A mobile device for metal pipeline monitoring and foreign object grabbing and a control method thereof

Abstract

The present application relates to the field of pipeline maintenance, and more particularly to a mobile device for metal pipeline monitoring and foreign matter grabbing and a control method, comprising: a mobile platform, the wheel set of which can be independently driven; a mechanical arm end effector claw of a grabbing module, which can be extended and retracted to open and close to grab foreign matter; a data acquisition module having an image acquisition unit and a tension sensor, which provides visual and mechanical information. A control module determines a pre-grabbing point based on the calculated related characteristic value of the filament feature line density in the image subfield, and determines whether the pre-grabbing and dragging meet the standard according to the grabbing characteristic value and the tension reduction rate under the condition that the preset length segment displacement is completed. In addition, the device is also equipped with an anti-lost line receiver. The control method commands the mobile device to enter the pipeline, collects images, processes images to determine the pre-grabbing point, and judges whether the operation meets the standard through the control module. The present application solves the problem of lack of effective foreign matter grabbing and cleaning ability in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline maintenance, in particular to a mobile device for metal pipeline monitoring and foreign matter grabbing and a control method. BACKGROUND

[0002] Metal pipelines, such as sewers and water pipelines, are directly related to people's livelihood and environmental protection. In daily operation, the inside of the pipeline is prone to accumulate composite blockages formed by a mixture of hair, fiber fabric, grease and solid particles. This kind of blockage, especially the mixture of hair and filamentous fiber winding and adsorbing a large amount of silt, has strong cohesion and toughness.

[0003] At present, common pipeline cleaning technologies mainly include high-pressure water gun flushing and mechanical dredging machines. The high-pressure water gun relies on strong water flow to impact the blockage, but for tightly wound, attached to the pipe wall hair and silt mixture, it can only scatter the surface, and it is difficult to eradicate, and even may push the blockage to a deeper part of the pipeline, leading to worsening problems. The mechanical dredging machine pushes forward by rotating spring drill bit to stir or hook the blockage, but when facing the hair ball with excellent toughness, the drill bit is easily entangled, "stuck" and even broken, and the operation process has great blindness, which may cause damage to the inner wall of the pipeline.

[0004] With the development of robot technology, some pipeline detection robots have begun to be applied in practice. However, most of the existing pipeline robots mainly focus on image survey and data collection, and lack effective and intelligent foreign matter grabbing and cleaning ability. Even if some robots are equipped with simple mechanical arms, they cannot accurately identify the key grabbing point of the blockage, and lack mechanical feedback and adaptive adjustment strategies in the grabbing and dragging process, resulting in high failure rate of grabbing, low cleaning efficiency, and even breakage of the blockage or instability of the robot when forcibly dragging. SUMMARY

[0005] Therefore, the present application provides a mobile device for metal pipeline monitoring and foreign matter grabbing and a control method to overcome the problem of lack of effective foreign matter grabbing and cleaning ability in the prior art.

[0006] To achieve the above purpose, on the one hand, the present application provides a mobile device for metal pipeline monitoring and foreign matter grabbing, comprising:

[0007] The mobile platform comprises at least one independently driven wheel set; the wheel set comprises a driving motor, a hub connected with the output shaft of the driving motor, and a track wrapped outside the hub;

[0008] The grabbing module comprises a mechanical arm and an end effector, a base of the mechanical arm is fixed on the moving platform, and the end effector comprises a sleeve and a plurality of hooks arranged in the sleeve, each hook comprises a telescopic section, a loading section and a grabbing section, and the hooks are opened and closed by the telescopic section.

[0009] The data acquisition module comprises an image acquisition unit arranged at the front end of the moving platform to acquire the image inside the pipeline, and a tension sensor arranged between the mechanical arm and the base.

[0010] The control module is connected with the data acquisition module, the grabbing module and the moving platform respectively, and is used to determine a pre-grabbing point according to a related characteristic value of the image of the blocking object acquired by the image acquisition unit; the control module acquires a first grabbing characteristic value in response to a first preset condition, determines whether the pre-grabbing of the blocking object meets a preset standard according to the first grabbing characteristic value, and determines whether the dragging of the moving device meets a preset standard based on the decreasing rate of the tension in response to a second preset condition.

