Intelligent tunnel drainage pipe clogging image recognition, evaluation and grading processing device

Abstract

The invention is suitable for the technical field of tunnel drainage pipe clogging cleaning, and provides an intelligent tunnel drainage pipe clogging image recognition, evaluation and grading processing device which comprises a supporting frame. The battery box is detachably installed on the inner wall of the top of the supporting frame, and a storage battery used for storing and supplying energy, an FPGA used for hardware acceleration, a GPU used for image processing, a DSP used for optimizing compressed images, a wireless signal transmission module used for transmitting image information and a storage module used for storing the image information are arranged in the battery box. According to the intelligent tunnel drainage pipe clogging image recognition, evaluation and grading processing device, the supporting frame is arranged to support the battery box, the first camera is lifted to prevent the cameras from being soaked by accumulated water and causing the cameras not to normally shoot images, the sampling structure is arranged to drill clogging samples, clogging depth and material composition information is obtained, and the device is convenient to use. And a basis is provided for cleaning work.

Description

Technical Field

[0001] This invention belongs to the field of tunnel drainage pipe blockage cleaning technology, and particularly relates to an intelligent tunnel drainage pipe blockage image recognition, assessment and grading processing device. Background Technology

[0002] Tunnel drainage pipe blockage cleaning is a professional maintenance operation targeting common blockage problems in tunnel drainage systems. Before carrying out the cleaning operation, a series of preparatory work needs to be carried out. One important task is to use imaging equipment to collect detailed images of the location and state of blockage in the drainage pipe. In practice, the staff will securely fix the imaging equipment to a specific moving structure and then operate the moving structure to slowly move along the bottom of the drainage pipe to record the actual situation at various locations inside the pipe. Afterwards, advanced image comparison technology is used to carefully compare the collected images with images of the pipe under normal conditions, thereby accurately identifying and assessing the blockage situation and providing a scientific basis for subsequent cleaning work.

[0003] However, this traditional method of image acquisition and evaluation has certain limitations. On the one hand, it cannot obtain information on the depth of blockage and the composition of the blockage material in a timely manner. The depth of blockage is crucial for judging the severity of the blockage and selecting an appropriate cleaning method, while the composition information of the blockage material helps determine the tools and agents to be used during the cleaning process. Due to the lack of key information, the cleaning work is not accurate or efficient enough. On the other hand, the method of directly binding the imaging device to the moving structure when acquiring images makes the moving structure susceptible to the influence of water accumulation in the pipe when it moves at the bottom of the pipe. Summary of the Invention

[0004] This invention provides an intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device, which aims to solve the problems mentioned in the background art where the image acquisition and comparison assessment of pipe blockage status cannot obtain information on the depth of blockage and the composition of blockage material in a timely manner. At the same time, the moving structure travels at the bottom of the pipe during image acquisition, and water accumulation in the pipe can affect image acquisition.

[0005] To address the aforementioned problems, this invention provides an intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device, comprising: a support frame; a battery box detachably mounted on the inner wall of the top of the support frame, the battery box containing a battery for energy storage and supply, an FPGA for hardware acceleration, a GPU for image processing, a DSP for optimizing and compressing images, a wireless signal transmission module for transmitting image information, and a storage module for storing image information; a lighting lamp mounted on the battery box for auxiliary illumination to increase image clarity, and a first camera for capturing images of the blockage state; a cover plate detachably mounted on the battery box by bolts for sealing the battery box; adjusting wheels rotatably mounted on the outer wall of the support frame and capable of contacting the tunnel drainage pipe for assisting in stabilizing the support frame; a moving mechanism mounted on the support frame for assisting in the movement of the device; and a sampling structure mounted on the support frame for drilling blockage samples to indicate the degree of blockage and information about the blockage material.

[0006] Preferably, a fixed frame is fixed inside the support frame, and the moving mechanism includes an electric telescopic rod fixed to the fixed frame, a mounting cylinder mounted on the output rod of the electric telescopic rod, a connecting frame movably mounted on the mounting cylinder, a housing fixed to the bottom of the connecting frame, a rotating shaft rotatably mounted on the housing, a moving wheel mounted on the rotating shaft, and a first motor fixed to the housing. The output shaft of the first motor extends into the housing, and a first bevel gear meshing with each other is fixed on both the output shaft of the first motor and the rotating shaft. A pressure sensor in contact with the connecting frame is provided inside the mounting cylinder, and multiple support rods are mounted on the moving wheel. Each of the multiple support rods is provided with a threaded rod, and each of the multiple threaded rods is threaded with an anti-slip sleeve.

[0007] Preferably, the sampling structure includes a mounting frame fixed on the fixed frame, a base mounted on the bottom of the mounting frame, a support cylinder fixed on the top of the base, a sampling cylinder movably mounted inside the support cylinder, an adjustment plate disposed on the top of the base, a second motor mounted on the top of the adjustment plate, a first connecting gear and a second connecting gear respectively fixed on the output shaft of the second motor and the sampling cylinder, and a transmission gear rotatably mounted on the top of the adjustment plate and meshing with the first connecting gear. The transmission gear can mesh with the second transmission gear to assist the second motor in driving the sampling cylinder to rotate so as to extract samples of the blockage.

[0008] Preferably, a drive gear is fixed on the output shaft of the second motor, a first transmission shaft is rotatably mounted on the adjusting plate, the first transmission shaft is provided with a driven gear meshing with the drive gear, a second transmission shaft is rotatably mounted on the adjusting plate, and a meshing second bevel gear is fixed on both the first and second transmission shafts, a third transmission shaft is rotatably mounted on the bottom of the adjusting plate, a first sprocket is mounted on both the second and third transmission shafts, and the same first chain for transmission is sleeved on both first sprockets, a support gear is fixed on the third transmission shaft, and a rack meshing with the support gear is provided on the top of the base.

