An Adaptive Pipeline Dredging Robot

Abstract

The invention relates to a self-adaption pipeline dredging robot. The self-adaption pipeline dredging robot comprises a shell, a reamer dredging mechanism, a camera and a plurality of traveling devices. The reamer dredging mechanism is arranged on the shell. The camera is arranged on the shell. Each traveling device comprises a variable diameter mechanism, a traveling mechanism and a pressure sensing module. The variable diameter mechanisms are arranged on the shell. The traveling mechanisms are arranged at the output ends of the corresponding variable diameter mechanisms. The pressure sensingmodules are matched with the corresponding lifting type variable diameter mechanisms. The self-adaption pipeline dredging robot has the beneficial effects that the robot is charged downward into a pipeline, and internal images of the pipeline can be acquired in real time so that working staff can know the environment of the robot conveniently and adjust the robot in time; data are monitored through the pressure sensing modules, the force condition and working conditions of the robot can be known conveniently, and the variable diameter mechanisms can be adjusted in time; thus, the robot can adapt to different pipeline diameters and can be stabilized in the most effective working condition all the time.

Description

technical field [0001] The invention relates to the field of robot science and technology, in particular to an adaptive pipeline dredging robot. Background technique [0002] Drainage facilities are indispensable in modern cities, and even become an important line of defense to ensure the stable development of the city and the safety of people's lives and property, and the basis for the survival of urban residents. Therefore, problems such as pipe blockage and poor drainage are very likely to cause urban waterlogging and endanger the safety of residents. During the use of pipelines, due to the influence of various factors, various pipeline blockages, pipeline failures and damages will occur. If the pipeline is not detected, repaired and cleaned up in time, accidents may occur and unnecessary losses may be caused. However, municipal drainage pipes have the following characteristics: buried 3 to 5 meters deep underground; pipe diameter between 200 and 2000mm; inclination is ...

AI Technical Summary

Problems solved by technology

If the pipeline is not detected, repaired and cleaned in time, accidents may occur and unnecessary losses will be caused.

However, municipal drainage pipes have the following characteristics: buried 3 to 5 meters deep underground; pipe diameter between 200 and 2000mm; inclination is usually not more than 0.001; the distance between two inspection wells varies from 40 to 120m depending on the diameter of the pipe ;There is sewage and sediment in the pipeline, and the environment where the pipeline is often not easy to reach directly or people are not allowed to directly enter, so it is very difficult to detect and clean

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