[0011] Further, the related characteristic value is a ratio of a characteristic line density in an image subdomain to a preset density; the characteristic line density is a ratio of a total length of the characteristic line in the image subdomain to an area of the image subdomain; the characteristic line is a line of the filament in the blocking object; and the image subdomain is acquired based on segmentation of the image of the blocking object.

[0012] Further, the pre-grabbing point is a center point of a marked image subdomain close to a center point of the image of the blocking object; and the marked image subdomain is determined by comparison of the related characteristic value and a related characteristic threshold.

[0013] Further, the control module determines that the pre-grabbing of the blocking object does not meet the preset standard in response to the first grabbing characteristic value being less than a first preset grabbing threshold, and checks whether the pre-grabbing of the blocking object meets the preset standard according to a second grabbing characteristic value.

[0014] The first grabbing characteristic value is a ratio of a displacement of the blocking object and a metal pipeline blocking boundary to a displacement of the pre-grabbing point.

[0015] The first preset condition is that the moving device completes a displacement of a first preset length.

[0016] Further, the control module determines that the pre-grabbing of the blocking object meets the preset standard in response to the first grabbing characteristic value being greater than or equal to the first preset grabbing threshold.

[0017] Further, the control module checks that the pre-grabbing of the blocking object does not meet the preset standard and reduces the dragging speed of the moving device in response to the second grabbing characteristic value being greater than a preset second preset grabbing threshold.

[0018] The second grabbing characteristic value is a ratio of a pre-grabbing point position displacement and an interface length of deformation.

[0019] Further, the decrease amplitude of the dragging speed is positively correlated with a difference between the second grabbing characteristic value and the second preset grabbing threshold.

[0020] Further, the control module determines whether the dragging of the mobile device conforms to the preset standard based on the decreasing rate of the pulling force under the second preset condition.

[0021] If the decreasing rate of the pulling force is less than a preset rate threshold, it is determined that the dragging of the mobile device conforms to the preset standard.

[0022] If the decreasing rate of the pulling force is greater than or equal to the preset rate threshold, it is determined that the dragging of the mobile device does not conform to the preset standard, and the pre-grabbing on the blockage is re-performed.

[0023] The second preset condition is that the mobile device completes displacement of a second preset length segment.

[0024] Further, the track material is a magnetic material.

[0025] Further, the anti-lost line receiver includes a cable reel and a cable, and the cable is connected to the mobile platform.

[0026] In another aspect, the present application also provides a control method for controlling a mobile device for monitoring and foreign object grabbing of a metal pipeline, comprising:

[0027] Step S1, the control module controls the mobile device to enter the inside of the metal pipeline, and adjusts the moving direction and speed through independent driving of the wheel set;

[0028] Step S2, the image acquisition unit is started to collect real-time pipeline internal environment images;

[0029] Step S3, when detecting that the blockage appears in the image, the blockage image is segmented to obtain a plurality of image sub-domains;

[0030] Step S4, the control module determines a pre-grabbing point according to the related characteristic value of the blockage image collected by the image acquisition unit; the control module acquires a first grabbing characteristic value in response to a first preset condition, determines whether the pre-grabbing of the blockage conforms to a preset standard according to the first grabbing characteristic value, and determines whether the dragging of the mobile device conforms to the preset standard according to the decreasing rate of the pulling force under a second preset condition.

[0031] Compared with the prior art, the beneficial effects of the present application are that the mobile platform is equipped with at least one independently drivable wheel set composed of a driving motor, a wheel hub and a track. This design enables the device to move flexibly within the metal pipeline, and the independently drivable wheel set can better adapt to complex terrain and space limitations within the pipeline, thereby improving the passing capacity of the device within the pipeline.

[0032] Further, the grabbing module includes a mechanical arm and an end effector, and the hook of the end effector has a unique design that can be opened and closed through the extension and retraction of the telescopic section. This structure can accurately grab different shapes and sizes of foreign objects, thereby improving the success rate and efficiency of grabbing.

[0033] Further, the control module determines the pre-grabbing point based on the characteristic values of the occlusion images collected by the image acquisition unit. By analyzing parameters such as feature line density in the image subdomain, the key parts of the occlusion can be accurately found for pre-grabbing, thereby providing accurate target positions for subsequent grabbing operations.

[0034] Further, the data acquisition module includes an image acquisition unit and a tension sensor. The image acquisition unit is arranged at the front end of the mobile platform and can collect images inside the pipeline to provide visual information of the occlusion for the control module. The tension sensor is arranged between the mechanical arm and the base and can monitor the tension change in the grabbing process in real time to provide data support for judging the grabbing effect and dragging situation.