[0009] Preferably, the top of the base is provided with a limiting rail frame that is slidably connected to the adjusting plate, the bottom of the adjusting plate is rotatably mounted with a roller that contacts the top of the base, the bottom of the base is provided with a support leg, and a support wheel that contacts the inner wall of the tunnel drainage pipe is rotatably mounted on the support leg.

[0010] Preferably, the sampling tube is provided with an observation port, the top of the mounting frame is fixed with a fixing plate, the bottom of the fixing plate is equipped with a second camera for capturing sample information to assist in assessing the degree of blockage, the mounting frame is provided with a clamp rod that can be inserted into the observation port, the clamp rod is made of iron, and the fixing plate is provided with a first electromagnet for attracting and stabilizing the clamp rod.

[0011] Preferably, a fixing rod is fixed on the top inner wall of the support frame, a connecting cylinder is provided on the top of the battery box and sleeved on the fixing rod, a limiting member is provided on the connecting cylinder to stabilize the relative position of the fixing rod and the connecting cylinder, and an observation window is provided on the battery box to display the internal structure of the battery box.

[0012] Preferably, the limiting member includes a cylinder fixed to the connecting cylinder, a second spring fixed to the cylinder, a locking block mounted on the second spring and extending into the connecting cylinder, a locking slot on the fixing rod for accommodating the locking block, a guide rod fixed to the locking block and extending out of the cylinder, and a pull ring mounted on the guide rod for providing an operating grip point.

[0013] Preferably, a housing is rotatably mounted on the sampling cylinder, a limit rod is fixed on the outer wall of the second motor, the limit rod is provided with a protrusion, and the housing is provided with a guide groove for accommodating the protrusion. The limit rod, the protrusion, and the guide groove are used to stabilize the relative position of the second motor and the sampling cylinder.

[0014] Preferably, the limiting rail frame is L-shaped, and a sliding groove is provided on one side of the adjusting plate. A slider that is fixedly connected to the limiting rail frame is installed in the sliding groove. The sliding groove, together with the slider, is used to limit the movement path of the adjusting plate. The top of the base is provided with a notch for accommodating the rack.

[0015] Compared with related technologies, the intelligent tunnel drainage pipe blockage image recognition, assessment and grading processing device provided by the present invention has the following beneficial effects: Compared with existing technologies, the intelligent tunnel drainage pipe blockage image recognition, assessment and grading processing device provided in this solution not only achieves efficient processing, storage and transmission of acquired images by setting up a support frame to support the battery box, but also raises the first camera to prevent water accumulation from soaking the camera and causing it to fail to capture images normally. By setting up a moving mechanism to drive the device to move flexibly, it is convenient to collect images and samples comprehensively. By setting up a sampling structure to drill blockage samples, information on blockage depth and material composition can be obtained, providing a basis for cleaning work. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of an intelligent tunnel drainage pipe blockage image recognition, evaluation and grading processing device provided by the present invention; Figure 2 This is a rear view structural schematic diagram of an intelligent tunnel drainage pipe blockage image recognition, evaluation and grading processing device provided by the present invention; Figure 3 This is a schematic diagram of the sampling structure of the present invention in the state where the second motor is disconnected from the sampling cylinder; Figure 4 This is a schematic diagram of the connection state between the second motor and the sampling cylinder in the sampling structure of the present invention; Figure 5 This is a side view of the scraper structure in this invention; Figure 6 for Figure 3 An enlarged structural diagram of part A shown in the figure; Figure 7 for Figure 1 An enlarged structural diagram of part B shown in the figure; Figure 8 This is a schematic diagram of the front sectional view of the moving mechanism in this invention; Figure 9 This is a side view of the sampling cylinder in this invention. Figure 10 This is a schematic diagram of the main structure of the support rod in this invention; Figure 11 This is a schematic diagram of the main structure of the connecting pipe in this invention; Figure 12 This is a schematic diagram of the assembly structure of the connecting pipe and the supporting clamp in this invention; Figure 13 This is a schematic diagram of the assembly structure supporting the gear and rack in this invention; Figure 14 This is a schematic diagram of the front view of the battery box in this invention; Figure 15 This is a cross-sectional view of the limiting component in this invention.

[0017] Reference numerals: 1. Support frame; 2. Battery box; 3. Lighting lamp; 4. First camera; 5. Cover plate; 6. Adjusting wheel; 7. Fixing frame; 8. Electric telescopic rod; 9. Mounting cylinder; 10. Connecting frame; 11. Pressure sensor; 12. Housing; 13. Rotating shaft; 14. Moving wheel; 15. First motor; 16. First bevel gear; 17. Base; 18. Mounting frame; 19. Support cylinder; 20. Sampling cylinder; 21. Adjusting plate; 22. Second motor; 23. Housing; 24. Limiting rod; 25. Driving gear; 26. Driven gear; 27. Second bevel gear; 28. First sprocket; 29. ​​First chain; 30. Support gear; 31. Rack; 32. First connecting gear; 33. Second connecting gear; 34. Transmission gear 35. Wheel; 36. Guide groove; 37. Roller; 38. Clamping rod; 39. Fixing plate; 40. First electromagnet; 41. Limiting rail frame; 42. Threaded rod; 43. Anti-slip sleeve; 44. Connecting shaft; 45. High-pressure nozzle; 46. Third motor; 47. Support shaft; 48. Second sprocket; 49. Second chain; 50. Limiting block; 51. U-shaped plate; 52. First spring; 53. Limiting plate; 54. Iron frame; 55. Second electromagnet; 56. Fourth motor; 57. Scraper; 58. Threaded cylinder; 59. Connecting pipe; 60. Support clamp; 61. Anti-slip pad; 62. Shock-absorbing wheel; 63. Fixing rod; 64. Connecting cylinder; 65. Limiting component; 66. Cylinder body; 67. Second spring; 68. Clamping block; 69. Guide rod; 60. Pull ring. Detailed Implementation

