Dredging robot and dredging method thereof

Abstract

The invention belongs to the technical field of desilting robots, and particularly relates to a desilting robot and a desilting method thereof.The desilting robot comprises a walking frame, a desilting assembly comprises a driving motor installed on a connecting frame and a conveying belt rotationally connected into the connecting frame, and the output end of the driving motor is connected with the conveying belt and drives the conveying belt to act synchronously; a plurality of groups of comb plates are connected to the outer side of the conveying belt, a desilting pump is mounted in the bottom frame, a drain outlet of the desilting pump is communicated with an output pipe, the output pipe is communicated with a collecting box, a driving motor drives the conveying belt and the comb plates to act synchronously, and sludge is taken out from an area and conveyed into the collecting box; and in the desilting process, the silt can be separated from the foreign matter, and the situation that the desilting pump is damaged due to the fact that the desilting pump is in direct contact with the foreign matter can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging robots, and specifically provides a dredging robot and a dredging method thereof. Background Art

[0002] Dredging refers to the process of cleaning silt in waters such as lakes, rivers, and reservoirs. With the development of industrialization and urbanization, the silt in waters has gradually increased, which not only affects the water quality and landscape of the waters, but also has a negative impact on the ecological environment and human health. Therefore, dredging work has become one of the important measures to maintain the ecological environment of waters and ensure water resource security;

[0003] Currently, when dredging is carried out by a dredging robot, the silt in the water area is directly adsorbed by a dredging pump installed on the robot and transported to a collection box for centralized treatment. However, there are various sundries in the water area. If the sundries are too large, the dredging pump will be stuck, which will affect the work efficiency and may damage the equipment. Moreover, the robot often has difficulty automatically screening and planning the dredging path from several dredging paths before dredging, which is not conducive to ensuring the smooth and efficient progress of the dredging process. Therefore, there is an urgent need to provide a dredging robot and a dredging method thereof. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a dredging robot and a dredging method thereof. The driving motor drives the synchronous movement of the conveyor belt and the comb-shaped plate to take out the silt from the area and transport it into the collection box. The set comb-shaped plate can lift sundries while allowing some silt to fall into the chassis. In this way, during the dredging process, the silt and foreign objects can be separated, avoiding the direct contact between the dredging pump and foreign objects, which may cause damage to the dredging pump. Moreover, the set high-pressure water pump can turn the water source in the water storage tank into high-pressure water flow through a high-pressure nozzle and spray it onto the silt layer to loosen the silt and increase the dredging efficiency.

[0006] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0007] A dredging robot, which includes:

[0008] A walking vehicle frame as a support base frame, the top of the walking vehicle frame is connected to a collection box, and a connecting frame is connected to the front side of the collection box on the top of the walking vehicle frame, and the end of the connecting frame is arranged above the collection box;

[0009] The dredging component is connected to the connecting frame and includes a driving motor installed on the connecting frame and a conveyor belt rotatably connected within the connecting frame. The output end of the driving motor is connected to the conveyor belt and drives the conveyor belt to move synchronously. Multiple groups of comb plates are connected to the outer side of the conveyor belt;

[0010] The bottom of the inner side of the connecting frame is connected with a chassis, and a dredging pump is installed in the chassis. The sewage discharge port of the dredging pump is communicated with an output pipe, and the output pipe is communicated with the collection box.

[0011] As a preferred solution of a dredging robot according to the present invention, wherein: a solar photovoltaic panel is connected to the top of the vehicle frame.

[0012] As a preferred solution of a dredging robot according to the present invention, wherein: a high-pressure spraying component is arranged on the top of the connecting frame. The high-pressure spraying component includes a water storage tank connected to the top of the connecting frame, a high-pressure water pump is connected inside the water storage tank, the output end of the high-pressure water pump is communicated with a water pipe, and the end of the water pipe is connected with a high-pressure spray head.

