A sewer pipeline detection and repair multifunctional robot system based on composite cable guidance and a working method thereof

Abstract

The application discloses a sewer detection and repair multifunctional robot system based on composite cable guidance and a working method. The system comprises a composite cable, which is arranged in a pipe and comprises a bearing core, a signal transmission line, a length marking unit and a wireless communication relay node; a ground control station, which is arranged at a well mouth; a robot body, which is hung on the cable and comprises a walking pressure wheel group, a core function cabin, a visual detection module and a standard mechanical interface; replaceable function modules, which are connected through the interface and comprise a support arm module and an execution tool module, wherein the working tool head of the execution tool module comprises at least one of a dredging cutter, a gripper, a repair material spraying head and a cutting cutter; and an AI analysis server. The working method comprises the following steps: laying the cable; installing the function module; moving the robot along the cable; automatically identifying and detecting defects in the video by AI; or performing dredging or repair work after anchoring by the support arm. The application is used for non-excavation detection and repair of a sewer.

Description

Technical Field

[0001] The present invention belongs to the technology of drainage pipeline detection and trenchless repair, and particularly relates to a robot system; Background Art

[0002] Urban drainage pipe networks are like the blood vessel networks of the human body, undertaking core functions such as sewage collection, flood control and drainage, and water environmental protection. They are important infrastructure for ensuring the safe operation of cities. With the continuous acceleration of the urbanization process in China, the challenges faced by the construction and operation and maintenance of drainage pipe networks are becoming increasingly prominent. Problems such as pipe network aging, frequent waterlogging, and black and odorous water bodies not only affect the quality of residents' lives, but also restrict the sustainable development of cities.

[0003] Facing the prominent problems of drainage pipe networks, the state has promoted the construction and transformation of pipe networks with unprecedented intensity in recent years, intensively introduced a series of top-level designs and policy measures, and elevated the improvement of short-board pipe networks to the national strategic height. The detection and repair of drainage pipes, as an important part of the upgrading and renovation of drainage pipe networks, the innovation of its theory and technology is becoming more and more urgent.

[0004] Taking the trenchless repair of drainage pipes as an example, the currently widely accepted technological process for trenchless repair of drainage pipes at home and abroad is: drainage pipe dredging → detection and evaluation of drainage pipes → trenchless repair of drainage pipes. Related construction units, equipment manufacturing enterprises, and material production manufacturers all carry out operations, research and development, and production based on this technological process. Related technical research is also refined and deepened based on this technological process. Currently, drainage pipe trenchless-related equipment manufacturers at home and abroad also develop their own equipment and explore the market in more refined special application scenarios based on this technological process, and this technological process has gradually formed the theoretical basis support for the development concepts of many enterprises.

[0005] Based on this technological process theory, there are many shortcomings in the current detection, dredging, and repair equipment; for example: First, detection robot manufacturing and R & D companies are mostly limited to the detection aspect, such as how to see farther and clearer and operate more simply, and how to adapt to some special detection environments, such as the flying ball used for culvert detection, and all-terrain for muddy environments, etc.; however, they fail to consider how many times a device worth tens of thousands of yuan can be used in a year, regardless of its actual effect, and its application scenarios are too narrow. Second, the manufacturing and R & D companies of combined sewage suction trucks are also mostly limited to the dredging aspect, such as how to clean more pipes with less water and less fuel consumption, and how to make the impact force of the water pressure gun head greater, so great that it can wash away some stubborn deposits and obstacles such as cement slurry and concrete; however, they fail to consider that such a large water pressure will also act on the drainage pipes. Often, many drainage pipes that need to be repaired are already in a critical state of about to collapse, and once dredged, they will collapse, making the original structural defects more serious. Summary of the Invention

[0006] This invention provides a multifunctional robot system and operating method for drainage pipeline inspection and repair based on composite cable guidance, to solve the problems of existing drainage pipeline inspection and repair equipment, such as limited functionality, narrow application scenarios, severe damage to pipelines, low efficiency, and high cost. To achieve the above technical objectives, the technical solution adopted by this invention is as follows: A multifunctional robot system for drainage pipe inspection and repair based on composite cable guidance includes a composite cable (100), a ground control station (200), a robot body (300), replaceable functional modules (400), and an AI analysis server (500).

