Methods, systems, equipment and media for desilting and maintenance of operational tunnel drainage systems

Abstract

The present invention relates to a desilting and maintenance method, system, equipment, and medium for an operational tunnel drainage system. The method comprises: after the robot status is correctly calibrated, controlling the robot to travel and explore in the pipeline to obtain inspection information; performing instance reasoning on the abnormal characteristic attributes in the inspection information to obtain the abnormal type of the pipeline segment, and performing similarity matching calculation on the abnormal type and the instance data to obtain an abnormality handling plan; when the abnormal type of the pipeline segment is deformation or leakage, marking the mileage and image information of the pipeline segment; when the abnormal type of the pipeline segment is blockage, controlling the robot to switch to the corresponding operating device for different blockage conditions to clear the blockage and mark the mileage and image information of the pipeline segment; and organizing and sorting the inspection information based on the marked information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects. The present invention improves the operation and maintenance efficiency of the drainage system and reduces the labor intensity of operation and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline dredging, and in particular to a dredging and maintenance method, system, equipment and medium for an operating tunnel drainage system. Background Art

[0002] As tunnel mileage continues to grow, the operation and maintenance of tunnel drainage systems becomes increasingly complex, and the need to ensure the proper functioning of the pipeline network has become increasingly prominent. For a long time, problems such as poor drainage and localized pipe blockages have plagued tunnel operations. In severe cases, these problems can lead to water leakage, lining cracks, and facility failures within the tunnel, shortening the tunnel's maintenance cycle and service life, and increasing operating costs. Consequently, in recent years, the focus of pipeline network work has gradually shifted from construction to maintenance and upgrades.

[0003] Most tunnel drainage systems consist of a system consisting of "circumferential drainage, longitudinal drainage, transverse drainage, and central drainage." The groundwater flow in this system generally follows the following pattern: surrounding rock, circumferential drainage blind pipe, longitudinal drainage blind pipe, transverse drainage blind pipe, central drainage pipe, and outgoing outlet. Water accumulated behind the lining is collected through the circumferential and longitudinal drainage pipes and then directed into side ditches. Transverse drainage pipes then channel this water into the central ditch, where it is then discharged out of the tunnel. The side ditches primarily collect groundwater and act as a sedimentation agent, while the central ditch serves as the primary drainage channel.

[0004] From a drainage perspective, both the side ditches and the central ditch can drain water, but the central ditch is the primary drain. The side ditches only drain when the water volume exceeds the capacity of the lateral blind drain pipes. This ensures that the side ditches remain essentially dry during operation, preventing water from leaking out of the grooves and causing flooding of the trackbed due to the water level exceeding the track level. Therefore, tunnel drainage and desilting operations typically focus on the central blind drain.

[0005] Due to the operational restrictions of railway and high-speed railway tunnels, dredging and operation and maintenance of tunnel drainage systems can only be carried out during the window period, which is short, only about 4 hours. Excluding the time for construction organization, online and offline operations, the actual operation time is less than 2 hours. Due to the relevant design and construction requirements such as the Technical Guidelines for Drainage and Waterproofing Construction of Railway Tunnels, the diameter of the central drainage blind ditch is generally 400-600mm, and the passing space is small. In addition, due to the influence of hydrogeological conditions, terrain conditions, climatic conditions, natural disasters, and various unfavorable factors in many links such as design, construction, and operation management, as well as the hidden nature of the tunnel project itself and complex environmental conditions, the drainage system is blocked in a complex manner and the working environment is harsh, which adds greater difficulty to the operation and maintenance of the tunnel drainage system.

[0006] In recent years, in order to ensure the safety of dredging operations and improve the efficiency of dredging work, mechanical equipment has been invested to assist. However, front-line operation and maintenance personnel are still faced with the difficulties of "tight time, heavy tasks, and rapid silting". In addition, the basic idea of ​​dredging and operation of tunnel drainage systems is still the "post-dredging" solution, that is, personnel are organized to clean and dredge only after obvious blockage phenomena (such as poor water flow, overflow, etc.) are observed from the inspection well. The dredging effect is difficult to maintain, operation and maintenance are frequent, maintenance costs are high, and the equipment efficiency cannot be fully utilized, which significantly reduces the labor intensity of operation and maintenance.

[0007] Therefore, guiding the desilting and operation and maintenance of tunnel drainage systems, improving the operation and maintenance efficiency of drainage systems, and reducing the labor intensity of operation and maintenance are issues that urgently need to be solved by technical personnel in this field. Summary of the Invention

[0008] (1) Technical issues to be resolved

[0009] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a dredging and operation and maintenance method, system, equipment and medium for an operating tunnel drainage system, which solves the technical problems of low pipeline operation and maintenance efficiency and high operation and maintenance labor intensity in the current operating tunnel drainage system.

