Design And Trial Production Of Robot For Repairing Tree Root Defects In Drainage Pipeline

Drainage pipe network is an important part of urban infrastructure,the material basis for the survival and development of a city,known as the "blood vessel" of a city.With the growth of age,blood vessel blockage will endanger life and health.Similarly,the pipe network that has operated for many years can ensure the normal operation of the city only if it is unobstructed at all times.Tree root defect is a common and influential problem among many pipeline blockage problems.If the root cannot be removed in time,a "filter screen" will be gradually formed in the pipeline.The accumulation of garbage will lead to pipeline blockage,and then the sewage will overflow the road and affect the daily life of residents.As an important means to repair tree root defects,the performance of tree root defect repair robot directly affects the repair efficiency and effect.According to the actual working conditions,this paper designs and makes a prototype of tree root defect repair robot,studies its scheme planning,structural design,software and hardware development,and carries out field tests.The main research contents are as follows:Firstly,the actual working environment is analyzed,and then the working requirements of the robot are put forward.Based on the working requirements,the overall implementation scheme of the tree root defect repair robot is designed,and the hardware system is built;Plan and design the overall architecture,functional modules and communication protocols of the software system;Based on the software and hardware,the workflow of the repair robot is analyzed.Secondly,the structure of each functional module of the mechanical body of the tree root defect repair robot is designed,including mobile chassis,reciprocating cutting head,electric control cabinet,etc,and the mechanical arm,camera and other driving components are calculated and selected,and orderly assemble the above modules and purchased parts into an organic whole.Thirdly,the control system of tree root defect repair robot is developed.Design the detailed workflow and control strategy of each module according to the actual operation logic to improve the convenience of operation;Design and develop UI interface based on functional requirements,which is used to monitor the operation and operation of the robot in real time;According to the operation needs to complete the repair robot collision avoidance strategy design,help to improve the safety of the operation.Finally,based on the designed structure and control system,a prototype of tree root defect repair robot was trial-produced,and field debugging was carried out to verify the single function and overall performance.The experimental results show that the motion functions of the repair robot are in line with expectations and meet the requirements of various technical indicators.