Dredging robot and box culvert dredging method

Abstract

The invention relates to the technical field of desilting, in particular to a desilting robot and a box culvert desilting method. The desilting robot provided by the invention is used for desilting a box culvert. The desilting robot comprises a machine body; the crushing mechanism is arranged on the machine body; the walking device is arranged at the bottom of the machine body and is suitable for walking along the box culvert; the crushing mechanism is arranged on the machine body and is used for crushing the deposits; and the bucket-wheel mechanism is arranged on the machine body and is used for transferring the deposits to the crushing mechanism. According to the desilting robot, the problem that in the prior art, the desilting mode of box culvert desilting equipment is single is solved, and therefore the adaptability of the desilting robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of dredging, and in particular to a dredging robot and a box culvert dredging method. Background Art

[0002] As an important part of the drainage system, urban drainage box culverts play a key role in urban rainwater discharge, sewage collection and maintenance of daily urban operations. Due to being in a closed environment for a long time, anaerobic conditions are easily formed inside the box culvert, resulting in water quality deterioration and odor generation. In addition, the continuous inflow of sediment, construction waste and domestic garbage has made the siltation problem inside the box culvert increasingly serious.

[0003] Existing box culvert dredging equipment usually adopts a single dredging method.

[0004] However, the existing box culvert dredging equipment cannot adjust the dredging method according to the specific siltation situation. Facing the complex environment inside the box culvert, especially for silts of different volumes and hardness, the single dredging method leads to poor adaptability of the existing box culvert dredging equipment. Summary of the invention

[0005] In view of the above problems, the embodiments of the present application provide a dredging robot and a box culvert dredging method, which help to solve the problem of a single dredging method of box culvert dredging equipment in the prior art, thereby improving the adaptability of the dredging robot.

[0006] In a first aspect, an embodiment of the present application provides a dredging robot for dredging box culverts, comprising: a body; a crushing mechanism, arranged on the body; a walking device, arranged on the bottom of the body and suitable for walking along the box culvert; a crushing mechanism, arranged on the body and used for crushing silt; and a bucket wheel mechanism, arranged on the body and used for transferring silt to the crushing mechanism.

[0007] In a possible embodiment, the bucket wheel mechanism includes: a support frame movably disposed on the machine body; a bucket wheel including a wheel body and a bucket, the wheel body being rotatably disposed on the support frame, the buckets being a plurality of buckets distributed at intervals along the circumference of the wheel body, each of the buckets being suitable for rotating with the wheel body and transferring the sludge to the crushing mechanism.

[0008] In a possible embodiment, the bucket wheel mechanism also includes: a conveying device, including: a conveyor belt, one end of which is suitable for receiving the sludge in the bucket, and the other end extends to the entrance of the crushing mechanism; a baffle, which is a plurality of baffles spaced apart along the conveying direction of the conveyor belt, the baffles are connected to the conveyor belt, and a temporary storage space for temporarily storing sludge is defined between two adjacent baffles.

[0009] In a possible embodiment, the crushing mechanism includes: a shell defining a crushing chamber; a crushing member disposed in the crushing chamber and used to crush the sludge entering the crushing chamber; a first driving device, which is transmission-connected to the crushing member to drive the crushing member to move; and a feed pipe, one end of which is connected to the crushing chamber and the other end of which extends to the conveyor belt.

[0010] In a possible embodiment, the dredging robot also includes: a storage box, the storage box includes: a box body, the inlet of the box body is connected to the output port of the crushing mechanism, the box body has a solid discharge port and a liquid discharge port; a filter element, arranged in the inner cavity of the box body, for separating the sludge output by the crushing mechanism into solid and liquid, wherein the solid separated by the filter element is suitable for being discharged through the solid discharge port, and the liquid separated by the filter element is discharged from the body through the liquid discharge port.

[0011] In a possible embodiment, the dredging robot further includes: a sand pumping mechanism, which includes: a pipe member defining a sand pumping pipe, one end of the pipe member being connected to the solid discharge port, and the other end extending to the outside of the culvert; an impeller, which is spirally shaped and rotatably disposed on the sand pumping pipe; and a second driving device, which is transmission-connected to the impeller to drive the impeller to rotate.

[0012] In a possible embodiment, the crushing mechanism includes: a first base rotatably disposed on the body; a mechanical arm disposed on the first base and having multiple degrees of freedom of movement; and a breaker hammer disposed at the free end of the mechanical arm and used to crush the silt.

[0013] In a second aspect, an embodiment of the present application provides a box culvert dredging method, which is applied to a dredging robot described in any one of the possible implementation methods mentioned above, and includes the following steps: acquiring characteristic information of silt, the characteristic information at least including the volume of silt and the hardness of silt; adjusting the dredging method of the dredging robot according to the hardness of the silt, the dredging method at least including dredging by a combination of a crushing mechanism and a bucket wheel mechanism and dredging by a bucket wheel mechanism alone; adjusting the working mode of the crushing mechanism and / or the bucket wheel mechanism according to the volume of the silt, the working mode at least including continuous operation and intermittent operation; crushing the cleaned silt and discharging it from the dredging robot.

