A well-washing robot and well-washing method

Abstract

This invention discloses a well-washing robot, characterized by: a negative pressure well-washing system for negative pressure well washing, including a plugging device and a cleaning device; a positioning and self-propelled system for driving the negative pressure well-washing system to move up and down and position itself within the well, thereby achieving segmented cleaning, including a steel casing, a moving device, and a communication device; and a drive auxiliary system for controlling and driving the negative pressure well-washing system and the positioning and self-propelled system, including an air pump, an air compressor, a power supply, and a steel pipe, which is vertically installed inside the well. The moving device, communication device, plugging device, and cleaning device are all mounted on the steel casing. The steel casing is movably mounted on the steel pipe, the air pump is connected to the plugging device, and the air compressor is connected to the cleaning device. This invention also provides a well-washing method for using the well-washing robot of this invention.

Description

Technical Field

[0001] This invention relates to the fields of dewatering engineering, foundation pit engineering, underground construction engineering, geological engineering, geotechnical engineering, pressure relief and anti-piping engineering, and foundation treatment technology, specifically to a well-washing robot and well-washing method. Background Technology

[0002] In deep foundation pit dewatering projects, the water yield from wells drilled within the same aquifer can vary significantly. Some wells may yield large amounts of water, while adjacent wells with identical structures may yield very little. Insufficient water yield makes it impossible to lower the nearby water level, and groundwater has adverse effects on the project. In many construction projects, inadequate dewatering can lead to problems such as large foundation deformation, unfavorable stress on the retaining structure, soil flow damaging pile foundations, excavator sinking, and high moisture content in transported soil, resulting in water pollution. The low water yield is mainly due to mud cake formed during well drilling, which covers the well holes.

[0003] Existing well-washing methods mainly involve air compressor washing and piston washing. However, the washing effect is often unsatisfactory, which is one of the main problems restricting dewatering of foundation pits. In summary, new technologies for well-washing in dewatering pits urgently need to be developed. Summary of the Invention

[0004] This invention is made to solve the above-mentioned problems, and its purpose is to provide a well-washing robot and a well-washing method.

[0005] This invention provides a well-washing robot, characterized by: a negative pressure well-washing system for negative pressure well washing, including a plugging device and a cleaning device; a positioning and self-propelled system for driving the negative pressure well-washing system to move up and down and position itself within the well, thereby achieving segmented cleaning, including a steel casing, a moving device, and a communication device; and a drive auxiliary system for controlling and driving the negative pressure well-washing system and the positioning and self-propelled system, including an air pump, an air compressor, a power supply, and a steel pipe, which is vertically installed inside the well. The moving device, communication device, plugging device, and cleaning device are all mounted on the steel casing. The steel casing is movably mounted on the steel pipe, the air pump is connected to the plugging device, and the air compressor is connected to the cleaning device.

[0006] The well-washing robot provided by this invention may also have the following features: the steel casing is hollow, with its inner diameter slightly larger than the outer diameter of the steel pipe, and is fitted onto the steel pipe. A slide rail is provided on the steel pipe, allowing the steel casing to move up and down on the steel pipe via the slide rail. Multiple wire-passing holes are provided on the steel casing.

[0007] The well-washing robot provided by this invention may also have the following features: the moving device includes a robot arm spring, a telescopic frame, guide wheels, a drive wheel, and a power cable. The two ends of the robot arm spring are respectively connected to the steel casing and the telescopic frame, used to control the extension and retraction of the telescopic frame. Multiple telescopic frames are installed at the upper and lower ends of the steel casing, arranged circumferentially at both ends. The upper telescopic frame is connected to both the guide wheel and the drive wheel, and the lower telescopic frame is also connected to both the guide wheel and the drive wheel. Driven by the power supply, the drive wheel leads the entire moving device and the steel casing to move up and down along the well wall, while the guide wheels provide guidance. The power cable passes through a wiring hole on the steel casing, connecting the guide wheel and the drive wheel to a power source outside the well.

[0008] The well-washing robot provided by this invention may also have the following features: the sealing device includes two circumferential sealing airbags, respectively installed at the upper and lower ends of the steel casing and arranged circumferentially, for forming a closed space when inflated. The cleaning device includes multiple rotatable high-pressure nozzles installed in the middle of the steel casing, for releasing high-pressure gas in the closed space, forcing water in the closed cavity out of the well wall, through the filter media and through the mud skin, and then instantaneously releasing pressure to generate negative pressure in the sealing space. The high-pressure water rushes into the closed section due to the pressure difference, breaking the mud skin and opening the drainage channel, thereby achieving the purpose of well washing.

