A suction type pipe culvert dredging robot

Abstract

The application relates to the technical field of water drainage, and provides a suction type pipe culvert dredging robot, which comprises a server, a rack, a suction pipeline, a moving module, a winding module, a cleaning module, a conveying module and an evaluation module. The moving module is arranged on the rack and drives the rack to move. The cleaning module cleans sludge in a culvert. The winding module recycles or supplies the suction pipeline. The conveying module conveys the sludge cleaned and concentrated by the cleaning module to the outside. The evaluation module detects the cleaning position of the cleaning module to form cleaning data, and evaluates the cleaning end face of the cleaning module according to the cleaning data. Through the cooperation of the cleaning module and the evaluation module, the cleaning state of the cleaning module can be evaluated, the cleaning efficiency of the whole system on the sludge in the culvert is improved, and the whole system has the advantages of good cleaning effect, high cleaning cleanliness of the inner wall of the culvert and high intelligence.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drainage, in particular to a suction type pipe culvert dredging robot. BACKGROUND

[0002] The existing culvert dredging method is mainly manual dredging. To ensure the safety of the workers, the workers are replaced every half hour. Before the manual dredging operation, gas detection, ventilation, and personnel wearing protective clothing are required. The cleaning speed is slow, the risk coefficient is high, the time and labor are consumed, and the efficiency is low. The existing dredging robot generally directly sucks the sludge by a slurry pump for cleaning. This direct suction method is prone to blockage, and the slurry pump needs to be cleaned before working, which affects the dredging time and efficiency.

[0003] For example, a negative pressure conveying type dredging robot is disclosed in Chinese patent CN206800494U. Although it can move in hidden narrow places such as culverts, it has the problems of pipeline recovery and inaccurate position control. Moreover, the position of the robot cannot be adjusted and controlled, which easily leads to incomplete cleaning.

[0004] Another typical example is a culvert dredging robot disclosed in Chinese patent CN219137937U, which uses special tools to clean sludge of different particle sizes. However, it cannot completely clean the inner wall of the culvert, and there are dead angles in cleaning.

[0005] Meanwhile, the existing traditional pipe culvert dredging methods mainly include the following:

[0006] 1) Manual dredging: workers enter the pipe culvert and use tools for cleaning. However, this method has great safety hazards such as harmful gases and landslides, and the efficiency is relatively low with high labor intensity;

[0007] 2) Mechanical dredging: specific mechanical equipment is used to enter the pipe culvert for dredging. However, such equipment is often heavy and has strict requirements for the shape and size of the pipe, and cannot adapt to various complex environments in the pipe culvert;

[0008] 3) Hydraulic flushing: high-pressure water flow is used to remove the sludge in the pipe culvert. However, this method may cause the sludge to mix with water, forming new pollution, and also requires a large amount of water resources;

[0009] In order to solve the problems of poor cleaning effect, low cleaning efficiency, inability to clean the inner wall of the culvert, incomplete sludge cleaning, and low intelligence in the field, the present application is made. SUMMARY

[0010] The present application aims to provide a suction type pipe culvert dredging robot to solve the above problems.

[0011] In order to overcome the deficiencies of the prior art, the present application adopts the following technical solutions:

[0012] A suction type pipe culvert dredging robot, comprising a server, a rack and a suction pipe, further comprising a moving module, a winding module, a cleaning module, a conveying module and an evaluation module, the server being connected with the moving module, the winding module, the cleaning module, the conveying module and the evaluation module respectively;

[0013] The moving module is arranged on the rack and drives the rack to move, the cleaning module cleans the sludge in the culvert, the winding module recycles or supplies the suction pipe, the conveying module conveys the sludge cleaned and concentrated by the cleaning module to the outside, and the evaluation module detects the cleaning position of the cleaning module to form cleaning data and evaluates the cleaning end face of the cleaning module according to the cleaning data.

[0014] The cleaning module comprises a cleaning unit, an adjusting unit and a collecting unit, the cleaning unit cleans the sludge on the culvert and the inner wall of the culvert, the adjusting unit adjusts the position of the cleaning unit so that the cleaning unit can abut against the inner wall of the culvert and scrape the sludge on the inner wall of the culvert, and the collecting unit centrally places the sludge cleaned by the cleaning unit.

[0015] Optionally, the cleaning unit comprises a cleaning plate, a cleaning seat, a support rod, a support driving mechanism and a discharge member, the cleaning plate is arranged on one side end face of the cleaning seat, one end of the support rod is drivingly connected with the support driving mechanism to drive the support rod to perform telescopic action, the support driving mechanism is arranged on the adjusting unit, the other end of the support rod is connected with the cleaning seat, the cleaning seat body is provided with a sludge storage cavity with one end opening, the opening of the sludge storage cavity is arranged towards one side of the cleaning plate, and the discharge member is arranged in the sludge storage cavity and pushes the sludge in the sludge storage cavity towards the collecting unit.

[0016] The cleaning plate is made of deformable silicone rubber material.

[0017] Optionally, the evaluation module comprises a detection unit and an evaluation unit, the detection unit collects the cleaning data of the cleaned position of the cleaning unit, and the evaluation unit evaluates the cleaning end face of the cleaning module according to the cleaning data.

