Central feed system main line automatic pig

Abstract

The application relates to an automatic pig of a central supply system main pipeline, which comprises a driving module, a cleaning module, a navigation module and a control module. The driving module realizes autonomous movement through a built-in motor and a track wheel, and is suitable for complex pipeline environments; the cleaning module efficiently removes residues on the inner wall through a rotary brush head and a scraper assembly, and collects dirt through a dirt suction device; the navigation module adopts ultrasonic sensors and a gyroscope to detect path information in real time; and the control module realizes intelligent operation and remote monitoring through a microcontroller and a wireless communication unit. The application can overcome the limitations of the prior art under low flow conditions, improve cleaning efficiency and system reliability, and meet the needs of automatic production.

Description

Technical Field

[0001] This utility model belongs to the field of material conveying and pipeline cleaning technology, specifically an automatic pipeline cleaner for the main pipeline of a central material supply system. Background Technology

[0002] With the widespread application of centralized material feeding systems in industries such as plastics, chemicals, and food, the cleaning and maintenance of main pipelines has become a crucial aspect of ensuring stable system operation. During long-term material transport, main pipelines are prone to residue, scale buildup, or blockages, affecting feeding efficiency and product quality, and in severe cases, even leading to downtime for maintenance. Therefore, implementing automated pipeline cleaning is of great significance. Currently, various automated pipeline cleaning devices have emerged in the industry, aiming to improve cleaning efficiency and reduce manual intervention and maintenance costs.

[0003] A search revealed an automatic pipeline sludge cleaner with publication number CN114197625B. This device includes a ground support and a mobile cleaning unit that can move within the pipeline. A traction component propels the mobile cleaning unit through the pipeline, and a sludge storage tank collects the cleaned sludge. Its structural design is suitable for various pipeline scenarios and possesses a certain degree of automation. However, this solution is primarily designed for open environments such as municipal drainage or large water pipelines. Its reliance on an external traction rope for propulsion makes it unsuitable for closed-loop main pipelines in centrally supplied systems. Furthermore, the device requires fixed facilities such as ground supports and berths, occupying a large space and failing to meet the compact layout requirements of centrally supplied systems. Simultaneously, its cleaning action relies on external power traction, lacking autonomous driving capability. This results in poor maneuverability in complex or winding main pipelines, making it prone to jamming, and it lacks continuous automatic reciprocating operation functionality.

[0004] A search revealed a pipeline cleaning pig with automatic bypass rate adjustment and its cleaning method, disclosed in publication number CN109731865B. This pig employs a flexible body structure, automatically adjusting the bypass rate according to pressure changes before and after the pipeline, thereby altering the driving force and ensuring stable progress, making it particularly suitable for cleaning operations in oil and gas pipelines. This technology achieves dynamic adaptive control of the cleaning process, improving the pig's passability under different resistance conditions. However, this solution is essentially a passive, flow-driven cleaning device, relying on medium flow as the driving force, allowing only unidirectional operation and lacking precise positioning and repeatable operations. For central material supply systems, material conveying is intermittent, with low flow rates and velocities, insufficient to provide continuous and stable driving power, causing such pigs to fail to start effectively or stall midway. Furthermore, this device lacks an integrated self-driving force system and intelligent control system, making it unable to start and stop on demand, perform targeted cleaning, or remote monitoring, failing to meet the high-frequency, programmable, closed-loop control automatic cleaning requirements of central material supply systems.

[0005] The aforementioned problems indicate that existing automatic pipeline cleaning devices are mostly designed for high-flow, long-distance transportation scenarios such as municipal, oil, or natural gas pipelines. They generally rely on external traction or media flow-driven operation, lacking autonomous mobility, environmental adaptability, and intelligent control functions. They are ill-suited to the technical requirements of central material supply systems, which face limited space in main pipelines, complex material characteristics, and frequent operating cycles. Therefore, there is an urgent need for an automatic pipeline cleaning device specifically designed for central material supply systems. This device should possess built-in drive, autonomous reciprocating motion, intelligent control, and the ability to operate reliably under low flow rates or static conditions without external traction, enabling efficient, safe, and fully automated pipeline maintenance.