[0009] The well-washing robot provided by this invention may also have the following feature: the negative pressure well-washing system further includes dual air pipes. The dual air pipes include a first air pipe connected to high-pressure gas and a second air pipe connected to negative-pressure gas. The first air pipe is used to connect the air pump and the sealing device, and the second air pipe is used to connect the air compressor and the cleaning device.

[0010] The well-cleaning robot provided by this invention may also have the following feature: the communication device includes a signal line and a handle remote controller. The handle remote controller is connected to the moving device via the signal line and is used to manually control the position of the moving device according to the well conditions observed by the observation device.

[0011] The well-washing robot provided by this invention may also have the following features: an air pump is used to quickly inflate and seal the circumferential sealing airbag and allow it to depressurize and move. An air compressor is used to continuously supply high-pressure gas to the well-washing area through a high-pressure nozzle. A power supply provides the well-washing robot with its own driving power.

[0012] The well-cleaning robot provided by this invention may also have the following feature: the self-positioning system further includes an observation device, comprising a lighting lamp, a camera, and a display device. The lighting lamp and camera are both mounted on top of the steel casing at the same height, and the display device is located outside the well. The camera is used to observe the mud content on the well wall, the lighting lamp provides a light source for the camera, and the display device displays real-time images of the well interior captured by the camera.

[0013] The well-washing robot provided by this invention may also have the following features: the drive auxiliary system further includes a lifting head, which is welded to the lowest end of the steel pipe and is a spherical enlarged head used to determine whether the well-washing robot has reached the bottom of the well. Since the lifting head is located at the bottom of the well, when the well-washing robot descends to touch the lifting head, it has reached the bottom of the well and completed the last section of well-washing operation. After completion, the entire device is pulled out of the well together.

[0014] This invention provides a well-washing method, characterized by the following steps:

[0015] Step 1: Vertically insert a steel pipe with a lifting head welded to its bottom into the center of the dewatering well requiring well cleaning, until the lifting head touches the bottom of the well. Evenly distributed slide rails are positioned on the steel pipe. Step 2: Install the moving device, communication device, sealing device, and cleaning device onto the steel casing to form a complete casing assembly. Align the entire casing assembly with the slide rails on the steel pipe and slide it into the well. Step 3: Activate the observation device. The communication device controls the moving device to move up and down along the steel pipe. When it reaches the filter pipe position, use the remote control to adjust the robot arm's spring-loaded telescopic frame, ensuring the guide wheels and drive wheels on the telescopic frame engage with the well wall. Based on the mud level observed near the well wall by the observation device, activate the circumferential sealing airbag as needed. Step 4: Use an air pump to supply air to the upper and lower sections of the casing. The circumferential sealing airbags at both ends are inflated to form a closed section. Then, the air pump is turned off and the air compressor is turned on to deliver high-pressure gas to the high-pressure nozzle through the air pipe. With the help of the sealing airbags at both ends, the high-pressure gas formed by the nozzle squeezes the water in the sealed cavity, forcing the water out of the well wall, through the filter material and through the mud skin, and causing the water pressure around this section of the well to rise rapidly. After maintaining the pressure for a certain period of time, the rotatable high-pressure nozzle is turned off, and the pressure in the sealed space is rapidly released. A negative pressure difference is formed between the outside of the mud skin and the nozzle, so that the high-pressure water rushes into the sealed section through the mud skin and filter material, breaking the mud skin. In step 5, after the pressure balance is restored, the air pump recovers the gas in the airbag through the air pipe, and the circumferential sealing airbag is deflated, the sealed space is released, and the remote control controls the drive wheel to continue moving to the next section of work.

[0016] The role and effect of invention

[0017] The well-washing robot according to the present invention comprises: a negative pressure well-washing system for negative pressure well washing, including a plugging device and a cleaning device; a positioning and self-propelled system for driving the negative pressure well-washing system to move up and down and position itself in the well, thereby achieving segmented cleaning, including a steel casing, a moving device, and a communication device; and a drive auxiliary system for controlling and driving the negative pressure well-washing system and the positioning and self-propelled system, including an air pump, an air compressor, a power supply, and a steel pipe, the steel pipe being vertically installed in the well. The moving device, communication device, plugging device, and cleaning device are all mounted on the steel casing. The steel casing is movably mounted on the steel pipe, the air pump is connected to the plugging device, and the air compressor is connected to the cleaning device.

