An intelligent hydraulic excavation robot and construction method for foundation pit excavation

Abstract

This invention discloses an intelligent hydraulic excavation robot and construction method for foundation pit excavation, including a control system, a walking mechanism, a high-pressure water spraying mechanism, and a mud pumping mechanism. The walking mechanism works in conjunction with the control system, which controls the walking mechanism to drive the robot as a whole. The high-pressure water spraying mechanism and the mud pumping mechanism are located at the front end of the walking mechanism and connected to the control system, which controls them to perform water spraying and mud pumping. This solution uses intelligent equipment to replace manual labor for foundation pit excavation. The hydraulic excavation robot enables unmanned and efficient excavation of foundation pits, greatly improving the construction efficiency of foundation pit excavation.

Description

Technical Field

[0001] This invention relates to the field of construction engineering technology, specifically to an intelligent hydraulic excavation robot and construction method for foundation pit excavation. Background Technology

[0002] For mega-scale public construction projects such as airport terminals, convention centers, stadiums, and large urban complexes, the excavation volume of foundation pits can reach millions of cubic meters. At the same time, these projects face increasingly stringent environmental protection requirements for construction sites and urban roads. Therefore, the speed and smooth removal of excavated soil during the foundation pit construction phase has become a major factor restricting the project's progress.

[0003] The existing water jetting method uses high-pressure water jets to cut and crush the original mud (sand), causing the soil to disintegrate and form a fluid slurry. The slurry is then pumped by a slurry pump to a designated spoil heap where it settles into soil. Compared with traditional earthwork excavation methods, water jetting can effectively solve the problem of dust pollution on site, achieving green construction.

[0004] However, when using the water flushing method for foundation pit excavation, in order to meet the construction period requirements, it is generally necessary to implement three shifts of personnel to work in shifts to maintain 24-hour uninterrupted construction. A water flushing point is set up every 400-600m2, and three water guns are configured. Each water gun is equipped with two flushing workers. At the same time, each shift also needs to be equipped with one electrician, one construction management personnel, and two mobile personnel.

[0005] In addition, water jetting excavation requires open-air operations, which have a poor working environment, especially in the hot summer. This makes it less attractive to new industrial workers, and the shortage of workers and high labor costs will become key factors restricting the promotion of water jetting. As a result, the construction efficiency of foundation pit excavation is greatly reduced due to manual construction and the shortage of workers.

[0006] Therefore, improving the construction efficiency of foundation pit excavation is a problem that needs to be solved in this field. Summary of the Invention

[0007] To address the technical problem of low construction efficiency in existing foundation pit excavation methods, the present invention aims to provide an intelligent hydraulic excavation robot for foundation pit excavation. This hydraulic excavation robot enables unmanned and efficient excavation of soil from foundation pits, greatly improving the construction efficiency of foundation pit excavation. Furthermore, the invention also provides a construction method for the hydraulic excavation robot for foundation pit excavation, effectively overcoming the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides an intelligent hydraulic excavation robot for foundation pit excavation, comprising a control system, a walking mechanism, a high-pressure water spraying mechanism, and a mud pumping mechanism; the walking mechanism cooperates with the control system, and the control system controls the walking mechanism to drive the robot as a whole to move; the high-pressure water spraying mechanism and the mud pumping mechanism are located at the front end of the walking mechanism and are connected to the control system, and the control system controls the high-pressure water spraying mechanism and the mud pumping mechanism to perform water flushing and mud pumping.

[0009] Furthermore, the front end of the walking mechanism is equipped with an obstacle avoidance system that is connected in conjunction with the control system. The obstacle avoidance system includes a radar ranging sensor and an ultrasonic ranging sensor. It measures distances using radar and ultrasonic sensors and transmits the ranging information to the control system in real time. The control system then controls the direction of the robot's walking mechanism to avoid obstacles in a timely manner.

[0010] Furthermore, the walking mechanism is equipped with water protection mechanisms on both sides; the water protection mechanisms include water level sensors and alarm devices; the water level sensors are installed on both sides of the tracked chassis structure, and are equipped with alarm devices. When the water on the chassis exceeds the water level sensor, the alarm device is triggered to sound an alarm.

