A multi-sensor fusion adaptive underground sewer cleaning robot and method

Abstract

The present application relates to pipeline dredging robot technical field, particularly to a kind of multi-sensor fusion's adaptive underground drain pipe scale removal robot and method, including crawler, support lifting device is provided in the top of crawler, and the front end of crawler is provided with mechanical arm;Mechanical arm includes the axial rotation arm, radial lifting big arm, radial lifting small arm and axial rotation impact arm that are sequentially arranged away from crawler, axial rotation arm is connected with radial lifting big arm, radial lifting big arm is connected with radial lifting small arm, radial lifting small arm is connected with axial rotation impact arm;Axial rotation impact arm includes intelligent sensing component, and intelligent sensing component uses not less than two kinds of sensing mode, and the position and thickness of real-time detection blockage are detected.The present application solves the prior art to hard scale removal effect, poor force control inaccuracy, insufficient flexibility and secondary pollution serious and other problems, realizes pipeline efficient, accurate, low-damage intelligent scale removal operation.

Description

Technical Field

[0001] This invention relates to the field of pipeline dredging robot technology, and in particular to an adaptive underground drainage pipe cleaning robot and method based on multi-sensor fusion. Background Technology

[0002] Underground drainage pipes are an important guarantee for the normal operation of cities and various infrastructures. During long-term use, they are prone to blockage due to mineral crystallization, silt deposition, and the accumulation of building residue caused by groundwater seepage. If not dealt with in time, they will seriously affect drainage efficiency and even cause hidden dangers such as pipe damage and leakage of surrounding facilities. Therefore, the removal and unblocking of blockages is of utmost importance.

[0003] Currently, the removal of blockages in underground drainage pipes still relies on traditional techniques and simple machinery, which has many drawbacks: the machinery lacks flexibility and cannot adapt to the complex spaces of narrow pipes; it lacks intelligent sensing and adaptive adjustment capabilities, making it difficult to accurately detect blockage parameters, and the removal force and frequency are not accurately controlled, which can easily lead to poor removal results or damage to the pipes; there are no integrated dust suppression and maintenance measures, which can easily cause secondary pollution; and the functions are limited, and integrated operations have not been achieved, resulting in low efficiency.

[0004] To address the aforementioned shortcomings, there is an urgent need to develop an adaptive underground drainage pipe cleaning robot and method based on multi-sensor fusion to solve the aforementioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive underground drainage pipe cleaning robot and method based on multi-sensor fusion, which has intelligent sensing, adaptive adjustment, high efficiency and low damage, and integrated dust reduction and maintenance functions, so as to achieve efficient, accurate and intelligent removal of blockages in underground drainage pipes and ensure the stable operation of the pipeline system.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides an adaptive underground drainage pipe cleaning robot with multi-sensor fusion, including a crawler with mobility function, the top of the crawler is provided with a support lifting device for adapting to different underground drainage pipes, and the front end of the crawler is provided with a mechanical arm for cleaning underground drainage pipes, the mechanical arm can achieve multi-degree-of-freedom operation;

[0007] The robotic arm includes an axial rotating arm, a radial lifting arm, a radial lifting arm, and an axial rotating impact arm arranged sequentially away from the crawler. The axial rotating arm is drivenly connected to the radial lifting arm, the radial lifting arm is drivenly connected to the radial lifting arm, and the radial lifting arm is drivenly connected to the axial rotating impact arm.

[0008] The axial rotating impact arm includes an intelligent sensing component, which employs at least two sensing methods to detect the location and thickness of the blockage in real time.

[0009] Preferably, the axial rotating arm includes a first joint motor, which is installed at the front end of the crawler's inner cavity. The output shaft of the first joint motor extends out of the crawler and is connected to the rotating arm body via a transmission connection. The rotating arm body is connected to the radial lifting arm via a transmission connection.

[0010] Preferably, the radial lifting boom includes a boom housing, and two parallel second joint motors are installed in the inner cavity of the boom housing; the output shafts of the second joint motors closer to the first joint motors extend out of the boom housing and are connected to the rotating arm body in a driving connection, and the output shafts of the second joint motors farther from the first joint motors extend out of the boom housing and are connected to the radial lifting arm in a driving connection.

