Rain and sewage pipeline desilting system and desilting method

Abstract

The invention discloses a rainwater and sewage pipeline dredging system and method, and belongs to the technical field of pipeline cleaning.The density of sludge in a pipeline is detected through a detection mechanism, when the density of the sludge is larger than the preset density, a telescopic mechanism drives a crushing mechanism to stretch out forwards, and the crushing mechanism is started to crush the sludge; the generated sludge fragments are flushed by the flushing mechanism, the flushed sludge fragments are sucked in by the sludge suction pipe, the sludge fragments sequentially pass through the solid-liquid separation device, the sludge coagulation device and the sludge dewatering machine, mud cakes are generated and then collected, the sludge fragments are prevented from being accumulated in a pipeline, and the dredging effect of the dredging robot is improved.

Description

Technical Field

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

[0002] The rainwater and sewage pipes are used to discharge rainwater and sewage from urban roads. The rainwater and sewage pipes are prone to silt deposition. At present, silt removal is generally carried out by dredging personnel who enter the rainwater and sewage pipes and use high-pressure water guns and vacuum suction trucks with manual assistance to achieve silt removal. The internal environment of the rainwater and sewage pipes is harsh, such as rancid substances, bacteria, viruses and harmful and toxic gases, which bring great safety risks to dredging personnel. For this reason, the prior art designs a pipeline cleaning robot to clean the rainwater and sewage pipes, and the cleaning robot is provided with a cleaning brush to scrape the silt on the inner wall of the pipe. However, if the silt in the rainwater and sewage pipes is deposited and agglomerated, the existing scraping mechanism is difficult to clean the agglomerated silt. Even if the agglomerated silt is scraped off, it will hinder the progress of the cleaning robot and hinder the cleaning operation of the cleaning robot. 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 rainwater and sewage pipe desilting system and desilting method to prevent silt fragments from accumulating in the pipe and improve the desilting effect of the desilting robot.

[0004] A rainwater and sewage pipe desilting system according to a first embodiment of the present invention comprises: A dredging robot is used to walk in a pipeline and perform dredging. The dredging robot comprises a flushing mechanism, a telescopic mechanism, a crushing mechanism and a detection mechanism. The flushing mechanism is used to spray water to flush the pipeline. The telescopic mechanism is connected to the crushing mechanism. The telescopic mechanism drives the crushing mechanism to extend and retract along the moving direction of the dredging robot. The crushing mechanism is used to crush the sludge in the pipeline. The detection mechanism is used to detect the density of the sludge in the pipeline. When the sludge density is greater than a preset density, the telescopic mechanism drives the crushing mechanism to extend, and the crushing mechanism operates; The sludge treatment equipment comprises a sewage suction pipe, a solid-liquid separation device, a sludge coagulation device and a sludge dewatering machine which are connected in sequence, wherein the sewage suction pipe is used to suck the sludge and sewage in the pipeline into the solid-liquid separation device for filtration to form sludge, the sludge coagulation device is used to process the sludge to form sludge, and the sludge dewatering machine dewaters the sludge.

[0005] The rainwater and sewage pipe dredging system according to the embodiment of the present invention has at least the following beneficial effects: a detection mechanism is used to detect the sludge density in the pipe. When the sludge density is greater than a preset density, the telescopic mechanism drives the crushing mechanism to extend forward, the crushing mechanism is started and the sludge is crushed, and the generated sludge fragments are washed by the flushing mechanism, and the flushed sludge fragments are sucked into the sewage suction pipe. The sludge fragments pass through the solid-liquid separation device, the sludge coagulation device and the sludge dewatering machine in sequence, and are collected after the mud cake is generated, so as to avoid the accumulation of sludge fragments in the pipe and improve the dredging effect of the dredging robot.

[0006] According to some embodiments of the present invention, the dredging robot further includes a walking mechanism and a peristaltic mechanism, and the dredging robot uses the walking mechanism or the peristaltic mechanism to move in the pipeline.

