Underwater pipeline cleaning equipment

Abstract

The invention discloses underwater pipeline cleaning equipment, and relates to the technical field of underwater pipeline maintenance, the underwater pipeline cleaning equipment comprises an equipment main body, and the equipment main body is provided with a control module, an image acquisition module, an electric driving mechanism, a walking mechanism and a pipeline inner wall cleaning head; the walking mechanism is used for walking by fitting the inner wall of the pipeline; the pipeline inner wall cleaning head is used for cleaning the inner wall of the pipeline in a rotating friction mode. The electric driving mechanism is used for driving the pipeline inner wall cleaning head to rotate; the control module is used for controlling the electric driving mechanism; the higher the rotating speed of the pipeline inner wall cleaning head is, the larger the friction force to the pipeline inner wall is, and otherwise, the smaller the friction force is; the image acquisition module can acquire a pipeline inner wall image; and the control module can judge the force required for cleaning the pipeline according to the pipeline inner wall image, and controls the electric driving mechanism according to the force to provide corresponding rotating driving force for the pipeline inner wall cleaning head. The equipment has intelligent analysis and automatic adjustment capabilities, the defects in the prior art are overcome, and the cleaning efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pipeline maintenance, and in particular to underwater pipeline cleaning equipment. Background Art

[0002] Underwater pipeline cleaning equipment is widely used in the fields of oil, gas, chemical industry and water industry to regularly inspect and clean the internal structure of underwater pipelines. The inner wall of the pipeline is easily affected by corrosion, scaling, sludge adhesion and other factors, which can lead to decreased pipeline patency, reduced fluid delivery efficiency, and even serious problems such as pipeline blockage or rupture. Therefore, regular cleaning and maintenance of pipelines is the key to ensure their long-term stable operation.

[0003] At present, underwater pipeline cleaning mainly relies on traditional mechanical cleaning technology. These traditional technologies usually include robot cleaning systems, brush wheels, rotating cleaning heads, mechanical scrapers, etc., but these methods often have some problems that cannot be ignored. First, traditional cleaning equipment generally does not have the ability to flexibly adjust the cleaning force according to the specific conditions of the inner wall of the pipeline. The speed and cleaning force of most cleaning heads are preset and cannot be adaptively adjusted according to the degree of pollution or corrosion of the pipeline. Therefore, if the dirt on the inner wall of the pipeline is serious, it may lead to poor cleaning effect, or even damage the inner wall of the pipeline due to excessive speed. For slightly polluted pipelines, excessive cleaning force not only wastes energy, but also may cause unnecessary wear on the pipeline. Secondly, most of the existing underwater pipeline cleaning equipment relies on manual operation for cleaning, relying on the operator to judge the force required for cleaning based on experience. Manual intervention not only leads to judgment errors, but also makes it difficult to achieve real-time monitoring and adjustment of cleaning force, thus affecting the accuracy and efficiency of cleaning. Moreover, due to the complexity of the underwater environment, the safety and reliability of manual intervention are greatly restricted, especially in deep water or dangerous environments, where the risk of manual operation is extremely high. In addition, the pipe inner wall cleaning heads in the prior art are mostly fixed in shape and cannot be flexibly adapted to the actual conditions of different pipes, and there is often a lack of real-time feedback monitoring of the cleaning effect during the cleaning process. This technical defect makes it impossible to customize the cleaning work according to the conditions of different pipes, and also leads to low energy efficiency and unstable cleaning quality. Therefore, the cleaning equipment in the prior art cannot achieve automation, precision and energy saving while ensuring the cleaning effect, and most of the equipment lacks a real-time feedback mechanism and cannot dynamically adjust the cleaning intensity, resulting in energy waste and low cleaning efficiency. Summary of the invention

[0004] The present invention provides an underwater pipeline cleaning device, which can alleviate the above problems.

