Suction type underground drainage pipeline intelligent desilting robot and desilting method

Abstract

The invention belongs to the field of desilting robots, and particularly discloses a suction type underground drainage pipeline intelligent desilting robot and a desilting method.The desilting robot is composed of an in-pipe integrated robot and an inspection well box; the in-pipe integrated robot comprises a hardware structure and a software module, the hardware structure comprises a mechanical assembly, a circuit assembly, a sediment breaking assembly, a sediment conveying assembly and a machine body, and the software module comprises a pipeline sediment intelligent diagnosis module. A drainage pipeline siltation diagnosis module based on a deep learning network is arranged in a deep learning development board to achieve siltation diagnosis, and a central instruction receiving and sending module is used for sending desilting operation instructions to a nail surface type electric hammer, a high-pressure water spray head, a siltation crushing cutter, a silt pumping pipe, a silt discharging pipe and a vacuum sewage suction pump. According to the invention, automatic and intelligent operation of siltation diagnosis and desilting of the underground drainage pipe network in a certain maintenance area can be realized, the efficiency is greatly improved, personnel do not need to enter the pipeline, and the danger is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of dredging robots, and particularly to a suction-type intelligent dredging robot for underground drainage pipelines and a dredging method. Background Art

[0002] Urban underground pipelines, covering various pipelines such as water supply, drainage, gas, heat, electricity, communication, radio and television, and industry, as well as their supporting facilities, are key infrastructure for maintaining the operation of cities and are known as the "lifelines" of cities. On the one hand, with the acceleration of urbanization, the quantity and scale of underground pipelines continue to expand, and their composition is becoming increasingly complex. On the other hand, due to long-term high-intensity use, a large number of hidden dangers have emerged in the underground pipelines built earlier. In recent years, incidents such as urban waterlogging, road collapses, and pipeline bursts caused by underground pipeline network problems have occurred frequently, threatening the lives and property safety of the people. How to clean underground pipelines more effectively has become a major challenge in the current management of urban underground pipelines.

[0003] The operation condition of underground pipelines, especially their smoothness, is extremely important. Problems such as blockage and poor drainage will cause great troubles to people's normal work and life. However, the environment inside the pipeline is complex and the composition of sewage is complex, so the cleaning work inside the pipeline is extremely unsuitable for manual labor. With the vigorous development and wide application of robot technology, especially in some special environments or environments unsuitable for human work, using robots to replace humans to complete dangerous or difficult work has become the forefront of engineering practice. Pipeline adaptive robots have high cleaning efficiency and good adaptability, and have more advantages than existing robots. However, current pipeline dredging robots generally have poor cleaning efficiency and cannot adapt to complex in-pipe conditions. Summary of the Invention

[0004] To solve the problems existing in the prior art, the present invention provides a suction-type intelligent dredging robot for underground drainage pipelines and a dredging method, which can realize the automatic and intelligent operation of silt diagnosis and dredging in the underground drainage pipe network in the maintenance area, greatly improve the efficiency, eliminate the need for personnel to enter the pipeline, and greatly reduce the danger, thus solving the problems mentioned in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solution: A suction-type intelligent dredging robot for underground drainage pipelines, the dredging robot is composed of an in-pipe integrated robot and a manhole box; the in-pipe integrated robot includes a hardware structure and a software module, the hardware structure of the in-pipe integrated robot includes a mechanical component, an electrical circuit component, a silt crushing component, a silt conveying component and a fuselage, and the software module of the in-pipe integrated robot includes a pipeline silt intelligent diagnosis module;

[0006] There are multiple sets of the mechanical components, which are symmetrically arranged outside the fuselage of the aircraft with the central axis of the fuselage as the center of symmetry. The mechanical components include telescopic rods, driving wheels, and driven wheels. The driving wheels and the driven wheels are both fixed on the outer shell of the fuselage through the telescopic rods.

