An intelligent robot dredging device and method suitable for rainwater storage tank

Abstract

The application discloses a kind of intelligent robot dredging device suitable for rainwater regulating reservoir and working method thereof, device includes ground layer, equipment layer and reservoir layer sequentially arranged from top to bottom.The ground layer is provided with sludge loading vehicle, and ground layer and equipment layer are provided with ground sewage interface and personnel equipment passage interface;The equipment layer and the reservoir layer are separated by floor and provided with electric door connecting two layers, rainwater guiding equipment, exhaust blower and robot power equipment are arranged above the floor, intelligent robot is arranged below the floor through steel track, and robot power equipment controls the displacement of intelligent robot along the steel track of floor lower panel.The whole layout of the present application is on the top of the regulating reservoir, and the local power supply can work for a long time with high intensity, and the equipment storage condition is better, the reliability is higher, there is no bottom plate and other space occupation limit, and larger size operation end can be configured, automatic operation, efficient and reliable operation effect, and less occupation of operating personnel.

Description

Technical Field

[0001] This invention relates to the field of environmental protection technology, specifically to an intelligent robotic dredging device and method suitable for rainwater storage tanks. Background Technology

[0002] Water storage tanks are mostly located near major urban water bodies such as rivers, lakes, and reservoirs to manage stormwater runoff and water flow in urban and urbanized areas. They are typically underground, with a two-level design: the first basement level is for equipment, housing electromechanical equipment; the second basement level is the storage tank, used to treat stormwater runoff, provide flood control, and improve water quality. The storage tanks are entirely enclosed, with only a few passageways for maintenance personnel and no access for large equipment. As an infrastructure for storing and managing water resources, existing water storage tanks face several problems and challenges in actual operation. After prolonged operation, silt accumulates on the bottom and walls due to sediment buildup, leading to water pollution, storage capacity issues, and safety and efficiency problems. Traditional manual silt removal methods are inefficient, costly to maintain, and require significant manpower, equipment, and time. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an intelligent robotic dredging device and method suitable for rainwater storage tanks. It is locally powered, can operate at high intensity for a long time, can be installed on-site, has better equipment storage conditions, higher reliability, no space restrictions such as chassis, can be configured with larger-sized end effectors, automates operation, is efficient and reliable, requires less manpower, and can be equipped with an intelligent recognition system on the suspended part for effective operation monitoring.

[0004] Technical Solution: To achieve the above objectives, this invention provides an intelligent robotic dredging device suitable for rainwater storage tanks, comprising a ground layer, an equipment layer, and a storage tank layer arranged sequentially from top to bottom; the ground layer is equipped with a sludge loading vehicle, and a ground sewage outlet and a personnel / equipment access interface are provided between the ground layer and the equipment layer; the equipment layer and the storage tank layer are separated by a floor and connected by an electric door; rainwater guiding equipment, an exhaust blower, and a robot power unit are installed above the floor; an intelligent robot is installed below the floor via a steel track, and the robot power unit controls the intelligent robot's displacement along the steel track on the floor panel; the robot power unit includes a power distribution box and a robot walking transmission cable, a robot lifting drive motor, and a robot walking drive motor connected to the power distribution box; the intelligent robot includes a lighting lamp, a camera, a power supply pipe for clean water and sludge, a sonar probe, a lifting cable, and a walking base, with the top of the power supply pipe for clean water and sludge connected to the ground sewage outlet.

[0005] In a further improvement, the personnel and equipment access interface includes a steel grating cover outlet and a manhole cover, with a staircase located below the steel grating cover outlet and a ladder located below the manhole cover.

[0006] In a further improvement, the ground floor is equipped with a ground control box, which is connected to the rainwater guiding equipment, the exhaust blower, the robot power equipment, and the intelligent robot.

[0007] In a further improvement, the rainwater guiding device includes a rainwater drain outlet, a rainwater pump, and a rainwater pipe. The rainwater pump and rainwater pipe draw rainwater from the storage tank to the rainwater drain outlet, which then guides the rainwater into the downstream drainage system.

[0008] In a further improvement, the robot walking transmission cable is arranged along a steel track via a steel cable pulley fixed to the top surface. The intelligent robot walking drive motor drives the robot walking transmission cable in both directions to control the intelligent robot's forward and backward movement along the steel track. The robot lifting drive motor is connected to the lifting cable, and the robot's lifting action is realized by tightening and releasing the cable.

[0009] In a further improvement, a slide rail is arranged next to the steel track, and the power supply, water supply and sludge pipe is hung on the slide rail and connected to the intelligent robot. The power supply, water supply and sludge pipe includes a water pipe, a coaxial optical cable and a sludge pipe.