[0007] Preferably, the composite cable (100) is inserted into the drainage pipe to be inspected and repaired, and both ends are fixed to the pipe inspection well opening; the composite cable includes a carrying core (101), a signal transmission line (102), a length marking unit (103), and a plurality of wireless communication relay nodes (104) arranged at intervals along the length of the cable; the relay nodes (104) are electrically connected to the signal transmission line (102).

[0008] Preferably, the ground control station (200) is located at the wellhead and connected to the end of the composite cable (100). It includes a main controller (201), a display unit (202), a cable winding and unwinding mechanism (203), a signal processing module (204), and a power supply module (205) for monitoring, control, power supply, and data processing.

[0009] Preferably, the robot body (300) is movably mounted on the composite cable (100) and includes: a walking mechanism (301), a core functional compartment (305), a vision inspection module (309), and a standard mechanical interface (313).

[0010] Preferably, the walking mechanism (301) includes a hollow cylindrical shell (302) with symmetrically arranged pressure rollers (303) inside the shell, driven by a drive motor (304) to make the robot move along the composite cable (100).

[0011] Preferably, the core functional compartment (305) includes an integrated main control board (306), a large-capacity removable battery pack (307), and a first wireless communication module (308).

[0012] Preferably, the visual inspection module (309) includes a high-definition camera (310), an illumination unit (311), and a protective cover (312) for acquiring video images inside the pipe; Preferably, the standard mechanical interface (313) is located on the side wall or end of the robot body (300).

[0013] Preferably, the replaceable functional module (400) is connected to the robot body (300) through the standard mechanical interface (313) and includes: a support arm module (401) and an execution tool module (404).

[0014] Preferably, the support arm module (401) includes at least two circumferentially distributed support robotic arms (402), with support feet (403) at the arm ends for anchoring the robot body (300) to the inner wall of the pipe; Preferably, the execution tool module (404) includes a replaceable working tool head (405) and a drive mechanism (406), the working tool head including at least one of a dredging blade (405a), a clamp (405b), a repair material spraying head (405c), and a cutting blade (405d); Preferably, the AI ​​analysis server (500) receives the video stream collected by the visual inspection module (309), runs the pre-trained pipeline defect recognition model (YOLOv8), automatically identifies structural defects and functional defects, and generates a report.

[0015] Preferably, the wireless communication relay node (104) and the first wireless communication module (308) communicate using a customized and optimized Sub-1GHz proprietary protocol to form a Mesh network; the video stream collected by the visual inspection module (309) is transmitted to the ground control station (200) after being compressed by H.265 / HEVC encoding.

[0016] Preferably, the high-capacity removable battery pack (307) adopts a quick-release interface design, which supports quick replacement or charging at the wellhead.

[0017] This invention provides a method for operating a multifunctional robot system for drainage pipe inspection and repair based on composite cable guidance, comprising the following steps: Step 1: Insert the composite cable (100) into the drainage pipe to be operated and fix it at the wellhead; Step 2: Select and install the support arm module (401) and / or execution tool module (404) to the robot body (300) according to the task requirements; Step 3: Install the robot body (300) with the functional modules onto the composite cable (100) and start the system; Step 4: Control the robot to move along the cable via the ground control station (200); Step 5: Detection mode: The visual inspection module (309) collects video in real time and transmits it back to the AI ​​analysis server (500) via the relay node (104) to automatically identify defects; Step Six: Repair Mode: After arriving at the target location, control the support arm module (401) to deploy the anchoring robot, and control the execution tool module (404) to perform dredging or repair operations; Step 7: After the task is completed, retract the support arm, control the robot to return to the wellhead, and disassemble and replace the functional modules or batteries.