[0014] In a possible implementation, the obtaining of characteristic information of the sediment includes: acquiring images of the sediment at multiple angles to obtain a plurality of original images of the sediment; preprocessing the plurality of original images to obtain a plurality of intermediate images, wherein the preprocessing includes at least denoising and binarization; obtaining edge points of the plurality of intermediate images, and obtaining a plurality of contours of the sediment at different angles based on the edge points; and obtaining the volume of the sediment based on the plurality of contours.

[0015] In a possible implementation manner, the obtaining characteristic information of the sediment further includes: detecting the hardness of the sediment using ultrasound.

[0016] The dredging robot and the box culvert dredging method provided by the present application can effectively break up large pieces of hard silt through the crushing mechanism, and can remove silt with lower hardness through the bucket wheel mechanism. The efficiency and adaptability of the dredging robot are significantly improved through the coordinated work of the crushing mechanism and the bucket wheel mechanism. In addition, the dredging robot can select the corresponding dredging method and adjust the corresponding working mode by obtaining the characteristic information of the silt, thus realizing the adaptability of the dredging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] Figure 1 Schematic diagram of the dredging scene of the dredging robot provided in this application Figure 1 ;

[0019] Figure 2 Schematic diagram of the structure of the dredging robot provided for this application Figure 1 ;

[0020] Figure 3 A schematic diagram of the structure of the crushing mechanism in the dredging robot provided in this application;

[0021] Figure 4 A schematic diagram of the structure of the conveying device in the dredging robot provided in this application;

[0022] Figure 5 A schematic diagram of the structure of the sand pumping mechanism in the silt removal robot provided in this application;

[0023] Figure 6 A schematic diagram of the structure of the detection mechanism in the dredging robot provided in this application;

[0024] Figure 7 Schematic diagram of the dredging scene of the dredging robot provided in this application Figure 2 ;

[0025] Figure 8 Schematic diagram of the structure of the dredging robot provided for this application Figure 2 ;

[0026] Fig. 9 A schematic diagram of the structure of the first transport device in the dredging robot provided in this application;

[0027] Fig.10 Schematic diagram of the process of box culvert desilting method provided for this application Figure 1 ;

[0028] Fig.11 Schematic diagram of the process of box culvert desilting method provided for this application Figure 2 .

[0029] Description of reference numerals:

[0030] 1- Dredging robot;

[0031] 10-body; 20-crushing mechanism; 30-traveling device; 40-crushing mechanism; 50-bucket wheel mechanism; 60-storage box; 70-sand pumping mechanism; 80-detection mechanism; 90-auxiliary mechanism;

[0032] 210-housing; 220-crushing element; 230-first driving device; 240-feeding pipe; 250-discharging pipe;

[0033] 410-first base; 420-mechanical arm; 430-breaking hammer;

[0034] 510-support frame; 520-bucket wheel; 521-wheel body; 522-bucket; 530-transport device; 531-transmission belt; 532-baffle;

[0035] 610-box; 620-filter element;

[0036] 710-pipe fitting; 720-impeller; 730-second driving device;

[0037] 810 - second base; 820 - camera device; 830 - scanning device; 840 - lighting device;

[0038] 910 - first transport device; 911 - carrying box; 912 - limiting member; 913 - base; 920 - engineering vehicle; 930 - second transport device; 940 - lifting mechanism.

[0039] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] As an important part of the drainage system, urban drainage box culverts play a key role in urban rainwater discharge, sewage collection and maintenance of daily urban operations. Due to being in a closed environment for a long time, anaerobic conditions are easily formed inside the box culvert, resulting in water quality deterioration and odor generation. In addition, the continuous inflow of sediment, construction waste and domestic garbage has made the siltation problem inside the box culvert increasingly serious.

[0042] Existing box culvert dredging equipment usually adopts a single dredging method. For example, winch dredging, high-pressure water flow impact dredging, robot dredging, etc. Winch dredging pulls out the silt through traction equipment, but its scope of application is limited and it is not effective for complex box culvert structures and high siltation environments. High-pressure water flow impact dredging uses high-pressure water flow to impact silt, but it is often unable to effectively clean hard materials such as large boulders and consolidated mortar. Robot dredging cannot handle the problem of large pieces of hard silt, and its operating efficiency is low in high siltation environments. That is, the existing box culvert dredging equipment cannot adjust the dredging method according to the specific siltation situation. Faced with the complex environment inside the box culvert, especially for silt of different volumes and hardness, the single dredging method leads to the poor adaptability of the existing box culvert dredging equipment.

[0043] In view of this, the present application provides a dredging robot and a box culvert dredging method, which can effectively break large pieces of hard silt through a crushing mechanism, and can remove silt with lower hardness through a bucket wheel mechanism. The efficiency and adaptability of the dredging robot are significantly improved through the coordinated work of the crushing mechanism and the bucket wheel mechanism. In addition, the dredging robot can select a corresponding dredging method and adjust a corresponding working mode by obtaining characteristic information of silt, thereby realizing the adaptability of the dredging process.

