Tunnel cave rail drainage mud discharging equipment

Abstract

This invention discloses a track-based drainage and sludge removal device for tunnels and karst caves. Tracks can be selectively laid within the target karst cave or tunnel. The device includes an adjustment mechanism and transport units arranged in a ring array outside the adjustment mechanism. The adjustment mechanism includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism. I. Adaptability: This invention utilizes a combination of adjustment mechanism and transport units, enabling it to adapt to karst caves and tunnels of different sizes. The linear degrees of freedom of the adjustment mechanism and the mobility of the transport units allow the device to flexibly adjust the spacing and position to adapt to different working environments and requirements. II. Automated Operation: This invention has the ability to automatically detect the location of crusted sludge, achieving automatic sensing of the sludge location in the karst cave through a detection mechanism. Simultaneously, the device can automatically perform point-to-point sludge destruction, improving the automation level of the operation and reducing the need for manual operation.

Description

Technical Field

[0001] This invention relates to the field of engineering tunnel construction technology, and in particular to a track-guided drainage and mud removal device for tunnel karst caves. Background Technology

[0002] Drainage and mud removal are crucial in tunnel construction to ensure unobstructed drainage in the construction area and prevent water accumulation from affecting project progress and worker safety. During tunnel construction, large amounts of water and mud are often generated. If not drained promptly, this can lead to severe water accumulation inside the tunnel, impacting worker operations and construction progress.

[0003] Sludge deposits, also known as crusting sludge, refer to the sediment that accumulates in drainage pipes or equipment during tunnel construction and gradually forms a solid mass. Sludge deposits are often highly viscous and sticky, making them difficult to clean. This is because the mud used in tunnel construction contains a large number of fine particles and suspended matter, which easily deposit in drainage pipes and equipment, forming sludge deposits.

[0004] Traditional drainage systems typically use pipes and pumping stations. However, the presence of sludge and silt makes the inner walls of the pipes rough, worsening water flow and affecting drainage efficiency. Furthermore, the sludge and silt have strong adhesive properties, easily adhering to the surface of drainage equipment, causing malfunctions or even clogging the drainage system.

[0005] The inventors discovered that manually cleaning crusted sludge requires workers to enter narrow drainage pipes or equipment, resulting in confined and complex working spaces and posing safety risks. Due to the strong adhesiveness of the crusted sludge, manual operation alone is insufficient to completely remove it; often only partial removal is possible, failing to address the root cause of the problem.

[0006] The inventors also discovered that traditional drainage and sludge removal equipment struggles to handle crusted sludge because its processing capacity is limited. Traditional equipment often relies on water pressure to remove the sludge, but crusted sludge is highly adhesive, and mechanical force from water pressure alone is often insufficient to completely remove it. This inability to effectively remove sludge adhering to the pipe walls leads to blockages and impaired water flow.

[0007] Therefore, a track-guided drainage and mud removal device for tunnels and karst caves is proposed. Summary of the Invention

[0008] In view of this, the present invention aims to provide a track-based drainage and sludge removal device for tunnels and karst caves, which relies on water pressure to clean up sludge. However, the sludge formed by crusting has strong adhesion, and the mechanical force of water pressure alone is often insufficient to completely remove the sludge. The purpose of this application is to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial alternative.

[0009] The technical solution of this invention is implemented as follows: a track-based drainage and sludge removal device for tunnels and karst caves, in which tracks can be selectively laid within the target karst cave or tunnel. This technology includes an adjustment mechanism and a transport unit arranged in a ring array outside the adjustment mechanism. The adjustment mechanism includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism to adapt to karst caves and tunnels of different sizes. The transport unit drives the entire sludge removal device to move within the karst cave tunnel via a drive wheel assembly. The front of the adjustment mechanism is equipped with a detection mechanism that uses a universal angle adjustment mode to detect the orientation of the karst cave sludge. A sludge removal component is mounted on the outside of the transport unit for sludge removal operations on oriented sludge.

[0010] In this scheme, the implementation of the track-based drainage and sludge removal equipment for tunnels and karst caves includes the following components: Tracks are selectively laid within the target karst cave or tunnel to allow the equipment to move within it. An adjustment mechanism includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism to accommodate karst caves and tunnels of different sizes. A transport unit drives the entire sludge removal equipment to move autonomously within the karst cave tunnel via a drive wheel assembly. A detection mechanism located at the front of the adjustment mechanism, using a universal angle adjustment mode, is used to detect the orientation of the karst cave sludge. A sludge removal assembly is installed outside the transport unit for sludge removal operations on oriented sludge.

[0011] In one embodiment: the adjusting mechanism includes a frame that serves as the main structure of the sludge discharge equipment and two movable frames that are symmetrically slidably fitted on the frame; the transport unit also includes a connecting arm, one end of which is hinged to the frame, and the other end of which is equipped with the drive wheel assembly;

[0012] In this design: the adjustment mechanism consists of a frame and two movable frames. The frame is the main structure of the sludge removal equipment, while the movable frames slide symmetrically on the frame. Each transport unit includes a connecting arm, one end of which is hinged to the frame, and the other end is fitted with a driving wheel assembly. The linear degree of freedom of the adjustment mechanism is used to synchronously adjust the tilt angle of the connecting arm of each transport unit relative to the frame. By controlling the sliding of the movable frames, the spacing between each transport unit can be adjusted to accommodate karst tunnels of different sizes. The driving wheel assembly consists of a wheel driven by a motor, which rotates in conjunction with the connecting arm. Two sets of transport units are symmetrically arranged at the front and rear ends of the device, each set arranged in a circular array, providing front and rear support for the device within the karst tunnel. Due to this arrangement, only the sludge removal assembly needs to be loaded onto the transport unit facing the interior of the karst tunnel.

[0013] In one embodiment: the adjustment mechanism further includes a linear module mounted on the frame for outputting the linear degree of freedom, the linear module being driven by a first rotary actuator; one end and the other end of the support arm are respectively hinged to the middle of the moving frame and the connecting arm.

[0014] In this design, the adjustment mechanism includes a frame and a moving frame, as well as a linear module mounted on the frame for outputting linear degrees of freedom. The linear module is driven by a first rotary actuator. Additionally, a support arm is introduced, with one end hinged to the moving frame and the other end hinged to the middle of the connecting arm. When the linear module outputs linear degrees of freedom, it drives the moving frame to slide against the frame, and the support arm adjusts or lowers the connecting arm according to changes in spatial position, thereby adjusting the spacing between each transport unit to accommodate karst tunnels of different sizes.

[0015] In one embodiment: the linear module is preferably a ball screw, the first rotary actuator is preferably a first servo motor, the output shaft of the first servo motor is fixedly connected to the threaded rod of the ball screw, and the movable nut of the ball screw is fixedly connected to the movable frame.

[0016] In this design: a ball screw is preferred for the linear module, and a first servo motor is preferred for the first rotary actuator. The output shaft of the first servo motor is fixedly connected to the threaded rod of the ball screw, while the moving nut of the ball screw is fixedly connected to the moving frame.

