Valve maintenance robot for water conservancy project and use method of valve maintenance robot

Abstract

The valve maintenance robot comprises a base and a controller, a driving unit is mounted at the bottom of the base, a maintenance unit and a detection unit are rotationally matched with the top of the base, and the detection unit comprises a laser radar, an ultrasonic sensor, an electric telescopic rod and a camera. One end of the electric telescopic rod is fixedly connected with a force sensor and an acceleration sensor, the maintenance unit comprises a stirring assembly and a grabbing assembly, and the electric telescopic rod, the camera, the force sensor, the acceleration sensor, the stirring assembly and the grabbing assembly are all in signal connection with the controller. Through integration of advanced detection and identification technologies and intelligent maintenance assemblies, the problems that a traditional valve maintenance method is low in efficiency, high in safety risk and incapable of adapting to complex environments are solved.

Description

Technical Field

[0001] The present invention belongs to the field of water conservancy projects, and specifically relates to a valve maintenance robot for water conservancy projects and its usage method. Background Technique

[0002] In water conservancy projects, the normal operation of valves is a key factor to ensure the efficient, stable and safe operation of the entire system. However, in actual operation, valves often become blocked or malfunction due to long-term use, scouring by water flow, deposition of impurities, and harsh working environments (such as deep water, high pressure, and toxicity). These problems not only lead to a decline in system efficiency, but may even trigger safety accidents, posing a threat to people's lives and property safety.

[0003] Traditional valve maintenance methods rely on manual entry into pipelines for cleaning and repair. However, this method has many limitations. Firstly, manual maintenance is inefficient and cannot meet the needs of large-scale and high-efficiency maintenance. Secondly, manual entry into pipelines poses great safety risks, especially in complex environments such as deep water, high pressure, and toxicity, where the safety of workers is difficult to guarantee. In addition, due to the uncertain types and properties of blockages, such as silt, stones, and branches, it is easy for workers or maintenance devices to be injured or damaged during cleaning.

[0004] To solve the above problems, in recent years, with the continuous development of robot technology, people have begun to explore the possibility of using robots for valve maintenance. However, existing robot technologies still face some challenges, such as how to adapt to complex working environments, how to effectively identify and handle various blockages, and how to ensure the safety and stability of robots. Therefore, the present invention proposes a valve maintenance robot for water conservancy projects and its usage method to solve the above problems. Summary of the Invention

[0005] The present invention proposes a valve maintenance robot for water conservancy projects and its usage method, which solves the problems of low efficiency, high safety risks, and inability to adapt to complex environments of traditional valve maintenance methods by integrating advanced detection and identification technologies, as well as intelligent maintenance components.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A valve maintenance robot for water conservancy projects includes a base and a controller. A driving unit is installed at the bottom of the base. A maintenance unit and a detection unit are rotatably fitted at the top of the base. The detection unit includes a lidar, an ultrasonic sensor, an electric telescopic rod, and a camera. The lidar and the ultrasonic sensor are used to obtain the environmental information inside the pipeline in real time. One end of the electric telescopic rod is fixedly connected with a force-sensitive sensor and an acceleration sensor. The maintenance unit includes a stirring assembly and a grasping assembly. The electric telescopic rod, the camera, the force-sensitive sensor, the acceleration sensor, the stirring assembly, and the grasping assembly are all signal-connected to the controller;

[0007] The controller generates a navigation path according to the real-time data of the lidar. The controller takes pictures of the image information inside the pipeline and near the valve through the camera for real-time recognition. When a blockage or fault is recognized, the controller adjusts the direction of the driving unit according to the real-time distance data collected by the ultrasonic sensor; at the same time, the electric telescopic rod is started, and the electric telescopic rod is inserted into the blockage. The force-sensitive sensor detects the pressure value when the electric telescopic rod is inserted;

[0008] When the pressure value is less than the preset value in the controller, it indicates that the blockage inserted by the electric telescopic rod is silt;

[0009] When the pressure value is greater than the preset value in the controller, it indicates that there are stones in the blockage inserted by the electric telescopic rod;

[0010] When the pressure value is equal to the preset value in the controller, the acceleration sensor detects the vibration frequency of the electric telescopic rod. When the vibration frequency is equal to the preset value in the controller, it indicates that the electric telescopic rod has passed through the blockage and contacted the side wall of the valve. When the vibration frequency is greater than or less than the preset value in the controller, it indicates that the electric telescopic rod has contacted a harder substance in the blockage and has not yet touched the side wall of the valve.

