Visual pipeline dredging robot and dredging method thereof

Abstract

The invention relates to the technical field of pipeline dredging equipment, and discloses a visual pipeline dredging robot and a dredging method thereof.The visual pipeline dredging robot comprises a robot body, a camera is arranged on the robot body, a rotating shaft is arranged at the front end of the robot body, and a drill bit is arranged on the rotating shaft; driving wheels are arranged on the peripheral side of the robot body; according to the system and the method, the operation condition in the pipeline can be observed in real time, quick positioning of a blockage point is realized, the blockage clearing efficiency is improved, adverse effects on traffic are reduced, the interior of the pipeline cannot be damaged, meanwhile, the blockage clearing effect can be quantified, and a detection report can be analyzed and output in a targeted manner.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline dredging equipment, and particularly relates to a visual pipeline dredging robot and a dredging method thereof. Background Art

[0002] Due to sundries, dust, etc. carried by rainwater entering the pipeline, accumulation over the years, local collapse of the pipeline, and growth of tree roots in the pipeline, the municipal drainage system will cause pipeline blockage, which in turn leads to urban waterlogging. At present, when cleaning drainage pipelines, special operation sludge cleaning vehicles are mostly used, which are not only expensive but also only applicable to the situation of blockage by sludge-like garbage that has not been completely blocked. In addition, during the construction process, due to the invisible internal situation, it is easy to cause secondary damage to the pipeline, and the cleaning effect cannot be quantitatively evaluated. At the same time, for blockages such as tree roots, petrochemical waste, and small local collapses, manual excavation is required. It is difficult to locate the blockage point, the construction period is long, and it seriously affects road traffic. Therefore, there is an urgent need for a visual pipeline dredging robot to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a visual pipeline dredging robot and a dredging method thereof, which can not only observe the internal operation situation of the pipeline in real time, realize the rapid positioning of the blockage point, improve the dredging efficiency, reduce the adverse impact on traffic, but also will not cause damage to the inside of the pipeline. At the same time, the dredging effect can be quantified, which is convenient for targeted analysis and output of inspection reports.

[0004] The present invention adopts the following technical solutions:

[0005] A visual pipeline dredging robot includes a robot body, a camera is arranged on the robot body, a rotating shaft is arranged at the front end of the robot body, and a drill bit is arranged on the rotating shaft; driving wheels are arranged on the periphery of the robot body.

[0006] Preferably, three driving wheels are arranged at intervals along the axis direction of the robot body.

[0007] Preferably, the driving wheels are caterpillar wheels, and the distance between the driving wheels and the robot body is adjustable.

[0008] Preferably, each driving wheel is connected to a driving motor through an active connecting rod, and the driving motor is arranged on the robot body.

[0009] Preferably, a protective housing is arranged outside the driving motor, and a driven connecting rod is arranged between the protective housing and the driving wheel.

[0010] Preferably, a driving motor is provided at the end of the robot body. A worm is connected to the driving shaft of the driving motor. A plurality of supporting seats are provided on the robot body on the circumferential side of the worm. A turbine is provided in each supporting seat. A driving shaft is provided on each turbine. The driving shaft is connected to the driving wheel through a driving rod.

[0011] Preferably, a driven rod is provided between the driving wheel and the supporting seat.

[0012] Preferably, the cameras are embedded at the front and rear ends of the robot body, and fill lights are embedded at both the front and rear ends of the robot body.

[0013] Preferably, a plurality of rubber pads are detachably provided on the driving wheel.

[0014] A dredging method for a visual pipeline dredging robot is as follows:

[0015] S1 Remotely link the robot body to the host computer through a driving cable;

[0016] S2 After the robot body enters the pipeline, control the driving wheel to open with the robot body as the center until the driving wheel contacts the inner side wall of the pipeline and reaches the preset pressure, and then feedback the information to the host computer to control the driving wheel to stop expanding outwards;