[0044] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings:

[0045] refer to Figure 1 , Figure 2The embodiment of the present application provides a dredging robot 1 for dredging a box culvert, comprising: a body 10, a crushing mechanism 20, a crushing mechanism 40 and a bucket wheel mechanism 50. The body 10 is the main frame of the entire dredging robot 1, and provides an installation platform for the crushing mechanism 20, the crushing mechanism 40 and the bucket wheel mechanism 50 to ensure the stable connection and coordinated work between the crushing mechanism 20, the crushing mechanism 40 and the bucket wheel mechanism 50. The crushing mechanism 40 is arranged on the body 10, and is specifically used to crush large pieces of hard sediment, such as stone and consolidation mortar. The crushing mechanism 40 decomposes large pieces of difficult-to-handle materials into smaller pieces through strong mechanical force or hydraulic shock for subsequent transmission and crushing. The crushing mechanism 20 is arranged on the body 10, and is mainly used to further crush the sediment that has been preliminarily processed by the crushing mechanism 40 into smaller particles for subsequent discharge and processing. The crushing mechanism 20 can be equipped with a high-speed rotating blade or hammer to continuously and efficiently process a large amount of sediment, and ensure the continuity and stability of the dredging process. The bucket wheel mechanism 50 is also disposed on the fuselage 10 . The bucket wheel mechanism 50 can dig up the silt from the bottom of the culvert and transfer it to the crushing mechanism 20 for processing.

[0046] Furthermore, a walking device 30 is provided at the bottom of the fuselage 10, which enables the dredging robot 1 to move autonomously in a complex box culvert environment, ensures full coverage of the dredging area, and can adapt to different terrain conditions. The walking device 30 can adopt a track or wheel design. The track design is suitable for traveling on uneven or soft ground, while the wheel design is suitable for a relatively flat surface to improve the maneuverability and operating range of the dredging robot 1. The walking device 30 can be equipped with an independent drive system and steering mechanism to flexibly adjust the travel direction and speed according to actual needs, ensuring that the dredging robot 1 can move smoothly in narrow and complex spaces.

[0047] In one possible implementation, reference Figure 2The bucket wheel mechanism 50 includes a support frame 510 and a bucket wheel 520. The support frame 510 is movably arranged on the fuselage 10. The bucket wheel 520 also includes a wheel body 521 and a bucket 522. Among them, a plurality of buckets 522 can be arranged on the wheel body 521. The plurality of buckets 522 are distributed at intervals along the circumference of the wheel body 521. The wheel body 521 is rotatably arranged on the support frame 510, and the wheel body 521 rotates relative to the support frame 510 to drive the plurality of buckets 522 to move along the circumference of the wheel body 521. Each bucket 522 can transfer the silt to the crushing mechanism 20 while rotating with the wheel body 521. Optionally, the support frame 510 can not only move longitudinally along the fuselage 10, but also be lifted up and down and swung left and right to achieve multi-degree-of-freedom movement, so that the bucket wheel 520 can work at different heights and angles to adapt to the complex box culvert environment. The wheel body 521 can be made of high-strength wear-resistant materials, such as alloy steel or engineering plastics, to ensure long-term stable operation in harsh environments. The wheel body 521 can be driven by an adjustable speed motor, and the speed can be adjusted according to the hardness and volume of the sediment. Low speed is suitable for processing hard bulk materials, and high speed is suitable for loose mud and sand. The bucket wheel mechanism 50 also includes a hydraulic rod, one end of which is connected to the support frame 510 and the other end is connected to the fuselage 10. The position change of the support frame 510 can be achieved through the hydraulic rod.

[0048] In a possible design, the spacing between the buckets 522 can be adjusted according to actual needs to adapt to different sizes of sediments, which is not limited in this application. A larger spacing is suitable for processing large pieces of material, and a smaller spacing is suitable for finely crushed materials. An elastic connection (such as a spring or a rubber pad) can be used between the bucket 522 and the wheel body 521, so that the bucket 522 can have a certain buffer space when it hits a hard object to avoid damage. Among them, the bucket 522 can have a variety of shapes. For example, a pointed bucket, a wide-mouth bucket, a trapezoidal bucket, a toothed bucket, a combined bucket, etc.

[0049] In one possible implementation, reference Figure 4, the bucket wheel mechanism 50 also includes a conveying device 530. The conveying device 530 can transfer the silt collected by the bucket 522 to the crushing mechanism 20 smoothly and efficiently. One end of the conveyor belt 531 receives the silt in the bucket 522, and the other end extends to the entrance of the crushing mechanism 20, ensuring that the material can accurately enter the subsequent processing link. Among them, the conveying device 530 also includes a conveyor belt 531 and a baffle 532. One end of the conveyor belt 531 is suitable for receiving the silt in the bucket 522, and the other end extends to the entrance of the crushing mechanism 20. The baffle 532 can be a plurality of baffles 532 distributed at intervals along the conveying direction of the conveyor belt 531. The baffle 532 is connected to the conveyor belt 531. A plurality of micropores can be provided on the conveyor belt 531 for filtering the moisture of the silt during the transmission process. In addition, a temporary storage space for temporarily storing silt is defined between two adjacent baffles 532. Optionally, the size of the temporary storage space can be adjusted according to actual needs, for example, by adjusting the spacing between the baffles 532 to accommodate different volumes of sediment. A larger temporary storage space is suitable for processing large pieces of material, while a smaller space is suitable for finely crushed materials. The main body of the baffle 532 can be made of high-strength wear-resistant materials, such as engineering plastics, alloy steel or composite materials, to cope with harsh working environments and frequent material friction. The height of the baffle 532 can be adjusted according to actual needs, and can be quickly adjusted by bolts or other fixings to adapt to different types of sediment.

