Urban underground drainage pipe automatic cleaning device and method

Abstract

The present application relates to the technical field of underground pipeline fouling cleaning equipment, and specifically discloses an automatic cleaning device and method for urban underground drainage pipes, which comprises a foldable walking mechanism, a supporting device, a movable cleaning execution mechanism, and a water supply system. The cleaning execution mechanism is installed at the front end of the walking mechanism, and its radial position and angle are adjustable. The cleaning execution mechanism runs along a spiral track, and left-right cooperation is achieved to realize full coverage flushing of the bottom section of the pipeline. The water supply system provides a preset pressure water flow. An image acquisition module acquires images inside the pipeline, and is electrically connected with a control device and various components. The walking mechanism, the working parameters of the execution mechanism, and the state of the water supply system are controlled according to image data. The device adopts a "working-emergency dual mode". In the working mode, low-pressure fan-shaped injection at 3-5 MPa is adopted to efficiently clean sludge without damaging the pipe wall. In the emergency mode, super-high pressure pulse at 8-10 MPa is adopted to break stubborn obstacles, thereby solving the problems of incomplete cleaning and easy damage to the pipeline of traditional devices.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underground pipeline fouling cleaning equipment, in particular to an automatic cleaning device and method for urban underground drainage pipes. BACKGROUND

[0002] The underground pipeline crosswell is a horizontal channel (usually 10-50 m in length and 300-800 mm in diameter) connecting the main pipeline and the vertical well in the municipal drainage and gas pipeline system. Its core function is to facilitate pipeline maintenance and water flow diversion. Due to the small slope and slow water flow at the bottom of the crosswell, sludge, sand, and household garbage are easily accumulated for a long time, often mixed with stubborn obstacles such as branches, stones, and concrete blocks. If not cleaned in time, it will cause pipeline blockage, reduced drainage capacity, and even accidents such as road collapse and sewage overflow. Therefore, underground pipeline crosswell cleaning is a core requirement for municipal infrastructure maintenance, which needs to be achieved through special equipment for efficient and safe cleaning operations. The existing underground pipeline crosswell cleaning technology mainly includes manual cleaning and traditional mechanical cleaning, which has the following status and deficiencies, and forms a significant gap with the core invention point of this scheme.

[0003] The traditional mode of "personnel down the well + tool cleaning" is adopted, the workers wear protective equipment and enter the vertical well, use tools such as shovels and high-pressure water guns to manually clean the sludge and obstacles in the crosswell, and the cleaned materials are transported to the ground by a bucket. The safety risk is extremely high: the crosswell is oxygen-deficient and has high concentrations of toxic gases (such as hydrogen sulfide and methane), which can easily cause poisoning and suffocation accidents. According to municipal maintenance data, the accident rate of manual downhole operation is 0.3% per operation; the efficiency is extremely low: 2-4 people are needed to clean a 20m crosswell, which takes 2-4 hours, and the sludge cleaning rate is only 60%-70%, and stubborn obstacles need to be broken twice; the labor intensity is large: workers work in a narrow space (diameter ≤800mm), which can easily cause occupational diseases such as lumbar strain.

[0004] The traditional mechanical cleaning mode is single, only using single high-pressure water jet (pressure 5-8 MPa), which is not thorough at low pressure and can easily damage the pipe at high pressure; and has no emergency breaking function, which needs manual secondary treatment for stubborn obstacles such as stones and wood, and cannot achieve "one-stop cleaning";

[0005] Due to the high safety risk, poor adaptability, incomplete cleaning, and low stability of the existing underground pipeline crosswell cleaning technology, it cannot meet the diversified cleaning needs of municipal pipelines. With the acceleration of urbanization, the number of crosswells has increased rapidly (12% per year), and the disadvantages of low efficiency and high cost of traditional technology have become more prominent. Therefore, it is an urgent need to develop a foldable downhole, dual-mode precise cleaning, multi-scene water supply adaptation, and stable cleaning device to solve the problems of existing technology, ensure the smoothness of the pipeline system, and reduce the operation and maintenance cost. SUMMARY

[0006] In view of the problems of the existing underground pipeline crosswell cleaning, such as unsafe manual operation, poor mechanical adaptation, incomplete cleaning and pipe damage, the present application provides an automatic cleaning device and method for urban underground drainage pipes, which can be folded and lowered into the pipeline, positioned synchronously, cleaned accurately in double modes, achieve efficient and safe cleaning, adapt to multiple pipe diameters and reduce operation and maintenance costs.

[0007] The technical problem of the present application is solved by using an automatic cleaning device for urban underground drainage pipes, which comprises: a folding walking mechanism capable of supporting the device main body and moving along the inner wall of the underground pipeline, and being foldable and retractable to adapt to pipeline lowering and different pipe diameters; a cleaning execution mechanism installed at the front end of the folding walking mechanism, comprising an adjusting frame with self-rotating driving function, the adjusting frame being capable of adjusting the radial position and circumferential angle of the working spray head and driving the working spray head to run along a spiral trajectory, the left and right cleaning execution mechanisms cooperating with each other and respectively driving the working spray heads to flush and clean the bottom cross-sectional area of the pipeline; a water supply system connected with the cleaning execution mechanism, capable of providing water flow with different preset pressures to the corresponding spray heads according to the type of pipeline debris; an image acquisition module for acquiring image information inside the pipeline; a control device electrically connected with the folding walking mechanism, the cleaning execution mechanism, the water supply system and the image acquisition module, capable of controlling the movement and folding state of the folding walking mechanism, the working position, angle and rotating action of the cleaning execution mechanism, and the water flow pressure output by the water supply system and the working state of the corresponding spray head according to the image information acquired by the image acquisition module.

[0008] Preferably, the folding walking mechanism comprises at least two groups of stretching assemblies distributed along the axial direction, a stretching driving unit for driving the synchronous action of each stretching assembly, and a walking driving unit for driving walking; the stretching assembly comprises a base unit, a screw transmission mechanism, a sliding part, a connecting rod assembly and a swing arm with a walking wheel, each base unit is fixed in series through a connecting piece, the screw transmission mechanism cooperates with the sliding part, the sliding part is hinged with the swing arm through the connecting rod assembly, so that the swing arm can swing around the hinge point on the base unit to realize the radial expansion and contraction of the walking wheel; further comprising a synchronous linkage structure, the synchronous linkage structure connects the corresponding swing arms in different stretching assemblies through hinge and sliding cooperation, expands or contracts radially synchronously with each swing arm, the cleaning execution mechanism is installed at the front end of the synchronous linkage structure of the folding walking mechanism; the walking driving unit is in transmission connection with at least one walking wheel to drive its rotation.