[0017] In one embodiment: the dredging assembly includes a frame fixed to the machine frame, and a second rotary actuator mounted on the frame in a circular array. The second rotary actuator drives a first hinge arm to rotate and adjust. One end and the other end of the second hinge arm are respectively hinged to the end of the first hinge arm and a connecting platform. A detection element for detecting the location of silt in the sinkhole is installed on the connecting platform.

[0018] In this scheme: the detection mechanism includes a frame fixed to a chassis, and second rotary actuators mounted on the frame in a circular array. The second rotary actuators rotate by driving a first hinged arm, one end of which is hinged to the end of the first hinged arm and the connecting platform, respectively. A detection element for detecting the location of karst silt is mounted on the connecting platform. In use, the second rotary actuators drive the first hinged arm to rotate, thereby causing the second hinged arm to adjust its angle via the connecting platform. This driving mode forms a closed-loop transmission chain, allowing the connecting platform to uniformly and cyclically output different amounts of rotation according to each second rotary actuator, thus achieving uniform omnidirectional angle adjustment. The detection element is then driven to continuously detect the location of crusted silt within the karst tunnel.

[0019] In one embodiment, the second rotary actuator is preferably a second servo motor, and the output shaft of the second servo motor is fixedly connected to the end of the first hinge arm.

[0020] In this solution, by using a second servo motor as the power source, precise control of the first hinge arm is achieved, providing reliable power drive and precise control for the rotation adjustment of the dredging component.

[0021] In one embodiment: the dredging assembly includes two discs that are opposite to each other but not in direct contact. At least six first linear actuators are arranged in a circular array between the two discs with their central axis as a reference. The first linear actuators are used to adjust the angle of one of the discs. One disc is located at the front of the connecting arm. Specifically, the dredging assembly also includes a second linear actuator fixedly connected to the connecting arm. The second linear actuator is used to adjust the distance between the disc and the connecting arm. A third rotating assembly is mounted on the other disc. The third rotating assembly rotates to drive the cutter to perform dredging operations.

[0022] In this solution, the dredging component achieves multi-dimensional adjustment and multi-functional dredging operations through the coordinated action of multiple actuators and rotating components, thereby improving dredging efficiency and quality.

[0023] In one embodiment: the first linear actuator is preferably a first servo electric cylinder, the cylinder body and piston rod of the first servo electric cylinder are respectively universally hinged to the opposite sides of the two discs via universal joint couplings; the two adjacent first servo electric cylinders are arranged in a V-shape or inverted V-shape to increase their respective limit stroke and control accuracy; the second linear actuator is preferably a second servo electric cylinder, the cylinder body and piston rod of the second servo electric cylinder are respectively fixedly connected to the connecting arm and one of the discs.

[0024] In this solution, the combination of the first and second servo electric cylinders enables flexibility and precision in adjusting the disc angle and spacing, providing reliable power drive and precise control for the adjustment of the dredging components.

[0025] In one embodiment, the cutter is a three-jaw arc-shaped tool driven to rotate by an eccentric shaft. It is used to drill square-shaped fracture grooves into crusted silt, rather than the traditional circular fracture grooves.

[0026] In this solution, the use of a three-jaw arc-shaped cutter and an eccentric shaft drive enables efficient drilling operations and the formation of square breaking trenches. This improves the efficiency, quality, and thoroughness of dredging, better meeting the needs of dredging operations.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] I. Adaptability: This invention employs a combination of an adjustment mechanism and a transport unit, enabling it to adapt to karst tunnels of varying sizes. The linear degrees of freedom of the adjustment mechanism and the mobility of the transport unit allow the equipment to flexibly adjust its spacing and position to suit different working environments and requirements.

[0029] II. Automated Operation: This invention possesses the capability to automatically detect the location of crusted silt, achieving automatic sensing of the silt location within karst caves through a detection mechanism. Simultaneously, the equipment can automatically perform point-to-point silt breaking operations, improving the degree of automation and reducing the need for manual operation.

[0030] III. High-efficiency dredging: Utilizing a three-jaw arc-shaped cutter and a square breaking groove design, it can efficiently drill and break up clumps of silt. The rotation and cutting action of the cutter, along with the formation of the square breaking groove, improves the efficiency and quality of dredging operations, resulting in a more thorough removal of clumps of silt.

[0031] IV. Precision and Controllability: The use of linear modules, servo electric cylinders, and other control devices enables precise adjustment and control of the dredging components and cutters. Automated detection and adjustment mechanisms allow the equipment to accurately locate the sludge and perform precise cleaning, improving the accuracy and controllability of the dredging process.

[0032] V. Improved Safety: Automated operation and precise control reduce human intervention and risks, lowering the occupational and environmental risks for operators and improving work safety. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0035] Figure 2 This is a three-dimensional structural diagram of the adjustment mechanism of the present invention;

[0036] Figure 3 This is a three-dimensional structural diagram of the carrier unit and the detection mechanism of the present invention;

[0037] Figure 4 This is a three-dimensional structural diagram of the dredging component of the present invention;

[0038] Figure 5 This is a schematic diagram of the rectangular breaking groove generated by the rotation of the cutting tool according to the present invention;

[0039] Figure 6 This is a schematic diagram of the C++ control program of the present invention (first part);

[0040] Figure 7 This is a schematic diagram of the C++ control program of the present invention (Part Two).

[0041] Reference numerals: 1. Adjustment mechanism; 101. Frame; 102. First rotary actuator; 103. Linear module; 104. Moving frame; 105. Support arm; 2. Carrying unit; 201. Connecting arm; 202. Drive wheel assembly; 3. Detection mechanism; 301. Frame; 302. Second rotary actuator; 303. First hinge arm; 304. Second hinge arm; 305. Connecting platform; 306. Detection component; 4. Dredging assembly; 401. Disc; 402. First linear actuator; 403. Third rotary assembly; 404. Cutting tool; 405. Second linear actuator. Detailed Implementation

[0042] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below;

[0043] It is important to note that terms such as "first," "second," "symmetric," and "array" are used only to distinguish between descriptive and positional descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified with terms such as "first" or "symmetric" may explicitly or implicitly include one or more of that feature; similarly, when the quantity of certain features is not limited by words such as "two" or "three," it should be noted that such features also explicitly or implicitly include one or more features.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature. Simultaneously, all axial descriptions, such as the X-axis, Y-axis, Z-axis, one end of the X-axis, the other end of the Y-axis, or the other end of the Z-axis, are based on the Cartesian coordinate system.

[0045] In this invention, unless otherwise explicitly specified and limited, terms such as "installation," "connection," and "fixation" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral molding; they can refer to a mechanical connection, a direct connection, a welding connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the accompanying drawings and specific circumstances.

