Dredging equipment and dredging method thereof

Abstract

The invention provides desilting equipment which comprises a parent desilting vehicle, and the parent desilting vehicle is provided with a first cabin. The son body ground station carrier is connected with the mother body desilting vehicle, the son body ground station carrier is provided with an energy supply unit, a control unit, a suction pump and a high-pressure water gun, the energy supply unit is connected with the control unit, the suction pump and the high-pressure water gun, and the control unit is connected with the suction pump and the high-pressure water gun. The suction pump is connected with the first cabin body; and the crushing and desilting integrated robot is connected with the mother desilting vehicle and the son ground station carrier, the control unit is electrically connected with the crushing and desilting integrated robot, and the crushing and desilting integrated robot is provided with a moving main body and a crushing device connected with the moving main body. According to the technical scheme of the embodiment, the coverage range of dredging operation can be enlarged, deposits in the small pipeline can be effectively cleaned, and the construction operation cost is reduced.

Description

Technical Field

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

[0002] At present, with the increasing development of cities, the amount of sludge generated in drainage pipe networks has continued to grow. In addition, there is a huge amount of existing sludge in urban pipe networks that has not yet been cleaned up. However, the dredging equipment in the existing technology is unable to carry out cleaning operations in narrow connections and small culverts, and the finished equipment cannot start working on the shore, resulting in the inability to clear the hard objects in the culverts. 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 silt removal device and a silt removal method thereof, which can remove siltation in small pipes in narrow streets.

[0004] In a first aspect, an embodiment of the present invention provides a dredging device, comprising:

[0005] A parent silt removal vehicle, wherein the parent silt removal vehicle is provided with a first cabin;

[0006] A sub-body ground station carrier, the sub-body ground station carrier is connected to the parent silt removal vehicle, the sub-body ground station carrier is provided with an energy supply unit, a control unit, a suction pump and a high-pressure water gun, the energy supply unit is respectively connected to the control unit, the suction pump and the high-pressure water gun, the control unit is respectively connected to the suction pump and the high-pressure water gun, and the suction pump is connected to the first cabin;

[0007] The integrated robot for crushing and silting is connected to the sub-body ground station carrier, and the control unit is electrically connected to the integrated robot for crushing and silting. The integrated robot for crushing and silting is provided with a mobile body and a crushing device connected to the mobile body.

[0008] In some embodiments of the present invention, the integrated crushing and dredging robot is further provided with a flushing device and a collecting device, the crushing device is arranged on one side of the mobile body, and the flushing device and the collecting device are arranged on the other side of the mobile body.

[0009] In some embodiments of the present invention, a winch is further included, and the mobile body is further provided with a hook, and the mobile body is connected to the winch via the hook.

[0010] In some embodiments of the present invention, the integrated crushing and dredging robot is also provided with a lighting device, a video detection device and a radar detection device.

[0011] In some embodiments of the present invention, the sub-body ground station carrier is further provided with a control box, and the control box is provided with a plurality of control levers, and the plurality of control levers are connected to the control unit.

[0012] In some embodiments of the present invention, the sub-body ground station carrier is further provided with a second cabin, and the second cabin is provided with a plurality of adapters.

[0013] In a second aspect, an embodiment of the present invention provides a dredging method applied to a dredging device, comprising:

[0014] Determine a first wellhead and a second wellhead in the drainage pipe, and use a high-pressure water gun to flush the sludge in the drainage pipe to below the second wellhead through the first wellhead;

[0015] Placing the integrated crushing and dredging robot in the drainage pipe, and aligning the crushing device of the integrated crushing and dredging robot with the flushing direction of the high-pressure water gun;

[0016] The control unit of the sub-body ground station carrier controls the mobile body of the integrated crushing and dredging robot to move along the flushing direction of the high-pressure water gun;

[0017] During the movement, the integrated crushing and dredging robot crushes the solidified sediment in the drainage pipe through a crushing device;

[0018] The integrated crushing and dredging robot moves the consolidated silt to below the second wellhead, and the suction pump transports the consolidated silt to the parent dredging vehicle.