[0011] Preferably, the radial lifting arm includes an arm housing, which is drivenly connected to a second joint motor located away from the first joint motor; a third joint motor is provided inside the arm housing, the output shaft of which extends out of the arm housing and is drivenly connected to the axial rotating impact arm; and an adjustable lighting component is provided inside the arm housing.

[0012] Preferably, the axial rotating impact arm includes an impact arm housing that is drivenly connected to the output shaft of the third joint motor. An air shovel is installed inside the impact arm housing, and the output end of the air shovel faces away from the third joint motor and is provided with a shovel head. A rotating nozzle is provided at the front end of the impact arm housing and is arranged in the same direction as the shovel head. The intelligent sensing component is disposed on the impact arm housing.

[0013] Preferably, the intelligent sensing component includes a vision module, a six-dimensional force sensor, a laser contour sensor, and a laser displacement sensor. The six-dimensional force sensor is disposed between the third joint motor and the impact arm housing. The vision module is disposed at the top of the impact arm housing. The laser contour sensor and the laser displacement sensor are respectively installed on both sides of the impact arm housing.

[0014] Preferably, the vision module includes a vision housing mounted on the top of the impact arm housing. The inner cavity of the vision housing is provided with a servo motor and a camera. The servo motor is connected to the camera in a transmission manner, and the servo motor is used to adjust the angle of the camera.

[0015] Preferably, the lighting assembly includes an adjusting motor installed in the inner cavity of the forearm housing. The output shaft of the adjusting motor is driven by a cylindrical gear meshing with a rack-type telescopic rod that slides longitudinally in the inner cavity of the forearm housing. The top end of the rack-type telescopic rod extends out of the forearm housing and is connected to a telescopic connecting frame. Several LED spotlights are mounted on the telescopic connecting frame via a lamp mounting bracket.

[0016] This invention also discloses a descaling method for an adaptive underground drainage pipe descaling robot based on multi-sensor fusion, comprising the following steps:

[0017] The crawler, carrying a robotic arm, enters the target pipe section, and the intelligent sensing components are activated simultaneously to establish a three-dimensional point cloud model of the blockage inside the pipe.

[0018] Adjust the support lifting device according to the pipe specifications so that the support lifting device opens according to the pipe diameter and fixes the crawler in the center of the pipe.

[0019] The crawler's control system plans the rotation angle of the axial rotating arm and the lifting height of the radial lifting arm based on the distribution of the blockage, so that the working end of the axial rotating impact arm is close to the starting point of the blockage.

[0020] Based on feedback from the intelligent sensing components, the control system controls the lifting height of the radial lifting arm and the rotation angle of the axial rotating impact arm, so that the working part of the axial rotating impact arm is aligned with the starting point of the blockage.

[0021] Initiate adaptive clearing, maintain the working pressure between the working part of the axially rotating impact arm and the blockage layer, and peel off the blockage;

[0022] After the cleaning effect is checked by the intelligent sensing component and confirmed to be qualified, the support lifting device is retracted and the crawler moves to the next working section.

[0023] Preferably, the adaptive clearing process includes:

[0024] Start the air scraper to remove the blockage;

[0025] The vision module, six-dimensional force sensor, laser displacement sensor and laser contour sensor form a closed-loop control to locate the blockage;

[0026] The height of the LED spotlights can be adjusted using a rack and pinion telescopic rod to provide sufficient brightness;

[0027] The air intake of the pneumatic shovel is adjusted by the proportional solenoid valve controlled by the force feedback of the six-dimensional force sensor to maintain the working pressure between the shovel head and the blockage layer, thereby completing the removal of the blockage.

