle breaking and self-cleaning functions includes a visual recognition robot assembly 1, an obstacle breaking component 9, an obstacle breaking and sewage discharge 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. The visual recognition robot assembly 1 includes a robot shell 2 and an obstacle-breaking push plate 3 telescopically disposed at the forward end of the robot shell 2. The obstacle-breaking push plate 3 is used to push obstacles in the pipeline in the forward direction. The obstacle-breaking component 9 is disposed at the middle position of the surface of the obstacle-breaking push plate 3 and is used to insert and separate obstacles (sludge blocks). The obstacle-breaking and sewage discharge component 8 is disposed behind the obstacle-breaking push plate 3 and is able to push the accumulated obstacles from the obstacle-breaking push plate 3 out of the pipeline to the ground. The visual recognition CCD camera 4 is disposed on the top surface of the robot shell 2. The lens cleaning component 7 is disposed 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. The forward end surface of the T-shaped frame 17 is connected to the obstacle-breaking push plate 3 through a telescopic push obstacle avoidance component, so that the telescopic push obstacle avoidance component pushes away obstacles in the pipe in the forward direction of the robot shell 2.

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

[0051] In this embodiment, the obstacle-breaking component 9 includes an obstacle-breaking push block 5 that is fixedly installed at the lower middle position of the outer wall of the obstacle-breaking push plate 3.

[0052] In this embodiment, the obstacle-breaking push block 5 has a triangular shape. The end of the obstacle-breaking push block 5 facing away from the obstacle-breaking push plate 3 is a push-and-avoid sharp end. The push-and-avoid sharp end applies force to push and separate the obstacle, so that the obstacle is separated by the obstacle-breaking push block 5 and then piles up and discharges wastewater to both sides. It can not only avoid and break down obstacles, but also help to discharge wastewater from obstacles. By reducing the volume of obstacles, it can improve the discharge efficiency and prevent blockages.

[0053] In this embodiment, both outer walls of the obstacle-breaking push block 5 are embedded with mud-pushing auxiliary plates 32. A double-headed cylinder 36 is fixed in the inner cavity of the obstacle-breaking push block 5. Both ends of the double-headed cylinder 36 have piston rods 35 that move 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, it pushes the two mud-pushing auxiliary plates 32 to open opposite directions from the outer wall of the obstacle-breaking push block 5. During the opening process of the mud-pushing auxiliary plates 32, the mud-pushing auxiliary plates 32 can push the obstacles such as silt accumulated in front of the obstacle-breaking push plate 32. The obstacles and silt are pushed away and moved to the obstacle-breaking and sewage discharge component 8, so that the obstacle-breaking and sewage discharge component 8 can discharge the pushed obstacles and silt to the ground. This not only avoids obstacles in the pipeline, but also allows the accumulated obstacles and silt to be quickly discharged by the pushing of the mud-pushing auxiliary plates 32, thereby reducing the robot shell 2. The obstacle-breaking push plate 3 pushes the obstacle and mud forward, while preventing the mud from accumulating or exceeding the load that the obstacle-breaking push plate 3 can bear. When the mud accumulated in front of the obstacle-breaking push plate 3 is separated and discharged, it helps the forward efficiency of the robot shell 2. In addition, the synchronous separation of the two mud-pushing auxiliary plates 32 can also apply force to separate and tear the obstacles that were not completely separated when they were divided by the obstacle-breaking push block 5, preventing large pieces of obstacle mud from not being discharged or hindering the forward movement of the robot shell 2. The inner cavity of the obstacle-breaking push block 5 has an integrally formed inner partition 34, and the double-headed cylinder 36 is fixedly embedded in the inner partition 34.

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

[0055] In this embodiment, the obstacle-breaking and sewage discharge assembly 8 includes two sewage pipes 11 symmetrically extending through the inner walls of both sides of the obstacle-breaking push plate 3, and a sewage hose 12 sealed 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 a negative pressure sludge pump on the ground, and the sludge discharge ports 33 of the two sewage pipes 11 are symmetrically arranged on both sides of the obstacle-breaking push block 5. At the same time, the two sewage pipes 11 are located on both sides of the robot housing 2, and the sludge pushing auxiliary plate 32 pushes the separated obstacle sludge toward the adjacent sludge discharge port 33, and discharges it from the sludge discharge port 33 under the negative pressure of the negative pressure sludge pump.