[0050] In one possible implementation, reference Figure 2 , Figure 3 The pulverizing mechanism 20 may include a housing 210, a pulverizing element 220, a first driving device 230 and a feed pipe 240. A pulverizing chamber may be defined on the housing 210 of the pulverizing mechanism 20. A pulverizing element 220 is disposed in the pulverizing chamber. The pulverizing element 220 is used to pulverize the silt entering the pulverizing chamber. The pulverizing element 220 is in transmission connection with the first driving device 230. The first driving device 230 may drive the pulverizing element 220 to move so as to pulverize the silt. One end of the feed pipe 240 is connected to the pulverizing chamber, and the other end of the feed pipe 240 extends to the conveyor belt 531, so that the silt on the conveyor belt 531 can directly enter the pulverizing chamber through the feed pipe 240.

[0051] In one possible implementation, reference Figure 2, the dredging robot 1 also includes a storage box 60. Specifically, the storage box 60 includes a box body 610 and a filter 620. Among them, the inlet of the box body 610 can be connected to the output port of the crushing mechanism 20 to receive the crushed silt output by the crushing mechanism 20. In order to achieve solid-liquid separation of the silt, the box body 610 is provided with a solid discharge port and a liquid discharge port. In addition, a filter 620 is provided in the inner cavity of the box body 610. The filter 620 can separate the solid and liquid of the silt output by the crushing mechanism 20. The solid separated by the filter 620 is suitable for discharge through the solid discharge port, and the liquid separated by the filter 620 is discharged from the fuselage 10 through the liquid discharge port. Optionally, the filter 620 has a multi-layer filtering structure. Multiple fine filter layers, ultrafine filter layers. The coarse filter layer uses a metal mesh or a coarse fiber material, which is mainly used to intercept the relatively large filter structure including the coarse filter layer, large solid particles and block materials to prevent them from directly entering the subsequent filter layer. The fine filter layer uses high-density filter cloth or filter paper, which can effectively capture smaller particles and ensure that the suspended matter in the liquid is fully filtered. The ultra-fine filter layer uses nanofiber membrane or ceramic filter element, which can filter out tiny particles and soluble impurities.

[0052] In one possible implementation, reference Figure 1 , Figure 5 The silt removal robot 1 further includes a sand pumping mechanism 70. The sand pumping mechanism 70 can efficiently transfer solid materials (such as sand, silt, etc.) discharged through the solid discharge port after solid-liquid separation through the filter element 620 from the storage box 60 to the outside of the culvert. The solid materials are directly extracted by the sand pumping mechanism 70, which prevents these materials from entering the culvert again or causing secondary pollution, thereby ensuring the thoroughness and environmental protection of the silt removal work. Specifically, the sand pumping mechanism 70 includes a pipe member 710, an impeller 720 and a second drive device 730. Among them, one end of the pipe member 710 is connected to the solid discharge port, and the other end extends to the outside of the culvert. The interior of the pipe member 710 can define a sand pumping pipeline. The spiral impeller 720 is rotatably arranged in the sand pumping pipeline. The second drive device 730 is transmission-connected to the impeller 720 to drive the impeller 720 to rotate. As the impeller 720 rotates, the silt at the solid discharge port can be guided to the outside of the culvert. Optionally, the inner wall of the sand extraction pipe is coated with Teflon or other anti-sticking materials to reduce the possibility of silt adhesion, ensure smooth flow of materials, and reduce the frequency of cleaning. The pipe member 710 can be designed with a detachable joint to facilitate installation and maintenance. The user can flexibly adjust the length and direction of the pipe according to actual needs to improve the flexibility of use. The impeller 720 can be designed with multiple spiral blades, each blade is arranged in a spiral shape, to ensure that the silt can be effectively pushed forward along the pipe member 710 during the rotation process.

[0053] In one possible implementation, reference Figure 2The crushing mechanism 40 includes a first base 410, a mechanical arm 420 and a crushing hammer 430. Among them, the first base 410 is rotatably arranged on the fuselage 10. The mechanical arm 420 can be arranged on the first base 410 and has multiple degrees of freedom of movement. The crushing hammer 430 can be arranged at the free end of the mechanical arm 420 and is used to crush the silt. Optionally, the first base 410 can adopt a multi-axis rotation design, which can be adjusted in all directions on the horizontal and vertical planes to ensure that the crushing mechanism 40 can cover every corner inside the box culvert. The mechanical arm 420 can be equipped with an anti-collision sensor to monitor the surrounding environment in real time. Once an obstacle or abnormal situation is detected, the mechanical arm 420 can stop the action immediately to ensure the safety of the dredging robot 1 and the operator. The crushing hammer 430 can be equipped with a variety of hammers of different shapes and functions, such as a pointed hammer, a flat hammer, a toothed hammer, etc. The user can choose the most suitable hammer type according to actual needs to achieve the best crushing effect. The breaker 430 can automatically adjust the impact force according to the hardness of the sediment, ensuring the best crushing effect under different working conditions while reducing wear on the equipment itself.