[0007] According to some embodiments of the present invention, the walking mechanism and the peristaltic mechanism are configured as follows: When the crushing mechanism stops, the walking mechanism operates and the peristaltic mechanism stops; When the crushing mechanism is running, the walking mechanism stops and the peristaltic mechanism is running.

[0008] According to some embodiments of the present invention, the walking mechanism includes a crawler track, and the creeping mechanism includes a claw that extends outward.

[0009] According to some embodiments of the present invention, the detection mechanism is an ultrasonic detector.

[0010] According to some embodiments of the present invention, with the position of the crushing mechanism relative to the dredging robot as the relative forward direction, the flushing mechanism sprays water backwards.

[0011] According to some embodiments of the present invention, the sludge dewatering machine is provided with a drain pipe, and the drain pipe supplies water to the flushing mechanism.

[0012] According to some embodiments of the present invention, the sludge treatment equipment further comprises: A vehicle carries the solid-liquid separation device, the sludge coagulation device and the sludge dewatering machine.

[0013] According to some embodiments of the present invention, a scraping mechanism is further provided at the bottom of the dredging robot, and the scraping mechanism is used to scrape away silt and sewage at the bottom of the pipe.

[0014] The rainwater and sewage pipe desilting method according to the second aspect of the present invention is applied to the rainwater and sewage pipe desilting system as described in the above embodiment, and the rainwater and sewage pipe desilting method comprises: Controlling the dredging robot to move forward in the pipeline, and controlling the detection mechanism to detect the actual density of the sludge in the pipeline; When the actual density is greater than the preset density, the telescopic mechanism is controlled to drive the crushing mechanism to extend forward, and the crushing mechanism is controlled to start; Controlling the sewage suction pipe to suck the sludge and sewage in the pipeline into the solid-liquid separation device for filtering to form slurry; Controlling the sludge coagulation device to process the sludge to form sludge; The sludge dewatering machine is controlled to dewater the sludge.

[0015] The method for desilting rainwater and sewage pipes according to the embodiment of the present invention has at least the following beneficial effects: a detection mechanism is used to detect the sludge density in the pipe, and when the sludge density is greater than a preset density, the telescopic mechanism drives the crushing mechanism to extend forward, the crushing mechanism is started and the sludge is crushed, and the generated sludge fragments are washed by the flushing mechanism, and the flushed sludge fragments are sucked into the sewage suction pipe, and the sludge fragments pass through the solid-liquid separation device, the sludge coagulation device and the sludge dewatering machine in turn, and are collected after the mud cake is generated, so as to avoid the accumulation of sludge fragments in the pipe and improve the dredging effect of the dredging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a dredging robot in one embodiment of the present invention; Figure 2 is a schematic structural diagram of a sludge treatment device in one embodiment of the present invention; Figure 3 It is a flow chart of the steps of a method for desilting a rainwater and sewage pipe according to an embodiment of the present invention.

[0017] Figure numerals: dredging robot 100, flushing mechanism 110, telescopic mechanism 120, crushing mechanism 130, detection mechanism 140, walking mechanism 150, peristaltic mechanism 160, scraping mechanism 170, sludge treatment equipment 200, sewage suction pipe 210, solid-liquid separation device 220, sludge coagulation device 230, sludge dewatering machine 240, drainage pipe 241, vehicle 250. DETAILED DESCRIPTION

[0018] 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.

[0019] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as front, rear, top, bottom, axial, and circumferential 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] In the description of the present invention, the meaning of "above", "below", "exceed", etc. is not inclusive of the number itself, and the meaning of "above", "below", "within", etc. is inclusive of the number itself. If there is a description of "first" or "second", it is only used to distinguish 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.

[0021] In the description of the present invention, it should be noted that the 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 in combination with the specific content of the technical solution.

[0022] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments.