[0028] Compared with existing technologies, this invention has the following advantages and technical effects: This invention discloses a multi-sensor fusion adaptive underground drainage pipe cleaning robot and method. By setting a support lifting device on the crawler, the support state can be adjusted according to different pipe diameters, and the crawler can be stably fixed in the center of the pipe, avoiding the machine body shifting or overturning due to reaction force during cleaning operations, thus improving the adaptability and operational stability of the equipment in pipes of different diameters. The robotic arm adopts a multi-joint combination structure composed of an axial rotating arm, a radial lifting upper arm, a radial lifting lower arm, and an axial rotating impact arm, which can realize multi-dimensional movements such as axial rotation and radial lifting. Combined with the multi-sensor fusion sensing technology of the intelligent sensing component, it can accurately obtain information such as the three-dimensional shape and distance of the blockage on the inner wall of the pipe. Through closed-loop control, the cleaning posture can be adaptively adjusted to ensure that the shovel head accurately acts on the blockage area, improving the cleaning accuracy and efficiency. The axial rotating impact arm integrates multiple functions such as cleaning, flushing, and re-inspection. After removing blockages, the rotating nozzle flushes and maintains the inner wall of the pipe, while a vision module provides real-time re-inspection of the cleaning effect, forming a complete cleaning operation process. No additional auxiliary equipment is required, improving the continuity and practicality of the operation. Furthermore, all components are sealed to effectively prevent water and impurities from entering the equipment, making it suitable for the humid and harsh working environment of underground drainage pipes and extending the equipment's service life. Attached Figure Description

[0029] 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 described 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. In the drawings:

[0030] Figure 1 This is a schematic diagram of the adaptive underground drainage pipe cleaning robot based on multi-sensor fusion of the present invention;

[0031] Figure 2 This is a schematic diagram of the robotic arm structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the axial rotating arm structure of the present invention;

[0033] Figure 4 This is a three-dimensional view of the radial lifting boom of the present invention;

[0034] Figure 5 This is a schematic diagram of the internal structure of the radial lifting boom of the present invention;

[0035] Figure 6 This is a three-dimensional view of the radially lifting forearm of the present invention;

[0036] Figure 7 This is a schematic diagram of the internal structure of the radially lifting forearm of the present invention;

[0037] Figure 8 This is a schematic diagram of the axial rotating impact arm structure of the present invention;

[0038] Figure 9 This is a 3D view of the visual module of the present invention;

[0039] Figure 10 This is a schematic diagram of the internal structure of the vision module of the present invention;

[0040] In the diagram: 1. Crawler; 2. Supporting lifting device; 3. Robotic arm; 31. Axial rotating arm; 32. Radial lifting upper arm; 33. Radial lifting lower arm; 34. Axial rotating impact arm; 31-1. First joint motor; 31-2. Connecting flange; 31-3. Rotating arm body; 31-4. First bearing; 32-1. Upper arm base plate; 32-2. Upper arm side plate; 32-3. Upper arm outer shell; 32-4. Second joint motor; 32-5. Mounting base; 2-6. Motor mating parts; 32-7. Flange shaft; 32-8. Second bearing; 32-9. Frame oil seal; 32-10. Bearing housing; 33-1. Third joint motor; 33-2. Forearm base plate; 33-3. Forearm upper plate; 33-4. Forearm front plate; 33-5. Forearm tail plate; 33-6. Forearm side plate; 33-7. LED spotlight; 33-8. Light assembly mounting bracket; 33-9. Telescopic connecting bracket; 33-10. Linear bearing; 33-11. 33-12. Rack and pinion telescopic rod; 33-13. Rack guide groove; 33-14. Cylindrical gear; 33-15. Adjusting motor; 34-1. Adapter flange; 34-2. Six-dimensional force sensor; 34-3. Impact arm tail plate; 34-4. Impact arm bottom plate; 34-5. Impact arm upper plate; 34-6. Impact arm front plate; 34-7. Impact arm right side plate; 34-8. Impact arm left side plate; 34-9. Laser contour sensor; 34-10. Laser displacement sensor; 3 4-11, Vision Module; 34-12, Air Shovel; 34-13, Lower Support Frame of Air Shovel; 34-14, Upper Support Frame of Air Shovel; 34-15, Shovel Head; 34-16, Rotary Nozzle; 34-11-1, Camera; 34-11-2, Servo Motor; 34-11-3, Housing; 34-11-4, Rotating Frame; 34-11-5, Servo Motor Bracket; 34-11-6, Side Mounting Frame; 34-11-7, Housing Glass; 34-11-8, Rear Cover. Detailed Implementation

[0041] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Reference Figures 1 to 10 As shown, this embodiment provides an adaptive underground drainage pipe cleaning robot with multi-sensor fusion, including a crawler 1 with mobility function, a support lifting device 2 for adapting to different underground drainage pipes on the top of the crawler 1, and a robotic arm 3 for cleaning underground drainage pipes at the front end of the crawler 1. The robotic arm 3 can achieve multi-degree-of-freedom operation.