[0054] In one possible implementation, reference Figure 6 , the dredging robot 1 also includes a detection mechanism 80. Specifically, the detection mechanism 80 includes a second base 810, a camera device 820, a scanning device 830 and a lighting device 840. Among them, the second base 810 can be provided with a camera device 820. Or, the second base 810 can be provided with a scanning device 830. Or, the second base 810 can be provided with a camera device 820 and a scanning device 830. The camera device 820 is used to take pictures of the dredging working conditions. The scanning device 830 is used to scan the silt. The scanning device 830 can be a combination of one or more of a sonar detector, a laser scanner, an ultrasonic sensor, a pressure sensor, etc. The second base 810 can also be provided with a lighting device 840. The lighting device 840 is used to illuminate the inside of the box culvert.

[0055] In the specific implementation process, the crushing mechanism 20, crushing mechanism 40, bucket wheel mechanism 50, sand pumping mechanism 70 and detection mechanism 80 of the dredging robot 1 can be flexibly coordinated under different working conditions to achieve efficient and safe dredging operations. When processing large pieces of hard sediment, the camera device 820 and the scanning device 830 can first perform all-round camera and scanning on the inside of the box culvert to obtain the specific location and characteristic information of the sediment. According to the scanning results, the first base 410 of the crushing mechanism 40 is adjusted to a suitable angle, and the mechanical arm 420 moves to the target position. Select an appropriate hammer head (such as a pointed hammer head), and automatically adjust the impact force according to the hardness to start crushing large pieces of sediment. At the same time, the support frame 510 of the bucket wheel mechanism 50 can adjust the height and angle, and the bucket 522 rotates with the wheel body 521, thereby collecting the crushed fragments and transferring them to the crushing mechanism 20 for further crushing. The conveying device 530 can receive the material in the bucket 522 and smoothly convey it to the entrance of the crushing mechanism 20 to ensure that the sediment accurately enters the subsequent processing link.

[0056] When handling loose silt, the camera device 820 and the scanning device 830 scan the inside of the culvert. After confirming that there are no large obstacles, the lighting device 840 can provide necessary lighting. The support frame 510 of the bucket wheel mechanism 50 can be kept at a lower position and the spacing of the bucket 522 can be adjusted to a smaller value to handle silt. The wheel body 521 of the bucket wheel mechanism 50 adopts a high-speed rotation mode to quickly collect loose silt and transfer it directly to the crushing mechanism 20 through the conveying device 530. The crushing mechanism 20 can further crush the loose silt into smaller particles. The crushed sediment can enter the storage box 60 through the output port of the crushing mechanism 20, and solid-liquid separation is carried out through the filter element 620. The solid is discharged through the solid discharge port, and the liquid is discharged from the fuselage 10 through the liquid discharge port.

[0057] In a possible design, a material sensor is installed inside the storage box 60 (defined by the box body 610) to monitor the storage amount of the sludge in real time. When the sludge in the storage box 60 reaches a first preset threshold value (e.g., 70% capacity), the sand pumping mechanism 70 is activated. The sand pumping mechanism 70 transfers the solid sludge to the outside of the culvert through the pipe member 710 and the impeller 720 to ensure that the storage box is not overloaded. When the sludge in the storage box 60 reaches a second preset threshold value (e.g., 90% capacity), the solid discharge port and the liquid discharge port are automatically opened to ensure that the solid-liquid separated materials can be discharged from the fuselage 10 in time.

[0058] In one possible implementation, Figure 7 Schematic diagram of the dredging scene of the dredging robot provided in this application Figure 2 . refer to Figure 7The dredging robot 1 provided in the embodiment of the present application includes a body 10, a crushing mechanism 20, a crushing mechanism 40 and a bucket wheel mechanism 50. Similarly, a walking device 30 is provided at the bottom of the body 10, which enables the dredging robot 1 to move autonomously in a complex box culvert environment, ensures full coverage of the dredging area, and can adapt to different terrain conditions.

[0059] The walking device 30 may include a crawler track, a driving wheel, a load-bearing wheel and a guide wheel. The crawler track surrounds the outside of the entire walking device 30. The crawler track is usually made of metal plates or rubber, has a certain strength and wear resistance, and can adapt to various complex terrains. There are raised patterns on the crawler track to increase the friction with the ground and prevent slipping. The driving wheel can be connected to a power source such as an engine or a motor to drive the crawler track to rotate. The teeth of the driving wheel mesh with the inner side of the crawler track to transfer power to the crawler track so that the crawler track can move forward or backward. The load-bearing wheels can be distributed under the crawler track to support the weight of the entire dredging robot 1 so that the dredging robot 1 can run smoothly on the crawler track. The number and distribution of the load-bearing wheels can be adjusted according to the weight and design requirements of the dredging robot 1 to ensure that the crawler track can be evenly stressed and reduce wear. The guide wheel is usually located at the front or rear end of the crawler track to guide the direction of movement of the crawler track so that the crawler track can remain on the correct track and improve the obstacle crossing ability of the walking device and the stability of the robot during dredging.