[0011] After adopting the above solution, the following beneficial effects are achieved:

[0012] 1. High efficiency: The robot takes pictures of the image information inside the pipeline and near the valve in real time through the camera for fast and accurate recognition. Once a blockage or fault is found, it can quickly start the corresponding maintenance components for cleaning or repair, greatly improving the maintenance efficiency.

[0013] 2. Safety: The robot replaces manual labor to enter the pipeline for maintenance, avoiding the risk of workers operating in harsh or dangerous environments. At the same time, the force-sensitive sensor and acceleration sensor equipped on the robot can detect the working state of the electric telescopic rod in real time to ensure the safety of the operation.

[0014] 3. Intelligence: The robot can perform real-time recognition of image information through the controller and automatically select appropriate maintenance components for cleaning or repair according to different types and positions of blockages. This intelligent operation method reduces the technical requirements for operators and improves the accuracy and reliability of maintenance.

[0015] 4. Flexibility: The base of the robot and the maintenance unit are rotationally matched, enabling the robot to flexibly adjust the direction and angle of the maintenance unit to meet the maintenance requirements of valves in different positions and shapes.

[0016] 5. Adaptability: By using the cooperation of electric telescopic rods and various maintenance components, the robot can handle different types of blockages and fault conditions. Whether it is silt, stones or other hard substances, the robot can clean or repair through the corresponding maintenance components.

[0017] Furthermore, the maintenance unit includes a housing, and the stirring component includes a motor. The motor is fixedly connected to the inner side wall of the housing. The output shaft of the motor penetrates the housing and is fixedly connected to a stirring rod. A drill bit is fixedly connected to the end of the stirring rod away from the motor. The controller controls the opening and closing of the motor.

[0018] Beneficial effects: The stirring component drives the stirring rod and the drill bit to rotate through the motor, which can effectively disperse and clean soft blockages such as silt from the pipeline. This mechanical cleaning method is more efficient and thorough than traditional manual cleaning. The stirring rod is mainly used to disperse and clean soft substances such as silt, while the drill bit can handle some harder substances, such as stones or hard debris. Since the working process of the stirring component is completely controlled by the controller without manual intervention, the automation level of the robot is improved. This not only reduces the complexity and risk of manual operation but also improves the efficiency of the maintenance work.

[0019] Furthermore, the grasping component includes a mechanical claw, and an electromagnet is installed on the mechanical claw. Both the mechanical claw and the electromagnet are signal-connected to the controller, and the controller controls the opening and closing of the mechanical claw and the electromagnet.

[0020] Beneficial effects: Multifunctional grasping ability: The combination of the mechanical claw and the electromagnet provides the robot with multifunctional grasping ability. The mechanical claw can adapt to objects of different shapes and sizes and is used to grasp stones, tools or other sundries; while the electromagnet is particularly suitable for grasping objects made of metal materials, such as metal fragments, screws, etc. This combination enables the robot to flexibly respond in various complex environments. During the maintenance process, especially when dealing with dangerous or hard-to-reach blockages, the grasping component of the robot can replace manual operation, avoiding the risk of staff entering dangerous environments. At the same time, precise control and operation also reduce potential damage to pipelines and valves.

[0021] Furthermore, the driving unit includes a driver and rollers. The base is of a hollow structure. The driver is fixedly connected to the inner side wall of the base. The output shafts on both sides of the driver penetrate through the base and are fixedly connected to the rollers. The controller controls the opening and closing of the driver.

[0022] Beneficial effects: The driver drives the rollers to rotate through the output shafts, enabling the robot to move flexibly inside the pipeline. This design ensures that the robot can quickly reach the target valve area, improving the efficiency of the maintenance work. The base is designed with a hollow structure, and the driver is fixedly connected to the inner side wall of the base, which not only makes full use of the space but also makes the overall structure more compact. This not only reduces the volume of the robot but also improves its stability and passability.

[0023] Furthermore, a power supply assembly is fixedly connected inside the base. The power supply assembly includes a storage battery. The storage battery is signal-connected to the controller. The controller controls the charging and discharging process of the storage battery according to the working state and power demand of the robot.