[0019] In some embodiments of the present invention, the suction pump transports the consolidated silt to the front of the parent dredging vehicle, and the method further comprises:

[0020] The collecting device of the integrated crushing and dredging robot moves the plurality of crushed consolidated sediments to below the second wellhead;

[0021] The integrated crushing and dredging robot is recovered, and the high-pressure water gun is used to flush the drainage pipe after dredging, so that the plurality of crushed solidified sediments form solidified mud;

[0022] placing a suction pump of a sub-body ground station carrier into the consolidation slurry through the second wellhead;

[0023] The suction pump transports the consolidation slurry to the second cabin of the sub-body ground station carrier through a pipeline.

[0024] In some embodiments of the present invention, the control unit of the sub-body ground station carrier controls the mobile body of the integrated crushing and dredging robot to move along the flushing direction of the high-pressure water gun, including:

[0025] The control unit obtains the length information of the drainage pipe;

[0026] Determining the moving distance of the integrated crushing and dredging robot according to the length of the drainage pipe;

[0027] When the control unit is unable to obtain the length information of the drainage pipe, the control unit controls the mobile body of the integrated crushing and dredging robot to move in the drainage pipe through a plurality of rockers.

[0028] In some embodiments of the present invention, after aligning the crushing device of the integrated crushing and dredging robot with the flushing direction of the high-pressure water gun, the method further includes:

[0029] Obtaining diameter information of the drainage pipe;

[0030] The cross-sectional diameter of the pulverizing device is determined according to the diameter information so that the pulverizing device is adapted to the drainage pipe.

[0031] The dredging equipment according to the embodiment of the present invention has at least the following beneficial effects:

[0032] A parent silt removal vehicle, which is provided with a first cabin; a child ground station carrier, which is connected to the parent silt removal vehicle, and is provided with a power supply unit, a control unit, a suction pump and a high-pressure water gun, the power supply unit is respectively connected to the control unit, the suction pump and the high-pressure water gun, the control unit is respectively connected to the suction pump and the high-pressure water gun, and the suction pump is connected to the first cabin; a crushing and silting integrated robot, which is connected to the child ground station carrier, and the control unit is electrically connected to the crushing and silting integrated robot, and the crushing and silting integrated robot is provided with a mobile body and a crushing device connected to the mobile body. According to the technical solution of this embodiment, the coverage of silting operations can be improved, the silt in small pipes can be effectively cleaned, and the construction operation cost can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of a dredging device provided by an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the high-pressure water gun provided by the present invention performing the first flushing of the drainage pipe;

[0035] Figure 3It is a schematic diagram of the sub-body ground station carrier provided by the present invention transporting the consolidated sediment to the first cabin;

[0036] Figure 4 It is a schematic diagram of transporting the solidified sediment to the second cabin after the high-pressure water gun provided by the present invention flushes the drainage pipe for the second time;

[0037] Figure 5 It is a schematic diagram of the structure of the integrated robot for crushing and dredging provided by the present invention;

[0038] Figure 6 is a flow chart of a dredging method provided by one embodiment of the present invention;

[0039] Figure 7 It is a flow chart of the suction pump provided by the present invention conveying the solidified sediment to the front of the parent dredging vehicle;

[0040] Figure 8 It is a flow chart of the control unit provided by the present invention controlling the moving body of the integrated crushing and dredging robot to move along the flushing direction of the high-pressure water gun;

[0041] Fig. 9 This is a flow chart after the crushing device of the integrated crushing and dredging robot provided by the present invention is aligned with the flushing direction of the high-pressure water gun. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Reference Figures 1 to 4 The embodiment of the present invention provides a dredging equipment, including a mother dredging vehicle 100, which is provided with a first cabin 110; a child ground station carrier 200, which is connected to the mother dredging vehicle 100, and is provided with a power supply unit, a control unit 210, a suction pump 220 and a high-pressure water gun 230, the power supply unit is respectively connected to the control unit 210, the suction pump 220 and the high-pressure water gun 230, the control unit 210 is respectively connected to the suction pump 220 and the high-pressure water gun 230, and the suction pump 220 is connected to the first cabin 110; a crushing and dredging integrated robot 300, which is connected to the child ground station carrier 200, and the control unit 210 is electrically connected to the crushing and dredging integrated robot 300, and the crushing and dredging integrated robot 300 is provided with a mobile body 310 and a crushing device 320 connected to the mobile body 310. According to the technical solution of this embodiment, the coverage of dredging operations can be improved, silt in small pipes can be effectively cleaned, and the cleaning efficiency is high, thereby reducing construction operation costs.