[0011] Furthermore, the high-pressure water spraying mechanism includes a clean water collector, a water supply pipeline, and a water gun head;

[0012] One end of the water collector is connected to the external water supply system, and the other end passes through the chassis of the walking mechanism and is connected to the water gun head. The water gun head is located at the front end of the walking mechanism. The water collector transports water from the external water supply system to the water gun head through the water pipeline to perform water jetting, cutting and crushing of the original mud and sand in the foundation pit.

[0013] Furthermore, the connection between the water gun head and the water supply pipeline is equipped with a rotary drive motor and a pitch drive motor, which are connected to the water gun head for driving. The rotary drive motor can drive the DC water gun head to rotate in the horizontal direction, and the pitch drive motor can drive the DC water gun head to rotate in the vertical direction.

[0014] Furthermore, the mud pump includes a slurry pump, a hydraulic power station, and a delivery pipe;

[0015] The hydraulic power station is mounted on the chassis of the traveling mechanism and connected to the slurry pump via two oil pipes to provide power to the slurry pump.

[0016] The slurry pump is placed above the traveling mechanism and fixed to the chassis of the traveling mechanism by a telescopic arm. The slurry pump can be detached or placed in the mud pit for pumping out mud by extending and retracting the telescopic arm.

[0017] The conveying pipe is connected to the drain outlet of the slurry pump, and the slurry pumped by the slurry pump is transported through the conveying pipe to the designated spoil disposal site where it settles into soil.

[0018] Furthermore, the intelligent hydraulic excavation robot used for foundation pit excavation is also equipped with a dynamic balancing system; the dynamic balancing system includes an intelligent control module and a first flow meter and a second flow meter; the first flow meter is installed in the high-pressure water spraying mechanism and measures the flow rate of clean water; the second flow meter is installed in the mud pumping mechanism and measures the flow rate of mud; the first and second flow meters are connected to the intelligent module and transmit the measured clean water flow rate and mud pumping volume data to the intelligent module; the intelligent module controls the flow rate of the high-pressure water spraying mechanism and the mud pumping mechanism respectively based on the data from the first and second flow meters to dynamically balance the water supply of the high-pressure water spraying component and the mud pumping volume of the mud pumping system.

[0019] Furthermore, the intelligent hydraulic excavation robot used for foundation pit excavation is also equipped with a monitoring system; the monitoring system includes a data acquisition unit, an identification unit, and a remote control terminal; the data acquisition unit is connected to the identification unit and transmits the acquired video data to the identification unit for identification; the remote control terminal manually or automatically controls the status of the water gun head and the direction of the walking mechanism according to the information identified by the identification unit.

[0020] Furthermore, the acquisition unit includes a lifting platform, a first camera, a second camera, and a video information wireless transmitter; the lifting platform is installed above the walking mechanism, the first camera is set on the top of the lifting platform, and the camera can move up and down relative to the walking mechanism through the lifting platform to monitor the surrounding environment of the hydraulic excavation robot; the second camera is set below the water gun head, and the second camera rotates freely with the water gun head to monitor the water flow eroding the soil in front in real time.

[0021] To achieve the above objectives, the present invention provides a construction method for an intelligent hydraulic excavation robot used for foundation pit excavation, comprising a hydraulic excavation robot for foundation pit excavation, and further comprising:

[0022] (1) Lay clean water conveying pipelines and mud conveying pipelines, and excavate mud pits at the designated flushing points;

[0023] (2) Determine the water-to-mud ratio of different soil layers based on the geological survey report, and set the depth parameters and water-to-mud ratio of different soil layers in the dynamic balance control system of water supply and pumping volume of the hydraulic excavator.

[0024] (3) Remote-controlled hydraulic excavation robot enters the construction site;

[0025] (4) After the robot travels to the water flushing point, it connects the external water supply system with the high-pressure water spraying mechanism, connects the slurry pump drain outlet with the mud conveying pipe, and then places the slurry pump with the buoy tied to it into the mud pit.

[0026] (5) After starting the external water supply system, the high-pressure water spraying mechanism of the remote-controlled hydraulic excavation robot performs water flushing operations on the construction site. When a certain amount of mud is poured into the mud pit, the mud pumping system is turned on.

