Multifunctional flood drainage robot and working method thereof

Abstract

The present application relates to the technical field of emergency rescue, in particular to a multifunctional drainage robot and a working method thereof, which comprises a main body, a walking mechanism, a main water pump and a hydraulic control system, the walking mechanism is arranged on both sides of the main body to drive the drainage robot to move, the main water pump is arranged below the main body to drain water, and a plurality of external interfaces are arranged on the main body, the external interfaces are connected with the hydraulic control system, the external interfaces are used to connect external hydraulic equipment through hydraulic oil pipes, the hydraulic control system is arranged in the main body to control internal hydraulic equipment and external hydraulic equipment, and the hydraulic control system is a load-sensitive system, which can feed back the pressure of the load to adjust the flow of the hydraulic control system in real time. Through the hydraulic control system, the internal hydraulic equipment of the drainage robot and the external hydraulic equipment connected through the external interfaces can be controlled, so that the functions of the drainage robot are increased, and the drainage robot can fully play a role in various rescue scenes.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue technology, specifically to a multifunctional drainage robot and its working method. Background Technology

[0002] Existing flood drainage robots have limited functionality, focusing solely on drainage. However, emergency rescue scenarios are complex, especially in wilderness areas. Landslides, ground subsidence, or building collapses can cause trees and large, hard objects (rocks, concrete blocks) to block roads, preventing the robots from reaching their destinations. Furthermore, in cases of building collapses and flooding caused by disasters like earthquakes and tsunamis, the collapsed buildings hinder the robots' access, requiring rescue personnel to enter and install pumps and other drainage equipment. The poor ventilation and difficult terrain of collapsed buildings, requiring rescuers to remain in such poorly ventilated areas for extended periods, pose a significant challenge.

[0003] Existing drainage robots only have drainage functions and cannot adapt to the complex working environment mentioned above. They can only work in conjunction with other rescue equipment. However, all rescue equipment at emergency rescue sites is in short supply, which leads to a decrease in the working efficiency of drainage robots. Summary of the Invention

[0004] The present invention aims to provide a multifunctional drainage robot and its working method to solve the problem of the limited functionality of existing drainage robots.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: a multifunctional drainage robot, comprising a main body, a walking mechanism, a main water pump, and a hydraulic control system. The walking mechanism is disposed on both sides of the main body for driving the drainage robot to move. The main water pump is disposed below the main body for drainage. The robot also includes multiple external interfaces disposed on the main body, which are connected to the hydraulic control system. The external interfaces are used to connect to external hydraulic equipment via hydraulic oil pipes. The hydraulic control system is disposed within the main body for controlling the internal and external hydraulic equipment. The internal hydraulic equipment includes the main water pump and is disposed on the drainage robot. The external hydraulic equipment is separate from the drainage robot and is only connected to the external interfaces of the drainage robot during use. The hydraulic control system is a load-sensitive system, capable of adjusting the flow rate of the hydraulic control system in real time according to the pressure feedback of the load, thereby maintaining a continuous output of the required pressure and flow rate supplied to the hydraulic equipment.

[0006] The hydraulic control system can control the internal hydraulic equipment on the drainage robot as well as the external hydraulic equipment connected through the external interface, thereby increasing the functionality of the drainage robot and enabling it to play a full role in various rescue scenarios.

[0007] Furthermore, it also includes a hydraulic cylinder connected to the main water pump. The hydraulic cylinder is connected to the hydraulic control system, and the hydraulic cylinder moves up and down under the control of the hydraulic control system, thereby driving the main water pump to move up and down.

[0008] Furthermore, there are two main water pumps, which are arranged side by side below the main body and rise and fall simultaneously under the drive of a hydraulic cylinder.

[0009] Furthermore, the walking mechanism includes a first walking track and a second walking track located on the left and right sides below the main body, as well as a first walking motor that controls the first walking track and a second walking motor that controls the second walking track. Both the first and second walking motors are connected to a hydraulic control system. The hydraulic system controls the first and second walking motors respectively, changing their direction and speed, thereby enabling the drainage robot to move forward, backward, and turn, and adjusting the speed of the drainage robot.

[0010] Furthermore, the hydraulic control system includes an oil tank, a hydraulic pump, and an electro-proportional control valve. The hydraulic pump supplies hydraulic oil from the oil tank to the electro-proportional control valve. The electro-proportional control valve is located between the hydraulic pump and the hydraulic equipment to control the flow rate and on / off state of the hydraulic oil supplied to the hydraulic equipment. The hydraulic pump is a load-sensitive pump, which adjusts the flow rate of the hydraulic control system in real time based on the pressure feedback of the load. Therefore, the hydraulic control system is a load-sensitive system. The hydraulic equipment includes the internal hydraulic equipment and the external hydraulic equipment.