[0006] The present invention aims to provide an automatic pipeline cleaning device for the main pipeline of a central material supply system, so as to overcome the shortcomings of the existing technology in terms of application adaptability, driving method, intelligent control and system integration, and meet the new requirements of modern automated production for the cleanliness, efficiency and reliability of material supply pipelines. Utility Model Content

[0007] This utility model relates to an automatic pipeline cleaning device for a central feed system, comprising a drive module (1), a cleaning module (2), a navigation module (3), and a control module (4). The drive module (1) is installed at the center of the pipeline cleaning device to provide power for autonomous movement; the cleaning module (2) is located on the outer periphery of the pipeline cleaning device and is mechanically connected to the drive module (1) to remove residues from the inner wall of the main pipeline; the navigation module (3) is installed at the front end of the pipeline cleaning device and is electrically connected to the control module (4) to detect the internal environment of the pipeline in real time and provide feedback on path information; the control module (4) is fixedly installed at the rear end of the pipeline cleaning device and is electrically connected to the drive module (1), the cleaning module (2), and the navigation module (3) to receive signals from the navigation module (3) and adjust the working status of the drive module (1) and the cleaning module (2).

[0008] The drive module (1) includes a built-in motor (11), a transmission gear set (12), track wheels (13), and a support frame (14). The built-in motor (11) is fixedly installed at the center of the support frame (14) by bolts, and the transmission gear set (12) is welded to the top of its output shaft. The track wheels (13) are meshed on one side of the transmission gear set (12), and there are two track wheels (13) symmetrically distributed on both sides of the support frame (14). The outer surface of the track wheels (13) is nested with flexible tracks (15), which are made of high wear-resistant rubber and have anti-slip teeth on the inner side to enhance grip. The bottom of the support frame (14) has a mounting groove (16) for fixing the built-in motor (11) and the transmission gear set (12).

[0009] The cleaning module (2) includes a rotating brush head (21), a scraper assembly (22), and a suction device (23). The rotating brush head (21) is mounted on the outer periphery of the cleaning device via bearings, and its bottom end is meshed with a transmission gear set (12) to achieve self-rotation under the drive of a built-in motor (11). The outer surface of the rotating brush head (21) is evenly distributed with multiple rows of hard bristles (24), and the length of the hard bristles (24) is adjustable to adapt to main pipelines of different diameters. The scraper assembly (22) is located behind the rotating brush head (21), and its front end is movably connected to the support frame (14) via a hinge, and its rear end is elastically connected to the support frame (14) via a spring plate (25). The inner side of the scraper assembly (22) is provided with an arc-shaped scraper (26), which is made of stainless steel and coated with a polytetrafluoroethylene coating to reduce frictional resistance. The suction device (23) is installed behind the scraper assembly (22), and its inlet is equipped with a filter screen (27) to intercept larger particles of dirt. The outlet of the suction device (23) is connected to the sludge storage tank (29) through a hose (28), and the sludge storage tank (29) is fixedly installed at the tail of the pig.

[0010] The navigation module (3) includes an ultrasonic sensor (31), a gyroscope (32), and a data processor (33). Four ultrasonic sensors (31) are installed at the front end and both sides of the pig, respectively, to detect changes in distance and shape of the inner wall of the pipeline. The gyroscope (32) is fixedly installed at the center of the pig, used to measure the pig's direction of movement and attitude angle. The data processor (33) is electrically connected to the ultrasonic sensor (31) and the gyroscope (32) via a circuit board, used to integrate sensor data and generate real-time path information. The output of the data processor (33) is connected to the input of the control module (4) via a signal line, used to transmit the path information to the control module (4).