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] This invention provides an intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device, such as... Figure 1-15As shown, the intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device includes: a support frame 1; a battery box 2 detachably mounted on the inner wall of the top of the support frame 1, the battery box 2 containing a battery for energy storage and supply, an FPGA for hardware acceleration, a GPU for image processing, a DSP for optimizing and compressing images, a wireless signal transmission module for transmitting image information, and a storage module for storing image information; an illumination lamp 3 for auxiliary lighting to increase the clarity of the image and a first camera 4 for capturing images of the blockage state, both mounted on the battery box 2; a cover plate 5 detachably mounted on the battery box 2 by bolts for sealing the battery box 2; an adjusting wheel 6 rotatably mounted on the outer wall of the support frame 1 and capable of contacting the tunnel drainage pipe for assisting in stabilizing the support frame 1; a moving mechanism mounted on the support frame 1 for assisting in the movement of the equipment; and a sampling structure mounted on the support frame 1 for drilling blockage samples to indicate the degree of blockage and information about the blockage.

[0020] In this embodiment, during operation, the device is placed into the tunnel drainage pipe and moved inside the pipe by the moving mechanism. The lighting lamp 3 provides auxiliary lighting, the first camera 4 captures images, and the sampling structure drills out samples of the blockage. The collected image information is processed by the various components in the battery box 2, stored, and transmitted out. By setting up the battery box 2 and its internal battery, FPGA, GPU, DSP, wireless signal transmission module, and storage module, the system achieves efficient processing, storage, and transmission of the acquired images, facilitating subsequent analysis. The lighting 3 provides auxiliary illumination during shooting, improving image clarity and making the acquired images of the blockage more accurate. The adjusting wheels 6 stabilize the support frame 1, allowing for smoother movement of the device within the drainage pipe. The moving mechanism enables flexible movement of the device within the tunnel drainage pipe, facilitating comprehensive image acquisition and sampling. The sampling structure allows for drilling and extracting blockage samples to obtain information on blockage depth and composition, providing a scientific basis for subsequent efficient cleaning work.

[0021] In a further preferred embodiment of the present invention, a fixed frame 7 is fixed inside the support frame 1, and the moving mechanism includes an electric telescopic rod 8 fixed on the fixed frame 7, a mounting cylinder 9 mounted on the output rod of the electric telescopic rod 8, a connecting frame 10 movably mounted on the mounting cylinder 9, a housing 12 fixed to the bottom of the connecting frame 10, a rotating shaft 13 rotatably mounted on the housing 12, a moving wheel 14 mounted on the rotating shaft 13, and a first motor 15 fixed on the housing 12. The output shaft of the first motor 15 extends into the housing 12, and a first bevel gear 16 meshing with each other is fixed on both the output shaft of the first motor 15 and the rotating shaft 13. A pressure sensor 11 in contact with the connecting frame 10 is provided inside the mounting cylinder 9, and a plurality of support rods are mounted on the moving wheel 14. Each of the plurality of support rods is provided with a threaded rod 41, and an anti-slip sleeve 42 is threadedly fitted onto the outside of each of the plurality of threaded rods 41.

[0022] In this embodiment, when the device needs to be moved, the electric telescopic rod 8 is activated, and its output rod pushes the mounting cylinder 9 to move, thereby driving the connecting frame 10, housing 12 and other components to move. The connecting frame 10 moves inside the mounting cylinder 9, and the pressure sensor 11 can sense the pressure between the connecting frame 10 and the mounting cylinder 9. After the pressure increases, the first motor 15 is activated, thereby driving the rotating shaft 13 to rotate. The moving wheel 14 on the rotating shaft 13 also rotates accordingly, realizing the movement of the device inside the tunnel drainage pipe. By setting up the fixed frame 7, a stable installation foundation is provided for the electric telescopic rod 8. By setting up the electric telescopic rod 8, the starting and advancing of the device's movement can be flexibly controlled, making it easy to adjust the device's position in the pipeline. By setting up the mounting cylinder 9, connecting frame 10, and pressure sensor 11, pressure changes during the movement can be sensed, and the device's movement status can be fed back in a timely manner to avoid damage to components due to abnormal pressure. By setting up the first motor 15, first bevel gear 16, rotating shaft 13, and moving wheel 14, the rotational motion of the motor is converted into the rotation of the moving wheel 14, enabling the device to move autonomously in the pipeline.

[0023] In a further preferred embodiment of the present invention, the sampling structure includes a mounting frame 18 fixed on the fixed frame 7, a base 17 installed at the bottom of the mounting frame 18, a support cylinder 19 fixed at the top of the base 17, a sampling cylinder 20 movably installed in the support cylinder 19, an adjustment plate 21 disposed at the top of the base 17, a second motor 22 installed at the top of the adjustment plate 21, a first connecting gear 32 and a second connecting gear 33 respectively fixed on the output shaft of the second motor 22 and the sampling cylinder 20, and a transmission gear 34 rotatably installed at the top of the adjustment plate 21 and meshing with the first connecting gear 32. The transmission gear 34 can mesh with the second transmission gear 34 to assist the second motor 22 in driving the sampling cylinder 20 to rotate so as to drill for samples of blockage.