[0010] (2) Technical solution

[0011] In order to achieve the above objectives, the main technical solutions adopted by the present invention include:

[0012] In a first aspect, an embodiment of the present invention provides a dredging and maintenance method for an operational tunnel drainage system, the method being applied to a dredging robot having a wheeled walking posture and a gripper stepping posture, the method comprising:

[0013] Obtain the self-test information of the dredging robot and calibrate the status of the dredging robot;

[0014] After the dredging robot is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information;

[0015] The abnormal characteristic attributes in the inspection information are used for case reasoning to obtain the abnormal type of the pipeline section, and the abnormal type is matched with the instance data for similarity calculation to obtain the abnormality handling solution;

[0016] When the abnormality type of the pipeline section is deformation or leakage, the mileage information and image information of the pipeline section are marked;

[0017] When the abnormal type of the pipeline section is blockage, the dredging robot is controlled to switch the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline section;

[0018] Inspection information is sorted and sorted based on the marked information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0019] Optionally, the self-test information of the dredging robot is obtained, and the status of the dredging robot is calibrated including:

[0020] Obtain self-test information of the dredging robot, including communication quality, data transmission, and emergency recovery;

[0021] Based on the set communication quality requirements, data transmission requirements, and emergency recovery requirements, the dredging robot status is calibrated as follows:

[0022] The dredging robot is calibrated according to the communication quality requirements. When the packet loss rate and delay rate of the dredging robot meet the communication quality requirements, the communication quality of the dredging robot is calibrated to be correct. When the packet loss rate and delay rate of the dredging robot do not meet the communication quality requirements, it is judged whether the packet loss rate and delay rate of the dredging robot meet the communication quality requirements after the channel is changed. If the packet loss rate and delay rate of the dredging robot meet the communication quality requirements after the channel is changed, the communication quality of the dredging robot is calibrated to be correct. If the packet loss rate and delay rate of the dredging robot do not meet the communication quality requirements after the channel is changed, the communication quality of the dredging robot is calibrated to be faulty.

[0023] The dredging robot condition is calibrated according to the data transmission requirements. When the feedback parameters in the data transmission channel with the dredging robot do not exceed the set threshold value, the data transmission of the dredging robot is calibrated to be correct; when the feedback parameters in the data transmission channel with the dredging robot exceed the set threshold value, it is judged whether the feedback parameters in the data transmission channel exceed the set threshold value after the dredging robot is energized and the parameters are adjusted. If the feedback parameters in the data transmission channel do not exceed the set threshold value after the dredging robot is energized and the parameters are adjusted, the data transmission of the dredging robot is calibrated to be correct. If the feedback parameters in the data transmission channel exceed the set threshold value after the dredging robot is energized and the parameters are adjusted, the data transmission of the dredging robot is calibrated to be faulty.

[0024] The status of the dredging robot is calibrated for emergency recovery requirements. After the emergency recovery of the dredging robot is started, if the recovery of the dredging robot is normal, the emergency recovery of the dredging robot is calibrated to be correct. If the recovery of the dredging robot is abnormal, the emergency recovery of the dredging robot is calibrated to be faulty.

[0025] Optionally, after the dredging robot status calibration satisfies set conditions, controlling the dredging robot to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information includes:

[0026] After the dredging robot's condition is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline in a wheeled walking posture based on the acquired initial mileage information;

[0027] The sensor components of the dredging robot acquire inspection information including speed information, mileage information, tilt angle information, image information, distance sensing information, and water immersion sensing information;

[0028] Determine whether the dredging robot's travel speed or tilt angle exceeds a set threshold;

[0029] If the traveling speed or tilt angle of the dredging robot does not exceed the set threshold, the wheeled walking posture of the dredging robot is maintained;

[0030] If the traveling speed or tilt angle of the dredging robot exceeds a set threshold, the wheeled walking posture of the dredging robot is switched to a gripper stepping posture and / or the traveling speed is adjusted;

[0031] Among them, the sensor components include: Hall sensor, odometer, tilt sensor, vision sensor, distance sensor and water immersion sensor.

[0032] Optionally, before performing case-based reasoning on the abnormal characteristic attributes in the inspection information to obtain the abnormal type of the pipeline segment, and performing similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution, the method further includes:

[0033] When the speed of the dredging robot changes, the mileage information, image information, speed information, and torque change information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database;

[0034] When the dredging robot can only move based on the gripper stepping posture, the mileage information, image information, inclination angle information, speed information, torque change information and distance sensing information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features and the degree of pipeline deformation based on the inclination angle information is saved as instance data in the database;

[0035] As the water level of the pipeline continues to rise, the mileage information, image information, tilt angle information, and water immersion sensor information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database;

[0036] When the dredging robot's communication is interrupted, the sensor is abnormal, or it is unable to move, the forced restart action information and emergency retraction action information of the dredging robot are saved in the database as instance data.

[0037] Optionally, performing case-based reasoning on the abnormal feature attributes in the inspection information to obtain the abnormal type of the pipeline segment, and performing similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution includes:

[0038] When the speed of the dredging robot changes, the control parameters of the dredging robot are adjusted and the dredging robot is controlled to continue moving. If the speed of the dredging robot is still abnormal, the pipeline abnormality type is determined to be a blockage on the inner surface of the pipeline based on the inspection information of the pipeline section and the case-based reasoning algorithm. The abnormality type is then matched with the instance data in the database for similarity calculation to obtain an abnormality handling solution.