[0017] S3 Control the robot to walk in the pipeline through the host computer. At this time, the fill light can be turned on, and the situation inside the pipeline can be observed through the host computer; when encountering a blocked object, control the rotating shaft to rotate, and the rotating shaft drives the drill bit to rotate to dredge the blocked pipeline; if the driving wheel slips when encountering too much resistance, then perform step S2 to adjust the pressure value of the driving wheel to make the driving wheel have sufficient grip and move forward; if encountering a soft blocked object, at this time, the robot needs to be withdrawn, replace the corresponding drill bit and start the operation from step S1;

[0018] S4 After the robot dredges the blocked part of the pipeline, it continues to move forward, and at the same time, the front camera records the data of the inner wall of the pipeline until the detection of this section of the pipeline is completed;

[0019] S5 The robot returns to the starting point, the driving wheel is retracted, and the operation of clearing the blockage in the pipeline is completed. The operator analyzes the situation inside the pipeline through the video recorded by the host computer and outputs a detection report.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: By providing a camera on the robot body, the present invention can remotely link the robot body to the host computer through a driving cable, realize the rapid positioning of the blocked point, improve the efficiency of clearing the blockage, and reduce the adverse impact on traffic; at the same time, the visual operation will not damage the inside of the pipeline, and the effect of clearing the blockage can be quantified, which is convenient for targeted analysis and output of a detection report.

[0021] Furthermore, multiple driving wheels are provided, and the distances between the multiple driving wheels and the robot body are adjustable. The driving wheels can be controlled to extend around the robot body, thereby meeting the clogging removal operations for pipes with different diameters and expanding the applicable range. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the first embodiment of the present application;

[0023] Figure 2 It is a schematic structural diagram of the second embodiment of the present application;

[0024] Figure 3 is Figure 2 an enlarged view of A in

[0025] Figure 4 It is a schematic structural diagram inside the robot body of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be clearly and completely described below with reference to the drawings and embodiments:

[0027] Such as Figure 1 and Figure 4As shown in the figure, a visual pipeline dredging robot according to the present invention includes a robot body 1. The robot body 1 includes an external housing and a switch 19, a motor driver 20, and a main control board 21 disposed inside the housing. The robot body 1 is integrally sealed and can achieve IP68-level waterproofing to ensure that it is not affected by the internal water flow and dirt in the pipeline during the dredging work. A camera 2 is provided on the robot body 1. The camera 2 is embedded at the front and rear ends of the robot body 1 so as to transmit the situation inside the pipeline to an external host computer in real time as the robot body 1 moves. The front and rear cameras 2 are both controlled by the main control board 21 and communicate with the host computer through the switch 19. The host computer is connected to the robot body 1 by a cable to facilitate external staff to observe the inside of the pipeline. A rotating shaft 3 is provided at the front end of the robot body 1. The rotating shaft 3 is driven by a motor controlled by the robot body 1. The motor is controlled by the motor driver 20 inside the robot body 1, and the motor driver 20 is controlled by the main control board 21. The motor can rotate at high, medium, and low gears to meet the blockage conditions in different states and improve the blockage removal effect. A drill bit 4 is provided on the rotating shaft 3. The drill bit 4 is detachably connected to the rotating shaft 3 to facilitate targeted replacement of the drill bit 4 under different working conditions, improving the blockage removal efficiency and effect. Driving wheels 5 are provided on the periphery of the robot body 1. During operation, the driving wheels 5 drive the robot body 1 to move along the inner wall of the pipeline, thereby completing the pipeline blockage removal operation. Among them, preferably three driving wheels 5 are arranged at intervals along the axis of the robot body 1, and the three driving wheels 5 are distributed at 120° along the axis of the robot body 1 to form a stable support for the robot body 1 and ensure the stability of the robot body 1 during movement.

[0028] Furthermore, in the present invention, the driving wheels 5 are caterpillar wheels, and the distance between the driving wheels 5 and the robot body 1 is adjustable, so as to realize the blockage removal operation for pipelines with different diameters by adjusting the distance between the driving wheels 5 and the robot body 1. Each driving wheel 5 has an independent driving structure to ensure the power for the robot to move inside the pipeline. In addition, a plurality of rubber pads 6 are detachably arranged on the chain of the driving wheel 5. The arrangement of the rubber pads 6 can reduce the damage to the inner wall of the pipeline. Anti-slip stripes are provided on the outer side of the rubber pads 6 to increase the friction between it and the inner wall of the pipeline and prevent the robot from slipping during the movement.