[0024] In this embodiment, when it is necessary to drill for a sample of the blockage, the second motor 22 is started. The output shaft of the second motor 22 drives the first connecting gear 32 to rotate. Since the transmission gear 34 meshes with the first connecting gear 32, the transmission gear 34 rotates accordingly. The transmission gear 34 can also mesh with the second connecting gear 33, thereby driving the second connecting gear 33 to rotate. The second connecting gear 33 is fixed on the sampling cylinder 20, so the sampling cylinder 20 starts to rotate. During the rotation, the sampling cylinder 20 uses its own drilling ability and, with the assistance of the support cylinder 19, drills for the blockage in the tunnel drainage pipe to obtain a sample of the blockage. By setting the base 17 and the support cylinder 19, the sampling cylinder 20 is supported and positioned, ensuring its stability during drilling. By setting the adjustment plate 21, an installation platform is provided for the second motor 22, the first connecting gear 32, the second connecting gear 33, and the transmission gear 34. By setting the second motor 22, the first connecting gear 32, the second connecting gear 33, and the transmission gear 34, the power of the second motor 22 is stably and efficiently transmitted to the sampling cylinder 20 through gear transmission, enabling the sampling cylinder 20 to rotate smoothly for drilling operations, thereby obtaining samples of the blockage material and providing a basis for subsequent analysis of the degree of blockage and information about the blockage material.

[0025] In a further preferred embodiment of the present invention, a drive gear 25 is fixed on the output shaft of the second motor 22, a first transmission shaft is rotatably mounted on the adjusting plate 21, and a driven gear 26 meshing with the drive gear 25 is provided on the first transmission shaft. A second transmission shaft is rotatably mounted on the adjusting plate 21, and a second bevel gear 27 meshing with the first transmission shaft and the second transmission shaft are both fixed on the first transmission shaft. A third transmission shaft is rotatably mounted on the bottom of the adjusting plate 21, and a first sprocket 28 is mounted on both the second transmission shaft and the third transmission shaft. The same first chain 29 for transmission is sleeved on both of the first sprockets 28. A support gear 30 is fixed on the third transmission shaft, and a rack 31 meshing with the support gear 30 is provided on the top of the base 17.

[0026] In this embodiment, when the second motor 22 is started, the drive gear 25 fixed on its output shaft begins to rotate. Since the drive gear 25 meshes with the driven gear 26 on the first transmission shaft, the driven gear 26 will rotate with the rotation of the drive gear 25, thereby driving the first transmission shaft to rotate. When the first transmission shaft rotates, it drives the second transmission shaft to rotate through the meshing transmission of the second bevel gear 27. When the second transmission shaft rotates, it causes the third transmission shaft to rotate through the transmission of the first chain 29. When the third transmission shaft rotates, the support gear 30 rolls on the rack 31, thereby driving the entire adjustment plate 21 and related components installed on the adjustment plate 21 to move on the base 17, thereby realizing the adjustment of the sampling related structure position so as to adjust the sampling depth and know the thickness of the blockage. By setting the driving gear 25 and the driven gear 26, the power of the second motor 22 is initially transmitted and the speed is reduced and the torque is increased, making the subsequent transmission process more stable. By setting the second bevel gear 27, the transmission direction is changed, so that the power of the first transmission shaft can be smoothly transmitted to the second transmission shaft. By setting the first sprocket 28 and the first chain 29, the effect of long-distance stable transmission is achieved, and the power of the second transmission shaft can be reliably transmitted to the third transmission shaft. By setting the support gear 30 and the rack 31, the rotational motion of the third transmission shaft is converted into the linear movement of the adjusting plate 21, realizing the flexible adjustment of the sampling structure position.

[0027] In a further preferred embodiment of the present invention, the top of the base 17 is provided with a limiting rail frame 40 that is slidably connected to the adjusting plate 21, the bottom of the adjusting plate 21 is rotatably mounted with a roller 36 that contacts the top of the base 17, the bottom of the base 17 is provided with a support leg, and a support wheel that contacts the inner wall of the tunnel drainage pipe is rotatably mounted on the support leg.

[0028] In this embodiment, during the operation of the device, the adjusting plate 21 will slide along the set trajectory of the limiting rail frame 40. When the adjusting plate 21 moves, the roller 36 will roll on the top of the base 17. When the entire device is placed in the tunnel drainage pipe, the support wheel contacts the inner wall of the drainage pipe to support the entire device. When the device needs to move, the support wheel can rotate to assist the device in moving in the drainage pipe. By setting the limiting rail frame 40, the movement trajectory of the adjusting plate 21 is limited and guided, ensuring that the adjusting plate 21 will not deviate during movement and improving the accuracy of the sampling structure position adjustment. By setting the roller 36, the friction between the adjusting plate 21 and the base 17 is reduced, making the movement of the adjusting plate 21 easier and more flexible, and reducing energy loss. By setting the support legs and support wheels, the entire device is stably supported, allowing the device to remain stable inside the tunnel drainage pipe.

[0029] In a further preferred embodiment of the present invention, the sampling tube 20 is provided with an observation port, the top of the mounting frame 18 is fixed with a fixing plate 38, the bottom of the fixing plate 38 is provided with a second camera for capturing sample information to assist in assessing the degree of blockage, the mounting frame 18 is provided with a locking rod 37 that can be inserted into the observation port, the locking rod 37 is made of iron, and the fixing plate 38 is provided with a first electromagnet 39 for adsorbing and stabilizing the locking rod 37.