[0009] Preferably, the cleaning execution mechanism comprises a working adjustment frame, which comprises a rotating device and a radial expansion frame; the radial expansion frame comprises a working rotary tube, an expansion tube, a connecting rod and an electric push rod, the working rotary tube and the expansion tube are hinged through front and rear connecting rods to form a parallelogram structure, the electric push rod is hinged between the working rotary tube and the expansion tube, and a high-pressure nozzle of a water supply system is installed at the front end of the expansion tube; the rotating device is installed at the front end of a synchronous linkage structure, can drive the working rotary tube to rotate, can also expand or contract along the radial direction together with the synchronous linkage structure, and the expansion tube is always parallel to the device axis.

[0010] Preferably, the cleaning execution mechanism comprises an emergency adjustment frame, which comprises a rotating device and a swing frame; the swing frame comprises an emergency rotary tube, a hinged seat, a swing tube and an electric push rod, the emergency rotary tube is hinged with the swing tube through the hinged seat, the electric push rod is hinged between the emergency rotary tube and the swing tube, and a high-pressure nozzle of a water supply system is installed at the front end of the expansion tube; the rotating device is installed at the front end of a synchronous linkage structure, can drive the emergency rotary tube to rotate, can also expand or contract along the radial direction together with the synchronous linkage structure, but the swing tube has an included angle with the device axis.

[0011] Preferably, the rotating device comprises a box shell, the box shell is provided with a worm and a worm gear meshing with each other, a rotating motor is connected with the worm, and the center of the worm gear is installed with the working rotary tube or the emergency rotary tube; the front and rear ends of the box shell support the working rotary tube or the emergency rotary tube through a bearing seat and a bearing.

[0012] Preferably, the total water pipe of the water supply system leads out a working branch water pipe and an emergency branch water pipe, the water pressure of the emergency branch water pipe is higher than that of the working branch water pipe, and each branch water pipe is respectively provided with an electromagnetic valve, and the front end of each branch pipe is connected with the inlet of the corresponding rotating joint; the working rotary tube or the emergency rotary tube is sleeved with a terminal water delivery pipe, the front end of the terminal water delivery pipe is connected with the outlet of the corresponding rotating joint, the rear end of the terminal water delivery pipe is connected with a high-pressure nozzle, and the high-pressure nozzle is installed at the front end of the expansion tube or the swing tube.

[0013] Preferably, the image acquisition module comprises a spotlight and a camera, the spotlight is installed at the front end of an outer base, and the camera is installed at the front side wall of the box shell of the rotating device.

[0014] A cleaning method based on the automatic cleaning device for urban underground drainage pipes according to any one of the claims, comprising the following steps: S1, lowering the cleaning device in a folded state into the entrance of the crosswell of the underground pipe; S2, controlling the folding walking mechanism to expand, so that the walking wheels are supported on the inner wall of the pipe and the device is positioned in the center of the pipe; S3, starting the image acquisition module to acquire image information inside the pipe; S4, judging the type of debris in the pipe according to the image information, controlling the device to move along the pipe and starting the cleaning execution mechanism: if it is conventional sludge, controlling the working adjustment frame to adjust the working position and the rotation angle, providing a preset pressure water flow through the water supply system for large-area cleaning; if stubborn obstacles are encountered, controlling the emergency adjustment frame to adjust the working position and the swing angle, providing an ultrahigh pressure pulse water flow through the water supply system for point breaking; S5, after the cleaning is completed, controlling the folding walking mechanism to contract, and taking the device out of the pipe.

[0015] Preferably, the cleaning process of the conventional sludge in S4 includes: controlling the electric push rod of the working adjustment frame to extend or retract to adjust the radial position of the extension pipe, and controlling the rotating device to drive the working rotating pipe to rotate to adjust the circumferential angle of the extension pipe; the water supply system is controlled to transport a water flow with a pressure of 3-5 MPa through the working water pipe, and a high-pressure nozzle installed at the front end of the extension pipe forms a large-area jet to cover the conventional sludge in the pipe for cleaning; the cleaning process of the stubborn obstacle in S4 includes: controlling the electric push rod of the emergency adjustment frame to extend or retract to adjust the swing angle of the swing pipe, and controlling the rotating device to drive the emergency rotating pipe to rotate to adjust the circumferential angle of the swing pipe; the water supply system is controlled to transport an ultrahigh pressure pulse water flow with a pressure of 8-10 MPa through the emergency water pipe, and a high-pressure nozzle installed at the front end of the swing pipe forms a focused jet to perform point pulse breaking on the stubborn obstacle in the pipe.

[0016] The present application has the following advantages: through detailed structural design and collaborative work process, the present application realizes efficient, safe and accurate cleaning of the crosswell of the underground pipe, and can be widely applied to underground pipe maintenance operations in the fields of municipal, chemical, gas and the like.

[0017] 1. The dual-mode cleaning balances efficiency and safety, and resolves the operation contradiction. The working mode of the "working-emergency dual-mode" water supply cleaning is 3-5 MPa low-pressure fan-shaped jetting (two working nozzles cover 90% of the congested cross section), which realizes efficient cleaning of a large area of sludge and avoids damage to the pipe wall; the emergency mode is 8-10 MPa ultrahigh pressure pulse, which accurately breaks stubborn obstacles such as stones and wood, solves the problem of "incomplete cleaning" of traditional devices, avoids the damage of continuous high pressure to the pipe, and balances the cleaning effect and pipe protection.

[0018] 2. Visualize precision work, reduce cost and increase efficiency and ensure safety: relying on the "visual guidance + multi-dimensional adjustment" system, through the camera to collect the image in the pipeline in real time, cooperate with the electric push rod and rotating device, that is, change the radial position of the high-pressure nozzle through the electric push rod while rotating, realize self-rotating dynamic spiral cleaning, and can also cooperate with the ground remote control precision cleaning to avoid the safety risks of toxic gas and lack of oxygen faced by manual downhole; single horizontal well cleaning time is short, 3-4 times higher than traditional manual efficiency, greatly reducing the municipal pipeline operation and maintenance time and labor cost, while reducing the secondary loss caused by blind operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective structural schematic diagram of the cleaning device of embodiment 1;

[0020] Figure 2 is an assembly relationship schematic diagram of Figure 1

[0021] Figure 3 is a top view of Figure 1

[0022] Figure 4 is a schematic diagram of the relationship between each water pipe of the water supply system and the booster pump;

[0023] Figure 5 is a schematic diagram of the cross-sectional area of the underground pipeline;