[0024] Beneficial effects: The storage battery serves as the main energy supply of the robot, ensuring that the robot can still work continuously for a period of time without an external power supply. This is crucial for the maintenance robot that needs to work in the pipeline for a long time, ensuring the continuity and efficiency of the maintenance work. Through intelligent power management, the controller can real-time monitor the state of the storage battery and take corresponding measures in time when the power is insufficient or there are potential safety hazards, such as reducing the working power, automatically returning to charge, etc., thus ensuring the safety performance of the robot.

[0025] Furthermore, it also includes a wireless communication module. The wireless communication module is used for remote data transmission and instruction reception. The wireless communication module is signal-connected to the controller.

[0026] Beneficial effects: Through the wireless communication module, the operator can remotely monitor the working state, position information of the robot, as well as the situation inside the pipeline. At the same time, the operator can also remotely send instructions to the controller to control the movement, maintenance operations, etc. of the robot, realizing remote control. This remote monitoring and control ability greatly improves the convenience and efficiency of the maintenance work. The wireless communication module can also transmit information such as the working data and maintenance records of the robot to a remote server for storage and analysis. By analyzing these data, the working performance of the robot can be evaluated, the maintenance strategy can be optimized, and potential problems can be predicted, etc. This helps to improve the scientificity and systematicness of the maintenance work and provides strong support for future maintenance work.

[0027] Furthermore, it also includes a GPS positioning module. The GPS positioning module is used to obtain the position information of the robot in real time. The GPS positioning module is signal-connected to the controller;

[0028] The controller obtains the environmental information inside the pipeline in real time based on the lidar and ultrasonic sensors, and combines the position information monitored by the GPS positioning module in real time to plan the optimal maintenance path for the robot.

[0029] Beneficial effects: The GPS positioning module can obtain the position information of the robot in real time and accurately, providing the operator with the precise position of the robot in the pipeline system. This helps the operator quickly locate the valve position that needs to be maintained, improving the maintenance efficiency. Combining the GPS positioning information, the controller can plan the optimal maintenance path for the robot to ensure that the robot can complete the task efficiently and accurately according to the predetermined route. At the same time, the GPS positioning information can also help the robot navigate autonomously and avoid getting lost in the complex pipeline system.

[0030] Furthermore, a sealing structure is provided between the base and the maintenance unit and the detection unit. The sealing structure is used to prevent water or other liquids from entering the interior of the robot. The sealing structure includes, but is not limited to, sealing gaskets, sealants, and welded seals.

[0031] Beneficial effects: The sealing structure can effectively prevent water or other liquids from entering the internal structure and circuit system of the robot, ensuring the normal operation of the robot in harsh environments such as humidity and water immersion. This is crucial for valve maintenance in water conservancy projects, as such environments usually involve a large amount of water flow and humidity. Preventing moisture from entering the interior of the robot can protect the internal circuits and precision components from corrosion and damage, thereby extending the service life of the robot. Reducing the failure rate caused by the humid environment and lowering the maintenance and replacement costs.

[0032] Furthermore, both the base and the housing are made of stainless steel.

[0033] Beneficial effects: Stainless steel has excellent corrosion resistance and can effectively resist the erosion of water, chemicals, salts, etc., ensuring that the robot can still maintain its structural integrity and performance stability when working in a humid and highly corrosive environment for a long time. This is particularly important for robots used for valve maintenance in water conservancy projects, as they need to deal with various complex liquid environments and chemicals. Stainless steel has high mechanical strength and can withstand large pressures and impacts. This ensures that during the operation of the robot, even if it encounters obstacles in the pipeline or accidental collisions with valve components, it can maintain its structural stability and is not easily damaged.

[0034] A method for using a valve maintenance robot for water conservancy projects is as follows:

[0035] Step 1: Start the robot and operate the robot through the controller to make it move forward along the pipeline to the target valve area;

[0036] Step 2: Use the camera of the detection unit to capture the image information inside the pipeline and near the valve, and perform real-time recognition through the controller to determine whether there is a blockage or a fault;

[0037] Step 3: If a blockage is identified, the controller activates the electric telescopic rod, inserts it into the blockage, detects the pressure value when the electric telescopic rod is inserted through the force-sensitive sensor, and determines the type of the blockage according to the preset value;

[0038] Step 4: If the pressure value is equal to the preset value, activate the acceleration sensor to detect the vibration frequency of the electric telescopic rod to determine whether it has contacted the side wall of the valve or a harder substance in the blockage;

[0039] Step 5: According to the type and location of the blockage, the controller activates the corresponding maintenance components for cleaning or repair;

[0040] Step 6: After the maintenance is completed, the controller obtains the position information of the robot through the GPS positioning module, and drives the robot to return to the starting point or perform the next maintenance task.