[0046] In existing technologies, crusting sludge refers to the sedimentation and gradual solidification of slurry discharged during tunnel construction within drainage pipes or equipment. Crusting sludge is often highly viscous and sticky, making it difficult to clean. This is because the slurry used in tunnel construction contains a large number of fine particles and suspended matter, which easily deposit in drainage pipes and equipment, forming crusting sludge. For information on drainage and sludge removal requirements during tunnel construction, please refer to [link to relevant documentation]. Figure 1-5 This invention provides a technical solution to solve the above-mentioned technical problems: a track-based drainage and sludge removal device for tunnels and karst caves, in which tracks can be selectively laid in the target karst cave or tunnel. This technology includes an adjustment mechanism 1 and a transport unit 2 arranged in a ring array outside the adjustment mechanism 1; the adjustment mechanism 1 includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism 1 to adapt to karst caves and tunnels of different sizes; the transport unit 2 drives the entire sludge removal device to move within the karst cave tunnel through a drive wheel assembly 202; the front of the adjustment mechanism 1 is provided with a detection mechanism 3 for detecting the orientation of the karst cave sludge through a universal angle adjustment mode; the transport unit 2 is equipped with a sludge removal component 4 for sludge removal operations on oriented sludge.

[0047] Furthermore, during use, the adjustment mechanism 1 is moved into the karst tunnel by itself, and the dredging component 4 at the front of the adjustment mechanism 1 performs uniform cyclic omnidirectional angle adjustment operation to continuously detect the location of the crusted silt in the karst tunnel; after obtaining the location information, the dredging component 4 is used to break or disperse the silt into crusted silt to achieve the need for drainage and sludge removal.

[0048] In this scheme, the implementation of the track-based drainage and sludge removal equipment for tunnels and karst caves includes the following components: Tracks are selectively laid within the target karst cave or tunnel to allow the equipment to move within it. Adjustment mechanism 1 includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism 1 to accommodate karst caves and tunnels of different sizes. The transport unit 2 drives the entire sludge removal equipment to move autonomously within the karst cave tunnel via a drive wheel assembly 202. A detection mechanism 3, located at the front of the adjustment mechanism 1, is used to detect the orientation of the karst cave sludge through a universal angle adjustment mode. A sludge removal assembly 4 is installed outside the transport unit 2 for sludge removal operations on oriented sludge.

[0049] Specifically, the design principle of this equipment is to achieve the drainage and sludge removal requirements through the coordinated operation of the adjustment mechanism 1 and the transport unit 2. The linear degree of freedom of the adjustment mechanism 1 can adjust the spacing between different adjustment mechanisms 1 to adapt to karst tunnels of different sizes. The transport unit 2 drives the entire sludge removal equipment to move autonomously within the karst tunnel through the drive wheel assembly 202 to detect and clean the sludge. The detection mechanism 3 is located at the front of the adjustment mechanism 1 and is used to detect the orientation of the karst sludge through a universal angle adjustment mode. Once the orientation information of the sludge is obtained, the sludge removal component 4 will perform corresponding sludge removal operations, breaking up or dispersing the sludge into crusts to achieve the drainage and sludge removal requirements.

[0050] Furthermore, this device requires the installation of an inertial measurement unit (IMU), which includes an accelerometer and a gyroscope, capable of measuring the linear acceleration and angular velocity of the equipment. By installing the IMU on the detection component 306, the attitude information of the equipment can be acquired in real time, thereby determining the orientation of the karst silt.

[0051] It is understood that, in this specific embodiment, the track-guided drainage and mud removal equipment for tunnel karst caves has the following functions:

[0052] (1) Adaptive to different sizes of karst caves and tunnels: By adjusting the linear degree of freedom of mechanism 1, the equipment can adapt to different sizes of karst caves and tunnels to ensure effective dredging operations.

[0053] (2) Detecting the location of silt: The detection mechanism 3 can accurately detect the location of silt through the universal angle adjustment mode, providing directional guidance for dredging.

[0054] (3) Dredging operation: The dredging component 4 is located outside the transport unit 2 and can perform dredging and mud removal operations on directional sludge, breaking or dispersing the sludge to ensure smooth drainage.

[0055] This type of track-guided drainage and sludge removal equipment for tunnels and karst caves can move autonomously and directionally detect the location of sludge within the tunnel. It can also perform targeted sludge removal operations using sludge removal components, thereby improving drainage efficiency and ensuring the smooth progress of tunnel construction.

[0056] In this scheme, all electrical components of the device are powered by the battery installed in the frame 1. Specifically, the electrical components of the device are conventionally electrically connected to the battery output port through relays, transformers and button panels to meet the power supply requirements of all electrical components of the device.

[0057] Specifically, the frame 1 of this device is also equipped with a controller, which is used to connect and control all electrical components of the device as a whole to drive according to the preset program as preset values ​​and drive modes. It should be noted that the above drive modes correspond to the output parameters such as start-stop time interval, speed, and power between the relevant electrical components mentioned below, which meets the requirements of the relevant electrical components driving the relevant mechanical devices to operate according to their described functions.

[0058] Preferably, the controller is a PLC controller, which is configured using ladder diagrams, sequential function diagrams, function block diagrams, and other methods. Preferably, the controller is also equipped with a wireless transmitting module and a wireless receiving module. The wireless transmitting module sends work or pause command signals to the wireless receiving module via a medium. When necessary, staff can input commands to the wireless transceiver module through a back-end wireless remote control device to remotely control the controller and, consequently, remotely control all electrical components of the device to drive according to relevant drive modes. Simultaneously, the wireless transceiver module can also transmit the correlation coefficients or other information detected by the relevant sensing elements or servo drive elements in the device to the staff in the back-end.

[0059] It should be noted that, in this specific embodiment, since this device is highly likely to operate in a water-containing environment, all electrical components should preferably be waterproof, and electrical connections should be treated with conventional waterproofing methods. For example, waterproof flanges can be used for sealing, and waterproof adhesive can be used to protect the electrical connections.

[0060] Please refer to the following specific embodiments in this application. Figures 2-5 The adjustment mechanism 1 includes a frame 101, which serves as the main structure of the sludge discharge equipment, and two movable frames 104 that are symmetrically slidably fitted on the frame 101; the transport unit 2 also includes a connecting arm 201, one end of which is hinged to the frame 101, and the other end of which is equipped with a drive wheel assembly 202.

[0061] Furthermore, the linear degrees of freedom of the adjusting mechanism 1 synchronously adjust the tilt angle of the connecting arm 201 of each transport unit 2 relative to the frame 101. That is, by controlling the sliding of the moving frame 104, the spacing between each transport unit 2 is adjusted to accommodate different sizes of karst tunnels. The moving wheel assembly 202 includes a wheel driven by a motor, which rotates and engages with the connecting arm 201. Since there are two moving frames 104, it is equivalent to having two sets of transport units 2 symmetrically arranged at the front and rear ends of the frame 101 of this device, with each set of transport units 2 arranged in a circular array. This configuration provides front and rear support for the device within the karst tunnel. Also, because of this arrangement, only the transport unit 2 facing the interior of the karst tunnel needs to be loaded with the dredging assembly 4.