[0010] In a further improvement, the water pipe is equipped with a water pipe deflection mechanism and a water pipe pitching mechanism.

[0011] As a further improvement, a manual hanging basket is connected to the bottom of the walking base.

[0012] The present invention also provides a working method for an intelligent robotic dredging device suitable for rainwater storage tanks, comprising the following steps:

[0013] Step 1: Connect the sludge loading truck's interface to the ground sewage discharge interface, and use the ground control box for one-button operation to select the operating mode;

[0014] Step 2: The electric gate opens automatically, and the intelligent robot enters the water storage tank layer driven by the robot walking drive motor. Under the joint judgment of the camera and sonar, the intelligent robot moves along the steel track covering the top of the water storage tank to the working position. The robot lifting drive motor lowers the height of the intelligent robot through the lifting steel cable to carry out sludge suction operation, and transports the sludge to the sludge loading truck through the sludge pipe. During the operation, the intelligent robot's water pipe deflection mechanism and water pipe pitching mechanism adjust the direction of the water pipe to carry out the tank wall flushing work.

[0015] Step 3: Once the operation is complete, the robot's lifting drive motor raises the intelligent robot to a higher height via a lifting cable. The intelligent robot then returns to its storage location on the equipment floor along the steel track. The electric door closes automatically, the ground sewage outlet closes, and the sludge loader leaves fully loaded, marking the end of the operation.

[0016] In a further improvement, in step three, maintenance personnel enter the water storage tank layer through a manual basket on the intelligent robot's walking base to carry out maintenance work.

[0017] Beneficial Effects: The beneficial effects of this invention are as follows: The system is deployed on top of the storage tank and mainly consists of I-beam rails, dedicated sewage pipes, sewage connection interfaces, steel cable drive devices, power and water supply pipes, and a cleaning robot. The fixed deployment of the robot allows for timely response to operations, resulting in the following benefits: localized power supply enables long-term, high-intensity operation; on-site installation provides better equipment storage conditions and higher reliability; no space constraints due to chassis, allowing for larger end-effectors; automated operation; high efficiency and reliable results; minimal personnel required; and the suspended portion can be equipped with an intelligent recognition system for effective operation monitoring. Attached Figure Description

[0018] Figure 1 This is an overall cross-sectional view of the rainwater storage tank in this embodiment;

[0019] Figure 2 This is a schematic diagram of the overall interior of the rainwater storage tank in this embodiment;

[0020] Figure 3 This is a schematic diagram of the power distribution room of the rainwater storage tank in this embodiment;

[0021] Figure 4 and Figure 5 This is a schematic diagram of the interior of the intelligent robot equipment room in the rainwater storage tank in this embodiment;

[0022] Figure 6 This is a schematic diagram of the equipment layout of the storage tank layer in this embodiment;

[0023] Figure 7 This is a schematic diagram of the intelligent robot structure in this embodiment;

[0024] Figure 8 This is a schematic diagram of the intelligent robot mounting the artificial basket in this embodiment;

[0025] Figure 9 This is a schematic diagram showing the intelligent robot stored in the equipment room in this embodiment;

[0026] Figure 10 This is a schematic diagram of the intelligent robot's dredging operation in this embodiment;

[0027] Figure 11This is a schematic diagram of the intelligent robot carrying a manual suspended platform for maintenance in this embodiment;

[0028] The diagram includes: 1-Ground floor, 2-Equipment floor, 3-Water storage tank floor, 11-Sludge loading truck, 12-Staff member, 13-Ground control box, 14-Ground sewage outlet, 15-Steel grating cover outlet, 16-Manhole cover, 21-Staircase, 22-Exhaust blower, 23-Rainwater drain outlet, 24-Rainwater pump, 25-Rainwater pipe, 26-Distribution box, 27-Clean water pipe, 28-Coaxial optical cable, 29-Sludge pipe, 210-Ladder, 211-Electric door, 212-Hydraulic rod, 21... 3-Robot walking transmission cable, 214-Robot lifting drive motor, 215-Robot walking drive motor, 216-Steel rail, 31-Slide rail, 32-Power supply clean water and sludge pipe assembly, 33-Intelligent robot, 34-Sewage inlet gate, 35-Steel cable pulley, 331-Lighting lamp, 332-Camera, 333-Clean water pipe deflection mechanism, 334-Clean water pipe pitching mechanism, 335-Sonar probe, 336-Lifting cable, 337-Walking base, 338-Manual suspended basket. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] As attached Figure 1 As shown, an intelligent robotic dredging system suitable for rainwater storage tanks includes a ground layer 1, an equipment layer 2, and a water storage tank layer 3.