[0041] Beneficial effects:

[0042] 1. Precise positioning and navigation: Through the GPS positioning module, the robot can accurately locate its own position, ensuring that it can accurately find the target valve area in a complex pipeline system. This greatly improves the efficiency of the maintenance work and reduces the additional time and cost consumption caused by positioning errors.

[0043] 2. Real-time detection and recognition: Use the camera of the detection unit to capture the image information inside the pipeline and near the valve, and perform real-time recognition through the controller, which can quickly determine whether there is a blockage or a fault. This real-time detection and recognition ability enables the robot to discover problems in the first time and provides strong support for the subsequent maintenance work.

[0044] 3. Intelligent judgment and decision-making: After discovering a blockage, the robot can intelligently judge the type and location of the blockage through the force-sensitive sensor and the acceleration sensor. This intelligent judgment and decision-making ability enables the robot to select a suitable maintenance plan according to the specific situation, improving the pertinence and effectiveness of the maintenance work.

[0045] 4. Efficient cleaning and repair: According to the type and location of the blockage, the robot can activate the corresponding maintenance components for cleaning or repair. This efficient cleaning and repair ability enables the robot to quickly solve the problems of pipeline blockage and valve failure, reducing the downtime and repair time, and improving the operation efficiency of the water conservancy project.

[0046] 5. Automation and Intelligence: The entire maintenance process is automatically and intelligently controlled by a controller without manual intervention. This not only improves the efficiency and accuracy of maintenance work but also reduces the work intensity and safety risks of the staff. Brief Description of the Drawings

[0047] Figure 1 It is an axonometric view of the embodiment of the valve maintenance robot for water conservancy projects of the present invention.

[0048] Figure 2 It is a flowchart of the embodiment of the usage method of the valve maintenance robot for water conservancy projects of the present invention. Detailed Description of the Embodiment

[0049] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0050] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "vertical", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0051] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0052] The following is further detailed through specific embodiments:

[0053] The reference numerals in the drawings of the specification include: base 1, roller 101, detection unit 2, electric telescopic rod 201, camera 202, force-sensitive sensor 203, maintenance unit 3, stirring rod 4, drill bit 5.

[0054] Embodiment 1, basically as shown in the appendix Figure 1 and Figure 2As shown: A valve maintenance robot for water conservancy projects, including a base 1 and a controller. A driving unit is installed at the bottom of the base 1. The driving unit includes a driver and rollers 101. The base 1 is a hollow structure. The driver is fixedly connected to the inner side wall of the base 1. The output shafts on both sides of the driver penetrate through the base 1 and are fixedly connected to the rollers 101. The controller controls the opening and closing of the driver. A maintenance unit 3 and a detection unit 2 are rotatably fitted on the top of the base 1. The detection unit 2 includes a lidar, an ultrasonic sensor, an electric telescopic rod 201, and a camera 202. The lidar and the ultrasonic sensor are used to obtain the environmental information inside the pipeline in real time. One end of the electric telescopic rod 201 is fixedly connected with a force-sensitive sensor 203 and an acceleration sensor. The maintenance unit 3 includes a housing, a stirring assembly, and a grasping assembly. The stirring assembly includes a motor. The motor is fixedly connected to the inner side wall of the housing. The output shaft of the motor penetrates through the housing and is fixedly connected to a stirring rod 4. A drill bit 5 is fixedly connected to the end of the stirring rod 4 away from the motor. The controller controls the opening and closing of the motor. The grasping assembly includes a mechanical claw. An electromagnet is installed on the mechanical claw. The mechanical claw and the electromagnet are both signal-connected to the controller. The controller controls the opening and closing of the mechanical claw and the electromagnet. The electric telescopic rod 201, the camera 202, the force-sensitive sensor 203, the acceleration sensor, the stirring assembly, and the grasping assembly are all signal-connected to the controller.