[0044] The robotic arm 3 includes an axial rotating arm 31, a radial lifting arm 32, a radial lifting arm 33, and an axial rotating impact arm 34 arranged sequentially away from the crawler 1. The axial rotating arm 31 is connected to the radial lifting arm 32, the radial lifting arm 32 is connected to the radial lifting arm 33, and the radial lifting arm 33 is connected to the axial rotating impact arm 34.

[0045] The axially rotating impact arm 34 includes an intelligent sensing component, which employs no fewer than two sensing methods to detect the location and thickness of the blockage in real time.

[0046] This invention discloses an adaptive underground drainage pipe cleaning robot and method based on multi-sensor fusion. By setting a support lifting device 2 on the crawler 1, the support state can be adjusted according to different pipe diameters, and the crawler 1 is stably fixed in the center of the pipe, avoiding machine body displacement or overturning due to reaction force during cleaning operations, thus improving the adaptability and operational stability of the equipment in pipes of different diameters. The robotic arm 3 adopts a multi-joint combination structure composed of an axial rotating arm 31, a radial lifting upper arm 32, a radial lifting lower arm 33, and an axial rotating impact arm 34, which can realize multi-dimensional movements such as axial rotation and radial lifting. With the multi-sensor fusion sensing technology of the intelligent sensing component, it can accurately obtain information such as the three-dimensional shape and distance of the blockage on the inner wall of the pipe. Through closed-loop control, the cleaning posture is adaptively adjusted to ensure that the shovel head 34-15 accurately acts on the blockage area, improving the cleaning accuracy and efficiency. The axial rotating impact arm 34 integrates multiple functions such as cleaning, flushing, and re-inspection. After removing the blockage, the inner wall of the pipe can be flushed and maintained using the rotating nozzle 34-16. Simultaneously, the cleaning effect can be re-inspected in real time using the vision module 34-11, forming a complete cleaning operation process. No additional auxiliary equipment is required, improving the continuity and practicality of the operation. Furthermore, all components are designed with a seal to effectively prevent water and impurities from entering the equipment, making it suitable for the humid and harsh working environment of underground drainage pipes and extending the equipment's service life.

[0047] Further optimizing the design, the axial rotating arm 31 includes a first joint motor 31-1, which is installed at the front end of the inner cavity of the crawler 1. The output shaft of the first joint motor 31-1 extends out of the crawler 1 and is connected to the rotating arm body 31-3. The rotating arm body 31-3 is connected to the radial lifting arm 32. The first joint motor 31-1 is located inside the housing of the crawler 1, and its output end is connected to the connecting flange 31-2 through a threaded hole. The middle and front ends are fixed to the crawler 1 by screws. The connecting flange 31-2 is connected to the rotating arm body 31-3 through a key and is fixed to the rotating arm body 31-3 through a threaded hole to transmit motion and force. The first bearing 31-4 is sleeved on the outside of the rotating arm body 31-3 to support the axial rotation of the rotating arm body 31-3.

[0048] In one embodiment of the present invention, a connecting flange 31-2 is disposed inside the crawler 1 housing, and has a through hole for connection with the first joint motor 31-1.

[0049] Further optimization of the design: The radial lifting boom 32 includes a boom housing. Two parallel second joint motors 32-4 are installed within the inner cavity of the boom housing. The output shafts of the second joint motors 32-4 closer to the first joint motor 31-1 extend out of the boom housing and are connected to the rotating arm body 31-3. The output shafts of the second joint motors 32-4 further away from the first joint motor 31-1 extend out of the boom housing and are connected to the radial lifting arm 33. The two second joint motors 32-4 are fixed within the boom housing via mounting bases 32-5. Motor fittings 32-6 are connected to the output ends of the second joint motors 32-4 on both sides. The motor fittings 32-6 are connected to flange shafts 32-7 via involute splines. The flange shafts 32-7 extend out of the boom housing and are rotatably connected to it. The two flange shafts 32-7 closer to the first joint motor 31-1 are connected to the rotating arm body 31-3, while the output shafts further away from the first joint motor 31-1 are connected to the radial lifting arm 33, thereby adjusting the angle of the radial lifting boom 32.