[0011] The control module (4) includes a microcontroller (41), a wireless communication unit (42), and a power management unit (43). The microcontroller (41) is fixedly mounted to the tail of the pig by screws. Its input is electrically connected to the data processor (33) of the navigation module (3), and its output is electrically connected to the built-in motor (11) of the drive module (1) and the rotating brush head (21) of the cleaning module (2). The wireless communication unit (42) is welded to the side of the microcontroller (41) for data interaction with external monitoring equipment. The power management unit (43) is electrically connected to the built-in motor (11), the rotating brush head (21), the ultrasonic sensor (31), the gyroscope (32), and the microcontroller (41) via wires for distributing and managing power supply. The battery compartment (44) of the power management unit (43) is designed to be detachable for easy battery replacement.

[0012] This utility model employs a drive module (1), which drives the track wheels (13) through a built-in motor (11) and transmission gear set (12) to achieve autonomous movement without relying on external traction or media flow, thus solving the problem that the existing technology of pigs is difficult to work reliably under low flow rate or static conditions. At the same time, the design of the flexible track (15) enhances the pig's passability in complex routes or multi-curve main pipelines, avoiding the occurrence of jamming.

[0013] This invention employs a cleaning module (2), which achieves efficient cleaning of the inner wall of the main pipeline through the coordinated operation of a rotating brush head (21) and a scraper assembly (22). The stiff bristles (24) of the rotating brush head (21) can quickly remove adhering substances, while the arc-shaped scraper (26) of the scraper assembly (22) further scrapes away residues, ensuring a cleaning effect. The filter screen (27) and sludge tank (29) of the suction device (23) are designed to effectively collect dirt, avoid secondary pollution, and improve pipeline cleaning efficiency.

[0014] This invention employs a navigation module (3), which uses an ultrasonic sensor (31) and a gyroscope (32) to detect the internal environment of the pipeline in real time, and combines this with a data processor (33) to generate accurate path information, thus solving the problem of the inability of the pig to accurately locate or repeat operations in the prior art. The cooperation between the navigation module (3) and the control module (4) enables the pig to autonomously travel back and forth in complex pipeline environments, meeting the requirements of high-frequency, programmable, and closed-loop control automatic pigging.

[0015] This utility model employs a control module (4), which realizes intelligent control through a microcontroller (41) and a wireless communication unit (42), supporting remote monitoring and on-demand start / stop functions. The removable battery compartment (44) design of the power management unit (43) improves the device's battery life and maintenance convenience, further enhancing the system's reliability.

[0016] In summary, this utility model overcomes the shortcomings of existing technologies in terms of application adaptability, driving method, intelligent control and system integration by working together with the drive module (1), cleaning module (2), navigation module (3) and control module (4), and meets the new requirements of modern automated production for the cleanliness, efficiency and reliability of the material supply pipeline. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the internal three-dimensional structure of this utility model.

[0019] Figure 3 This is a schematic diagram of the front view sectional structure of this utility model.

[0020] The attached figures are labeled as follows: 1. Drive module; 2. Cleaning module; 3. Navigation module; 4. Control module; 11. Built-in motor; 12. Transmission gear set; 13. Track wheel; 15. Flexible track; 21. Rotary brush head; 22. Scraper assembly; 23. Sludge suction device; 31. Ultrasonic sensor; 32. Gyroscope; 41. Microcontroller. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0022] Specific implementation examples are given below.

[0023] This utility model provides an automatic pipeline cleaning device for the main pipeline of a central feeding system, the overall structure of which is as follows: Figures 1-3 As shown, the system includes a drive module (1), a cleaning module (2), a navigation module (3), and a control module (4). These modules cooperate with each other through mechanical connections, electrical connections, and signal transmission paths to form a complete automatic pipeline cleaning system. The specific implementation methods of each module will be described in detail below with reference to the accompanying drawings.