[0029] For different situations, the present invention optimizes the adjustment method of the driving wheels 5 in different ways to meet different usage conditions, as follows:

[0030] Embodiment 1

[0031] In each of the embodiments, each driving wheel 5 can be individually adjusted in its distance from the robot body 1 to meet the asymmetric working conditions that occur after the deformation inside the pipeline; in this embodiment, the driving wheel 5 is connected to the driving motor through the active connecting rod 7, and the driving motor is arranged on the robot body 1 and controlled by the robot body 1. A protective housing 8 is arranged outside the driving motor to protect the driving motor. A driven connecting rod 9 is arranged between the protective housing 8 and the driving wheel 5, and the driven connecting rod 9 can ensure that the driving wheel 5 is parallel to the axis of the robot body 1 after adjustment, ensuring the stable movement of the robot body 1.

[0032] Embodiment 2

[0033] As Figure 2 And Figure 3 As shown, in this embodiment, multiple driving wheels 5 can simultaneously adjust their distances from the robot body 1 for the case where the internal shape of the pipeline is relatively regular; specifically, a driving motor is arranged at the end of the robot body 1, a worm 10 is connected to the driving shaft of the driving motor, and multiple support seats 11 are arranged on the robot body 1 on the circumferential side of the worm 10. A turbine 12 is arranged in each support seat 11, and a driving shaft 13 is arranged on each turbine 12. The driving shaft 13 is connected to the driving wheel 5 through the driving rod 14. During operation, the worm 10 is driven to rotate by the driving motor, the worm 10 can engage the turbine 12 for transmission, and as the turbine 12 rotates, the driving rod 14 and the driving wheel 5 will be lifted by the driving shaft 13; among them, a driven rod 15 is arranged between the driving wheel 5 and the support seat 11 to ensure that the driving wheel 5 is parallel to the axis of the robot body 1, ensuring the stability of the whole robot during operation.

[0034] Furthermore, in Embodiments 1 and 2, fill light lamps 16 are embedded at both the front and rear ends of the robot body 1, and the fill light lamps 16 are controlled by the main control board 21 to supplement light for the shooting of the camera 2, improving the clarity of the image transmitted to the upper computer; in Embodiments 1 and 2, cleaning brushes 17 are arranged on the rotating shaft 3 to clean the front wall surface of the robot body 1 as the rotating shaft 3 rotates, avoiding the dirt covering the front end of the robot body 1 and covering the camera 2 during the cleaning and blocking removal work, affecting the shooting effect. Among them, the cleaning brush 17 is preferably arranged on the rotating shaft 3 through a spring 18 to ensure that the cleaning brush 17 is always in contact with the end face of the robot body 1; in the initial state, the spring 18 is in a compressed state, and as the cleaning brush 17 is worn, the spring 18 will gradually reset, continuously ensuring that the cleaning brush 17 is in contact with the end face of the robot body 1, ensuring the cleaning effect, while prolonging the service life of the cleaning brush 17 and reducing the replacement frequency.

[0035] A dredging method for a visual pipeline dredging robot, the above-mentioned visual pipeline dredging robot, the specific operation steps are as follows:

[0036] S1 Remotely link the robot body 1 to the host computer through a drive cable;

[0037] S2 After the robot body 1 enters the pipeline, control the driving wheels 5 to expand with the robot body 1 as the center until the driving wheels 5 contact the inner side wall of the pipeline and reach the preset pressure, and then feed back the information to the host computer to control the driving wheels 5 to stop expanding outwards;

[0038] S3 Control the robot to walk in the pipeline through the host computer. At this time, the supplementary light 16 can be turned on to observe the situation inside the pipeline through the host computer; when encountering a blocked object, control the robot body 1 to rotate the rotating shaft 3, and the rotating shaft 3 drives the drill bit 4 to rotate to dredge the blocked pipeline; if the driving wheels 5 slip when encountering excessive resistance, perform step S2 to adjust the pressure value of the driving wheels 5 so that the driving wheels 5 have sufficient grip and move forward; if encountering a soft blocked object, at this time, the robot needs to be withdrawn, replace the corresponding drill bit 4 and start the operation from step S1;

[0039] S4 After the robot dredges the blocked part of the pipeline, it continues to move forward, and at the same time, the front camera 2 records the data of the inner wall of the pipeline until the detection of this section of the pipeline is completed;

[0040] S5 The robot returns to the starting point, the driving wheels 5 are retracted, and the operation of clearing the blockage in the pipeline is completed. The operator analyzes the internal situation of the pipeline through the video recorded by the host computer and outputs a detection report.