[0050] In one embodiment of the present invention, the boom housing includes a boom base plate 32-1, a boom side plate 32-2, and a boom outer shell 32-3. The boom base plate 32-1, the boom side plate 32-2, and the boom outer shell 32-3 enclose a sealed cavity. The second joint motor 32-4 is mounted on the boom base plate 32-1 via a mounting base 32-5. The flange shaft 32-7 passes through the boom side plate 32-2 and is rotatably connected to the boom side plate 32-2.

[0051] In one embodiment of the present invention, the radial lifting boom 32 further includes a second bearing 32-8, which is installed outside the through hole of the boom side plate 32-2 and on the shaft of the flange shaft 32-7. The bearing chamber 32-10 is fixed on the boom side plate 32-2 and its function is to support the rotation of the flange shaft 32-7. A skeleton oil seal 32-9 is provided between the bearing chamber 32-10 and the flange shaft 32-7.

[0052] Further optimizing the design, the radially lifting forearm 33 includes a forearm housing, which is connected to a second joint motor 32-4 located away from the first joint motor 31-1. A third joint motor 33-1 is housed within the forearm housing, and its output shaft extends out of the forearm housing and is connected to the axially rotating impact arm 34. An adjustable lighting assembly is installed within the forearm housing. The forearm housing is connected to a nearby flange shaft 32-7, allowing adjustment of the radially lifting forearm 33's angle via the corresponding second joint motor 32-4. The third joint motor 33-1, installed within the forearm housing, transmits power to the adapter flange 34-1 of the axially rotating impact arm 34, driving the axially rotating impact arm 34 to rotate and adjust its angle. The adjustable lighting assembly is located on the forearm housing to provide sufficient illumination for dirt removal.

[0053] In one embodiment of the present invention, the forearm housing is a cavity formed by the forearm base plate 33-2, the forearm upper plate 33-3, the forearm front plate 33-4, the forearm tail plate 33-5 and the forearm side plate 33-6, and the third joint motor 33-1 is fixed on the forearm front plate 33-4.

[0054] The lighting component is further optimized by including an adjustment motor 33-14 installed inside the forearm housing. The output shaft of the adjustment motor 33-14 is driven by a gear 33-13 that meshes with a rack-and-pinion telescopic rod 33-11 that slides longitudinally inside the forearm housing. The top of the rack-and-pinion telescopic rod 33-11 extends out of the forearm housing and is connected to a telescopic connecting frame 33-9. Several LED spotlights 33-7 are mounted on the telescopic connecting frame 33-9 via a lamp mounting bracket 33-8. An adjusting motor 33-14 is installed on the forearm base plate 33-2. Its output shaft is driven by a cylindrical gear 33-13 meshing with a rack-and-pinion telescopic rod 33-11. The rack-and-pinion telescopic rod 33-11 passes through a linear bearing 33-10, and its upper end is connected to a lamp mounting bracket 33-8 via a telescopic connecting frame 33-9. Several sets of LED spotlights 33-7 are installed in the spherical grooves of the lamp mounting bracket 33-8. The rack guide groove 33-12 is fixed to the forearm base plate 33-2 to limit the rotation of the rack-and-pinion telescopic rod 33-11.

