Drainage pipeline dredging method

Abstract

The invention provides a drainage pipeline desilting method which comprises the steps that a first wellhead and a second wellhead of a drainage pipeline are determined, a sub-body ground station carrier is controlled to move to the first wellhead, and a crushing and desilting integrated robot is put into the first wellhead to crush consolidated deposits in the drainage pipeline into particle deposits and push the particle deposits into the second wellhead; a high-pressure water gun flushes the interior of the drainage pipeline to form a slurry mixture, and a slurry pump is placed into the slurry mixture to suck the slurry mixture into the second cabin body; the second cabin filters the slurry mixture into particulate matters and slurry; and the secondary body ground station carrier moves the transfer trolley to the primary body desilting vehicle, the second cabin body is connected with the first cabin body, and the particulate matter and the mud are input into the first cabin body. According to the technical scheme of the embodiment, the dredging equipment cleans the drainage pipeline, semi-automatic dredging is achieved, deposits in the drainage pipeline are effectively transferred, and the situation that a narrow street is blocked by the deposits is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline cleaning, and in particular to a drainage pipeline desilting method. Background Art

[0002] At present, after rain, drainage pipes in narrow streets in cities are often blocked, resulting in water accumulation in the streets. After the existing technology dredges the drainage pipes, the silt in the drainage pipes is cleared, but the dredging equipment cannot enter the narrow streets to transfer the removed silt, resulting in the silt piling up on the streets. Manual cleaning of the silt not only prolongs the dredging operation, but also affects the passage of vehicles and pedestrians. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a drainage pipe desilting method, which can effectively transfer the silt cleared out of the drainage pipe and reduce the duration of the desilting operation.

[0004] In a first aspect, an embodiment of the present invention provides a drainage pipe dredging method, which is applied to a dredging device, wherein the dredging device includes a parent dredging vehicle, a transfer vehicle and a child ground station carrier, wherein the transfer vehicle is connected to the parent dredging vehicle, and the child ground station carrier is connected to the transfer vehicle, wherein the parent dredging vehicle is provided with a first cabin, the transfer vehicle is provided with a second cabin, and the child ground station carrier is provided with a third cabin, wherein the third cabin includes a clean water cabin and an equipment cabin, wherein the equipment cabin is provided with a power supply unit, an integrated crushing and dredging robot, a slurry pump and a high-pressure water gun, wherein the power supply unit is respectively connected to the integrated crushing and dredging robot, the slurry pump and the high-pressure water gun, and the high-pressure water gun is connected to the clean water cabin, wherein the method includes:

[0005] Determine a first wellhead and a second wellhead of the drainage pipeline, and after the sub-body ground station carrier moves the transfer vehicle to the second wellhead, control the sub-body ground station carrier to move to the first wellhead, open the equipment cabin, and place the integrated crushing and dredging robot into the first wellhead;

[0006] Aim the crushing drill of the integrated crushing and silting cleaning robot at the interior of the drainage pipe, start the integrated crushing and silting cleaning robot, and the integrated crushing and silting cleaning robot crushes the solidified sediment in the drainage pipe into granular sediment, and pushes the granular sediment into the second wellhead;

[0007] Starting the high-pressure water gun to flush the drainage pipe after dredging so that the granular sediment forms a mud mixture, controlling the sub-body ground station carrier to move the transfer vehicle to the second wellhead, placing the slurry pump into the mud mixture through the second wellhead, and the slurry pump pumping the mud mixture into the second cabin;

[0008] The second cabin filters the mud mixture to filter the mud mixture into particles and mud;

[0009] The sub-body ground station carrier is controlled to move the transfer vehicle to the parent dredging vehicle, the second cabin is connected with the first cabin, and the particulate matter and the mud are transported to corresponding positions respectively.

[0010] In some embodiments of the present invention, a first filter screen and a second filter screen are disposed in the second cabin, the first filter screen is provided with a first through hole, the second filter screen is provided with a second through hole, the first filter screen is disposed on the upper part of the second filter screen, the diameter of the first through hole is greater than the diameter of the second through hole, and the second cabin filters the mud mixture, including:

[0011] The upper part of the first filter screen and the top plate of the second cabin form a large particle mixture stacking area, the lower part of the first filter screen and the upper part of the second filter screen form a medium particle mixture stacking area, and the upper part of the second filter screen and the bottom plate of the second cabin form a mud stacking area, wherein the large particle mixture stacking area is provided with a mixture discharge inlet, and the mud stacking area is provided with a mixture discharge outlet;

[0012] The mud mixture is input into the large-particle mixture stacking area through the mixture discharge port to remove large-particle sediment in the mud mixture, and the remaining mud mixture flows into the medium-particle mixture stacking area through the first through hole to remove medium-particle sediment in the mud mixture, and the remaining mud mixture flows into the mud stacking area through the second through hole;

[0013] The top plate of the second cabin is opened, and the second cabin is connected to the first cabin through the mixture discharge port, the large-particle sludge and the medium-particle sludge in the second cabin are taken out, and the slurry is transported into the first cabin.