[0007] Preferably, the sediment crushing component includes a studded surface electric hammer, a high-pressure water nozzle, and sediment crushing knives arranged on the fuselage. The studded surface electric hammer is arranged on the metal sliding groove at the center of the front of the fuselage and can move left and right and back and forth. The high-pressure water nozzle is arranged at the front end of the bottom of the fuselage. The sediment crushing knives are arranged on the annular metal sliding groove at the center of the bottom of the fuselage and can move in a circular motion at the lower part of the fuselage. It is composed of multiple serrated blades, can extend up and down, and is in an overall circular shape.

[0008] Preferably, the sediment conveying component includes a dredging pipe, a sludge discharging pipe, and a vacuum sewage suction pump. The dredging pipe is arranged at the rear end of the bottom of the fuselage. The sludge discharging pipe is arranged at the center of the rear part of the fuselage shell. The vacuum sewage suction pump is arranged at a position slightly behind the interior of the fuselage. The front end of the vacuum sewage suction pump is connected to the dredging pipe, and the rear end is connected to the sludge discharging pipe, which is used to convey the crushed sludge in the pipe outward.

[0009] Preferably, the circuit component includes a ranging radar, a central command transceiver module, a three-axis gyroscope, a deep learning development board, and a aviation plug interface. The ranging radar is arranged at a position slightly above the front of the fuselage. The aviation plug interface is arranged at a position slightly above the rear of the fuselage. The central command transceiver module, the three-axis gyroscope, and the deep learning development board are arranged inside the fuselage.

[0010] Preferably, the central command transceiver module is responsible for controlling the motor for controlling the driving pulley, the three-axis gyroscope for attitude control, the ranging radar, the metal sliding groove, the annular metal sliding groove, the high-pressure water nozzle, and the vacuum sewage suction pump.

[0011] The three-axis gyroscope is used to measure and sense the motion state of the integrated robot in the pipe for the central command transceiver module to perform attitude adjustment.

[0012] Preferably, the intelligent pipeline sediment diagnosis module uses a stacked sparse autoencoder and a logistic regression classifier as the intelligent pipeline sediment diagnosis algorithm, and takes the data of the flow characteristics index of the drainage pipeline as the input, and the sediment length and sediment thickness of the drainage pipeline as the output. The intelligent pipeline sediment diagnosis module runs on the deep learning development board, and the deep learning development board outputs the pipeline sediment diagnosis result and transmits it to the central command transceiver module of the integrated robot in the pipe.

[0013] Preferably, the manhole box includes a box body, a box cover, fixing claws, a lithium battery, a non-contact pipeline liquid level gauge, a 4G wireless communication module, a whip antenna, and a floating drag cable; the lithium battery, 4G wireless communication module, non-contact pipeline liquid level gauge, and whip antenna are all fixedly installed inside the box body.

[0014] Preferably, the 4G wireless communication module is used to receive the overcurrent characteristic index data sent by the ground console, and transmit the overcurrent characteristic index data of the drainage pipeline to the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot as the data input for the pipeline siltation intelligent diagnosis algorithm.

[0015] Preferably, the whip antenna is connected to the 4G wireless communication module to upload and download 4G wireless data; one end of the floating drag cable is connected to the non-contact pipeline liquid level gauge, lithium battery, 4G wireless communication module and the above-ground water source, and the other end is connected to the aviation plug interface; the box body and the box cover are fixed to the well wall of the manhole through the fixing claws.

[0016] On the other hand, to achieve the above object, the present invention also provides the following technical solution: a silt cleaning method for a suction-type underground drainage pipeline intelligent silt cleaning robot, including the following steps

[0017] Step S101, transmit the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board of the in-pipe integrated robot through the 4G wireless communication module;

[0018] Step S102, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot takes the pipeline inlet and outlet flow velocity / flow rate data in Step S101 as the input, runs on the deep learning development board of the in-pipe integrated robot and outputs the pipeline siltation diagnosis result; when the siltation depth is greater than or equal to one-fourth of the pipe diameter, the pipeline siltation diagnosis result is output as siltation occurred and silt cleaning operation is required; when the siltation depth is less than one-fourth of the pipe diameter, the pipeline siltation diagnosis result is that no siltation occurred and no silt cleaning operation is required;

