Pipeline sundry cleaning method and device

Abstract

The invention discloses a pipeline sundry cleaning device. The device comprises a crawler; a camera; the control assembly comprises a tail cable and a controller, and the controller is used for gridding the image acquired by the camera and acquiring the cross section size and position parameter information of the sundries in the pipeline by comparing the percentage of the grid size of the sundries image in the image to the total size of the image; a rotating motor; the controller controls the rotating motor to rotate to a corresponding angle according to the cross section size and position parameter information of sundries in the pipeline, the clamping jaw assembly is opened and closed to the size larger than that of the sundries for clamping, and the crawl device retreats from the pipeline and brings out the clamped sundries. The invention further discloses a pipeline impurity cleaning method. By means of the pipeline sundry cleaning method and device, sediment cleaning can be conducted on small pipelines with fall and long distance; the structure is simple, and repair and maintenance are easy.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline cleaning, and particularly relates to a method and a device for cleaning sundries in a pipeline. Background Art

[0002] Most of the existing small pipeline silt cleaning relies on high-pressure water flushing for cleaning. This method has good effects on horizontal pipelines within 50 meters. However, this method has poor cleaning effects on pipelines with a certain drop and long-distance pipelines. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and a device for cleaning sundries in a pipeline, which can clean the silt in small pipelines with a drop and long distance; has a simple structure and is easy to repair and maintain.

[0004] To solve the above technical problem, the present invention provides a device for cleaning sundries in a pipeline, including: a crawler that can move forward, backward and turn in the pipeline; a camera for acquiring images of sundries in the pipeline, and the camera is installed at the front of the crawler; a control component for transmitting the images acquired by the camera to the outside and processing them. The control component includes: a tail cable and a controller connected to the tail cable, wherein: the controller grids the images acquired by the camera, and obtains the cross-sectional size and position parameter information of the sundries in the pipeline by comparing the percentage of the grid size of the sundry images in the total size of the images; a rotary motor installed at the front of the crawler, and the rotary motor is connected to the controller; a jaw assembly installed at the front of the rotary motor, and the jaw assembly is connected to the controller, wherein: the controller controls the rotary motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the sundries in the pipeline, and opens and closes the jaw assembly to a size larger than the sundries for clamping, and the crawler exits from the pipeline and takes out the clamped sundries.

[0005] Wherein, the jaw assembly includes: a jaw seat installed on the rotary motor, a push rod motor connected to the jaw seat, and a jaw connected to the push rod motor, wherein: the controller controls the opening and closing of the jaw through the push rod motor.

[0006] Wherein, the crawler includes a crawler housing and left and right crawler wheel sets installed in the crawler housing, and the structures of the left and right crawler wheel sets are symmetrical; the crawler wheel set includes: a traveling motor, a first bevel gear connected to the traveling motor, a second bevel gear meshed and connected to the first bevel gear, and a crawler wheel set body connected to the second bevel gear, and the traveling motor drives the crawler wheel set body through the first bevel gear and the second bevel gear.

[0007] Wherein, the controller is respectively connected to the traveling motors of the left and right crawler wheel sets, and makes the crawler move forward, backward and turn in the pipeline by controlling the forward and reverse rotations of the traveling motors of the left and right crawler wheel sets.

[0008] To solve the above technical problems, the present invention also discloses a method for cleaning sundries in a pipeline, comprising the following steps: obtaining an image of the sundries in the pipeline; meshing the obtained image, and obtaining the cross-sectional size and position parameter information of the sundries in the pipeline by comparing the percentage of the grid size of the sundry image in the total size of the image; controlling the rotation motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the sundries in the pipeline; opening and closing the jaw assembly to a size larger than that of the sundries for clamping, and the crawler retreats from the pipeline and takes out the clamped sundries.

[0009] Among them, the step of controlling the rotation motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the sundries in the pipeline includes the following: the step that the controller obtains the clock position corresponding to the sundries in the pipeline by the positions of the edge points and contour lines where the sundries in the meshed image contact the pipeline wall.

[0010] Among them, it further includes: the steps of the crawler advancing, retreating and turning in the pipeline, which include: the step that the controller controls the forward and reverse rotations of the traveling motors of the left and right crawler wheel sets, so that the traveling motors drive the crawler wheel set body through the first bevel gear and the second bevel gear.