[0014] In some embodiments of the present invention, the parent silt removal vehicle is further provided with a mechanical arm, the first filter screen includes a first filter plate and a second filter plate, the second filter screen includes a third filter plate and a fourth filter plate, the first filter plate and the second filter plate are connected by a first hinge, the third filter plate and the fourth filter plate are connected by a second hinge, and the large particle sediment and the medium particle sediment in the second cabin are taken out, including:

[0015] Controlling the mechanical arm to grab the first hinge and fold the first filter plate and the second filter plate so that the large particle sediment in the large particle mixture stacking area falls into the medium particle mixture stacking area;

[0016] Controlling the mechanical arm to grab the large-particle sediment and the medium-particle sediment and place them in the solid object placement position;

[0017] When the large particle mixture stacking area and the medium particle mixture stacking area are emptied, the robot arm is controlled to grab the second hinge, fold the third filter plate and the fourth filter plate, and clean the mud stacking area.

[0018] In some embodiments of the present invention, the sub-body ground station carrier is provided with a control box, the integrated crushing and dredging robot is provided with a mobile body, a destruction drill bit and a collection device, the mobile body is provided with a first control module, the first control module is communicatively connected to the control box, the mobile body is respectively connected to the destruction drill bit and the collection device, and the integrated crushing and dredging robot crushes the consolidated sediment into granular sediment, including:

[0019] Acquire the length information of the drainage pipe, input the length information into the control box, and the control box sends the length information to the first control module;

[0020] The integrated robot for crushing and desilting is started, and the first control module controls the mobile body to drive the destroying drill bit and the collecting device to move along the length information in the drainage pipe, so that the integrated robot for crushing and desilting moves from the first wellhead to the second wellhead;

[0021] The destructive drill bit crushes the solidified sediment in the drainage pipe into granular sediment, and the collecting device collects the granular sediment and sends it to the second wellhead.

[0022] In some embodiments of the present invention, the control box is provided with a moving rocker, the integrated crushing and dredging robot is provided with a video detection device, and after obtaining the length information of the drainage pipe, the method further includes:

[0023] When the first control module does not receive the length information, the first control module starts the video detection device to obtain the real-time monitoring video of the drainage pipe;

[0024] According to the real-time monitoring video, the moving joystick is controlled to enable the integrated crushing and dredging robot to move in the drainage pipe.

[0025] In some embodiments of the present invention, before aligning the crushing drill bit of the integrated crushing and dredging robot with the interior of the drainage pipe, the method further comprises:

[0026] Obtaining diameter information of the drainage pipe;

[0027] The cross-sectional diameter of the crushing drill bit is determined according to the diameter information of the drainage pipe, and the cross-sectional diameter is adjusted according to the diameter information until the diameter information matches the cross-sectional diameter.

[0028] In some embodiments of the present invention, a flushing device is further provided on one side of the mobile body connected to the collecting device, the collecting device is provided with a plurality of third through holes, and the first control module controls the mobile body to drive the destructive drill bit and the collecting device to move along the length information in the drainage pipe, including:

[0029] The flushing device flushes the particle sediment collected by the collecting device;

[0030] The flushing device dissolves the sludge on the surface of the granular sediment into slurry, and the slurry flows into the drainage pipe through the third through hole.

[0031] In some embodiments of the present invention, a traction device is provided between the transfer vehicle and the sub-body ground station carrier, and the sub-body ground station carrier moves the transfer vehicle to the second wellhead, including:

[0032] The transfer vehicle is connected to one end of the sub-body ground station carrier through the traction device, and the sub-body ground station carrier tows the transfer vehicle to the second wellhead;

[0033] When the integrated crushing and dredging robot completes the dredging operation, the sub-body ground station carrier confirms whether it can turn around. When the sub-body ground station carrier cannot turn around, the transfer vehicle is connected to the other end of the sub-body ground station carrier through the traction device, and the sub-body ground station carrier pushes the transfer vehicle to the parent dredging vehicle.

[0034] The second cabin is provided with a flow monitoring device, the flow monitoring device is communicatively connected with the sub-body ground station carrier, and the slurry pump sucks the mud mixture into the second cabin, including:

[0035] The flow monitoring device calculates the desilting volume of the drainage pipe according to the mud mixture transported into the second cabin;

[0036] When the desilting volume reaches a preset threshold value of the flow monitoring device, the mud mixture is stopped from being input into the second cabin.

[0037] In some embodiments of the present invention, after the particulate matter and the slurry are input into the first cabin, the method further comprises:

[0038] After the transfer vehicle is connected to the first cabin, the sub-body ground station carrier is controlled to move the new transfer vehicle to the second wellhead;

[0039] The sub-body ground station carrier moves back to the first wellhead until all the granular sediments are completely cleared.

[0040] The drainage pipe desilting method according to the embodiment of the present invention has at least the following beneficial effects:

[0041] The first wellhead and the second wellhead of the drainage pipe are determined. After the sub-body ground station carrier moves the transfer vehicle to the second wellhead, the sub-body ground station carrier is controlled to move to the first wellhead, the equipment cabin is opened, and the crushing and dredging integrated robot is placed into the first wellhead; the crushing drill bit of the crushing and dredging integrated robot is aimed at the inside of the drainage pipe, and the crushing and dredging integrated robot is started. The crushing and dredging integrated robot crushes the solidified sediment in the drainage pipe into granular sediment, and pushes the granular sediment into the second wellhead; the high-pressure water gun is started to flush the drainage pipe after dredging so that the granular sediment forms a mud mixture, the sub-body ground station carrier is controlled to move the transfer vehicle to the second wellhead, and the slurry pump is placed into the mud mixture through the second wellhead, and the slurry pump sucks the mud mixture into the second cabin; the second cabin filters the mud mixture and filters the mud mixture into granular matter and mud; the sub-body ground station carrier is controlled to move the transfer vehicle to the parent dredging vehicle, the second cabin is connected to the first cabin, and the granular matter and mud are respectively transported to corresponding positions. According to the technical solution of this embodiment, the drainage pipe can be automatically cleaned without the need for relevant operators to enter the drainage pipe, and the silt in the drainage pipe can be effectively transferred to avoid congestion caused by silt in narrow streets. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1is a flow chart of a drainage pipe desilting method provided by an embodiment of the present invention;