[0005] In order to alleviate the above-mentioned problems, the technical solution adopted by the present invention is as follows:

[0006] The present invention provides an underwater pipeline cleaning device, comprising a device body, wherein the device body is provided with a control module, an image acquisition module, an electric drive mechanism, a walking mechanism and a pipeline inner wall cleaning head; the walking mechanism is used for walking in close contact with the inner wall of the pipeline; the pipeline inner wall cleaning head is used for cleaning the inner wall of the pipeline by means of rotational friction; the electric drive mechanism is used for driving the pipeline inner wall cleaning head to rotate; the control module is used for controlling the electric drive mechanism; the greater the rotation speed of the pipeline inner wall cleaning head, the greater the friction force on the pipeline inner wall, and vice versa; the image acquisition module can acquire an image of the pipeline inner wall; the control module can judge the force required for cleaning the pipeline according to the image of the pipeline inner wall, and control the electric drive mechanism accordingly to provide a corresponding rotational driving force for the pipeline inner wall cleaning head.

[0007] In a preferred embodiment of the present invention, the pipe inner wall cleaning head includes a telescopic pipe inner wall cleaning mechanism, and a turntable fixed to the rotating end of the electric drive mechanism; the telescopic pipe inner wall cleaning mechanism includes a linear slide seat, a telescopic spring, a bar linear slider and an arc-shaped pipe inner wall friction cleaning plate; the linear slide seat is radially fixed to the turntable; the telescopic spring is built into the slide slot of the linear slide seat, and the first end is connected to the inner wall of the slide slot; the bar linear slider is slidably fitted in the slide slot, and the first end is connected to the second end of the telescopic spring; the second end of the bar linear slider extends out of the slide slot and is detachably connected to the inner side of the arc-shaped pipe inner wall friction cleaning plate.

[0008] In a preferred embodiment of the present invention, the notch of the linear slide seat is detachably connected to a cover plate, and forms a rectangular telescopic opening with the linear slide seat, and the second end of the bar-shaped linear slider extends out of the rectangular telescopic opening.

[0009] In a preferred embodiment of the present invention, there are multiple telescopic pipe inner wall cleaning mechanisms, which are evenly distributed along the loop of the turntable.

[0010] In a preferred embodiment of the present invention, the device body is a hexagonal prism structure, the control module is installed at its front end, and the image acquisition module is installed through a support rod, the pipe inner wall cleaning head is installed at its rear end, and the walking mechanism is installed on its six sides.

[0011] In a preferred embodiment of the present invention, the walking mechanism includes a whole-machine load-bearing walking mechanism and five pipe wall support and adjustment walking mechanisms; the pipe wall support wheels of the pipe wall support and adjustment walking mechanisms can extend in a direction away from the equipment body to match pipes of different diameters.

[0012] In a preferred embodiment of the present invention, the control module analyzes the cleaning difficulty of the pipeline inner wall image through a trained machine learning model and divides it into multiple levels; the multiple levels correspond to different rotational speed levels, and each rotational speed level is proportional to the rotational driving force required for cleaning.

[0013] In a preferred embodiment of the present invention, the control module includes an image processing unit and a cleaning strategy unit; the image processing unit is used to preprocess the image of the inner wall of the pipeline and extract features, and the cleaning strategy unit selects a suitable rotation speed according to the image processing result and generates a corresponding rotation speed instruction.

[0014] In a preferred embodiment of the present invention, the image acquisition module uses a high-definition camera to obtain high-precision image data of the inner wall of the pipeline, and the resolution of the image data is not less than 2K.

[0015] In a preferred embodiment of the present invention, the control module includes an adaptive adjustment mechanism that can dynamically adjust the rotation speed of the cleaning head according to the real-time feedback of the cleaning effect of the inner wall of the pipeline; the adjustment mechanism optimizes the cleaning efficiency and reduces energy consumption through a feedback loop.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] By analyzing the image of the inner wall of the pipeline, the pollution degree and cleaning difficulty of the inner wall of the pipeline can be automatically determined, and the appropriate cleaning force can be accurately selected. The equipment can judge and adjust the speed of the cleaning head in real time to match it with the cleaning requirements of the pipeline, effectively improving the cleaning efficiency and quality.