[0019] Step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation result to the central command transceiver module of the in-pipe integrated robot; when the pipeline siltation diagnosis result is output as siltation occurred, the central command transceiver module controls the driving wheels and telescopic rods of the in-pipe integrated robot to move forward in the underground drainage pipeline, and during the movement, the central command transceiver module simultaneously turns on the high-pressure water spray head, silt-breaking knife, annular metal sliding groove, silt suction pipe, silt discharge pipe and vacuum sewage suction pump for collaborative silt cleaning operation;

[0020] Step S104, during the movement of the in-pipe integrated robot, the ranging radar of the in-pipe integrated robot continuously detects whether there is pipe sediment higher than the sediment crushing knife of the in-pipe integrated robot;

[0021] Step S105, if the ranging radar continuously detects that there is pipe sediment higher than the sediment crushing knife of the in-pipe integrated robot and the distance between them is less than 10 cm, the central command transceiver module of the in-pipe integrated robot controls the driving wheels to stop moving forward, and simultaneously sends a working instruction to the studded hammer;

[0022] Step S106, after receiving the working instruction sent by the central command transceiver module, the studded hammer moves up, down, left, and right by using the metal sliding groove and hammers the pipe sediment, crushing it into small pieces of sediment, and then the sediment crushing knife further crushes the small pieces of sediment into fine particles;

[0023] Step S107, the high-pressure water nozzle sprays the fine particles obtained by the crushing of the sediment crushing knife with water flow, and the vacuum sewage pump sucks the mixed fluid of water flow and fine particles into the ground silt cleaning container through the dredging pipe and the silt discharge pipe. Repeat the above steps to complete the silt cleaning treatment of the underground drainage pipe.

[0024] The beneficial effects of the present invention are as follows: The silt cleaning robot of the present invention issues instructions through data analysis by the central command transceiver module carried on the robot, enabling the mechanical device to move adaptively in the pipe. The studded hammer is used to push the sediment, the high-pressure water nozzle sprays water, the sediment crushing knife crushes the sediment, and finally the silt is pumped out through the dredging pipe to achieve the silt cleaning effect. Through the present invention, efficient pipe silt cleaning can be realized, with higher efficiency, lower labor cost, and lower safety risk compared to the existing pipe silt cleaning machines. Description of the Drawings

[0025] Figure 1 is the assembly diagram of the in-pipe integrated robot provided in the embodiment of the present invention;

[0026] Figure 2 is the side view of the in-pipe integrated robot provided in the embodiment of the present invention;

[0027] Figure 3 is the bottom view of the in-pipe integrated robot provided in the embodiment of the present invention;

[0028] Figure 4 is the front view of the in-pipe integrated robot provided in the embodiment of the present invention;

[0029] Figure 5 is the rear view of the in-pipe integrated robot provided in the embodiment of the present invention;

[0030] Figure 6 is the hardware structure diagram of the manhole box provided in the embodiment of the present invention;

[0031] Figure 7 It is a connection relationship diagram among modules in the manhole box hardware structure provided in the embodiments of the present invention;

[0032] Figure 8 It is a connection relationship diagram between the in-pipe integrated robot and the manhole box provided in the embodiments of the present invention;

[0033] In the figure, 1 - telescopic rod, 2 - driving wheel, 3 - driven wheel, 4 - stud surface electric hammer, 5 - high-pressure water nozzle, 6 - silt-breaking knife, 7 - silt suction pipe, 8 - silt discharge pipe, 9 - vacuum sewage suction pump, 10 - ranging radar, 11 - central command transceiver module, 12 - three-axis gyroscope, 13 - deep learning development board, 14 - aviation plug interface, 15 - metal sliding groove, 16 - annular metal sliding groove, 17 - box body, 18 - box cover, 19 - fixing claw, 20 - lithium battery, 21 - non-contact liquid level gauge for pipeline, 22 - 4G wireless communication module, 23 - whip antenna, 24 - floating towing cable. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] It should be noted that, without conflict, the implementation manners and features in the implementation manners of the present invention can be combined with each other. It should be noted that: similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present invention is normally placed, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Please refer to Figures 1 - 8 , the present invention provides a technical solution: a suction-type intelligent dredging robot for underground drainage pipes. As Figure 8 shown, the dredging robot consists of an in-pipe integrated robot and a manhole box; the in-pipe integrated robot includes a hardware structure and a software module. The hardware structure of the in-pipe integrated robot includes a mechanical component, a circuit component, a sediment crushing component, a sediment conveying component, and a fuselage. The software module of the in-pipe integrated robot includes a pipeline sediment intelligent diagnosis module.