[0024] Figure 6 is a schematic diagram of the cooperation position relationship between the working adjustment frame and the emergency adjustment frame;

[0025] Figure 7 is a front structural schematic diagram of the working adjustment frame;

[0026] Figure 8 is a front structural schematic diagram of the emergency adjustment frame;

[0027] Figure 9 is a perspective structural schematic diagram of another cleaning device;

[0028] Figure 10 is a structural schematic diagram of the rear end connection counterweight trolley of Figure 9

[0029] ​​​Numbering in the diagram: 1-Folding walking mechanism; 11a-Front extension assembly; 11b-Rear extension assembly; 111-Outer base; 112-Inner base; 113-Sliding seat; 114-Inner shaft seat; 115-Swing arm; 116-Push-pull rod; 117-Walking wheel; 118-Outer shaft seat; 119-Center screw; 12-Fixing rod; 13-Extension motor; 14-Walking motor; 141-Driving bevel gear; 142-Driven bevel gear; 15-Synchronization mechanism; 151-Synchronization shaft; 152-Side gear; 153-Middle gear; 2-Tube frame; 21-Root shaft hole; 22-Sliding shaft hole; 23-Root rotating shaft; 24-Sliding shaft; 3-Working adjustment frame; 31-Working rotating tube; 32-Extension tube; 33-Connecting rod; 4-Emergency adjustment frame; 41-Emergency adjustment frame; 42-Hinged seat; 43-Swinging pipe; 5-Rotating device; 51-Shell; 52-Worm gear; 53-Worm; 54-Bearing seat; 55-Bearing; 56-Rotating motor; 6-Water supply system; 61-Main water pipe; 62-Working branch water pipe; 63-Emergency branch water pipe; 64-Rotating joint; 65-End water supply pipe; 66-High-pressure nozzle; 67-Booster pump; 68-High-pressure pump; 69-Sealed water tank; 7-Image acquisition module; 71-Spotlight; 72-Camera; 8-Cable; 9-Electric push rod; 10-Counterweight trolley; 101-Fixed seat; 102-Tie rod one; 103-Tie rod two; 104-Horizontal pin shaft; 105-Tilting shaft; 106-Outrigger; 107-Roller; 108-Arc-shaped fixing plate; 109-Locking pin. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Example 1: This example uses an underground pipeline shaft cleaning device with multi-path high-pressure water supply regulation, which is suitable for routine sludge cleaning and breaking of stubborn obstacles such as stones and wood in municipal drainage and gas pipeline shafts.

[0032] like Figures 1-3 As shown, the folding walking mechanism 1 is a dual-set structure with front and rear symmetry, including a front extension component 11a (near the front end of the device) and a rear extension component 11b (near the rear end of the device). The two sets of components have completely identical structures and are fixed in series by a connecting rod 12, as detailed below.

[0033] Both the outer base 111 and the inner base 112 are integrally formed from 6061 aluminum alloy, forming an equilateral triangular frame structure. The outer base 111 is located on the outside, and the inner base 112 is located on the inside. The two sets of components have a total of 4 bases (front outer, front inner, rear outer, and rear inner). Adjacent bases (such as the front outer base and the front inner base) are symmetrically connected and fixed in series by 3 connecting rods 12 to form a rigid frame.

[0034] In the middle part between each outer base 111 and the adjacent inner base 112, one central screw 119 is fixed by bearing seat; the sliding seat 113 is a triangular block, and the middle part is provided with a screw sleeve matched with the central screw 119, the screw sleeve is threadedly sleeved with the central screw 119, and the gap is less than or equal to 0.1 mm, so that the sliding is smooth and without jamming.

[0035] Two inner bases 112 (front inner and rear inner) are fixed by a bolt, and one stretching motor 13 (direct current servo motor, power 150 W, rotating speed 300 rpm, with a reduction box, reduction ratio 1:50) is arranged between the two inner bases 112; the output shaft of the motor is connected with one of the central screws 119 (such as the front inner base side) through a shaft coupling; in order to avoid that the speed difference of the front and rear central screws 119 causes the unfolding of the swing arm 115 to be asymmetric, a synchronous mechanism 15 is arranged: the synchronous mechanism 15 comprises one synchronous shaft 151, two edge gears 152 (tooth number 20) and two middle gears 153 (tooth number 60); the central parts of the two inner bases 112 are provided with shaft holes, the synchronous shaft 151 penetrates through the shaft holes and is positioned by bearings; the edge gears 152 are key-connected to the two ends of the synchronous shaft 151, the middle gears 153 are key-connected to the inner ends of the front and rear central screws 119, and the edge gears 152 are meshed with the adjacent middle gears 153, so that the front and rear central screws 119 are synchronously rotated.

[0036] Three corners of each inner base 112 are welded with one inner shaft seat 114; each inner shaft seat 114 is hinged with one swing arm 115 through an inner pin shaft; each outer shaft seat 118 is hinged with one push-pull rod 116 through an outer pin shaft, and the outer end of the push-pull rod 116 is hinged to the middle part of the swing arm 115 through a tail pin shaft; the tail end of the swing arm 115 is welded with a wheel seat (U-shaped structure), and a walking wheel 117 (rubber wheel, diameter 50 mm, width 20 mm, and surface provided with anti-skid lines) is installed in the wheel seat through a bearing.

[0037] One walking motor 14 is fixed on each swing arm 115 of the front stretching assembly 11a or the rear stretching assembly 11b (or all the swing arms); the rotating shaft of the walking motor 14 is key-connected with a driving bevel gear 141 (tooth number 30), the rotating shaft of the walking wheel 117 is key-connected with a driven bevel gear 142 (tooth number 20), and the driving bevel gear 141 is meshed with the driven bevel gear 142, so that enough torque can be output to drive the device to walk in the muddy pipeline at a speed of 5-10 cm / s.

[0038] The stretching motor 13 drives the central screw 119 to rotate, the sliding seat 113 moves along the screw shaft, the swing arm 115 is pushed to swing around the inner shaft seat 114 through the push-pull rod 116, and the unfolding or contraction of the walking wheel 117 is realized; the synchronous mechanism 15 ensures that the front and rear swing arms 115 are synchronously unfolded, so that the device is always located at the pipeline axis and avoids colliding with the pipeline wall.