[0039] When abnormal deformation occurs in the pipeline, it is determined whether the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot. If the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot, the walking posture of the dredging robot is switched to the gripper stepping posture. If the inclination angle of the deformed pipeline does not exceed the travel limit of the wheeled walking posture of the dredging robot, the abnormality type of the pipeline is determined to be partial blockage based on the inspection information of the pipeline section and the case reasoning algorithm, and the abnormality type is matched with the instance data in the database for similarity calculation to obtain the abnormality handling solution;

[0040] When the water surface of the pipeline rises abnormally, the pipeline abnormality type is determined to be a pipeline leakage based on the inspection information of the pipeline section and the case reasoning algorithm, and the leakage point is determined based on the image information.

[0041] Optionally, when the abnormality type of the pipeline section is blockage, controlling the dredging robot to switch to a corresponding operating device to clear the blockage according to different blockage conditions and marking the mileage information and image information of the pipeline section includes:

[0042] When the abnormal type of the pipeline section is blockage, the blockage condition information of the pipeline section is obtained;

[0043] When the blockage condition information is non-flexible blockage containing concrete and polymer, the dredging robot is controlled to use a high-strength drill bit to perform rotary impact crushing operations on the blockage;

[0044] When the blockage condition information is flexible blockages including geotextiles, woven bags and branches, the dredging robot is controlled to use the cutting and swinging head to rotate, cut, swing and knock the flexible blockages;

[0045] When the blockage condition information indicates a long strip of blockage, the dredging robot is controlled to use a rotating gripper to grasp and remove the long strip of object;

[0046] When the blockage condition information is compacted silt or residue after cleaning, the silt removal robot is controlled to use the working head to stir the residue and the high-pressure water jet nozzle to flush the residue;

[0047] Mark the mileage information and image information of the dredging robot clearing the blockage in this pipeline section.

[0048] Optionally, when the abnormality type of the pipeline section is blockage, after controlling the dredging robot to switch to a corresponding operating device to clear the blockage according to different blockage conditions and marking the mileage information and image information of the pipeline section, the method further includes:

[0049] Obtain image information of the pipeline after dredging;

[0050] Extract the pipeline image from the image information and compare it with the preset standard image to determine whether the comparison result reaches the set threshold;

[0051] If the comparison result reaches the set threshold, the feedback pipeline desilting is completed;

[0052] If the comparison result does not reach the set threshold, the pipeline is flushed multiple times after adjusting the cleaning flow and pressure of the high-pressure water jet nozzle until the comparison result reaches the set threshold.

[0053] In a second aspect, an embodiment of the present invention provides a dredging and maintenance system for an operating tunnel drainage system, comprising:

[0054] The robot status calibration module is used to obtain the self-test information of the dredging robot and calibrate the status of the dredging robot;

[0055] The pipeline inspection module is used to control the dredging robot to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information after the dredging robot's condition calibration meets the set conditions;

[0056] The pipeline anomaly identification module is used to perform case-based reasoning on the abnormal characteristic attributes in the inspection information to obtain the abnormal type of the pipeline section, and perform similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution;

[0057] The abnormal information marking module is used to record the mileage information and image information of the pipeline section when the abnormal type of the pipeline section is deformation or leakage;

[0058] The pipeline dredging and marking module is used to control the dredging robot to switch to the corresponding operating device to clear the blockage and mark the mileage information and image information of the pipeline section according to different blockage conditions when the abnormal type of the pipeline section is blockage;

[0059] The pipeline information management module is used to organize and sort inspection information based on annotation information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0060] In a third aspect, an embodiment of the present invention provides a dredging and maintenance device for an operating tunnel drainage system, comprising:

[0061] at least one database;

[0062] and a memory in communication with the at least one database;

[0063] The memory stores instructions that can be executed by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute the above-mentioned desilting and operation and maintenance method for an operating tunnel drainage system.

[0064] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having computer-executable instructions stored thereon, characterized in that when the executable instructions are executed by a processor, the above-mentioned dredging and operation and maintenance method of an operating tunnel drainage system is implemented.

[0065] (3) Beneficial effects

[0066] The present invention adopts an operation and maintenance technical solution in which a dredging robot enters the pipeline for operation. Operation and maintenance personnel do not need to enter the pipeline to operate, thus avoiding the accumulation of harmful gases in the pipeline and the harm to operation and maintenance personnel caused by limited space, thereby improving the operation and maintenance safety of the tunnel drainage system.

[0067] The method of the present invention can automatically switch the walking posture of the dredging robot, improve the walking stability and efficiency of the dredging robot in the pipeline, save walking time, and accurately locate and efficiently clean pipeline blockages, thereby significantly improving the dredging efficiency.

[0068] In the method of the present invention, the corresponding operating device can be switched according to different blockage types to clear the blockage, thereby improving the silt removal operation capacity and reducing the blockage residue.

[0069] The method of the present invention changes the traditional remedial dredging after an accident occurs. Through inspection and abnormality identification, the accident is eliminated in the bud stage, thereby reducing the frequency of accidents.