[0039] As Figure 2 and Figure 3 shown, multiple groups of mechanical components are provided, which are symmetrically arranged on the outer shell of the fuselage with the central axis of the fuselage as the center of symmetry. The mechanical components include a telescopic rod 1, a driving wheel 2, and a driven wheel 3. The driving wheel 2 and the driven wheel 3 are both fixed on the outer shell of the fuselage through the telescopic rod 1.

[0040] Further, it is set to three groups. Each group includes a driving wheel 2 arranged in the front and a driven wheel 3 arranged in the rear. The driving wheel 2 can be mechanically and automatically adjusted in direction by a motor to perform circumferential rotational movement, driving the in-pipe integrated robot to move forward and avoid obstacles.

[0041] As Figure 1 shown, the sediment crushing component includes a stud-faced electric hammer 4, a high-pressure water spray head 5, and a sediment crushing knife 6 arranged on the fuselage. As Figure 4 shown, the stud-faced electric hammer 4 is arranged on the metal sliding groove 15 at the front center of the fuselage and can move left and right and back and forth; the high-pressure water spray head 5 is arranged at the front end of the bottom of the fuselage, and the sediment crushing knife 6 is arranged on the annular metal sliding groove 16 at the center of the bottom of the fuselage and can move in a circular motion at the lower part of the fuselage. It is composed of multiple serrated blades, can extend up and down, and is overall circular in shape.

[0042] The high-pressure water spray head 5 can simultaneously provide high-water-pressure flushing for crushing sediment for the crushing actions of the stud-faced electric hammer 4 and the sediment crushing knife 6, facilitating the extraction of the crushed sediment from the drainage pipe by the sludge suction pipe 7, the sludge discharge pipe 8, and the vacuum sewage pump 9.

[0043] As Figure 5As shown in the figure, the silt transportation component includes a silt suction pipe 7, a silt discharge pipe 8, and a vacuum sewage pump 9. The silt suction pipe 7 is arranged at the rear end of the bottom of the fuselage. The silt discharge pipe 8 is arranged at the center of the rear part of the fuselage shell. The vacuum sewage pump 9 is arranged at a position slightly behind the interior of the fuselage.

[0044] The front end of the vacuum sewage pump 9 is connected to the silt suction pipe 7, and the rear end is connected to the silt discharge pipe 8, which is used to transport the crushed sludge in the pipe outward.

[0045] As Figure 2 shown in the figure, the circuit component includes a ranging radar 10, a central command transceiver module 11, a three-axis gyroscope 12, a deep learning development board 13, and a aviation plug interface 14. The ranging radar 10 is arranged at a position slightly above the front of the fuselage. The aviation plug interface 14 is arranged at a position slightly above the rear of the fuselage. The central command transceiver module 11, the three-axis gyroscope 12, and the deep learning development board 13 are arranged inside the fuselage.

[0046] The central command transceiver module 11 is responsible for controlling the motor for controlling the active pulley, the three-axis gyroscope 12 for attitude control, the ranging radar 10, the metal sliding groove 15, the annular metal sliding groove 16, the high-pressure water spray head 5, and the vacuum sewage pump 9.

[0047] The three-axis gyroscope 12 is used to measure and sense the motion state of the integrated robot in the pipe for the central command transceiver module 11 to perform attitude adjustment.

[0048] The pipeline silt intelligent diagnosis module uses a stacked sparse autoencoder and a logistic regression classifier as the pipeline silt intelligent diagnosis algorithm, and takes the data of the flow characteristics index of the drainage pipeline as the input, and the silt length and silt thickness of the drainage pipeline as the output. The pipeline silt intelligent diagnosis module runs on the deep learning development board 13, and the deep learning development board 13 outputs the pipeline silt diagnosis result and transmits it to the central command transceiver module 11 of the integrated robot in the pipe.