[0035] Further, the control module analyzes and makes decisions based on the collected data. For example, the first pre-grabbing feature value is obtained based on the first preset condition to determine whether the pre-grabbing of the occlusion meets the preset standard, and the dragging of the mobile device is determined based on the tension reduction rate under the second preset condition to determine whether it meets the preset standard. This intelligent analysis and decision mechanism can adjust the operation of the device in a timely manner according to the actual situation, thereby improving the accuracy and reliability of the entire monitoring and grabbing process.

[0036] Further, the device is equipped with an anti-disconnection cable winder, which includes a cable reel and a cable. The cable is connected to the mobile platform, and the length of the cable can be adaptively adjusted by the winding and unwinding of the cable reel when the mobile device is working inside the pipeline, thereby avoiding excessive accumulation or breakage of the cable inside the pipeline, ensuring stable communication and energy transmission between the mobile platform and the external control system, and preventing the device from losing contact due to signal interruption or insufficient power supply.

[0037] Further, when the control module determines that the grabbing or dragging does not meet the preset standard, appropriate measures can be taken in a timely manner, such as reducing the dragging speed or re-performing pre-grabbing. This self-adaptive adjustment capability enables the device to better cope with complex and variable conditions inside the pipeline, thereby improving the fault tolerance and applicability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The schematic diagram of the overall structure of the mobile device for monitoring and foreign object grabbing of metal pipeline according to the embodiment of the present application;

[0039] Figure 2 The schematic diagram of the connection of each module of the mobile device according to the embodiment of the present application;

[0040] Figure 3 The schematic diagram of the overall structure of the anti-lost line receiver according to the embodiment of the present application;

[0041] Figure 4 The flow chart of the method for controlling the mobile device for monitoring and foreign object grabbing of metal pipeline according to the embodiment of the present application;

[0042] Figure 5 The flow chart of determining whether the pre-grabbing of the blocking object according to the first grabbing characteristic value meets the preset standard according to the embodiment of the present application;

[0043] Figure 6 The flow chart of verifying whether the pre-grabbing of the blocking object meets the preset standard according to the second grabbing characteristic value according to the embodiment of the present application;

[0044] Figure 7 The flow chart of determining whether the dragging of the mobile device meets the preset standard according to the decreasing rate of the pulling force under the second preset condition according to the embodiment of the present application;

[0045] In the figure: 1, mobile platform; 2, wheel hub; 3, track; 4, mechanical arm; 5, sleeve; 6, hook claw; 7, cable reel; 8, cable. DETAILED DESCRIPTION

[0046] In order to make the purpose and advantages of the present application more clear and obvious, the present application is further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0047] The preferred embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not used to limit the protection scope of the present application.

[0048] Please refer to Figures 1-7As shown, they are respectively the overall structure schematic diagram of the mobile device for metal pipeline monitoring and foreign matter grabbing of the embodiment of the present application; the module connection schematic diagram of the mobile device of the embodiment of the present application; the overall structure schematic diagram of the anti-lost line receiver of the embodiment of the present application; the method flow chart of the mobile device for controlling metal pipeline monitoring and foreign matter grabbing of the embodiment of the present application; the flow chart of the embodiment of the present application for determining whether the pre-grabbing of the blocking object conforms to the preset standard according to the first grabbing characteristic value; the flow chart of the embodiment of the present application for checking whether the pre-grabbing of the blocking object conforms to the preset standard according to the second grabbing characteristic value; and the flow chart of the embodiment of the present application for determining whether the dragging of the mobile device conforms to the preset standard according to the decreasing rate of the pulling force under the second preset condition.

[0049] In one aspect, the mobile device for metal pipeline monitoring and foreign matter grabbing of the embodiment of the present application comprises:

[0050] The mobile platform 1 comprises at least one independently drivable wheel set; the wheel set comprises a driving motor, a wheel hub 2 connected with the output shaft of the driving motor, and a track 3 wrapped outside the wheel hub 2;

[0051] The grabbing module comprises a mechanical arm 4 and an end effector, the base of the mechanical arm 4 is fixed on the mobile platform; the end effector comprises a sleeve 5 and a plurality of hooks 6 arranged in the sleeve 5, each hook 6 comprises an extension section, a loading section and a grabbing section, and the opening and closing of each grabbing section are realized by the extension and retraction of the extension section;