[0070] The method of the present invention integrates operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects, making it easier for operation and maintenance personnel to analyze and evaluate pipeline conditions, accurately locate damaged or leaking parts, and provide a scientific and intuitive basis for subsequent maintenance plans. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 A schematic flow chart of a method for desilting and maintaining an operating tunnel drainage system provided by one embodiment of the present invention;

[0072] Figure 2This is a logic block diagram of step S1 in a method for desilting and maintaining an operating tunnel drainage system provided by one embodiment of the present invention;

[0073] Figure 3 This is a logic block diagram of step S2 in a method for desilting and maintaining an operating tunnel drainage system provided by one embodiment of the present invention;

[0074] Figure 4-1 、 Figure 4-2 、 Figure 4-3 、 Figure 4-4 This is a logic block diagram of step S3 in a desilting and operation and maintenance method for an operating tunnel drainage system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0076] refer to Figure 1 As shown, an embodiment of the present invention proposes a dredging and operation and maintenance method for an operating tunnel drainage system, which is applied to a dredging robot with a wheeled walking posture and a support shoe stepping posture. The method includes: obtaining self-inspection information of the dredging robot, and calibrating the status of the dredging robot; after the dredging robot status calibration meets the set conditions, controlling the dredging robot to move and explore in the pipeline based on the wheeled walking posture or the support shoe stepping posture to obtain pipeline inspection information; performing instance reasoning on the abnormal feature attributes in the inspection information to obtain the abnormal type of the pipeline segment, and performing similarity matching calculation on the abnormal type and the instance data to obtain an abnormality handling solution; when the abnormal type of the pipeline segment is deformation or leakage, marking the mileage information and image information of the pipeline segment; when the abnormal type of the pipeline segment is blockage, controlling the dredging robot to switch the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline segment; sorting and sorting the inspection information based on the marked information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0077] The present invention adopts an operation and maintenance technical solution in which a dredging robot enters the pipeline for operation. Operation and maintenance personnel do not need to enter the pipeline to operate, thus avoiding the accumulation of harmful gases in the pipeline and the harm to operation and maintenance personnel caused by limited space, thereby improving the operation and maintenance safety of the tunnel drainage system.

[0078] The method of the present invention can automatically switch the walking posture of the dredging robot, improve the walking stability and efficiency of the dredging robot in the pipeline, save walking time, and accurately locate and efficiently clean pipeline blockages, thereby significantly improving the dredging efficiency.

[0079] In the method of the present invention, the corresponding operating device can be switched according to different blockage types to clear the blockage, thereby improving the silt removal operation capacity and reducing the blockage residue.

[0080] The method of the present invention changes the traditional remedial dredging after an accident occurs. Through inspection and abnormality identification, the accident is eliminated in the bud stage, thereby reducing the frequency of accidents.

[0081] The method of the present invention integrates operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects, making it easier for operation and maintenance personnel to analyze and evaluate pipeline conditions, accurately locate damaged or leaking parts, and provide a scientific and intuitive basis for subsequent maintenance plans.

[0082] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0083] Specifically, the present invention provides a dredging and maintenance method for an operating tunnel drainage system, the method comprising:

[0084] S1. Obtain the self-test information of the dredging robot and calibrate the status of the dredging robot.

[0085] In a specific embodiment, a communication base station is selected as the inspection and operation and maintenance device of the dredging robot. The communication base station has functions such as equipment energy storage, equipment energy replenishment, signal transmission, equipment positioning, and emergency recovery. It obtains the self-test information of the dredging robot including communication quality, data transmission, and emergency recovery, and calibrates the status of the dredging robot based on the set communication quality requirements, data transmission requirements, and emergency recovery requirements. Figure 2 The specific calibration steps of the dredging robot are as follows:

[0086] S11. Calibrate the status of the dredging robot according to the communication quality requirements. When the packet loss rate and delay rate of the dredging robot meet the communication quality requirements, the communication quality of the dredging robot is calibrated to be correct. When the packet loss rate and delay rate of the dredging robot do not meet the communication quality requirements, determine whether the packet loss rate and delay rate of the dredging robot meet the communication quality requirements after changing the channel. If the packet loss rate and delay rate of the dredging robot meet the communication quality requirements after changing the channel, the communication quality of the dredging robot is calibrated to be correct. If the packet loss rate and delay rate of the dredging robot do not meet the communication quality requirements after changing the channel, the communication quality of the dredging robot is calibrated to be faulty, and the fault information is fed back and an alarm is issued to the operation and maintenance personnel.

[0087] S12. Calibrate the status of the dredging robot according to the data transmission requirements. When the feedback parameters in the data transmission channel with the dredging robot do not exceed the set threshold value, the data transmission of the dredging robot is calibrated to be correct. When the feedback parameters in the data transmission channel with the dredging robot exceed the set threshold value, determine whether the feedback parameters in the data transmission channel exceed the set threshold value after the robot is energized and the parameters are adjusted during dredging. If the feedback parameters in the data transmission channel do not exceed the set threshold value after the robot is energized and the parameters are adjusted during dredging, the data transmission of the dredging robot is calibrated to be correct. If the feedback parameters in the data transmission channel exceed the set threshold value after the robot is energized and the parameters are adjusted during dredging, the data transmission of the dredging robot is calibrated to be faulty, and the fault information is fed back and an alarm is issued to remind the operation and maintenance personnel.