[0011] Furthermore, the electro-proportional control valve has multiple working links, each of which controls at least one hydraulic device. The working links are controlled independently to prevent the hydraulic devices controlled by different working links from affecting each other.

[0012] Furthermore, it also includes at least one water level sensor, the water level sensor being between 130mm and 180mm above the ground. When there is only one water level sensor, it is located on the front side of the vehicle body. The walking mechanism includes a first walking track and a second walking track located on the left and right sides below the main body. When there is more than one water level sensor, in addition to the front side of the vehicle body, the water level sensor is also located on one side of the first or second walking track, and does not exceed the outer contour boundary of the first or second walking track.

[0013] A working method for a multi-functional drainage robot includes at least the following working mode 1 and any one of working modes 2-4: Working mode 1: When the drainage location is within the reach of the drainage robot, the drainage robot enters the waterlogged area, and the hydraulic control system controls the water pump on the drainage robot to descend and start the water pump to pump water and drain the water. Working mode 2: When the drainage location is inaccessible to the drainage robot, an external water pump is plugged into the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external water pump to carry out drainage work. Working mode 3: When it is necessary to clear obstacles, select the corresponding external hydraulic equipment according to the type of obstacle and connect it to the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external hydraulic equipment to work to clear the obstacles. Working mode 4: When ventilation is required, plug the hydraulic fan into the external interface of the drainage robot and connect the ventilation duct to the ventilation location. The hydraulic control system of the drainage robot controls the hydraulic fan to work for ventilation.

[0014] By connecting to external hydraulic equipment, the drainage robot can expand the drainage area and also perform auxiliary tasks such as clearing obstacles or ventilating poorly ventilated areas during emergency rescue, thus increasing the robot's functionality and expanding its application scope.

[0015] Furthermore, the locations that the drainage robot can reach refer to places where its walking mechanism can reach and the water depth is not higher than the maximum wading depth of the drainage robot.

[0016] Furthermore, each working link includes a main valve core and multiple hydraulic oil output ports. The hydraulic oil output ports are used to connect to internal hydraulic equipment or to external hydraulic equipment through an external interface. The main valve core is used to control the supply of hydraulic oil from the oil supply circuit to the hydraulic oil output ports or back to the oil tank. The main valve core is a pilot-operated control valve with a pilot chamber. Each working link also includes an electro-proportional valve connected to the pilot chamber of the main valve core. The position of the main valve core is adjusted according to the opening and closing of the electro-proportional valve, thereby changing the pipeline connection so that the hydraulic oil is supplied to different output ports of the same working link or back to the oil tank. Working mode 1 is as follows: When the drainage location is within the reach of the drainage robot, the electro-proportional valve in the working link of the hydraulic control system used to control the walking mechanism is energized, and each working link of the walking mechanism has one electro-proportional valve energized, controlling the walking mechanism to move, thereby driving the drainage robot to the drainage location; when all the electro-proportional valves in the working links used to control the walking mechanism are de-energized, the walking mechanism stops, one of the electro-proportional valves in the working link used to control the hydraulic cylinder is energized until the main water pump descends to the working position, the electro-proportional valve in the working link used to control the hydraulic cylinder is de-energized, and the electro-proportional valve in the working link used to control the main water pump is energized, thereby driving the main water pump to perform drainage work; after the drainage is completed, the electro-proportional valve in the working link used to control the main water pump is de-energized.

[0017] Working mode 2 is as follows: When the drainage location is inaccessible to the drainage robot, select the appropriate power and quantity of external water pumps according to the drainage needs, plug the external water pumps into the external interface of the drainage robot, control the corresponding electro-proportional valve of the working link to be energized, drive the external water pumps to perform drainage operations, and close the electro-proportional valve of the corresponding working link after the drainage is completed.

[0018] Working mode 3 is as follows: When it is necessary to clear obstacles, select an external hydraulic device according to the type of obstacle, plug the external hydraulic device into the external interface of the drainage robot, control the corresponding electro-proportional valve of the working link to be energized, drive the external hydraulic device to clear the obstacle, and close the electro-proportional valve of the corresponding working link after the obstacle is cleared.

[0019] Working mode 4 is as follows: When ventilation is required, the external hydraulic equipment is a hydraulic fan. The hydraulic fan is plugged into the external interface of the drainage robot, and the ventilation duct is connected to the location where ventilation is required. The corresponding electro-proportional valve of the working link is energized to drive the hydraulic fan to perform ventilation. After the ventilation is completed, the electro-proportional valve of the corresponding working link is closed.