[0049] As Figure 6 and Figure 7 shown in the figure, the manhole box includes a box body 17, a box cover 18, a fixing claw 19, a lithium battery 20, a non-contact pipeline liquid level gauge 21, a 4G wireless communication module 22, a whip antenna 23, and a floating towed cable 24. The lithium battery 20, the 4G wireless communication module 22, the non-contact pipeline liquid level gauge 21, and the whip antenna 23 are all installed and fixed inside the box body 17.

[0050] The suction type intelligent dredging robot for underground drainage pipelines can be externally powered. When the external power supply is abnormal, the manhole box automatically switches to the lithium battery 20 for power supply to achieve dual-channel redundancy of the power supply system.

[0051] The 4G wireless communication module 22 is used to receive the overcurrent characteristic index data sent by the ground console, and transmit the overcurrent characteristic index data of the drainage pipeline to the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot, which is used as the data input of the pipeline siltation intelligent diagnosis algorithm.

[0052] The whip-shaped transmitting antenna 23 is connected to the 4G wireless communication module 22 to upload and download 4G wireless data.

[0053] As Figure 8 shown, one end of the floating towed cable 24 is connected to the pipeline non-contact liquid level gauge 21, the lithium battery 20, the 4G wireless communication module 22 and the ground water source, and the other end is connected to the aviation plug interface 14.

[0054] The box body 17 and the box cover 18 are fixed to the well wall of the manhole through the fixing claws 19.

[0055] Based on the same inventive concept as the above method embodiment, a silt removal method for pipeline silt removal using the above suction type underground drainage pipeline intelligent silt removal robot includes the following steps:

[0056] Step S101, transmit the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board 13 of the in-pipe integrated robot through the 4G wireless communication module 22;

[0057] Step S102, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot takes the pipeline inlet and outlet flow velocity / flow rate data in Step S101 as the input, runs on the deep learning development board of the in-pipe integrated robot and outputs the pipeline siltation diagnosis result; when the siltation depth is greater than or equal to one-fourth of the pipe diameter, the pipeline siltation diagnosis result is output as siltation occurred and silt removal operation is required; when the siltation depth is less than one-fourth of the pipe diameter, the pipeline siltation diagnosis result is that no siltation occurred and no silt removal operation is required;

[0058] Step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation result to the central command transceiver module 11 of the in-pipe integrated robot; when the pipeline siltation diagnosis result is output as siltation occurred, the central command transceiver module 11 controls the in-pipe integrated robot to travel in the underground drainage pipeline through the driving wheels 2 and the telescopic rod 1, and the central command transceiver module 11 simultaneously turns on the high-pressure water nozzle 5, the silt-breaking knife 6, the annular metal sliding groove 16, the silt suction pipe 7, the silt discharge pipe 8 and the vacuum sewage pump 9 for collaborative silt removal operation during the traveling process;

[0059] Step S104, during the traveling process of the in-pipe integrated robot, the ranging radar 10 of the in-pipe integrated robot detects in real time whether there is pipeline siltation material higher than the silt-breaking knife 6 of the in-pipe integrated robot;

[0060] Step S105, when the ranging radar 10 detects in real time that there is pipeline sediment higher than the sediment breaking knife 6 of the in-pipe integrated robot and the distance between them is less than 10 cm, the central command transceiver module 11 of the in-pipe integrated robot controls the driving wheel 2 to stop moving forward, and at the same time sends a working instruction to the stud surface electric hammer 4;

[0061] Step S106, after receiving the working instruction sent by the central command transceiver module 11, the stud surface electric hammer 4 moves up, down, left and right by using the metal sliding groove 15 and hammers the pipeline sediment, crushing it into small pieces of sediment, and then the sediment breaking knife 6 further breaks the small pieces of sediment into fine particles;

[0062] Step S107, the high-pressure water nozzle 5 sprays the fine particles obtained by the crushing of the sediment breaking knife 6 with water flow, and the vacuum sewage suction pump 9 sucks the mixed fluid of water flow and fine particles into the ground dredging container through the dredging pipe 7 and the sludge discharge pipe 8. Repeat the above steps to complete the dredging treatment of the underground drainage pipeline.