[0043] Figure 2 is a flow chart of filtering a mud mixture by a second cabin provided by an embodiment of the present invention;

[0044] Figure 3 is a flow chart of removing large-particle sediment and medium-particle sediment in the second cabin provided by an embodiment of the present invention;

[0045] Figure 4 is a flow chart of the integrated crushing and dredging robot provided in one embodiment of the present invention crushing consolidated sediment into granular sediment;

[0046] Figure 5 is a flow chart after the length information of the drainage pipe is not obtained according to an embodiment of the present invention;

[0047] Figure 6 is a flow chart before the crushing drill bit of the integrated crushing and dredging robot is aligned with the interior of the drainage pipe, provided by an embodiment of the present invention;

[0048] Figure 7 It is a flow chart of a first control module controlling a mobile body to drive a destroying drill bit and a collecting device to move along length information in a drainage pipe provided by an embodiment of the present invention;

[0049] Figure 8 It is a flow chart of a sub-body ground station carrier moving a transfer vehicle to a second wellhead and a parent silt removal vehicle provided by an embodiment of the present invention;

[0050] Fig. 9 is a flow chart of a slurry pump provided by an embodiment of the present invention pumping a slurry mixture into a second cabin;

[0051] Fig.10 is a flow chart after the particulate matter and the mud are input into the first cabin according to an embodiment of the present invention;

[0052] Fig.11 It is a schematic diagram of the overall structure of a sludge transfer device provided by one embodiment of the present invention;

[0053] Fig.12 It is a schematic structural diagram of a crushing and dredging integrated robot provided by an embodiment of the present invention;

[0054] Fig.13 is a schematic structural diagram of a sub-body ground station carrier provided by an embodiment of the present invention;

[0055] Fig.14 It is a schematic diagram of the structure of the interior of the second cabin provided by an embodiment of the present invention.

[0056] Reference numerals:

[0057] The parent dredging vehicle 100, the first cabin 110, the transfer vehicle 200, the second cabin 210, the first filter 220, the first through hole 221, the first filter plate 222, the second filter plate 223, the first hinge 224, the second filter 230, the second through hole 231, the third filter plate 232, the fourth filter plate 233, the second hinge 234, the child ground station carrier 300, the third cabin 310, the clean water cabin 320, the equipment cabin 330, the energy supply unit 331, the integrated crushing and dredging robot 332, the mobile body 3321, the destructive drill bit 3322, the collecting device 3323, the flushing device 3324, the third through hole 3325, the slurry pump 333, the high-pressure water gun 334, the control box 340, and the traction device 400. DETAILED DESCRIPTION

[0058] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0059] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0060] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0061] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0062] Reference Fig.11 , Fig.12 , Fig.13 and Fig.14The embodiment of the present invention provides a drainage pipe dredging method, which is applied to a dredging device. The dredging device includes a parent dredging vehicle 100, a transfer vehicle 200 and a child ground station carrier 300. The transfer vehicle 200 is connected to the parent dredging vehicle 100, and the child ground station carrier 300 is connected to the transfer vehicle 200. The parent dredging vehicle 100 is provided with a first cabin 110, the transfer vehicle 200 is provided with a second cabin 210, and the child ground station carrier 300 is provided with a third cabin 310. The third cabin 310 includes a clean water cabin 320 and The equipment cabin 330 is provided with an energy supply unit 331, an integrated crushing and dredging robot 332, a slurry pump 333 and a high-pressure water gun 334. The energy supply unit 331 is respectively connected to the integrated crushing and dredging robot 332, the slurry pump 333 and the high-pressure water gun 334. The high-pressure water gun 334 is connected to the clean water cabin 320. The pipeline dredging method includes determining a first wellhead and a second wellhead of the drainage pipeline. After the sub-body ground station carrier 300 moves the transfer vehicle 200 to the second wellhead, the sub-body ground station carrier 300 is controlled. Move to the first wellhead, open the equipment cabin 330, and place the integrated crushing and dredging robot 332 into the first wellhead; aim the crushing drill bit of the integrated crushing and dredging robot 332 at the inside of the drainage pipe, start the integrated crushing and dredging robot 332, and the integrated crushing and dredging robot 332 crushes the solidified sediment in the drainage pipe into granular sediment, and pushes the granular sediment into the second wellhead; start the high-pressure water gun 334 to flush the drainage pipe after dredging, so that the granular sediment forms a mud mixture, The sub-body ground station carrier 300 is controlled to move the transfer vehicle 200 to the second wellhead, and the slurry pump 333 is placed into the mud mixture through the second wellhead, and the slurry pump 333 sucks the mud mixture into the second cabin 210; the second cabin 210 filters the mud mixture and filters the mud mixture into particles and mud; the sub-body ground station carrier 300 is controlled to move the transfer vehicle 200 to the parent dredging vehicle 100, and the second cabin 210 is connected to the first cabin 110, and the particles and mud are transported to the corresponding positions. According to the technical solution of this embodiment, the drainage pipe can be automatically cleaned without the need for relevant operators to enter the drainage pipe, and the sediment in the drainage pipe can be effectively transferred to avoid the occurrence of sediment congestion in narrow streets.