[0060] Similarly, the dredging robot 1 further includes a crushing mechanism 40 , a bucket wheel mechanism 50 and other mechanisms, which will not be described in detail in this embodiment.

[0061] Furthermore, the dredging robot 1 provided in the embodiment of the present application also includes a discharge pipe 250 connected to the feed pipe 240. The dredging robot 1 can transport the silt to the outside of the culvert through the auxiliary mechanism 90. The auxiliary mechanism 90 includes a first transport device 910. The discharge pipe 250 can be connected to the first transport device 910. The silt excavated by the bucket wheel mechanism 50 can enter the first transport device 910 through the feed pipe 240 and the discharge pipe 250. Specifically, the first transport device 910 includes a carrying box 911, a limiting member 912 and a base 913. The carrying box 911 is set on the base 913, and is limited by the limiting member 912 on the base 913 to prevent the carrying box 911 from slipping during transportation.

[0062] Optionally, a detachable or foldable extension portion may be provided on the top of the carrying box 911. In this way, when more silt needs to be transported, the extension portion can be installed to increase the volume, and when it is not needed, it can be disassembled or folded to reduce space occupancy. For example, a top extension box with a slide rail and a locking device is designed, and the extension box is pushed upward and locked in a suitable position by the slide rail, so that the height and volume of the carrying box can be increased. The first transport device 910 can be connected to one side of the dredging robot 1 and keep synchronous movement with the dredging robot 1. Alternatively, the first transport device 910 can also be movably connected to the dredging robot 1, so that when the silt in the first transport device 910 reaches a preset condition, it is separated from the dredging robot 1 to achieve unloading of the silt.

[0063] In order to transport the silt in the first transport device 90 to the outside of the culvert, the auxiliary mechanism 90 also includes an engineering vehicle arranged outside the culvert. The outside of the culvert may also be provided with an engineering vehicle 920, a second transport device 930 and a hoisting mechanism 940. The hoisting mechanism 940 is arranged on the engineering vehicle 920. The hoisting mechanism 940 is used to hoist the dredging robot 1 and the first transport device 910, etc. During the dredging process, the first transport device 910 can lift the carrying box 911 when the silt in the first transport device 910 reaches a preset condition, and dump the silt in the carrying box 911 into the second transport device 930. A control platform may also be provided on the engineering vehicle 920 to control the working state of the hoisting mechanism 940.

[0064] In a second aspect, the present application provides a box culvert dredging method, which is applied to the above-mentioned dredging robot 1. Fig.10 As shown, the box culvert dredging method includes the following steps:

[0065] S101. Acquire characteristic information of sediment, where the characteristic information at least includes sediment volume and sediment hardness.

[0066] S102 , adjusting the dredging method of the dredging robot 1 according to the hardness of the silt, the dredging method at least including dredging by a combination of the crushing mechanism 40 and the bucket wheel mechanism 50 and dredging by the bucket wheel mechanism 50 alone.

[0067] Specifically, the hardness information and volume information of the sediment are obtained in real time through the sensors (such as ultrasonic sensors, pressure sensors, cameras, etc.) on the detection mechanism 80. The dredging robot 1 analyzes the collected data and divides the hardness of the sediment into multiple levels, such as soft (such as loose sediment), medium hardness (such as semi-consolidated sediment) and hard (such as block stone, consolidated mortar). For soft sediment, such as loose sediment, the dredging robot 1 directly uses the bucket wheel mechanism 50 to clean it, and adjusts the spacing of the bucket 522 to a smaller value. The wheel body 521 adopts a high-speed rotation mode to quickly collect and transfer the sediment. For medium-hard sediment, such as semi-consolidated sediment, first determine whether the volume of the sediment is greater than the diameter of the feed pipe 240. If so, first use the crushing mechanism 40 for preliminary crushing, and then collect and transfer it by the bucket wheel mechanism 50. The crushing mechanism 40 first breaks down larger pieces of material into smaller pieces, and then the bucket 522 of the bucket wheel mechanism 50 collects it and transfers it to the crushing mechanism 20 through the conveying device 530 for further processing. If not, the bucket 522 of the bucket wheel mechanism 50 directly collects it and transfers it to the crushing mechanism 20 through the conveying device 530 for further processing. For hard sediments, such as boulders and consolidation mortar, similarly, first determine whether the volume of the sediment is larger than the diameter of the feed pipe 240. If so, first use the crushing mechanism 40 for strong crushing. The breaker 430 selects a high-strength hammer head and automatically adjusts the impact force according to the hardness to ensure that large pieces of material are fully decomposed. Then the bucket 522 of the bucket wheel mechanism 50 collects it and transfers it to the crushing mechanism 20 through the conveying device 530 for further processing. The crushing mechanism selects a high-speed rotating hammer head. If not, the bucket 522 of the bucket wheel mechanism 50 directly collects it and transfers it to the crushing mechanism 20 through the conveying device 530 for further processing.

[0068] S103, adjusting the working mode of the crushing mechanism 40 and / or the bucket wheel mechanism 50 according to the volume of the sediment, wherein the working mode at least includes continuous operation and intermittent operation.