[0013] A dredging method for a dredging robot includes the following steps:

[0014] S1. On-site survey and assessment. Before starting dredging, the robot operator conducts on-site survey and assessment of the dredging area to understand the following factors:

[0015] Water depth and bottom condition: including water depth, thickness of the silt layer, properties of the silt, such as hardness, softness, density;

[0016] Environmental characteristics: such as whether there are obstacles, water flow speed, whether there are other potential hazards;

[0017] Dredging objectives and requirements: determine the dredging objectives, such as the amount of silt to be removed, the area range to be cleaned, working duration;

[0018] S2. Robot deployment and positioning. Deploy the robot from the shore to the underwater working area and use a positioning system, such as lidar, to accurately position the robot and ensure that the robot can accurately navigate to the designated working area;

[0019] S3. Start dredging operation. The robot works according to the preset path and plan, generally including the following steps:

[0020] Area division and operation path planning: divide the dredging area into several sub-areas, plan the operation path of the dredging robot to ensure that each area can be effectively cleaned;

[0021] Collection operation. The robot drives the conveyor belt to rotate through the driving motor. Through the cooperation of the conveyor belt and the comb plates, the silt is conveyed. During the conveying process, part of the silt falls into the chassis, and large-volume foreign objects in the silt will directly fall into the collection box;

[0022] The sludge suction operation works through a dredging pump to suck up the sludge that has fallen into the chassis, lift the sludge from the chassis and send it into the collection box, avoiding direct jamming of the foreign objects at the input port of the dredging pump by the dredging pump;

[0023] The jet operation uses a high-pressure water pump to turn the water source in the water storage tank into high-pressure water jets through a high-pressure nozzle and spray them onto the sludge layer to loosen the sludge and increase the dredging efficiency;

[0024] S4. Real-time monitoring and feedback: During the dredging process, the robot collects real-time data through sensors and cameras, monitors the progress of the operation, and adjusts the working mode according to the real-time data feedback:

[0025] Real-time monitoring of water quality: Check the sediment concentration, pH value, and pollutants in the water body to ensure that the working environment will not deteriorate;

[0026] Adjust the dredging strategy: According to the characteristics of the sludge, such as density and softness, adjust parameters such as the sludge suction flow rate, jet water pressure, and robot speed to improve the dredging efficiency.

[0027] As a preferred solution of the dredging method of a dredging robot according to the present invention, wherein: in the step S4, the dredging efficiency generally refers to the amount of sludge removed by the robot per unit time, and the efficiency is affected by factors such as the movement speed of the robot, the performance of the sludge suction device, and the characteristics of the sludge. Calculate the amount of sludge Q removed by the robot within a certain period of time eff , then it is expressed by the following formula:

[0028] Q eff =α·V robot ·A suction ·t operation ;

[0029] Q eff , the amount of sludge removed by the robot per unit time;

[0030] α, the dredging efficiency coefficient, considering the fluidity of the sludge and the efficiency of the mechanical device;

[0031] V robot , the movement speed of the robot;

[0032] A suction , the effective suction area of the sludge suction device;

[0033] t operation , the dredging operation time;

[0034] Assume that the dredging robot uses a sludge suction device, such as a dredging pump used in conjunction with a pipeline, then the sludge suction flow rate is expressed by the following formula:

[0035]

[0036] Q flow , the flow rate of the dredging pump;

[0037] r, the radius of the sludge suction pipeline;

[0038] ΔP, the pressure difference of the dredging pump;

[0039] u, the viscosity of the slurry;

[0040] L, the length of the pipeline

[0041] As a preferred solution of the dredging method of a dredging robot according to the present invention, wherein: in the step S3, the path planning model of the dredging robot considers the movement trajectory, obstacles, working area and dredging efficiency factors of the robot. It is assumed that the movement trajectory of the robot is a path composed of several nodes P i and we want to optimize the path to minimize the total dredging time. The path planning model is represented by the following formula:

[0042]

[0043] T total , the total time of the dredging process;

[0044] d i,i+1 , the distance that the robot moves from node P i to node P i+1 ;

[0045] V robot , the running speed of the robot;

[0046] V suction , the sludge suction speed of the dredging pump;

[0047] d j , the moving distance of the sediment in the chassis during the operation of the dredging pump.

[0048] Compared with the prior art, the beneficial effects of the present invention are:

[0049] 1. The driving motor drives the conveyor belt and the comb teeth plate to act synchronously, taking the sludge out of the area and transporting it to the collection box. The set comb teeth plate can pick up sundries and make part of the sludge fall into the chassis. In this way, during the dredging process, the sludge and foreign objects can be separated, avoiding the situation that the dredging pump directly contacts foreign objects and causing damage to the dredging pump. Moreover, the set high-pressure water pump can change the water source in the water storage tank into high-pressure water flow through the high-pressure nozzle and spray it onto the sludge layer to loosen the sludge and increase the dredging efficiency;

[0050] 2. By setting the dredging model formula, it can help quantify key indicators such as the working efficiency, path planning, sediment removal rate, and energy consumption of the dredging robot. For example, the formula can help plan the dredging path of the robot and minimize the time of the dredging process by adjusting the path and speed. In practical applications, the dredging robot will optimize the work process according to these models and make dynamic adjustments to ensure the best dredging effect and efficiency in different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the drawings and specific embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0052] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 is a schematic diagram of a partial structure of the present invention;

[0054] Figure 3 is the present invention Figure 2 top view structure schematic diagram.