[0027] (6) The operation of the construction site is monitored in real time by the image monitoring system of the hydraulic excavation robot, and the horizontal direction and vertical rotation angle of the robot's water gun head are automatically determined by the image recognition algorithm based on the image of the scour area transmitted by the image monitoring system.

[0028] (7) After completing the soil flushing operation at the current water flushing point, the remote-controlled robot travels to the next water flushing point.

[0029] The present invention provides an intelligent hydraulic excavation robot and construction method for foundation pit excavation. By using intelligent equipment to replace manual labor for foundation pit excavation, the hydraulic excavation robot can achieve unmanned and efficient soil removal, which greatly improves the construction efficiency of foundation pit excavation. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Figure 1 This is a structural schematic diagram of a hydraulic excavation robot used for foundation pit excavation.

[0032] Figure 2 This is a flowchart illustrating the construction method of a hydraulic excavation robot used for foundation pit excavation.

[0033] The following are the component labels in the attached diagram:

[0034] 1. Tracked chassis structure 2. Water level sensor 3. Radar ranging sensor 4. Ultrasonic ranging sensor 5. Lighting system 6. Clean water collector 7. Water supply pipeline 8. Water gun head 9. Rotary drive motor 10. Pitch drive motor 11. Hydraulic power station 12. Oil pipe 13. Slurry pump 14. Telescopic boom 15. First camera 16. Lifting platform 17. Second camera 18. Video information wireless transmitter. Detailed Implementation

[0035] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0036] To address the technical problem of low construction efficiency in existing foundation pit excavation methods, this invention provides an intelligent hydraulic excavation robot for foundation pit excavation. By using intelligent equipment to replace manual labor in foundation pit excavation, the hydraulic excavation robot can achieve unmanned and efficient soil removal, greatly improving the construction efficiency of foundation pit excavation.

[0037] The intelligent hydraulic excavation robot for foundation pit excavation provided by this invention, see [link to relevant documentation]. Figure 1 It includes a control system, a walking mechanism, a high-pressure water spraying mechanism, a mud pumping mechanism, and a dynamic balance control system.

[0038] Specifically, the walking mechanism is used for the robot's movement. It includes a walking component and a drive component. The drive component drives and connects to the walking component. The drive component is connected in conjunction with the control system. The control system controls the drive component to supply power to the walking component, which in turn drives the entire robot to move.

[0039] In this scheme, given that the soil at the construction site for the water flushing method is loose and muddy, in order to ensure the site accessibility of the walking mechanism, the walking component preferably adopts a tracked chassis structure 1.

[0040] The walking component in this solution is preferably electrically driven, and can be powered by either a built-in lithium battery or an external power source. When connected to an external power source, the lithium battery is in a charging state, and will automatically stop working once fully charged. When not connected to an external power source, the built-in lithium battery provides power.

[0041] In addition, there are three modes for controlling the walking mechanism through the control system. The first mode is remote wireless remote control; the second mode is based on Beidou / GPS waypoint navigation to enable the hydraulic excavator robot to automatically travel from water flushing point A on the map to water flushing point B; the third mode is to set up an electronic fence, within which the control system automatically plans the distribution of water charging and the optimal driving path.

[0042] This solution is not limited to using any one of the three modes mentioned above; the specific application can be determined according to the actual situation.

[0043] Furthermore, a lighting system 5 is installed above the tracked chassis structure 1. This system can be a rechargeable LED searchlight with its own lithium battery. It can be charged by an external power source or powered by the chassis's built-in lithium battery.

[0044] The lighting system 5 is equipped with a built-in brightness sensor for control. The brightness sensor can automatically turn on when the brightness is low, which provides convenience for nighttime construction.

[0045] An obstacle avoidance system is installed at the front of the tracked chassis structure 1. The obstacle avoidance system can automatically avoid obstacles when the robot is walking, so as to ensure the normal walking of the robot.

[0046] The obstacle avoidance system is connected to the control system. It includes a radar ranging sensor 3 and an ultrasonic ranging sensor 4. The system measures distances using radar and ultrasonic sensors and transmits the distance information to the control system in real time. The control system then controls the robot to avoid obstacles in a timely manner.

[0047] Secondly, water wading protection mechanisms are installed on the left and right sides of the tracked chassis structure 1; the water wading protection mechanisms include water level sensors 2 and alarm devices.