[0069] Specifically, for small-volume sediments, such as fine particles, a continuous operation mode can be adopted. The wheel body 521 of the bucket wheel mechanism 50 keeps rotating at a high speed, and the spacing of the bucket 522 is adjusted to a smaller value to continuously collect and transfer sediments. For medium-volume and large-volume sediments, an intermittent operation mode can be adopted. For example, for medium-volume sediments, the interval time after each crushing can be set to 10-30 seconds. During this period, the crushing mechanism 40 stops working to avoid overload caused by simultaneous operation with the bucket wheel mechanism 50. The support frame 510 of the bucket wheel mechanism 50 can be adaptively adjusted in height and angle, and the spacing of the bucket 522 can be adaptively adjusted to a moderate value to handle medium-sized sediment fragments. The wheel body 521 adopts a medium rotation speed, and the bucket 522 rotates with the wheel body 521, gradually collecting the crushed sediment fragments and transferring them to the crushing mechanism 20 through the conveying device 530. When the bucket wheel mechanism 50 completes one collection and transfer, the crushing mechanism 40 restarts and continues to crush the next target. For example, for a larger volume of sediment, the interval time after each crushing can be set to 30-60 seconds.

[0070] S104 , crushing the cleared silt and discharging it from the dredging robot 1 .

[0071] Fig.11 Schematic diagram of the process of box culvert desilting method provided for this application Figure 2 ,like Fig.11 As shown, in this embodiment Fig.10 Based on the embodiment, the process of obtaining characteristic information of sediment is described in detail, and the method includes:

[0072] S201, using ultrasonic waves to detect the hardness of the sediment.

[0073] Specifically, the hardness of the sediment can be detected by ultrasonic sensors. When ultrasonic waves encounter interfaces of different materials, reflections will occur. Based on the time difference and intensity changes of the reflected waves, the hardness of the sediment can be calculated. The dredging robot 1 can classify the hardness values ​​into soft (such as loose sediment), medium hardness (such as semi-consolidated sediment) and hard (such as block stones, consolidated mortar) to provide a basis for the selection of subsequent dredging methods. The dredging robot 1 can also detect underwater sediments through sonar detectors.

[0074] S202, adjusting the dredging method of the dredging robot 1 according to the hardness of the dredging material.

[0075] Step S202 and Fig.10 Step S102 in the embodiment is similar and will not be described in detail in this embodiment.

[0076] S203, collecting images of the sediment from multiple angles to obtain multiple original images of the sediment.

[0077] Specifically, multiple high-resolution cameras 820 can be installed on the detection mechanism 80, so as to capture images of the sediment from different angles. The cameras 820 can be distributed in different positions to ensure that the sediment can be fully covered from multiple angles such as the front, side, and top. Multiple cameras 820 capture images of the sediment at the same time to obtain multiple original images.

[0078] S204, preprocessing the multiple original images to obtain multiple intermediate images, where the preprocessing at least includes denoising and binarization.

[0079] Specifically, denoising can remove noise points in the original image to improve image quality. Common methods include Gaussian filtering, median filtering, etc. Binarization can convert a grayscale image into a black and white image to highlight the outline of the sediment and simplify subsequent edge detection. Commonly used binarization methods include global thresholding, adaptive thresholding, etc. The original image after preprocessing can be used as an intermediate image for subsequent edge detection and contour extraction.

[0080] S205 , acquiring edge points of a plurality of intermediate images, and obtaining a plurality of contours of the sediment at different angles according to the edge points.

[0081] Specifically, edge detection algorithms (such as Canny edge detection, etc.) can be used to extract edge points of sediment from the intermediate image. Based on the extracted edge points, contour extraction algorithms (such as Hough transform, contour tracking algorithm, etc.) are used to construct the contour of the sediment. For each intermediate image, the above process is repeated to obtain multiple contours of the sediment at different angles. By performing edge detection and contour extraction on multiple intermediate images, multiple contours of the sediment at different angles can be obtained. These contours provide three-dimensional shape information of the sediment, which provides an important basis for subsequent volume calculation.

[0082] S206. Obtain sediment volume according to the multiple profiles.

[0083] Specifically, according to the contours at multiple angles, a 3D reconstruction technology (such as stereo vision, structured light scanning, etc.) is used to reconstruct a 3D model of the sediment. Based on the reconstructed 3D model, a geometric algorithm (such as the Monte Carlo method, the grid integration method, etc.) is used to calculate the volume of the sediment.

[0084] S207, adjusting the working mode of the crushing mechanism 40 and / or the bucket wheel mechanism 50 according to the volume of the sediment.

[0085] Step S207 and Fig.10 Step S103 in the embodiment is similar and will not be described in detail in this embodiment.

[0086] S208 , crushing the cleared silt and discharging it from the dredging robot 1 .

[0087] The dredging robot 1 and the box culvert dredging method provided by the present application can effectively break up large hard silts through the crushing mechanism 40, and can remove silts with lower hardness through the bucket wheel mechanism 50. The efficiency and adaptability of the dredging robot 1 are significantly improved through the coordinated work of the crushing mechanism 40 and the bucket wheel mechanism 50. In addition, the dredging robot 1 can select a corresponding dredging method and adjust a corresponding working mode by obtaining characteristic information of silts, thereby realizing the adaptability of the dredging process.