[0041] The present invention can not only observe the operation situation inside the pipeline in real time, realize the rapid positioning of the blocked point, improve the efficiency of clearing the blockage, reduce the adverse impact on traffic, but also will not cause damage to the inside of the pipeline; at the same time, it can also adapt to pipelines with different diameters, complete the dredging operation of pipelines with multiple diameters, expand the application scope of the present invention, and enhance the practicability of the present invention.

[0042] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A visual pipeline dredging robot, characterized in that: It includes a robot body, on which a camera is provided. At the front end of the robot body, a rotating shaft is provided, and a drill bit is provided on the rotating shaft. Driving wheels are provided on the periphery of the robot body.

2. The visualized pipeline dredging robot according to claim 1, characterized in that: Three of the driving wheels are arranged at intervals along the axis direction of the robot body.

3. The visual pipeline dredging robot according to claim 2, characterized in that: The driving wheels are caterpillar wheels, and the distance between the driving wheels and the robot body is adjustable.

4. The visual pipeline dredging robot according to claim 3, wherein: Each of the driving wheels is connected to a driving motor through an active connecting rod, and the driving motor is arranged on the robot body.

5. The visualized pipeline dredging robot according to claim 4, characterized in that: A protective housing is arranged outside the driving motor, and a driven connecting rod is arranged between the protective housing and the driving wheel.

6. The visual pipeline dredging robot according to claim 3, characterized in that: A driving motor is arranged at the end of the robot body. A worm is connected to the driving shaft of the driving motor. A plurality of support seats are arranged on the robot body on the periphery of the worm. Turbines are arranged in the support seats. An active shaft is arranged on each of the turbines. The active shaft is connected to the driving wheel through an active rod.

7. The visual pipeline dredging robot according to claim 6, characterized in that: A driven rod is arranged between the driving wheel and the support seat.

8. The visualized pipeline dredging robot according to claim 1, characterized in that: The camera is embedded at the front and rear ends of the robot body, and supplementary light lamps are embedded at both the front and rear ends of the robot body.

9. The visual pipeline dredging robot according to claim 3, wherein: A plurality of rubber pads are detachably arranged on the driving wheels.

10. A dredging method for a visual pipeline dredging robot, characterized in that: For the visual pipeline dredging robot according to any one of claims 1-9, the specific operation steps are as follows: S1 Remotely link the robot body to the host computer through a driving cable. S2 After the robot body enters the pipeline, control the driving wheels to open with the robot body as the center until the driving wheels contact the inner side wall of the pipeline and reach the preset pressure, and then feedback the information to the host computer to control the driving wheels to stop expanding outwards. S3 Control the robot to walk in the pipeline through the host computer. At this time, the supplementary light lamp can be turned on, and the situation inside the pipeline can be observed through the host computer. When encountering a blocked object, control the rotating shaft to rotate, and the rotating shaft drives the drill bit to rotate to dredge the blocked pipeline. If the driving wheels slip when encountering too much resistance, perform step S2 to adjust the pressure value of the driving wheels so that the driving wheels have sufficient grip and move forward. If encountering a soft blocked object, at this time, the robot needs to be withdrawn, and after replacing the corresponding drill bit, start the operation from step S1. S4 After the robot dredges the blocked part of the pipeline, continue to walk forward, and at the same time, the front camera records the data of the inner wall of the pipeline until the detection of this section of the pipeline is completed. S5 The robot returns to the starting point, the driving wheels are retracted, and the operation of clearing the blockage in the pipeline is completed. The operator analyzes the situation inside the pipeline through the video recorded by the host computer and outputs a detection report.

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