[0018] The detection unit comprises an ultrasonic sensor for detecting thickness data of sludge in the culvert, a data storage for storing data measured by the ultrasonic sensor, and a steering member for adjusting the detection position of the ultrasonic sensor so that the ultrasonic sensor collects sludge thickness data at different angles.

[0019] Optionally, the evaluation unit acquires the cleaning data collected by the detection unit and calculates the cleanliness index Clean of the cleaning position of the cleaning unit according to the following formula:

[0020]

[0021] In the formula, h i is the sludge thickness value collected by the ultrasonic sensor at the i-th angle, w i is the weight of the i-th angle, R is the radius of the culvert, p i is the sludge property coefficient at the i-th angle, if it is pure sludge, p i is 0.9, if it is a mixture of sludge and water, p i is 0.5; n is the total number of angles collected;

[0022] If the cleanliness index Clean of the cleaning position of the cleaning unit is lower than the set monitoring threshold Neat, the cleaning module is triggered to continue cleaning at the current cleaning position.

[0023] Optionally, the conveying module comprises a storage tank for storing sludge of the culvert and a suction unit for sucking the sludge collected by the collecting unit from the culvert into the external storage tank.

[0024] The suction unit comprises a suction pump for sucking the sludge collected by the collecting unit and a crushing member for crushing the sucked sludge and sending it into the storage tank after crushing.

[0025] Optionally, the winding module comprises a winding unit for recycling or supplying the suction pipe and a communication unit for communication transmission between the winding unit and the moving module.

[0026] The winding unit comprises a winding rod, a winding seat and a winding drive structure, one end of the winding rod penetrates through the winding seat and is drivingly connected with the winding drive structure to form a driving part, the driving part is arranged on the winding seat, and the other end of the winding rod extends towards one side of the winding seat.

[0027] The suction pipe is wound on the rod body of the winding rod, and the winding action of the winding rod realizes the supply or recovery of the suction pipe.

[0028] Optionally, the moving module comprises a moving unit and a limiting unit, the moving unit drives the rack to move, and the limiting unit limits the rack.

[0029] The moving unit comprises a posture adjusting member, a moving track, a moving driving mechanism and a mud pushing member, the moving track is drivingly connected with the moving driving mechanism to form a driving part, the posture adjusting member is arranged on the periphery of the rack and adjusts the position of the driving part, and the mud pushing member is arranged on the rack and is used for pushing the sludge.

[0030] During the movement of the rack, the moving track is in contact with the inner wall of the culvert.

[0031] Optionally, the limiting unit comprises a limiting wheel, a limiting rod, an extension rod, a pressure detecting member and an extension driving mechanism, one end of the limiting rod is hingedly connected with one end face of the limiting wheel, the other end of the limiting rod is hingedly connected with the rack, one end of the extension rod is hingedly connected with the rod body of the limiting rod, the other end of the extension rod is drivingly connected with the extension driving mechanism to form an extension part, the extension part is arranged on the rack, the pressure detecting member is arranged at the contact end face between the limiting wheel and the inner wall of the culvert and feeds back the contact pressure between the limiting wheel and the inner wall of the culvert.

[0032] Optionally, the crushing member comprises a crushing cavity, a crushing knife and a crushing driving mechanism, the crushing cavity receives the sludge at the outlet end of the suction pump, the crushing driving mechanism is drivingly connected with the crushing knife to form a crushing part, the crushing part is arranged in the crushing cavity and crushes the sludge sucked by the suction pump.

[0033] The crushing member is arranged at the inlet of the storage tank.

[0034] Optionally, the contact end face between the limiting wheel and the inner wall of the culvert is provided with anti-skid lines, and the anti-skid lines are distributed at equal intervals along the contact face of the limiting wheel.

[0035] The present application has the following beneficial effects:

[0036] 1. Through the cooperation of the cleaning module and the evaluation module, the cleaning state of the cleaning module can be evaluated, the cleaning efficiency of the sludge in the culvert is improved, and the system has the advantages of good cleaning effect, high cleaning efficiency, high cleaning cleanliness of the inner wall of the culvert and high intelligence.

[0037] 2. Through the cooperation of the supporting unit, the cleaning unit and the collecting unit, the cleaning rate of the sludge in the culvert is more efficient, and the precision of the sludge scraping and collecting is considered, so that the whole system has the advantages of good cleaning effect, high cleaning efficiency and good inner wall cleaning effect;

[0038] 3. Through the cooperation of the detection unit and the evaluation unit, the cleaning state of the sludge can be evaluated to ensure the cleanliness of the cleaning position;

[0039] 4. Through the cooperation between the moving unit and the limiting unit, the cleaning process of the cleaning module on the rack is more stable, and different positions of the culvert can be cleaned, so that the whole system has a more extensive application scenario;

[0040] 5. Through the cooperation of the moving module and the winding module, the suction pipe dynamically adjusts the position of the moving module to ensure that the moving module cleans and collects the culvert sludge, and can be immediately extracted to improve the efficiency of sludge cleaning. BRIEF DESCRIPTION OF DRAWINGS

[0041] The present application can be further understood from the following description in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but emphasis is placed on showing the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0042] Figure 1 It is a whole block diagram of the present application.