[0055] The controller generates a navigation path according to the real-time data of the lidar. The controller captures the image information inside the pipeline and near the valve through the camera 202 for real-time recognition. When a blockage or fault is recognized, the controller adjusts the direction of the rollers 101 in the driving unit according to the real-time distance data collected by the ultrasonic sensor; at the same time, the electric telescopic rod 201 is started. The electric telescopic rod 201 is inserted into the blockage, and the force-sensitive sensor 203 detects the pressure value when the electric telescopic rod 201 is inserted:

[0056] When the pressure value is less than the preset value in the controller, it indicates that the blockage inserted by the electric telescopic rod 201 is silt; when the pressure value is greater than the preset value in the controller, it indicates that there are stones in the blockage inserted by the electric telescopic rod 201; when the pressure value is equal to the preset value in the controller, the acceleration sensor detects the vibration frequency of the electric telescopic rod 201. When the vibration frequency is equal to the preset value in the controller, it indicates that the electric telescopic rod 201 has passed through the blockage and contacted the side wall of the valve. When the vibration frequency is greater than or less than the preset value in the controller, it indicates that the electric telescopic rod 201 has contacted a harder substance in the blockage and has not touched the side wall of the valve.

[0057] A power supply component is fixedly connected inside the base 1. The power supply component includes a storage battery. The storage battery is signal-connected to the controller. The controller controls the charging and discharging process of the storage battery according to the working state and power demand of the robot.

[0058] The robot also includes a wireless communication module and a GPS positioning module. The wireless communication module is used for remote data transmission and instruction reception, and is signal-connected to the controller. The GPS positioning module is used to obtain the position information of the robot in real time and is signal-connected to the controller. The controller obtains the environmental information inside the pipeline in real time according to the lidar and ultrasonic sensors, and combines the position information monitored by the GPS positioning module in real time to plan the optimal maintenance path for the robot. Sealing structures are provided between the base 1 and the maintenance unit 3 and the detection unit 2. The sealing structures are used to prevent water or other liquids from entering the interior of the robot. The sealing structures include, but are not limited to, sealing gaskets, sealants, and welded seals. Both the base 1 and the outer shell are made of stainless steel.

[0059] The specific implementation process is as follows: In water conservancy projects, using a valve maintenance robot for maintenance and repair can greatly improve work efficiency and safety. Before use, check whether all components of the robot are in good condition, including the driver, roller 101, electric telescopic rod 201, camera 202, force-sensitive sensor 203, acceleration sensor, motor, stirring rod 4, drill bit 5, mechanical claw, and electromagnet, etc. Ensure that the power supply component (battery) has sufficient power and the wireless communication module and GPS positioning module are functioning properly. Set and calibrate various parameters in the controller, such as the preset pressure value, vibration frequency, etc.

[0060] Transport the robot to the location of the water conservancy project (such as the pipeline opening) that needs to be maintained. Establish a connection with the robot through the wireless communication module to ensure smooth data transmission and instruction reception. Use the GPS positioning module to confirm the precise position of the robot. The controller obtains the environmental information inside the pipeline in real time according to the lidar and ultrasonic sensors, and combines the position information monitored by the GPS positioning module in real time to plan the optimal maintenance path for the robot to ensure that the robot can accurately reach the maintenance point. Start the driving unit of the robot through the controller to make the robot move to near the valve through the roller 101.

[0061] Start the detection unit 2 to capture the image information inside the pipeline and near the valve through the camera 202 for real-time recognition. When a blockage or fault is identified, the controller starts the electric telescopic rod 201, and the electric telescopic rod 201 is inserted into the blockage. The force-sensitive sensor 203 detects the pressure value when the electric telescopic rod 201 is inserted, and judges the nature of the blockage according to the magnitude of the pressure value. After the judgment is completed, rotate to swap the positions of the maintenance unit 3 and the detection unit 2, and then carry out cleaning.

[0062] If it is determined to be silt, the controller can activate the stirring component and drive the stirring rod 4 and the drill bit 5 through the motor to perform stirring and cleaning. If it is determined to be a stone or other hard substance, the controller can control the mechanical claw and the electromagnet to perform grasping and removal. During the operation of the electric telescopic rod 201, the acceleration sensor will detect its vibration frequency to determine whether it has passed through the blockage and contacted the side wall of the valve.

[0063] After the blockage is cleared, use the camera 202 to take pictures of the inside of the pipeline and the vicinity of the valve again to ensure that there is no residue. Transmit the image information, detection data, etc. during the maintenance process to the control end in real time through the wireless communication module and save the records. After completing the maintenance task, retract the robot through the controller and check whether each component is damaged or in need of repair. If necessary, charge the battery to ensure the power demand for the next use.

[0064] Embodiment 2, which is different from the above embodiment: A method for using a valve maintenance robot for water conservancy projects, the use steps are as follows:

[0065] Step 1: Start the robot and operate the robot through the controller to make it advance along the pipeline to the target valve area.