[0020] This invention adds functionality to the drainage robot by setting an external interface on its main body, allowing external hydraulic equipment to be connected to the drainage robot via hydraulic oil pipes. This makes the drainage robot suitable for various emergency rescue scenarios, enabling it to perform tasks such as clearing obstacles or ventilation in addition to pumping and draining water, thus avoiding the impact on the robot's work efficiency due to obstacles or poor air circulation. Attached Figure Description

[0021] Figure 1 It is a 3D image of a flood drainage robot; Figure 2 This is a 3D diagram of the internal structure of the flood drainage robot; Figure 3 It is a 3D diagram of the structure of a flood drainage robot (showing the structure of the walking mechanism and the main water pump). Figure 4 This is a hydraulic schematic diagram of the hydraulic control system of a flood drainage robot (simplified electro-proportional control valve principle). Figure 5 This is the hydraulic schematic diagram of an electro-proportional control valve; The components include: 1 main body, 11 external interface, 12 engine, 13 outer shell, 2 walking mechanism, 21 first walking track, 22 second walking track, 23 first walking motor, 24 second walking motor, 3 main water pump, 31 hydraulic cylinder, 4 hydraulic control system, 41 oil tank, 42 ​​hydraulic pump, 43 electro-proportional control valve, 431 main valve core, 4311 pilot chamber, 432 pressure compensation valve, 44 pressure reducing solenoid valve, 45 hydraulic lock, 100 oil supply circuit, 101 low pressure circuit, 200 return oil circuit, and 300 load feedback circuit. Detailed Implementation

[0022] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0023] See Figure 1-4 As shown in the figure, as an embodiment of the present invention, a multifunctional drainage robot is provided, including a main body 1, a walking mechanism 2, a main water pump 3, and a hydraulic control system 4. The walking mechanism 2 is located on both sides below the main body 1 to drive the drainage robot to move. The walking mechanism 2 is a tracked structure. The main water pump 3 is located below the main body 1 for drainage. The hydraulic control system is located inside the main body 1. The main body 1 is provided with multiple external interfaces 11, which are connected to the hydraulic control system. The external interfaces 11 are used to connect to external hydraulic equipment through hydraulic oil pipes.

[0024] The main body 1 houses a diesel engine 12, which is covered by a housing 13. The diesel engine 12 has lower noise levels compared to the gasoline engines used in existing flood drainage robots on the market, thus reducing the noise level during operation. Except for necessary openings (heat dissipation vents and clearance openings for external interfaces 11), the housing 13 is sealed, essentially enclosing the engine 12 within it. The housing 13 is at least 1.5mm thick, effectively preventing noise from the engine 12 from escaping and further reducing the noise level of the flood drainage robot. Furthermore, sound-absorbing cotton is laid inside the housing 13 to further reduce noise. Through these three measures—using a diesel engine, adding a housing, and laying sound-absorbing cotton—the noise level of the flood drainage robot is effectively reduced. Calculations show that the noise level of existing flood drainage robots on the market is generally around 100 decibels, while the operating volume of this invention is 86 decibels.

[0025] The tracked walking mechanism 2 includes a first walking track 21 and a second walking track 22 located on the left and right sides below the main body 1, and a first walking motor 23 controlling the first walking track 21 and a second walking motor 24 controlling the second walking track 22. Both the first and second walking motors are connected to a hydraulic control system, which controls the first and second walking motors respectively, changing the direction and speed of the first and second walking motors 23 and 24, thereby enabling the drainage robot to move forward, backward, and turn, and adjusting the speed of the drainage robot. For example, if the first and second walking motors have the same direction but different speeds, the drainage robot turns towards the walking track controlled by the walking motor with the lower speed; if the first and second walking motors have opposite directions but the same speed, the drainage robot turns in place.

[0026] See Figure 3-4 As shown, a hydraulic cylinder 31 connected to the main water pump 3 is also provided below the main body 1. The hydraulic cylinder 31 is connected to the hydraulic control system 4. The main water pump 3 has an inlet end and an outlet end. The outlet end of the main water pump 3 is hinged to the main body 1, and the inlet end is connected to the hydraulic cylinder 31. The hydraulic control system 4 controls the hydraulic cylinder 31 to rise and fall, thereby driving the inlet end of the main water pump 3 to rise and fall, effectively lowering the inlet water level of the main water pump 3, making the drainage more thorough. There are two main water pumps 3, which are arranged side by side below the main body 1 and rise and fall simultaneously under the drive of the hydraulic cylinder 31. The simultaneous operation of the two main water pumps 3 improves the drainage efficiency of the drainage robot.