[0031] like Figure 2 As shown, the ground layer 1 includes a sludge loading vehicle 11, a worker 12, a ground control box 13, a ground sewage discharge port 14, a grating cover outlet 15, and a manhole cover 16. The sludge pumped from the reservoir is transported away using the sludge loading vehicle. During operation, the worker needs to connect the sludge loading vehicle's interface to the ground sewage discharge port. The ground control box is provided for the worker to operate and control various operating states. The steel grating cover outlet allows passage for personnel and small equipment, and the manhole cover also allows for personnel access.

[0032] like Figure 2-5As shown, the equipment layer 2 includes a staircase 21, an exhaust blower 22, a rainwater drain outlet 23, a rainwater pump 24, a rainwater pipe 25, a power distribution box 26, a clean water pipe 27, a coaxial optical cable 28, a sludge pipe 29, a climbing ladder 210, an electric door 211, a hydraulic rod 212, a robot walking transmission cable 213, a robot lifting drive motor 214, a robot walking drive motor 215, and a steel track 216. The staircase and climbing ladder provide access for personnel from the equipment layer to the ground floor, and the exhaust blower ensures good ventilation on the equipment layer 2. The rainwater drain outlet smoothly guides rainwater from the storage tank into the downstream drainage system. The rainwater pump and rainwater pipe draw rainwater from the storage tank to the rainwater drain outlet. The power distribution box provides power and control for various devices in the entire rainwater storage tank. The clean water pipe introduces clean water, enabling intelligent robots to clean the tank walls. The coaxial optical cable serves as the robot's power supply and signal transmission cable, and its integrated structure ensures high reliability. The sludge pipe pumps out sludge that has accumulated in the reservoir over a long period. An electric door, serving as a passage between the equipment floor and the reservoir floor, is automatically opened and closed; a hydraulic rod provides the power for the door's operation. The robot's walking drive cable, via pulleys fixed to the top of the reservoir floor, runs along a steel track. The robot's driving motor rotates the cable in both directions, enabling the robot to move forward and backward along the track. The robot's lifting drive motor is connected to a 336-lifting cable; the tightening and releasing of the cable controls the robot's lifting motion.

[0033] like Figure 6-8 As shown, the water storage tank includes a slide rail 31, a power supply, clean water, and sludge pipe 32, an intelligent robot 33, a sewage inlet gate 34, and a steel cable pulley 35. The slide rail is arranged along the robot's walking steel track. The power supply, clean water, and sludge pipe is composed of a clean water pipe, a coaxial optical cable, and a sludge pipe. The power supply, clean water, and sludge pipe is hung on the slide rail and connected to the intelligent robot, moving with the intelligent robot. The sewage inlet gate is the entrance for rainwater to enter the water storage tank. The intelligent robot structure includes a lighting lamp 331, a camera 332, a clean water pipe deflection mechanism 333, a clean water pipe pitching mechanism 334, a sonar probe 335, a lifting steel cable 336, a walking base 337, and a manual basket 338. One lighting lamp is installed on each side of the intelligent robot to provide visual supplementary lighting, and one camera is installed on each side of the intelligent robot to provide visual observation. The clean water pipe, mounted on the intelligent robot, features a deflection mechanism and a pitching mechanism, increasing its flexibility. The two rotational degrees of freedom enable rinsing of the pool walls. A sonar probe assists vision, detecting sludge buildup in the reservoir and helping the robot determine where it needs to be cleaned. The walking base serves as the robot's structural foundation, supporting its bottom structure's attachment to steel tracks. A human-operated basket can be installed on the robot's walking base, allowing personnel to enter for maintenance and upkeep. Figure 8 As shown.

[0034] Part Two:

[0035] When not in use, the intelligent robot is stored in the robot equipment room, such as Figure 9 As shown, the specific work process is as follows when the operation is to be carried out:

[0036] Step 1: As Figure 9 As shown, the sludge loading truck arrives, and the staff connects the sludge loading truck's interface to the ground sewage discharge interface. The staff then uses the ground control box to perform one-button operation and select the operating mode.

[0037] Step 2: As Figure 10 As shown, the electric gate opens automatically, and the intelligent robot, driven by its walking drive motor, enters the reservoir layer. Guided by a combination of vision and sonar, the intelligent robot moves along the steel track covering the reservoir layer to the work position. The robot's lifting drive motor lowers the robot via a lifting cable, allowing it to perform sludge suction operations, transporting the sludge through a sludge pipe to a sludge loading truck. During the operation, it can also be controlled... Figure 7 As shown, the intelligent robot's water pipe deflection mechanism and water pipe pitching mechanism adjust the direction of the water pipe to perform tasks such as rinsing the pool walls.