[0062] In this scheme: the adjustment mechanism 1 consists of a frame 101 and two movable frames 104. The frame 101 is the main structure of the sludge removal equipment, while the movable frames 104 are symmetrically slidably fitted onto the frame 101. The transport unit 2 includes a connecting arm 201, one end of which is hinged to the frame 101, and the other end of which is equipped with a driving wheel assembly 202. The linear degree of freedom of the adjustment mechanism 1 is used to synchronously adjust the tilt angle of the connecting arm 201 of each transport unit 2 relative to the frame 101. By controlling the sliding of the movable frames 104, the spacing between each transport unit 2 can be adjusted to accommodate karst tunnels of different sizes. The driving wheel assembly 202 consists of a wheel driven by a motor, which rotates in cooperation with the connecting arm 201. Two sets of transport units 2 are symmetrically arranged at the front and rear ends of the device, and each set of transport units 2 is arranged in a circular array, realizing the front and rear support of the device in the karst tunnel. Due to this arrangement, only the sludge removal assembly 4 needs to be loaded on the transport unit 2 facing the inside of the karst tunnel.

[0063] Specifically: The frame 101 provides stable support as the main structure of the sludge removal equipment. Through the sliding of the movable frame 104, the adjusting mechanism 1 can synchronously adjust the tilt angle of the connecting arm 201 of each transport unit 2 relative to the frame 101. By controlling the sliding distance of the movable frame 104, the spacing between each transport unit 2 can be adjusted to accommodate karst tunnels of different sizes. One end of the connecting arm 201 is hinged to the frame 101, and the other end is equipped with a driving wheel assembly 202, which is driven by a motor to rotate the wheels. Because the transport units 2 are arranged in a circular array, the device can achieve front and rear support in the karst tunnel, providing stable movement and sludge removal operations.

[0064] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0065] (1) Adaptive to different sizes of karst tunnels: By adjusting the linear degree of freedom of mechanism 1, the spacing between each transport unit 2 can be adjusted so that the device can adapt to different sizes of karst tunnels and ensure effective dredging operations.

[0066] (2) Front and rear support and stable movement: By symmetrically arranging two sets of transport units 2 and in the form of a ring array, the device achieves front and rear support in the karst tunnel, providing stable movement and dredging operation.

[0067] (3) Simplified device configuration: Since the transport unit 2 only arranges the dredging components 4 facing the inside of the cave, the number and complexity of the device configuration can be reduced, and the operation efficiency and convenience can be improved.

[0068] This implementation method, through the design and arrangement of the adjustment mechanism 1 and the transport unit 2, enables the device to move stably and perform dredging operations in karst tunnels, adapts to tunnels of different sizes, and simplifies the configuration of the device.

[0069] Please refer to the following specific embodiments in this application. Figures 2-5 The adjustment mechanism 1 also includes a linear module 103 mounted on the frame 101 for outputting linear degrees of freedom. The linear module 103 is driven by the first rotary actuator 102. One end of the support arm 105 is hinged to the middle of the moving frame 104 and the connecting arm 201, respectively.

[0070] Furthermore, when the linear module 103 outputs linear degrees of freedom to drive the moving frame 104 to slide on the frame 101, the support arm 105 supports or lowers the connecting arm 201 due to changes in spatial position, thereby adjusting the spacing between each transport unit 2 to adapt to different sizes of karst tunnels.

[0071] In this scheme: the adjustment mechanism 1 includes a frame 101 and a movable frame 104, as well as a linear module 103 mounted on the frame 101 for outputting linear degrees of freedom. The linear module 103 is driven by a first rotary actuator 102. Furthermore, a support arm 105 is introduced, with one end hinged to the movable frame 104 and the other end hinged to the middle of the connecting arm 201. When the linear module 103 outputs linear degrees of freedom, it drives the movable frame 104 to slide on the frame 101. The support arm 105 supports or lowers the connecting arm 201 according to changes in spatial position, thereby adjusting the spacing between each transport unit 2 to accommodate karst tunnels of different sizes.

[0072] Specifically: The linear module 103 is driven by the first rotary actuator 102, which is mounted on the frame 101. The output of the linear module 103 provides the linear degree of freedom of the adjustment mechanism 1, allowing the movable frame 104 to slide on the frame 101. Simultaneously, the support arm 105 is hinged to both the movable frame 104 and the connecting arm 201, forming a support system. When the linear module 103 outputs its linear degree of freedom, the movable frame 104 slides on the frame 101, while the support arm 105 adjusts its position to support or lower the connecting arm 201. By adjusting the position of the support arm 105, the spacing between each transport unit 2 can be adjusted to accommodate different sizes of karst tunnels.

[0073] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0074] (1) Linear degree of freedom adjustment: The output of the linear module 103 drives the moving frame 104 to slide on the frame 101, thereby realizing the adjustment of the linear degree of freedom and adapting to different sizes of karst tunnels.

[0075] (2) Support arm support system: The support arm 105 is designed to be hinged with the moving frame 104 and the connecting arm 201 to form a support system. The support arm 105 supports or lowers the connecting arm 201 according to the output of the linear module 103, thereby adjusting the spacing between each transport unit 2.

[0076] (3) Adapting to different sizes of karst tunnels: Through the design of the adjustment mechanism 1, especially the combination of the linear module 103 and the support arm 105, the spacing adjustment for karst tunnels of different sizes is realized, ensuring the adaptability and flexibility of the device in different environments.

[0077] This implementation, through the design of the linear module 103 and the support arm 105, achieves the linear degrees of freedom and spacing adjustment function of the adjustment mechanism 1 to adapt to karst tunnels of different sizes. This provides crucial support for the stable movement and adaptability of the device.

[0078] Please refer to the following specific embodiments in this application. Figures 2-5 The linear module 103 is preferably a ball screw, the first rotary actuator 102 is preferably a first servo motor, the output shaft of the first servo motor is fixedly connected to the threaded rod of the ball screw, and the movable nut of the ball screw is fixedly connected to the movable frame 104.

[0079] In this design: a ball screw is preferred for the linear module 103, while a first servo motor is preferred for the first rotary actuator 102. The output shaft of the first servo motor is fixedly connected to the threaded rod of the ball screw, and the movable nut of the ball screw is fixedly connected to the movable frame 104.

[0080] Specifically, a ball screw is a transmission device that converts rotational motion into linear motion by having balls roll in the threaded grooves of a threaded rod. In this embodiment, a first servo motor serves as the power source, and is fixedly connected to the threaded rod of the ball screw via its output shaft, converting rotational motion into linear motion. The movable nut of the ball screw is fixedly connected to the movable frame 104. When the first servo motor drives the ball screw to rotate, the movable nut moves linearly along the threaded rod of the ball screw, thereby pushing the movable frame 104 to slide and adjust on the frame 101.

[0081] It is understood that, in this specific embodiment, by using a ball screw as the linear module 103 and a first servo motor as the first rotary actuator 102, the following functions are achieved:

[0082] (1) Efficient linear motion conversion: The ball screw converts rotational motion into linear motion through rolling motion, realizing efficient linear motion conversion and providing a reliable power source for the adjustment of the device.

[0083] (2) Precise motion control: The first servo motor, as the driving device, can precisely control the rotation of the ball screw, thereby achieving precise sliding adjustment of the moving frame 104 and ensuring the accuracy and stability of the device in different positions.

[0084] (3) Reliable connection and fixation: By fixing the output shaft of the first servo motor to the threaded rod of the ball screw, and fixing the movable nut of the ball screw to the movable frame 104, the reliability and stability of the connection are guaranteed, ensuring the normal operation and long-term use of the device.