[0027] The hydraulic control system 4 is used to control hydraulic equipment, including internal and external hydraulic devices. The hydraulic devices described in this invention refer to mechanical devices driven by hydraulic pressure, converting hydraulic energy into mechanical energy output. The internal hydraulic devices are those installed on the drainage robot, including, in this example, a main water pump 3, a first travel motor 23, a second travel motor 24, and a hydraulic cylinder 31. The external hydraulic devices are separate from the drainage robot and are not connected when not in use. They are only connected to the external interface of the drainage robot via hydraulic hoses when in use. In this example, the external hydraulic devices include an external water pump. It should be noted that the internal and external hydraulic devices are not limited to the types mentioned above. In particular, the external hydraulic devices can also include at least one of a hydraulic saw, a hydraulic blower, and a hydraulic drilling machine. Furthermore, the external hydraulic devices are not limited to being backup devices for external connection; provided the drainage robot's structure allows, they can be installed on the drainage robot as internal hydraulic devices.

[0028] The hydraulic control system 4 is a load-sensitive system that can adjust the flow rate of the hydraulic control system in real time based on the pressure feedback of the load (i.e., the hydraulic equipment).

[0029] See Figure 4-5As shown, the hydraulic control system 4 includes an oil tank 41, a hydraulic pump 42, and an electro-proportional control valve 43. The hydraulic pump 42 supplies hydraulic oil from the oil tank 41 to the hydraulic equipment. The electro-proportional control valve 43 is located between the hydraulic pump 42 and the hydraulic equipment to control the flow rate and on / off state of the hydraulic oil supplied to the hydraulic equipment. The electro-proportional control valve 43 has multiple working links (separated by rectangular dashed boxes in the figure). Each working link controls at least one hydraulic device, and the working links are controlled independently to prevent the hydraulic devices controlled by different working links from affecting each other. The hydraulic pump 42 is a load-sensitive pump, and the output pressure of the hydraulic pump 42 is adjusted according to the pressure of the hydraulic equipment. The hydraulic equipment includes the internal hydraulic equipment and the external hydraulic equipment.

[0030] Hydraulic pump 42 pumps hydraulic oil from oil tank 41 through oil supply line 100, supplying it to the corresponding hydraulic equipment through each working link. A return oil line 200 is provided between the hydraulic equipment and oil tank 41, allowing the working hydraulic oil driving the hydraulic equipment to return to oil tank 41. A load feedback oil line 300 is provided between the hydraulic equipment and hydraulic pump 42, providing feedback on the load pressure of the hydraulic equipment. Based on the load pressure feedback from the load feedback oil line 300, hydraulic pump 42 controls the main pump to output a corresponding flow rate. This allows for timely adjustment of the main pump's power, avoiding unnecessary overflow losses and making the system more energy-efficient.

[0031] See Figure 4-5 As shown, each working link includes a main valve core 431 and a pressure compensation valve 432. The oil inlet of the main valve core 431 is connected to the oil supply circuit 100, and the pressure compensation valve 432 is connected to the load feedback circuit 300. The main valve core 431 has multiple states, and switching to different states can control the hydraulic oil supply from the oil supply circuit 100 to the hydraulic equipment or return to the oil tank 41. The main valve core 431 is a pilot-operated solenoid valve, in this example a three-position six-way pilot valve, which has two pilot chambers 4311. The two pilot chambers 4311 are respectively connected to an electro-proportional valve E (E1-E14 in the figure are all electro-proportional valves, and their principles are the same). When one of the electro-proportional valves E is energized to make it conduct, hydraulic oil enters the pilot chamber connected to the solenoid valve, and the main valve core 431 is activated. The amount of oil supplied to the hydraulic equipment can also be adjusted by regulating the current of the electro-proportional valve E. Based on the current of the electro-proportional valve E, the opening of the throttle orifice within the main valve core 431 is adjusted, thereby regulating the flow rate of hydraulic oil supplied to the hydraulic equipment. The pressure compensation valve 432 is located after the main valve core 431. Based on the load pressure feedback from the load feedback oil circuit 300, the electro-proportional valve E controls the displacement of the main valve core 431 to adjust the opening of the throttle orifice within the main valve core 431, controlling the flow rate of hydraulic oil supplied to the hydraulic equipment, thus adjusting the flow rate supplied to the hydraulic equipment according to its needs.

[0032] Specifically, the load feedback oil circuit 300 is connected to the first travel motor 23 and the second travel motor 24. By controlling the opening of the throttle port of the main valve core 431 in the working connection of the first travel motor 23 and the second travel motor 24, the flow rate of hydraulic oil supplied to the first travel motor 23 and the second travel motor 24 is adjusted.