[0030] In this embodiment, during the sampling operation, when the sampling cylinder 20 drills up the blockage sample and retracts, the adjusting plate 21 moves backward, the connection between the first connecting gear 32, the second connecting gear 33 and the transmission gear 34 is disconnected, the sampling cylinder 20 rotates by inertia, the first electromagnet 39 is turned off, the clamping rod 37 is inserted into the observation port of the sampling cylinder 20, and the sampling cylinder 20 is positioned. At the same time, the second camera installed at the bottom of the fixing plate 38 starts to work, and takes pictures of the blockage sample obtained in the sampling cylinder 20 through the observation port, and records the image information of the sample so that the degree of blockage of the tunnel drainage pipe can be assessed later based on this image information. By setting an observation port on the sampling tube 20, the second camera can directly observe and photograph the sludge sample inside the sampling tube, which facilitates the accurate acquisition of sample information. By fixing the fixing plate 38 on the top of the mounting bracket 18 and installing the second camera at the bottom of the fixing plate 38, the sample can be photographed from a suitable position, which can clearly record the appearance, shape and other characteristics of the sample, providing an intuitive and reliable basis for subsequent assessment of the degree of sludge. By setting a locking rod 37 that can be inserted into the observation port and a first electromagnet 39 for adsorbing and stabilizing the locking rod 37, the sampling tube 20 is stably fixed when photographing sample information, avoiding blurry images caused by shaking of the sampling tube 20 and improving the shooting quality.

[0031] In a further preferred embodiment of the present invention, a fixing rod 62 is fixed on the top inner wall of the support frame 1, and a connecting cylinder 63 sleeved on the top of the battery box 2 is provided. The connecting cylinder 63 is provided with a limiting member 64 for stabilizing the relative position of the fixing rod 62 and the connecting cylinder 63. The battery box 2 is provided with an observation window for displaying the internal structure of the battery box 2.

[0032] In this embodiment, when installing the battery box 2, the connecting cylinder 63 at the top of the battery box 2 is sleeved over the fixing rod 62 fixed on the inner wall of the top of the support frame 1, so that the battery box 2 is initially positioned on the support frame 1. Then, the limiting member 64 provided on the connecting cylinder 63 is used to stably fix the relative position of the fixing rod 62 and the connecting cylinder 63, ensuring that the battery box 2 is firmly installed on the support frame 1 and will not easily shake or fall off. When it is necessary to check the internal structure of the battery box 2, such as checking the battery status, wiring connections, etc., the relevant situation inside the battery box 2 can be directly observed through the observation window provided on the battery box 2. By fixing the fixing rod 62 to the inner wall of the top of the support frame 1 and setting the connecting cylinder 63 sleeved on the top of the battery box 2, the battery box 2 can be quickly positioned and installed. By setting the limiting member 64 to stabilize the relative position of the fixing rod 62 and the connecting cylinder 63, the battery box 2 can be installed firmly, effectively preventing the battery box 2 from shaking during operation and affecting the normal operation of the internal battery and circuit, thus improving the stability and reliability of the device.

[0033] In a further preferred embodiment of the present invention, the limiting member 64 includes a cylinder 65 fixed to the connecting cylinder 63, a second spring 66 fixed inside the cylinder 65, a locking block 67 mounted on the second spring 66 and extending into the connecting cylinder 63, a locking slot on the fixing rod 62 for accommodating the locking block 67, a guide rod 68 fixed to the locking block 67 and extending outside the cylinder 65, and a pull ring 69 mounted on the guide rod 68 for providing an operating grip point.

[0034] In this embodiment, when the connecting cylinder 63 is fitted onto the fixed rod 62, the guide rod 68 is first pulled by the pull ring 69. The guide rod 68 drives the locking block 67 to move inside the cylinder 65 and compress the second spring 66, causing the locking block 67 to retract into the cylinder 65. At this time, the connecting cylinder 63 can be smoothly fitted onto the fixed rod 62. When the connecting cylinder 63 is fitted into the appropriate position and the locking slot on the fixed rod 62 corresponds to the position of the cylinder 65, the pull ring 69 is released. The elastic force generated by the restoration deformation of the second spring 66 pushes the locking block 67 out of the cylinder 65 and into the locking slot of the fixed rod 62, thereby achieving stable fixation of the relative position of the fixed rod 62 and the connecting cylinder 63. By incorporating the cylinder 65, second spring 66, locking block 67, and locking slot, the elastic force of the second spring 66 enables the locking block 67 to automatically engage with the locking slot, achieving a quick and stable fixation of the relative positions of the fixing rod 62 and connecting cylinder 63. This effectively prevents the battery box 2 from shaking or shifting during operation, improving the stability and reliability of the device. The guide rod 68 and pull ring 69 provide convenient gripping points for the operator, allowing the locking block 67 to be pulled out of the locking slot when the battery box 2 needs to be disassembled.

[0035] In a further preferred embodiment of the present invention, a housing 23 is rotatably mounted on the sampling cylinder 20, a limiting rod 24 is fixed on the outer wall of the second motor 22, the limiting rod 24 is provided with a protrusion, and the housing 23 is provided with a guide groove 35 for accommodating the protrusion. The limiting rod 24, the protrusion and the guide groove 35 are used to stabilize the relative position of the second motor 22 and the sampling cylinder 20.