[0085] This implementation, through the combination of a ball screw and a first servo motor, achieves efficient linear motion conversion and precise motion control of the linear module 103, providing reliable power support for the spacing adjustment of the device.

[0086] Please refer to the following specific embodiments in this application. Figures 2-5 The detection mechanism 3 includes a frame 301 fixed on the frame 101 and a second rotary actuator 302 mounted on the frame 301 in a ring array. The second rotary actuator 302 drives a first hinge arm 303 to rotate and adjust. One end of the second hinge arm 304 is hinged to the end of the first hinge arm 303 and the connecting platform 305, respectively. A detection element 306 for detecting the location of karst silt is installed on the connecting platform 305.

[0087] Furthermore, during use, the second rotary actuator 302 drives the first hinge arm 303 to perform rotational adjustment, which in turn drives the second hinge arm 304 to perform angle adjustment in conjunction with the connecting platform 305. This driving mode forms a closed-loop transmission chain, enabling the connecting platform 305 to achieve uniform omnidirectional angle adjustment according to the uniform and cyclical output of different rotation amounts from each second rotary actuator 302, thereby driving the detection element 306 to continuously detect the location of the crusted silt inside the karst tunnel.

[0088] In this scheme: the detection mechanism 3 includes a frame 301 fixed on a frame 101, and second rotary actuators 302 mounted on the frame 301 in a circular array. The second rotary actuators 302 drive the first hinge arm 303 for rotational adjustment, and one end of the second hinge arm 304 is hinged to the end of the first hinge arm 303 and the connecting platform 305, respectively. A detection element 306 for detecting the location of silt in the karst cave is installed on the connecting platform 305. In use, the second rotary actuators 302 drive the first hinge arm 303 for rotational adjustment, thereby driving the second hinge arm 304 to adjust its angle through the connecting platform 305. This driving mode forms a closed-loop transmission chain, allowing the connecting platform 305 to uniformly and cyclically output different rotation amounts according to each second rotary actuator 302, thereby achieving uniform omnidirectional angle adjustment. The detection element 306 is then driven to continuously detect the location of the crusted silt in the karst cave tunnel.

[0089] Specifically: The second rotary actuator 302 drives the first hinged arm 303 to rotate. Through the hinged connection, the movement of the first hinged arm 303 is transmitted to the second hinged arm 304, allowing it to adjust its angle on the connecting platform 305. This driving mode forms a closed-loop transmission chain. The connecting platform 305 outputs different rotation amounts uniformly and cyclically according to each second rotary actuator 302, achieving uniform omnidirectional angle adjustment. The detection element 306 is installed on the connecting platform 305. As the angle of the connecting platform 305 is adjusted, the location of the crusted silt inside the karst tunnel can be continuously detected.

[0090] Furthermore, the inspection component 306 can be selected as follows:

[0091] (1) Visual sensors: Visual sensors such as CCD cameras or laser sensors are used to identify the location and orientation of silt in karst caves through the processing and analysis of image or point cloud data. Through image or point cloud processing algorithms, the features of the silt can be extracted and the orientation of the silt can be accurately determined.

[0092] (2) Ultrasonic Sensor: The ultrasonic sensor can measure distance and direction. By installing the ultrasonic sensor on the detection component 306, the location and orientation of the karst silt can be detected by the reflection of ultrasonic waves. The ultrasonic sensor can measure distance by sending and receiving ultrasonic waves without direct contact with the silt, thus avoiding interference from silt adhesion. The ultrasonic sensor can measure distance in multiple directions, providing more comprehensive information on the location of the silt and helping to determine its orientation. The ultrasonic sensor can measure the distance between the equipment and the silt in real time. Through real-time feedback, the operator can monitor changes in the orientation of the silt and make corresponding adjustments.

[0093] (3) Magnetometer: A magnetometer can measure the strength and direction of the surrounding magnetic field. By installing a magnetometer on the detection component 306, the location of the silt in the sinkhole can be determined by the changes in the magnetic field. The magnetometer can measure the strength and direction of the surrounding magnetic field, and by detecting changes in the magnetic field, the location of the silt can be determined. The magnetometer has a certain degree of anti-interference capability against magnetic interference in the environment and can reliably detect the location of the silt in relatively complex environments. The magnetometer can measure changes in the magnetic field in real time and provide real-time feedback, so that operators can understand the changes in the location of the silt in a timely manner and make corresponding adjustments.

[0094] (4) Depth Sensor: By installing a depth sensor, such as a pressure sensor or an ultrasonic distance sensor, the distance between the equipment and the silt can be measured, thereby determining the location of the silt. The depth sensor can measure the distance between the equipment and the silt with high precision, providing accurate silt location information and helping to determine the silt's orientation. The depth sensor can measure the distance between the equipment and the silt in real time. Through real-time feedback, operators can understand the changes in the silt's orientation in real time and make corresponding adjustments. The depth sensor does not need to be in direct contact with the silt; it determines the silt's orientation by measuring changes in distance, avoiding interference from silt adhesion.

[0095] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0096] (1) Uniform omnidirectional angle adjustment: The rotation adjustment of the first hinge arm 303 is driven by the second rotary actuator 302, thereby driving the second hinge arm 304 to adjust its angle through the connecting table 305. This driving mode allows the connecting table 305 to output different rotation amounts uniformly and cyclically according to each second rotary actuator 302, thus achieving uniform omnidirectional angle adjustment.

[0097] (2) Silt location detection: By adjusting the angle of the connecting platform 305, the detection component 306 installed on it can continuously detect the location of the silt in the cave tunnel, providing accurate information on the location of the silt in the cave.

[0098] This implementation method, through the combination of a rotary adjustment mechanism and a connecting platform, achieves uniform omnidirectional angle adjustment of the dredging component and the detection function of the orientation of silt in karst caves. This provides precise positioning and operational basis for cleaning crusted silt in karst cave tunnels.

[0099] Please refer to the following specific embodiments in this application. Figures 2-5 The second rotary actuator 302 is preferably a second servo motor, and the output shaft of the second servo motor is fixedly connected to the end of the first hinge arm 303.

[0100] In this solution: by using a second servo motor as a power source, precise control of the first hinge arm 303 is achieved, providing reliable power drive and precise control for the rotation adjustment of the dredging component.

[0101] Specifically, the second servo motor serves as a power source, and its output shaft is fixedly connected to the end of the first hinge arm 303, transmitting the motor's rotational motion to the first hinge arm 303. In this way, the output rotational motion of the second servo motor directly drives the rotational adjustment of the first hinge arm 303.

[0102] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0103] (1) Power drive: The second servo motor serves as a power source, providing rotational motion driving force so that the first hinge arm 303 can be rotated and adjusted.

[0104] (2) Precise control: The rotation angle and speed of the motor can be precisely controlled through the servo control system of the second servo motor, thereby achieving precise control of the first hinge arm 303, making the adjustment process more precise and reliable.