[0024] The drive module (1) is structurally detailed as follows: The built-in motor (11) is bolted to the center of the support frame (14), which is made of metal and has high strength and stability. A transmission gear set (12) is welded to the top of the output shaft of the built-in motor (11). The transmission gear set (12) consists of multiple gears that mesh to transmit power. Two track wheels (13) are meshed on one side of the transmission gear set (12). The track wheels (13) are symmetrically distributed on both sides of the support frame (14), and a flexible track (15) is nested on the outer surface of the track wheels (13). The flexible track (15) is made of high wear-resistant rubber and has anti-slip teeth on the inner side. These teeth mesh with the outer teeth of the track wheels (13) to achieve power transmission. A mounting groove (16) is provided at the bottom of the support frame (14) for fixing the built-in motor (11) and the transmission gear set (12). The dimensions of the mounting slot (16) are precisely designed to ensure that the built-in motor (11) and transmission gear set (12) do not loosen or shift during operation. The width of the flexible track (15) is slightly larger than the width of the track wheel (13) to ensure that the flexible track (15) can fit tightly against the track wheel (13) during operation and reduce slippage.

[0025] The cleaning module (2) has the following structural details: a rotating brush head (21) is mounted on the outer periphery of the cleaning device via bearings, and its bottom end is meshed with a transmission gear set (12). The transmission gear set (12) transmits the power of the built-in motor (11) to the rotating brush head (21) through gear meshing, thereby driving the rotating brush head (21) to rotate. The outer surface of the rotating brush head (21) is evenly distributed with multiple rows of hard bristles (24), which are fixed to the rotating brush head (21) by threaded connections. The length can be adjusted as needed to adapt to main pipelines of different diameters. The scraper assembly (22) is located behind the rotating brush head (21). Its front end is movably connected to the support frame (14) via a hinge, and its rear end is elastically connected to the support frame (14) via a spring plate (25). The elasticity of the spring plate (25) allows the scraper assembly (22) to always be in close contact with the inner wall of the main pipeline, thereby improving the scraping effect. The scraper assembly (22) has an arc-shaped scraper (26) on its inner side. The arc-shaped scraper (26) is made of stainless steel and coated with polytetrafluoroethylene (PTFE) with a coating thickness of 0.5 mm to reduce frictional resistance. The suction device (23) is installed behind the scraper assembly (22). A filter screen (27) is provided at its inlet. The filter screen (27) is fixed to the inlet of the suction device (23) by a snap-fit, making it easy to disassemble and clean. The outlet of the suction device (23) is connected to the sludge tank (29) through a hose (28). The hose (28) is made of corrosion-resistant silicone material with an inner diameter of 20 mm, an outer diameter of 25 mm, and a length of 50 cm to ensure that sludge can enter the sludge tank (29) smoothly. The sludge tank (29) is fixedly installed at the tail of the pig. The sludge tank (29) has a volume of 2 liters and a sealing cap on its top for easy cleaning of the sludge inside.

[0026] The connection relationship between the navigation module (3) and the control module (4) is as follows: Figure 3As shown, there are four ultrasonic sensors (31), which are installed at the front end and both sides of the pig respectively. The ultrasonic sensors (31) are fixed to the outer shell of the pig by screws, and their detection direction is consistent with the forward direction of the pig. The detection range of the ultrasonic sensors (31) is 0.5 meters to 5 meters, and the detection frequency is 40 kHz. They can detect the distance and shape changes of the inner wall of the pipeline in real time. The gyroscope (32) is fixedly installed at the center of the pig. The mounting base of the gyroscope (32) is fixed to the support frame (14) by welding to ensure its stability during operation. The measurement range of the gyroscope (32) is ±30 degrees, and the measurement accuracy is 0.1 degrees. It can accurately measure the movement direction and attitude angle of the pig. The data processor (33) is electrically connected to the ultrasonic sensors (31) and the gyroscope (32) through a circuit board. The data processor (33) uses an ARM Cortex-M4 chip with a main frequency of 168 MHz. It can quickly process sensor data and generate real-time path information. The output of the data processor (33) is connected to the input of the control module (4) via a signal line. The signal line is a shielded cable to reduce electromagnetic interference.