[0088] S13. Calibrate the status of the dredging robot for emergency recovery requirements. After the emergency recovery of the dredging robot is started, if the dredging robot recovers normally, the emergency recovery of the dredging robot is calibrated to be correct. If the dredging robot recovers abnormally, the emergency recovery of the dredging robot is calibrated to be faulty, and the fault information is fed back and an alarm is issued to the operation and maintenance personnel.

[0089] S2. After the dredging robot is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information.

[0090] Further, refer to Figure 3 As shown, step S2 includes:

[0091] S21. After the dredging robot status calibration satisfies the set conditions, the dredging robot is controlled to walk and explore in the pipeline in a wheeled walking posture based on the acquired initial mileage information of the dredging robot.

[0092] S22, based on the sensor components of the dredging robot, obtains inspection information including speed information, mileage information, tilt angle information, image information, distance sensing information and water immersion sensing information. Among them, when the obtained sensor feedback signal shows an abnormal signal, the sensor fault information is fed back and an alarm is issued to the operation and maintenance personnel.

[0093] S23: Determine whether the traveling speed or tilt angle of the dredging robot exceeds a set threshold.

[0094] S24a: If the traveling speed or the tilt angle of the dredging robot does not exceed the set threshold, the wheeled walking posture of the dredging robot is maintained.

[0095] S25b: If the traveling speed or the tilt angle of the dredging robot exceeds a set threshold, the wheeled walking posture of the dredging robot is switched to a gripper stepping posture and / or the traveling speed is adjusted.

[0096] The sensor components include: Hall sensor, odometer, tilt sensor, visual sensor, distance sensor and water immersion sensor. The visual sensor's lighting source can automatically adjust according to the pipeline environment and can switch to infrared in muddy water conditions. The captured pipeline images can be stored in both local and cloud storage modes.

[0097] S3. Perform case-based reasoning on the abnormal feature attributes in the inspection information to obtain the abnormal type of the pipeline section, and perform similarity matching calculation on the abnormal type and the instance data to obtain an abnormality handling solution.

[0098] Abnormal features such as pipeline surface appearance, leakage, deformation, and blockage in inspection information are identified, and warning information, abnormality types, and abnormality handling plans are recorded. First, the image data in the inspection information is read and the discretization and reduction algorithms of rough set theory are used to discretize the feature attributes in the image data. Second, redundant information in the information and redundant attributes in the feature attributes are reduced based on the reduction algorithm to obtain the feature set with the highest classification capabilities. Next, the analytic hierarchy process is used to automatically calculate the weights corresponding to each feature level and the feature attributes contained in it, and then combine and weight them to match them one by one with the instance data in the database. Then, local similarity matching calculations are performed at each level according to the similarity calculation method of the feature attributes at each level, and overall similarity matching calculations are performed based on the weights of each layer. This results in a set of instances that best match the current problem description and the corresponding similarity levels. Finally, the similarities are ranked and the optimal abnormality handling plan is recommended.

[0099] Furthermore, before step S3, the method further includes:

[0100] refer to Figure 4-1 As shown, when the speed of the dredging robot changes, the mileage information, image information, speed information and torque change information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database.

[0101] refer to Figure 4-2 As shown in the figure, when the dredging robot can only move based on the stepping posture of the support shoe, the mileage information, image information, inclination angle information, speed information, torque change information and distance sensing information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain the pipeline features and the degree of pipeline deformation based on the inclination angle information are saved as instance data in the database.

[0102] refer to Figure 4-3As shown, when the water surface of the pipeline continues to rise, the mileage information, image information, tilt angle information and water immersion sensor information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database.

[0103] refer to Figure 4-4 As shown in the figure, when the dredging robot loses communication, senses anomalies, or becomes immobile, the robot's forced restart and emergency retraction actions are saved as instance data in the database. Specifically, when the dredging robot loses communication, senses anomalies, or becomes immobile within the pipeline, the robot is forced to restart. If the anomaly persists after the restart, the robot is retracted and pulled out of the pipeline. An alarm is then issued to notify maintenance personnel to repair and troubleshoot the robot.

[0104] Furthermore, step S3 includes:

[0105] S31. When the speed of the dredging robot changes, the control parameters of the dredging robot are adjusted and the dredging robot is controlled to continue moving. If the speed of the dredging robot is still abnormal, the abnormality type of the pipeline is determined to be a blockage due to a defect on the inner surface of the pipeline based on the inspection information of the section of pipeline and the instance reasoning algorithm. The abnormality type is then matched with the instance data in the database for similarity calculation to obtain an abnormality handling solution.

[0106] S32. When abnormal deformation occurs in the pipeline, determine whether the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot. If the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot, switch the walking posture of the dredging robot to the support shoe stepping posture. If the inclination angle of the deformed pipeline does not exceed the travel limit of the wheeled walking posture of the dredging robot, determine the abnormal type of the pipeline as partial blockage based on the inspection information of the section of pipeline and the instance reasoning algorithm, and perform similarity matching calculation between the abnormal type and the instance data in the database to obtain the abnormality handling solution.

[0107] S33. When the water surface of the pipeline rises abnormally, the abnormal type of the pipeline is determined to be a pipeline leakage based on the inspection information of the pipeline section and the case-based reasoning algorithm, and the leakage point is determined based on the image information.

[0108] S4. When the abnormality type of the pipeline segment is deformation or leakage, the mileage information and image information of the pipeline segment are marked.