[0105] Please refer to the following specific embodiments in this application. Figures 2-5 The dredging assembly 4 includes two discs 401 that are opposite to each other but not in direct contact. At least six first linear actuators 402 are arranged in a circular array between the two discs 401 with their central axis as a reference. The first linear actuators 402 are used to adjust the angle of one disc 401. One disc 401 is located at the front of the connecting arm 201. Specifically, the dredging assembly 4 also includes a second linear actuator 405 fixedly connected to the connecting arm 201. The second linear actuator 405 is used to adjust the distance between the disc 401 and the connecting arm 201. A third rotating assembly 403 is installed on the other disc 401. The third rotating assembly 403 rotates and drives the cutter 404 to perform dredging operations.

[0106] Furthermore, during use, after the sludge removal equipment obtains the location information of the crusted sludge, all the front transport units 2 are first further supported or retracted off track by the corresponding linear modules 103 to accommodate the large stroke. Then, based on this location information, the second linear actuator 405 adjusts the remaining components of the sludge removal assembly 4 to move closer to the crusted sludge. Subsequently, relying on the action of the first linear actuator 402, the third rotating assembly 403, which serves as the third servo motor, and its driven cutter 404 are universally adjusted to face the position of the crusted sludge. The entire device then moves further, while the cutter 404 rotates to remove and break up the crusted sludge. Afterwards, normal water supply and drainage operations can be used to flush and achieve the sludge removal effect.

[0107] In this solution, the dredging component 4 achieves multi-dimensional adjustment and multi-functional dredging operations through the coordinated action of multiple actuators and rotating components, thereby improving dredging efficiency and quality.

[0108] Specifically: Two opposing discs 401 are arranged in a circular array and connected together by at least six first linear actuators 402. These linear actuators 403 are used to adjust the angle of one disc 401 relative to the other disc 401. Simultaneously, second linear actuators 405 are fixedly connected to the connecting arm 201 and are used to adjust the distance between the disc 401 and the connecting arm 201. A third rotating assembly 403 is mounted on one of the discs 401 and drives the cutter 404 to perform sludge removal operations via rotation.

[0109] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0110] (1) Multi-dimensional adjustment: The first linear actuator 402 adjusts the angle of the disc 401, which can adjust the angle between the discs without direct contact, to adapt to different working needs.

[0111] (2) Spacing adjustment: The second linear actuator 405 adjusts the spacing between the disc 401 and the connecting arm 201 to achieve dredging operations at different positions, ensuring that the cutter 404 can accurately contact the target sludge.

[0112] (3) Multifunctional dredging operation: The third rotating component 403 drives the cutter 404 to perform dredging operation by rotating. The rotation of the cutter 404 breaks the silt into scabs, thus achieving the effect of dredging and removing silt.

[0113] Through the coordinated action of multiple actuators and rotating components, multi-dimensional adjustment and multi-functional dredging operations are achieved, improving dredging efficiency and quality.

[0114] Please refer to the following specific embodiments in this application. Figures 2-5 The first linear actuator 402 is preferably a first servo electric cylinder. The cylinder body and piston rod of the first servo electric cylinder are respectively universally hinged to the opposite sides of the two discs 401 through universal joint couplings. The two adjacent first servo electric cylinders are arranged in a V-shape or inverted V-shape to increase their respective limit stroke and control accuracy. The second linear actuator 405 is preferably a second servo electric cylinder. The cylinder body and piston rod of the second servo electric cylinder are respectively fixedly connected to the connecting arm 201 and a disc 401.

[0115] In this solution, the combination of the first and second servo electric cylinders enables flexibility and precision in adjusting the disc angle and spacing, providing reliable power drive and precise control for the adjustment of the dredging components.

[0116] Specifically: The first servo electric cylinder serves as the power source, and its linear motion is transmitted to the corresponding disc 401 via a hinged coupling connecting the cylinder body and piston rod, thereby achieving disc angle adjustment. The first servo electric cylinders are arranged in a V-shape or inverted V-shape, which can mutually increase their respective limit stroke and control accuracy. The cylinder body and piston rod of the second servo electric cylinder are fixedly connected to the connecting arm 201 and a disc 401, and the disc spacing is adjusted through servo control of the electric cylinder.

[0117] Furthermore, the principle behind arranging two adjacent first servo cylinders in a V-shape or inverted V-shape is to increase their respective limit strokes and control accuracy. When the two servo cylinders are arranged in a V-shape or inverted V-shape, their stroke ranges can be superimposed. By jointly controlling the movement of the two cylinders, they can work simultaneously, thereby expanding the stroke range of the entire device. Specifically, when one servo cylinder reaches its limit stroke, the other servo cylinder can continue to provide movement, allowing the entire device to continue moving and achieve a larger stroke range. By arranging the two servo cylinders in a V-shape or inverted V-shape, control accuracy can be improved. Because a linkage relationship is formed between the two cylinders, when one cylinder makes a slight movement, the other cylinder will produce a corresponding reverse movement to maintain balance. This linkage relationship can reduce the accumulation of errors and improve the control accuracy of the entire device.

[0118] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0119] (1) Power drive: The first servo electric cylinder and the second servo electric cylinder serve as power sources to provide linear motion driving force, which are used for the angle adjustment and spacing adjustment of the disc body, respectively.

[0120] (2) Flexible adjustment method: The angle adjustment of the disc body by the first servo electric cylinder is realized by universal joint coupling, while the second servo electric cylinder realizes the adjustment of the disc body spacing through fixed connection. This structure makes the adjustment more flexible and controllable.

[0121] (3) Improve stroke and control accuracy: By arranging them in a V-shape or inverted V-shape, the adjacent first servo electric cylinders increase each other's limit stroke and improve control accuracy, making the adjustment process more precise and reliable.

[0122] Please refer to the following specific embodiments in this application. Figures 4-5 The cutting tool 404 is a three-jaw arc-shaped tool driven to rotate by an eccentric shaft. It is used to drill square-shaped destruction grooves in crusted silt, rather than circular destruction grooves formed by traditional methods (such as water flow impact).

[0123] In this solution, the use of a three-jaw arc-shaped cutter and an eccentric shaft drive enables efficient drilling operations and the formation of square breaking trenches. This improves the efficiency, quality, and thoroughness of dredging, better meeting the needs of dredging operations.

[0124] Specifically, the cutting tool 404 employs a three-jaw arc-shaped design, which provides a larger contact area and higher drilling efficiency. Driven by an eccentric shaft, the cutting tool 404 operates in a rotating manner. As the tool rotates, the three-jaw arc-shaped cutting tool firmly embeds itself into the silt deposits and drills out a square-shaped breaking groove. The square breaking groove provides higher dredging efficiency and quality, and can more effectively break up the silt deposits.

[0125] It should be noted that in this specific embodiment, the square breaking groove provides a larger breaking surface area. Compared to a circular breaking groove, the four edges and four corners of the square breaking groove can contact the silt, forming more breaking points. This allows the square breaking groove to achieve more comprehensive breaking within a smaller area, better crushing the silt. Simultaneously, the sharper corners and edges of the square breaking groove generate a stronger impact force during dredging. This impact force helps to break or disperse the silt and disperse its adhesive force, making it easier to remove. Furthermore, the straight edges of the square breaking groove allow the cutter to perform better cutting operations. The movement of the cutter within the square breaking groove is more stable, which is beneficial for cutting the silt. Compared to a circular breaking groove, the square breaking groove provides a more direct and efficient cutting path, enhancing cutting capability. At the same time, the corners and edges of the square breaking groove can change the flow direction and velocity of the silt. The silt is subjected to constantly changing flow and impact forces within the square breaking groove, increasing its fluidity, reducing its adhesion, and making it easier to remove.