[0023] Reference Figure 1 to Figure 2 As shown, an embodiment of the present invention provides a rainwater and sewage pipe desilting system.

[0024] The rainwater and sewage pipe desilting system includes a desilting robot 100 and a sludge processing device 200 .

[0025] Reference Figure 1 As shown, a flushing mechanism 110 is provided at the rear side of the dredging robot 100 . The flushing mechanism 110 sprays high-pressure water flow. When the dredging robot 100 walks in the pipeline, the flushing mechanism 110 flushes the silt in the pipeline.

[0026] A telescopic mechanism 120 and a crushing mechanism 130 are provided on the front side of the dredging robot 100. The telescopic mechanism 120 is connected to the crushing mechanism 130. The direction in which the dredging robot 100 walks in the pipeline is the front-to-back direction. The telescopic mechanism 120 drives the crushing mechanism 130 to telescope along the front-to-back direction. The crushing mechanism 130 is provided with a crushing cutter disc. The crushing cutter disc rotates around an axis extending along the front-to-back direction. The telescopic mechanism 120 drives the crushing mechanism 130 to extend forward in front of the dredging robot 100, and the crushing cutter disc of the crushing mechanism 130 rotates and crushes the silt in front.

[0027] The dredging robot 100 is further provided with a detection mechanism 140 , which detects the density and the thickness in the front-to-back direction of the object in front of the dredging robot 100 .

[0028] When the sludge density detected by the detection mechanism 140 exceeds the preset density, the telescopic mechanism 120 pushes the crushing mechanism 130 forward to extend in front of the dredging robot 100, and the crushing cutter disc of the crushing mechanism 130 runs and crushes the sludge.

[0029] Reference Figure 2 As shown, the sludge treatment equipment 200 is provided with a sewage suction pipe 210, and the sewage suction pipe 210 is provided with a submersible pump. The sewage suction pipe 210 is placed at the bottom of the pipeline, and the sewage suction pipe 210 can suck the sludge and sewage in the pipeline.

[0030] The sludge treatment equipment 200 is also provided with a solid-liquid separation device 220, and the sewage suction pipe 210 is connected to the solid-liquid separation device 220. The sewage suction pipe 210 sucks the sludge and sewage in the pipeline to the solid-liquid separation device 220. The solid-liquid separation device 220 performs solid-liquid separation on the objects sucked by the sewage suction pipe 210, and filters out solid objects such as stones and solid garbage. In this embodiment, the solid-liquid separation device 220 separates objects with a particle size greater than 10 mm. The solid-liquid separation device 220 generates mud after filtering the sludge and sewage.

[0031] The sludge treatment equipment 200 is also provided with a sludge coagulation device 230, and the solid-liquid separation device 220 is connected to the sludge coagulation device 230, and the solid-liquid separation device 220 transports the sludge to the sludge coagulation device 230. The sludge coagulation device 230 first undergoes treatment steps such as stabilization, harmlessness, coagulation, and flocculation of the reagent, so that the sludge particles are coagulated into larger flocs to form sludge.

[0032] The sludge treatment equipment 200 is also provided with a sludge dewatering machine 240, and the sludge coagulation device 230 is connected to the sludge dewatering machine 240. The sludge coagulation device 230 conveys the treated sludge to the sludge dewatering machine 240, and the sludge dewatering machine 240 squeezes and dehydrates the sludge, collects the dehydrated mud cakes, packs them, and processes them uniformly.

[0033] The detection mechanism 140 is used to detect the sludge density in the pipeline. When the sludge density is greater than the preset density, the telescopic mechanism 120 drives the crushing mechanism 130 to extend forward, and the crushing mechanism 130 starts and crushes the sludge. The generated sludge fragments are washed by the flushing mechanism 110, and the flushed sludge fragments are sucked into the sewage suction pipe 210. The sludge fragments pass through the solid-liquid separation device 220, the sludge coagulation device 230 and the sludge dewatering machine 240 in turn, and are collected after the mud cake is generated, so as to avoid the accumulation of sludge fragments in the pipeline and improve the dredging effect of the dredging robot 100.