[0063] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent dredging robot for suction-type underground drainage pipes, characterized in that, The dredging robot consists of two parts: an in-pipe integrated robot and a manhole box; the in-pipe integrated robot includes a hardware structure and a software module. The hardware structure of the in-pipe integrated robot includes a mechanical component, a circuit component, a sediment crushing component, a sediment conveying component, and a fuselage. The software module of the in-pipe integrated robot includes an intelligent pipeline sediment diagnosis module; Multiple groups of the mechanical components are symmetrically arranged on the outer shell of the fuselage with the central axis of the fuselage as the center of symmetry. The mechanical components include a telescopic rod (1), a driving wheel (2), and a driven wheel (3). The driving wheel (2) and the driven wheel (3) are both fixed on the outer shell of the fuselage through the telescopic rod (1).

2. The intelligent dredging robot for suction-type underground drainage pipes according to claim 1, characterized in that: The sediment crushing component includes a stud-faced electric hammer (4), a high-pressure water nozzle (5), and a sediment crushing knife (6) arranged on the fuselage; the stud-faced electric hammer (4) is arranged on a metal sliding groove (15) at the center of the front of the fuselage and can move left and right and back and forth; the high-pressure water nozzle (5) is arranged at the front end of the bottom of the fuselage, and the sediment crushing knife (6) is arranged on an annular metal sliding groove (16) at the center of the bottom of the fuselage and can move in a circular motion at the lower part of the fuselage. It consists of multiple serrated blades and can extend up and down, and is in a circular shape as a whole.

3. The intelligent dredging robot for suction-type underground drainage pipelines according to claim 1, wherein: The sediment conveying component includes a sludge suction pipe (7), a sludge discharge pipe (8), and a vacuum sewage pump (9). The sludge suction pipe (7) is arranged at the rear end of the bottom of the fuselage, the sludge discharge pipe (8) is arranged at the center of the rear part of the fuselage shell, and the vacuum sewage pump (9) is arranged at a position slightly behind the interior of the fuselage; the front end of the vacuum sewage pump (9) is connected to the sludge suction pipe (7), and the rear end is connected to the sludge discharge pipe (8) for transporting the crushed sludge in the pipe outwards.

4. The intelligent dredging robot for suction-type underground drainage pipelines according to claim 1, characterized in that: The circuit component includes a ranging radar (10), a central command transceiver module (11), a three-axis gyroscope (12), a deep learning development board (13), and a aviation plug interface (14). The ranging radar (10) is arranged at a position slightly above the front of the fuselage, the aviation plug interface (14) is arranged at a position slightly above the rear of the fuselage, and the central command transceiver module (11), the three-axis gyroscope (12), and the deep learning development board (13) are arranged inside the fuselage.

5. The intelligent dredging robot for suction-type underground drainage pipes according to claim 4, characterized in that: The central command transceiver module (11) is responsible for controlling the motor for controlling the driving pulley, the three-axis gyroscope (12) for attitude control, the ranging radar (10), the metal sliding groove (15), the annular metal sliding groove (16), the high-pressure water nozzle (5), and the vacuum sewage pump (9); The three-axis gyroscope (12) is used to measure and sense the motion state of the in-pipe integrated robot for the central command transceiver module (11) to perform attitude adjustment.

6. The intelligent dredging robot for suction-type underground drainage pipes according to claim 1, wherein: The intelligent pipeline sediment diagnosis module uses a stacked sparse autoencoder and a logistic regression classifier as the intelligent pipeline sediment diagnosis algorithm, and takes the data of the flow characteristics index of the drainage pipeline as the input, and the sediment length and sediment thickness of the drainage pipeline as the output; the intelligent pipeline sediment diagnosis module runs on the deep learning development board (13), and the deep learning development board (13) outputs the pipeline sediment diagnosis result and transmits it to the central command transceiver module (11) of the in-pipe integrated robot.