[0018] Different from the method of fixing the cleaning speed in the prior art, the present invention can dynamically adjust the cleaning intensity according to different pipeline conditions; a lower speed is used when there is light pollution to avoid unnecessary energy waste; the speed is increased when there is heavy pollution to ensure thorough cleaning; this dynamic adjustment capability not only improves the cleaning effect, but also saves energy and avoids unnecessary wear.

[0019] By precisely controlling the cleaning force, the device of the present invention can minimize energy consumption and reduce physical damage to the inner wall of the pipeline while ensuring the cleaning quality, thereby helping to extend the service life of the pipeline; in addition, the device can complete the cleaning task more quickly, reduce interference with the underwater environment, and has a better environmental protection effect.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the embodiments of the present invention are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a first three-dimensional structural diagram of the underwater pipeline cleaning device according to the embodiment;

[0023] Figure 2 is a second three-dimensional structural diagram of the underwater pipeline cleaning device according to the embodiment;

[0024] Figure 3 is a third stereoscopic structural diagram of the underwater pipeline cleaning device according to the embodiment;

[0025] Figure 4 It is a schematic diagram of a flow chart of a speed adjustment process of a pipeline inner wall cleaning head of an underwater pipeline cleaning device according to an embodiment;

[0026] In the figure: 1-equipment body, 2-whole machine load-bearing walking mechanism, 3-tube wall support adjustment walking mechanism, 4-control module, 5-support rod, 6-image acquisition module, 7-auxiliary reinforcement plate, 8-linear slide seat, 9-bar linear slide block, 10-arc pipe inner wall friction cleaning plate, 11-cover plate, 12-turntable, 13-spring. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0028] The embodiment of the present invention describes the design and working principle of an underwater pipeline cleaning device, aiming to solve the deficiencies in the prior art and provide an underwater pipeline cleaning device that can intelligently determine the pipeline cleaning force and dynamically adjust the cleaning head rotation speed. Through image acquisition, machine learning and automatic control, precise control of the pipeline inner wall cleaning process is achieved to ensure cleaning efficiency, quality and energy efficiency optimization.

[0029] Please refer to Figure 1 to Figure 3 The underwater pipeline cleaning device described in the embodiment of the present invention includes a device body 1, and the device body 1 is provided with a control module 4, an image acquisition module 6, an electric drive mechanism, a walking mechanism and a pipeline inner wall cleaning head.

[0030] like Figure 1As shown, the device body 1 is a hexagonal prism structure, with a control module 4 installed at the front end, a support rod 5 for installing an image acquisition module 6, a pipe inner wall cleaning head fixed at the rear end, and walking mechanisms installed on the six sides. The walking mechanism supports the inner wall of the pipe and fits its surface to ensure that the cleaning head can operate stably.

[0031] In this embodiment, the walking mechanism includes a whole-machine load-bearing walking mechanism 2 and five pipe wall support and adjustment walking mechanisms 3; the whole-machine load-bearing walking mechanism 2 is used to support the weight of the entire device and enable the device to move along the inner wall of the pipeline. The pipe wall support wheels of the pipe wall support and adjustment walking mechanism 3 can automatically extend and retract according to the change of the pipe diameter, ensuring that the device can adapt to different pipe sizes and move stably.

[0032] The core function of the control module 4 is to determine the required cleaning force based on the pipeline inner wall image analysis results and control the electric drive mechanism to provide the corresponding rotational driving force. The control module 4 realizes intelligent adjustment of the cleaning force by connecting with the image acquisition module 6 and the electric drive mechanism.

[0033] The image acquisition module 6 is responsible for collecting image data of the inner wall of the pipeline in real time. The collected images are obtained through a high-definition camera with a resolution of not less than 2K to ensure that the image can reflect the condition of the inner wall of the pipeline in detail.