[0066] Step 2: Use the camera 202 of the detection unit 2 to take image information of the inside of the pipeline and the vicinity of the valve, and perform real-time identification through the controller to determine whether there is a blockage or a fault.

[0067] Step 3: If a blockage is identified, the controller activates the electric telescopic rod 201 to insert it into the blockage, and the force-sensitive sensor 203 detects the pressure value when the electric telescopic rod 201 is inserted, and determines the type of the blockage according to the preset value.

[0068] Step 4: If the pressure value is equal to the preset value, start the acceleration sensor to detect the vibration frequency of the electric telescopic rod 201 to determine whether it has contacted the side wall of the valve or a harder substance in the blockage.

[0069] Step 5: According to the type and position of the blockage, the controller activates the corresponding maintenance component to perform cleaning or repair.

[0070] Step 6: After the maintenance is completed, the controller obtains the position information of the robot through the GPS positioning module, and drives the robot back to the starting point or proceeds to the next maintenance task.

[0071] The specific implementation process is as follows:

[0072] Step 1: Startup and positioning

[0073] Start the robot and operate the robot through the controller to enter the working state. Use the GPS positioning module or the preset water conservancy project pipeline map to operate the robot to move forward along the pipeline to the target valve area.

[0074] Step 2: Detection and Identification

[0075] Start the camera 202 of the detection unit 2 to capture the image information inside the pipeline and near the valve. Perform real-time identification on the image information through the controller to determine whether there is a blockage or a fault. If there is, proceed to the next step; if not, conduct a routine inspection or end the current task.

[0076] Step 3: Judgment of Blockage Type

[0077] If a blockage is identified, the controller starts the electric telescopic rod 201 and inserts it into the blockage. Detect the pressure value when the electric telescopic rod 201 is inserted through the force-sensitive sensor 203 and compare it with the preset value. If the pressure value is less than the preset value, judge that the blockage is silt or a soft substance. If the pressure value is greater than the preset value, judge that there may be stones or other hard substances in the blockage.

[0078] Step 4: Position Judgment

[0079] If the pressure value detected by the force-sensitive sensor 203 is equal to the preset value, start the acceleration sensor to detect the vibration frequency of the electric telescopic rod 201. Based on the comparison of the vibration frequency with the preset value, judge whether the electric telescopic rod 201 has contacted the valve side wall or a harder substance in the blockage. If the vibration frequency is equal to the preset value, judge that it has contacted the valve side wall. If the vibration frequency is greater than or less than the preset value, judge that it is still in the blockage.

[0080] Step 5: Cleaning and Repair

[0081] According to the type and position of the blockage, the controller starts the corresponding maintenance components for cleaning or repair. For silt or soft substances, start the stirring component for stirring and cleaning. For stones or other hard substances, use the mechanical claw and electromagnet for grasping and removing. During the cleaning or repair process, continuously monitor the data of the force-sensitive sensor 203 and the acceleration sensor to ensure the safety and effectiveness of the operation.

[0082] Step 6: Task Completion and Return

[0083] After the maintenance is completed, use the camera 202 to take pictures of the inside of the pipeline and near the valve again to ensure that there are no residues or unrepaired problems. The controller obtains the current position information of the robot through the GPS positioning module. According to the task requirements, drive the robot back to the starting point or go to the next maintenance task point.

[0084] The above are only embodiments of the present invention, and common general knowledge of specific structures and / or characteristics in the solution is not described in detail herein. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope claimed in this application shall be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. A valve maintenance robot for water conservancy projects, characterized in that: It includes a base and a controller. A driving unit is installed at the bottom of the base. A maintenance unit and a detection unit are rotatably fitted on the top of the base. The detection unit includes a lidar, an ultrasonic sensor, an electric telescopic rod and a camera. The lidar and the ultrasonic sensor are used to obtain the environmental information inside the pipeline in real time. One end of the electric telescopic rod is fixedly connected with a force-sensitive sensor and an acceleration sensor. The maintenance unit includes a stirring assembly and a grasping assembly. The electric telescopic rod, the camera, the force-sensitive sensor, the acceleration sensor, the stirring assembly and the grasping assembly are all connected to the controller by signals; The controller generates a navigation path according to the real-time data of the lidar. The controller takes pictures of the internal image information of the pipeline and near the valve through the camera for real-time recognition. When a blockage or fault is recognized, the controller adjusts the direction of the driving unit according to the real-time distance data collected by the ultrasonic sensor; At the same time, the electric telescopic rod is started, and the electric telescopic rod is inserted into the blockage, and the force-sensitive sensor detects the pressure value when the electric telescopic rod is inserted; When the pressure value is less than the preset value in the controller, it means that the blockage inserted by the electric telescopic rod is silt; When the pressure value is greater than the preset value in the controller, it means that there are stones in the blockage inserted by the electric telescopic rod; When the pressure value is equal to the preset value in the controller, the acceleration sensor detects the vibration frequency of the electric telescopic rod. When the vibration frequency is equal to the preset value in the controller, it means that the electric telescopic rod has passed through the blockage and contacted the side wall of the valve. When the vibration frequency is greater than or less than the preset value in the controller, it means that the electric telescopic rod has contacted a harder substance in the blockage and has not touched the side wall of the valve.