[0056] In this embodiment, an extension crossbar 29 is welded above the obstacle-breaking push block 5 and to the outer wall of the obstacle-breaking push plate 3. The breaking assembly 10 includes a first electric lifting rod 30 fixed to the bottom surface of the free end of the extension crossbar 29, an arrangement bracket 31 welded to the bottom lifting end of the first electric lifting rod 30, and multiple obstacle-breaking mud-cutting blades 6 equidistantly installed on the bottom surface of the arrangement bracket 31. The obstacle-breaking mud-cutting blades 6 are located in front of the obstacle-breaking push block 5. When an obstacle is detected, the first electric lifting rod 30 first drives the arrangement bracket 31 and the obstacle-breaking mud-cutting blades 6 to descend, so that the multiple obstacle-breaking mud-cutting blades 6 cut the obstacle mud block below at equal intervals, thereby reducing the volume of the obstacle mud. At the same time, the obstacle mud cut at equal intervals is further divided and torn apart by the obstacle-breaking push block 5, thereby further reducing the volume of the mud. After the two-stage division, the obstacle mud not only no longer obstructs the obstacle-breaking push plate 3 and the robot shell 2, but also can be quickly discharged, improving the efficiency of pipe endoscopy inspection.

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

[0058] In this embodiment, a cleaning mounting hole 21 extends below the visual recognition CCD camera 4 and is located within the robot housing 2. A sealing cap 16 fits the outer wall of the cleaning mounting hole 21, and a support back plate 23 is integrally formed on the inner wall of the sealing cap 16. The cleaning components include an electric telescopic rod 24 that telescopically moves within the cleaning mounting hole 21 and is fixedly connected to the back of the support back plate 23, an L-shaped frame plate 25 fixed to the upper part of the outer wall of the cleaning mounting hole 21, and multiple cleaning nozzles 26 equidistantly arranged on the outer wall of the L-shaped 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 sealing cap 16 to telescopically move within the cleaning mounting hole 21. When the electric telescopic rod 24 extends, the sealing cap 16 opens the cleaning mounting hole 21, extending the cleaning nozzles 26 to align with the lens of the visual recognition CCD camera 4. When the electric telescopic rod 24 retracts, it drives the sealing cap 16 to close the cleaning mounting hole 21. An L-shaped frame plate 25 is welded to the upper part of the outer wall of the support back plate 23. A cleaning nozzle 26 is fixed to the L-shaped frame plate 25. A cleaning fluid pipe 28 is connected to the outer wall of the cleaning nozzle 26. The cleaning fluid pipe 28 passes through the cleaning mounting hole 21 and connects to a cleaning fluid source on the ground outside the pipeline. A water pump delivers cleaning fluid to the cleaning fluid pipe 28 and the cleaning nozzle 26. The cleaning nozzle 27 evenly sprays the cleaning fluid onto the lens of the vision recognition CCD camera 4, equidistantly positioned on the outer wall of the cleaning nozzle 26 to ensure that the cleaning fluid covers the entire lens surface, providing a comprehensive and uniform cleaning effect and ensuring that the lens is cleaned without any blind spots. An electric telescopic rod 24 controls the extension and retraction of the cleaning nozzle 26 and the sealing cap 16, extending or retracting as needed to open or close the cleaning mounting hole 21 and align the cleaning nozzle 26 with the lens, thus realizing an automated lens cleaning process and improving cleaning efficiency and accuracy.

[0059] In this embodiment, the cleaning and wiping component includes a column 41, a top plate 42 welded to the top of the column 41, a cleaning box 43 installed on the bottom surface of the free end of the top plate 42, a lifting and concealing plate 44 hidden in the cleaning box 43, and a concealed cleaning cotton block 46 adhered to the inner wall of the lifting and concealing plate 44. A second electric lifting rod 45 is installed on the top surface of the lifting and concealing 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 and concealing plate 44 to descend and extend from the cleaning box 43. By adjusting the height of the second electric lifting rod 45, the concealed cleaning cotton block 46 is made to adhere to the lens of the visual recognition CCD camera 4. The lifting and moving motion drives the concealed cleaning cotton block 46 to wipe and clean the lens, drying off the moisture. When the hidden cleaning pad 46 is no longer needed, the second electric lifting rod 45 retracts the hidden cleaning pad 46 into the cleaning box 43 to keep it dry. At the same time, a heating element is provided on the inner wall of the cleaning box 43 and on the side of the hidden cleaning pad 46 that is in contact with it. The heating element contains an electric heating wire to dry the hidden cleaning pad 46.