[0034] In some embodiments, reference Figure 1 As shown, the dredging robot 100 is further provided with a walking mechanism 150 and a creeping mechanism 160 .

[0035] The dredging robot 100 can select a walking mechanism 150 or a peristaltic mechanism 160 according to the silt conditions in the pipeline.

[0036] When the detection mechanism 140 detects that there is silt with high density and thickness in front of the silt removal robot 100, the silt removal robot 100 moves using the creeping mechanism 160 to ensure that the silt removal robot 100 keeps moving forward during the operation of the crushing mechanism 130. Alternatively, when the detection mechanism 140 detects that there is no silt with high density and thickness in front of the silt removal robot 100, the silt removal robot 100 moves using the walking mechanism 150, so that the silt removal robot 100 moves more smoothly and at a faster speed, thereby improving the silt removal efficiency.

[0037] In some embodiments, reference Figure 1 As shown, when the crushing mechanism 130 stops, it proves that the dredging robot 100 does not need to crush the silt in front, that is, the silt density detected by the detection mechanism 140 of the dredging robot 100 is relatively small, and the dredging robot 100 can use the flushing mechanism 110 to flush the silt. Therefore, the dredging robot 100 uses the walking mechanism 150 to move, so that the dredging robot 100 moves more smoothly and faster, thereby improving the dredging efficiency.

[0038] Reference Figure 1 As shown, when the crushing mechanism 130 is running, it proves that the dredging robot 100 crushes the sludge in front, that is, the detection mechanism 140 of the dredging robot 100 detects that the sludge density is relatively large, so the dredging robot 100 adopts the peristaltic mechanism 160 to move. In the process of the crushing mechanism 130 of the dredging robot 100 crushing the sludge, there is pressure between the peristaltic mechanism 160 and the inner wall of the pipe, which prevents the dredging robot 100 from retreating due to the obstruction of the sludge. The peristaltic mechanism 160 ensures that the dredging robot 100 moves forward in the process of crushing the sludge.

[0039] In some embodiments, reference Figure 1 As shown, the walking mechanism 150 includes tracks.

[0040] The walking mechanism 150 is in the form of a crawler, which helps the dredging robot 100 to move on the complex bottom surface of the pipeline and prevents the dredging robot 100 from being blocked by debris at the bottom of the pipeline.

[0041] Reference Figure 1 As shown, the peristaltic mechanism 160 includes outwardly telescoping jaws.

[0042] The peristaltic mechanism 160 uses a claw, and when the peristaltic mechanism 160 is working, the claw extends outward and abuts against the inner wall of the pipeline, so that the position of the dredging robot 100 relative to the pipeline is fixed, and the resistance during the operation of the crushing mechanism 130 is prevented from causing the dredging robot 100 to retreat. The peristaltic mechanism 160 also includes a push rod, which pushes the claw to rotate backward and thus causes the dredging robot 100 to peristaltic forward.

[0043] In some embodiments, reference Figure 1 As shown, the detection mechanism 140 is an ultrasonic detector.

[0044] By using an ultrasonic detector to detect the silt condition in the pipeline, the density of objects in front of the dredging robot 100 and the thickness of the objects in the front and rear directions can be accurately detected, which helps the dredging robot 100 to promptly extend the crushing mechanism 130 and start the crushing mechanism 130 for crushing when encountering denser silt.

[0045] In some embodiments, reference Figure 1 As shown, the flushing mechanism 110 sprays high-pressure water flow toward the rear of the dredging robot 100 .

[0046] The flushing mechanism 110 provides a forward reaction force for the dredging robot 100 , and the flushing mechanism 110 flushes the sludge and sewage backwards, which helps the sewage suction pipe 210 at the rear of the dredging robot 100 to absorb the sludge and sewage.