[0063] The control method of the embodiment of the present invention is further described below based on the accompanying drawings.

[0064] Reference Figure 1 , Figure 1 A flow chart of a drainage pipe desilting method provided in an embodiment of the present invention, the drainage pipe desilting method includes but is not limited to the following steps:

[0065] Step S11, determining the first wellhead and the second wellhead of the drainage pipe, after the sub-body ground station carrier 300 moves the transfer vehicle 200 to the second wellhead, controls the sub-body ground station carrier 300 to move to the first wellhead, opens the equipment cabin 330, and places the integrated crushing and dredging robot 332 into the first wellhead;

[0066] It should be noted that by determining the first wellhead and the second wellhead, the dredging route of the integrated crushing and dredging robot 332 is accurately planned and the precise movement of the sub-body ground station carrier 300 and the transfer vehicle 200 is ensured, thereby reducing unnecessary moving time and energy consumption of the dredging equipment, further improving the operating efficiency of the dredging equipment, and reducing or even avoiding the need for manual downhole operations, so that operators can stay away from the dredging operation area and control the integrated crushing and dredging robot 332 through the ground, thereby improving the safety of dredging operations.

[0067] Step S12, aiming the crushing drill bit of the integrated crushing and silting cleaning robot 332 at the inside of the drainage pipe, starting the integrated crushing and silting cleaning robot 332, and crushing the consolidated sediment in the drainage pipe into granular sediment, and pushing the granular sediment into the second wellhead;

[0068] It should be noted that the crushing drill bit of the integrated crushing and dredging robot 332 can effectively crush hard, solidified sediments in the drainage pipe, such as tree roots, stones, deposited sludge, etc. These solidified materials are difficult to completely remove through traditional dredging methods (such as high-pressure water jets, mechanical dredging, etc.). Through the high-efficiency operation of the crushing drill bit, the dredging time is greatly reduced and the operation efficiency is improved. After the crushing drill bit crushes the solidified sediment into granular sediment, it is easier to be washed away by the water flow, or effectively removed by subsequent dredging equipment, which effectively improves the thoroughness and quality of dredging and reduces the risk of clogging of the drainage pipe.

[0069] Step S13, start the high-pressure water gun 334 to flush the drainage pipe after dredging, so that the granular sediments form a mud mixture, control the sub-body ground station carrier 300 to move the transfer vehicle 200 to the second wellhead, put the slurry pump 333 into the mud mixture through the second wellhead, and the slurry pump 333 sucks the mud mixture into the second cabin 210;

[0070] It should be noted that during the flushing process, the granular sediment is mixed with water to form a mud mixture, which makes the sediment easier to be pumped and transported. The enhanced fluidity of the mud mixture helps to reduce the accumulation and redeposition of residues in the pipeline. The slurry pump 333 is placed in the mud mixture through the second wellhead, thereby efficiently pumping the mud mixture into the second cabin 210 of the sub-body ground station carrier 300. The mechanized suction method greatly speeds up the dredging process and improves the dredging efficiency. In addition, the flushing of the high-pressure water gun 334 and the suction of the slurry pump 333 can form a continuous operation process, reducing manual intervention and waiting time. The use of this continuous operation mode not only improves work efficiency, but also reduces labor costs.

[0071] Step S14, the second cabin 210 filters the mud mixture to filter the mud mixture into particles and mud;

[0072] It should be noted that through filtration, the mud mixture is effectively separated into particulate matter (such as sand, gravel, etc.) and mud (mainly water and fine suspended matter), which provides convenience for subsequent silt treatment and reuse. The separated particulate matter can be used for roadbed construction, backfilling and other projects after further treatment (such as drying, screening, etc.) to achieve resource reuse, while the water in the mud can be recovered and reused through sedimentation, purification and other processes to reduce the waste of water resources.

[0073] Step S15, controlling the sub-body ground station carrier 300 to move the transfer vehicle 200 to the parent silt removal vehicle 100, connecting the second cabin 210 with the first cabin 110, and transporting the particles and the mud to the corresponding positions respectively;

[0074] It should be noted that, in this embodiment, through automated control, the sub-body ground station carrier 300 can continuously input the filtered particulate matter and mud into the first cabin 110. By optimizing the filtering and transfer processes, the downtime of the dredging equipment can be reduced and the utilization rate and operating efficiency of the dredging equipment can be improved.

[0075] It should be noted that the drainage pipes can be automatically cleaned through automated desilting operations without the need for relevant operators to enter the drainage pipes. The silt in the drainage pipes can also be effectively transferred to avoid congestion caused by silt in narrow streets.