[0018] The present invention achieves the following technical effects compared to the prior art: This invention presents a multi-functional robot system and operating method for inspection and repair, which integrates mature AI technology into the inspection and repair of drainage pipelines. Its innovative cable design allows it to successfully adapt to complex pipeline environments with siltation, high water flow, and severe defects. The modular design enables unprecedented multi-purpose functionality (inspection / dredging / repair). The system utilizes AI automatic recognition and algorithms to automatically and precisely control the robotic arm's dredging and repair operations, achieving efficient and low-cost completion with minimal damage to the drainage pipelines. Furthermore, the continuous upgrading of the AI ​​model and algorithms makes the system increasingly powerful and stable. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 System overall architecture diagram Figure 2 Cross-sectional view of composite cable structure Figure 3 : Cross-sectional view of robot body structure Figure 4 Schematic diagram of support arm module structure Figure 5 Execution tool module diagram Figure 6 Schematic diagram of dual-robot collaborative dredging / repair operation Figure 7 Communication network topology diagram Figure 8 AI Automatic Detection Flowchart Figure 9 Work Method Flowchart The diagram is labeled as follows: 100, Composite cable; 101, Bearing core; 102, Signal transmission line; 103, Length marking unit; 104, Relay node; 200, Ground control station; 201, Main controller; 202, Display unit; 103, Cable winding and unwinding mechanism; 204, Signal processing module; 205, Power module; 300, Robot body; 301, Walking mechanism; 302, Hollow cylindrical shell; 303, Pressure roller assembly; 304, Drive motor; 305, Core functional compartment; 306, Integrated main control board; 307, Battery pack; 308, First wireless communication module; 309, Vision inspection module; 310, High-definition camera; 311, Lighting unit; 312, Protective cover; 313, Standard mechanical interface; 400, Replaceable functional module; 401, Support arm module; 402, Support robotic arm; 403, Support foot; 404. Execution tool module; 405. Tool head; 406. Drive mechanism; 405a. Dredging tool (405a); 405b. Holder; 405c. Repair material spraying head; 405d. Cutting tool; 500. Analysis server; (in this application document) Figures 1 to 6 (This is a schematic structural diagram, included in the instruction manual, to aid in understanding the structure and operational logic.) The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings. It should be understood that the following embodiments are only used to explain the present invention and are not intended to limit the scope of protection.

[0022] like Figure 1 As shown, the following assembly and debugging should be performed before operation: (1) Laying of composite cable (100): Select a suitable length of composite cable (100) according to the length of the pipeline to be inspected and repaired. For example Figure 2 As shown, the composite cable integrates a bearing core (101), a signal transmission line (102), and a length marking unit (103), and a wireless communication relay node (104) can be set on the cable. Construction workers thread the composite cable into the drainage pipe and fix both ends to the upstream and downstream inspection well openings respectively; after fixing, the composite cable remains stationary inside the pipe.

[0023] (2) Preparation of the robot body (300): such as Figure 3As shown, the robot body is capsule-shaped, with a cable guide channel in the upper middle part of the hollow cylindrical shell (302) for threading the composite cable (100). Pressure roller groups (303) are symmetrically arranged above and below the cable guide channel, driven by a drive motor (304). The pressure roller groups clamp and rotate the stationary cable, thereby enabling the robot to move forward / backward along the cable direction; this method avoids wear and interference caused by the reciprocating motion of the cable in the pipe.

[0024] (3) Functional module installation: Select and install the support arm module (401) and / or the execution tool module (404) according to the task, and quickly assemble them through the standard mechanical interface (313).

[0025] The robot moves along the cable to a designated mileage section, where the visual inspection module (309) acquires video images and transmits them back to the ground control station (200) and / or the AI ​​analysis server (500) via the relay node (104). The AI ​​analysis server runs a defect identification model, outputs the defect category and location, and generates an inspection report to provide a basis for subsequent dredging or repair.

[0026] When dredging or repair is required at a certain work site, the robot will deploy the support arm module (401) after reaching the target position. The support foot (403) at the end of the support arm (402) will press against the pipe wall to achieve anchoring, suppressing the positional drift and rotation around the cable caused by the reaction force of the operation. Then the execution tool module (404) will drive the corresponding tool head (405) to perform dredging, cutting or spraying operations.

[0027] like Figure 6 As shown, with the composite cable (100) stationary, two robots are simultaneously mounted on the same composite cable: Robot A, as the working robot, is equipped with a sludge removal tool (405a) to perform cleaning and gathering; Robot B, as the auxiliary robot, is equipped with a gripper (405b) or a transfer assembly to receive the sludge and transfer it along the cable to the inspection wellhead.

[0028] The specific process is as follows: The ground control station (200) controls the two robots to maintain a preset safe distance based on the length marking unit (103); Robot A arrives at the target siltation section, anchors and cleans the silt, and concentrates the silt at the junction point; Robot B approaches the junction point, clamps the slag clump / loading container and transfers it to the inspection well to complete the slag discharge, and then returns to the junction point to cycle the operation, thereby reducing the ineffective travel of the working robots and improving the overall efficiency.