[0048] Water level sensors 2 are installed on the left and right sides of the chassis of the tracked chassis structure 1, and are equipped with alarm devices. When the water in the chassis of the tracked chassis structure 1 exceeds the water level sensor 2, the alarm device is triggered to sound an alarm, which further improves the safety of the robot during operation.

[0049] It should be noted that the working principles of the three modes of movement of the tracked chassis structure 1, the lighting system 5, the obstacle avoidance system, and the water level sensor 2 are well known to those skilled in the art, and will not be elaborated here.

[0050] The high-pressure water spraying mechanism is used for water spraying to flush soil. It includes a clean water collector 6, a water supply pipeline 7, and a water gun head 8.

[0051] One end of the water collector 6 is connected to the external water supply system, and the other end is connected to the water gun head 8 through the tracked chassis structure 1. The water gun head 8 is located at the front of the entire robot. The water collector 6 transports water from the external water supply system to the water gun head 8 through the water pipeline 7 to perform water jetting, cutting and crushing of the original mud and sand in the foundation pit.

[0052] Furthermore, the external water supply system includes a water storage tank, a clean water pump, a large-diameter ordinary plastic hose, a booster pump, a multi-hole pipe adapter, and a small-diameter pressure-resistant hose.

[0053] The clean water pump draws water from the reservoir, and the water flows through a large-diameter pressure-resistant hose into a booster pump for pressurization. Then, it flows through a multi-hole pipe adapter into multiple small-diameter pressure-resistant hoses.

[0054] The clean water collector is connected to the small-diameter pressure-resistant hose with a quick connector, which delivers clean water to the water gun head through the water supply pipeline at a high pressure of not less than 0.6 MPa.

[0055] In addition, at the connection between the water gun head and the water supply pipeline, the control system is equipped with a rotary drive motor 9 and a pitch drive motor 10, which are connected to the water gun head 8 for driving.

[0056] By setting the rotary drive motor 9, the DC water gun head 8 can be rotated ±90 degrees in the horizontal direction, and the pitch drive motor 10 can be rotated -30 to +60 degrees in the vertical direction.

[0057] By setting up a rotary drive motor 9 and a pitch drive motor 10, the water gun head 8 can be switched freely in all directions, enabling multi-directional soil flushing operations.

[0058] The mud pumping mechanism is used for slurry pumping operations and includes a slurry pump 13 and a hydraulic power station 11.

[0059] The hydraulic power station 11 is mounted on the chassis of the tracked chassis structure 1 and connected to the slurry pump 13 via two oil pipes 12 to provide power to the slurry pump 13.

[0060] The hydraulic power station 11 can use an electric motor or a gasoline engine as a power source, and there is no specific limitation on the choice.

[0061] The slurry pump 13 is placed in a fixed position above the traveling mechanism. It is connected to the traveling mechanism in conjunction with the telescopic arm 14. The telescopic arm 14 is connected to the control system. By controlling the extension and retraction of the telescopic arm 14 through the control system, the slurry pump 13 can be detached from or placed in the mud pit for pumping out mud.

[0062] The slurry pump 13 discharges through a connecting pipe to the spoil disposal site. When slurry pumping is required, the slurry is pumped into the connecting pipe by the slurry pump 13 and then diverted to the designated spoil disposal site to settle into soil.

[0063] In addition, the slurry pump 13 can be equipped with a float to keep it suspended in the mud pit, enabling it to pump lighter particles and preventing the slurry pump 13 from sucking in excessively large diameter particles that could cause blockage.

[0064] Secondly, since the high-pressure water spraying mechanism is used in conjunction with the mud pumping mechanism, the original mud (sand) is first cut and crushed by the high-pressure water spraying mechanism, so that the soil disintegrates and forms a fluid mud. Then, the mud pumping mechanism is used to transport the mud to the designated spoil disposal site and settle it into soil.

[0065] Therefore, this solution incorporates a dynamic balance control system, which can balance the water supply and slurry pumping volume of the high-pressure water spraying mechanism and the mud pumping mechanism.

[0066] The dynamic balance control system includes an intelligent control module and two flow meters; the two flow meters are connected to the intelligent control module; the intelligent control module is connected to the slurry pump 13 and the clean water pump to control the flow rate of the slurry pump 13 and the clean water pump.