[0027] The control module (4) is structurally detailed as follows: the microcontroller (41) is fixedly mounted to the tail of the pig by screws. The microcontroller (41) uses an STM32F4 series chip with a main frequency of 180 MHz and powerful data processing capabilities. The input terminal of the microcontroller (41) is electrically connected to the data processor (33) of the navigation module (3), and the output terminal is electrically connected to the built-in motor (11) of the drive module (1) and the rotating brush head (21) of the cleaning module (2). The wireless communication unit (42) is soldered to the side of the microcontroller (41). The wireless communication unit (42) uses a Wi-Fi module, supports the IEEE 802.11b / g / n protocol, and can interact with external monitoring equipment. The power management unit (43) is electrically connected to the built-in motor (11), rotating brush head (21), ultrasonic sensor (31), gyroscope (32), and microcontroller (41) via wires. The power management unit (43) uses a lithium battery with a capacity of 5000 mAh and a voltage of 12 volts. The battery compartment (44) of the power management unit (43) is designed to be detachable. The outer shell of the battery compartment (44) is made of ABS plastic and has a buckle at the bottom for easy battery replacement.

[0028] In practical applications, the working process of this utility model is as follows: First, the operator sends a start command to the wireless communication unit (42) through an external monitoring device. The wireless communication unit (42) transmits the command to the microcontroller (41). After receiving the command, the microcontroller (41) starts the built-in motor (11). The built-in motor (11) drives the track wheel (13) to rotate through the transmission gear set (12). The track wheel (13) drives the flexible track (15) to move on the inner wall of the main pipeline, thereby enabling the pig to move forward along the main pipeline. During the forward movement of the pig, the ultrasonic sensor (31) detects the distance and shape changes of the inner wall of the pipeline in real time and transmits the data to the data processor (33). The data processor (33) integrates the data from the ultrasonic sensor (31) and the gyroscope (32), generates real-time path information, and transmits the information to the microcontroller (41). The microcontroller (41) adjusts the speed and direction of the built-in motor (11) according to the path information to ensure that the pig can move accurately along the main pipeline.

[0029] Simultaneously, the rotating brush head (21) rotates under the drive of the transmission gear set (12), and the hard bristles (24) perform preliminary cleaning of the inner wall of the main pipeline. The scraper assembly (22) adheres tightly to the inner wall of the main pipeline under the elastic force of the spring plate (25), and the arc-shaped scraper (26) further scrapes away the residue. The suction device (23) intercepts larger particles of dirt through the filter screen (27) and transports the dirt to the storage tank (29) through the hose (28). When the dirt in the storage tank (29) reaches a certain amount, the operator can receive the prompt information through the external monitoring equipment and clean the storage tank (29) in a timely manner.

[0030] In complex or winding main pipelines, the flexible track (15) design enhances the pig's maneuverability. The anti-slip serrations of the flexible track (15) make close contact with the inner wall of the main pipeline, reducing slippage. In addition, the coordinated operation of the navigation module (3) and the control module (4) enables the pig to autonomously travel back and forth in complex pipeline environments, meeting the requirements for high-frequency, programmable, and closed-loop control automatic pigging. The removable battery compartment (44) of the power management unit (43) improves the equipment's endurance and maintenance convenience, further enhancing the system's reliability.

[0031] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principle of this utility model is provided in conjunction with a specific application scenario.

[0032] In the main pipeline of the central feeding system, due to the long-term transportation of materials such as plastic granules, chemical raw materials or food powder, residues or scale easily accumulate on the inner wall of the pipeline. In order to ensure the efficient operation of the system, the main pipeline needs to be cleaned regularly. The start of the pipeline pig is completed by the operator sending a wireless command through the external monitoring equipment. After receiving the command, the wireless communication unit (42) transmits the signal to the microcontroller (41). The microcontroller (41) parses the command and starts the built-in motor (11). The built-in motor (11) drives the track wheel (13) to rotate through the transmission gear set (12). The flexible track (15) generates driving force due to the meshing of the teeth of the track wheel (13), which pushes the pipeline pig forward along the main pipeline. The high wear-resistant rubber material and anti-slip tooth design of the flexible track (15) enable it to maintain stable grip on the inner wall of the pipeline of different materials, reducing the occurrence of slippage, especially in bends or pipelines with multiple diameter changes.