[0018] The well-washing robot of this invention is used in dewatering projects. It utilizes a drive-assisted system, a self-positioning system, and a negative pressure well-washing system. Through steps such as electric drive, device self-propelled operation, camera positioning, airbag sealing, high-pressure mud breaking, and negative pressure well-washing and drainage, it can solve the problem of insufficient water output from some dewatering wells in deep foundation pit dewatering projects. After construction, it can avoid large differences in water output between adjacent wells of the same structure in the same aquifer. It is of great significance for improving the dewatering efficiency and construction safety of underground projects such as foundation pit projects.

[0019] Furthermore, the well-washing robot of this invention is more precise and targeted than conventional air compressor well-washing and piston well-washing, and saves time and energy compared to the extensive air compressor well-washing and piston well-washing methods. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the well-washing robot in an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of the well-washing method in an embodiment of the present invention. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, will specifically illustrate the well-washing robot and well-washing method of the present invention.

[0023] This embodiment provides a well-washing robot 100.

[0024] Figure 1 This is a schematic diagram of the well-washing robot in Embodiment 1 of the present invention.

[0025] like Figure 1 As shown, the well-washing robot 100 in this embodiment includes a drive assistance system 10, a self-positioning system 20, and a negative pressure well-washing system 30.

[0026] In this embodiment, the drive auxiliary system 10 is used to control and drive the negative pressure well washing system 30 and the positioning self-propelled system 20. The drive auxiliary system 10 includes an air pump 11, an air compressor 12, a power supply 13, a steel pipe 14, and a lifting head 15.

[0027] Air pump 11 is an "air pump" that is a device for removing or adding air from a closed space. Air compressor 12 is a device for compressing gas, similar in construction to a water pump, and is used to release high pressure into a closed space.

[0028] The steel pipe 14 is vertically installed inside the well. A slide rail is installed on the steel pipe 14. The steel pipe 14 is a support column located in the center of the well that supports the structure of the well-washing robot 100. The entire well-washing robot equipment slides up and down on it.

[0029] The lifting head 15 is welded to the bottom of the steel pipe 14. It is a spherical enlarged head used to identify whether the well washing robot 100 has reached the bottom of the well. When the well washing robot 100 descends and touches the lifting head, it means that it has reached the bottom of the well, completing the last section of well washing operation, and then the entire device is pulled out of the well together.

[0030] The self-positioning system 20 is used to drive the negative pressure well washing system 30 to move up and down and position itself in the well, thereby achieving segmented cleaning. It includes a steel casing 21, a moving device 22, a communication device 23, and an observation device 24.

[0031] The steel casing 21 is hollow, with an inner diameter slightly larger than the outer diameter of the steel pipe 14. It is fitted onto the slide rail of the steel pipe 14, allowing it to move up and down on the steel pipe 14 via the slide rail, thus enabling the well-washing robot 100 to move autonomously. Since the components of the well-washing device are all installed on the movable steel casing 21, and the subsequent pipelines (power cable 225, signal line 231, dual air pipe 33, etc.) are also located inside the steel casing 21 and outside the steel pipe 14, the movable steel casing 21 has corresponding holes for threading, which facilitates the pipelines to pass through the steel casing 21 and connect to the various components on it. The robot is positioned at the filter pipe position by sliding up and down on the central steel pipe 14.

[0032] The mobile device 22 is mounted on the steel sleeve 21. The mobile device 22 includes a robot arm spring 221, a telescopic frame 222, a guide wheel 223, a drive wheel 224, and a power cable 225.

[0033] The robot arm spring 221 is an adjustment device connected between the steel sleeve 21 and the telescopic frame 222, used to control the extension and retraction of the telescopic frame 222. There are four robot arm springs 221.

[0034] There are four telescopic frames 222, each corresponding to a robot arm spring 221. Two are installed on the upper end of the steel casing 21, connected to a guide wheel 223 and a drive wheel 224 respectively. The other two are installed on the lower end of the steel casing 21, connected to a guide wheel 223 and a drive wheel 224 respectively. Under the control of the robot arm spring 221, the telescopic frames 222, together with the guide wheels 223 and the drive wheels 224, contact the well wall.

[0035] Driven by the power supply 13, the drive wheel 224 leads the entire moving device 22 and the steel casing 21 to move up and down along the well wall, while the guide wheel 223 plays a guiding role.