[0109] Pipeline sections with deformation or abnormal leakage are marked, and the mileage and image information of these sections are recorded. This allows the operation and maintenance unit to analyze and assess the pipeline condition, accurately locate damaged or leaking areas, and provide a scientific and intuitive basis for future maintenance plans.

[0110] When the abnormal type of the pipeline section is blockage, S5 controls the dredging robot to switch the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline section.

[0111] Furthermore, step S5 includes:

[0112] S51. When the abnormality type of the pipeline section is blockage, obtain blockage working condition information of the pipeline section.

[0113] S52a. When the blockage condition information is a non-flexible blockage containing concrete and polymer, the dredging robot is controlled to use a high-strength drill bit to perform a rotary impact crushing operation on the blockage.

[0114] S52b. When the blockage working condition information is a flexible blockage including geotextiles, woven bags and tree branches, the dredging robot is controlled to use a cutting and swinging head to perform rotary cutting, swinging and knocking on the flexible blockage.

[0115] S52c. When the blockage condition information indicates a long strip of blockage, the dredging robot is controlled to use a rotating gripper to grasp and remove the long strip of object.

[0116] S52d. When the blockage condition information is compacted silt or residue after cleaning, the dredging robot is controlled to use the working head to stir the residue and the high-pressure water jet nozzle to flush the residue.

[0117] S53: Mark the mileage information and image information of the pipeline section clearing the blockage by the dredging robot.

[0118] Furthermore, after step S5, the method further includes controlling the flushing flow rate, pressure, and walking speed of the dredging robot to flush the pipeline. The specific steps are as follows:

[0119] S54: Obtain image information of the pipeline after desilting.

[0120] S55: extracting the pipeline image from the image information and comparing it with a preset standard image to determine whether the comparison result reaches a set threshold.

[0121] S56a: If the comparison result reaches the set threshold, it is fed back that the pipeline desilting is completed.

[0122] S56b. If the comparison result does not reach the set threshold, the pipeline is flushed multiple times after adjusting the cleaning flow and pressure of the high-pressure water jet nozzle until the comparison result reaches the set threshold.

[0123] S6 organizes and sorts inspection information based on annotation information and inspection time to complete integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0124] Integrated O&M management of drainage pipeline attribute data, spatial data, blockage distribution, and internal defects, and the creation of a pipeline network cloud map, provide the necessary information for tunnel drainage system cleaning, maintenance, network renovation, and emergency rescue operations. Real-time matching and analysis of operational plans guide dredging robots in completing dredging and O&M operations. Inspection records and reports are generated by date, combining pipeline defect information, blockage information, equipment cleaning information, image information, and O&M information. Locations with repeated anomalies are highlighted.

[0125] In addition, the present invention provides a dredging and maintenance system for an already operating tunnel drainage system, comprising:

[0126] The robot status calibration module is used to obtain the self-test information of the dredging robot and calibrate the status of the dredging robot.

[0127] The pipeline inspection module is used to control the dredging robot to move and explore in the pipeline based on the wheeled walking posture or the support shoe stepping posture to obtain pipeline inspection information after the dredging robot condition calibration meets the set conditions.

[0128] The pipeline anomaly recognition module is used to perform instance reasoning on the abnormal feature attributes in the inspection information to obtain the abnormal type of the pipeline section, and perform similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution.

[0129] The abnormal information marking module is used to record the mileage information and image information of the pipeline section when the abnormal type of the pipeline section is deformation or leakage.

[0130] The pipeline dredging and marking module is used to control the dredging robot to switch to the corresponding operating device to clear the blockage and mark the mileage information and image information of the pipeline section according to different blockage conditions when the abnormal type of the pipeline section is blockage.

[0131] The pipeline information management module is used to organize and sort inspection information based on annotation information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0132] Furthermore, the present invention provides a dredging and operation and maintenance device for an already operating tunnel drainage system, comprising: at least one database; and a memory communicatively connected to the at least one database; wherein the memory stores instructions that can be executed by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute the above-described dredging and operation and maintenance method for an already operating tunnel drainage system.

[0133] At the same time, the present invention provides a computer-readable medium having computer-executable instructions stored thereon, characterized in that when the executable instructions are executed by a processor, the above-mentioned dredging and operation and maintenance method of an operating tunnel drainage system is implemented.

[0134] In summary, the present invention provides a desilting and maintenance method, system equipment, and medium for an operating tunnel drainage system. The specific implementation ideas are as follows:

[0135] (1) After receiving the operation and maintenance instructions, the robot is inspected and the status of the dredging robot is calibrated.

[0136] (2) After the dredging robot is calibrated to meet the set conditions, the dredging robot moves and explores in the pipeline based on the wheeled walking posture or the support shoe stepping posture to obtain pipeline inspection information.

[0137] (3) During the inspection process, the dredging robot identifies the appearance, leakage, deformation and blockage of the inner surface of the pipeline, and records the warning information, abnormality type and matching treatment plan.

[0138] (4) After receiving the treatment plan or cleaning instruction, the dredging robot switches to the corresponding operating device according to different blockage types to clear the blockage.

[0139] (5) After the pipeline is cleared, the flushing flow, pressure, and walking speed of the dredging robot are controlled to flush the pipeline.