[0033] Taking the working link controlling the first travel motor 23 as an example, when the electro-proportional valve E7 is energized, the hydraulic oil on the low-pressure oil circuit 101 connected to the PR port enters the pilot chamber at the upper end of the main valve core 431 through the electro-proportional valve E7. The hydraulic oil on the oil supply circuit 100 is supplied to the A4 port of the electro-proportional control valve 43 through the main valve core 431 and the pressure compensation valve 432 (each working link has A port and B port for outputting hydraulic oil. A1-A7 and B1-B7 are only different in sequence, and they all refer to the interfaces of the hydraulic pipeline). Then, through the A port of the first travel motor, the first travel motor 23 is driven to work. To drive the first travel motor 23 to rotate in the opposite direction, the electro-proportional valve E7 is de-energized and the electro-proportional valve E8 is energized. Hydraulic oil from the low-pressure oil circuit 101 connected to the PR port enters the pilot chamber at the upper end of the main valve core 431 via the electro-proportional valve E8. Hydraulic oil from the oil supply circuit 100 is supplied to the B4 port of the electro-proportional control valve 43 via the main valve core 431 and the pressure compensation valve 432, and then passes through the B port of the first travel motor, driving the first travel motor to work in the opposite direction. The displacement of the main valve core 431 is controlled by controlling the energization and de-energization of the electro-proportional valve E connected to the pilot chamber of the main valve core 431, thereby enabling the main valve core 31 to conduct (at the upper or lower end) or cut off (in the middle).

[0034] Taking the first travel motor as an example, when the electro-proportional valve E7 is energized, the magnitude of the current is adjusted to control the stroke of its valve core, thereby adjusting the pilot pressure entering the pilot chamber, which in turn adjusts the stroke of the main valve core 431, adjusts the opening of the throttle port in the main valve core 431, and thus adjusts the amount of oil entering the first travel motor.

[0035] See Figure 4-5 As shown, the control oil circuit of the electro-proportional control valve 43 is also equipped with a pressure-reducing solenoid valve 44. The pressure-reducing solenoid valve 44 has a pressure-reducing valve inside, which can reduce the high-pressure oil in the oil supply circuit 100 and then supply it to the PR port of the electro-proportional control valve 43. That is, the oil circuit in the electro-proportional control valve 43 connected to the PR port is the low-pressure oil circuit 101. The pressure-reducing solenoid valve 44 is also connected to the Ps of the travel element, and controls the speed and output torque of the travel motor by controlling the pilot solenoid valve FR in the pressure-reducing solenoid valve 43.

[0036] The working principle of the travel motor is as follows: The swashplate angle is switched by controlling the opening and closing of the pilot solenoid valve FR. When high-speed travel is required, the pilot solenoid valve FR is energized, the swashplate angle decreases, and the motor outputs a higher speed for the same flow rate. When climbing hills or traversing complex road conditions, the pilot solenoid valve FR is closed, increasing the swashplate angle. This allows the motor to output a high torque value, thus enabling high-speed travel and high-torque obstacle clearance. It should be noted that the travel motor includes a first travel motor 23 and a second travel motor 24. The first travel motor 23 and the second travel motor 24 have the same principle and structure and are existing technologies, which will not be detailed here.

[0037] By controlling the on / off state and current magnitude of the electro-proportional valve E connected to both ends of the main valve core 431, the steering and speed of the first travel motor 23 and the second travel motor 24 are controlled. This enables the drainage robot to move forward, backward, turn, and turn in place. The use of electro-proportional valves allows the corresponding hydraulic equipment to be remotely controlled via electrical control.

[0038] The hydraulic cylinder 31 is connected to ports A6 and B6 of the electro-proportional control valve 43 and is controlled by the corresponding working link. A hydraulic lock 45 is provided in the oil circuit of the hydraulic cylinder 31. When the water pump needs to be maintained at a certain height, the hydraulic lock 45 works to cut off the oil circuit between the hydraulic cylinder 31 and the electro-proportional control valve 43, thereby maintaining the position of the piston in the hydraulic cylinder 31 and thus maintaining the position of the water pump.

[0039] See Figure 4-5As shown, multiple water pumps are connected to three working connections of the electro-proportional control valve 43. Since there are two main water pumps 3, only the two 8-inch water pumps located in different working connections are the main water pumps 3. For example, the water pumps connected to ports A1 and A2 are the main water pumps, while the other water pumps are external pumps. The main water pumps 3 are not limited to being connected to ports A1 and A2; they can also be connected to ports A1 and B2, or ports B1 and B2, as long as they are connected to different working connections so that the two main water pumps can be controlled separately. If the driving force of the hydraulic pump is sufficient, the main water pumps 3 are not limited to the 8-inch water pumps commonly used in drainage robots; they can be 4-inch high-lift water pumps, and the 4-inch high-lift water pump is not limited to occupying a single working connection. In this example, due to the power limitations of the drainage robot, both main water pumps 3 are 8-inch water pumps, and the two main water pumps 3 are controlled separately. They can be turned on simultaneously, or one of them can be turned on at a time. Turning them on simultaneously can increase the drainage speed. Two water pumps are connected to the same working link. One is an internal hydraulic device mounted on the drainage robot, and the other is an external hydraulic device connected via external interface 11. It should be noted that the external hydraulic device sharing a working link with the main water pump 3 is not limited to water pumps; it can also be a hydraulic saw, hydraulic blower, or hydraulic drilling machine, etc. Furthermore, the oil tank is equipped with an LM port for draining oil from the 4-inch high-lift water pump. Connecting the drain pipe of the 4-inch high-lift water pump to the LM port of the oil tank facilitates oil draining from the 4-inch high-lift water pump, reducing the need for additional drain pipe installation, making the system more integrated and easier to operate.