[0067] One flow meter is installed in the high-pressure water spraying mechanism to measure the flow rate of clean water; the other flow meter is installed in the mud pumping mechanism to measure the flow rate of mud.

[0068] The optimal mud content is calculated based on the soil parameters provided in the geological survey report. Then, the ratio of clean water to mud slurry (e.g., water: mud = 5:1) is determined for different soil layers. The water supply of the high-pressure water jet component and the mud pumping volume of the mud slurry pumping system are controlled by the intelligent control module to achieve a dynamic balance between the two.

[0069] Based on the aforementioned intelligent hydraulic excavation robot for foundation pit excavation, this solution is also equipped with a monitoring system, which includes a data acquisition unit, an identification unit, and a remote control terminal.

[0070] Furthermore, the acquisition unit includes a lifting platform 16, a first camera 15, a second camera 17, and a video information wireless transmitter 18.

[0071] The lifting platform 16 is installed above the walking mechanism, and the first camera 15 is set on the top of the lifting platform 16. The first camera 15 can move up and down relative to the walking mechanism through the lifting platform 16.

[0072] The first camera 15 preferably adopts a spherical camera, which can achieve 360-degree horizontal rotation and -15 to 90-degree vertical rotation, thereby enabling real-time monitoring of the surrounding environment of the hydraulic excavator robot.

[0073] Secondly, the second camera 17 is placed below the water gun head 8. The second camera 17 can rotate freely with the water gun head 8 to monitor the water flow eroding the soil in front in real time.

[0074] The first camera 15 and the second camera 17 transmit video information to the recognition unit via the video information wireless transmitter 18.

[0075] The identification unit is connected to the remote control terminal. Based on the image of the scour area transmitted by the monitoring unit, the identification unit can automatically determine the horizontal, pitch and rotation angle of the water gun head 8 through image recognition algorithm, and automatically determine whether it is necessary to move to the next scour point according to the change in soil volume in the scour area.

[0076] The remote control terminal has a display function, including two display units, which can simultaneously view the real-time images of the first camera 15 and the second camera 17.

[0077] Meanwhile, the remote control terminal can be connected to the water gun head 8 for manual or automatic remote control.

[0078] Specifically, the opening and closing of the water gun head 8, as well as its rotation in the horizontal and vertical directions, can be manually controlled via a remote control terminal.

[0079] The rotation of the water gun head 8 can also be set to automatic mode via remote control terminal. In this mode, the water gun head will automatically determine the horizontal, pitch and rotation angles of the water gun head based on the images transmitted by the acquisition unit and the recognition unit, and will automatically determine whether it is necessary to move to the next water scour point based on the changes in the amount of soil in the scour area, and remotely control the robot to move the site.

[0080] In addition, when the hydraulic excavator enters the construction site, in order to prevent the robot's tracks from getting stuck in the soil during long stays, steel plates can be laid along the robot's predetermined travel path and in the water-washing area. In addition, an operating platform can also be set up for the hydraulic excavator.

[0081] The operating workbench includes a support column and a steel plate support. The steel plate support is placed on top of the support column, and the two sides of the steel plate can be fitted with sliding grooves on both sides of the support column, so that the steel plate support can move up and down along the support column.

[0082] During operation, the hydraulic excavation robot is positioned above the steel plate foundation. As the excavation depth increases, the steel plate foundation can move down along the support column, which in turn moves the hydraulic excavation robot located on the steel plate foundation down synchronously.

[0083] The following example illustrates the working process of the hydraulic excavation robot in the foundation pit excavation construction of this solution. It should be noted that the following content is only a specific application example of this solution and does not constitute a limitation on this solution.

[0084] For the construction method of intelligent hydraulic excavation machines for foundation pit excavation, please refer to [link to relevant documentation]. Figure 2 ,include:

[0085] (1) Lay clean water conveying pipelines and mud conveying pipelines, and excavate mud pits at the designated flushing points;

[0086] (2) Determine the water-to-mud ratio of different soil layers based on the geological survey report, and set the depth parameters and water-to-mud ratio of different soil layers in the dynamic balance control system of water supply and pumping volume of the hydraulic excavator.