[0047] It should be noted that, in this embodiment, the dredging equipment is of a parent-child design, wherein the parent body is the parent dredging vehicle 100, and the child body is the child ground station carrier 200 and the crushing and dredging integrated robot 300. The operation and cleaning of the crushing and dredging integrated robot 300 in the small pipe is controlled by the child ground station carrier 200. Before the crushing and dredging integrated robot 300 starts working, a high-pressure water gun 230 is used to flush the drainage pipe once, and the silt in the drainage pipe is flushed to the bottom of the second wellhead, so as to facilitate the crushing device 320 of the crushing and dredging integrated robot 300 to crush the solidified sediment in the drainage pipe, so as to avoid the situation where the crushing device 320 is blocked due to excessive silt or the inability to confirm whether there is solidified sediment in the drainage pipe.

[0048] When the integrated crushing and dredging robot 300 is working, the control unit 210 of the sub-body ground station carrier 200 controls the crushing device 320 of the integrated crushing and dredging robot 300 to crush and collect difficult sediments (such as hard sediments such as compacted silt, branches, stones, cement, etc.) in the small pipe.

[0049] The parent-child design allows the dredging equipment to use the parent dredging vehicle 100 for dredging and flushing on wide streets in the city. For narrow alleys and streets in urban villages, the crushing and dredging integrated robot 300 and the ground station are separated from the parent dredging vehicle 100 for independent operation. Among them, the ground station mainly relies on small sanitation electric vehicles, and the crushing and dredging integrated robot 300 is equipped with replaceable 300mm dredging crushing heads, 400mm dredging crushing heads and 550mm dredging crushing heads. Different dredging heads are replaced for different dredging pipelines and environments. For example, 300mm-400mm pipelines can use 300mm dredging crushing heads, 400mm-550mm pipelines can use 400mm dredging crushing heads, and 550mm dredging crushing heads can be used for 550mm-600mm pipelines. Finally, the silt is sucked to the child ground station carrier 200 to be carried out, and the child ground station carrier 200 transports the silt to the parent dredging vehicle 100 and places it at a designated location.

[0050] The control unit 210 of the sub-body ground station carrier 200 precisely controls the suction pump 220 and the high-pressure water gun 230, and the crushing device 320 of the crushing and dredging integrated robot 300 replaces the dredging and crushing heads of different sizes for pipes of different diameters, thereby realizing high-speed cleaning of small pipes; the electrical connection between the control unit 210 and the crushing and dredging integrated robot 300 enables the operator to remotely control the crushing and dredging integrated robot 300 on the sub-body ground station carrier 200 to reduce the occurrence of manual entry into the pipe or the inability to manually enter the pipe, thereby effectively reducing the danger of cleaning small pipes. In addition, the sub-body ground station carrier 200 and the crushing and dredging integrated robot 300 in this embodiment can be adaptively adjusted according to different usage scenarios, pipe environments and cleaning requirements, and have strong adaptability and flexibility.

[0051] Reference Figure 5 The integrated robot for crushing and silting 300 is also provided with a flushing device 330 and a collecting device 340. The crushing device 320 is provided on one side of the mobile body 310, and the flushing device 330 and the collecting device 340 are provided on the other side of the mobile body 310. It should be noted that the integrated robot for crushing and silting 300 placed in a narrow lane or a small pipe is moved and controlled by the sub-body ground station carrier 200, so that the crushing device 320 of the integrated robot for crushing and silting 300 crushes the solidified sediment in the drainage pipe. After the crushing device 320 crushes the solidified sediment, the integrated robot for crushing and silting 300 continues to move along the drainage pipe, and the crushed solidified sediment passes through the bottom of the mobile body 310, and the crushed solidified sediment is collected by the collecting device 340 until the crushed solidified sediment inside the collecting device 340 is moved to the bottom of the second wellhead.

[0052] Those skilled in the art can understand that, after the integrated crushing and dredging robot 300 crushes the solidified silt, if there is still too large solidified silt in the drainage pipe, a picking device is used to pick up the solidified silt, thereby completing the cleaning of the solidified silt in the drainage pipe.