[0040] The A7 and B7 ports of the seventh working link of the electro-proportional control valve 43 are used as backup interfaces. When there are many hydraulic devices that need to be connected, they can be connected to the A7 and B7 ports.

[0041] The hydraulic control system can control the internal hydraulic equipment on the drainage robot as well as the external hydraulic equipment connected through the external interface, thereby increasing the functionality of the drainage robot and enabling it to play a full role in various rescue scenarios.

[0042] This invention also includes a controller to control its operation and achieve remote control of the invention. Since this invention operates in water, and the engine and controller cannot function when submerged, a water depth detection device is included to protect the engine, controller, and related electronic components. This device issues an alarm signal when the water level is too high. Furthermore, the water depth detection device can control the operation of the corresponding main water pump based on the real-time detected water depth. For example, if the water level is deep, two main water pumps can operate simultaneously; if the water level is shallow, only one main water pump needs to operate. The water depth detection device includes at least one water level sensor, positioned within a range of 130mm-180mm above the ground, specifically on the front side of the vehicle body. If multiple water level sensors are used, they can also be positioned on one side of the first or second track, but not exceeding the outer contour boundary of the first or second track, ensuring that the track contacts the ground or other objects first to avoid damage to the water level sensors. Since the drainage robots primarily operate in low-lying areas prone to flooding, they mostly move downhill, with the front of the vehicle wading through the deepest water. Therefore, placing the water level sensor at the front facilitates the detection of this wading depth. The minimum contact water level for the sensor is set at 130mm. Setting it too low would reduce the robot's mobility, and since 130mm is significantly different from the maximum wading depth of 700mm, detecting excessively low water levels is unnecessary. Setting the sensor too high would make it difficult to detect water levels at shallow wading depths, hindering the control of the main water pump. The water level sensor transmits the detected water level to the controller, displaying it in real-time on the control interface, and uses this level as the basis for controlling the main water pump. When the water level sensor detects that the water depth reaches the robot's safety warning value, it issues an alarm to alert the operator. When the maximum wading depth is reached, the robot can also be stopped simultaneously. The maximum wading depth of this invention is 700 mm, and the safety warning value for wading is generally 85% of the maximum wading depth. The water level sensor of this invention is a water pressure type water level sensor, which obtains the water level height by measuring water pressure. The specific measurement principle and calculation method are existing technologies and are not the content protected by this invention, so they will not be described here.

[0043] This invention also provides a method for operating the above-mentioned multifunctional drainage robot, which includes at least one of the following operating modes, each of which is independent: Working mode 1: When the drainage location is within the reach of the drainage robot, the drainage robot enters the waterlogged area, and the hydraulic control system controls the main water pump on the drainage robot to descend and start the water pump to pump water and drain the water. Working mode 2: When the drainage location is inaccessible to the drainage robot, an external water pump is plugged into the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external water pump to carry out drainage work. Working mode 3: When it is necessary to clear obstacles, select the corresponding external hydraulic equipment according to the type of obstacle and connect it to the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external hydraulic equipment to work to clear the obstacles. Working mode 4: When ventilation is required, plug the hydraulic fan into the external interface of the drainage robot and connect the ventilation duct to the ventilation location. The hydraulic control system of the drainage robot controls the hydraulic fan to work for ventilation.

[0044] The locations that a flood drainage robot can reach refer to places where its walking mechanism can reach and the water depth does not exceed the robot's maximum wading depth, such as roads or the first floor of buildings. In this example, the maximum wading depth of the flood drainage robot is 700mm.

[0045] See Figure 1-5 As shown in the diagram, the following explanation of the operation of the flood drainage robot, based on the hydraulic schematic, will be provided: Working Mode 1: When the drainage location is within the reach of the drainage robot, the electro-proportional valves E in the fourth and fifth working links of the hydraulic control system are energized (E7 or E8 and E9 or E10 are energized, and only one of the two electro-proportional valves E in the same working link can be energized at most), controlling the first walking motor 23 and the second walking motor 24 to move, thereby driving the drainage robot to the drainage location via the walking mechanism 2; when the electro-proportional valves E7 to E10 in the fourth and fifth working links are de-energized, the walking mechanism 2 stops, and one of the electro-proportional valves E11 or E12 in the sixth working link used to control the hydraulic cylinder 31 is energized until the main water pump 3 descends to the working position. Then, both electro-proportional valves E11 and E12 in the sixth working link are de-energized, and the hydraulic lock 45 is activated to fix the position of the main water pump 3. The main water pump 3 can descend to the lowest position all at once, descend gradually, or pump water without descending, as long as the inlet of the main water pump 3 is submerged in water during the pumping process. The electro-proportional valves E in the first and second working links, which control the main water pump 3, are energized (E1 or E2 and E3 or E4 are energized, and at most one of the two electro-proportional valves E in the same working link can be energized). Depending on the drainage needs or the water depth detected by the water level sensor, the electro-proportional valves in both the first and second working links are energized, or only the first and second working links are energized, thereby driving the main water pump 3 to work. After the drainage is completed, the electro-proportional valves E in the first and second working links are closed.