[0011] Implementing the method and device for cleaning sundries in a pipeline of the present invention has the following beneficial effects: The device for cleaning sundries in a pipeline includes: a crawler capable of advancing, retreating and turning in the pipeline; a camera for obtaining an image of the sundries in the pipeline, and the camera is installed at the front of the crawler; a control component for transmitting the image obtained by the camera to the outside and processing it, and the control component includes: a tail cable and a controller connected to the tail cable, wherein: the controller meshes the image obtained by the camera, and obtains the cross-sectional size and position parameter information of the sundries in the pipeline by comparing the percentage of the grid size of the sundry image in the total size of the image; a rotation motor installed at the front of the crawler, and the rotation motor is connected to the controller; a jaw assembly installed in front of the rotation motor, and the jaw assembly is connected to the controller, wherein: the controller controls the rotation motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the sundries in the pipeline, and opens and closes the jaw assembly to a size larger than that of the sundries for clamping, and the crawler retreats from the pipeline and takes out the clamped sundries, and can clean the silt in small pipelines with a drop and a long distance; the structure is concise and easy to repair and maintain. Description of the Drawings

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0013] Figure 1 It is a schematic three-dimensional structure diagram of the pipeline debris cleaning device according to the embodiment of the present invention.

[0014] Figure 2 It is a schematic cross-sectional structure diagram of the pipeline debris cleaning device according to the embodiment of the present invention.

[0015] Figure 3 It is a schematic diagram of the effect of obtaining the clock position corresponding to the debris in the pipeline by the pipeline debris cleaning device according to the embodiment of the present invention through the position of the edge points and contour lines where the debris contacts the pipeline wall. Detailed implementation manners

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0017] As Figures 1 - 3 shown, it is the first embodiment of the pipeline debris cleaning device of the present invention.

[0018] In this embodiment, the pipeline debris cleaning device includes: a crawler 1 capable of advancing, retreating, and turning in the pipeline T; a camera 2 for obtaining an image of the debris in the pipeline, and the camera 2 is installed at the front of the crawler 1; a control component for transmitting the image obtained by the camera 2 to the outside and processing it, and the control component includes: a tail cable 31 and a controller connected to the tail cable. Among them: the controller grids the image obtained by the camera 2, and obtains the cross-sectional size and position parameter information of the debris in the pipeline by comparing the percentage of the grid size of the debris image in the total size of the image; a rotary motor 4 installed at the front of the crawler 1, and the rotary motor 4 is connected to the controller; a jaw assembly 5 installed in front of the rotary motor 4, and the jaw assembly 5 is connected to the controller.

[0019] Among them: the controller controls the rotary motor 4 to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the debris S in the pipeline T, and opens and closes the jaw assembly 5 to a size larger than the debris S for clamping, and the crawler 1 withdraws from the pipeline T and takes out the clamped debris S.

[0020] In specific implementation, the crawler 1 is in the shape of a long cylinder, and it can extend into a pipeline T with a relatively small diameter to move forward, backward and turn.

[0021] The crawler 1 includes a crawler housing 11 and left and right crawler wheel sets installed in the crawler housing 11, and the structures of the left and right crawler wheel sets are symmetric. The crawler wheel set includes: a traveling motor 12, a first bevel gear 13 connected to the traveling motor 12, a second bevel gear 14 meshed and connected to the first bevel gear 13, and a crawler wheel set body 15 connected to the second bevel gear 14. The traveling motor 12 drives the crawler wheel set body 15 through the first bevel gear 13 and the second bevel gear 14.

[0022] In implementation, the controller is respectively connected to the traveling motors 12 of the left and right crawler wheel sets, and by controlling the forward and reverse rotations of the traveling motors 12 of the left and right crawler wheel sets, the crawler 1 can move forward, backward and turn in the pipeline T.

[0023] Further, a camera 2 is installed at the front of the crawler 1, and its function is to: obtain images of debris in the pipeline. The control component is installed inside the crawler 1, and it includes: a tail cable 31 and a controller connected to the tail cable. The function of the tail cable 31 is to: transmit the image information obtained by the camera 2 to the outside for the controller to process.

[0024] In implementation, the controller can grid the image obtained by the camera 2, and by comparing the percentage of the grid size of the debris image in the total size of the image, obtain the cross-sectional size and position parameter information of the debris in the pipeline.

[0025] For example: the controller compares the area of the debris in the grid. When the proportion of the debris image is less than half, no counting is performed. When the proportion of the debris image exceeds half, parameters such as the cross-sectional size and area of the debris are calculated. In implementation, the controller obtains the clock position corresponding to the debris S in the pipeline by the positions of the edge points A, B and the contour line f where the debris S in the gridded image contacts the pipeline wall. As Figure 3 shown, the clock position corresponding to the debris S is in the 4-6 o'clock direction.