[0076] In addition, in one embodiment, the second cabin 210 is provided with a first filter 220 and a second filter 230, the first filter 220 is provided with a first through hole 221, the second filter 230 is provided with a second through hole 231, the first filter 220 is provided on the upper part of the second filter 230, the diameter of the first through hole 221 is greater than the diameter of the second through hole 231, and the second cabin 210 filters the mud mixture, referring to Figure 2 ,exist Figure 1 Step S14 of the illustrated embodiment also includes but is not limited to the following steps:

[0077] Step S21, the upper part of the first filter screen 220 and the top plate of the second cabin 210 form a large particle mixture stacking area, the lower part of the first filter screen 220 and the upper part of the second filter screen 230 form a medium particle mixture stacking area, and the upper part of the second filter screen 230 and the bottom plate of the second cabin 210 form a mud stacking area, wherein the large particle mixture stacking area is provided with a mixture discharge inlet, and the mud stacking area is provided with a mixture discharge outlet;

[0078] Step S22, inputting the mud mixture into the large particle mixture stacking area through the mixture discharge port to remove the large particle sediment in the mud mixture, and the remaining mud mixture flows into the medium particle mixture stacking area through the first through hole 221 to remove the medium particle sediment in the mud mixture, and the remaining mud mixture flows into the mud stacking area through the second through hole 231;

[0079] Step S23 , opening the top plate of the second cabin 210 , and connecting the second cabin 210 to the first cabin 110 through the mixture discharge port, taking out the large-particle silt and the medium-particle silt in the second cabin 210 , and transporting the slurry to the first cabin 110 .

[0080] It should be noted that the first filter 220 and the second filter 230 divide the interior of the second cabin 210 from top to bottom into a large-particle sludge storage area, a medium-particle sludge storage area, and a mud storage area. When the mud-water mixture enters the second cabin 210, it can filter out larger garbage and sludge blocks after passing through the first filter 220. When the mud-water mixture passes through the second filter, it can filter out medium-sized silt such as stones. The filtered mud and water flow into the third layer. Through effective particle classification, unnecessary steps and energy consumption in the subsequent processing process are reduced, such as avoiding excessive wear and blockage of processing equipment by fine particles, thereby improving the efficiency of the entire processing process.

[0081] In addition, in one embodiment, referring to Figure 3The parent silt removal vehicle 100 is also provided with a mechanical arm. The first filter net 220 includes a first filter plate 222 and a second filter plate 223. The second filter net 230 includes a third filter plate 232 and a fourth filter plate 233. The first filter plate 222 and the second filter plate 223 are connected by a first hinge 224. The third filter plate 232 and the fourth filter plate 233 are connected by a second hinge 234. Figure 2 Step S23 of the illustrated embodiment also includes but is not limited to the following steps:

[0082] Step S31, controlling the robot arm to grab the first hinge 224, and folding the first filter plate 222 and the second filter plate 223, so that the large particle sediment in the large particle mixture stacking area falls into the medium particle mixture stacking area;

[0083] Step S32, controlling the robot arm to grab the large-particle sediment and the medium-particle sediment and place them in the solid object placement position;

[0084] Step S33, when the large particle mixture stacking area and the medium particle mixture stacking area are emptied, the robot arm is controlled to grab the second hinge 234, fold the third filter plate 232 and the fourth filter plate 233, and clean the mud stacking area.

[0085] It should be noted that through the continuous operation of the robotic arm, the rapid processing and transportation of sediments of different particle sizes can be achieved, the transportation time of solidified sediments can be reduced, and the utilization rate of dredging equipment can be improved; by folding the filter plate, large-particle sediments can naturally fall into the medium-particle mixture stacking area, so as to achieve graded treatment of sediments, further optimize resource utilization and reduce waste. In addition, the robotic arm can accurately grab large-particle sediments and medium-particle sediments, without the need for manual transfer of large-particle sediments and medium-particle sediments, and improve the transportation efficiency of solidified sediments, so that the sediments in the drainage pipes can be effectively transferred.

[0086] In addition, in one embodiment, referring to Figure 4 The sub-body ground station carrier 300 is provided with a control box 340, the integrated crushing and dredging robot 332 is provided with a mobile body 3321, a destruction drill 3322 and a collection device 3323, the mobile body 3321 is provided with a first control module, the first control module is communicated with the control box 340, the mobile body 3321 is respectively connected with the destruction drill 3322 and the collection device 3323, Figure 1 Step S14 of the illustrated embodiment also includes but is not limited to the following steps:

[0087] Step S41, obtaining the length information of the drainage pipe, inputting the length information into the control box 340, and the control box 340 sends the length information to the first control module;

[0088] Step S42, the integrated crushing and silting robot 332 is started, and the first control module controls the mobile body 3321 to drive the destroying drill bit 3322 and the collecting device 3323 to move along the length information in the drainage pipe, so that the integrated crushing and silting robot 332 moves from the first wellhead to the second wellhead;

[0089] Step S43, the destroying drill bit 3322 crushes the solidified sediment in the drainage pipe into granular sediment, and the collecting device 3323 collects the granular sediment and sends it to the second wellhead.

[0090] It should be noted that, by obtaining the length information of the drainage pipe, the control box can accurately determine the position of the integrated robot 332 for crushing and silting removal in the pipe, realize the accurate positioning and control of the moving distance of the integrated robot 332 for crushing and silting removal, avoid the situation that the solidified sediment in the drainage pipe cannot be completely cleaned due to excessive or insufficient movement, and the control box and the first control module can plan the optimal moving path of the integrated robot 332 for crushing and silting removal according to the length information of the drainage pipe, ensure that the entire pipe length can be efficiently covered during the cleaning process of the solidified sediment, improve the cleaning efficiency, optimize the operation process, reduce unnecessary movement, thereby saving the time and resources required for cleaning the solidified sediment in the drainage pipe, and improving the operation efficiency. In addition, by accurately obtaining the pipe length information, it is possible to avoid misoperation and unnecessary risks, ensure that the integrated robot 332 for crushing and silting removal can move and clean up safely and efficiently in the pipe, and ensure that the internal area of ​​the drainage pipe can be fully cleaned, improve the operation quality, and reduce the possibility of secondary cleaning. In addition, the sub-body ground station carrier 300 and the integrated robot 332 for crushing and silting removal are both modularly designed, and each component and functional module is easy to disassemble and replace, which is convenient for the subsequent maintenance and maintenance of the silting removal equipment.