[0046] Working Mode 2: When the drainage location is inaccessible to the drainage robot, select the appropriate water pump power and quantity according to the drainage needs (e.g., one 8-inch water pump, two 8-inch water pumps, or one 4-inch high-lift water pump), plug the external water pump into the external interface of the drainage robot, control the corresponding working link's electro-proportional valve E to be energized, drive the external water pump to perform drainage operations, and close the corresponding working link's electro-proportional valve E after the drainage is completed.

[0047] Working Mode 3: When obstacles need to be cleared, select an external hydraulic device according to the type of obstacle (for example, select a hydraulic saw if the obstacle is a tree, or a hydraulic drill that can penetrate concrete if the obstacle is a floor slab). Plug the external hydraulic device into the external interface of the drainage robot, control the corresponding electro-proportional valve E of the working link to be energized, drive the external hydraulic device to clear the obstacle, and close the electro-proportional valve E of the corresponding working link after the obstacle is cleared.

[0048] Working Mode 4: When ventilation is required, plug the hydraulic blower into the external interface of the drainage robot and connect the ventilation duct to the location where ventilation is required. Control the corresponding working link's electro-proportional valve E to energize and drive the hydraulic blower to perform ventilation. After ventilation is completed, close the corresponding working link's electro-proportional valve E.

[0049] By connecting to external hydraulic equipment, the drainage robot expands the drainage area and can also perform auxiliary tasks such as clearing obstacles or ventilating poorly ventilated areas during emergency rescue operations, thus increasing its functionality and broadening its applicability. This invention adds an external interface to the main body of the drainage robot, allowing external hydraulic equipment to be connected to the robot via hydraulic lines. This enhances the robot's functionality, making it suitable for various emergency rescue scenarios. In addition to pumping water and draining floodwater, the robot can also clear obstacles or ventilate, preventing obstacles or poor air circulation from affecting its working efficiency.

[0050] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail made to the invention without departing from the spirit and scope of the invention as defined in the appended claims fall within the protection scope of the invention.

Claims

1. A multifunctional drainage robot, comprising a main body, a walking mechanism, a main water pump, and a hydraulic control system, wherein the walking mechanism is disposed on both sides of the main body for driving the drainage robot to move, and the main water pump is disposed below the main body for drainage, characterized in that, It also includes multiple external interfaces mounted on the main body, which connect to the hydraulic control system. These interfaces are used to connect to external hydraulic equipment via hydraulic hoses. The hydraulic control system is located within the main body and controls both the internal and external hydraulic equipment. The internal hydraulic equipment includes the main water pump mounted on the drainage robot. The external hydraulic equipment is separate from the drainage robot and only connects to its external interfaces during use. The hydraulic control system is a load-sensitive system, capable of adjusting the flow rate in real time based on load pressure feedback, thereby maintaining a continuous output of the required pressure and flow rate to the hydraulic equipment. The hydraulic control system includes an oil tank, a hydraulic pump, and an electro-proportional control valve. The hydraulic pump supplies hydraulic oil from the tank to the electro-proportional control valve, which is located within the hydraulic pump. This electro-proportional control valve is used to control the flow and on / off of hydraulic oil supplied to hydraulic equipment. It has multiple working links, each controlling at least one hydraulic device. The working links are controlled independently to prevent interference between hydraulic devices controlled by different links. Each working link includes a main valve core and multiple hydraulic oil output ports. These output ports are used to connect to internal hydraulic equipment or to external hydraulic equipment via external interfaces. The main valve core controls the supply of hydraulic oil from the oil supply circuit to the hydraulic oil output ports or its return to the oil tank. The main valve core is a pilot-operated control valve with a pilot chamber. Each working link also includes an electro-proportional valve connected to the pilot chamber of the main valve core. The position of the main valve core is adjusted according to the on / off state of the electro-proportional valve, thereby changing the pipeline connection to supply hydraulic oil to different output ports within the same working link or to return it to the oil tank.

2. The multi-functional drainage robot according to claim 1, characterized in that, It also includes a hydraulic cylinder connected to the main water pump. The hydraulic cylinder is connected to the hydraulic control system. The hydraulic cylinder moves up and down under the control of the hydraulic control system, thereby driving the main water pump to move up and down.