[0052] The data acquisition module comprises an image acquisition unit arranged at the front end of the mobile platform 1 to acquire the image inside the pipeline, and a pulling force sensor arranged between the mechanical arm 4 and the base;

[0053] The control module is connected with the data acquisition module, the grabbing module and the mobile platform 1 respectively, and is used to determine the pre-grabbing point according to the related characteristic value of the blocking object image acquired by the image acquisition unit; the control module acquires the first grabbing characteristic value in response to the first preset condition, determines whether the pre-grabbing of the blocking object conforms to the preset standard according to the first grabbing characteristic value, and determines whether the dragging of the mobile device conforms to the preset standard according to the decreasing rate of the pulling force under the second preset condition.

[0054] Specifically, through the cooperative work of the mobile platform 1, the grabbing module, the data acquisition module and the control module, intelligent monitoring and accurate grabbing of foreign matters in metal pipelines are realized. The independent drive wheel set of the mobile platform 1 cooperates with the magnetic track 3 to ensure the stable movement of the device in complex pipeline environment; the unique hook 6 design of the grabbing module combined with the flexible operation of the mechanical arm 4 can adapt to different foreign matter forms; the data acquisition module provides visual and mechanical double feedback, and the control module makes intelligent analysis and decision based on this, locates the grabbing point through the correlation characteristic value, dynamically adjusts the strategy according to the grabbing characteristic value and the change of pulling force, effectively solves the limitations of traditional cleaning technology and the insufficient grabbing capacity of existing robots, and significantly improves the success rate, efficiency and safety of pipeline foreign matter cleaning.

[0055] Specifically, the correlation characteristic value is the ratio of the feature line density in the image subdomain to the preset density.

[0056] The feature line density is the ratio of the total length of the feature line in the image subdomain to the area of the image subdomain; the feature line is the line of the filament in the blockage; the image subdomain is obtained based on the segmentation of the blockage image.

[0057] Specifically, the preset density is set to 0.10 mm / mm², which is determined according to the statistical analysis of the filament characteristics of common blockages in metal pipelines, for example, for typical filament blockage scenes such as metal wires and fiber ropes in industrial pipelines, the experience threshold obtained by training a large number of sample image data, the value range is usually between 0.05 mm / mm² and 0.15 mm / mm², which can be dynamically adjusted according to the actual application scene such as pipeline diameter and type of conveying medium.

[0058] Specifically, if the correlation characteristic value is greater than the preset correlation characteristic threshold, mark a number of image subdomains, and select the center of the marked image subdomain close to the center point of the blockage image as the pre-grabbing point.

[0059] Specifically, the preset correlation characteristic threshold is set to 0.85, which is obtained based on the test analysis of a number of different types of blockage image samples. When the correlation characteristic value exceeds this value, it indicates that the filament distribution in the corresponding image subdomain is relatively dense, and the pre-grabbing point can effectively improve the stability of grabbing. In actual application, the parameter configuration interface of the control module can be used for fine tuning of ±0.1 to adapt to the characteristic differences of blockages in different pipeline environments.

[0060] Specifically, the pre-grabbing point is a marked image subdomain center point close to the center point of the blockage image; the marked image subdomain is determined by comparing the correlation feature value with the correlation feature threshold. In this way, by fine analysis of the blockage image, the region with high grabbing stability can be accurately positioned. By screening the image subdomain with dense filament distribution through the correlation feature value, it is ensured that the pre-grabbing point can grasp the key structure of the blockage, and selecting the subdomain center close to the center point of the blockage image as the point further ensures the balance of the grabbing force, reduces the risk of blockage deviation or falling during grabbing, and lays a foundation for subsequent stable grabbing and dragging operation.

[0061] Specifically, the control module determines that the pre-grabbing of the blockage does not meet the preset standard in response to the first grabbing feature value being less than a first preset grabbing threshold, and checks whether the pre-grabbing of the blockage meets the preset standard according to a second grabbing feature value;

[0062] The first grabbing feature value is the ratio of the displacement of the blockage and the metal pipeline blockage boundary to the displacement of the pre-grabbing point;

[0063] The first preset condition is that the moving device completes a first preset length of displacement.