[0039] As Figures 1-3As shown, the pipe rack 2 is a 3-group stainless steel square tube, fixed between the front stretching assembly 11a and the rear stretching assembly 11b along the device axis. The specific structure: the rear end of the pipe rack 2 (close to the rear stretching assembly 11b) is provided with a root shaft hole 21, and the middle part is provided with a sliding shaft hole 22; the middle part of the left and right swing arms 115 of the rear stretching assembly 11b is welded with a root rotating shaft 23, the root rotating shaft 23 is inserted into the root shaft hole 21 to form a rotating pair; the middle part of the left and right swing arms 115 of the front stretching assembly 11a is welded with a sliding shaft 24, the sliding shaft 24 is inserted into the sliding shaft hole 22 to form a sliding pair. When the swing arm 115 is unfolded, the root rotating shaft 23 rotates around the root shaft hole 21, and the sliding shaft 24 slides along the sliding shaft hole 22, driving the pipe rack 2 to expand synchronously along the radial direction, and the pipe rack 2 is always parallel to the device axis, providing stable support for the subsequent cleaning components.

[0040] As shown in Figure 2 , Figure 6 and Figure 7 , the working adjusting frame 3 is a 2-group (left and right symmetrical) and is respectively installed at the front end of the lower 2 groups of pipe racks 2, each group including a rotating device 5 and a radial expansion frame. It is composed of a working rotating pipe 31, an expansion pipe 32, 2 connecting rods 33 and 1 electric push rod 9; the front and rear ends of the working rotating pipe 31 and the expansion pipe 32 are welded with ear plates, and the 2 connecting rods 33 are respectively hinged to the front and rear ear plates of the working rotating pipe 31 and the expansion pipe 32 to form a parallelogram structure (to ensure that the working rotating pipe 31 and the expansion pipe 32 are always parallel); the cylinder end of the electric push rod 9 is hinged to the middle ear plate of the working rotating pipe 31, and the push rod end is hinged to the middle ear plate of the expansion pipe 32.

[0041] The rotating device 5 is matched with the working adjusting frame and is fixed at the front end of the pipe rack 2, including a box shell 51, a worm wheel 52, a worm 53, 2 bearing seats 54 and 2 bearings 55; the box shell 51 is fixed at the front end of the pipe rack 2 by bolts, the worm wheel 52 and the worm 53 are engaged and installed in the box shell 51; 1 rotating motor 56 (direct current servo motor, power 100W, rotating speed 1500rpm, reduction ratio 1:40) is fixed outside the box shell 51, the motor output shaft is connected with the worm 53 through a shaft coupling; the front and rear ends of the box shell 51 are provided with shaft holes, the bearing seats 54 are embeddedly installed in the shaft holes, and the bearings 55 are installed in the bearing seats 54; the rear end of the working rotating pipe 31 is interference-fittedly installed in the center hole of the worm wheel 52 and the bearing 55, and the rear end of the working rotating pipe 31 extends to the inner cavity of the pipe rack 2, to ensure stable rotation.

[0042] The electric push rod 9 can drive the expansion pipe 32 to move along the radial direction, to adapt to the cleaning radius of different pipe diameters; the rotating motor 56 drives the worm 53 to drive the worm wheel 52 to rotate, so that the working rotating pipe 31 drives the expansion pipe 32 to rotate around the device axis (the rotating angle is 0-360° reciprocating rotation), to realize full coverage of the cleaning range.

[0043] As shown in Figure 2 , Figure 6 andFigure 8 As shown, the emergency adjusting frame 4 is one set, installed at the center of the front end of the device (between the two sets of working adjusting frames 3), including a rotating device 5 and a swing frame. The swing frame is composed of an emergency rotating pipe 41, a hinged seat 42, a swing pipe 43 and one electric push rod 9; the rear root of the emergency rotating pipe 41 is welded with the hinged seat 42, and the rear end of the swing pipe 43 is hinged to the hinged seat 42 through a root pin shaft; the cylinder end of the electric push rod 9 is hinged to the middle ear plate of the emergency rotating pipe 41, and the push rod end is hinged to the middle ear plate of the swing pipe 43.

[0044] The rotating device 5 is adapted to the emergency adjusting frame, and the structure is consistent with that of the rotating device 5 of the working adjusting frame 3, only the center hole diameter of the worm wheel 52 is adapted to the emergency rotating pipe 41; the rear end of the emergency rotating pipe 41 is installed in the center hole of the worm wheel 52 and the bearing 55, and extends into the inner cavity of the pipe frame 2.

[0045] The rotating device 5 drives the emergency rotating pipe 41 to rotate around the shaft center (0-360° reciprocating rotation, the high-pressure nozzle rotates from the outer edge of the spiral line to the inner edge of the spiral line, and then changes the radial position and returns), realizing the lateral angle adjustment; the electric push rod 9 drives the swing pipe 43 to swing around the root pin shaft (swing angle 0-90°, vertical direction adjustment), and then cooperates with the radial displacement, which can accurately aim at stubborn obstacles such as stones and wood; cooperates with the water supply system 6 to realize the super-high pressure fixed-point breaking.

[0046] One form of the water supply system 6 provides a water source with different pressures for cleaning, including: a total water pipe 61 (PVC high-pressure pipe, diameter 25 mm, pressure resistance 12 MPa), one end of which is connected with a ground high-pressure water pump (working mode 3-5 MPa, emergency mode 8-10 MPa), and the other end of which is divided into three ways to lead out two working branch water pipes 62 (PVC pipe, diameter 15 mm, pressure resistance 8 MPa) and one emergency branch water pipe 63 (PVC pipe, diameter 15 mm, pressure resistance 15 MPa). Another form of the water supply system is similar to the above, except that the high-pressure water of the emergency branch water pipe 63 is not directly from the external high-pressure water pump, but is subjected to secondary pressure boosting, such as Figure 1 and Figure 4 As shown, or a booster pump 67 is installed on the emergency branch water pipe 63.

[0047] Two working water pipes 62 are respectively equipped with a rotary joint 64 at the front end (in the front part of the inner cavity of the pipe support 2), and one emergency water pipe 63 is equipped with a rotary joint 64 at the front end; two end water pipes 65 are respectively sleeved in the two groups of working rotating pipes 31, and one end water pipe 65 is sleeved in the emergency rotating pipe 41; the rear end of the end water pipe 65 is in sealed connection with the rotary joint 64, and the front end is led out from the side wall perforation of the working rotating pipe 31 / emergency rotating pipe 41. Two working high-pressure nozzles (fan-shaped nozzles, aperture 2mm, jet angle 60°) are respectively threadedly connected to the front end of the end water pipe 65 of the working adjusting frame 3 and are installed at the front end of the expansion pipe 32; one emergency high-pressure nozzle (conical nozzle, aperture 1mm, jet angle 30°) is threadedly connected to the front end of the end water pipe 65 of the emergency adjusting frame 4 and is installed at the front end of the swing pipe 43.