[0047] In some embodiments, reference Figure 2 As shown, the sludge dewatering machine 240 is provided with a drainage pipe 241 , which is communicated with the flushing mechanism 110 , and the drainage pipe 241 provides a flushing water source for the flushing mechanism 110 .

[0048] Since the sludge entering the sludge dewatering machine 240 is processed by the sludge coagulation device 230, the water quality in the sludge is better than the sewage water quality in the pipeline. The sludge dewatering machine 240 will provide the dewatered water to the flushing mechanism 110 during the squeezing and dehydration process, which is helpful for circulating water and reducing water resource consumption.

[0049] In some embodiments, reference Figure 2 As shown, the sludge treatment equipment 200 is also provided with a vehicle 250, and the vehicle 250 carries a solid-liquid separation device 220, a sludge coagulation device 230 and a sludge dewatering machine.

[0050] The vehicle 250 can be moved as required by the desilting operation.

[0051] In some embodiments, reference Figure 1 As shown, a scraping mechanism 170 is provided at the bottom of the dredging robot 100 , and the scraping mechanism 170 can clean the bottom of the pipeline.

[0052] After the dredging robot 100 moves forward, the dredging robot 100 moves backward by itself or is pulled backward by the pipeline of the dredging robot 100, so that the scraping mechanism 170 can scrape the sludge and sewage at the bottom of the pipeline backward, which helps the sewage suction pipe 210 behind the dredging robot 100 to absorb the scraped sludge and sewage.

[0053] Reference Figure 3 As shown, the present invention also provides a rainwater and sewage pipe dredging method, which is applied to the rainwater and sewage pipe dredging system as described in the above embodiment.

[0054] The method for desilting a rainwater and sewage pipe comprises the following steps.

[0055] Step S100, controlling the dredging robot 100 to move forward in the pipeline, and controlling the detection mechanism 140 to detect the actual density of the sludge in the pipeline.

[0056] By using the detection mechanism 140 to detect the silt condition in the pipeline, the density of the object in front of the dredging robot 100 and the thickness of the object in the front and rear directions can be accurately detected to prevent the dredging robot 100 from being blocked by denser silt.

[0057] Step S200, when the actual density is greater than the preset density, the telescopic mechanism 120 is controlled to drive the crushing mechanism 130 to extend forward, and the crushing mechanism 130 is controlled to start.

[0058] When the sludge density detected by the detection mechanism 140 exceeds the preset density, the telescopic mechanism 120 pushes the crushing mechanism 130 forward to extend in front of the dredging robot 100, and the crushing cutter disc of the crushing mechanism 130 runs and crushes the sludge.

[0059] Step S300, controlling the sewage suction pipe to suck the sludge and sewage in the pipeline into the solid-liquid separation device for filtration to form slurry.

[0060] The sewage suction pipe 210 is placed at the bottom of the pipeline, and the sewage suction pipe 210 can suck the sludge and sewage in the pipeline.

[0061] The solid-liquid separation device 220 performs solid-liquid separation on the objects sucked by the sewage suction pipe 210, and filters out solid objects such as stones and solid garbage. In this embodiment, the solid-liquid separation device 220 separates objects with a particle size greater than 10 mm. The solid-liquid separation device 220 generates mud after filtering sludge and sewage.

[0062] Step S400, controlling the sludge coagulation device to process the sludge to form sludge.

[0063] The sludge coagulation device 230 first undergoes treatment steps such as stabilization, harmlessness, coagulation, and flocculation of the reagent to coagulate the mud particles into larger flocs to form sludge.

[0064] Step S500, controlling the sludge dewatering machine to dewater the sludge.

[0065] The sludge coagulation device 230 transports the treated sludge to the sludge dewatering machine 240, and the sludge dewatering machine 240 squeezes and dehydrates the sludge, collects the dehydrated mud cakes, packs them, and processes them uniformly.