[0091] In addition, in one embodiment, the control box 340 is provided with a moving rocker, and the integrated crushing and dredging robot 332 is provided with a video detection device. Figure 5 ,exist Figure 4 After step S41 in the illustrated embodiment, the following steps are also included but not limited to:

[0092] Step S51, when the first control module does not receive the length information, the first control module starts the video detection device to obtain the real-time monitoring video of the drainage pipe;

[0093] Step S52, based on the real-time monitoring video, control the moving joystick to move the integrated crushing and silting robot 332 in the drainage pipe.

[0094] It should be noted that when the sub-body ground station carrier 300 is unable to obtain the length information of the drainage pipe, the staff controls the movement of the integrated crushing and dredging robot 332 through multiple joysticks, so as to flexibly deal with the situation where the length information of the drainage pipe cannot be obtained, and realize the precise control of the integrated crushing and dredging robot 332 in the drainage pipe. Through the real-time feedback of the video detection device, the staff can adjust the moving joystick in time according to the control box to control the integrated crushing and dredging robot 332, ensure the safe movement of the integrated crushing and dredging robot 332 in the pipe, and avoid collision or jamming.

[0095] In addition, in one embodiment, referring to Figure 6 ,exist Figure 1 Before step S12 of the illustrated embodiment, the following steps are also included but not limited to:

[0096] Step S61, obtaining the diameter information of the drainage pipe;

[0097] Step S62, determining the cross-sectional diameter of the crushing drill bit according to the diameter information of the drainage pipe, and adjusting the cross-sectional diameter according to the diameter information until the diameter information matches the cross-sectional diameter.

[0098] It should be noted that by ensuring that the crushing drill bit is compatible with the diameter of the drainage pipe, the space in the pipe is utilized to the maximum extent, ensuring that the crushing and dredging integrated robot 332 can fully enter and cover every area of ​​the pipe, and completely clean the solidified sediment in the drainage pipe. The crushing drill bit is compatible with the drainage pipe, which can effectively reduce the risk of jamming caused by size mismatch during the cleaning process, reduce the occurrence of the crushing and dredging integrated robot 332 getting stuck when encountering obstacles or bends in the drainage pipe, and ensure the continuity and stability of the dredging operation. In addition, the crushing drill bit is compatible with the drainage pipe, which can effectively reduce the risk of damage to the crushing drill bit caused by size mismatch, extend the service life of the crushing drill bit, reduce the cost of maintenance and replacement, and thus improve the efficiency and speed of dredging operations, shorten operation time, and reduce manpower and resource costs.

[0099] In addition, in one embodiment, referring to Figure 7 A flushing device 3324 is also provided on one side of the mobile body 3321 connected to the collecting device 3323. The collecting device 3323 is provided with a plurality of third through holes 3325. Figure 4 Step S42 of the illustrated embodiment also includes but is not limited to the following steps:

[0100] Step S71, the flushing device 3324 flushes the particle sediment collected by the collecting device 3323;

[0101] In step S72 , the flushing device 3324 dissolves the sludge on the surface of the granular sediment into slurry, and the slurry flows into the drainage pipe through the third through hole 3325 .

[0102] It should be noted that the flushing device 3324 can effectively dissolve the sludge on the surface of the granular sediment into mud, remove the stubborn dirt attached to the surface of the particles, and improve the thoroughness and quality of the dredging operation. The mud generated during the flushing process can flow naturally through the drainage pipe or be collected for treatment. The flushed granular sediment is easier to handle and transport. For granular sediment that needs further treatment, the treatment process of the granular sediment will also become simpler and more efficient due to the cleaning of the surface.

[0103] In addition, in one embodiment, referring to Figure 8 ,exist Figure 1 Step S11 of the illustrated embodiment also includes but is not limited to the following steps:

[0104] Step S81, connecting the transfer vehicle 200 to one end of the sub-body ground station carrier 300 through the traction device 400, and the sub-body ground station carrier 300 tows the transfer vehicle 200 to the second wellhead;

[0105] Step S82, when the integrated crushing and dredging robot 332 completes the dredging operation, the sub-body ground station carrier 300 confirms whether it can turn around. When the sub-body ground station carrier 300 cannot turn around, the transfer vehicle 200 is connected to the other end of the sub-body ground station carrier 300 through the traction device 400, and the sub-body ground station carrier 300 pushes the transfer vehicle 200 to the parent dredging vehicle 100.