[0043] Figure 2 It is a block diagram of the culvert and the cleaning unit, the adjusting unit and the collecting unit of the present application.

[0044] Figure 3 It is an evaluation flowchart of the evaluation unit of the present application.

[0045] Figure 4 It is a block diagram of the collecting unit, the suction pipe, the winding unit, the suction unit and the storage tank of the present application.

[0046] Figure 5 It is an application scenario diagram of the robot and the culvert of the present application.

[0047] Figure 6 It is a structure diagram of the suction type pipe culvert dredging of the present application.

[0048] Figure 7 It is Figure 6 An enlarged diagram of A-A in the middle.

[0049] Figure 8 It is Figure 7 An enlarged diagram of B in the middle.

[0050] Figure 9 For Figure 7 Enlarged view at C.

[0051] Figure 10 For Figure 9 Enlarged view at D.

[0052] Figure 11 For

[0053] Reference signs: 1, culvert; 2, suction pipeline; 3, moving track; 4, cleaning plate; 5, collecting unit; 6, rack; 7, damping rod; 8, vertical rod; 9, extending rod; 10, sliding rail; 11, limiting rod; 12, limiting wheel; 13, telescopic rod; 14, collecting cavity; 15, supporting rod; 16, rotating seat; 17, mud storage cavity; 18, pushing rod; 19, pushing plate; 20, cleaning seat; 21, electronic valve; 22, collecting port; 23, weighing plate; 24, hidden cavity; 25, receiver; 26, transmitter; 27, vibrating plate; 28, vibrator; 29, weighing sensor; 30, return spring; 31, connecting rod; 32, winding unit; 33, winding driving structure; 34, storage tank; 35, sludge vehicle; 36, mud pushing plate; 37, adjusting rod. DETAILED DESCRIPTION

[0054] The following embodiments of the present application are described in order to explain the present application by specific embodiments. The advantages and effects of the present application can be understood by those skilled in the art from the disclosure of the present specification. The present application can be implemented or applied by other different embodiments, and the details in the present specification can be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. In addition, the drawings of the present application are only simple schematic illustrations, not the depiction of actual dimensions, and the prior declaration is made. The following embodiments will further illustrate the related technical content of the present application, but the disclosed content is not used to limit the protection scope of the present application.

[0055] Embodiment one: according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the embodiment provides a suction type pipe culvert dredging robot, which comprises a server, a rack 6, and a suction pipe 2, and further comprises a moving module, a winding module, a cleaning module, a conveying module and an evaluation module, the server is connected with the moving module, the winding module, the cleaning module, the conveying module and the evaluation module respectively, and stores intermediate data and process data of the moving module, the stirring module, the cleaning module, the conveying module and the evaluation module;

[0056] The moving module is arranged on the rack 6 and drives the rack 6 to move, the cleaning module cleans the sludge in the culvert 1, the winding module recycles or supplies the suction pipe 2, the conveying module conveys the sludge cleaned and concentrated by the cleaning module to the outside, and the evaluation module detects the cleaning position of the cleaning module to form cleaning data, and evaluates the cleaning end face of the cleaning module according to the cleaning data;

[0057] The suction type pipe culvert dredging robot further comprises a central processor, which is connected with the moving module, the winding module, the cleaning module, the conveying module and the evaluation module respectively, and centrally controls the moving module, the winding module, the cleaning module, the conveying module and the evaluation module based on the central processor, so as to improve the efficient and cooperative operation of the whole system and ensure the efficiency of culvert 1 dredging;

[0058] The moving module, the cleaning module and the evaluation module are arranged on the rack 6 respectively;

[0059] The cleaning module comprises a cleaning unit, an adjusting unit and a collecting unit 5, the cleaning unit cleans the sludge of the culvert 1 and the inner wall of the culvert 1, the adjusting unit adjusts the position of the cleaning unit, so that the cleaning unit can abut against the inner wall of the culvert 1 and scrape the sludge of the inner wall of the culvert 1, and the collecting unit 5 centrally places the sludge cleaned by the cleaning unit;

[0060] The collecting unit 5 is arranged on one side of the cleaning unit, and the adjusting unit adjusts the position of the cleaning unit, so that the adjusting unit rotates along the axis of the culvert 1;

[0061] Optionally, the cleaning unit comprises a cleaning plate 4, a cleaning seat 20, a supporting rod 15, a supporting driving mechanism and an expelling member, the cleaning plate 4 is arranged at one side end surface of the cleaning seat 20, one end of the supporting rod 15 is drivingly connected with the supporting driving mechanism to drive the supporting rod 15 to perform telescopic action, the supporting driving mechanism is arranged on the adjusting unit, the other end of the supporting rod 15 is connected with the cleaning seat 20, the cleaning seat 20 is provided with a sludge storage cavity 17 with one end opening, the opening of the sludge storage cavity 17 is arranged towards one side of the cleaning plate 4, the expelling member is arranged in the sludge storage cavity 17 and pushes the sludge in the sludge storage cavity 17 towards the collecting unit 5;