[0064] Specifically, the first preset grabbing threshold is set to 0.80, which is an empirical value determined by grabbing experiments on various blockage materials such as metal debris, plastic film, and fiber bundles, and statistical analysis of the displacement characteristics of different material blockages during pre-grabbing. When the first grabbing feature value reaches this threshold, it indicates that the relative displacement of the blockage and the pipeline boundary is within a reasonable range, and the initial fixing effect of the pre-grabbing point meets the requirements of subsequent operations. The first preset length of displacement is 50mm, which is set based on the minimum effective dragging distance of the moving device in the pipeline, taking into account the stretching range of the mechanical arm 4 and the single stable displacement amount of the tracked 3 moving mechanism, to ensure that the mechanical characteristics change under the pre-grabbing state can be accurately reflected after completing the displacement segment. This value can be adaptively adjusted according to the size of the pipeline inner diameter, usually selected within the range of 30mm-80mm.

[0065] Specifically, the control module determines that the pre-grabbing of the blockage meets the preset standard in response to the first grabbing feature value being greater than or equal to the first preset grabbing threshold.

[0066] Specifically, the control module checks that the pre-grabbing of the blockage does not meet the preset standard in response to the second grabbing feature value being greater than a preset second preset grabbing threshold, and reduces the dragging speed of the moving device;

[0067] The second grabbing feature value is the ratio of the displacement of the pre-grabbing point to the deformation intersection length.

[0068] Specifically, the preset second preset grabbing threshold is set to 1.20, which is determined based on the experimental data of the deformation characteristics of the blockage in the grabbing process. By analyzing the relationship between the deformation boundary length of the common blockage of the metal pipeline under different grabbing forces and the displacement of the pre-grabbing point, and combining the critical value of elastic deformation in material mechanics, the value is derived. Its value range is usually between 1.05 and 1.35, and the specific value can be dynamically adjusted according to the estimated hardness of the blockage - for rigid blockage, it can be appropriately increased to 1.30, and for flexible blockage, it can be reduced to 1.10, to ensure that the grabbing stability of the blockage can be effectively judged in the grabbing process, and the damage to the inner wall of the pipeline or the fragmentation of the blockage caused by excessive dragging can be avoided.

[0069] Specifically, the reduction amplitude of the dragging speed is positively correlated with the difference between the second grabbing characteristic value and the preset second preset grabbing threshold. It can be understood that the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation, and the specific limitation is not limited, and the slope of the linear positive correlation is also not limited, which can be set according to the actual preparation condition, as long as the greater the difference between the second grabbing characteristic value and the preset second preset grabbing threshold, the greater the reduction amplitude of the dragging speed. For example, the reduction amplitude of the dragging speed is set to △M, the difference between the second grabbing characteristic value and the preset second preset grabbing threshold is set to △μ, then △M = γ × (△μ + μ0), γ is the dragging speed adjustment coefficient, set γ = 1.06, μ0 is a constant.

[0070] Specifically, the control module determines whether the dragging of the moving device meets the preset standard based on the reduction rate of the tension under the second preset condition in response;

[0071] If the reduction rate of the tension is less than the preset rate threshold, it is determined that the dragging of the moving device meets the preset standard;

[0072] If the reduction rate of the tension is greater than or equal to the preset rate threshold, it is determined that the dragging of the moving device does not meet the preset standard, and the pre-grabbing on the blockage is re-performed;

[0073] The second preset condition is that the moving device completes the displacement of the second preset length segment.

[0074] Specifically, the preset rate threshold is set to 0.03 N / s, which is determined by the mechanical property experiment of the typical blockage dragging process in the metal pipeline. The experiment selects 12 types of standard blockage samples commonly used in industrial pipelines, such as metal blocks, concrete blocks, and winding fiber groups, and conducts dragging tests in a simulated pipeline environment, collecting more than 500 sets of effective tension change data. Through the slope analysis of the tension decay curve, it is found that when the decreasing rate is lower than 0.03 N / s, the blockage is in a stable dragging state and does not slip or fall off; while exceeding this threshold, 83% of the samples appear to fail to grab. The threshold value is usually set between 0.02 N / s and 0.04 N / s, and can be dynamically calibrated according to the pipeline inclination angle (each increase of 10° inclination angle can increase 0.005 N / s) and medium humidity (each increase of 20% humidity can decrease 0.003 N / s). The calibration parameters are stored in the non-volatile memory of the control module, supporting on-site debugging through the host computer software. The second preset length is set to 50 cm to 80 cm, and the embodiment selects 60 cm. The determination of this length considers the curvature radius of the pipeline inner wall, the stretching limit of the mechanical arm 4, and the foreign matter grabbing safety distance. Experimental data shows that when the second preset length is less than 50 cm, the end effector of the mechanical arm 4 is prone to interfere with the pipeline elbow, resulting in a decrease in grabbing accuracy of more than 15%; while exceeding 80 cm, the mechanical arm 4 lacks sufficient rigidity support, and when grabbing foreign matter of more than 1.5 kg, the end deflection will be more than 0.8 mm, affecting the grabbing stability. This parameter can be adjusted in three levels through the physical code switch of the device, corresponding to DN100, DN150, and DN200 three common pipeline nominal diameters. After adjustment, the system will automatically match the corresponding force feedback threshold and motion trajectory planning algorithm.