[0036] In this embodiment, during the operation of the second motor 22, when the adjusting plate 21 moves forward, the first connecting gear 32, the second connecting gear 33 and the transmission gear 34 mesh and drive each other. At this time, the rotation of the second motor 22 can not only push the sampling cylinder 20 forward, but also drive the sampling cylinder 20 to rotate to reduce the sampling difficulty. At the same time, the protrusion on the limiting rod 24 cooperates with the guide groove 35 to prevent the second motor 22 from being directly disconnected from the sampling cylinder 20 and making it difficult to continue the connection. By setting a limiting rod 24, a protrusion, and a guide groove 35, the guide groove 35 restricts the protrusion, thereby stabilizing the relative position of the second motor 22 and the sampling cylinder 20. This effectively prevents the second motor 22 from shifting or shaking due to vibration, external force, or other factors during operation, ensuring the stability of power transmission between the second motor 22 and the sampling cylinder 20.

[0037] In a further preferred embodiment of the present invention, the limiting rail frame 40 is L-shaped, and a sliding groove is provided on one side of the adjusting plate 21. A slider fixedly connected to the limiting rail frame 40 is installed in the sliding groove. The sliding groove, together with the slider, is used to limit the movement path of the adjusting plate 21. The top of the base 17 is provided with a notch for accommodating the rack 31.

[0038] In this embodiment, during the operation of the device, when the position of the adjustment plate 21 is adjusted, the slider slides in the groove. By using an L-shaped limiting rail 40, in conjunction with the groove and slider on the adjustment plate 21, the movement path of the adjustment plate 21 is limited. By providing a notch at the top of the base 17 to accommodate the rack 31, lateral limiting is provided for the support gear 30.

[0039] To further improve the performance of this device, in addition to the above-mentioned solutions, this solution also includes the following embodiments: In another embodiment of the present invention, a high-pressure nozzle 44 is hinged to the fixing frame 7 via a connecting shaft 43. A third motor 45 for driving the connecting shaft 43 to rotate and adjust the water spray angle is installed on the fixing frame 7. A support shaft 46 is rotatably installed on the fixing frame 7. A second sprocket 47 is installed on both the support shaft 46 and the connecting shaft 43. A second chain 48 for transmission is sleeved on the second sprocket 47. A limiting structure for locking the support shaft 46 to stabilize the angle of the high-pressure nozzle 44 is provided between the fixing frame 7 and the support shaft 46.

[0040] In this embodiment, when it is necessary to adjust the spray angle of the high-pressure nozzle 44, the third motor 45 is started. The third motor 45 drives the connecting shaft 43 to rotate, thereby causing the high-pressure nozzle 44 to rotate around the connecting shaft 43, thus realizing the adjustment of the spray angle. At the same time, when the connecting shaft 43 rotates, it provides the transmission action of the second chain 48, which will drive the support shaft 46 to rotate synchronously. When the high-pressure nozzle 44 is adjusted to a suitable spray angle, the limiting structure set between the fixing frame 7 and the support shaft 46 locks the support shaft 46, thereby stabilizing the angle of the high-pressure nozzle 44 and keeping it at that angle for spraying operations.

[0041] By setting a third motor 45 to drive the connecting shaft 43 to rotate, the spray angle of the high-pressure nozzle 44 can be adjusted conveniently and quickly to meet the needs of spray direction in different scenarios, thus improving the applicability and flexibility of the device. Utilizing the transmission structure of the second sprocket 47 and the second chain 48, the support shaft 46 can rotate synchronously with the connecting shaft 43. When adjusting the angle of the high-pressure nozzle 44, the support shaft 46 can assist the connecting shaft 43 in bearing the weight and force of the high-pressure nozzle 44, reducing the burden on the connecting shaft 43. By setting a limiting structure, the support shaft 46 can be locked after the high-pressure nozzle 44 is adjusted to a suitable angle, thereby stabilizing the angle of the high-pressure nozzle 44 and preventing it from shifting due to external forces or vibrations during operation.

[0042] In another embodiment of the present invention, the limiting structure includes a limiting block 49 fixed on the support shaft 46, a U-shaped plate 50 mounted on the fixing frame 7, a first spring 51 mounted on the top of the U-shaped plate 50, a limiting plate 52 mounted on the top of the first spring 51 and capable of being locked outside the limiting block 49, an iron frame 53 fixed to the bottom of the limiting plate 52 and movably extending through the first spring 51 into the U-shaped plate 50, and a second electromagnet 54 mounted on the fixing frame 7 and located inside the U-shaped plate 50 for attracting and unlocking the support shaft 46.

[0043] In this embodiment, when the high-pressure nozzle 44 is adjusted to the correct angle and the support shaft 46 needs to be locked to stabilize the angle of the high-pressure nozzle 44, the limiting plate 52 will be locked outside the limiting block 49 on the support shaft 46 due to the elastic force of the first spring 51. At this time, the limiting plate 52 blocks the limiting block 49, preventing the support shaft 46 from rotating, thereby locking the support shaft 46 and stabilizing the angle of the high-pressure nozzle 44. When the angle of the high-pressure nozzle 44 needs to be adjusted again, i.e., when the support shaft 46 is unlocked, the second electromagnet 54 is energized. The second electromagnet 54 generates magnetism and attracts the iron frame 53. The iron frame 53 drives the limiting plate 52 to move downward, causing the limiting plate 52 to disengage from the limiting block 49. At the same time, the first spring 51 is compressed. At this time, the support shaft 46 is no longer blocked by the limiting plate 52 and can rotate freely, thereby enabling the adjustment operation of the angle of the high-pressure nozzle 44.