[0126] It should be noted that, in this specific embodiment, when the cutter 404 drills out a square destruction groove, the rotational drive of the eccentric shaft further enhances the destruction effect. Because the cutter 404 is connected to the eccentric shaft, centrifugal force is generated when the eccentric shaft rotates. This centrifugal force causes the cutter 404 to rotate and oscillate within the destruction groove, increasing the contact area between the cutter and the silt, resulting in more thorough destruction. Simultaneously, the rotation of the eccentric shaft makes the movement of the cutter 404 irregular and varied. This movement pattern increases the variation and alternation of cutting and impact forces, enabling the cutter to penetrate and break up the silt more effectively. The cutter 404 further enhances the destruction effect by rapidly rotating and oscillating, cutting and impacting at a high frequency. Furthermore, due to the rotational drive of the eccentric shaft, the cutter 404 can cover a wider area within the destruction groove. Through rotation and oscillation, the cutter can effectively explore and cover every corner and edge of the square destruction groove, ensuring that all the silt within the entire destruction groove is fully treated. At the same time, the rotational motion of the eccentric shaft helps to break down the adhesion of the silt. Due to the rotation and impact force of the 404 cutting tool, the sludge cannot adhere firmly to the wall of the breaker tank; instead, it is quickly broken up and peeled off. This effectively reduces the adhesion between the sludge and the breaker tank wall, making the sludge easier to remove.

[0127] It is understood that, in this specific embodiment, this implementation method has the following functions:

[0128] (1) High-efficiency drilling operation: The three-jaw arc-shaped cutter design provides a larger contact area, enabling it to embed more effectively into the silt. Driven by the rotation of the eccentric shaft, the cutter performs drilling operations in a rotating manner, improving drilling efficiency and speed.

[0129] (2) Square breaking trench: Compared with the traditional circular breaking trench, the square breaking trench has a larger area and higher dredging efficiency. The square breaking trench can more effectively break up the silt into crusts, improving the effect and quality of dredging operations.

[0130] (3) Powerful dredging: The design of the three-jaw arc-shaped cutter makes the dredging process more powerful and thorough. The rotating drilling of the cutter can thoroughly break down the crusted silt, making it easier to remove and eliminate.

[0131] The technical features of the above-described specific embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above-described specific embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] Example 1

[0133] To make the specific embodiments of the present invention more apparent and understandable, detailed exemplary descriptions of the specific embodiments of the present invention are provided below. The present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the embodiments disclosed below.

[0134] Once the external controller obtains the sludge location information, all the front transport units 2 are first further supported or retracted off track by the corresponding linear modules 103 (driven by the first servo motor) to accommodate the large stroke. Then, based on this location information, the second linear actuator 405 (second servo cylinder) adjusts the remaining components of the sludge-clearing assembly 4 to move closer to the sludge. Subsequently, relying on the action of the first linear actuator 402 (first servo cylinder), the third rotating assembly 403, which acts as the third servo motor, and its driven cutter 404 are universally adjusted to face the sludge. The entire device then moves further, while the cutter 404 rotates to clear and break up the sludge. Finally, normal water supply and drainage operations can be used to flush out the sludge.

[0135] This embodiment further discloses the use of a PID controller to implement the above-mentioned driving actions:

[0136] (1) Definition:

[0137] Setpoint: The set position of the silt.

[0138] Actual value (Process Variable): The currently measured location of the silt.

[0139] Error: Setpoint - Process Variable

[0140] Control Output: Used to control the second linear actuator 405 to adjust the position of the dredging component 4.

[0141] Kp, Ki, Kd: Proportional, integral, and derivative coefficients of the PID controller.

[0142] (2) Initialize PID controller parameters:

[0143] Assume the initial error is 0:

[0144]

[0145] The cumulative value of the integral term is initially set to 0.

[0146]

[0147] The error at the previous time step was initially 0:

[0148]

[0149] (2) PID control loop:

[0150] The following operations are performed in each control cycle:

[0151] Calculate the proportional term:

[0152]

[0153] Calculate the integral term:

[0154]

[0155] Calculate the differential term:

[0156]

[0157] Calculate the control quantity:

[0158]

[0159] Update the error from the previous time step:

[0160]

[0161] Adjust the second linear actuator 405 to adjust the position of the dredging component 4 to ControlOutput.

[0162] (3) Control cycle termination condition: When the error is small enough, or when the set dredging target position is reached, the control cycle is terminated.

[0163] (4) Each electrical component:

[0164] (4.1) PID controller for the first servo motor (used to drive the first linear actuator 402):

[0165] Setpoint: The target position of the first linear actuator 402

[0166] Actual value (Process Variable): Current position of the first linear actuator 402

[0167] Error:

[0168]

[0169] Control Output: Used to control the speed of the first servo motor.

[0170] Kp1, Ki1, Kd1: Proportional, integral, and derivative coefficients of the PID controller for the first servo motor.

[0171] The PID control loop is similar to the example above. It calculates the proportional, integral, and derivative terms based on the error and combines them with the PID coefficients to obtain the control quantity, thereby controlling the speed of the first servo motor.

[0172] PID controller for the first servo electric cylinder:

[0173] Setpoint: Target tilt angle of the first servo electric cylinder

[0174] Actual value (Process Variable): Current tilt angle of the first servo electric cylinder.

[0175] Error:

[0176]

[0177] Control Output: Used to control the movement of the first servo cylinder.

[0178] Kp2, Ki2, Kd2: Proportional, integral, and derivative coefficients of the PID controller for the first servo electric cylinder.

[0179] Similarly, the proportional, integral, and derivative terms are calculated based on the error, and the control quantity is obtained by combining the PID coefficients to control the movement of the first servo electric cylinder.

[0180] (4.2) PID controller for the second servo electric cylinder:

[0181] Setpoint: The target position of the second servo electric cylinder.

[0182] Actual value (Process Variable): Current position of the second servo electric cylinder.

[0183] Error:

[0184]

[0185] Control Output: Used to control the movement of the second servo cylinder.

[0186] Kp3, Ki3, Kd3: Proportional, integral, and derivative coefficients of the PID controller for the second servo electric cylinder.

[0187] The proportional, integral, and derivative terms are calculated based on the error, and the control quantity is obtained by combining the PID coefficients to control the movement of the second servo electric cylinder.

[0188] (4.3) PID controller for the third servo motor (used to drive the third rotating assembly 403):

[0189] Setpoint: Target angle of the third rotating component 403

[0190] Actual value (Process Variable): Current angle of the third rotating component 403

[0191] Error:

[0192]

[0193] Control Output: Used to control the speed of the third servo motor.

[0194] Kp4, Ki4, Kd4: Proportional, integral, and derivative coefficients of the PID controller for the third servo motor.