[0034] The electric drive mechanism controls the rotation of the pipe inner wall cleaning head to ensure that the speed of the cleaning head matches the required cleaning force. The speed of the electric drive mechanism is adjusted by the control module 4 in response to the image analysis results.

[0035] The control module 4 includes an image processing unit and a cleaning strategy unit.

[0036] The image processing unit is used to pre-process the pipeline inner wall image (de-noise the image, enhance the contrast, etc. to ensure that the image content is clear and visible) and extract features. The cleaning strategy unit selects a suitable speed according to the image processing result and generates a corresponding speed instruction. The control module 4 analyzes the cleaning difficulty of the pipeline inner wall image through the trained machine learning model and divides it into multiple levels; the multiple levels correspond to different speed levels, and each speed level is proportional to the rotational driving force required for cleaning.

[0037] In this embodiment, a convolutional neural network (CNN) deep learning algorithm is used to classify images of the inner wall of the pipeline, and the pipeline is divided into different pollution levels, such as light pollution, moderate pollution and heavy pollution. Each pollution level is associated with a cleaning difficulty index. Based on the image classification results, the machine learning model automatically calculates the required cleaning intensity, i.e., the rotation speed. The rotation speed of the cleaning head is positively correlated with the cleaning difficulty. The higher the rotation speed, the stronger the cleaning intensity.

[0038] According to the image analysis results, the control module 4 selects the corresponding speed according to the speed comparison table. The speed comparison table includes the speed levels of different pipeline inner wall cleaning heads and the corresponding pollution conditions. For example:

[0039] Pollution level Image feature description Corresponding speed level Speed ​​(RPM) range Slightly polluted Slight dirt or dust on the surface 1 30-50RPM Moderate pollution There is obvious dirt or slight rust 2 60-100RPM Severe pollution Heavy dirt, rust, thick attachments 3 120-180RPM

[0040] The rotation speed is directly proportional to the cleaning intensity. The more serious the pollution, the higher the rotation speed and the stronger the cleaning intensity.

[0041] The control module 4 dynamically adjusts the speed of the cleaning head according to the real-time image changes through the real-time image acquisition and feedback system. Figure 4 shown.

[0042] The device monitors the cleaning effect in real time during the cleaning process, and the image acquisition module 6 continuously collects image data of the inner wall of the pipeline and feeds it back to the control module 4. The control module 4 determines whether the cleaning effect reaches the expected result by analyzing the real-time image and feedback information, and automatically adjusts the rotation speed of the cleaning head.

[0043] If the cleaning effect is insufficient, the control module 4 will increase the rotation speed; if the cleaning effect is good, the system will reduce the rotation speed to save energy and reduce emissions.

[0044] The system's adaptive adjustment mechanism can optimize cleaning efficiency based on feedback data. For example, if a certain area of ​​the pipe surface has been partially cleaned, the control module 4 will reduce the rotation speed of the area based on image judgment to avoid unnecessary wear.

[0045] In the embodiment of the present invention, Figure 3 As shown, the pipeline inner wall cleaning head includes a telescopic pipeline inner wall cleaning mechanism and a turntable 12 fixed to the rotating end of the electric drive mechanism. There are multiple telescopic pipeline inner wall cleaning mechanisms, which are evenly distributed along the loop of the turntable 12.

[0046] The telescopic pipeline inner wall cleaning mechanism comprises a linear slide seat 8, a telescopic spring 13, a strip linear slider 9 and an arc-shaped pipeline inner wall friction cleaning plate 10; the linear slide seat 8 is radially fixed to the turntable 12; the telescopic spring 13 is built into the slide slot of the linear slide seat 8, and the first end is connected to the inner wall of the slide slot; the strip linear slider 9 is slidably matched in the slide slot, and the first end is connected to the second end of the telescopic spring 13; the second end of the strip linear slider 9 extends out of the slide slot and is detachably connected to the inner side of the arc-shaped pipeline inner wall friction cleaning plate 10. The notch of the linear slide seat 8 is detachably connected to the cover plate 11, and forms a rectangular telescopic opening with the linear slide seat 8, and the second end of the strip linear slider 9 extends out of the rectangular telescopic opening.