[0106] It should be noted that, by utilizing the traction force of the sub-body ground station carrier 300, the transfer vehicle 200 can be quickly towed to the second wellhead or pushed to the parent dredging vehicle 100, thereby shortening the silt transfer time of the transfer vehicle 200. After the integrated crushing and dredging robot 332 completes the dredging operation, the transfer vehicle 200 can be quickly positioned to the next operating point or unloading point, thereby reducing the time wasted due to waiting for the transfer vehicle 200 to move. When the sub-body ground station carrier 300 cannot turn around, the moving direction of the transfer vehicle 200 can be flexibly adjusted by changing the connection end between the transfer vehicle 200 and the sub-body ground station carrier 300, so that the transfer vehicle 200 can adapt to different operating environments and scene requirements, thereby improving the versatility and practicality of the equipment and avoiding the interruption of dredging operations due to site limitations. Furthermore, the coordination and cooperation between the transfer vehicle 200, the integrated crushing and dredging robot 332 and the sub-body ground station carrier 300 and other equipment is closer and smoother, which improves the efficiency and effectiveness of the entire dredging operation process. Through reasonable arrangement and scheduling, it can ensure that various resources (such as equipment, personnel, time, etc.) are fully utilized and optimally allocated.

[0107] In addition, in one embodiment, referring to Fig. 9 The second cabin 210 is provided with a flow monitoring device, which is connected to the sub-body ground station carrier for communication. Figure 1 Step S13 of the illustrated embodiment also includes but is not limited to the following steps:

[0108] Step S91, the flow monitoring device calculates the desilting volume of the drainage pipe according to the mud mixture transported into the second cabin 210;

[0109] Step S92, when the desilting volume reaches a preset threshold value of the flow monitoring device, stop inputting the mud mixture into the second cabin 210.

[0110] It should be noted that the flow rate of the mud mixture is monitored in real time through the flow monitoring device, and the dredging volume of the drainage pipe is accurately calculated, thereby avoiding the problem of insufficient or excessive dredging caused by inaccurate estimation in traditional dredging methods. When the dredging volume reaches a preset threshold, the flow monitoring device can automatically stop the input of the mud mixture, thereby realizing the automated control of the dredging operation, reducing the need for manual intervention, and improving the operation efficiency. The setting of the flow monitoring device can effectively prevent the overload problem of the second cabin 210 caused by excessive input of the mud mixture, thereby ensuring the safety of the equipment and the work site.

[0111] In addition, in one embodiment, referring to Fig.10 ,exist Figure 1 After step S15 in the illustrated embodiment, the following steps are also included but not limited to:

[0112] Step S101, after the transfer vehicle 200 is connected to the first cabin 110, the sub-body ground station carrier 300 is controlled to move the new transfer vehicle 200 to the second wellhead;

[0113] Step S102, the sub-body ground station carrier 300 moves back to the first wellhead until all the granular sediments are completely cleared.

[0114] It should be noted that when the dredging equipment is performing dredging operations, it will encounter streets with different conditions. By splitting the dredging equipment into a separate design, the sub-body ground station carrier 300 is used to transport the equipment, and the transfer vehicle 200 is used to transport particulate sediment. After the particulate sediment is transferred from the narrow street by the transfer vehicle 200, the sub-body ground station carrier 300 will move the new second cabin 210 to the drainage pipe, thereby realizing the cyclic dredging operation of multiple mobile vehicles, and all the particulate sediment in the drainage pipe is transferred, thereby ensuring the normal operation of the drainage pipe.

[0115] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A drainage pipe desilting method, characterized in that: Applied in dredging equipment, the dredging equipment includes a parent dredging vehicle, a transfer vehicle and a child ground station carrier, the transfer vehicle is connected to the parent dredging vehicle, the child ground station carrier is connected to the transfer vehicle, the parent dredging vehicle is provided with a first cabin, the transfer vehicle is provided with a second cabin, the child ground station carrier is provided with a third cabin, the third cabin includes a clean water cabin and an equipment cabin, the equipment cabin is provided with a power supply unit, a crushing and dredging integrated robot, a slurry pump and a high-pressure water gun, the power supply unit is respectively connected to the crushing and dredging integrated robot, the slurry pump and the high-pressure water gun, the high-pressure water gun is connected to the clean water cabin, and the method includes: Determine a first wellhead and a second wellhead of the drainage pipeline, and after the sub-body ground station carrier moves the transfer vehicle to the second wellhead, control the sub-body ground station carrier to move to the first wellhead, open the equipment cabin, and place the integrated crushing and dredging robot into the first wellhead; Aim the crushing drill of the integrated crushing and silting cleaning robot at the interior of the drainage pipe, start the integrated crushing and silting cleaning robot, and the integrated crushing and silting cleaning robot crushes the solidified sediment in the drainage pipe into granular sediment, and pushes the granular sediment into the second wellhead; Starting the high-pressure water gun to flush the drainage pipe after dredging so that the granular sediment forms a mud mixture, controlling the sub-body ground station carrier to move the transfer vehicle to the second wellhead, placing the slurry pump into the mud mixture through the second wellhead, and the slurry pump pumping the mud mixture into the second cabin; The second cabin filters the mud mixture to filter the mud mixture into particles and mud; The sub-body ground station carrier is controlled to move the transfer vehicle to the parent dredging vehicle, the second cabin is connected with the first cabin, and the particulate matter and the mud are transported to corresponding positions respectively.