[0038] Step 3: Upon completion of the operation, the robot's lifting drive motor elevates the intelligent robot via a lifting cable. The robot then returns to its storage position on the equipment floor along the steel track. The electric door automatically closes, the ground drainage interface shuts off, and the sludge loader, fully loaded, departs, ending the operation. Notably, the intelligent robot's functionality can be expanded, such as... Figure 11 As shown, the manual basket is installed on the walking base of the intelligent robot, allowing maintenance personnel to enter the water storage tank layer through the manual basket to carry out maintenance work and ensure the healthy operation of the entire system.

[0039] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent robotic dredging device suitable for rainwater storage tanks, characterized in that: The system comprises, from top to bottom, a ground layer, an equipment layer, and a water storage tank layer. The ground layer is equipped with a sludge loading vehicle. A ground-level sewage outlet and a personnel / equipment access interface are located between the ground layer and the equipment layer. The equipment layer and the water storage tank layer are separated by a floor and connected by an electric door. Above the floor are rainwater guiding devices, exhaust blowers, and robot power equipment. Below the floor, an intelligent robot is mounted on a steel track. The robot power equipment controls the intelligent robot's movement along the steel track on the floor's underside. The robot power equipment includes a power distribution box and connected to it a robot walking transmission cable, a robot lifting drive motor, and a robot walking drive motor. The intelligent robot includes lighting, a camera, a power supply pipe for clean water and sludge, a sonar probe, a lifting cable, and a walking base. The top of the power supply pipe for clean water and sludge is connected to the ground-level sewage outlet. The robot walking transmission cable is arranged along the steel track through a steel cable pulley fixed to the top surface. The intelligent robot walking drive motor drives the robot walking transmission cable in both directions to control the intelligent robot to move forward and backward along the steel track. The robot lifting drive motor is connected to the lifting cable. The robot's lifting action is realized by tightening and releasing the cable. A slide rail is arranged next to the steel track. The power supply, water supply and sludge pipe is hung on the slide rail and connected to the intelligent robot. The power supply, water supply and sludge pipe includes a water pipe, a coaxial optical cable and a sludge pipe.

2. The intelligent robotic dredging device for rainwater storage tanks according to claim 1, characterized in that: The personnel and equipment access interface includes a steel grating cover outlet and a manhole cover. A staircase is provided below the steel grating cover outlet, and a ladder is provided below the manhole cover.

3. The intelligent robotic dredging device for rainwater storage tanks according to claim 1, characterized in that: The ground floor is equipped with a ground control box, which is connected to the rainwater guiding equipment, the exhaust blower, the robot power equipment, and the intelligent robot.

4. The intelligent robotic dredging device for rainwater storage tanks according to claim 1, characterized in that: The rainwater guiding device includes a rainwater drain outlet, a rainwater pump, and a rainwater pipe. The rainwater pump and rainwater pipe draw rainwater from the storage tank to the rainwater drain outlet, which then guides the rainwater into the downstream drainage system.

5. The intelligent robotic dredging device for rainwater storage tanks according to claim 1, characterized in that: The water pipe is equipped with a water pipe deflection mechanism and a water pipe pitching mechanism.

6. The intelligent robotic dredging device for rainwater storage tanks according to claim 1, characterized in that: The bottom of the walking base is connected to a manual hanging basket.

7. The working method of the intelligent robot dredging device for rainwater storage tanks as described in claim 1, characterized in that... Includes the following steps: Step 1: Connect the sludge loading truck's interface to the ground sewage discharge interface, and use the ground control box for one-button operation to select the operating mode; Step 2: The electric gate opens automatically, and the intelligent robot enters the water storage tank layer driven by the robot walking drive motor. Under the joint judgment of the camera and sonar, the intelligent robot moves along the steel track covering the top of the water storage tank to the working position. The robot lifting drive motor lowers the height of the intelligent robot through the lifting steel cable to carry out sludge suction operation, and transports the sludge to the sludge loading truck through the sludge pipe. During the operation, the intelligent robot's water pipe deflection mechanism and water pipe pitching mechanism adjust the direction of the water pipe to carry out the tank wall flushing work. Step 3: Once the operation is complete, the robot's lifting drive motor raises the intelligent robot to a higher height via a lifting cable. The intelligent robot then returns to its storage location on the equipment floor along the steel track. The electric door closes automatically, the ground sewage outlet closes, and the sludge loader leaves fully loaded, marking the end of the operation.

8. The working method of the intelligent robot dredging device for rainwater storage tanks according to claim 7, characterized in that: In step three, maintenance personnel enter the water storage tank layer through a manual basket on the intelligent robot's walking base to carry out maintenance work.

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