[0044] By setting a limiting block 49 and a limiting plate 52, the limiting plate 52 is automatically locked outside the limiting block 49 by the elastic force of the first spring 51, which realizes convenient locking of the support shaft 46, thereby stabilizing the angle of the high-pressure nozzle 44 and ensuring the stability and accuracy of the water spraying operation. By setting a second electromagnet 54 and an iron frame 53, the limiting plate 52 and the limiting block 49 can be quickly separated or locked, which improves the adjustment efficiency of the device.

[0045] In another embodiment of the present invention, the high-pressure nozzle 44 is provided with a threaded block, and a threaded cylinder 57 is threaded on the outer thread of the threaded block. A connecting pipe 58 connected to an external high-pressure water pump is installed on the threaded cylinder 57. The threaded block is provided with a sealing ring that contacts the inner wall of the threaded cylinder 57 for preventing leakage. The connecting pipe 58 is provided with a support structure for supporting the pipe to assist in the laying of the pipe.

[0046] In this embodiment, when installing the connection pipe between the high-pressure nozzle 44 and the external high-pressure water pump, the threaded cylinder 57 is first connected to the external high-pressure water pump through the connecting pipe 58 on it. Then, the threaded block on the high-pressure nozzle 44 is aligned with the threaded cylinder 57. By rotating the threaded cylinder 57, the threaded block is gradually screwed into the threaded cylinder 57 through the threaded engagement between the threaded block and the threaded cylinder 57 until a tight connection is achieved. During this process, the sealing ring on the threaded block will be in close contact with the inner wall of the threaded cylinder 57 to prevent leakage. After the connection is completed, the connecting pipe 58 is supported by the support structure provided on the connecting pipe 58.

[0047] By setting threaded blocks and threaded cylinders 57, the connection and disassembly of high-pressure nozzles 44 and connecting pipes 58 are made easier and faster, improving the efficiency of installation and maintenance. The support structure set on connecting pipes 58 can support the pipeline, assist in the reasonable laying of the pipeline, keep the pipeline stable, reduce the shaking and stress caused by the pipeline's own weight or external factors, and extend the service life of the pipeline.

[0048] In another embodiment of the present invention, the support structure includes a support clamp 59 that is fastened to the outside of the connecting pipe 58, an anti-slip pad 60 that is fixed on the inner wall of the support clamp 59 and contacts the outer wall of the connecting pipe 58 to increase friction, and a shock-absorbing wheel 61 that is rotatably mounted on the support clamp 59 to reduce the difficulty of pulling and laying the connecting pipe 58.

[0049] In this embodiment, when supporting and laying the connecting pipe 58, the support clamp 59 is first clamped in a suitable position outside the connecting pipe 58. When the equipment moves and pulls the connecting pipe 58 to lay it, the shock-absorbing wheel 61 will roll along with the movement of the connecting pipe 58.

[0050] By setting the support clamp 59, the sliding friction can be converted into rolling friction in conjunction with the shock-absorbing wheel 61, which reduces the difficulty of pulling the connecting pipe 58 during installation and also reduces the wear caused by friction during installation and use, thus extending the service life of the connecting pipe 58.

[0051] In another embodiment of the present invention, a fourth motor 55 is fixed on the fixing frame 7. The fourth motor 55 is covered with a protective shell. The output shaft of the fourth motor 55 is rotatably connected to the protective shell. The protective shell has an opening. A scraper 56 is fixed on the output shaft of the fourth motor 55, extending through the opening to the outside of the protective shell and contacting the inner wall of the tunnel drainage pipe. The scraper 56 is used to scrape off the sediment at the bottom of the water pipe to prevent the sediment from affecting the relocation position of the device.

[0052] In this embodiment, when the device is operating inside the tunnel drainage pipe and needs to be moved, in order to prevent sediment at the bottom of the pipe from obstructing the movement of the device, the fourth motor 55 fixed on the fixing frame 7 is started. The output shaft of the fourth motor 55 starts to rotate, driving the scraper 56 fixed on the output shaft and extending out of the protective shell through the opening to rotate synchronously. During the rotation, the scraper 56 contacts the inner wall of the tunnel drainage pipe, especially the bottom, scraping up and stirring the sediment at the bottom, so that the sediment is dispersed in the water, avoiding the sediment from accumulating at the bottom of the drainage pipe and forming an obstruction, thereby ensuring that the device can be moved smoothly inside the drainage pipe.

[0053] By setting a fourth motor 55 to provide power for the rotation of the scraper 56, the scraper 56 can effectively scrape away the sediment at the bottom of the tunnel drainage pipe, preventing the sediment from accumulating and affecting the transfer of the device in the drainage pipe, and improving the device's mobility and operating efficiency in complex environments.

[0054] In summary, compared with related technologies, this device, by setting up a support frame 1 to support the battery box 2, not only achieves efficient processing, storage and transmission of acquired images, but also raises the first camera 4 to prevent water accumulation from soaking the camera and causing it to be unable to capture images normally. By setting up a moving mechanism to drive the device to move flexibly, it is convenient to collect images and samples comprehensively. By setting up a sampling structure to drill out silt samples, information on the depth of silt and material composition can be obtained, providing a basis for cleaning work.

[0055] In this invention, the first motor 15 can be a Siemens 1FT7 servo motor, the second motor 22 can be a Lenz MCS synchronous servo motor, the third motor 45 can be a NEMA 23, the fourth motor 55 can be a Bosch Rexroth MSK synchronous servo motor, the electric telescopic rod 8 can be a Delco LT30 electric push rod, the pressure sensor 11 can be an FC10C series, the first camera 4 and the second camera can be a Bonnie BN-040DJ / HH-A. The brands and models of the above electrical appliances are not limited. In actual applications, other different models of electrical appliances that can achieve the corresponding functions can be used as substitutes according to the usage requirements.