[0053] The dredging equipment is also provided with a winch, and the mobile body 310 is also provided with a hook, and the mobile body 310 is connected to the winch through the hook. It should be noted that a cable is provided at the tail of the mobile body 310, and a hook is also provided at the front of the mobile body 310 for hanging a wire rope. When the crushing and dredging integrated robot 300 encounters too much resistance or there are concave and convex positions in the pipeline, causing the mobile body 310 to be unable to move forward normally, the winch can be used to connect the wire rope to pull the crushing and dredging integrated robot 300 forward.

[0054] The integrated robot for crushing and silting 300 is also provided with a lighting device, a video detection device and a radar detection device. It should be noted that the lighting device usually adopts an LED lamp or other high-brightness light source, which is installed on the integrated robot for crushing and silting 300 to provide sufficient lighting in the drainage pipe, improve the working environment of the integrated robot for crushing and silting 300, and avoid the occurrence of misjudgment when the environment in the drainage pipe needs to be manually judged; the video detection device usually includes a camera and related transmission equipment, which is installed on the integrated robot for crushing and silting 300, and records the internal environment of the drainage pipe through the video detection device, so that the operator can clearly understand the internal structure of the drainage pipe and the accumulation of solidified sediment, so as to control the real-time motion state of the integrated robot for crushing and silting 300; the radar detection device uses electromagnetic waves or ultrasonic waves to detect the solidified sediment in the drainage pipe, obtains the structural information inside the pipe by transmitting signals and receiving reflected signals, and detects the remaining obstacles inside the drainage pipe through the radar detection device, so as to avoid damage to the integrated robot for crushing and silting 300 due to positional obstacles.

[0055] The sub-body ground station carrier 200 is also provided with a control box, and the control box is provided with a plurality of control levers, and the plurality of control levers are connected to the control unit 210. It should be noted that, after the integrated robot 300 for crushing and silting is placed in the drainage pipe, the staff can remove the control box and control the integrated robot 300 for crushing and silting in the pipe by controlling the control levers on the control box. The control levers on the control box can realize precise control of the mobile body 310, the crushing device 320, the lighting device, the video detection device and the radar detection device of the integrated robot 300 for crushing and silting, so that the staff can accurately control the movement of the integrated robot 300 for crushing and silting according to the actual situation of the drainage pipe and the cleaning needs, thereby improving the accuracy and efficiency of the integrated robot 300 for crushing and silting when performing silting operations.

[0056] Those skilled in the art will appreciate that the control lever in the control box is connected to the integrated crushing and dredging robot 300 through a mechanical, electronic or hydraulic transmission device. When the staff moves the control lever on the control box, the transmission device transmits the corresponding control signal to the control unit 210, thereby controlling the actuator inside the dredging equipment to perform corresponding actions, such as moving, rotating or starting and stopping.

[0057] The sub-body ground station carrier 200 is also provided with a second cabin 240, and the second cabin 240 is provided with a plurality of adapters. It should be noted that, since the sizes and shapes of drainage pipes vary, the integrated robot for crushing and dredging 300 needs to be adapted to different drainage pipes. By providing a plurality of adapters in the second cabin 240, it is ensured that the integrated robot for crushing and dredging 300 can move and clean in various drainage pipes; for different pipe environments, selecting adapters that are compatible with the drainage pipe can effectively reduce the movement resistance of the integrated robot for crushing and dredging 300 inside the drainage pipe, and further improve the efficiency of the cleaning operation. In addition, the second cabin 240 adopts a quick unloading mode, which can realize modular overall loading and unloading capabilities, and provide accessory support and functions for the integrated robot for crushing and dredging 300.