[0062] In the present example, the cleaning plate 4 is made of deformable silicone rubber material; the cleaning plate 4 made of silicone rubber material is in contact with the inner wall of the culvert 1 to protect the inner wall of the culvert 1 from being damaged during cleaning;

[0063] The collecting unit 5 comprises a collecting port 22, a collecting cavity 14, an electronic valve 21 and a vibrating member, the collecting cavity 14 is used for storing sludge, the collecting port 22 is arranged on the collecting cavity 14 and is arranged towards one side of the cleaning unit, the vibrating member vibrates the sludge entering the collecting cavity 14 so that the sludge can be concentrated at the suction duct 2 and transported to the outside by cooperating with the conveying module, the electronic valve 21 is arranged in the sludge storage cavity 17;

[0064] In addition, the cleaning unit further comprises an alignment member, the alignment member aligns the positions of the sludge storage cavity 17 and the collecting port 22 of the collecting unit 5 so that, after alignment, the sludge storage cavity 17 triggers the expelling member to push the sludge in the sludge storage cavity 17 into the collecting cavity 14;

[0065] In the present example, before the expelling member pushes the sludge in the sludge storage cavity 17 into the collecting port 22, the rotating member needs to align the collecting port 22 and open the electronic valve 21 so that the sludge can smoothly enter the collecting cavity 14;

[0066] The alignment member comprises a transmitter 26 and a receiver 25, the transmitter 26 is arranged at one side of the cleaning seat 20 towards the collecting port 22, and the receiver 25 is arranged at one side of the collecting port 22 towards the cleaning seat 20;

[0067] When the adjusting unit adjusts the position of the mud storage cavity 17, it rotates along the axis of the culvert 1. When the two are opposite to each other and the emitter 26 emits a ray that can be received by the receiver 25, it is in the alignment state. At this time, the pushing member can be triggered to push the sludge to the collection port 22 and into the collection cavity 14.

[0068] The vibration member includes a vibrator 28, a vibration plate 27, and at least one vibration spring, one end of the vibration spring is connected with one side end face of the vibration plate 27, the other end of the vibration spring is connected with the side wall of the collection cavity 14, the vibrator 28 is arranged on the vibration plate 27 and drives the vibration plate 27 to vibrate;

[0069] When the vibration plate 27 vibrates, the sludge in the collection cavity 14 can vibrate, deposit near the suction pipe 2, and be sucked to the outside by the conveying unit;

[0070] The discharge member is opposite to the collection port 22 of the collection unit 5, so that the discharge member pushes the sludge into the collection cavity 14.

[0071] The discharge member includes a pushing rod 18, a pushing plate 19, and a pushing drive mechanism, one end of the pushing rod 18 is connected with the pushing plate 19, the other end of the pushing rod 18 is drivingly connected with the pushing drive mechanism to form a pushing part, the pushing part is in the mud storage cavity 17 and is opposite to the collection port 22, so that the pushing plate 19 can perform telescopic action and push the sludge in the mud storage cavity 17 into the collection cavity 14.

[0072] The adjusting unit includes a rotating member and a support seat, the rotating member adjusts the position of the support seat, specifically, the support seat is arranged in a cylindrical barrel structure and is nested on the rack 6.

[0073] The rotating member is arranged on the support seat, so that the rotating member drives the cleaning unit to rotate.

[0074] The rotating member includes a rotating seat 16, a rotating drive mechanism, an identification probe, and at least two rotating markers, the rotating seat 16 is nested on the outer periphery of the support seat and is hinged with the support seat, the rotating drive mechanism drives the rotating seat 16 to rotate along the hinge position, the at least two rotating markers are distributed equidistantly along the circumferential side of the support seat, the identification probe is arranged on the rotating seat 16 and protrudes towards one side of the at least two rotating markers to realize identification of the at least two rotating markers.

[0075] The mutual cooperation of the supporting unit, the cleaning unit and the collecting unit 5 makes the cleaning rate of the sludge in the culvert 1 more efficient, and the accuracy of the scraping and collecting of the sludge is considered, so that the whole system has the advantages of good cleaning effect, high cleaning efficiency and good inner wall cleaning effect;

[0076] Optionally, the evaluation module comprises a detection unit and an evaluation unit, the detection unit collects cleaning data of the cleaning position of the cleaning unit, and the evaluation unit evaluates the cleaning end face of the cleaning module according to the cleaning data;

[0077] The detection unit comprises an ultrasonic sensor, a data storage and a turning member, the ultrasonic sensor is used to detect the thickness data of the sludge in the culvert 1, the data storage stores the data measured by the ultrasonic sensor, and the turning member adjusts the detection position of the ultrasonic sensor, so that the ultrasonic sensor collects sludge thickness data at different angles;

[0078] Optionally, the evaluation unit obtains the cleaning data collected by the detection unit and calculates the cleanliness index Clean of the cleaning position of the cleaning unit according to the following formula:

[0079]