2. The drainage pipe desilting method according to claim 1, characterized in that: The second cabin is provided with a first filter screen and a second filter screen, the first filter screen is provided with a first through hole, the second filter screen is provided with a second through hole, the first filter screen is provided on the upper part of the second filter screen, the diameter of the first through hole is greater than the diameter of the second through hole, and the second cabin filters the mud mixture, including: The upper part of the first filter screen and the top plate of the second cabin form a large particle mixture stacking area, the lower part of the first filter screen and the upper part of the second filter screen form a medium particle mixture stacking area, and the upper part of the second filter screen and the bottom plate of the second cabin form a mud stacking area, wherein the large particle mixture stacking area is provided with a mixture discharge inlet, and the mud stacking area is provided with a mixture discharge outlet; The mud mixture is input into the large-particle mixture stacking area through the mixture discharge port to remove large-particle sediment in the mud mixture, and the remaining mud mixture flows into the medium-particle mixture stacking area through the first through hole to remove medium-particle sediment in the mud mixture, and the remaining mud mixture flows into the mud stacking area through the second through hole; The top plate of the second cabin is opened, and the second cabin is connected to the first cabin through the mixture discharge port, the large-particle sludge and the medium-particle sludge in the second cabin are taken out, and the slurry is transported into the first cabin.

3. The drainage pipe desilting method according to claim 2, characterized in that: The parent silt removal vehicle is also provided with a mechanical arm, the first filter screen includes a first filter plate and a second filter plate, the second filter screen includes a third filter plate and a fourth filter plate, the first filter plate and the second filter plate are connected by a first hinge, and the third filter plate and the fourth filter plate are connected by a second hinge, and the large-particle sediment and the medium-particle sediment in the second cabin are taken out, including: Controlling the mechanical arm to grab the first hinge and fold the first filter plate and the second filter plate so that the large particle sediment in the large particle mixture stacking area falls into the medium particle mixture stacking area; Controlling the mechanical arm to grab the large-particle sediment and the medium-particle sediment and place them in a solid object placement position; When the large particle mixture stacking area and the medium particle mixture stacking area are emptied, the robot arm is controlled to grab the second hinge, fold the third filter plate and the fourth filter plate, and clean the mud stacking area.

4. The drainage pipe desilting method according to claim 1, characterized in that: The sub-body ground station carrier is provided with a control box, the integrated crushing and dredging robot is provided with a mobile body, a destruction drill bit and a collection device, the mobile body is provided with a first control module, the first control module is communicatively connected with the control box, the mobile body is respectively connected with the destruction drill bit and the collection device, and the integrated crushing and dredging robot crushes the consolidated sediment into granular sediment, including: Acquire the length information of the drainage pipe, input the length information into the control box, and the control box sends the length information to the first control module; The integrated robot for crushing and desilting is started, and the first control module controls the mobile body to drive the destroying drill bit and the collecting device to move along the length information in the drainage pipe, so that the integrated robot for crushing and desilting moves from the first wellhead to the second wellhead; The destructive drill bit crushes the solidified sediment in the drainage pipe into granular sediment, and the collecting device collects the granular sediment and sends it to the second wellhead.

5. The drainage pipe desilting method according to claim 4, characterized in that: The control box is provided with a moving rocker, and the integrated crushing and dredging robot is provided with a video detection device. After obtaining the length information of the drainage pipe, the method further includes: When the first control module does not receive the length information, the first control module starts the video detection device to obtain the real-time monitoring video of the drainage pipe; According to the real-time monitoring video, the moving joystick is controlled to enable the integrated crushing and dredging robot to move in the drainage pipe.

6. The drainage pipe desilting method according to claim 1, characterized in that: Before aligning the crushing drill bit of the integrated crushing and dredging robot with the interior of the drainage pipe, the method further includes: Obtaining diameter information of the drainage pipe; The cross-sectional diameter of the crushing drill bit is determined according to the diameter information of the drainage pipe, and the cross-sectional diameter is adjusted according to the diameter information until the diameter information matches the cross-sectional diameter.

7. The drainage pipe desilting method according to claim 4, characterized in that: A flushing device is also provided on one side of the mobile body connected to the collecting device, the collecting device is provided with a plurality of third through holes, and the first control module controls the mobile body to drive the destructive drill bit and the collecting device to move along the length information in the drainage pipe, including: The flushing device flushes the particle sediment collected by the collecting device; The flushing device dissolves the sludge on the surface of the granular sediment into slurry, and the slurry flows into the drainage pipe through the third through hole.

8. The drainage pipe desilting method according to claim 1, characterized in that: A traction device is provided between the transfer vehicle and the sub-body ground station carrier, and the sub-body ground station carrier moves the transfer vehicle to the second wellhead, including: The transfer vehicle is connected to one end of the sub-body ground station carrier through the traction device, and the sub-body ground station carrier tows the transfer vehicle to the second wellhead; When the integrated crushing and dredging robot completes the dredging operation, the sub-body ground station carrier confirms whether it can turn around. When the sub-body ground station carrier cannot turn around, the transfer vehicle is connected to the other end of the sub-body ground station carrier through the traction device, and the sub-body ground station carrier pushes the transfer vehicle to the parent dredging vehicle.

9. The drainage pipe desilting method according to claim 8, characterized in that: The second cabin is provided with a flow monitoring device, the flow monitoring device is communicatively connected with the sub-body ground station carrier, and the slurry pump sucks the mud mixture into the second cabin, including: The flow monitoring device calculates the desilting volume of the drainage pipe according to the mud mixture transported into the second cabin; When the desilting volume reaches a preset threshold value of the flow monitoring device, the mud mixture is stopped from being input into the second cabin.

10. The drainage pipe desilting method according to claim 1, characterized in that: After the particles and the slurry are introduced into the first cabin, the method further comprises: After the transfer vehicle is connected to the first cabin, the sub-body ground station carrier is controlled to move the new transfer vehicle to the second wellhead; The sub-body ground station carrier moves back to the first wellhead until all the granular sediments are completely cleared.

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