[0055] In the figure: 100 vehicle frame, 110 collection box, 111 connecting frame, 120 solar photovoltaic panel, 200 dredging component, 210 driving motor, 220 conveyor belt, 221 comb tooth plate, 230 chassis, 231 dredging pump, 232 output pipe, 300 high-pressure spraying component, 310 water storage tank, 320 high-pressure water pump, 321 water pipe, 322 high-pressure nozzle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below in conjunction with the drawings.

[0057] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0058] Secondly, the present invention will be described in detail with reference to the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be locally enlarged out of the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0059] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0060] The present invention provides a dredging robot and a dredging method thereof. Please refer to Figures 1 - 3 , which includes a traveling frame 100, a dredging component 200, and a high-pressure spraying component 300;

[0061] Please continue to refer to Figures 1 - 2 , the traveling frame 100 as a support base frame, the top of the traveling frame 100 is connected to a collection box 110 through a connecting bolt, and a connecting frame 111 is welded to the front side of the collection box 110 corresponding to the top of the traveling frame 100. The end of the connecting frame 111 is arranged above the collection box 110, and a solar photovoltaic panel 120 is screwed to the top of the frame 100;

[0062] Please continue to refer to Figures 1 - 3 , the dredging component 200 is connected to the connecting frame 111, including a driving motor 210 screwed to the connecting frame 111, and a conveyor belt 220 rotatably connected to the connecting frame 111. The output end of the driving motor 210 is connected to the conveyor belt 220 and drives the conveyor belt 220 to move synchronously. A plurality of comb plates 221 are connected to the outer side of the conveyor belt 220;

[0063] A bottom frame 230 is connected to the inner bottom of the connecting frame 111, a dredging pump 231 is installed in the bottom frame 230, a sewage outlet of the dredging pump 231 is communicated with an output pipe 232, and the output pipe 232 is communicated with the collection box 110;

[0064] Actions:

[0065] The driving motor 210 works, driving the conveyor belt 220 and the comb plates 221 to move synchronously, taking the silt out of the area and conveying it into the collection box 110. The arranged comb plates 221 can lift the sundries and make part of the silt fall into the bottom frame 230. In this way, during the dredging process, the silt and foreign objects can be separated, avoiding the situation that the dredging pump 231 directly contacts the foreign objects and causing damage to the dredging pump 231;

[0066] Please continue to refer to Figure 1, a high-pressure spraying assembly 300 is provided at the top of the connecting frame 111. The high-pressure spraying assembly 300 includes a water storage tank 310 connected to the top of the connecting frame 111. A high-pressure water pump 320 is connected inside the water storage tank 310. The output end of the high-pressure water pump 320 is communicated with a water pipe 321. The end of the water pipe 321 is connected to a high-pressure spray head 322;

[0067] Action:

[0068] The high-pressure water pump 320 works, and the water source in the water storage tank 310 is changed into high-pressure water flow by the high-pressure spray head 322 and sprayed onto the silt layer to loosen the silt and increase the dredging efficiency;

[0069] A dredging method for a dredging robot, which is applied to the above-mentioned dredging robot, includes the following operation steps:

[0070] S1. On-site survey and assessment. Before starting dredging, the robot operator conducts on-site survey and assessment of the dredging area to understand the following factors:

[0071] Water depth and bottom conditions: including water depth, silt layer thickness, and properties of silt, such as hardness, softness, and density;

[0072] Environmental characteristics: such as whether there are obstacles, water flow speed, and whether there are other potential hazards;

[0073] Dredging objectives and requirements: Determine the dredging objectives, such as the amount of silt to be removed, the scope of the area to be cleaned, and the working duration;

[0074] S2. Robot deployment and positioning. The robot is deployed from the shore to the underwater working area and accurately positioned using a positioning system, such as lidar, to ensure that the robot can accurately navigate to the designated working area;