[0047] The design of the cleaning head allows it to adapt to the curves and cleaning requirements of different pipelines. The telescopic structure of the cleaning head allows the cleaning plate to adaptively expand and contract according to the change in the diameter of the pipeline, thereby ensuring the uniformity and stability of the cleaning effect. The turntable 12 is installed at the rotating end of the electric drive mechanism, and the cleaning head is driven to work by rotation. The speed of the turntable 12 will be dynamically adjusted according to the cleaning difficulty of the image analysis.

[0048] The operation of the device described in the embodiment of the present invention is managed by the control module 4. The user can input the cleaning task through the control panel or the remote operating system, and the system automatically adjusts the cleaning head speed according to the pipeline inner wall image and real-time feedback to ensure the optimization of the cleaning effect. The device has multiple working modes, including automatic mode, manual adjustment mode and preset mode. The user can select the most suitable cleaning mode according to the conditions of different pipelines.

[0049] For example, during the cleaning process of an underwater oil pipeline, the image acquisition module 6 captures an image of the inner wall of the pipeline. After the image processing unit denoises and enhances the image, it is input into the deep learning model for analysis. The model divides the image into moderate pollution levels, and the control module 4 selects a moderate speed (for example, 60-100RPM) according to the speed comparison table. The equipment starts the cleaning task, and the cleaning head starts working at the set speed. During the cleaning process, the cleaning effect is monitored in real time through the feedback control system, and the speed is adjusted in time according to the feedback information to optimize the cleaning effect.

[0050] The embodiment of the present invention automatically determines the cleaning force required based on the specific conditions of the inner wall of the underwater pipeline, combined with image acquisition and intelligent analysis technology, through a machine learning model, and adjusts the speed of the cleaning head based on real-time feedback. This technical solution solves the problems in the prior art through the following features:

[0051] 1) The embodiment of the present invention collects images of the inner wall of the pipeline in real time through the image acquisition module 6, and automatically analyzes the difficulty of cleaning the pipeline through the trained machine learning model, and dynamically determines the degree of contamination of the inner wall of the pipeline. Different pollution levels will correspond to different cleaning intensities, ensuring precise control during the cleaning process.

[0052] 2) The speed and cleaning force of the cleaning head can be adjusted in real time according to the pollution of the inner wall of the pipeline. When the pollution is light, the cleaning head has a lower speed to reduce energy consumption and avoid damage to the pipeline; when the pollution is heavy, the cleaning head will increase the speed to ensure that stubborn dirt can be effectively removed. In this way, the embodiment of the present invention solves the problem of different cleaning effects caused by fixed speed in the prior art.

[0053] 3) The control module 4 of the embodiment of the present invention can dynamically adjust the speed of the cleaning head according to the real-time feedback data to optimize the cleaning efficiency. The cleaning effect is combined with the real-time image acquisition data to form a closed-loop control system to ensure the cleaning quality and efficiency of the pipeline.

[0054] 4) The embodiment of the present invention adopts an adaptive adjustment mechanism, which can adjust the speed in real time according to the cleaning effect of the inner wall of the pipeline and optimize the cleaning process. Through this intelligent control system, the cleaning equipment can more flexibly adapt to the conditions of different pipelines, improve the cleaning quality, and effectively reduce energy consumption.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater pipeline cleaning device, comprising a device body (1), wherein the device body (1) is provided with a control module (4), an image acquisition module (6), an electric drive mechanism, a walking mechanism and a pipeline inner wall cleaning head; the walking mechanism is used to walk in close contact with the inner wall of the pipeline; the pipeline inner wall cleaning head is used to clean the inner wall of the pipeline by means of rotational friction; the electric drive mechanism is used to drive the pipeline inner wall cleaning head to rotate; the control module (4) is used to control the electric drive mechanism; characterized in that The greater the rotation speed of the pipeline inner wall cleaning head, the greater the friction force on the pipeline inner wall, and vice versa; the image acquisition module (6) can acquire an image of the pipeline inner wall; the control module (4) can determine the force required to clean the pipeline based on the image of the pipeline inner wall, and control the electric drive mechanism accordingly to provide a corresponding rotational driving force for the pipeline inner wall cleaning head.