[0080] In the formula, h i is the sludge thickness value collected by the ultrasonic sensor at the i-th angle, w i is the weight of the i-th angle, which is obtained in combination with actual application, technical requirements and historical experience according to specific conditions, R is the radius of the culvert, p i is the sludge property coefficient at the i-th angle, if it is pure sludge, p i is obtained as 0.9, if it is a mixture of sludge and water, p i is obtained as 0.5; n is the total number of angles collected;

[0081] When there is only pure sludge in the culvert, the measurement result of the ultrasonic sensor is strongly affected by the sludge density, because the viscosity of the sludge hinders the propagation of the sound wave therein, based on this observation, a higher coefficient is set for pure sludge, then p i = 0.9;

[0082] When there is a mixture of sludge and water in the culvert, due to the presence of water, the propagation of the sound wave in the mixture is relatively easier, but the mixture still has certain hindrance, especially when the concentration of the sludge increases; therefore, we set a medium coefficient for the mixture, p i = 0.5;

[0083] Of course, the skilled in the art can set or adjust the sludge property coefficient according to the scene of use, so in this embodiment, it is not described one by one;

[0084] The weight w of the i-th angle i Considering that the distribution of sludge in the culvert may be non-uniform, measurements at different angles may have different contributions to the overall cleanliness of the sludge; this is why we need to assign a weight to each angle;

[0085] At the same time, the determination of the weight w i is based on the following aspects:

[0086] 1) Characteristics of sludge distribution: for example, if the sludge accumulates thicker in some parts of the culvert, measurements of these parts may be more important;

[0087] 2) Geometry and physical properties of the culvert: the shape and physical properties of the culvert may affect the distribution of sludge and the accuracy of measurements;

[0088] 3) Historical data and experience: past data and cleaning experience may provide valuable information for determining the weight;

[0089] For example:

[0090] Suppose the culvert has four measurement angles: 0°, 45°, 90°, 135°;

[0091] Based on historical data and experience, it is known that the sludge accumulates the thickest at 0° and 90° angles, so the measurement results at these two angles may be more important; therefore, higher weights can be assigned to these two angles;

[0092] On the other hand, 45° and 135° may have thinner sludge or for some reason the measurements are not accurate enough; therefore, lower weights can be assigned to these two angles;

[0093] The weight distribution is as follows:

[0094]

[0095] In summary, the weight of the angle needs to be set to a positive number, and the determination of the weight of the angle is a process that combines practical application, technical requirements and historical experience, and should be adjusted according to the specific situation; if the cleanliness index Clean of the cleaning position of the cleaning unit is lower than the set monitoring threshold Neat, the cleaning module is triggered to continue cleaning the current cleaning position;

[0096] If the cleanliness index Clean of the cleaning position of the cleaning unit is higher than the set monitoring threshold Neat, it means that the current cleaning position meets the cleaning standard;

[0097] The monitoring threshold Neat is set by the system or the administrator according to the actual situation, which is a technical means familiar to those skilled in the art, and those skilled in the art can consult relevant technical manuals to learn the technology, so it is not repeated in this embodiment.

[0098] In this embodiment, the evaluation module evaluates in real time during the cleaning process of the cleaning module, and feeds back the evaluation result to the cleaning module in real time, so as to trigger the cleaning unit to clean the current cleaning position, thereby improving the cleaning efficiency of the whole system for the sludge in the culvert 1 and the cleanliness of the culvert 1.

[0099] Through the cooperation of the detection unit and the evaluation unit, the cleaning state of the sludge can be evaluated, and the cleanliness of the cleaning position is ensured.

[0100] Meanwhile, through the cooperation of the cleaning module and the evaluation module, the cleaning state of the cleaning module can be evaluated, the cleaning efficiency of the whole system for the sludge in the culvert 1 is improved, and the whole system has the advantages of good cleaning effect, high cleaning efficiency, high cleaning cleanliness of the culvert inner wall and high intelligence.

[0101] Optionally, the conveying module comprises a storage tank 34 and a suction unit, the storage tank 34 is used for storing the sludge of the culvert 1, and the suction unit sucks the sludge collected by the collecting unit 5 from the culvert 1 into the external storage tank 34.

[0102] The suction unit comprises a suction pump and a crushing member, the suction pump sucks the sludge collected by the collecting unit 5, the crushing member crushes the sucked sludge, and the crushed sludge is sent into the storage tank 34.

[0103] Specifically, the suction pump is connected with the collecting cavity 14 of the collecting unit 5 through a suction pipeline 2, as shown in Figure 11 The suction action of the suction pump enables the sludge to be quickly conveyed into the storage tank 34, and the suctioned sludge is crushed by the crushing member.

[0104] In this embodiment, the storage tank 34 is loaded on a sludge truck 35.

[0105] Optionally, the crushing member comprises a crushing cavity, a crushing knife and a crushing driving mechanism, the crushing cavity receives the sludge at the outlet end of the suction pump, the crushing driving mechanism is drivingly connected with the crushing knife to form a crushing part, the crushing part is arranged in the crushing cavity, and the sludge sucked by the suction pump is crushed.

[0106] The crushing member is arranged at the inlet of the storage tank 34, so that the sludge sucked by the suction pump can be crushed, thereby ensuring that the sludge in the culvert 1 can be cleaned completely, and preventing the sludge from blocking the storage tank 34 during collection, thereby avoiding the defect of low sludge recovery efficiency.