[0066] Specifically, the dredging robot 100 is provided with a walking mechanism 150 and a creeping mechanism 160, and adopts a walking mode combining a retractable crawler and a claw. When there are few obstacles and the sludge does not need to be crushed, the crawler is extended and the robot moves quickly using the crawler; when encountering larger obstacles or performing cutting and crushing operations, the crawler is retracted, the claw is extended, and the robot moves by creeping, ensuring that the robot can walk stably under different working conditions and meet the construction progress requirements.

[0067] A telescopic mechanism 120 and a crushing mechanism 130 are provided at the front end of the dredging robot 100. The telescopic mechanism 120 can retract the crushing disc of the crushing mechanism 130. When the ultrasonic detector detects that the silt density is high, the crushing disc extends and rotates to crush the solid deposited silt.

[0068] The rear end of the dredging robot 100 is equipped with a set of flushing mechanisms 110, and the flushing mechanism 110 is provided with a high-pressure water gun, which can spray high-pressure water flow to the rear and outside. On the one hand, the water flow can flush the silt, and on the other hand, the recoil force of the high-pressure water is used to enhance the forward driving force of the dredging robot 100. When the robot reaches the next inspection well, the dredging robot 100 retreats, and the ground reeling equipment drags the dredging robot 100. At the same time, the dredging robot 100 opens the scraping mechanism 170 with a brush to fully scrape the silt into the working inspection well, and then the submersible sewage pump of the sewage suction pipe 210 in the inspection well pumps the silt to the sludge treatment equipment 200.

[0069] The detection mechanism 140 mainly uses an ultrasonic detector to determine the sedimentation of sludge based on ultrasonic echoes, including information such as thickness and density in the front and rear directions, obstacles in the pipeline, the condition of the pipeline itself, and the position of the dredging robot 100 in the pipeline. This information not only provides guidance for the operation of the dredging robot 100, but also adjusts the posture of the dredging robot 100, and converts the signal into a visual signal for ground operators to monitor the pipeline condition and operation in real time.

[0070] After the dredging robot 100 flushes the sludge into the inspection well, the sewage suction pipe 210 pumps the sludge with high water content to the sludge treatment equipment 200. First, the sludge passes through the chain plate garbage sorter of the solid-liquid separation device 220 to separate the garbage with a particle size greater than 10 mm. The sand of different particle grades is screened out by the multi-stage vibrating screen of the solid-liquid separation device 220 and packed in bags respectively. The sludge slurry with garbage and sand removed is pumped to the sludge coagulation device 230 for reagent stabilization for the second time, and finally sent to the sludge dewatering machine 240 for dehydration treatment. In addition, the sludge treatment equipment 200 also includes a residual water purification device, which can purify the residual water of part of the above-mentioned device into clean water that can be used for dissolving reagents and washing.

[0071] The sludge slurry pumped by the solid-liquid separation device 220 and sorted to remove impurities is first passed through the sludge coagulation device 230 for treatment steps such as stabilization, harmlessness, coagulation, flocculation, etc. of the agent, so that the sludge particles form larger flocs.

[0072] Then it enters the sludge dewatering machine 240 for squeezing and dehydration, and the squeezed mud cake is bagged and packaged. The remaining water after filtering and squeezing enters deep treatment and becomes clean water for dissolving reagents and washing, and the other part can be used as high-pressure flushing water for the dredging robot 100 or directly discharged back to the rainwater and sewage pipes. The sludge coagulation device 230 is equipped with a reagent preparation device, and the two flocs running in series are respectively equipped with a reagent preparation device to achieve efficient sludge dewatering treatment.