[0075] Specifically, the anti-lost cable receiver is also included, which comprises a cable reel 7 and a cable 8; the cable 8 is connected with the mobile platform. In this way, when the mobile device is working inside the pipeline, the cable 8 can be orderly wound and unwound through the cooperation of the cable reel 7 and the automatic cable arrangement mechanism, so as to avoid the entanglement of the cable 8 and affect the movement of the device or signal transmission. When the wireless communication signal of the mobile device is weakened or interrupted due to the complex environment of the pipeline, the cable 8 can be used as a backup communication link to ensure uninterrupted transmission of instructions and data between the control module and the external control console; at the same time, the high-strength fiber core built-in the cable 8 can provide auxiliary drag force, so that the device can be safely recovered through external traction when the device is stuck or power is insufficient, thereby effectively improving the reliability and safety of the equipment under extreme working conditions. The cable reel 7 adopts a magnetic damping brake structure, which can automatically adjust the winding tension according to the movement speed of the mobile device; when the device moves forward, the reel releases the cable 8 and maintains a constant tension of 0.5-1.2 N to prevent the cable 8 from relaxing and dragging the ground; when the device moves backward, the brake unit is started to keep the winding speed synchronized with the movement speed of the device, so as to avoid the breakage of the cable 8 due to excessive tension. The cable 8 is driven by a lead screw to move the cable arrangement guide wheel transversely, so as to ensure that the cable 8 is uniformly wound on the reel, and the single-layer winding density can reach 4-5 turns per centimeter, thereby significantly improving the storage efficiency and service life of the cable 8.

[0076] In another aspect, the embodiment of the present application provides a method for controlling the mobile device, comprising:

[0077] Step S1, the control module controls the mobile device to enter the inside of the metal pipeline, and adjusts the moving direction and speed through the independent driving of the wheel set;

[0078] Step S2, the image acquisition unit is started to collect the images of the inside environment of the pipeline in real time;

[0079] Step S3, when the blockage appears in the image, the blockage image is segmented to obtain a plurality of image sub-domains;

[0080] Step S4, the control module determines the pre-grabbing point according to the correlation feature value of the blockage image collected by the image acquisition unit; the control module acquires a first grabbing feature value in response to a first preset condition, determines whether the pre-grabbing of the blockage meets a preset standard according to the first grabbing feature value, and determines whether the dragging of the mobile device meets a preset standard according to the decreasing rate of the pulling force in response to a second preset condition.

[0081] Specifically, in this way, by phased eigenvalue analysis and dynamic threshold adjustment, a complete foreign object grabbing decision logic is constructed. Image segmentation processing converts complex blockage images into quantifiable sub-domain units for analysis, and the calculation of related eigenvalues realizes accurate mapping from visual information to mechanical operating points. The double-checking mechanism of the first and second grabbing eigenvalues verifies the pre-grabbing effect from the displacement coordination and deformation safety perspectives, respectively, forming a multi-dimensional grabbing quality evaluation system. The monitoring of the tension reduction rate further provides real-time mechanical feedback during dynamic dragging, and the stability of the grabbing state is judged by a pre-set rate threshold, realizing full-process closed-loop control from static positioning to dynamic operation. This hierarchical and multi-parameter control strategy enables the mobile device to adaptively adjust the working mode according to the physical properties of different blockages and changes in the pipeline environment, ensuring the scientificity of the grabbing decision and improving the robustness of the operation process, thus providing an intelligent solution for metal pipeline foreign object cleaning.

[0082] The technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the present application, and the technical solutions after such changes or replacements will fall within the protection scope of the present application.