[0087] (3) Remotely control the hydraulic excavation robot to enter the construction site. In order to prevent the robot tracks from sinking into the soil when staying for a long time, steel plates can be laid on the robot's predetermined driving path and water flushing point area. In addition, an operating workbench can be set up for the hydraulic excavation robot.

[0088] (4) After the robot travels to the water flushing point, the construction personnel connect the small-diameter pressure-resistant hose for conveying clean water to the robot's clean water collector using a quick connector, and connect the small-diameter pressure-resistant hose for conveying mud to the slurry pump's drain outlet before placing the slurry pump with the buoy tied to it into the mud pit.

[0089] (5) After starting the external water supply system, remotely control the hydraulic excavation robot to carry out water flushing operation. When a certain amount of mud is poured into the mud pit, start the mud pumping system.

[0090] (6) The operation of the construction site is monitored in real time by the image monitoring system of the hydraulic excavation robot, and the horizontal direction and vertical rotation angle of the robot's water gun head are automatically determined by the image recognition algorithm based on the image of the scour area transmitted by the image monitoring system.

[0091] (7) After completing the soil flushing operation at the current water flushing point, the remote-controlled robot travels to the next water flushing point. The robot's obstacle ranging and obstacle avoidance system and water wading protection system can ensure driving safety.

[0092] (8) When carrying out soil flushing operations, if the soil conditions on site differ significantly from the geological survey report, and the pre-set ratio of clean water to mud does not meet the actual needs, the ratio of water supply to mud pumping can be adjusted remotely in real time.

[0093] (9) When working at night, the lighting system of the hydraulic excavator can be turned on.

[0094] The intelligent hydraulic excavation robot and construction method for foundation pit excavation, which consists of the above scheme, uses intelligent equipment to replace manual labor for foundation pit excavation. The hydraulic excavation robot can achieve unmanned and efficient soil removal in foundation pit excavation, save labor, reduce labor costs, help the construction industry transform and upgrade, and greatly improve the construction efficiency of foundation pit excavation.

[0095] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent hydraulic excavation robot for foundation pit excavation, characterized in that, It includes a control system, a walking mechanism, a high-pressure water spraying mechanism, a mud pumping mechanism, and a monitoring system; the walking mechanism works in conjunction with the control system, which controls the walking mechanism to drive the robot as a whole to walk; the high-pressure water spraying mechanism and the mud pumping mechanism are located at the front end of the walking mechanism and are connected to the control system, which controls the high-pressure water spraying mechanism and the mud pumping mechanism to perform flushing and pumping. The monitoring system includes a data acquisition unit, an identification unit, and a remote control terminal; the data acquisition unit includes a lifting platform, a first camera, a second camera, and a video information wireless transmitter. The lifting platform is installed above the walking mechanism, and the first camera is set on the top of the lifting platform. The first camera can move up and down relative to the walking mechanism through the lifting platform. The first camera is used to monitor the surrounding environment of the hydraulic excavation robot. The second camera is set below the water gun head in the high-pressure water spraying mechanism. The second camera can rotate freely with the water gun head and is used to monitor the water flow erosion of the soil in front in real time. The first and second cameras transmit video information to the recognition unit through a video information wireless transmitter. The recognition unit is connected to the remote control terminal. Based on the image of the eroded area transmitted by the acquisition unit, the recognition unit can automatically determine the horizontal, pitch, and rotation angle of the water gun head through image recognition algorithms, and automatically determine whether to move to the next water erosion point based on the changes in the soil volume in the eroded area. The remote control terminal can be connected to the water gun head. Through the remote control terminal, the rotation of the water gun head can be set to automatic mode. Based on the image of the eroded area transmitted by the acquisition unit, the recognition unit can automatically determine the horizontal, pitch, and rotation angle of the water gun head based on the image, and automatically determine whether to move to the next water erosion point based on the changes in the soil volume in the eroded area, and remotely control the robot to move to the site. The hydraulic excavation robot used for foundation pit excavation is also equipped with a dynamic balancing system. The dynamic balancing system includes an intelligent control module and a first flow meter and a second flow meter. The first flow meter is installed in the high-pressure water spraying mechanism and measures the flow rate of clean water. The second flow meter is installed in the mud pumping mechanism and measures the flow rate of mud. The first and second flow meters are connected to the intelligent module and transmit the measured clean water flow rate and mud pumping volume to the intelligent module. The intelligent module controls the flow rate of the high-pressure water spraying mechanism and the mud pumping mechanism respectively based on the data from the first and second flow meters to dynamically balance the water supply of the high-pressure water spraying component and the mud pumping volume of the mud pumping system.