[0055] Further optimization of the scheme: the axial rotating impact arm 34 includes an impact arm housing that is drivenly connected to the output shaft of the third joint motor 33-1. An air shovel 34-12 is installed inside the impact arm housing. The output end of the air shovel 34-12 faces away from the third joint motor 33-1 and is provided with a shovel head 34-15. A rotating nozzle 34-16 is provided at the front end of the impact arm housing, which is arranged in the same direction as the shovel head 34-15. The intelligent sensing component is provided on the impact arm housing. The intelligent sensing component includes a vision module 34-11, a six-dimensional force sensor 34-2, a laser contour sensor 34-9, and a laser displacement sensor 34-10. The six-dimensional force sensor 34-2 is located between the third joint motor 33-1 and the impact arm housing. The vision module 34-11 is located at the top of the impact arm housing. The laser contour sensor 34-9 and the laser displacement sensor 34-10 are respectively installed on both sides of the impact arm housing. The impact arm housing is an installation cavity formed by the impact arm tail plate 34-3, impact arm bottom plate 34-4, impact arm upper plate 34-5, impact arm front plate 34-6, impact arm right side plate 34-7, and impact arm left side plate 34-8. One end of the adapter flange 34-1 is connected to the third joint motor 33-1 of the radial lifting arm 33, and the other end is connected to the six-dimensional force sensor 34-2. The six-dimensional force sensor 34-2 is fixed to the impact arm tail plate 34-3 and measures the reaction force of the robotic arm 3 during the clearing process in real time. Laser contour sensor 34-9 is fixed to the right side plate 34-7 of the impact arm, and laser displacement sensor 34-10 is fixed to the left side plate 34-8 of the impact arm; vision module 34-11 is fixed to the upper plate 34-5 of the impact arm; air shovel 34-12 is fixed to the bottom plate 34-4 of the impact arm via the lower support frame 34-13 and the upper support frame 34-14; shovel head 34-15 is installed at the front end of air shovel 34-12; rotary nozzle 34-16 is threaded to the annular boss of the front plate 34-6 of the impact arm.

[0056] In one embodiment of the present invention, the lower support frame 34-13 of the air shovel is fixed to the bottom plate 34-4 of the impact arm by screws, and is also fixed to the upper support frame 34-14 of the air shovel by screws. The air shovel 34-12 is limited and clamped between the lower support frame 34-13 and the upper support frame 34-14 of the air shovel.

[0057] In one embodiment of the present invention, the annular boss of the front plate 34-6 of the impact arm is provided with an external thread at one end and a water pipe interface at the other end, and the rotary nozzle 34-16 is installed on the annular boss by thread engagement.

[0058] In one embodiment of the present invention, the laser contour sensor 34-9 is used to scan the contour of the inner wall of the pipe in real time to obtain the three-dimensional shape data of the blockage, which is used to construct a point cloud model and plan the clearing path.

[0059] In one embodiment of the present invention, the laser displacement sensor 34-10 is used to measure the distance between the shovel head 34-15 and the blockage in real time, providing accurate displacement feedback for posture adjustment and pressure control.

[0060] The vision module 34-11 is further optimized by including a vision housing mounted on the top of the impact arm housing. The inner cavity of the vision housing is provided with a servo motor 34-11-2 and a camera 34-11-1. The servo motor 34-11-2 is connected to the camera 34-11-1 for adjusting the angle of the camera 34-11-1. The vision housing is a cavity composed of an outer shell 34-11-3, an outer shell glass 34-11-7, and a rear cover 34-11-8, protecting the camera 34-11-1 and servo motor 34-11-2 inside the cavity. The servo motor 34-11-2 is fixed to the outer shell 34-11-3 via a servo motor bracket 34-11-5, and its output shaft is connected to the rotating frame 34-11-4. The side mounting bracket 34-11-6 is fixed to the outer shell 34-11-3 to support the rotating frame 34-11-4. The outer shell glass 34-11-7 is installed in the slot of the outer shell 34-11-3 and sealed. The rear cover 34-11-8 is fixed to the rear end of the outer shell 34-11-3 and has a rectangular hole for the connecting wire to pass through.

[0061] In one embodiment of the present invention, the camera 34-11-1 is used to acquire images of the inner wall of the pipe in real time for the identification, location and review of the removal effect of the blockage.

[0062] In one embodiment of the present invention, the servo motor 34-11-2 is used to control the rotation angle of the camera 34-11-1 to achieve multi-angle shooting and expand the visual detection range.

[0063] In one embodiment of the present invention, the air shovel 34-12 is powered by compressed air and its function is to provide high-frequency impact force to remove blockages from the inner wall of the pipe through mechanical vibration.

[0064] This invention also discloses a descaling method for an adaptive underground drainage pipe descaling robot based on multi-sensor fusion, comprising the following steps:

[0065] Crawler 1, carrying robotic arm 3, enters the target pipe section. The intelligent sensing components are activated simultaneously to establish a three-dimensional point cloud model of the blockage inside the pipe. Crawler 1, carrying robotic arm 3, enters the target pipe section. LED spotlight 33-7 is turned on for illumination. Vision module 34-11, laser displacement sensor 34-10, and laser contour sensor 34-9 work together to establish a three-dimensional point cloud model of the blockage inside the pipe.