[0083] The above description is only the preferred embodiments of the present application and is not intended to limit the present application; those skilled in the art can make various changes and modifications to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile device for monitoring and grabbing foreign objects in metal pipes, characterized in that, It includes, A mobile platform includes at least one independently driveable wheel assembly; the wheel assembly includes a drive motor, a hub connected to the output shaft of the drive motor, and tracks covering the hub; The gripping module includes a robotic arm and an end effector. The base of the robotic arm is fixed to the mobile platform. The end effector includes a sleeve and several claws disposed in the sleeve. Each claw includes a telescopic section, a loading section, and a gripping section. The claws open and close each gripping section by extending and retracting the telescopic section. The data acquisition module includes an image acquisition unit disposed at the front end of the mobile platform for acquiring images of the inside of the pipe, and a tension sensor disposed between the robotic arm and the base; A control module, which is connected to the data acquisition module, the grasping module, and the mobile platform respectively, is used to determine the pre-grabbing point based on the entanglement feature value of the obstruction image acquired by the image acquisition unit; the control module acquires the first grasping feature value in response to the first preset condition, determines whether the pre-grabbing of the obstruction meets the preset standard based on the first grasping feature value, and determines whether the dragging of the mobile device meets the preset standard based on the rate of decrease of the pulling force in response to the second preset condition; Wherein, the entanglement feature value is the ratio of the feature line density in the image subdomain to the preset density; the feature line density is the ratio of the total length of the feature lines in the image subdomain to the area of ​​the image subdomain; the feature lines are the filamentous lines in the obstruction; the image subdomain is obtained based on the segmentation of the obstruction image; The control module responds to the first grasping feature value being less than the first preset grasping threshold, determines that the pre-grabbing of the obstruction does not meet the preset standard, and verifies whether the pre-grabbing of the obstruction meets the preset standard based on the second grasping feature value; The first grasping feature value is the ratio of the displacement of the boundary between the obstruction and the metal pipe blockage to the displacement of the pre-grabbing point; the first preset condition is that the moving device completes a displacement of a first preset length segment. The control module responds to the second grasping feature value being greater than a preset second grasping threshold by verifying that the pre-grabbing of the obstruction does not meet the preset standard and reducing the dragging speed of the moving device; the second grasping feature value is the ratio of the pre-grabbing point displacement to the deformation boundary length; If the rate of decrease of the pulling force is less than a preset rate threshold, then the dragging of the moving device is determined to meet the preset standard; If the rate of decrease of the pulling force is greater than or equal to a preset rate threshold, it is determined that the dragging of the moving device does not meet the preset standard, and the device is re-pre-grabbed on the obstruction. The second preset condition is that the mobile device completes the displacement of the second preset length segment.

2. The mobile device for monitoring and grabbing foreign objects in metal pipes according to claim 1, characterized in that, The pre-capture point is the center point of the marked image subdomain that is close to the center point of the image of the obstruction; The labeled image subdomains are determined by comparing the entrainment feature values ​​with the entrainment feature thresholds.

3. The mobile device for monitoring and grasping foreign objects in metal pipes according to claim 2, characterized in that, The control module determines that the pre-grabbing of the obstruction meets the preset standard when the first grasping feature value is greater than or equal to the first preset grasping threshold.

4. The mobile device for monitoring and grasping foreign objects in metal pipes according to claim 3, characterized in that, The decrease in drag speed is directly related to the difference between the second grasping feature value and the preset second grasping threshold.

5. The mobile device for monitoring and grasping foreign objects in metal pipes according to claim 4, characterized in that, It also includes an anti-disconnection cable reel, which comprises a cable reel and a cable; the cable is connected to the mobile platform.

6. A control method for a mobile device for monitoring and grasping foreign objects in metal pipes as described in any one of claims 1-5, characterized in that, include: Step S1: The control module controls the moving device to enter the interior of the metal pipe; Step S2: Start the image acquisition unit to acquire images of the internal environment of the pipeline in real time; Step S3: When an obstruction is detected in the image, the obstruction image is segmented to obtain multiple image sub-domains; In step S4, the control module determines the pre-grabbing point based on the entanglement feature value of the obstruction image acquired by the image acquisition unit; the control module acquires the first grasping feature value in response to the first preset condition, determines whether the pre-grabbing of the obstruction meets the preset standard based on the first grasping feature value, and determines whether the dragging of the moving device meets the preset standard based on the rate of decrease of the pulling force in response to the second preset condition.

Images