[0026] Further, the pipeline debris cleaning device in this embodiment further includes: a rotating motor 4 and a jaw assembly 5 installed in front of the rotating motor 4. The rotating motor 4 and the jaw assembly 5 are respectively connected to the controller. The function of the rotating motor 4 is: after the controller obtains the clock position corresponding to the debris S in the pipeline by the positions of the edge points A, B and the contour line f where the debris S in the gridded image contacts the pipeline wall, according to the cross-sectional size and position parameter information of the debris S in the pipeline, the rotating motor 4 drives the jaw assembly 5 to rotate to the corresponding angle. For example: rotate to Figure 3 the 4-6 o'clock direction of the shown clock position.

[0027] Further, the jaw assembly 5 includes: a jaw seat 51 installed on the rotary motor 4, a push rod motor 52 connected to the jaw seat 51, and a jaw 53 connected to the push rod motor 52, wherein: the controller controls the opening and closing of the jaw 53 through the push rod motor 52.

[0028] During implementation, the jaw 53 can open and close to a size larger than the sundry S and clamp the sundry S, and the crawler 1 can withdraw from the pipeline T and take out the clamped sundry S.

[0029] When the pipeline sundry cleaning device in this embodiment is specifically implemented, the crawler 1 drives the first bevel gear 13 to engage with the second bevel gear 14 through the left traveling motor 12 inside, so as to transmit the power to the crawler wheel set body 15, and the right traveling motor 12 drives the crawler wheel set body 15 in the same way.

[0030] By controlling the forward and reverse rotation of the left and right traveling motors 12, the crawler 1 can move forward, backward, and turn inside the pipeline. After the crawler 1 enters the pipeline, it takes pictures of the sundries inside the pipeline through the front camera 2 and transmits the images to the ground control terminal through the tail cable 31.

[0031] The control terminal will grid the images obtained by the camera 2. The controller compares the area of the sundries occupying the grid. When the proportion of the sundry image is less than half, no counting is performed. When the proportion of the sundry image exceeds half, parameters such as the cross-sectional size and area of the sundries are calculated. During implementation, the controller obtains the clock position corresponding to the sundry S in the pipeline through the positions of the edge points A, B and the contour line f where the sundry S in the gridded image contacts the pipeline wall. The controller will autonomously issue an instruction to control the rotary motor 4 to drive the jaw 53 to rotate to the corresponding angle, and then according to the cross-sectional size and position parameter information of the sundry S in the pipeline, the rotary motor 4 drives the jaw assembly 5 to rotate to the corresponding angle and controls the opening and closing of the jaw 53 through the push rod motor 52 to grab the sundries. Finally, the crawler 1 can withdraw from the pipeline T and take out the clamped sundry S.

[0032] To solve the above technical problems, the present invention also discloses a method for cleaning sundries in a pipeline, including the following steps:

[0033] S10, obtaining an image of the sundries in the pipeline.

[0034] S20, gridding the obtained image, and obtaining the cross-sectional size and position parameter information of the sundries in the pipeline by comparing the percentage of the grid size of the sundry image in the total size of the image.

[0035] S30, controlling the rotary motor to rotate to the corresponding angle according to the cross-sectional size and position parameter information of the sundries in the pipeline.

[0036] S40, open and close the gripper assembly to a size larger than the debris for gripping, and the crawler exits the pipeline and takes out the gripped debris.

[0037] In specific implementation, the pipeline debris cleaning method in this embodiment further includes the following steps of the crawler advancing, retreating and turning in the pipeline, which include: the controller drives the crawler wheel set body by controlling the forward and reverse steering of the traveling motors of the left and right crawler wheel sets through the first bevel gear and the second bevel gear.

[0038] Furthermore, the camera 2 is installed at the front of the crawler 1 and can acquire images of the debris S in the pipeline T. The image information acquired by the camera 2 is transmitted to the outside through the tail cable 31 for processing by the controller. The controller can grid the image acquired by the camera 2 and obtain the cross-sectional size and position parameter information of the debris S in the pipeline T by comparing the percentage of the grid size of the debris S image in the total size of the image.

[0039] For example: the controller compares the area of the debris S in the grid. When the proportion of the debris S image is less than half, no counting is performed. When the proportion of the debris S image exceeds half, parameters such as the cross-sectional size and area of the debris S are calculated. During implementation, the controller obtains the clock position corresponding to the debris S in the pipeline by gridding the positions of the edge points A, B where the debris S in the image contacts the pipeline wall and the contour line f. As Figure 3 shown, the clock position corresponding to the debris S is in the 4-6 o'clock direction.