[0107] Optionally, the winding module comprises a winding unit 32 and a communication unit, the winding unit 32 is used for recycling or supplying the suction pipeline 2, and the communication unit is used for communication transmission between the winding unit 32 and the moving module.

[0108] As shown in the figure, the winding unit 32 comprises a winding rod, a winding seat, and a winding drive structure 33, one end of the winding rod penetrates through the winding seat and is drivingly connected with the winding drive structure through a transmission belt to form a driving part, the driving part is arranged on the winding seat, and the other end of the winding rod extends towards one side of the winding seat. Figure 11

[0109] The suction pipeline 2 is wound on the rod body of the winding rod, and under the winding action of the winding rod, the suction pipeline 2 is wound on the winding rod, thereby achieving the supply or recycling of the suction pipeline 2.

[0110] The communication unit comprises a communicator and a data transmitter, the communicator is used for communication between the winding unit 32 and the moving module, and the data transmitter is used for data transmission between the winding unit 32 and the moving module, so that the winding unit 32 can release or recycle the suction pipe during the movement of the moving module and the rack 6, thereby improving the accuracy and reliability of the release or recycling of the suction pipe.

[0111] Optionally, the moving module comprises a moving unit and a limiting unit, the moving unit drives the rack 6 to move, and the limiting unit limits the rack 6.

[0112] The moving unit is symmetrically arranged on the circumferential side of the rack 6 and provides power to the rack 6, so that the rack 6 can move stably.

[0113] The moving unit comprises a posture adjusting member, a moving track 3, a moving drive mechanism, and a mud pushing member, the moving track 3 is drivingly connected with the moving drive mechanism to form a driving part, the posture adjusting member is arranged on the circumferential side of the rack 6 and adjusts the position of the driving part.

[0114] During the movement of the rack 6, the moving track 3 is in contact with the inner wall of the culvert 1, and the posture adjusting member adjusts the position of the moving track 3 to adapt to the cleaning needs of the culvert 1 with different circumferences.​

[0115] As shown in Figure 6 or Figure 7 Specifically, the posture adjusting member includes two vertical rods 8, a sliding seat, a sliding rail 10, a damping rod 7, an extension rod 9, an extension driving mechanism fixing seat, one end of the two vertical rods 8 is hinged to the rack 6, the other end of the two vertical rods 8 is connected to the mobile crawler 3, the sliding rail 10 is arranged on the rack 6 and extends along the length direction of the rack 6, the fixing seat is arranged at one end of the sliding rail 10 away from the mobile crawler 3, the sliding seat is in sliding connection with the sliding rail 10, one end of the damping rod 7 is hinged to one end of the extension rod 9 together with the body of the sliding seat, the other end of the damping rod 7 is connected to the mobile crawler 3, the other end of the extension rod 9 is hinged to the fixing seat; wherein the extension driving mechanism is in driving connection with the extension rod 9 to enable the extension rod 9 to perform extension and retraction action, so as to adjust the posture of the mobile crawler 3;

[0116] When it is necessary to adjust the mobile crawler 3, the extension driving mechanism drives the extension rod 9 to perform extension and retraction action, so that the sliding seat slides on the sliding rail 10, thereby driving the damping rod 7 to swing, so that the mobile crawler 3 moves away from or approaches the rack 6, thereby achieving the purpose of adapting to different culverts 1;

[0117] The mud pushing member includes a mud pushing plate 36, an adjusting rod, an extension detection piece and an adjusting driving mechanism, the mud pushing plate 36 is hinged to the front end of the rack 6 to form a first hinged part, one end of the adjusting rod is connected to the mud pushing plate 36 to form a second hinged part, the other end of the adjusting rod is in driving connection with the adjusting driving mechanism to form an adjusting part, the extension detection piece detects the extension length of the adjusting rod, and the adjusting part is arranged on the rack 6 to form a triangular structure between the adjusting rod, the first hinged part and the second hinged part;

[0118] Wherein, different extension lengths enable the mud pushing plate 36 to push sludge at different positions;

[0119] When it is necessary to adjust the position of the mud pushing plate 36, the adjusting driving mechanism drives the adjusting rod to perform extension and retraction action, so that the mud pushing plate 36 abuts against the inner wall of the culvert 1, and under the driving of the moving unit, the rack 6 moves forward and pushes the sludge forward, and then the pushed sludge can be cleaned by the cleaning unit;

[0120] Optionally, the limiting unit comprises a limiting wheel 12, a limiting rod 11, a telescopic rod 13, a pressure detection member and a telescopic driving mechanism, one end of the limiting rod 11 is hingedly connected to an end face of one end of the limiting wheel 12, the other end of the limiting rod 11 is hingedly connected to the rack 6, one end of the telescopic rod 13 is hingedly connected to a rod body of the limiting rod 11, the other end of the telescopic rod 13 is drivingly connected to the telescopic driving mechanism to form a telescopic part, the telescopic part is arranged on the rack 6, and the pressure detection member is arranged at a contact end face between the limiting wheel 12 and the inner wall of the culvert 1 and feeds back a contact pressure between the limiting wheel 12 and the inner wall of the culvert 1;

[0121] Optionally, the contact end face between the limiting wheel 12 and the inner wall of the culvert 1 is provided with anti-skid lines, and the anti-skid lines are distributed at equal intervals along the contact face of the limiting wheel 12;

[0122] Through cooperation between the moving unit and the limiting unit, the cleaning process of the cleaning module on the rack 6 is more stable, different positions of the culvert 1 can be cleaned, and the entire system has a more extensive application scenario;

[0123] In addition, through cooperation between the moving module and the winding module, the suction pipeline 2 dynamically adjusts the position of the moving module to ensure that the moving module cleans and collects sludge in the culvert 1, and can be immediately extracted to improve the efficiency of sludge cleaning.