[0058] Reference Figure 1 and Figure 6 , Figure 6 A flowchart of a dredging method provided in an embodiment of the present invention, the dredging method includes but is not limited to the following steps:

[0059] Step S11, determining a first wellhead and a second wellhead in the drainage pipe, and flushing the sludge in the drainage pipe to below the second wellhead through the first wellhead with a high-pressure water gun 230;

[0060] It should be noted that the integrated crushing and dredging robot 300 is first placed above the first wellhead for dredging preparation, the drainage wellhead is opened, and the drainage pipe is flushed with a high-pressure water gun 230 to remove the silt inside the drainage pipe. After the flushing is completed, there will be solidified silt in the drainage pipe;

[0061] Step S12, placing the integrated crushing and silting robot 300 in the drainage pipe, and aligning the crushing device 320 of the integrated crushing and silting robot 300 with the flushing direction of the high-pressure water gun 230;

[0062] It should be noted that the integrated crushing and dredging robot 300 placed above the first wellhead is moved to the inside of the drainage pipe, and the movement direction of the integrated crushing and dredging robot 300 is determined by aligning the crushing device 320 of the integrated crushing and dredging robot 300 with the flushing direction of the high-pressure water gun 230, thereby ensuring that the integrated crushing and dredging robot 300 can effectively perform dredging operations in the drainage pipe.

[0063] Step S13, the control unit 210 of the sub-body ground station carrier 200 controls the mobile body 310 of the integrated crushing and dredging robot 300 to move along the flushing direction of the high-pressure water gun 230;

[0064] It should be noted that the integrated crushing and dredging robot 300 can be controlled by the control unit 210, and can also be controlled to move forward through the control panel. The crushing device 320 in front of the mobile body 310 can be used to crush the silted solids, and the flushing device 330 can be used to flush the silted solids collected by the collecting device 340. As the integrated crushing and dredging robot 300 moves, the silted solids inside the net bag are brought to the next wellhead.

[0065] Step S14: During the movement, the integrated crushing and dredging robot 300 crushes the solidified sediment in the drainage pipe by the crushing device 320;

[0066] It should be noted that the integrated crushing and dredging robot 300 effectively decomposes the solidified sediment in the drainage pipe into smaller particles or blocks through the crushing device 320, so that the mobile body 310 cooperates with the collecting device 340 to move the crushed solidified sediment to the bottom of the second wellhead.

[0067] In step S15 , the integrated crushing and silting robot 300 moves the solidified silt to below the second wellhead, and the suction pump 220 transports the solidified silt to the parent silting vehicle 100 .

[0068] It should be noted that the suction pump 220 cooperates with the parent silt removal vehicle 100 to suck the silt removed from the drainage pipe into the first cabin 110 of the parent silt removal vehicle 100. Further, the first cabin 110 of the parent silt removal vehicle 100 can suck the solidified silt collected in the child ground station carrier 200 twice. After the first cabin 110 is filled with solidified silt, it is pulled to the silt treatment center, and the next solidified silt is collected after the solidified silt is released.

[0069] It should be noted that the dredging equipment is of a parent-child design, wherein the parent is the parent dredging vehicle 100, and the child is the child ground station carrier 200 and the crushing and dredging integrated robot 300. The operation and cleaning of the crushing and dredging integrated robot 300 in the small pipe is controlled by the child ground station carrier 200. Before the crushing and dredging integrated robot 300 works, a high-pressure water gun 230 is used to flush the drainage pipe for the first time, and the sludge in the drainage pipe is flushed to the bottom of the second wellhead, so as to facilitate the crushing device 320 of the crushing and dredging integrated robot 300 to crush the solidified sediment in the drainage pipe. The crushed solidified sediment and the drainage pipe are flushed for the second time to avoid the situation where the crushing device 320 is blocked due to excessive sludge or it is impossible to confirm whether there is solidified sediment in the drainage pipe. Through the parent-child design, the coverage of the dredging operation is improved, and the sediment in the small pipe can be effectively cleaned, and the cleaning efficiency is high, which reduces the construction operation cost.

[0070] In addition, in one embodiment, referring to Figure 2 Figure 5 and Figure 7 ,exist Figure 6 Before step S15 of the illustrated embodiment, the following steps are also included but not limited to:

[0071] Step S21, the collecting device 340 of the integrated crushing and dredging robot 300 moves the plurality of crushed solidified sediments to below the second wellhead;

[0072] Step S22, the integrated crushing and dredging robot 300 is recovered, and the high-pressure water gun 230 flushes the drainage pipe after dredging, so that the plurality of crushed solidified sediments form solidified mud;

[0073] Step S23, placing the suction pump 220 of the sub-body ground station carrier 200 into the consolidation mud through the second wellhead;

[0074] Step S24 : The suction pump 220 transports the solidified material slurry to the second cabin 210 of the sub-body ground station carrier 200 through the pipeline.