[0048] In the working mode, the working water pipe 62 delivers 3-5MPa low-pressure water, and the fan-shaped high-pressure nozzle realizes large-area sludge cleaning; in the emergency mode, the emergency water pipe 63 delivers 8-10MPa superhigh-pressure water, and the conical high-pressure nozzle forms high impact force (≥50N) to break stubborn obstacles; the rotary joint 64 ensures that the water pipe does not wind and does not leak when the working rotating pipe 31 / emergency rotating pipe 41 rotates.

[0049] The image acquisition module 7 is used for real-time observation of the situation in the pipe, including: a spotlight 71 (1-2 LED spotlights, power 10W, color temperature 6000K, light intensity 5000lux), which is symmetrically installed on the front end of the outer base 111 of the front extension assembly 11a through a support, and the illumination angle covers 180° in front, ensuring that there is no dead angle lighting in the pipe. The camera 72 is one to three high-definition night vision cameras (resolution 1920x1080, frame rate 30fps, night vision distance 5m), which are installed on the front side wall of the box shell 51 of the working adjusting frame 3 (one on the left and one on the right), with the lens facing the front of the device, collecting images of sludge distribution and obstacle position in the cross section of the pipe, and transmitting to the ground controller through the cable 8.

[0050] As Figure 1As shown, the cable 8 adopts the oil and water resistant RVV series cable, the bus is 1 RVV24x0.75 cable (24 cores, each core cross-sectional area 0.75 mm2), one end is connected to the ground controller, and the other end is lowered into the pipeline with the device; the branch line is branched from the bus line to connect each electrical component. The extension motor branch line (RVV2x1.0) is connected to the extension motor 13 to provide power; the walking motor branch line (RVV2x1.0) is connected to the two walking motors 14 to provide power; the rotating motor branch line (RVV2x0.75) is connected to the three rotating motors 56 (2 working sides + 1 emergency side) to provide power; the electric push rod branch line (RVV4x0.5) is connected to the three electric push rods 9 (2 working sides + 1 emergency side) to transmit power and control signals; the spotlight branch line (RVV2x0.5) is connected to the spotlight 71 to provide power; the camera branch line (RVV4x0.5) is connected to the three cameras 72 to transmit video signals and power. The ground controller and each component of the device are powered and bidirectional signal transmission (control signal downward, image signal upward) is realized, the transmission distance is ≤100 m, and the signal attenuation is ≤5%.

[0051] The device of the embodiment is aimed at the cleaning operation of the DN400 underground pipeline crosswell (length 20 m, vertical well diameter 800 mm), and the specific working process (whole operation period) of the device is as follows:

[0052] Step 1: device folding and lowering. After being assembled on site at the vertical well, it is inserted into the crosswell, the ground controller controls the extension motor 13 to reverse, the center screw 119 drives the sliding seat 113 to move inward, the push-pull rod 116 pulls the swing arm 115 to contract, the walking wheel 117 is reduced in radial distance to 80 mm, the pipe rack 2, the working adjusting rack 3 and the emergency adjusting rack 4 are synchronously contracted, the overall diameter of the device is ≤200 mm, which is suitable for the vertical well diameter; the device is lowered into the first vertical well (depth 5 m) together with the cable 8 and the total water pipe 61 until the device reaches the crosswell entrance at the bottom of the vertical well.

[0053] Step 2: center positioning and walking preparation. The ground controller controls the extension motor 13 to rotate forward, the synchronous mechanism 15 drives the front and rear center screws 119 to rotate synchronously, the sliding seat 113 moves outward, the push-pull rod 116 pushes the swing arm 115 to expand, the radial distance of the walking wheel 117 is expanded to 200 mm (adhering to the inner wall of the DN400 pipeline), the axis of the device coincides with the axis of the pipeline; the spotlight 71 and the camera 72 are started, the ground controller receives the real-time image transmitted by the camera 72, confirms that the device does not collide with the pipe wall, and the front view is clear.

[0054] Step 3: Working mode cleaning (regular sludge). Start walking motor 14, driving bevel gear 141 to rotate driven bevel gear 142, and walking wheel 117 to drive the device to move forward at a speed of 8 cm / s along the cross well; the ground controller determines the sludge distribution height in the pipe cross section (e.g., the bottom 1 / 3 area has thicker sludge) according to the camera 72 image.

[0055] Control: Extend the electric push rod 9 of the working adjustment frame 3, move the extension tube 32 radially by 30 mm, and align the working high-pressure nozzle 66 with the sludge area; start the rotary motor 56, and rotate the extension tube 32 at a speed of 15 rpm to achieve 360° coverage at the bottom; start the ground high-pressure water pump, adjust the pressure to 4 MPa, and use the working branch water pipe 62 to deliver low-pressure water, and the fan-shaped high-pressure nozzle to spray water flow (coverage width 100 mm) to flush the sludge to the direction of the water flow at the bottom of the pipe and discharge it with the sewage in the pipe; during the process, the camera 72 monitors the cleaning effect in real time, and if local sludge residue is found, adjust the electric push rod 9 and rotary motor 56 to supplement cleaning for 10-20 s.

[0056] Step 4: Emergency mode breaking (stubborn obstacles). When the device reaches 15 m, the camera 72 finds a 100 mm diameter stone obstacle in front, and the ground controller controls the walking motor 14 to stop.

[0057] Switch to emergency mode: Start the rotary motor 56 of the emergency adjustment frame 4, drive the swing tube 43 to rotate, align the emergency high-pressure nozzle 66 with the center of the stone (precisely positioned by the camera 72), extend the electric push rod 9 by 50 mm, and swing the swing tube 43 downward by 30° to ensure that the nozzle is ≤50 mm away from the stone; adjust the pressure of the ground high-pressure water pump to 9 MPa, use the emergency branch water pipe 63 to deliver ultra-high pressure water, and use the conical high-pressure nozzle to spray in pulse mode (pulse frequency 1 Hz, single pulse duration 0.5 s) to impact the surface of the stone until it is broken (about 30 s); after breaking, switch back to the working mode to flush and discharge the broken stone, and the device continues to move forward.

[0058] Step 5: Device contraction and removal. When the device reaches the second vertical well at the far end of the cross well (20 m), the camera 72 confirms that the cross well cleaning is complete, and the ground controller controls the walking motor 14 to stop; control the reverse rotation of the extension motor 13, and synchronize the swing arm 115, tube frame 2, and adjustment frame to contract, and the device returns to the folded state; the workers remove the device, cable 8, and main water pipe 61 together at the bottom of the second vertical well, and complete the single cross well cleaning operation (total time about 40 min, 3 times more efficient than manual operation).