7. The intelligent dredging robot for the suction type underground drainage pipeline according to claim 1, characterized in that: The manhole box includes a box body (17), a box cover (18), fixing claws (19), a lithium battery (20), a non-contact pipeline liquid level gauge (21), a 4G wireless communication module (22), a whip antenna (23), and a floating towed cable (24); the lithium battery (20), 4G wireless communication module (22), non-contact pipeline liquid level gauge (21), and whip antenna (23) are all installed and fixed inside the box body (17).

8. The intelligent dredging robot for suction type underground drainage pipes according to claim 7, characterized in that: The 4G wireless communication module (22) is used to receive the overcurrent characteristic index data sent by the ground console, and transmit the overcurrent characteristic index data of the drainage pipeline to the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot, which is used as the data input of the pipeline siltation intelligent diagnosis algorithm.

9. The intelligent dredging robot for suction type underground drainage pipes according to claim 7, characterized in that: The whip antenna (23) is connected to the 4G wireless communication module (22) to upload and download 4G wireless data; one end of the floating towed cable (24) is connected to the non-contact pipeline liquid level gauge (21), lithium battery (20), 4G wireless communication module (22), and the above-ground water source, and the other end is connected to the aviation plug interface (14); the box body (17) and the box cover (18) are fixed on the well wall of the manhole through the fixing claws (19).

10. A silt cleaning method for the suction type intelligent silt cleaning robot for underground drainage pipelines according to any one of claims 1-9, characterized in that: Including the following steps Step S101, transmit the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board (13) of the in-pipe integrated robot through the 4G wireless communication module (22); Step S102, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot takes the pipeline inlet and outlet flow velocity / flow rate data in Step S101 as the input, runs on the deep learning development board of the in-pipe integrated robot, and outputs the pipeline siltation diagnosis result; when the siltation depth is greater than or equal to one-fourth of the pipe diameter, the pipeline siltation diagnosis result is output as siltation occurred and dredging operation is required; when the siltation depth is less than one-fourth of the pipe diameter, the pipeline siltation diagnosis result is that no siltation occurred and no dredging operation is required; Step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation result to the central command transceiver module (11) of the in-pipe integrated robot; when the pipeline siltation diagnosis result is output as siltation occurred, the central command transceiver module (11) controls the driving wheel (2) and the telescopic rod (1) of the in-pipe integrated robot to move forward in the underground drainage pipeline, and during the movement, the central command transceiver module (11) simultaneously turns on the high-pressure water spray head (5), siltation mass crushing knife (6), annular metal sliding groove (16), silt extraction pipe (7), silt discharge pipe (8), and vacuum sewage suction pump (9) for collaborative dredging operation; Step S104, during the movement of the in-pipe integrated robot, the ranging radar (10) of the in-pipe integrated robot continuously detects whether there is pipeline siltation mass higher than the siltation mass crushing knife (6) of the in-pipe integrated robot; Step S105, if the ranging radar (10) detects in real time that there is pipeline silt that is higher than the silt-breaking knife (6) of the in-pipe integrated robot and the distance between them is less than 10 cm, the central command transceiver module (11) of the in-pipe integrated robot controls the driving wheel (2) to stop moving forward, and at the same time sends a working instruction to the stud-faced electric hammer (4); Step S106, after the stud-faced electric hammer (4) receives the working instruction sent by the central command transceiver module (11), it moves up, down, left, and right by using the metal sliding groove (15) and hammers the pipeline silt to crush it into small pieces of silt, and then the silt-breaking knife (6) further breaks the small pieces of silt into fine particles; Step S107, the high-pressure water nozzle (5) sprays the fine particles obtained by the silt-breaking knife (6) with water flow, and the vacuum sewage pump (9) sucks the mixed fluid of water flow and fine particles into the ground dredging container through the dredging pipe (7) and the silt discharge pipe (8). Repeat the above steps to complete the dredging treatment of the underground drainage pipeline.

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