[0073] The dredging robot 100 flushes the sludge in the pipeline to the inspection well, and pumps the sludge to the vehicle-mounted mobile sludge treatment equipment 200 through the sewage suction pipe 210 in the inspection well. In the vehicle-mounted mobile sludge treatment equipment 200, the sludge is sequentially stabilized, harmless and dehydrated. The separated garbage after treatment is transported to the garbage treatment plant for treatment, the sand and gravel are used for construction projects or as building materials, and the dehydrated sludge can be used for landscaping or construction projects, such as filling, if the content of pollutants such as heavy metals meets the requirements, and the remaining water is discharged back to the pipeline or used for flushing, etc.

[0074] The walking mode design combining the telescopic crawler and the clamping claw automatically switches according to the working conditions, thus improving the adaptability and stability of the dredging robot 100 in complex pipeline environments.

[0075] The control system can combine its own power, high-pressure flushing recoil force and external drag force to ensure that the dredging robot 100 has sufficient walking power to meet the construction progress requirements.

[0076] The retractable rotary cutter disc cutting and crushing technology can effectively handle the deposited silt and blockages.

[0077] The brush scraping mechanism 170 can fully scrape away the silt when the silting robot 100 returns, thereby improving the silting efficiency.

[0078] The design of the high-pressure cleaning recoil system can not only clean the pipes, but also provide power for the robot to walk, achieving multi-functional integration.

[0079] The use of ultrasonic detection technology instead of visible light industrial camera methods, combined with artificial intelligence algorithms, can accurately detect a variety of pipeline information and convert signals into visual signals, improving the accuracy and intelligence of detection.

[0080] The sludge treatment equipment 200 integrates the functions of garbage sorting, sand separation, sludge stabilization and harmlessness, dehydration, residual water purification, automatic preparation of chemicals and material packaging, realizing the automation and closure of the entire sludge treatment process, reducing transportation costs and environmental pollution.

[0081] The uniquely designed small belt sludge dewatering machine 240 has intelligent control functions such as parameter self-tuning and automatic level adjustment. While meeting the requirements of vehicle-mounted operation, it improves the processing capacity and dehydration rate, reduces power consumption, and realizes manual-free operation.

[0082] The intelligent control of the reagent addition of the sludge coagulation device 230 uses machine vision and artificial intelligence algorithms to judge the effect of the flocculation reaction and achieve precise dosing.

[0083] The overall work surface and the sludge dewatering machine 240 have automatic level adjustment function, using level sensors and self-locking screw adjustment methods to ensure the normal operation of the equipment during the vehicle 250 driving process.

[0084] The control system based on intelligent control and cloud services can monitor equipment operating parameters in real time, optimize equipment operation, and realize remote management and big data operating parameter optimization.

[0085] The dredging robot 100 and the vehicle-mounted mobile sludge treatment equipment 200 are deployed at the construction site, and are connected through wireless communication to achieve data sharing and collaborative work.

[0086] When the dredging robot 100 is working in the pipeline, it transmits real-time detection data and working status information to the control system of the vehicle-mounted mobile sludge treatment equipment 200. Based on this information, the control system adjusts the working parameters of the sludge treatment equipment in advance, such as the amount of reagents added to the sludge coagulation device 230 and the working speed of the sludge dewatering machine 240, to meet the upcoming sludge treatment needs.

[0087] After the system is installed, comprehensive debugging is carried out. First, the walking, desilting, and detection functions of the dredging robot 100 are tested separately to ensure that each component is working properly. Then, the subsystems of the vehicle-mounted mobile sludge treatment equipment 200, such as the solid-liquid separation device 220, the sludge coagulation device 230, and the sludge dewatering machine 240, are debugged to check whether the equipment operating parameters meet the design requirements.

[0088] During the actual dredging operation, the system operation data is collected, including dredging efficiency, sludge treatment effect, equipment energy consumption and other indicators. Based on these data, the problems and shortcomings of the system are analyzed.