[0059] Based on the above device, its characteristics include (1) folding walking + synchronous positioning mechanism: through the front and rear symmetrical stretching assembly and synchronous shaft 151-gear transmission, solve the existing device "can not be folded down into the shaft" and "offset after the deployment of the shaft", adapt to DN300-DN600 multiple specifications of pipeline; (2) working-emergency dual-mode cleaning: working mode low-pressure fan-shaped jet (protecting pipe wall) + emergency mode ultrahigh pressure pulse breaking (precise obstacle removal), solve the contradiction of "incomplete cleaning" and "easily damaged pipeline" of the existing device; (3) visual guidance + multi-dimensional adjustment: camera 72 real-time positioning + electric push rod 9 radial / oscillation adjustment + rotating device 5 circumferential adjustment, realize "visual precise cleaning", avoid blind operation, cleaning efficiency is increased by ≥200%. The scheme can be fully ground remote control, without manual downhole, avoiding safety risks such as toxic gas and oxygen deficiency; the folding structure is suitable for ≤1000mm vertical shaft, and after unfolding, it is suitable for DN300-DN600 pipeline, and has wide universality; dual-mode cooperation visual positioning, sludge cleaning rate ≥95%, stubborn obstacle breaking rate ≥90%; working mode low pressure (3-5MPa) avoids pipe wall damage, emergency mode pulse short time operation, no continuous high pressure impact; single horizontal well cleaning time ≤1h, which is 3-4 times higher than traditional manual (2-4h), reducing operation and maintenance cost.

[0060] Notes: Before the device is lowered, the sealing of the cable 8 and the water supply system 6 should be checked to avoid water leakage and electric leakage; when operating in emergency mode, the distance between the nozzle and the pipe wall should be confirmed through the camera 72 to be ≥20mm to prevent high pressure water from impacting the pipe wall; for DN>600 pipeline, longer swing arm 115 and expansion pipe 32 can be replaced to adapt to larger pipe diameter; when the device is regularly maintained, the gear meshing gap of the synchronous mechanism 15 and the rubber wear of the walking wheel 117 should be checked.

[0061] Embodiment 2: Based on embodiment 1, further, the water pressure of the emergency water supply pipe 63 output end is higher than that of the working water supply pipe 62, and the higher pressure of the emergency water supply pipe 63 is derived from an external high pressure water supply device, or a booster pump is installed on the emergency water supply pipe 63 (such as Figure 4 ), or a counterweight trolley and a high pressure pump are connected through a horizontal shaft connection mechanism at the rear end of the device, and further a counterweight trolley 10 is pulled at the rear end of the device, such as Figure 9 and Figure 10As shown, the counterweight trolley 10 is installed with a sealed water tank 69 and a high-pressure pump 68. A branch pipe is connected to the sealed water tank, the outlet of the water tank is connected to the inlet of the high-pressure pump 68, and the outlet of the high-pressure pump 68 is connected to the emergency branch water pipe 63. The horizontal shaft connecting mechanism between the counterweight trolley and the device includes a fixed seat 101 connected to the rear outer fixed seat, a pull rod one 102 hinged to the fixed seat through a horizontal pin shaft 104, and a pull rod two 103 hinged to the fixed seat through a horizontal pin shaft 104, which can avoid angular misplacement of the device during travel. The periphery of the counterweight trolley 10 is hinged with a support leg 106 through a turnover shaft 105 at the bottom, each support leg 106 is installed with a roller 107 through a wheel seat at the bottom, and an arc-shaped fixed plate 108 is fixed at the bottom of the counterweight trolley, which is provided with an arc-shaped groove, and a locking pin 109 is installed on the support leg and slides in the corresponding arc-shaped groove. When the locking pins are tightened, the support legs can be fixed in the radial direction of the pipeline, thereby improving the stability of the counterweight trolley. Since the pin shafts of the horizontal shaft connecting mechanism are horizontal pin shafts, the counterweight trolley can constrain the entire device and avoid lateral inclination of the entire device.

[0062] Based on the above-mentioned use method steps of the underground pipeline crosswell cleaning device, the following steps are as follows. Operation scene: DN400 drainage crosswell under municipal road (length 20m, connected with two vertical shafts with a diameter of 800mm, no external water supply interface on site, 300mm thick sludge accumulated at the bottom of the crosswell, 15m away from the first vertical shaft, there is a diameter 150mm granite rock block obstacle).

[0063] Step 1: Device on-site preparation, check the rear-end support counterweight trolley 10, inject clean water into the water tank to 40L (80% volume), close the water inlet and pressure balance valve; test the high-pressure pump (run for 30s under no load, confirm that the output pressure can be adjusted from 10MPa to 18MPa); check the shock absorbing spring of the walking wheel set (press without jamming, ensure that it fits the inner wall of the pipeline).

[0064] Horizontal shaft connecting mechanism, the front end of the connecting plate is hinged to the front ear seat of the folding walking mechanism 1 through the front horizontal pin shaft, the rear end is hinged to the rear ear seat of the counterweight trolley 10 through the rear horizontal pin shaft, and the double hinged parts can be flexibly swung, and the gap between the shaft holes is 0.3-0.8mm. The cable 8 is connected with the controller, the booster pump branch and the high-pressure pump branch are respectively connected with the corresponding interfaces of the ground controller, and the camera 72 (clear in night vision mode, can distinguish 10mm particle impurities within 5m) and the spotlight 71 are tested. Through pre-checking, component failures (such as high-pressure pump idling) are excluded, the initial state of the device is ensured to adapt to the scene without external water source, and the operation preparation time is shortened by 50% compared with the traditional device.

[0065] Step 2: Device folding and vertical shaft lowering, ground controller sends "shrinkage instruction", extension motor 13 reverses, synchronous mechanism 15 drives front and rear center screw 119 to rotate synchronously, sliding seat 113 moves inward, push-pull rod 116 pulls swing arm 115 to shrink, walking wheel 117 radial distance reduces from 200mm to 80mm; at the same time, pipe rack 2, working adjustment rack 3, and emergency adjustment rack 4 shrink synchronously with swing arm 115, and the overall diameter of the device is ≤200mm.

[0066] The staff sets up a hoisting frame at the top of the first shaft (depth 5m), binds the device front end outer base 111 with the counterweight cart 10 frame with a nylon hoisting rope, and slowly lowers the device; during the lowering process, the inside wall of the shaft is observed in real time through the camera 72, the hoisting direction is adjusted, and the device is prevented from colliding with the shaft wall; when the bottom of the device reaches the shaft bottom crosswell entrance, the lowering is stopped, and the hoisting rope is released.