[0036] The power cable 225 passes through the wire hole on the steel sleeve 21, connecting the guide wheel 223 and the drive wheel 224 to the power supply 13. The power supply 12 provides power to drive the guide wheel 223 and the drive wheel 224.

[0037] The observation device 24 includes a lighting lamp 241, a camera 242, and a display device 243, all mounted on top of the steel casing 21. The camera 242 is used to observe the mud content inside the well at the corresponding location, thereby determining whether subsequent negative pressure well washing is necessary. The lighting lamp 241 provides a light source for the camera 242 and is mounted at the same height as the camera, working together to transmit signals for positioning. The display device 243 displays the images inside the well captured by the camera 242 in real time. In this embodiment, the display device 243 is a monitor.

[0038] The communication device 23 includes a signal line 231 and a handle remote controller 232. Both the signal line 231 and the handle remote controller 231 are connected to the camera 242. The signal line 231 transmits the camera footage to the outside of the well in real time for positioning. The handle remote controller 231 is connected to the drive wheel 224 via wires, etc., and can manually control the well cleaning position based on the photographed images.

[0039] The negative pressure well washing system 30 is used for negative pressure well washing and includes a plugging device 31, a cleaning device 32, and a dual air pipe 33.

[0040] The sealing device 31 includes two circumferential sealing airbags 311, which are respectively installed at the upper and lower ends of the steel sleeve 21 and arranged in a circumferential manner to form a sealing space when inflated.

[0041] The cleaning device 32 includes four rotatable high-pressure nozzles 321, all installed in the middle of the steel casing 21, which are used to release high-pressure gas in the sealed space, open the drainage channel, and then release pressure instantaneously to generate negative pressure in the sealed space, thereby achieving the purpose of well cleaning.

[0042] The dual-pipe system 33 includes a first pipe 331 connected to high-pressure gas and a second pipe 332 connected to negative-pressure gas.

[0043] The first air tube 331 connects the circumferential sealing airbag 311 and the air pump 11. The air pump 11 is used to realize the rapid inflation and deflation of the circumferential sealing airbag 311. The air pump 11 is turned on as needed to inflate the airbag 211 to form a closed partition.

[0044] The second air pipe 332 is used to connect the rotatable high-pressure nozzle 321 and the air compressor 12. The air compressor 12 continuously supplies high-pressure gas to the well washing site through the high-pressure nozzle 321.

[0045] This embodiment also provides a well-washing method.

[0046] Figure 2 This is a flowchart of the well-washing method in Embodiment 1 of the present invention.

[0047] like Figure 2 As shown, the well-washing method of the well-washing robot 100 in this embodiment specifically includes the following steps:

[0048] Step S1, Installation of the central steel pipe (autonomous track of the well-washing robot):

[0049] In this embodiment, the well-washing robot 100 is a self-propelled wired robot. The well-washing robot 100 needs to be supported by a support structure and a track for movement. A steel pipe 14 with a lifting head 15 welded to the bottom is placed in the center of the dewatering well that needs to be washed until the lifting head 15 touches the bottom of the well. Slide rails are evenly distributed on the steel pipe 14.

[0050] Step S2, external connection of auxiliary equipment, power equipment, and pipelines:

[0051] The well-washing robot 100 is a device mainly composed of a frame consisting of electrically driven drive wheels 224 and guide wheels 223, circumferential sealing airbags 311 on both sides, a rotatable high-pressure nozzle 321 in the middle, and a top observation camera 242. All of these components are mounted on a movable steel casing 21, with pre-drilled holes at corresponding positions. Dual air pipes 33 are connected to the airbags 311 and high-pressure nozzles 321. A power cable 225 connects the drive wheels 224 and the power supply 13. A signal line 231 connects the drive wheels 224 and the remote control 231, and also connects the camera 242 to the external imaging equipment 243. All pipelines pass through the movable steel casing 21 and connect to the external air pump 11, air compressor 12, power supply 13, and remote control 231. The assembled casing (well-washing robot) is then fitted onto the central steel pipe 14, aligned with the slide rail on the steel pipe 10, and slid into the well.

[0052] Step S3, locate the use of the self-system:

[0053] First, turn on the camera 242 and the lighting 241. Start the robot using the remote control 231. Driven by the drive wheel 224, the robot can move up and down automatically. When it reaches the filter pipe position, use the remote control 231 to adjust the telescopic frame 222 via the robot arm spring 221. The robot arm spring 221 connects the steel sleeve 21 and the telescopic frame 222, so that the guide wheel 223 and the drive wheel 224 on the telescopic frame 222 are in contact with the well wall. Then, observe the mud condition near the well wall using the camera 242, and then activate the circumferential sealing airbag 311 as needed.