2. The valve maintenance robot for water conservancy projects according to claim 1, wherein: The maintenance unit includes a housing. The stirring assembly includes a motor. The motor is fixedly connected to the inner side wall of the housing. The output shaft of the motor penetrates the housing and is fixedly connected to a stirring rod. A drill bit is fixedly connected to the end of the stirring rod away from the motor. The controller controls the opening and closing of the motor.

3. The valve maintenance robot for water conservancy projects according to claim 2, wherein: The grasping assembly includes a mechanical claw. An electromagnet is installed on the mechanical claw. The mechanical claw and the electromagnet are both connected to the controller by signals. The controller controls the opening and closing of the mechanical claw and the electromagnet.

4. The valve overhaul robot for water conservancy projects according to claim 3, wherein: The driving unit includes a driver and rollers. The base is a hollow structure. The driver is fixedly connected to the inner side wall of the base. The output shafts on both sides of the driver penetrate the base and are fixedly connected to the rollers. The controller controls the opening and closing of the driver.

5. The valve maintenance robot for water conservancy projects according to claim 4, characterized in that: A power supply assembly is fixedly connected inside the base. The power supply assembly includes a storage battery. The storage battery is connected to the controller by signals. The controller controls the charging and discharging process of the storage battery according to the working state and power demand of the robot.

6. The valve maintenance robot for water conservancy projects according to claim 5, wherein: It also includes a wireless communication module. The wireless communication module is used for remote data transmission and instruction reception. The wireless communication module is connected to the controller by signals.

7. The valve maintenance robot for water conservancy projects according to claim 6, characterized in that: It also includes a GPS positioning module. The GPS positioning module is used to obtain the position information of the robot in real time. The GPS positioning module is connected to the controller by signals; The controller plans the optimal maintenance path for the robot according to the environmental information inside the pipeline obtained by the lidar and the ultrasonic sensor in real time, combined with the position information monitored by the GPS positioning module in real time.

8. The valve maintenance robot for water conservancy projects according to claim 7, wherein: Sealing structures are provided between the base, the maintenance unit, and the detection unit. The sealing structures are used to prevent water or other liquids from entering the interior of the robot. The sealing structures include, but are not limited to, sealing gaskets, sealants, and welded seals.

9. The valve overhaul robot for water conservancy projects according to claim 8, characterized in that: Both the base and the housing are made of stainless steel.

10. A method for using a valve maintenance robot for water conservancy projects, characterized in that: For any one of the valve maintenance robots for water conservancy projects according to claims 1-9, the usage steps are as follows: Step 1: Start the robot and operate the robot through the controller to make it advance along the pipeline to the target valve area; Step 2: Use the camera of the detection unit to capture the image information inside the pipeline and near the valve, and perform real-time recognition through the controller to determine whether there is a blockage or a fault; Step 3: If a blockage is identified, the controller activates the electric telescopic rod to insert it into the blockage, and uses the force-sensitive sensor to detect the pressure value when the electric telescopic rod is inserted, and determines the type of the blockage according to the preset value; Step 4: If the pressure value is equal to the preset value, activate the acceleration sensor to detect the vibration frequency of the electric telescopic rod to determine whether it has contacted the side wall of the valve or a harder substance in the blockage; Step 5: According to the type and position of the blockage, the controller activates the corresponding maintenance components to clean or repair; Step 6: After the maintenance is completed, the controller obtains the position information of the robot through the GPS positioning module, and drives the robot to return to the starting point or perform the next maintenance task.

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