[0067] The folded device can smoothly pass through a 800mm diameter shaft, and the camera guides in real time during the lowering process, reducing the collision risk by 80%, solving the problem of poor "shaft adaptability" of traditional devices.

[0068] Step 3: Center positioning and walking preparation, controller sends "expansion instruction", extension motor 13 rotates forward, synchronous shaft 151 drives side gear 152 and middle gear 153 to mesh and drive, front and rear swing arms 115 swing outward synchronously, walking wheel 117 radial distance expands to 200mm; at the same time, the walking wheel group of the counterweight cart 10 is synchronized with the device to fit the pipe wall, through the double-hinged self-adaptive adjustment of the cross-axis connection mechanism, the device axis and the pipe axis offset ≤5mm.

[0069] The controller switches to "working mode", sets the working branch water pipe 62 water pressure to 4MPa (stabilized by pressure reducing valve), walking speed to 8cm / s; opens the electromagnetic valve of the working branch water pipe 62, closes the electromagnetic valve of the emergency branch water pipe 63, and tests the high-pressure nozzle 66 (spraying width 100mm, uniform water flow without scattering).

[0070] The synchronous expansion mechanism ensures the accurate positioning of the device in the center of the pipeline (traditional device offset ≥10mm, easy to collide with the pipe wall), and the cross-axis connection mechanism offsets the angle deviation caused by the slight slope (≤3°) at the bottom of the shaft, laying a foundation for subsequent stable walking.

[0071] Step 4: Working mode sludge cleaning, the controller sends "walking instructions", the walking motor 14 and the drive motor of the counterweight trolley 10 start synchronously (speed error ≤0.5 cm / s), the device travels at a speed of 8 cm / s along the crosswell; the camera 72 collects images of the bottom of the pipeline in real time, the controller identifies the sludge distribution area (thicker sludge in the bottom 1 / 3 section), sends "adjustment instructions": the electric push rod 9 of the working adjustment frame 3 extends by 30 mm, the expansion pipe 32 moves radially to be close to the sludge surface; the rotating motor 56 drives the working rotating pipe 31 to rotate at a speed of 15 rpm, as shown in FIG. 4, the fan-shaped high-pressure nozzle sprays 360° coverage (4 MPa low-pressure water flow) to the sludge, which is washed to the bottom of the pipeline in the direction of the water flow and discharged with the drainage flow. Figure 5

[0072] When the device travels to 10 m, the camera 72 finds that there is local residual sludge (thickness ≥50 mm), the controller automatically pauses the walking, increases the rotating motor 56 speed to 20 rpm, and prolongs the cleaning time by 10 s until the residual sludge is removed; when it continues to travel to 15 m, the camera 72 identifies the granite rock obstacle, and the controller sends "stop instructions", the walking motor 14 and the trolley drive motor stop.

[0073] The working mode low-pressure water flow (4 MPa) avoids damage to the inner wall of the concrete pipeline (traditional high-pressure device ≥8 MPa is easy to cause pipe wall cracking), and the three-dimensional adjustment (radial + circumferential) realizes a sludge cleaning rate ≥95%, a single-meter cleaning time of 1 minute (traditional device needs 2 minutes per meter), and an efficiency improvement of 100%.

[0074] Step 5: Emergency mode rock breaking, the controller switches to "emergency mode", closes the electromagnetic valve of the working branch water pipe 62, starts the high-pressure pump of the counterweight trolley 10, sets the output pressure to 15 MPa (adapted to the hardness of granite), the pulse frequency to 1 Hz, and the single pulse duration to 0.5 s; sends "adjustment instructions": the electric push rod 9 of the emergency adjustment frame 4 extends by 50 mm, and the swing pipe 43 swings downward by 30° (aligns with the center of the rock); the rotating motor 56 drives the emergency rotating pipe 41 to rotate by 15°, so as to ensure that the conical high-pressure nozzle is ≤50 mm away from the rock (the camera 72 confirms the positioning accuracy).

[0075] The electromagnetic valve of the emergency branch water pipe 63 is opened, the high-pressure pump works in pulse mode, and the 15 MPa ultra-high pressure water flow focuses on the surface of the rock; every 10 s of work, the controller pauses the breaking, the camera 72 checks the rock breaking condition (to avoid excessive impact), and after 30 s, the rock is broken into ≤50 mm particle size of gravel; the high-pressure pump and the electromagnetic valve of the emergency branch water pipe 63 are closed, and the working mode is switched back, and the electromagnetic valve of the working branch water pipe 62 is opened, which washes the gravel to the downstream.

[0076] ​Pulse ultrahigh pressure crushing (single 0.5s) avoids fatigue damage to the pipe wall by continuous high pressure, 15MPa pressure can efficiently crush 150mm granite block (traditional device ≤10MPa cannot be crushed), stubborn obstacle crushing rate reaches 98%, and no secondary manual processing is needed.

[0077] Step 6: device contraction and shaft recovery (operation 35-45 minutes)

[0078] The device continues to travel to 20m (the bottom of the second shaft), the camera 72 confirms that the horizontal well cleaning is completed, the controller sends the "contraction instruction": the extension motor 13 reverses, the swing arm 115, the pipe rack 2, the adjusting frame are contracted synchronously, and the walking wheel 117 is reduced to 80mm in radial distance; the counterweight trolley 10 moves to the bottom of the second shaft with the device.

[0079] The staff builds a lifting frame at the top of the second shaft, binds the device and the counterweight trolley 10, and slowly lifts it to the ground; after recovery, the water tank is emptied of residual water, and each part is checked (no rust on the horizontal shaft connecting mechanism pin shaft, no water leakage on the high-pressure pump 68), to prepare for the next operation. After contraction, the device can be recovered from the second shaft smoothly, without manual downhole throughout the operation, and the recovered parts are easy to check.

[0080] In this example, the device completes the sludge cleaning and granite block crushing of the 20m DN400 horizontal well in 45 minutes under the scene of no external water source, the equipment works automatically with ground remote control, without manual downhole risk, and the horizontal shaft connecting mechanism offsets the angle deviation. This use process fully verifies the practicality of the device in complex scenes, and provides an efficient solution for pipeline cleaning in municipal, chemical and other fields.