[0124] Embodiment two: this embodiment should be understood as containing all the features of any one of the preceding embodiments and further improving on the basis thereof, according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 , further comprising a conveying detection unit and a conveying analysis unit, the conveying detection unit detects sludge state data in the collection cavity 14, the conveying analysis unit analyzes the sludge state in the collection cavity 14 according to the state data collected by the conveying detection unit to form an analysis result, and triggers the suction unit to suck the sludge in the collection cavity 14 into an external storage tank 34;

[0125] The bottom wall of the collection cavity 14 is provided with a hidden cavity 24, and the conveying detection unit is arranged in the hidden cavity 24;

[0126] Meanwhile, the size of the hidden cavity 24 is adapted to the conveying detection unit.

[0127] The conveying detection unit comprises a weighing plate 23 for receiving the sludge, at least one connecting rod 31, a reset spring 30 and a weighing sensor 29. One end of the at least one connecting rod 31 is connected to the bottom wall of the weighing plate 23, the other end of the at least one connecting rod 31 extends towards the hidden cavity 24 of the collection cavity 14, and the end of the at least one connecting rod 31 is arranged opposite to the weighing sensor 29. The reset spring 30 is nested on the at least one connecting rod 31, and one end of the reset spring 30 is in contact with the bottom wall of the weighing plate 23, and the other end of the reset spring 30 is in abutment with the bottom wall of the hidden cavity 24.

[0128] The weighing sensor 29 is arranged opposite to the end of the at least one connecting rod 31, so that the sludge is in abutment with the weighing sensor 29 after being extruded by the weighing plate 23, thereby achieving the weighing of the sludge.

[0129] In the embodiment, the state data of the sludge comprises weight data of the sludge.

[0130] The conveying analysis unit acquires the state data collected by the conveying detection unit and calculates the triggering index ACT of the sludge according to the following formula:

[0131]

[0132] In the formula, t is the weighing analysis time set by the system, W max is the maximum sludge weight that can be accommodated by the collection cavity, and the weight is preferably 0.8 times the weight of the sludge with the minimum historical full load density (i.e., the most water content), in order to ensure effective accommodation. Alpha is a decay factor, and its value is obtained from experience. G is the collection rate of the sludge, and its value satisfies:

[0133]

[0134] In the formula, W t is the sludge weight measured by the weighing sensor at time t, W t-1 is the sludge weight measured by the weighing sensor at the previous time point t-1, and △t is the time difference between the two measurements, which is set by the system.

[0135] When the triggering index ACT of the sludge exceeds the set monitoring threshold lunch, the sludge in the collection cavity 14 is extracted by the suction unit.

[0136] When the triggering index ACT of the sludge exceeds the set monitoring threshold lunch, the weight state of the sludge in the collection cavity 14 is continuously monitored.

[0137] Wherein, the monitoring threshold lunch set by the system or the manager according to the actual situation, which is a well-known technical means for those skilled in the art, and those skilled in the art can consult the relevant technical manual to know the technology, so in this embodiment, it will not be described one by one.

[0138] Through the cooperation between the conveying detection unit, the conveying analysis unit and the conveying unit, the precise control of the sludge pumping time is realized, the pumping effect of the sludge is more precise, and the pumping efficiency of the sludge is improved.

[0139] The above disclosed content is only the preferred feasible embodiment of the present application, and does not limit the protection scope of the present application, so any equivalent technical changes made by applying the content of the present application specification and drawings are included in the protection scope of the present application, and in addition, the elements can be updated as technology develops.