[0066] Adjust the support lifting device 2 according to the pipe specifications, so that the support lifting device 2 opens according to the pipe diameter, fix the crawler 1 in the center of the pipe, and then lock the posture.

[0067] The control system of the crawler 1 plans the rotation angle of the axial rotating arm 31 and the lifting height of the radial lifting arm 32 according to the distribution of the blockage, so that the working end of the axial rotating impact arm 34 is close to the starting point of the blockage; the control system controls the lifting height of the radial lifting arm 33 and the rotation angle of the axial rotating impact arm 34 according to the feedback of the laser displacement sensor 34-10, so that the shovel head 34-15 is aligned with the starting point of the blockage.

[0068] Based on feedback from the intelligent sensing components, the control system controls the lifting height of the radial lifting arm 33 and the rotation angle of the axial rotating impact arm 34, so that the working part of the axial rotating impact arm 34 is aligned with the starting point of the blockage; based on the distribution of the blockage, the control system plans the rotation angle of the axial rotating arm 31 and the lifting height of the radial lifting arm 32, so that the shovel head 34-15 approaches the starting point of the blockage.

[0069] Adaptive clearing is initiated, maintaining the working pressure between the working part of the axially rotating impact arm 34 and the blockage layer to remove the blockage; the air shovel 34-12 is activated, and the vision module 34-11, the six-dimensional force sensor 34-2, the laser displacement sensor 34-10, and the laser contour sensor 34-9 form a closed-loop control. The height of the LED spotlight 33-7 is adjusted through the rack and pinion telescopic rod 33-11, and the air intake is adjusted by the proportional solenoid valve based on the force feedback from the six-dimensional force sensor 34-2 to maintain the working pressure between the shovel head 34-15 and the blockage layer, thus completing the removal of the blockage;

[0070] The cleaning effect is re-inspected by the intelligent sensing component. After confirming that it is qualified, the support lifting device 2 is retracted and the crawler 1 moves to the next working section. The cleaning effect is re-inspected by the camera 34-11-1 of the vision module 34-11 taking pictures from multiple angles. After confirming that it is qualified, the support lifting device 2 is retracted and the crawler 1 moves to the next working section.

[0071] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A multi-sensor fusion adaptive underground sewer de-scaling robot, characterized by: The device includes a crawler (1) with mobility function, the top of which is provided with a support lifting device (2) for adapting to different underground drainage pipes, and the front end of which is provided with a mechanical arm (3) for cleaning underground drainage pipes. The mechanical arm (3) can achieve multi-degree-of-freedom operation. The robotic arm (3) includes an axial rotating arm (31), a radial lifting arm (32), a radial lifting arm (33), and an axial rotating impact arm (34) arranged sequentially away from the crawler (1). The axial rotating arm (31) is connected to the radial lifting arm (32), the radial lifting arm (32) is connected to the radial lifting arm (33), and the radial lifting arm (33) is connected to the axial rotating impact arm (34). The axial rotating impact arm (34) includes an intelligent sensing component, which employs no less than two sensing methods to detect the location and thickness of the blockage in real time. The axial rotating arm (31) includes a first joint motor (31-1), which is installed at the front end of the inner cavity of the crawler (1). The output shaft of the first joint motor (31-1) extends out of the crawler (1) and is connected to the rotating arm body (31-3). The rotating arm body (31-3) is connected to the radial lifting arm (32). The radial lifting boom (32) includes a boom housing, and two parallel second joint motors (32-4) are installed in the inner cavity of the boom housing; the output shafts of the two ends of the second joint motors (32-4) closer to the first joint motor (31-1) extend out of the boom housing and are connected to the rotating arm body (31-3) in a transmission connection, and the output shafts of the second joint motors (32-4) farther away from the first joint motor (31-1) extend out of the boom housing and are connected to the radial lifting arm (33) in a transmission connection. The radial lifting arm (33) includes an arm housing, which is connected to a second joint motor (32-4) located away from the first joint motor (31-1); a third joint motor (33-1) is provided in the inner cavity of the arm housing, and the output shaft of the third joint motor (33-1) extends out of the arm housing and is connected to the axial rotating impact arm (34); an adjustable lighting component is provided inside the arm housing. The axial rotating impact arm (34) includes an impact arm housing that is drivenly connected to the output shaft of the third joint motor (33-1). An air shovel (34-12) is installed inside the impact arm housing. The output end of the air shovel (34-12) faces away from the third joint motor (33-1) and is provided with a shovel head (34-15). A rotary nozzle (34-16) is provided at the front end of the impact arm housing and is arranged in the same direction as the shovel head (34-15). The intelligent sensing component is provided on the impact arm housing. The intelligent sensing component includes a vision module (34-11), a six-dimensional force sensor (34-2), a laser contour sensor (34-9), and a laser displacement sensor (34-10). The six-dimensional force sensor (34-2) is disposed between the third joint motor (33-1) and the impact arm housing. The vision module (34-11) is disposed at the top of the impact arm housing. The laser contour sensor (34-9) and the laser displacement sensor (34-10) are respectively installed on both sides of the impact arm housing. The vision module (34-11) includes a vision housing mounted on the top of the impact arm housing. The inner cavity of the vision housing is provided with a servo motor (34-11-2) and a camera (34-11-1). The servo motor (34-11-2) is connected to the camera (34-11-1) for transmission. The servo motor (34-11-2) is used to adjust the angle of the camera (34-11-1).