[0075] It should be noted that the multiple crushed solids are moved to the bottom of the second wellhead and transported to the first cabin 110 of the parent dredging vehicle 100, so as to realize the centralized treatment of the solid mud, and facilitate the subsequent transportation and cleaning operations; the solid mud is formed by flushing with a high-pressure water gun 230, and the solidified sediment in the drainage pipe is removed to ensure the cleanliness of the pipe; when the drainage pipe is cleaned, the solid mud is transported to the first cabin 110 of the parent dredging vehicle 100 by the suction pump 220, so as to effectively avoid the contamination of the surrounding environment by the solid mud and protect the surrounding ecological environment. In addition. The parent dredging vehicle 100 can further process the solid mud, extract reusable resources or perform environmental protection treatment, so as to realize the resource utilization of the solids and reduce waste emissions.

[0076] It should be noted that the present embodiment uses a high-pressure water gun 230 to flush the drainage pipe twice. The first time, the sludge in the drainage pipe is flushed to show the solidified silt in the drainage pipe, and the second time, multiple crushed solids are formed into solidified mud. The drainage pipe is cleaned by cooperating with the crushing and dredging integrated robot 300 and the suction pump 220, so that the solidified silt inside the drainage pipe is prevented from being impacted by the high-pressure water gun 230 in the traditional dredging, thereby saving the use of water resources and reducing the scope of water pollution.

[0077] In addition, in one embodiment, referring to Figure 8 ,exist Figure 7 Step S13 of the illustrated embodiment further includes but is not limited to the following steps:

[0078] S31, the control unit 210 obtains the length information of the drainage pipe;

[0079] S32, determining the moving distance of the integrated crushing and silting robot 300 according to the length of the drainage pipe;

[0080] S33, when the control unit 210 cannot obtain the length information of the drainage pipe, the control unit 210 controls the moving body 310 of the integrated crushing and silting robot 300 to move in the drainage pipe through a plurality of rockers.

[0081] It should be noted that, by obtaining the length information of the drainage pipe, the control unit 210 can accurately determine the position of the integrated robot 300 for crushing and silting removal in the pipe, realize the accurate positioning of the mobile body 310 and control the moving distance, avoid the situation that the solidified sediment in the drainage pipe cannot be completely cleaned due to excessive or insufficient movement, and the control unit 210 can plan the best moving path of the integrated robot 300 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, the control unit 210 can avoid misoperation and unnecessary risks, ensure that the integrated robot 300 for crushing and silting removal can move and clean 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.

[0082] Furthermore, when the control unit 210 cannot obtain the length information of the drainage pipe, the staff controls the movement of the mobile body 310 of the integrated crushing and silting robot 300 through multiple rockers, thereby flexibly coping with the situation where the length information of the drainage pipe cannot be obtained, and realizing the precise control of the mobile body 310 in the drainage pipe. The control unit 210 receives the drainage pipe information fed back in real time by the lighting device, the video detection device and the radar detection device. Through the real-time feedback, the staff can adjust the rocker in time according to the control box to control the mobile body 310, ensure the safe movement of the integrated crushing and silting robot 300 in the pipe, and avoid collision or jamming.

[0083] In addition, in one embodiment, referring to Fig. 9 ,exist Figure 1 After step S12 of the illustrated embodiment, the following steps are also included but not limited to:

[0084] S41, obtaining diameter information of the drainage pipe;

[0085] S42, determining the cross-sectional diameter of the crushing device 320 according to the diameter information, so that the crushing device 320 is compatible with the drainage pipe.

[0086] It should be noted that by ensuring that the crushing device 320 is compatible with the diameter of the drainage pipe, the space in the pipe is utilized to the maximum extent, ensuring that the integrated crushing and dredging robot 300 can fully enter and cover every area of ​​the pipe, and achieve a thorough cleaning of the solidified sediment in the drainage pipe. The crushing device 320 is compatible with the drainage pipe, which can effectively reduce the risk of blocking caused by size mismatch during the cleaning process, reduce the occurrence of the integrated crushing and dredging robot 300 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 device 320 is compatible with the drainage pipe, which can effectively reduce the risk of damage to the crushing device 320 caused by size mismatch, extend the service life of the crushing device 320, and reduce the cost of maintenance and replacement. Thereby improving the efficiency and speed of dredging operations, shortening operation time, and reducing manpower and resource costs.