[0054] Step S4, Use of the negative pressure well washing system:

[0055] The air pump 11 inflates the circumferential sealing airbags 311 at both ends to form a closed section. Then, the air pump 11 is turned off and the air compressor 12 is turned on to deliver high-pressure gas to the high-pressure nozzle 321 through the second air pipe 332. With the help of the circumferential sealing airbags 311 on both sides, the high-pressure nozzle 321 generates high-pressure gas to squeeze the water in the closed cavity, forcing the water to the outside of the well wall, through the filter material and through the mud skin, and causing the water pressure around the well section to rise rapidly. After maintaining the pressure for a certain period of time, the rotatable high-pressure nozzle 321 is turned off, and the pressure in the closed space is rapidly released. A negative pressure difference is formed between the outside of the mud skin and the high-pressure nozzle 321, so that the high-pressure water rushes into the closed section through the mud skin and filter material, breaking the mud skin.

[0056] Step S5, multi-segment continuous travel working mode inside the well:

[0057] After the pressure balance is restored, the air pump 11 recovers the gas in the circumferential sealing airbag 311 through the first air pipe 331. Then the circumferential sealing airbag 311 is deflated, the sealed space is released, and the handle remote control 231 controls the drive wheel 224 to continue moving to the next stage of work.

[0058] The role and effect of the embodiments

[0059] The well-washing robot described in this embodiment includes: a negative pressure well-washing system for negative pressure well washing, comprising a plugging device and a cleaning device; a positioning and self-propelled system for moving and positioning the negative pressure well-washing system up and down within the well to achieve segmented cleaning, comprising a steel casing, a moving device, and a communication device; and a drive auxiliary system for controlling and driving the negative pressure well-washing system and the positioning and self-propelled system, comprising an air pump, an air compressor, a power supply, and a steel pipe vertically installed within the well. The moving device, communication device, plugging device, and cleaning device are all mounted on the steel casing. The steel casing is movably mounted on the steel pipe, the air pump is connected to the plugging device, and the air compressor is connected to the cleaning device.

[0060] The well-washing robot in this embodiment is used for dewatering projects. Utilizing a drive-assisted system, a self-positioning system, and a negative pressure well-washing system, it achieves the goal of addressing the problem of insufficient water output from some dewatering wells in deep foundation pit dewatering projects through steps such as electric drive, device self-propelled operation, camera positioning, airbag sealing, high-pressure mud breaking, and negative pressure well-washing and drainage. After construction, it can avoid significant differences in water output between adjacent wells of the same structure within the same aquifer. This is of great significance for improving the dewatering efficiency and construction safety of underground projects such as foundation pit projects.

[0061] Furthermore, the well-washing robot of this embodiment is more precise and targeted than ordinary air compressor well-washing and piston well-washing, and saves time and energy compared to the extensive air compressor well-washing and piston well-washing.

[0062] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A well-washing robot, characterized in that, include: Negative pressure well washing system, used for negative pressure well washing, including plugging device and cleaning device; A self-positioning system is used to drive the negative pressure well washing system to move up and down and position itself in the well, thereby realizing segmented cleaning, including steel casing, moving device and communication device; The drive auxiliary system, used to control and drive the negative pressure well washing system and the self-positioning system, includes an air pump, an air compressor, a power supply, and a steel pipe, which is vertically installed inside the well. The mobile device, communication device, sealing device, and cleaning device are all mounted on the steel sleeve. The steel sleeve is movably mounted on the steel pipe, the air pump is connected to the sealing device, and the air compressor is connected to the cleaning device. The mobile device includes a robot arm spring, a telescopic frame, guide wheels, a drive wheel, and a power cable. The two ends of the robot arm spring are respectively connected to the steel sleeve and the telescopic frame, and are used to control the extension and retraction of the telescopic frame. Multiple telescopic frames are respectively installed at the upper and lower ends of the steel sleeve, arranged circumferentially at both ends. The upper telescopic frame is connected to both the guide wheel and the drive wheel, and the lower telescopic frame is connected to both the guide wheel and the drive wheel. Driven by the power source, the drive wheel propels the entire moving device and the steel casing up and down along the well wall, while the guide wheel provides guidance. The power cable passes through the wiring hole on the steel casing, electrically connecting the guide wheel and the drive wheel to the power source outside the well. The sealing device includes two circumferential sealing airbags, respectively installed at the upper and lower ends of the steel sleeve and arranged circumferentially, to form a sealing space when inflated. The cleaning device includes multiple rotatable high-pressure nozzles installed in the middle of the steel casing. These nozzles release high-pressure gas within the sealed space, forcing water out of the well wall, through the filter media and mud film. The pressure is then instantly released to create negative pressure within the sealed space. The high-pressure water, due to the pressure difference, rushes into the well, breaking down the mud film and opening the drainage channel, thereby achieving the purpose of well cleaning. The negative pressure well washing system also includes dual gas pipes. The dual-pipe system includes a first pipe connected to high-pressure gas and a second pipe connected to negative-pressure gas. The first air pipe is used to connect the air pump and the sealing device, and the second air pipe is used to connect the air compressor and the cleaning device.