Claims

1. A suction pipe culvert dredging robot comprising a server, a rack, and a suction pipe, characterized in that, The suction pipe culvert dredging robot further comprises a moving module, a winding module, a cleaning module, a conveying module and an evaluation module, and the server is connected with the moving module, the winding module, the cleaning module, the conveying module and the evaluation module respectively; The moving module is arranged on the rack and drives the rack to move, the cleaning module cleans the sludge in the culvert, the winding module recycles or supplies the suction pipe, the conveying module conveys the sludge cleaned and concentrated by the cleaning module to the outside, and the evaluation module detects the cleaning position of the cleaning module to form cleaning data and evaluates the cleaning end face of the cleaning module according to the cleaning data. The cleaning module comprises a cleaning unit, an adjusting unit and a collecting unit, the cleaning unit cleans the sludge on the culvert and the inner wall of the culvert, the adjusting unit adjusts the position of the cleaning unit so that the cleaning unit can abut against the inner wall of the culvert and scrape the sludge on the inner wall of the culvert, and the collecting unit concentrates the sludge cleaned by the cleaning unit. The cleaning unit comprises a cleaning plate, a cleaning seat, a supporting rod, a supporting driving mechanism and a discharging member, the cleaning plate is arranged on one side end face of the cleaning seat, one end of the supporting rod is drivingly connected with the supporting driving mechanism to drive the supporting rod to perform telescopic action, the supporting driving mechanism is arranged on the adjusting unit, the other end of the supporting rod is connected with the cleaning seat, the cleaning seat body is provided with a sludge storage cavity with one end opening, the opening of the sludge storage cavity is arranged towards one side of the cleaning plate, and the discharging member is arranged in the sludge storage cavity and pushes the sludge in the sludge storage cavity towards the collecting unit. The cleaning plate is made of deformable silicone rubber material. The evaluation module comprises a detection unit and an evaluation unit, the detection unit collects cleaning data of the cleaned position of the cleaning unit, and the evaluation unit evaluates the cleaning end face of the cleaning module according to the cleaning data. The detection unit comprises an ultrasonic sensor, a data storage and a turning member, the ultrasonic sensor is used to detect the thickness data of the sludge in the culvert, the data storage stores the data measured by the ultrasonic sensor, and the turning member adjusts the detection position of the ultrasonic sensor to enable the ultrasonic sensor to collect sludge thickness data at different angles. The evaluation unit obtains the cleaning data collected by the detection unit and calculates the cleanliness index Clean of the cleaning position of the cleaning unit according to the following formula: ； wherein h i is the sludge thickness value obtained by the ultrasonic sensor at the i angle, w i is the weight of the i angle, R is the radius of the culvert, p i is the sludge property coefficient at the i angle, if it is pure sludge, p i takes 0.9, if it is a mixture of sludge and water, p i takes 0.5; n is the total number of angles used for collection; If the cleanliness index Clean of the cleaning position of the cleaning unit is lower than the set monitoring threshold Neat, the cleaning module continues to clean the current cleaning position.

2. The suction pipe culvert dredging robot according to claim 1, characterized in that, The conveying module comprises a storage tank and a suction unit, the storage tank is used to store the sludge of the culvert, and the suction unit sucks the sludge collected by the collecting unit from the culvert to the outside storage tank. The suction unit comprises a suction pump and a crushing member, the suction pump sucks the sludge collected by the collecting unit, the crushing member crushes the sucked sludge and sends the crushed sludge into the storage tank.

3. The suction pipe culvert dredging robot according to claim 2, characterized in that, The winding module comprises a winding unit and a communication unit, the winding unit recycles or supplies the suction pipeline, and the communication unit is used for communication transmission between the winding unit and the moving module. The winding unit comprises a winding rod, a winding seat and a winding driving structure, one end of the winding rod penetrates through the winding seat and is drivingly connected with the winding driving structure to form a driving part, the driving part is arranged on the winding seat, and the other end of the winding rod extends to one side of the winding seat. The winding pipeline is wound on the rod body of the winding rod, and the winding pipeline is recycled or supplied under the winding action of the winding rod.

4. The suction pipe culvert dredging robot according to claim 3, characterized in that, The moving module comprises a moving unit and a limiting unit, the moving unit drives the rack to move, and the limiting unit limits the rack. The moving unit comprises a posture adjusting member, a moving track, a moving driving mechanism and a sludge pushing member, the moving track is drivingly connected with the moving driving mechanism to form a driving part, the posture adjusting member is arranged on the periphery of the rack and adjusts the position of the driving part. The sludge pushing member is arranged on the rack and used for pushing the sludge. During the movement of the rack, the moving track is in contact with the inner wall of the culvert.

5. The suction pipe culvert dredging robot according to claim 4, characterized in that, The limiting unit comprises a limiting wheel, a limiting rod, an extension rod, a pressure detecting member and an extension driving mechanism, one end of the limiting rod is hingedly connected with one end face of the limiting wheel, the other end of the limiting rod is hingedly connected with the rack, one end of the extension rod is hingedly connected with the rod body of the limiting rod, the other end of the extension rod is drivingly connected with the extension driving mechanism to form an extension part, the extension part is arranged on the rack, and the pressure detecting member is arranged at the contact end face between the limiting wheel and the inner wall of the culvert and feeds back the contact pressure between the limiting wheel and the inner wall of the culvert.

6. The suction pipe culvert dredging robot according to claim 5, characterized in that, The crushing member comprises a crushing cavity, a crushing knife and a crushing driving mechanism, the crushing cavity receives the sludge at the outlet end of the suction pump, the crushing driving mechanism is drivingly connected with the crushing knife to form a crushing part, the crushing part is arranged in the crushing cavity and crushes the sludge sucked by the suction pump. The crushing member is arranged at the inlet of the storage tank.

7. The suction pipe culvert dredging robot according to claim 6, characterized in that, The contact end face between the limiting wheel and the inner wall of the culvert is provided with anti-skid lines, and the anti-skid lines are distributed at equal intervals along the contact face of the limiting wheel.

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