[0075] S3. Start dredging operations. The robot works according to the preset path and plan, generally including the following steps:

[0076] Area division and operation path planning: Divide the dredging area into several sub-areas, and plan the operation path of the dredging robot to ensure that each area can be effectively cleaned;

[0077] Collection operation. The robot drives the conveyor belt to rotate through the drive motor. Through the cooperation of the conveyor belt and the comb tooth plate, the silt is conveyed. During the conveying process, part of the silt falls into the underframe, and large-volume foreign objects in the silt will directly fall into the collection box;

[0078] Sucking mud operation. Through the operation of the dredging pump, the silt that has fallen into the underframe is sucked up and sent to the collection box to prevent the foreign object from directly jamming the input port of the dredging pump through the dredging pump;

[0079] Jet operation: Use a high-pressure water pump to turn the water source in the water storage tank into high-pressure water flow through a high-pressure nozzle and spray it onto the silt layer to loosen the silt and increase the dredging efficiency.

[0080] S4. Real-time monitoring and feedback: During the dredging process, the robot collects real-time data through sensors and cameras, monitors the progress of the operation, and adjusts the working mode according to the real-time data feedback:

[0081] Real-time water quality monitoring: Check the sediment concentration, pH value, and pollutants in the water body to ensure that the working environment will not deteriorate.

[0082] Adjust the dredging strategy: According to the characteristics of the silt, such as density and softness, adjust parameters such as the mud suction flow rate, spraying water pressure, and robot speed to improve the dredging efficiency.

[0083] In step S4, the dredging efficiency usually refers to the amount of silt removed by the robot per unit time. The efficiency is affected by factors such as the movement speed of the robot, the performance of the mud suction device, and the characteristics of the silt. Calculate the amount of silt Q removed by the robot within a certain period of time eff , then it is expressed by the following formula:

[0084] Q eff = α·V robot ·A suction ·t operation ;

[0085] Q eff , the amount of silt removed by the robot per unit time;

[0086] α, the dredging efficiency coefficient, considering the fluidity of the silt and the efficiency of the mechanical device;

[0087] V robot , the movement speed of the robot;

[0088] A suction , the effective suction area of the mud suction device;

[0089] t operation , the dredging operation time;

[0090] Assume that the dredging robot uses a mud suction device, such as a dredging pump used in conjunction with a pipeline, then the mud suction flow rate is expressed by the following formula:

[0091]

[0092] Q flow , the flow rate of the dredging pump;

[0093] r, the radius of the mud suction pipeline;

[0094] ΔP, the pressure difference of the dredging pump;

[0095] u, the viscosity of the mud;

[0096] L, the length of the pipeline;

[0097] In step S3, the path planning model of the dredging robot considers factors such as the robot's motion trajectory, obstacles, working area, and dredging efficiency. Assume that the robot's motion trajectory is a path composed of several nodes P i and we want to optimize the path to minimize the total dredging time. The path planning model is represented by the following formula:

[0098]

[0099] T total , the total time of the dredging process;

[0100] d i,i+1 , the distance that the robot moves from node P i to node P i+1 ;

[0101] V robot , the running speed of the robot;

[0102] V suction , the mud suction speed of the dredging pump;

[0103] d j , the moving distance of the sediment in the chassis when the dredging pump is operating.

[0104] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and its components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The reason for not exhaustively describing the situations of these combinations in this specification is only to save space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A dredging robot, characterized in that: include: A traveling frame (100) serving as a supporting base frame, the top of the traveling frame (100) being connected to a collection box (110), and a connecting frame (111) being connected to the top of the traveling frame (100) corresponding to the front side of the collection box (110), and an end of the connecting frame (111) being arranged corresponding to the top of the collection box (110); The dredging assembly (200) is connected to the connecting frame (111), and comprises a driving motor (210) installed on the connecting frame (111), and a conveyor belt (220) rotatably connected to the connecting frame (111); the output end of the driving motor (210) is connected to the conveyor belt (220) and drives the conveyor belt (220) to move synchronously; and a plurality of comb plates (221) are connected to the outer side of the conveyor belt (220); The bottom of the inner side of the connecting frame (111) is connected to a base frame (230), a dredging pump (231) is installed in the base frame (230), a sewage outlet of the dredging pump (231) is connected to an output pipe (232), and the output pipe (232) is connected to the collection box (110).