[0029] In the repair operation, robot A is equipped with a repair material spray head (405c) and / or a cutting tool (405d) for surface treatment and spray sealing of the defect; robot B is equipped with a material transport component (such as a material bin / glue cartridge / chemical container, etc.) to transport and replenish repair materials to robot A. After robot A anchors in the defect area, it performs the repair. Robot B replenishes materials to robot A as needed at the handover point. This method is suitable for scenarios with multiple defect points, high material consumption, or long pipelines that result in low round-trip efficiency for a single robot.

[0030] (1) Anti-rotation: Use the support arm to anchor and provide anti-rotation constraint; or set a guide wheel / slipper structure that lightly touches the tube wall on the robot body shell; or use elastic pre-tightening and symmetrical arrangement for the pressure roller group (303) to improve clamping stability.

[0031] (2) Collision avoidance: The ground control station (200) assigns independent IDs to the two robots and sets a minimum safe distance threshold. Combined with mileage information, it implements an approach deceleration / stop strategy. When necessary, it activates the power failure self-locking / brake structure to ensure that the robot can still stop safely in the event of power failure or loss of connection.

Claims

1. A multifunctional robot system for drainage pipe inspection and repair based on composite cable guidance, characterized in that, include: Composite cable (100): It is inserted into the drainage pipe to be inspected and repaired, and its two ends are fixed to the pipe inspection well opening; the composite cable (100) includes a bearing core (101), a signal transmission line (102), a length marking unit (103) and a number of wireless communication relay nodes (104) arranged at intervals along the length of the cable; the relay nodes (104) are electrically connected to the signal transmission line (102); Ground control station (200): Located at the wellhead and connected to the end of the composite cable (100), it includes a main controller (201), a display unit (202), a cable winding and unwinding mechanism (203), a signal processing module (204), and a power supply module (205) for monitoring, control, power supply, and data processing. Robot body (300): Movably mounted on composite cable (100), comprising: Walking mechanism (301): Hollow cylindrical shell (302), with symmetrically arranged pressure rollers (303) inside the shell, driven by a drive motor (304) to make the robot move along the composite cable (100); Core functional compartment (305): Integrated main control board (306), large-capacity removable battery pack (307), first wireless communication module (308); Visual inspection module (309): Includes a high-definition camera (310), an illumination unit (311), and a protective cover (312), used to acquire video images inside the pipe; Standard mechanical interface (313): Located on the side wall or end of the robot body (300); Replaceable functional module (400): Connected to the robot body (300) via the standard mechanical interface (313), comprising: Support arm module (401): includes at least two circumferentially distributed support robotic arms (402), with support feet (403) at the end of the arms for anchoring the robot body (300) to the inner wall of the pipe; Execution tool module (404): includes a replaceable working tool head (405) and a drive mechanism (406), the working tool head (405) including at least one of a dredging cutter (405a), a holder (405b), a repair material spraying head (405c), and a cutting cutter (405d); AI Analysis Server (500): Receives video streams collected by the visual inspection module (309), runs a pre-trained pipeline defect recognition model (YOLOv8), automatically identifies structural and functional defects, and generates reports.

2. The system according to claim 1, characterized in that, The wireless communication relay node (104) and the first wireless communication module (308) communicate using a customized and optimized Sub-1GHz proprietary protocol to form a Mesh network; the video stream collected by the visual inspection module (309) is transmitted to the ground control station (200) after being compressed by H.265 / HEVC encoding.

3. The system according to claim 1, characterized in that, The high-capacity removable battery pack (307) adopts a quick-release interface design, which supports quick replacement or charging at the wellhead.

4. A drainage pipeline operation method based on the system described in any one of claims 1-3, characterized in that, Includes the following steps: Step 1: Insert the composite cable (100) into the drainage pipe to be operated and fix it at the wellhead; Step 2: Select and install the support arm module (401) and / or execution tool module (404) to the robot body (300) according to the task requirements; Step 3: Install the robot body (300) with the functional modules onto the composite cable (100) and start the system; Step 4: Control the robot to move along the cable via the ground control station (200); Step 5: Detection mode: The visual inspection module (309) collects video in real time and transmits it back to the AI ​​analysis server (500) via the relay node (104) to automatically identify defects; Step Six: Repair Mode: After arriving at the target location, control the support arm module (401) to deploy the anchoring robot, and control the execution tool module (404) to perform dredging or repair operations; Step 7: After the task is completed, retract the support arm, control the robot to return to the wellhead, and disassemble and replace the functional modules or batteries.

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