3. A multi-functional drainage robot according to claim 2, characterized in that, There are two main water pumps, which are arranged side by side below the main body and rise and fall simultaneously under the drive of hydraulic cylinders.

4. A multi-functional drainage robot according to claim 1, characterized in that, The walking mechanism includes a first walking track and a second walking track located on the left and right sides below the main body, as well as a first walking motor that controls the first walking track and a second walking motor that controls the second walking track. Both the first and second walking motors are connected to a hydraulic control system. The hydraulic system controls the first and second walking motors respectively, changing their direction and speed, thereby enabling the drainage robot to move forward, backward, and turn, and adjusting the speed of the drainage robot.

5. A multi-functional drainage robot according to claim 1, characterized in that, It also includes at least one water level sensor, with the water level sensor being 130mm-180mm above the ground. When there is only one water level sensor, it is located on the front side of the vehicle body. The walking mechanism includes a first walking track and a second walking track located on the left and right sides below the main body. When there is more than one water level sensor, in addition to the front side of the vehicle body, the water level sensor is also located on one side of the first or second walking track, and does not exceed the outer contour boundary of the first or second walking track.

6. A method for operating a multi-functional drainage robot, wherein the drainage robot is the multi-functional drainage robot according to any one of claims 1-5, the drainage robot further includes a hydraulic cylinder connected to a main water pump, the hydraulic cylinder being connected to a hydraulic control system, and the hydraulic cylinder being raised and lowered under the control of the hydraulic control system to drive the main water pump to rise and fall; it includes at least the following operating modes 1 and any one of operating modes 2-4: Working mode 1: When the drainage location is within the reach of the drainage robot, the drainage robot enters the waterlogged area, and the hydraulic control system controls the water pump on the drainage robot to descend and start the water pump to pump water and drain the water. Working mode 2: When the drainage location is inaccessible to the drainage robot, an external water pump is plugged into the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external water pump to carry out drainage work. Working mode 3: When it is necessary to clear obstacles, select the corresponding external hydraulic equipment according to the type of obstacle and connect it to the external interface of the drainage robot. The hydraulic control system of the drainage robot controls the external hydraulic equipment to work to clear the obstacles. Working mode 4: When ventilation is required, plug the hydraulic fan into the external interface of the drainage robot and connect the ventilation duct to the ventilation location. The hydraulic control system of the drainage robot controls the hydraulic fan to work for ventilation.

7. The working method of a multifunctional drainage robot according to claim 6, characterized in that, The locations that the drainage robot can reach refer to places where its walking mechanism can reach and the water depth does not exceed the maximum wading depth of the drainage robot.

8. The working method of a multifunctional drainage robot according to claim 6, characterized in that, Working mode 1 is specifically as follows: When the drainage location is a location that the drainage robot can reach, the electro-proportional valve in the working link of the hydraulic control system used to control the walking mechanism is energized, and each working link used to control the walking mechanism has an electro-proportional valve energized to control the walking mechanism to move, thereby the walking mechanism drives the drainage robot to the drainage location. When all the electro-proportional valves in the working links used to control the traveling mechanism are de-energized, the traveling mechanism stops. One of the electro-proportional valves in the working links used to control the hydraulic cylinder is energized until the main water pump descends to the working position. Then, the electro-proportional valve in the working link used to control the hydraulic cylinder is de-energized, and the electro-proportional valve in the working link used to control the main water pump is energized, thereby driving the main water pump to perform drainage work. After the drainage is completed, the electro-proportional valve in the working connection used to control the main water pump should be de-energized. Working mode 2 is as follows: When the drainage location is inaccessible to the drainage robot, select the appropriate power and quantity of external water pumps according to the drainage needs, plug the external water pumps into the external interface of the drainage robot, control the corresponding electro-proportional valve of the working link to be energized, drive the external water pumps to perform drainage operations, and close the corresponding electro-proportional valve of the working link after the drainage is completed. Working mode 3 is as follows: When it is necessary to clear obstacles, select an external hydraulic device according to the type of obstacle, plug the external hydraulic device into the external interface of the drainage robot, control the corresponding electro-proportional valve of the working link to be energized, drive the external hydraulic device to clear the obstacle, and close the electro-proportional valve of the corresponding working link after the obstacle is cleared. Working mode 4 is as follows: When ventilation is required, the external hydraulic equipment is a hydraulic fan. The hydraulic fan is plugged into the external interface of the drainage robot, and the ventilation duct is connected to the location where ventilation is required. The corresponding electro-proportional valve of the working link is energized to drive the hydraulic fan to perform ventilation. After the ventilation is completed, the electro-proportional valve of the corresponding working link is closed.

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