[0088] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0089] It should be noted that the embodiments represented by "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments that are explicitly or not explicitly described.

[0090] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0091] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0092] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dredging robot (1) for dredging a box culvert, characterized in that: include: Fuselage (10); A crushing mechanism (20) is arranged on the machine body (10); A walking device (30) is disposed at the bottom of the fuselage (10) and is suitable for walking along the box culvert; A crushing mechanism (40) is provided on the machine body (10) and is used to crush the sediment; A bucket wheel mechanism (50) is provided on the machine body (10) and is used to transfer sludge to the crushing mechanism (20).

2. The dredging robot (1) according to claim 1, characterized in that: The bucket wheel mechanism (50) comprises: A support frame (510) movably disposed on the fuselage (10); The bucket wheel (520) comprises a wheel body (521) and a bucket (522), wherein the wheel body (521) is rotatably disposed on the support frame (510), and the buckets (522) are multiple and spaced apart along the circumference of the wheel body (521), and each bucket (522) is suitable for rotating with the wheel body (521) and transferring silt to the crushing mechanism (20).

3. The dredging robot (1) according to claim 2, characterized in that: The bucket wheel mechanism (50) further comprises: The conveying device (530) comprises: a conveyor belt (531), one end of the conveyor belt (531) being suitable for receiving the sediment in the bucket (522), and the other end of the conveyor belt (531) extending to the entrance of the crushing mechanism (20); The baffles (532) are multiple and spaced apart along the conveying direction of the conveyor belt (531); the baffles (532) are connected to the conveyor belt (531); and a temporary storage space for temporarily storing silt is defined between two adjacent baffles (532).

4. The dredging robot (1) according to claim 3, characterized in that: The pulverizing mechanism (20) comprises: A housing (210) defines a pulverizing chamber; A crushing element (220) is disposed in the crushing chamber and is used to crush the sediment entering the crushing chamber; A first driving device (230) is drivingly connected to the crushing member (220) to drive the crushing member (220) to move; A feed pipe (240) has one end connected to the pulverizing chamber and the other end extending to the conveyor belt (531).

5. The dredging robot (1) according to claim 1, characterized in that: Also includes: A storage box (60), wherein the storage box (60) comprises: A box body (610), the inlet of the box body (610) being in communication with the outlet of the pulverizing mechanism (20), and the box body (610) having a solid discharge outlet and a liquid discharge outlet; A filter element (620) is arranged in the inner cavity of the box body (610) and is used for performing solid-liquid separation on the sludge output by the pulverizing mechanism (20), wherein the solid separated by the filter element (620) is suitable for being discharged through the solid discharge port, and the liquid separated by the filter element (620) is discharged from the body (10) through the liquid discharge port.

6. The dredging robot (1) according to claim 5, characterized in that: Also includes: A sand pumping mechanism (70), wherein the sand pumping mechanism (70) comprises: A pipe member (710) defines a sand extraction pipe, one end of the pipe member (710) is connected to the solid discharge port, and the other end extends to the outside of the box culvert; An impeller (720) is spiral-shaped and rotatably disposed on the sand extraction pipeline; A second driving device (730) is drivingly connected to the impeller (720) to drive the impeller (720) to rotate.

7. The dredging robot (1) according to claim 1, characterized in that: The crushing mechanism (40) comprises: A first base (410) rotatably disposed on the body (10); A mechanical arm (420), which is disposed on the first base (410) and has multiple degrees of freedom of movement; The breaker hammer (430) is arranged at the free end of the mechanical arm (420) and is used to break up the sediment.

8. A box culvert dredging method, applied to the dredging robot (1) according to any one of claims 1 to 7, characterized in that: The following steps are involved: Acquiring characteristic information of the sediment, wherein the characteristic information at least includes the volume of the sediment and the hardness of the sediment; adjusting a dredging method of the dredging robot (1) according to the hardness of the silt, the dredging method comprising at least dredging by a combination of a crushing mechanism (40) and a bucket wheel mechanism (50) and dredging by a bucket wheel mechanism (50) alone; Adjusting the working mode of the crushing mechanism (40) and / or the bucket wheel mechanism (50) according to the volume of the sediment, wherein the working mode at least includes continuous operation and intermittent operation; The cleared silt is crushed and discharged from the silt clearing robot (1).

9. The box culvert dredging method according to claim 8, characterized in that: The step of obtaining characteristic information of sediment includes: Capturing images of the silt at multiple angles to obtain multiple original images of the silt; Preprocessing the plurality of original images to obtain a plurality of intermediate images, wherein the preprocessing at least includes denoising and binarization; Acquire a plurality of edge points of the intermediate image, and obtain a plurality of contours of the sediment at different angles according to the edge points; The sludge volume is obtained based on a plurality of the profiles.

10. The box culvert dredging method according to claim 8, characterized in that: The step of obtaining characteristic information of the sediment further includes: detecting the hardness of the sediment using ultrasonic waves.

Images