2. The well-washing robot according to claim 1, characterized in that: in, The steel sleeve is hollow, with an inner diameter slightly larger than the outer diameter of the steel pipe, and is fitted onto the steel pipe. A slide rail is provided on the steel pipe, allowing the steel sleeve to move up and down along the slide rail. The steel sleeve is provided with multiple wire holes.

3. The well-washing robot according to claim 2, characterized in that: in, The self-positioning system also includes an observation device, which comprises a lighting device, a camera, and a display device. The lighting and the camera are both mounted on top of the steel casing at the same height, and the display device is located outside the well. The camera is used to observe the mud on the well wall, the lighting is used to provide a light source for the camera, and the display device is used to display the images inside the well captured by the camera in real time.

4. The well-washing robot according to claim 3, characterized in that: in, The air pump is used to enable rapid inflation and deflation of the circumferential sealing airbag. The air compressor is used to continuously supply high-pressure gas to the well-washing site through high-pressure nozzles. The power source is the self-powered drive power provided by the well-washing robot.

5. The well-washing robot according to claim 4, characterized in that: in, The communication device includes a signal cable and a remote control handle. The remote control handle is connected to the mobile device via the signal line, and is used to manually control the position of the mobile device according to the situation inside the well observed by the observation device.

6. The well-washing robot according to claim 5, characterized in that: in, The drive assistance system also includes a lifting head, which is welded to the bottom of the steel pipe. It is a spherical enlarged head used to determine whether the well-washing robot has reached the bottom of the well. When the well-washing robot descends to touch the lifting head, the last section of the well-washing operation is completed, which means it has reached the bottom of the well and completed the last section of the well-washing operation. After completion, the entire device is pulled out of the well together.

7. A well-washing method, characterized in that, Well cleaning using the well-washing robot as described in any one of claims 6 includes the following steps: Step 1: Vertically insert a steel pipe with a lifting head welded to the bottom into the center of the dewatering well that needs to be cleaned, until the lifting head touches the bottom of the well. Slide rails are evenly distributed on the steel pipe. Step 2: Install the mobile device, communication device, sealing device and cleaning device on the steel casing to form a casing assembly. Align the casing assembly with the slide rail position on the steel pipe and slide it into the well on the steel pipe. Step 3: Activate the observation device and the communication device to control the mobile device to move up and down along the steel pipe. When it reaches the filter pipe position, use the remote control to control the robot arm spring to adjust the telescopic frame so that the guide wheel and drive wheel on the telescopic frame are in contact with the well wall. Then, based on the mud situation near the well wall observed by the observation device, open the circumferential sealing airbag as needed. Step 4: Inflate the circumferential sealing airbags at both ends with an air pump to form a closed section. Then, turn off the air pump and turn on the air compressor to deliver high-pressure gas to the high-pressure nozzle through the air pipe. With the help of the sealing airbags at both ends, the high-pressure gas formed by the nozzle squeezes the water in the sealed cavity and forces the water out of the well wall. The water passes through the filter material and mud skin, and the water pressure around the well section rises rapidly. After maintaining the pressure for a certain period of time, the rotatable high-pressure nozzle is closed, and the pressure in the sealed space is rapidly released. A negative pressure difference is formed between the outside of the mud skin and the nozzle, so that the high-pressure water passes through the mud skin and filter material and rushes into the sealed section to break the mud skin. Step 5: After the pressure balance is restored, the air pump retracts the gas from the airbag through the air tube, then the circumferential sealing airbag is deflated, the sealed space is released, and the remote control then controls the drive wheel to continue moving to the next stage of work.

Images