2. The underwater pipeline cleaning equipment according to claim 1, characterized in that: The pipeline inner wall cleaning head comprises a telescopic pipeline inner wall cleaning mechanism and a turntable (12) fixed to the rotating end of the electric drive mechanism; the telescopic pipeline inner wall cleaning mechanism comprises a linear slide seat (8), a telescopic spring (13), a bar linear slider (9) and an arc-shaped pipeline inner wall friction cleaning plate (10); the linear slide seat (8) is radially fixed to the turntable (12); the telescopic spring (13) is built into the slide slot of the linear slide seat (8), and the first end is connected to the inner wall of the slide slot; the bar linear slider (9) is slidably matched in the slide slot, and the first end is connected to the second end of the telescopic spring (13); the second end of the bar linear slider (9) extends out of the slide slot and is detachably connected to the inner side of the arc-shaped pipeline inner wall friction cleaning plate (10).

3. The underwater pipeline cleaning equipment according to claim 2, characterized in that: The notch of the linear slide seat (8) is detachably connected to the cover plate (11) and forms a rectangular telescopic opening with the linear slide seat (8), and the second end of the strip-shaped linear slider (9) extends out of the rectangular telescopic opening.

4. The underwater pipeline cleaning equipment according to claim 2 or 3, characterized in that: There are a plurality of telescopic pipeline inner wall cleaning mechanisms, which are evenly distributed along the ring line of the rotating disk (12).

5. The underwater pipeline cleaning equipment according to claim 1, characterized in that: The device body (1) is a hexagonal prism structure, the control module (4) is installed at its front end, and the image acquisition module (6) is installed via a support rod (5), the pipeline inner wall cleaning head is installed at its rear end, and walking mechanisms are installed on its six sides.

6. The underwater pipeline cleaning equipment according to claim 5, characterized in that: The walking mechanism comprises a whole-machine load-bearing walking mechanism (2) and five pipe wall support and adjustment walking mechanisms (3); the pipe wall support wheels of the pipe wall support and adjustment walking mechanisms (3) can extend in a direction away from the equipment body (1) to match pipes of different diameters.

7. The underwater pipeline cleaning equipment according to claim 1, characterized in that: The control module (4) analyzes the cleaning difficulty of the pipeline inner wall image through a trained machine learning model and divides it into multiple levels; the multiple levels correspond to different rotation speed levels, and each rotation speed level is proportional to the rotational driving force required for cleaning.

8. The underwater pipeline cleaning equipment according to claim 7, characterized in that: The control module (4) comprises an image processing unit and a cleaning strategy unit; the image processing unit is used to preprocess the pipeline inner wall image and extract features, and the cleaning strategy unit selects a suitable rotation speed according to the image processing result and generates a corresponding rotation speed instruction.

9. The underwater pipeline cleaning equipment according to claim 1, characterized in that: The image acquisition module (6) uses a high-definition camera to obtain high-precision image data of the inner wall of the pipeline, and the resolution of the image data is not less than 2K.

10. The underwater pipeline cleaning equipment according to claim 1, characterized in that: The control module (4) comprises an adaptive adjustment mechanism, which can dynamically adjust the rotation speed of the cleaning head according to the real-time feedback of the cleaning effect of the inner wall of the pipeline; the adjustment mechanism optimizes the cleaning efficiency and reduces energy consumption through a feedback loop.

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