[0140] (6) The inspection information is sorted and sorted based on the marked information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

[0141] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art will be able to understand the specific structures and variations of these systems / devices based on the methods described in the above embodiments of the present invention, and thus will not be described in detail here. All systems / devices used in the methods of the above embodiments of the present invention are within the scope of protection of the present invention.

[0142] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0143] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions.

[0144] It should be noted that, in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims enumerating several means, several of these means may be embodied by one and the same hardware. The use of the words first, second, third etc. is for convenience only and does not indicate any order. These words may be understood as part of the component name.

[0145] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0146] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments after learning the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0147] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention shall also include such modifications and variations.

Claims

1. A dredging and maintenance method for an operating tunnel drainage system, characterized in that: The method is applied to a dredging robot having a wheeled walking posture and a gripper stepping posture, and the method includes: According to the obtained self-test information of the dredging robot, the status of the dredging robot is calibrated, including: obtaining the self-test information of the dredging robot including communication quality, data transmission and emergency recovery; based on the set communication quality requirements, data transmission requirements and emergency recovery requirements, the status of the dredging robot is calibrated as follows: the dredging robot status is calibrated for the communication quality requirements, when the packet loss rate and delay rate of the dredging robot meet the communication quality requirements, the communication quality of the dredging robot is calibrated to be correct; when the packet loss rate and delay rate of the dredging robot do not meet the communication quality requirements, it is judged whether the packet loss rate and delay rate of the dredging robot after changing the channel meet the communication quality requirements, if the packet loss rate and delay rate of the dredging robot after changing the channel meet the communication quality requirements, then the communication quality of the dredging robot is calibrated to be correct, if the packet loss rate and delay rate of the dredging robot after changing the channel do not meet the communication quality requirements, then the communication quality of the dredging robot is calibrated to be faulty; the dredging robot status is calibrated for the data transmission requirements Robot status calibration: when the feedback parameters in the data transmission channel with the dredging robot do not exceed the set threshold, the data transmission of the dredging robot is calibrated to be correct; when the feedback parameters in the data transmission channel with the dredging robot exceed the set threshold, it is judged whether the feedback parameters in the data transmission channel exceed the set threshold after the dredging robot is energized and the parameters are adjusted; if the feedback parameters in the data transmission channel do not exceed the set threshold after the dredging robot is energized and the parameters are adjusted, the data transmission of the dredging robot is calibrated to be correct; if the feedback parameters in the data transmission channel exceed the set threshold after the dredging robot is energized and the parameters are adjusted, the data transmission of the dredging robot is calibrated to be faulty; dredging robot status calibration for emergency recovery requirements: after the emergency recovery of the dredging robot is started, if the dredging robot recovers normally, the emergency recovery of the dredging robot is calibrated to be correct; if the dredging robot recovers abnormally, the emergency recovery of the dredging robot is calibrated to be faulty; After the dredging robot is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information; The abnormal characteristic attributes in the inspection information are used for case reasoning to obtain the abnormal type of the pipeline section, and the abnormal type is matched with the instance data for similarity calculation to obtain the abnormality handling solution; When the abnormality type of the pipeline section is deformation or leakage, the mileage information and image information of the pipeline section are marked; When the abnormal type of the pipeline section is blockage, the dredging robot is controlled to switch the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline section; Inspection information is sorted and sorted based on the marked information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

2. The desilting and operation and maintenance method for an operating tunnel drainage system according to claim 1, characterized in that: After the dredging robot is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information, including: After the dredging robot's condition is calibrated to meet the set conditions, the dredging robot is controlled to move and explore in the pipeline in a wheeled walking posture based on the acquired initial mileage information; The sensor components of the dredging robot acquire inspection information including speed information, mileage information, tilt angle information, image information, distance sensing information, and water immersion sensing information; Determine whether the dredging robot's travel speed or tilt angle exceeds a set threshold; If the traveling speed or tilt angle of the dredging robot does not exceed the set threshold, the wheeled walking posture of the dredging robot is maintained; If the traveling speed or tilt angle of the dredging robot exceeds a set threshold, the wheeled walking posture of the dredging robot is switched to a gripper stepping posture and / or the traveling speed is adjusted; Among them, the sensor components include: Hall sensor, odometer, tilt sensor, vision sensor, distance sensor and water immersion sensor.

3. The desilting and operation and maintenance method for an operating tunnel drainage system according to claim 2, characterized in that: Before performing case-based reasoning on the abnormal characteristic attributes in the inspection information to obtain the abnormal type of the pipeline section and performing similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution, the following steps are also included: When the speed of the dredging robot changes, the mileage information, image information, speed information, and torque change information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database; When the dredging robot can only move based on the gripper stepping posture, the mileage information, image information, inclination angle information, speed information, torque change information and distance sensing information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features and the degree of pipeline deformation based on the inclination angle information is saved as instance data in the database; As the water level of the pipeline continues to rise, the mileage information, image information, tilt angle information, and water immersion sensor information of the pipeline section are recorded, and the pipeline image in the image information is processed to obtain pipeline features as instance data and saved in the database; When the dredging robot's communication is interrupted, the sensor is abnormal, or it is unable to move, the forced restart action information and emergency retraction action information of the dredging robot are saved in the database as instance data.