[0060] In this embodiment, a sealing ring 47 is bonded to the bottom periphery of the lifting and concealing plate 44. When the lifting and concealing plate 44 is concealed in the cleaning box 43, the sealing ring 47 increases the sealing performance and prevents water from entering the cleaning box 43. The lifting and concealing plate 44 carries the concealed cleaning cotton pad 46 and controls its extension and retraction. It is concealed and lifted in the cleaning box 43 and driven by the second electric lifting rod 45, realizing the automated operation of the concealed cleaning cotton pad 46 and improving cleaning efficiency. The second electric lifting rod 45 controls the lifting and lowering action of the lifting and concealing plate 44. The tailstock is fixed to the inner top wall of the cleaning box 43, driving the lifting and concealing plate 44 to move up and down, realizing the automated extension and retraction of the concealed cleaning cotton pad 46 and improving the convenience of cleaning operation. The concealed cleaning cotton pad 46 is used to wipe the lens of the visual recognition CCD camera 4. It is bonded to the inner wall of the lifting and concealing plate 44 and wipes the lens surface in close contact, effectively removing moisture and stains on the lens, ensuring image clarity and improving detection quality. The sealing ring 47 increases the seal between the cleaning box 43 and the lifting and concealing plate 44. It is bonded to the bottom periphery of the lifting and concealing plate 44 to prevent water from entering the cleaning box 43, protect the components inside the cleaning box 43 from moisture, and extend the service life of the equipment.

[0061] In this embodiment, the elevation angle adjustment assembly includes a first connecting rod 37 fixed to the top of the fixed block 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 of the lower part of the first elevation motor 38, and a second elevation motor 40 installed on 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, and the second elevation motor 40 drives the visual recognition CCD camera 4 to move, adjusting the elevation angle of the visual recognition CCD camera 4. The bottom end of the column 41 is fixed to the top end of the first elevation motor 38. The first elevation motor 38 adjusts the circumferential position of the visual recognition CCD camera 4, and through the output shaft connected to the second connecting rod 39, drives the visual recognition CCD camera 4 to rotate, realizing the fine adjustment of the angle of the visual recognition CCD camera 4 to adapt to different shooting needs. The second elevation motor 40 adjusts the elevation angle of the visual recognition CCD camera 4. It is fixedly connected to the outer frame of the visual recognition CCD camera 4 through the output shaft, and drives the camera to move up and down, realizing multi-angle shooting of the visual recognition CCD camera 4 and improving the detection range and accuracy.

[0062] In this embodiment, multiple lifting rings 19 are symmetrically installed on the top surface of the robot shell 2, and positioning ear plates 18 are symmetrically and integrally connected on both sides of the lower part of the T-shaped frame 17. One end of each of the two positioning crossbars 14 is welded to the back of the obstacle-breaking push plate 3, and the other end of each of the two positioning crossbars 14 passes through the two positioning ear plates 18 respectively, so that when the obstacle-breaking push plate 3 is pushed to move, the positioning crossbars 14 can perform horizontal positioning for the movement of the obstacle-breaking push plate 3.

[0063] Working principle:

[0064] This underground pipeline defect visual recognition robot, equipped with obstacle-breaking and self-cleaning functions, is lowered into the underground pipeline to be inspected via a lifting ring 19. The robot housing 2 is placed stably inside the pipeline. The cleaning fluid pipe 28 and the sewage discharge hose 12 are connected to the cleaning fluid source and negative pressure sludge pump outside the pipeline, respectively, ensuring the normal operation of the cleaning and sewage discharge system. Tracks 22 provide traction, enabling the robot to move smoothly within the pipeline, adapting to different terrains and slopes. A T-frame 17 provides additional structural support for the robot, enhancing its stability and ensuring stable operation in complex environments. The lifting ring 19 facilitates the handling and installation of the robot outside the pipeline, simplifying the deployment process.