[0087] 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 dredging device, characterized in that ,include: A parent silt removal vehicle, wherein the parent silt removal vehicle is provided with a first cabin; A sub-body ground station carrier, the sub-body ground station carrier is connected to the parent silt removal vehicle, the sub-body ground station carrier is provided with an energy supply unit, a control unit, a suction pump and a high-pressure water gun, the energy supply unit is respectively connected to the control unit, the suction pump and the high-pressure water gun, the control unit is respectively connected to the suction pump and the high-pressure water gun, and the suction pump is connected to the first cabin; The integrated robot for crushing and silting is connected to the sub-body ground station carrier, and the control unit is electrically connected to the integrated robot for crushing and silting. The integrated robot for crushing and silting is provided with a mobile body and a crushing device connected to the mobile body.

2. The dredging equipment according to claim 1, characterized in that: The integrated crushing and dredging robot is also provided with a flushing device and a collecting device. The crushing device is arranged on one side of the mobile body, and the flushing device and the collecting device are arranged on the other side of the mobile body.

3. The dredging equipment according to claim 2, characterized in that: It also includes a winch, and the mobile body is also provided with a hook, and the mobile body is connected to the winch through the hook.

4. The dredging equipment according to claim 1, characterized in that: The integrated crushing and dredging robot is also provided with a lighting device, a video detection device and a radar detection device.

5. The dredging equipment according to claim 1, characterized in that: The sub-body ground station carrier is also provided with a control box, and the control box is provided with a plurality of control levers, and the plurality of control levers are connected to the control unit.

6. The dredging equipment according to claim 1, characterized in that: The sub-body ground station carrier is also provided with a second cabin, and the second cabin is provided with a plurality of adapters.

7. A dredging method applied to a dredging device, characterized in that: include: Determine a first wellhead and a second wellhead in the drainage pipe, and use a high-pressure water gun to flush the sludge in the drainage pipe to below the second wellhead through the first wellhead; Placing the integrated crushing and dredging robot in the drainage pipe, and aligning the crushing device of the integrated crushing and dredging robot with the flushing direction of the high-pressure water gun; The control unit of the sub-body ground station carrier controls the mobile body of the integrated crushing and dredging robot to move along the flushing direction of the high-pressure water gun; During the movement, the integrated crushing and dredging robot crushes the solidified sediment in the drainage pipe through a crushing device; The integrated crushing and dredging robot moves the consolidated silt to below the second wellhead, and the suction pump transports the consolidated silt to the parent dredging vehicle.

8. The dredging method according to claim 7, characterized in that: The suction pump transports the solidified sediment to the front of the parent dredging vehicle, and the method further comprises: The collecting device of the integrated crushing and dredging robot moves the plurality of crushed consolidated sediments to below the second wellhead; The integrated crushing and dredging robot is recovered, and the high-pressure water gun is used to flush the drainage pipe after dredging, so that the plurality of crushed solidified sediments form solidified mud; placing a suction pump of a sub-body ground station carrier into the consolidation slurry through the second wellhead; The suction pump transports the consolidation slurry to the second cabin of the sub-body ground station carrier through a pipeline.

9. The dredging method according to claim 7, characterized in that: The control unit of the sub-body ground station carrier controls the mobile body of the integrated crushing and dredging robot to move along the flushing direction of the high-pressure water gun, including: The control unit obtains the length information of the drainage pipe; Determining the moving distance of the integrated crushing and dredging robot according to the length of the drainage pipe; When the control unit is unable to obtain the length information of the drainage pipe, the control unit controls the mobile body of the integrated crushing and dredging robot to move in the drainage pipe through a plurality of rockers.

10. The dredging method according to claim 7, characterized in that: After aligning the crushing device of the integrated crushing and dredging robot with the flushing direction of the high-pressure water gun, the method further includes: Obtaining diameter information of the drainage pipe; The cross-sectional diameter of the pulverizing device is determined according to the diameter information so that the pulverizing device is adapted to the drainage pipe.

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