4. The desilting and operation and maintenance method for an operating tunnel drainage system according to claim 3, characterized in that: The abnormal characteristic attributes in the inspection information are used for case reasoning to obtain the abnormal type of the pipeline section, and the abnormal type is matched with the instance data for similarity calculation to obtain the abnormal handling solution including: When the speed of the dredging robot changes, the control parameters of the dredging robot are adjusted and the dredging robot is controlled to continue moving. If the speed of the dredging robot is still abnormal, the pipeline abnormality type is determined to be a blockage on the inner surface of the pipeline based on the inspection information of the pipeline section and the case-based reasoning algorithm. The abnormality type is then matched with the instance data in the database for similarity calculation to obtain an abnormality handling solution. When abnormal deformation occurs in the pipeline, it is determined whether the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot. If the inclination angle of the deformed pipeline exceeds the travel limit of the wheeled walking posture of the dredging robot, the walking posture of the dredging robot is switched to the gripper stepping posture. If the inclination angle of the deformed pipeline does not exceed the travel limit of the wheeled walking posture of the dredging robot, the abnormality type of the pipeline is determined to be partial blockage based on the inspection information of the pipeline section and the case reasoning algorithm, and the abnormality type is matched with the instance data in the database for similarity calculation to obtain the abnormality handling solution; When the water surface of the pipeline rises abnormally, the pipeline abnormality type is determined to be a pipeline leakage based on the inspection information of the pipeline section and the case reasoning algorithm, and the leakage point is determined based on the image information.

5. The desilting and operation and maintenance method for an operating tunnel drainage system according to claim 1, characterized in that: When the abnormal type of the pipeline section is blockage, the desilting robot is controlled to switch to the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline section, including: When the abnormal type of the pipeline section is blockage, the blockage condition information of the pipeline section is obtained; When the blockage condition information is non-flexible blockage containing concrete and polymer, the dredging robot is controlled to use a high-strength drill bit to perform rotary impact crushing operations on the blockage; When the blockage condition information is flexible blockages including geotextiles, woven bags and branches, the dredging robot is controlled to use the cutting and swinging head to rotate, cut, swing and knock the flexible blockages; When the blockage condition information indicates a long strip of blockage, the dredging robot is controlled to use a rotating gripper to grasp and remove the long strip of object; When the blockage condition information is compacted silt or residue after cleaning, the silt removal robot is controlled to use the working head to stir the residue and the high-pressure water jet nozzle to flush the residue; Mark the mileage information and image information of the dredging robot clearing the blockage in this pipeline section.

6. The desilting and operation and maintenance method for an operating tunnel drainage system according to claim 5, characterized in that: When the abnormality type of the pipeline section is blockage, the desilting robot is controlled to switch to the corresponding operating device according to different blockage conditions to clear the blockage and mark the mileage information and image information of the pipeline section, and further includes: Obtain image information of the pipeline after dredging; Extract the pipeline image from the image information and compare it with the preset standard image to determine whether the comparison result reaches the set threshold; If the comparison result reaches the set threshold, the feedback pipeline desilting is completed; If the comparison result does not reach the set threshold, the pipeline is flushed multiple times after adjusting the cleaning flow and pressure of the high-pressure water jet nozzle until the comparison result reaches the set threshold.

7. A dredging and maintenance system for an operating tunnel drainage system, characterized in that: The system is used to implement the desilting and operation and maintenance method of an operating tunnel drainage system according to any one of claims 1 to 6, and the system comprises: A robot status calibration module is used to calibrate the status of the dredging robot based on the acquired self-test information of the dredging robot; The pipeline inspection module is used to control the dredging robot to move and explore in the pipeline based on a wheeled walking posture or a gripper stepping posture to obtain pipeline inspection information after the dredging robot's condition calibration meets the set conditions; The pipeline anomaly identification module is used to perform case-based reasoning on the abnormal characteristic attributes in the inspection information to obtain the abnormal type of the pipeline section, and perform similarity matching calculation on the abnormal type and the instance data to obtain the abnormality handling solution; The abnormal information marking module is used to record the mileage information and image information of the pipeline section when the abnormal type of the pipeline section is deformation or leakage; The pipeline dredging and marking module is used to control the dredging robot to switch to the corresponding operating device to clear the blockage and mark the mileage information and image information of the pipeline section according to different blockage conditions when the abnormal type of the pipeline section is blockage; The pipeline information management module is used to organize and sort inspection information based on annotation information and inspection time to complete the integrated operation and maintenance management of pipeline spatial data, blockage distribution, and internal defects.

8. A desilting and maintenance equipment for an operating tunnel drainage system, characterized in that: include: at least one database; and a memory in communication with the at least one database; In which, the memory stores instructions that can be executed by the at least one database, and the instructions are executed by the at least one database so that the at least one database can execute the dredging and operation and maintenance method of an operating tunnel drainage system as described in any one of claims 1-6.

9. A computer-readable medium having computer-executable instructions stored thereon, characterized in that: When the executable instructions are executed by the processor, the dredging and operation and maintenance method of an operating tunnel drainage system as described in any one of claims 1 to 6 is implemented.

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