[0195] The proportional, integral, and derivative terms are calculated based on the error, and the control quantity is obtained by combining the PID coefficients to control the speed of the third servo motor.

[0196] In this way, by applying PID controllers to the first servo motor, the first servo cylinder, the second servo cylinder, and the third servo motor respectively, precise control of each component can be achieved, enabling them to work together and complete the automated process of dredging operations.

[0197] The embodiments described above merely illustrate implementation methods for relevant practical applications of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0198] Example 2

[0199] To make the specific embodiments of the present invention more apparent and understandable, detailed exemplary descriptions of the specific embodiments of the present invention are provided below. The present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the embodiments disclosed below.

[0200] This embodiment is based on a specific implementation method and Embodiment 1:

[0201] Please see Figures 6-7The figure shows an exemplary C++ pseudocode control program for controlling this device, further disclosed in this embodiment. It is understood that similar functions can be implemented using other conventional assembly languages ​​without departing from the scope of this technology.

[0202] (1) PIDController class:

[0203] Principle: The PIDController class is a class that encapsulates the PID controller algorithm. It calculates the corresponding control quantity based on the given PID parameters (proportional, integral, and derivative coefficients) and the control objective (setpoint and actual value), which is used to adjust the state of the actuator or device.

[0204] Member functions:

[0205] setPID(Kp, Ki, Kd): Sets the PID parameters, namely the proportional, integral, and derivative coefficients.

[0206] calculate(setpoint, processVariable): Calculates the output of the PID controller, i.e., the control variable, based on the setpoint and the actual value.

[0207] (2) reset(): Resets the state of the PID controller, clearing the integral term and the error of the previous moment to zero.

[0208] initPIDControllers() function:

[0209] Principle: The initPIDControllers function is used to initialize the parameters of the PID controller, that is, to set the initial values ​​of the PID parameters.

[0210] Function: Configure the PID controller by setting the proportional, integral, and derivative coefficients (Kp, Ki, Kd) of the PID controller object to predefined values ​​according to actual needs.

[0211] (3) controlLoop() function:

[0212] Principle: The controlLoop function is the main loop of the control program, which implements the PID control algorithm and the control logic of each electrical component.

[0213] Function: In the loop, the location information of the silt is first obtained, and then the control quantity is calculated using the PID controller object. The control quantity is then used to control each electrical component.

[0214] Specific steps:

[0215] S1. Obtain the location information of the silt and update the setpoint and the actual value (processVariable).

[0216] S2. Calculate the PID controller for each electrical component and obtain the corresponding control output.

[0217] S3. Use control quantities to control the corresponding electrical components, such as adjusting the speed of the servo motor or controlling the movement of the servo cylinder.

[0218] S4. Control other electrical components through other logic or interfaces.

[0219] S5. Delay for a period of time, waiting for the next loop.

[0220] (4) main function:

[0221] Principle: The main function is the entry point of the program, used to initialize the PID controller parameters and start the main loop of the control program.

[0222] Functionality: In the main function, the initPIDControllers function is first called to initialize the PID controller parameters, and then the controlLoop function is called to start the main loop of the control program.

[0223] The embodiments described above merely illustrate implementation methods for relevant practical applications of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A track-guided drainage and mud removal device for tunnels and karst caves, characterized in that, It includes an adjustment mechanism (1) and a transport unit (2) arranged in a ring array outside the adjustment mechanism (1); The adjustment mechanism (1) includes linear degrees of freedom for synchronously adjusting the spacing between each adjustment mechanism (1), and the transport unit (2) drives the mud discharge equipment to move within the karst tunnel via the drive wheel assembly (202); The front of the adjustment mechanism (1) is equipped with a detection mechanism (3) that can be adjusted by universal angle to detect the orientation of the silt in the cave. The outside of the transport unit (2) is equipped with a dredging component (4) for dredging and removing silt from oriented silt. The adjustment mechanism (1) includes a frame (101) and two movable frames (104) that are symmetrically slidably fitted on the frame (101); The transport unit (2) also includes a connecting arm (201), one end of which is hinged to the frame (101), and the other end of which is equipped with a drive wheel assembly (202); The linear degrees of freedom of the adjustment mechanism (1) synchronously adjust the tilt angle of the connecting arm (201) of each carrier unit (2) relative to the frame (101); The dredging assembly (4) includes two discs (401) that are opposite to each other but not in direct contact. At least six first linear actuators (402) are arranged in a circular array between the two discs (401) with their central axis as the reference. The first linear actuators (402) are used to adjust the angle of one disc (401). One disc (401) is located at the front of the connecting arm (201), and a third rotating assembly (403) is installed on the other disc (401). The third rotating assembly (403) rotates to drive the cutter (404) to perform sludge removal operations. The dredging assembly (4) also includes a second linear actuator (405) fixedly connected to the connecting arm (201), the second linear actuator (405) being used to adjust the distance between the disc body (401) and the connecting arm (201); The first linear actuator (402) is the first servo electric cylinder. The cylinder body and piston rod of the first servo electric cylinder are respectively universally hinged to the opposite sides of the two discs (401) through universal joint couplings. The two adjacent first servo electric cylinders are arranged in a V-shape or inverted V-shape relative to each other; The second linear actuator (405) is a second servo electric cylinder. The cylinder body and piston rod of the second servo electric cylinder are fixedly connected to the connecting arm (201) and a disc (401) respectively. Through the combination of the first servo electric cylinder and the second servo electric cylinder, the flexibility and precision of the disc angle adjustment and spacing adjustment are realized, providing reliable power drive and precise control for the adjustment of the dredging component.

2. The track-guided drainage and mud removal device for tunnels and karst caves according to claim 1, characterized in that: The adjustment mechanism (1) also includes a linear module (103) mounted on the frame (101) for outputting linear degrees of freedom, the linear module (103) being driven by the first rotary actuator (102).

3. The track-guided drainage and mud removal device for tunnels and karst caves according to claim 2, characterized in that: The linear module (103) is a ball screw, the first rotary actuator (102) is a first servo motor, the output shaft of the first servo motor is fixedly connected to the threaded rod of the ball screw, and the moving nut of the ball screw is fixedly connected to the moving frame (104).

4. The track-guided drainage and mud removal device for tunnels and karst caves according to claim 3, characterized in that: The detection mechanism (3) includes a frame (301) fixed on the frame (101) and a second rotary actuator (302) installed on the frame (301) in a ring array. The second rotary actuator (302) drives a first hinge arm (303) to rotate and adjust. One end of the second hinge arm (304) is hinged to the end of the first hinge arm (303) and the connecting platform (305) respectively. A detection element (306) for detecting the location of karst silt is installed on the connecting platform (305).

5. The track-guided drainage and mud removal device for tunnels and karst caves according to claim 4, characterized in that: The second rotary actuator (302) is a second servo motor, and the output shaft of the second servo motor is fixedly connected to the end of the first hinge arm (303).

6. The track-guided drainage and mud removal device for tunnels and karst caves according to claim 1, characterized in that: The cutting tool (404) is a three-jaw arc-shaped tool. The cutting tool (404) is driven to rotate by an eccentric shaft and drill out a rectangular breaking groove.

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