[0065] The robot is driven by tracks 22, moving forward along the inner wall of the pipe. A visual recognition CCD camera 4 captures real-time images of the pipe's interior and transmits these images to the control system. Image recognition is used to detect obstacles or pipe defects. 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 images are captured from all directions within the pipe. The system automatically analyzes the images, identifying obstacles (such as sludge) and potential defects (such as cracks or corrosion) within the pipe.

[0066] When an obstacle (mud chunk) is encountered, the first electric lifting rod 30 lowers the arrangement bracket 31 and the obstacle-breaking and mud-cutting blade 6 to approach the obstacle. The obstacle-breaking and mud-cutting blade 6 cuts the obstacle at equal intervals, dividing it into smaller parts to reduce its volume and facilitate subsequent processing. After cutting is completed, the first electric lifting rod 30 retracts, and the obstacle-breaking and mud-cutting blade 6 returns to its initial position.

[0067] Hydraulic cylinder 13 extends, pushing obstacle-breaking pusher 3 forward to push the cut obstacles to both sides. The sharp end of obstacle-breaking pusher 5 further cuts and separates the obstacles, ensuring they are completely disassembled. Dual-head cylinder 36 drives piston rod 35, pushing mud-pushing auxiliary plate 32 to open from both sides of obstacle-breaking pusher 5, further pushing and dispersing the obstacles. After the obstacles are dispersed, dual-head cylinder 36 retracts, and mud-pushing auxiliary plate 32 returns to its initial position. The extension and retraction of hydraulic cylinder 13 pushes obstacles to both sides, preventing them from blocking the robot's path. Located in the middle of the obstacle-breaking pusher 3 surface, it has a triangular structure with a sharp end, capable of further cutting and separating obstacles. Dual-head cylinder 36 drives piston rod 35, pushing mud-pushing auxiliary plate 32 to unfold, further pushing and dispersing obstacles, ensuring they do not pile up again.

[0068] Once the obstacle (sludge chunks) is dispersed, the drain pipe 11 and drain hose 12 are activated, and the negative pressure sludge pump draws the obstacle out of the pipe through the sludge discharge port 33 and discharges it to the ground. The robot continues to move forward, and the sewage system continues to operate to ensure that no obstacle remains in the pipe. When the robot detects no obstacle ahead, the negative pressure sludge pump stops working, and the drain pipe 11 and drain hose 12 are closed. The drain pipe 11 and drain hose 12 draw the obstacle out of the pipe through the negative pressure sludge pump and discharge it to the ground to prevent pipe blockage. They are symmetrically arranged on both sides of the obstacle-breaking and pushing plate 3 to ensure that the obstacle can be smoothly discharged from the pipe.

[0069] When there is dirt on the lens of the visual recognition CCD camera 4, the electric telescopic rod 24 extends, causing the sealing cover 16 to open the cleaning mounting hole 21, and the cleaning nozzle 27 in the cleaning nozzle 26 sprays cleaning fluid towards the lens. The second electric lifting rod 45 lowers the lifting hidden plate 44, and the hidden cleaning cotton pad 46 adheres to the lens surface for wiping and cleaning. After cleaning, the electric telescopic rod 24 and the second electric lifting rod 45 retract, the sealing cover 16 closes the cleaning mounting hole 21, and the hidden cleaning cotton pad 46 returns to the cleaning box 43. The cleaning fluid pipe 28 delivers cleaning fluid from the outside to the cleaning nozzle 26 through a water pump, ensuring a continuous supply of cleaning fluid.

[0070] After the robot completes its inspection of the entire pipeline, it prepares to exit. The robot reverses using track 22, gradually exiting the pipeline. Finally, it is lifted out of the pipeline using lifting ring 19, completing its mission.