2. The multi-sensor fusion adaptive sewer cleaning robot of claim 1, wherein: The lighting assembly includes an adjustment motor (33-14) installed in the inner cavity of the forearm housing. The output shaft of the adjustment motor (33-14) is driven by a gear (33-13) meshing with a rack-type telescopic rod (33-11) that slides longitudinally in the inner cavity of the forearm housing. The top end of the rack-type telescopic rod (33-11) extends out of the forearm housing and is connected to a telescopic connecting frame (33-9). Several LED spotlights (33-7) are mounted on the telescopic connecting frame (33-9) via a lamp mounting bracket (33-8).

3. A multi-sensor fusion adaptive underground sewer cleaning method, based on the multi-sensor fusion adaptive underground sewer cleaning robot of any one of claims 1-2, characterized in that, Includes the following steps: The crawler (1) carries the robotic arm (3) into the target pipe section, and the intelligent sensing component is activated simultaneously to establish a three-dimensional point cloud model of the blockage in the pipe. Adjust the support lifting device (2) according to the pipe specifications, so that the support lifting device (2) opens according to the pipe diameter, and fix the crawler (1) in the center of the pipe; The control system of the crawler (1) plans the rotation angle of the axial rotating arm (31) and the lifting height of the radial lifting arm (32) according to the distribution of the blockage, so that the working end of the axial rotating impact arm (34) is close to the starting point of the blockage. Based on feedback from the intelligent sensing components, the control system controls the lifting height of the radial lifting arm (33) and the rotation angle of the axial rotating impact arm (34) so ​​that the working part of the axial rotating impact arm (34) is aligned with the starting point of the blockage. Initiate adaptive clearing, maintain the working pressure between the working part of the axially rotating impact arm (34) and the blockage layer, and peel off the blockage; After the cleaning effect is checked by the intelligent sensing component and confirmed to be qualified, the support lifting device (2) is retracted and the crawler (1) moves to the next working section.

4. The adaptive underground drainage pipe descaling method based on multi-sensor fusion according to claim 3, characterized in that: The adaptive clearing process includes: Activate the air scraper (34-12) to remove the blockage; The vision module (34-11), the six-dimensional force sensor (34-2), the laser displacement sensor (34-10), and the laser contour sensor (34-9) form a closed-loop control to locate the blockage; Adjust the height of the LED spotlight (33-7) using the rack and pinion telescopic rod (33-11) to provide sufficient brightness; The air intake of the air shovel (34-12) is adjusted by the force feedback control proportional solenoid valve based on the force feedback of the six-dimensional force sensor (34-2), maintaining the working pressure between the shovel head (34-15) and the blockage layer, and completing the removal of the blockage.

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