[0040] Immediately after the controller obtains the clock position corresponding to the debris S in the pipeline by gridding the positions of the edge points A, B where the debris S in the image contacts the pipeline wall and the contour line f, according to the cross-sectional size and position parameter information of the debris S in the pipeline, the rotation motor 4 drives the gripper assembly 5 to rotate to the corresponding angle. For example, rotate to Figure 3 the 4-6 o'clock direction of the shown clock position, and control the opening and closing of the gripper 53 through the push rod motor 52 to grab the debris, getting rid of the limitation of the traditional structure of the sewage suction pipe and achieving light and efficient operation.

[0041] Implementing a method and device for cleaning debris in pipelines according to the present invention has the following beneficial effects: The pipeline debris cleaning device includes: a crawler capable of moving forward, backward, and turning in the pipeline; a camera for obtaining images of debris in the pipeline, which is installed at the front of the crawler; a control component for transmitting the images obtained by the camera to the outside and processing them. The control component includes: a tail cable and a controller connected to the tail cable. Among them: the controller grids the images obtained by the camera and obtains the cross-sectional size and position parameter information of the debris in the pipeline by comparing the percentage of the grid size of the debris image in the total size of the image; a rotary motor installed at the front of the crawler, and the rotary motor is connected to the controller; a jaw assembly installed in front of the rotary motor, and the jaw assembly is connected to the controller. Among them: the controller controls the rotary motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the debris in the pipeline, and opens and closes the jaw assembly to a size larger than the debris for clamping. The crawler exits the pipeline and takes out the clamped debris, and can clean the silt in small pipelines with drops and long distances; the structure is concise and easy to repair and maintain.

Claims

1. A pipeline debris cleaning device, characterized in that: include: A crawler capable of moving forward, backward and turning in a pipeline; A camera for acquiring images of debris in the pipeline, the camera being installed at the front of the crawler; A control component for transmitting the image acquired by the camera to the outside and processing it, the control component comprising: a tail cable and a controller connected to the tail cable, wherein: the controller grids the image acquired by the camera, and obtains the cross-sectional size and position parameter information of the debris in the pipeline by comparing the percentage of the grid size of the debris image in the image to the total size of the image; A rotating motor installed at the front of the crawler, the rotating motor is connected to the controller; A clamping jaw assembly mounted on the front of the rotating motor, the clamping jaw assembly is connected to the controller, wherein: The controller controls the rotating motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the debris in the pipeline, and opens and closes the clamping jaw assembly to a size larger than the debris for clamping, and the crawler withdraws from the pipeline and takes out the clamped debris.

2. The pipeline debris cleaning device according to claim 1, characterized in that: The clamping jaw assembly comprises: a clamping jaw seat mounted on the rotating motor, a push rod motor connected to the clamping jaw seat, and a clamping jaw connected to the push rod motor, wherein: the controller controls the opening and closing of the clamping jaw through the push rod motor.

3. The pipeline debris cleaning device according to claim 1, characterized in that: The crawler comprises a crawler housing and left and right crawler wheel sets installed in the crawler housing, and the structures of the left and right crawler wheel sets are symmetrical; The crawling wheel set includes: a travel motor, a first bevel gear connected to the travel motor, a second bevel gear meshing with the first bevel gear, and a crawling wheel set body connected to the second bevel gear. The travel motor drives the crawling wheel set body through the first bevel gear and the second bevel gear.

4. The pipeline debris cleaning device according to claim 3, characterized in that: The controller is connected to the travel motors of the left and right crawling wheel groups respectively, and controls the forward and reverse steering of the travel motors of the left and right crawling wheel groups to make the crawler move forward, backward and turn in the pipeline.

5. The pipeline debris cleaning method according to claim 1, characterized in that: The following steps are involved: Obtain images of debris inside the pipeline; The acquired image is gridded, and the cross-sectional size and position parameter information of the debris in the pipeline are obtained by comparing the percentage of the grid size of the debris image in the image to the total image size; According to the cross-sectional dimensions and position parameter information of the debris in the pipeline, the rotary motor is controlled to rotate to the corresponding angle; The clamping jaw assembly is opened and closed to a size larger than the debris to clamp it, and the crawler withdraws from the pipeline and takes out the clamped debris.

6. The pipeline debris cleaning method according to claim 5, characterized in that: The step of controlling the rotating motor to rotate to a corresponding angle according to the cross-sectional size and position parameter information of the debris in the pipeline comprises the following: The controller obtains the clock position corresponding to the debris in the pipeline by the position of the edge points and contour lines where the debris contacts the pipeline wall in the gridded image.

7. The pipeline debris cleaning method according to claim 5, characterized in that: Also includes: The steps of the crawler moving forward, backward and turning in the pipeline include the following: The controller controls the forward and reverse directions of the travel motors of the left and right crawling wheel sets so that the travel motors drive the crawling wheel set body through the first bevel gear and the second bevel gear.

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