2. The intelligent hydraulic excavation robot for foundation pit excavation according to claim 1, characterized in that, The walking mechanism is equipped with an obstacle avoidance system at its front end, which is connected to the control system. The obstacle avoidance system includes a radar ranging sensor and an ultrasonic ranging sensor. It measures distances using radar and ultrasonic sensors and transmits the ranging information to the control system in real time. The control system then controls the movement of the robot's walking mechanism to avoid obstacles in a timely manner.

3. The intelligent hydraulic excavation robot for foundation pit excavation according to claim 1, characterized in that, The walking mechanism is equipped with water protection mechanisms on both sides; the water protection mechanisms include water level sensors and alarm devices; the water level sensors are installed on both sides of the tracked chassis structure, and are equipped with alarm devices. When the water in the chassis exceeds the water level sensor, the alarm device is triggered to sound an alarm.

4. The intelligent hydraulic excavation robot for foundation pit excavation according to claim 1, characterized in that, The high-pressure water spraying mechanism includes a clean water collector, a water supply pipeline, and a water gun head; One end of the water collector is connected to the external water supply system, and the other end passes through the chassis of the walking mechanism and is connected to the water gun head. The water gun head is located at the front end of the walking mechanism. The water collector transports water from the external water supply system to the water gun head through the water pipeline to perform water jetting, cutting and crushing of the original mud and sand in the foundation pit.

5. The intelligent hydraulic excavation robot for foundation pit excavation according to claim 4, characterized in that, The connection between the water gun head and the water supply pipeline is equipped with a rotary drive motor and a pitch drive motor, which are connected to the water gun head for driving. The rotary drive motor can drive the DC water gun head to rotate in the horizontal direction. The pitch drive motor can drive the DC water gun head to rotate in the vertical direction.

6. The intelligent hydraulic excavation robot for foundation pit excavation according to claim 1, characterized in that, The mud pump includes a slurry pump, a hydraulic power station, and a delivery pipe; The hydraulic power station is mounted on the chassis of the traveling mechanism and connected to the slurry pump via two oil pipes to provide power to the slurry pump. The slurry pump is placed above the traveling mechanism and fixed to the chassis of the traveling mechanism by a telescopic arm. The slurry pump can be detached or placed in the mud pit for pumping out mud by extending and retracting the telescopic arm. The conveying pipe is connected to the drain outlet of the slurry pump, and the slurry pumped by the slurry pump is transported through the conveying pipe to the designated spoil disposal site where it settles into soil.

7. A construction method for an intelligent hydraulic excavation robot for foundation pit excavation, comprising the intelligent hydraulic excavation robot for foundation pit excavation as described in any one of claims 1 to 6, characterized in that, include: (1) Lay clean water conveying pipelines and mud conveying pipelines, and excavate mud pits at the predetermined water flushing points; (2) Determine the water-to-mud ratio of different soil layers based on the geological survey report, and set the depth parameters and water-to-mud ratio of different soil layers in the dynamic balance control system of water supply and pumping volume of the hydraulic excavator. (3) The remote-controlled hydraulic excavator enters the construction site; (4) After the robot travels to the water flushing point, it connects the external water supply system with the high-pressure water spraying mechanism, connects the slurry pump drain outlet with the mud conveying pipe, and then places the slurry pump with the buoy tied to it into the mud pit. (5) After starting the external water supply system, the high-pressure water spraying mechanism of the hydraulic excavation robot is remotely controlled to carry out water flushing operation on the construction site. When a certain amount of mud is poured into the mud pit, the mud pumping system is turned on. (6) The operation of the construction site is monitored in real time through the monitoring system of the hydraulic excavation robot, and the horizontal and vertical rotation angles of the robot's water gun head are automatically determined by the image recognition algorithm based on the images of the scour area transmitted by the monitoring system. (7) After completing the soil flushing operation at the current water flushing point, the remote-controlled robot travels to the next water flushing point.

Images