[0071] It should be noted that, in this document, relational terms such as "one" and "two" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

Claims

1. A visual recognition robot for underground pipeline defects with obstacle-breaking and self-cleaning functions, characterized in that, include: A visual recognition robot assembly (1) is placed in the required underground pipe. The visual recognition robot assembly (1) includes a robot housing (2) and a telescopic obstacle-breaking push plate (3) that is telescopically disposed at the forward end of the robot housing (2). The obstacle-breaking component (9) is located in the middle of the surface of the obstacle-breaking push plate (3) and is used to insert and separate obstacles; The obstacle-breaking and sewage discharge component (8) is located behind the obstacle-breaking push plate (3) and can push the accumulated obstacles through the obstacle-breaking push plate (3) to the ground. A visual recognition CCD camera (4) is installed on the top surface of the robot housing (2); Lens cleaning assembly (7) is located at the top and bottom of the visual recognition CCD camera (4) and is used to clean and wipe the lens; The lower part of the robot housing (2) has a T-shaped frame (17), and the forward end surface of the T-shaped frame (17) is connected to the obstacle-breaking push plate (3) through a telescopic push obstacle-avoiding component, so that the telescopic push obstacle-avoiding component pushes away obstacles in the pipe in the forward direction of the robot housing (2). The obstacle-breaking component (9) includes an obstacle-breaking push block (5) that is fixedly installed at the middle position of the lower part of the outer wall of the obstacle-breaking push plate (3). The obstacle-breaking push block (5) has a triangular structure. The end of the obstacle-breaking push block (5) facing away from the obstacle-breaking push plate (3) is the push-avoiding sharp end. The push-avoiding sharp end applies force to push and separate the obstacle, so that the obstacle is separated by the obstacle-breaking push block (5) and then piles up and discharges sewage to both sides. Both sides of the obstacle-breaking push block (5) are embedded with mud-pushing auxiliary plates (32). A double-headed cylinder (36) is fixed in the inner cavity of the obstacle-breaking push block (5). Both ends of the double-headed cylinder (36) have piston rods (35) that move 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). An extension crossbar (29) is welded above the obstacle-breaking push block (5) and on the outer wall of the obstacle-breaking push plate (3). The breaking assembly (10) includes a first electric lifting rod (30) fixed to the bottom surface of the free end of the extension crossbar (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), the obstacle-breaking mud-cutting blades (6) being located in front of the obstacle-breaking push block (5).

2. The underground pipeline defect visual recognition robot with obstacle breaking and self-cleaning functions according to claim 1, characterized in that: The telescopic push obstacle avoidance assembly includes a hydraulic cylinder component (13) fixedly installed on the surface of the T-shaped frame (17) and a positioning crossbar component (14) symmetrically arranged on both sides of the hydraulic cylinder component (13). The telescopic free end of the hydraulic cylinder component (13) is fixedly connected to the obstacle-breaking push plate (3).

3. The underground pipeline defect visual recognition robot with obstacle-breaking and self-cleaning functions according to claim 1, characterized in that: The obstacle-breaking and sewage discharge assembly (8) includes two sewage pipes (11) symmetrically penetrating the inner walls on both sides of the obstacle-breaking push plate (3) and a sewage hose (12) sealed to the 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 sludge pump on the ground, and the sludge discharge ports (33) of the two sewage pipes (11) are symmetrically arranged on both sides of the obstacle-breaking push block (5).

4. The underground pipeline defect visual recognition robot with obstacle breaking and self-cleaning functions according to claim 1, characterized in that: The top surface of the robot housing (2) is welded with a fixed block (15). The top of the fixed block (15) is connected to the visual recognition CCD camera (4) through an elevation adjustment component. The lens cleaning component (7) includes a cleaning component located below the visual recognition CCD camera (4) and a cleaning wiping component located above the visual recognition CCD camera (4).

5. The underground pipeline defect visual recognition robot with obstacle breaking and self-cleaning functions according to claim 4, characterized in that: The visual recognition CCD camera (4) has an extended cleaning mounting hole (21) located below and in the robot housing (2). The outer wall of the cleaning mounting hole (21) is fitted with a sealing cover (16), and the inner wall of the sealing cover (16) is integrally formed with a support back plate (23). The cleaning component includes an electric telescopic rod (24) that telescopically moves in the cleaning mounting hole (21) and is fixedly connected to the back of the support back plate (23), an L-shaped frame plate (25) fixed to the upper part of the outer wall of the cleaning mounting hole (21), and a plurality of cleaning nozzles (26) equidistantly arranged on the outer wall of the L-shaped frame plate (25), the cleaning nozzles (26) facing the lens of the visual recognition CCD camera (4).

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