[0056] It should be understood, in the several embodiments provided in this application, that the disclosed apparatus may be implemented in other ways.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A smart tunnel drainage pipe blockage image recognition, assessment, and grading processing device, characterized in that, include: Support frame; A battery box is detachably installed on the inner wall of the top of the support frame. The battery box contains a battery for energy storage and power supply, an FPGA for hardware acceleration, a GPU for image processing, a DSP for optimizing and compressing images, a wireless signal transmission module for transmitting image information, and a storage module for storing image information. A light fixture is installed on the battery box to provide auxiliary lighting to increase the clarity of the image, and a first camera is installed to capture images of the clogging status. A cover plate for closing the battery box is detachably mounted on the battery box by bolts; Adjustment wheels are rotatably mounted on the outer wall of the support frame and can contact the tunnel drainage pipe to assist in stabilizing the support frame; A moving mechanism installed on the support frame to assist in the movement of the equipment; A sampling structure for drilling out sludge samples, mounted on the support frame.

2. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 1, characterized in that, The support frame contains a fixed frame. The moving mechanism includes an electric telescopic rod fixed to the fixed frame, a mounting cylinder mounted on the output rod of the electric telescopic rod, a connecting frame movably mounted on the mounting cylinder, a housing fixed to the bottom of the connecting frame, a rotating shaft rotatably mounted on the housing, a moving wheel mounted on the rotating shaft, and a first motor fixed to the housing. The output shaft of the first motor extends into the housing. Both the output shaft of the first motor and the rotating shaft are fixed with meshing first bevel gears. A pressure sensor in contact with the connecting frame is provided inside the mounting cylinder. Multiple support rods are mounted on the moving wheel. Each of the multiple support rods has a threaded rod, and each of the multiple threaded rods is threaded with an anti-slip sleeve.

3. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 1, characterized in that, The sampling structure includes a mounting frame fixed on the fixed frame, a base mounted on the bottom of the mounting frame, a support cylinder fixed on the top of the base, a sampling cylinder movably mounted inside the support cylinder, an adjustment plate disposed on the top of the base, a second motor mounted on the top of the adjustment plate, a first connecting gear and a second connecting gear respectively fixed on the output shaft of the second motor and the sampling cylinder, and a transmission gear rotatably mounted on the top of the adjustment plate and meshing with the first connecting gear. The transmission gear can mesh with the second transmission gear to assist the second motor in driving the sampling cylinder to rotate so as to extract samples of the blockage.

4. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 3, characterized in that, A drive gear is fixed on the output shaft of the second motor. A first transmission shaft is rotatably mounted on the adjusting plate. A driven gear meshing with the drive gear is provided on the first transmission shaft. A second transmission shaft is rotatably mounted on the adjusting plate. A second bevel gear meshing with the first transmission shaft and the second transmission shaft are both fixed on the first transmission shaft. A third transmission shaft is rotatably mounted on the bottom of the adjusting plate. A first sprocket is mounted on both the second transmission shaft and the third transmission shaft. The same first chain for transmission is sleeved on both first sprockets. A support gear is fixed on the third transmission shaft. A rack meshing with the support gear is provided on the top of the base.

5. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 4, characterized in that, The base has a limiting rail frame at the top that is slidably connected to the adjusting plate. The bottom of the adjusting plate is rotatably mounted with a roller that contacts the top of the base. The bottom of the base has a support leg, and a support wheel that contacts the inner wall of the tunnel drainage pipe is rotatably mounted on the support leg.

6. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 3, characterized in that, The sampling tube is provided with an observation port, the top of the mounting frame is fixed with a fixing plate, the bottom of the fixing plate is equipped with a second camera for capturing sample information to assist in assessing the degree of blockage, the mounting frame is provided with a clamping rod that can be inserted into the observation port, and the fixing plate is provided with a first electromagnet for attracting and stabilizing the clamping rod.

7. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 1, characterized in that, A fixing rod is fixed on the top inner wall of the support frame. A connecting cylinder is provided on the top of the battery box and sleeved on the fixing rod. A limiting member is provided on the connecting cylinder to stabilize the relative position of the fixing rod and the connecting cylinder. An observation window is provided on the battery box to display the internal structure of the battery box.

8. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 7, characterized in that, The limiting member includes a cylinder fixed to the connecting cylinder, a second spring fixed to the cylinder, a locking block mounted on the second spring and extending into the connecting cylinder, a locking slot on the fixing rod for accommodating the locking block, a guide rod fixed to the locking block and extending out of the cylinder, and a pull ring mounted on the guide rod for providing an operating grip point.

9. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 3, characterized in that, A housing is rotatably mounted on the sampling cylinder. A limiting rod is fixed on the outer wall of the second motor. The limiting rod has a protrusion. The housing has a guide groove for accommodating the protrusion. The limiting rod, the protrusion, and the guide groove are used to stabilize the relative position of the second motor and the sampling cylinder.

10. The intelligent tunnel drainage pipe blockage image recognition, assessment, and grading processing device as described in claim 5, characterized in that, The limiting rail frame is L-shaped, and a sliding groove is provided on one side of the adjusting plate. A slider that is fixedly connected to the limiting rail frame is installed in the sliding groove. The sliding groove, together with the slider, is used to limit the movement path of the adjusting plate. The top of the base is provided with a notch for accommodating the rack.

Images