[0089] The system is optimized based on the problems found. For example, the intelligent control algorithm of the dredging robot 100 is adjusted to improve its adaptability and operating efficiency in complex pipeline environments; the reagent formula and dosing method of the vehicle-mounted mobile sludge treatment equipment 200 are optimized to improve the sludge dehydration effect and water purification effect; the mechanical structure of the equipment is improved to improve the stability and reliability of the equipment.

[0090] Regularly perform maintenance and upkeep on the system, check the wear of equipment components, and replace damaged components in a timely manner. At the same time, update the system's software program to ensure that the system is always in optimal operating condition.

[0091] Through the above specific implementation methods, the rainwater and sewage pipe dredging system and dredging method can effectively achieve the dredging and sludge treatment of rainwater and sewage pipes, improve work efficiency, reduce costs, and reduce environmental pollution.

[0092] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A rainwater and sewage pipe desilting system, characterized in that: include: A dredging robot is used to walk in a pipeline and perform dredging. The dredging robot comprises a flushing mechanism, a telescopic mechanism, a crushing mechanism and a detection mechanism. The flushing mechanism is used to spray water to flush the pipeline. The telescopic mechanism is connected to the crushing mechanism. The telescopic mechanism drives the crushing mechanism to extend and retract along the moving direction of the dredging robot. The crushing mechanism is used to crush the sludge in the pipeline. The detection mechanism is used to detect the density of the sludge in the pipeline. When the sludge density is greater than a preset density, the telescopic mechanism drives the crushing mechanism to extend, and the crushing mechanism operates; The sludge treatment equipment comprises a sewage suction pipe, a solid-liquid separation device, a sludge coagulation device and a sludge dewatering machine which are connected in sequence, wherein the sewage suction pipe is used to suck the sludge and sewage in the pipeline into the solid-liquid separation device for filtration to form sludge, the sludge coagulation device is used to process the sludge to form sludge, and the sludge dewatering machine dewaters the sludge.

2. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: The dredging robot further comprises a walking mechanism and a peristaltic mechanism, and the dredging robot moves in the pipeline by using the walking mechanism or the peristaltic mechanism.

3. The rainwater and sewage pipe desilting system according to claim 2, characterized in that: The walking mechanism and the peristaltic mechanism are configured as follows: When the crushing mechanism stops, the walking mechanism operates and the peristaltic mechanism stops; When the crushing mechanism is running, the walking mechanism stops and the peristaltic mechanism is running.

4. The rainwater and sewage pipe desilting system according to claim 2, characterized in that: The walking mechanism comprises a crawler belt, and the creeping mechanism comprises a claw which is telescoped outwards.

5. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: The detection mechanism is an ultrasonic detector.

6. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: With the position of the crushing mechanism relative to the dredging robot as the relative forward direction, the flushing mechanism sprays water backwards.

7. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: The sludge dewatering machine is provided with a drainage pipe, and the drainage pipe supplies water to the flushing mechanism.

8. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: The sludge treatment equipment also includes: A vehicle carries the solid-liquid separation device, the sludge coagulation device and the sludge dewatering machine.

9. The rainwater and sewage pipe desilting system according to claim 1, characterized in that: The bottom of the dredging robot is also provided with a scraping mechanism, and the scraping mechanism is used to scrape away the silt and sewage at the bottom of the pipeline.

10. A method for desilting a rainwater and sewage pipe, characterized in that: The rainwater and sewage pipe desilting system according to any one of claims 1 to 9, wherein the rainwater and sewage pipe desilting method comprises: Controlling the dredging robot to move forward in the pipeline, and controlling the detection mechanism to detect the actual density of the sludge in the pipeline; When the actual density is greater than the preset density, the telescopic mechanism is controlled to drive the crushing mechanism to extend forward, and the crushing mechanism is controlled to start; Controlling the sewage suction pipe to suck the sludge and sewage in the pipeline into the solid-liquid separation device for filtering to form slurry; Controlling the sludge coagulation device to process the sludge to form sludge; The sludge dewatering machine is controlled to dewater the sludge.

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