[0033] During the pig's movement, the ultrasonic sensor (31) detects the distance changes on the inner wall of the pipeline in real time and transmits the data to the data processor (33). The data processor (33) integrates the information from the ultrasonic sensor (31) and the gyroscope (32) to generate real-time position and attitude data of the pig. This data is transmitted to the microcontroller (41) via signal lines. The microcontroller (41) dynamically adjusts the speed and direction of the built-in motor (11) according to the path information, thereby ensuring that the pig can accurately travel along the main pipeline and avoid deviating from the path or getting stuck. For example, when encountering a bend, the microcontroller (41) will reduce the speed of the built-in motor (11) and adjust the speed difference between the two side track wheels (13) to make the pig turn smoothly.

[0034] Meanwhile, the rotating brush head (21) rotates under the drive of the transmission gear set (12), and the hard bristles (24) perform preliminary cleaning of the inner wall of the pipe. The length of the hard bristles (24) can be adjusted according to the pipe diameter to adapt to different specifications of main pipelines. The scraper assembly (22) adheres tightly to the inner wall of the pipe under the elastic force of the spring plate (25), and the arc-shaped scraper (26) further scrapes away the residue. The polytetrafluoroethylene coating on the surface of the arc-shaped scraper (26) effectively reduces frictional resistance and reduces energy loss during the movement of the pig. The suction device (23) intercepts larger particles of dirt through the filter screen (27) and transports the dirt to the storage tank (29) through the hose (28). When the dirt in the storage tank (29) reaches a certain amount, the microcontroller (41) sends a prompt message to the external monitoring equipment through the wireless communication unit (42) to remind the operator to clean the storage tank (29) in time.

[0035] In complex or multi-curved main pipelines, the design of the flexible track (15) significantly enhances the pig's maneuverability. The width of the flexible track (15) is slightly larger than the width of the track wheel (13), ensuring that it can closely fit the track wheel (13) during operation and reducing slippage. In addition, the coordinated operation of the navigation module (3) and the control module (4) enables the pig to autonomously travel back and forth in complex pipeline environments. For example, in a main pipeline containing multiple bends and diameter changes, the ultrasonic sensor (31) detects the distance changes of the inner wall of the pipeline in real time, the gyroscope (32) measures the attitude angle of the pig, and the data processor (33) integrates this information and generates accurate path data. The microcontroller (41) dynamically adjusts the speed and direction of the built-in motor (11) according to the path data to ensure that the pig can smoothly pass through bends and diameter change sections.

[0036] The power management unit (43) is powered by a lithium battery with a capacity of 5000 mAh and a voltage of 12 volts, which can meet the needs of the pig for long-term operation. The battery compartment (44) adopts a detachable design, which facilitates quick battery replacement and further improves the equipment's endurance and maintenance convenience. For example, after a pigging task is completed, the operator can quickly replace the battery by opening the buckle of the battery compartment (44) to ensure that the pig can be quickly put into the next task.

[0037] In summary, this utility model achieves reliable operation under low flow rate or static conditions through the coordinated work of the drive module (1), cleaning module (2), navigation module (3), and control module (4), solving the problems of poor passability, inaccurate positioning, or repetitive operation of existing pipeline pigs in complex pipeline environments. This pipeline pig can efficiently clean the residue on the inner wall of the main pipeline, avoid secondary pollution, and meet the new requirements of modern automated production for the cleanliness, efficiency, and reliability of the supply pipeline.

[0038] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An automatic pipeline cleaning device for a central feeding system's main pipeline, characterized in that, The system includes a drive module (1), a cleaning module (2), a navigation module (3), and a control module (4). The drive module (1) is installed at the center of the pig and is used to provide power for autonomous movement. The cleaning module (2) is located on the outer periphery of the pig and is mechanically connected to the drive module (1) to remove residues from the inner wall of the main pipeline. The navigation module (3) is installed at the front end of the pig and is electrically connected to the control module (4) to detect the internal environment of the pipeline in real time and provide feedback on the path information. The control module (4) is fixedly installed at the rear end of the pig and is electrically connected to the drive module (1), the cleaning module (2), and the navigation module (3) to receive signals from the navigation module (3) and adjust the working status of the drive module (1) and the cleaning module (2).

2. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 1, characterized in that, The drive module (1) includes a built-in motor (11), a transmission gear set (12), track wheels (13) and a support frame (14). The built-in motor (11) is fixedly installed at the center of the support frame (14) by bolts. The transmission gear set (12) is welded to the top of its output shaft. Two track wheels (13) are meshed on one side of the transmission gear set (12). The track wheels (13) are symmetrically distributed on both sides of the support frame (14). The outer surface of the track wheels (13) is nested with a flexible track (15). The flexible track (15) is made of high wear-resistant rubber and has anti-slip teeth on its inner side.

3. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 1, characterized in that, The cleaning module (2) includes a rotating brush head (21), a scraper assembly (22), and a suction device (23). The rotating brush head (21) is mounted on the outer periphery of the cleaning device via a bearing, and its bottom end is meshed with a transmission gear set (12). Multiple rows of hard bristles (24) are evenly distributed on the outer surface of the rotating brush head (21). The scraper assembly (22) is located behind the rotating brush head (21). Its front end is movably connected to the support frame (14) via a hinge, and its rear end is elastically connected to the support frame (14) via a spring plate (25). The inner side of the scraper assembly (22) is provided with an arc-shaped scraper (26). The arc-shaped scraper (26) is made of stainless steel and its surface is coated with a polytetrafluoroethylene coating. The suction device (23) is installed behind the scraper assembly (22). Its inlet is provided with a filter screen (27), and the outlet of the suction device (23) is connected to the sludge tank (29) via a hose (28).

4. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 1, characterized in that, The navigation module (3) includes an ultrasonic sensor (31), a gyroscope (32) and a data processor (33). There are four ultrasonic sensors (31), which are installed at the front end and both sides of the pig respectively. The gyroscope (32) is fixedly installed at the center of the pig. The data processor (33) is electrically connected to the ultrasonic sensor (31) and the gyroscope (32) through a circuit board. The output end of the data processor (33) is connected to the input end of the control module (4) through a signal line.

5. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 1, characterized in that, The control module (4) includes a microcontroller (41), a wireless communication unit (42), and a power management unit (43). The microcontroller (41) is fixedly installed at the tail of the pig by screws. Its input end is electrically connected to the data processor (33) of the navigation module (3), and its output end is electrically connected to the built-in motor (11) of the drive module (1) and the rotating brush head (21) of the cleaning module (2). The wireless communication unit (42) is welded to the side of the microcontroller (41). The power management unit (43) is electrically connected to the built-in motor (11), the rotating brush head (21), the ultrasonic sensor (31), the gyroscope (32), and the microcontroller (41) by wires. The battery compartment (44) of the power management unit (43) adopts a detachable design.

6. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 2, characterized in that, The bottom of the support frame (14) is provided with a mounting groove (16) for fixing the built-in motor (11) and the transmission gear set (12).

7. The automatic pipeline cleaning device for a central feeding system main pipeline according to claim 3, characterized in that, The hard bristles (24) are fixed to the rotating brush head (21) by a threaded connection, and the length of the hard bristles (24) is adjustable to adapt to main pipelines of different diameters.

8. An automatic pipeline cleaning device for a central feeding system main pipeline according to claim 3, characterized in that, The filter screen (27) is fixed to the inlet of the suction device (23) by a buckle. The hose (28) is made of corrosion-resistant silicone material, with an inner diameter of 20 mm, an outer diameter of 25 mm, and a length of 50 cm.

9. An automatic pipeline cleaning device for a central feeding system main pipeline according to claim 4, characterized in that, The ultrasonic sensor (31) has a detection range of 0.5 meters to 5 meters and a detection frequency of 40 kHz. The gyroscope (32) has a measurement range of ±30 degrees and a measurement accuracy of 0.1 degrees.

10. An automatic pipeline cleaning device for a central feeding system main pipeline according to claim 5, characterized in that, The power management unit (43) uses a lithium battery with a capacity of 5000 mAh and a voltage of 12 volts. The outer shell of the battery compartment (44) is made of ABS plastic and has a buckle at the bottom.

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