2. A dredging robot according to claim 1, characterized in that: A solar photovoltaic panel (120) is connected to the top of the vehicle frame (100).

3. A dredging robot according to claim 2, characterized in that: A high-pressure spray assembly (300) is arranged on the top of the connecting frame (111), and the high-pressure spray assembly (300) comprises a water storage tank (310) connected to the top of the connecting frame (111), a high-pressure water pump (320) is connected to the water storage tank (310), a water pipe (321) is arranged at the output end of the high-pressure water pump (320), and the end of the water pipe (321) is connected to a high-pressure spray head (322).

4. A dredging method for a dredging robot, applied to the dredging robot according to any of the above claims, characterized in that: The steps are as follows: S1. Site survey and assessment. Before starting dredging, the robot operator conducts a site survey and assessment of the dredging area to understand the following factors: Water depth and bottom conditions: including water depth, thickness of silt layer, and properties of silt, such as hardness and density; Environmental characteristics: such as whether there are obstacles, water flow speed, and other potential dangers; Desilting objectives and requirements: Determine desilting objectives, such as the amount of silt to be removed, the area to be cleaned, and the duration of the work; S2. Robot deployment and positioning: deploy the robot from the shore to the underwater working area, and use the positioning system, such as laser radar, to accurately locate the robot and ensure that the robot can accurately navigate to the designated working area; S3: Start the dredging operation. The robot works according to the preset path and plan, which generally includes the following steps: Area division and operation path planning: Divide the dredging area into several sub-areas and plan the operation path of the dredging robot to ensure that each area can be effectively cleaned; During the collection operation, the robot drives the conveyor belt to rotate through the driving motor, and the conveyor belt cooperates with the comb plate to transport the silt. During the transportation process, part of the silt falls into the bottom frame, and large foreign objects in the silt will fall directly into the collection box; The sludge suction operation is carried out by the dredging pump to suck the sludge that falls into the bottom frame, and the sludge is sucked up from the bottom frame and sent to the collection box to avoid the dredging pump input port being stuck by foreign objects directly through the dredging pump; Spraying operation, using a high-pressure water pump to convert the water source in the water storage tank into a high-pressure water flow through a high-pressure nozzle and spray it onto the silt layer to loosen the silt and increase the dredging efficiency; S4. Real-time monitoring and feedback. During the dredging process, the robot collects real-time data through sensors and cameras, monitors the progress of the operation, and adjusts the working method based on real-time data feedback: Real-time monitoring of water quality: Check sediment concentration, pH value, and pollutants in the water to ensure that the working environment does not deteriorate; Adjust dredging strategy: According to the characteristics of silt, such as density and softness, adjust the parameters such as sludge suction flow, injection water pressure, robot speed, etc. to improve dredging efficiency.

5. A dredging method using a dredging robot according to claim 4, characterized in that: In step S4, the silt removal efficiency generally refers to the amount of silt removed by the robot per unit time. The efficiency is affected by the robot's movement speed, the performance of the sludge suction device, and the sludge characteristics. The amount of silt removed by the robot in a certain period of time Q is calculated. eff , then use the following formula to express it: Q eff =α·V robot ·A suction ·t operation ; Q eff , the amount of sludge removed by the robot per unit time; α, dredging efficiency coefficient, taking into account the fluidity of the sludge and the efficiency of the mechanical device; V robot , the robot's movement speed; A suction , the effective suction port area of ​​the mud suction device; t operation , desilting operation time; Assuming that the dredging robot uses a sludge suction device, such as a dredging pump in conjunction with a pipeline, the sludge suction flow rate is expressed by the following formula: Q flow , the flow rate of the dredging pump; r, radius of the sludge suction pipe; ΔP, pressure difference of the dredging pump; u, viscosity of mud; L, the length of the pipeline.

6. A dredging method using a dredging robot according to claim 5, characterized in that: In step S3, the path planning model of the dredging robot takes into account the robot's motion trajectory, obstacles, working area and dredging efficiency factors. It is assumed that the robot's motion trajectory is a path consisting of several nodes P i The path is composed of , and we want to optimize the path to minimize the overall dredging time. The path planning model is expressed by the following formula: T total , the total time of the dredging process; d i,i+1 , the robot from node P i Move to node P i+1 distance; V robot , robot running speed; V suction , the sludge suction speed of the dredging pump; d j , the distance the silt in the chassis moves when the dredging pump is operating.

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