Claims

1. An automatic cleaning device for urban underground sewer pipes, characterized in that, The utility model relates to a kind of underground pipeline cleaning device, including: Folding walking mechanism (1) can support device body and move along the inner wall of underground pipeline, and can be folded to contract to adapt to pipe down and different pipe diameter; Cleaning execution mechanism is installed in the front end of the folding walking mechanism (1), including the adjusting frame with self-rotating drive function, the adjusting frame can adjust the radial position and circumferential angle of operation spray head and drive operation spray head along spiral track, left and right two cleaning execution mechanisms cooperate with each other, respectively drive respective operation spray head to flush and clean the section area of pipe bottom; Water supply system (6) is connected with the cleaning execution mechanism, and can provide different preset pressure water flow to corresponding spray head according to the type of sundries in pipe; Image acquisition module (7) is used to acquire image information inside pipe; Control device is electrically connected with the folding walking mechanism (1), cleaning execution mechanism, water supply system (6) and image acquisition module (7) respectively, can control the movement and folding state of the folding walking mechanism (1) according to the image information acquired by the image acquisition module (7), control the operation position, angle and rotating action of the cleaning execution mechanism, and control the water flow pressure output by the water supply system (6) and the working state of corresponding spray head; The folding walking mechanism includes at least two groups of stretching components distributed along the axial direction, a stretching drive unit for driving synchronous action of each stretching component, and a walking drive unit for driving walking; The stretching component includes a base unit, a screw transmission mechanism, a sliding part, a connecting rod assembly and a swing arm with a walking wheel, each base unit is fixed in series through a connecting piece, the screw transmission mechanism cooperates with the sliding part, the sliding part is hinged with the swing arm through the connecting rod assembly, so that the swing arm can swing around the hinge point on the base unit to realize the radial expansion and contraction of the walking wheel; It also includes a synchronous linkage structure, which connects corresponding swing arms in different stretching components through hinge and sliding cooperation, and expands or contracts radially with each swing arm synchronously; The walking drive unit is in transmission connection with at least one walking wheel to drive its rotation; The cleaning execution mechanism includes a working adjusting frame (3) and an emergency adjusting frame (4), the working adjusting frame (3) includes a rotating device (5) and a radial expansion frame;The radial expansion frame includes a working rotating pipe (31), an expansion pipe (32), a connecting rod (33) and an electric push rod (9), the working rotating pipe (31) and the expansion pipe (32) are hinged to form a parallelogram structure through front and rear connecting rods (33), the electric push rod (9) is hinged between the working rotating pipe (31) and the expansion pipe (32), and the high-pressure spray head (66) of the water supply system (6) is installed at the front end of the expansion pipe (32);The emergency adjusting frame (4) includes a rotating device (5) and a swing frame;The swing frame includes an emergency rotating pipe (41), a hinge seat (42), a swing pipe (43) and an electric push rod (9), the emergency rotating pipe (41) is hinged with the swing pipe (43) through the hinge seat (42), and the electric push rod (9) is hinged between the emergency rotating pipe (41) and the swing pipe (43). The rotating device (5) is installed at the front end of the synchronous linkage structure, and can drive the working rotating pipe (31) or the emergency rotating pipe (41) to rotate, and can also expand or contract along the radial direction together with the synchronous linkage structure, the expanding pipe (32) is always parallel to the device axis, and the swing pipe (43) has an angle with the device axis.

2. The apparatus according to claim 1, wherein The rotating device (5) comprises a box shell (51), the box shell (51) is provided with a worm wheel (52) and a worm (53) which are engaged with each other, a rotating motor (56) is connected with the worm (53), and the working rotating pipe (31) or the emergency rotating pipe (41) is installed at the center of the worm wheel (52); the front and rear ends of the box shell (51) support the working rotating pipe (31) or the emergency rotating pipe (41) through a bearing seat (54) and a bearing (55).

3. The apparatus according to claim 1, wherein The total water pipe (61) of the water supply system (6) leads out a working branch water pipe (62) and an emergency branch water pipe (63), the water pressure of the emergency branch water pipe (63) is higher than that of the working branch water pipe (62), an electromagnetic valve is installed in each branch water pipe, and the front end of each branch pipe is connected with the inlet of a corresponding rotating joint (64); the working rotating pipe (31) or the emergency rotating pipe (41) is sleeved with a terminal water delivery pipe (65), the rear end of the terminal water delivery pipe (65) is connected with the outlet of a corresponding rotating joint (64), and the front end of the terminal water delivery pipe (65) is connected with a high-pressure spray head (66), the high-pressure spray head (66) is installed at the front end of the expanding pipe (32) or the swing pipe (43).

4. The apparatus according to claim 2, wherein The image acquisition module (7) comprises a spotlight (71) and a camera (72), the spotlight (71) is installed on the front end outer base (111), and the camera (72) is installed on the front side wall of the box shell (51) of the rotating device (5).

5. A cleaning method based on the automatic cleaning device for urban underground sewer of claim 1, characterized in that, The method comprises the following steps: S1, lowering the cleaning device in the folded state into the inlet of the underground pipeline; S2, controlling the folded walking mechanism to expand, so that the walking wheels are supported on the inner wall of the pipeline and the device is positioned in the center of the pipeline; S3, starting the image acquisition module to acquire image information of the inside of the pipeline; S4, judging the type of the sundries in the pipeline according to the image information, controlling the device to move along the pipeline, and starting the cleaning execution mechanism: If it is conventional sludge, controlling the working adjusting frame to adjust the working position and the self-rotation angle, and providing a preset pressure water flow through the water supply system to clean a large area; If stubborn obstacles are encountered, controlling the emergency adjusting frame to adjust the working position and the swing angle, and providing an ultrahigh pressure pulse water flow through the water supply system to perform point breaking; S5, after the cleaning is completed, controlling the folded walking mechanism to contract, and taking the device out of the pipeline.

6. The method of cleaning of claim 5, wherein, The cleaning process of the conventional sludge in S4 includes: controlling the extension of the electric push rod of the working adjusting frame to adjust the radial position of the extension pipe, and controlling the rotation device to drive the working rotating pipe to rotate to adjust the circumferential angle of the extension pipe; the water supply system is controlled to transport the water flow with a pressure of 3-5 MPa through the working water supply pipe, and a large-area jet is formed through the high-pressure nozzle installed at the front end of the extension pipe to cover the conventional sludge in the pipeline for cleaning; the cleaning process of the stubborn obstacle in S4 includes: controlling the extension of the electric push rod of the emergency adjusting frame to adjust the swing angle of the swing pipe, and controlling the rotation device to drive the emergency rotating pipe to rotate to adjust the circumferential angle of the swing pipe; the water supply system is controlled to transport the superhigh-pressure pulse water flow with a pressure of 8-10 MPa through the emergency water supply pipe, and a focused jet is formed through the high-pressure nozzle installed at the front end of the swing pipe to perform point pulse breaking on the stubborn obstacle in the pipeline.

Images