A suction-type intelligent dredging robot for underground drainage pipes and a dredging method

Abstract

The present invention belongs to the field of dredging robots and specifically discloses a suction-type intelligent dredging robot for underground drainage pipes and a dredging method. The dredging robot consists of an in-pipe integrated robot and a manhole box. The in-pipe integrated robot includes a hardware structure and a software module. The hardware structure includes a mechanical component, a circuit component, a silt crushing component, a silt conveying component, and a fuselage. The software module includes an intelligent pipeline siltation diagnosis module. Siltation diagnosis is achieved by embedding a deep learning network-based drainage pipe siltation diagnosis module in a deep learning development board. A central command transceiver module is used to send silt removal operation instructions to a nail-faced electric hammer, a high-pressure water nozzle, a silt crushing knife, a silt extraction pipe, a silt discharge pipe, and a vacuum sewage pump. The present invention can realize automated and intelligent siltation diagnosis and dredging of underground drainage pipe networks within a certain maintenance area, greatly improving efficiency, eliminating the need for personnel to enter the pipes, and greatly reducing risks.

Description

Technical Field

[0001] The present invention relates to the field of dredging robots, and in particular to a suction-type intelligent dredging robot for underground drainage pipes and a dredging method. Background Art

[0002] Urban underground pipelines, encompassing various types of pipelines and supporting facilities, including those for water supply, drainage, gas, heat, electricity, communications, radio and television, and industry, are critical infrastructure that sustains urban operations and are considered the "lifeline" of cities. On the one hand, with the accelerating pace of urbanization, the number and scale of underground pipelines continue to expand, and their structure is becoming increasingly complex. On the other hand, due to long-term, intensive use, older underground pipelines have exposed numerous hidden dangers. In recent years, urban flooding, road collapses, and pipeline bursts caused by problems with underground pipeline networks have become frequent, threatening the lives and property of the people. Finding the most effective way to clean underground pipelines has become a major challenge facing urban underground pipeline management.

[0003] The operation of underground pipelines, especially their patency, is extremely important. Blockages, poor drainage, and other problems can cause significant disruption to people's normal work and daily lives. However, the complex environment within pipelines and the complex composition of sewage make cleaning within pipelines extremely unsuitable for manual labor. With the rapid development and widespread application of robotics technology, especially in special environments or those unsuitable for human work, using robots to replace humans in dangerous or difficult tasks has become a cutting-edge engineering practice. Adaptive pipeline robots offer high cleaning efficiency and good adaptability, giving them advantages over existing robots. However, current pipeline desilting robots generally have poor cleaning efficiency and cannot adapt to complex pipe conditions. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a suction-type intelligent dredging robot and dredging method for underground drainage pipes, which can realize the automated and intelligent operation of siltation diagnosis and dredging of underground drainage pipe networks in the maintenance area, greatly improving efficiency, eliminating the need for personnel to enter the pipelines, and greatly reducing the risk, thereby solving the problems mentioned in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a suction-type intelligent desilting robot for underground drainage pipes, the desilting robot comprising an in-pipe integrated robot and a manhole box; the in-pipe integrated robot comprising a hardware structure and a software module, wherein the hardware structure of the in-pipe integrated robot comprises a mechanical component, a circuit component, a sediment crushing component, a sediment conveying component, and a body, and the software module of the in-pipe integrated robot comprises an intelligent diagnosis module for pipeline sedimentation;

[0006] The mechanical components are provided in multiple groups, which are centrally symmetrically arranged on the outer shell of the fuselage with the central axis of the fuselage as the center of symmetry. The mechanical components include a telescopic rod, a driving wheel and a driven wheel, and the driving wheel and the driven wheel are both fixed to the outer shell of the fuselage through the telescopic rod.

[0007] Preferably, the sediment crushing assembly includes a nail-faced electric hammer, a high-pressure water nozzle, and a sediment crushing knife arranged on the fuselage; the nail-faced electric hammer is arranged on a metal sliding groove in the center of the front part of the fuselage and can move left and right and forward and backward; the high-pressure water nozzle is arranged on the front end of the bottom of the fuselage, and the sediment crushing knife is arranged on an annular metal sliding groove in the center of the bottom of the fuselage, and can move in a circular manner at the lower part of the fuselage. It is composed of multiple serrated blades, can extend up and down, and is circular in shape as a whole.

[0008] Preferably, the sludge conveying assembly includes a sludge suction pipe, a sludge discharge pipe and a vacuum sewage pump. The sludge suction pipe is arranged at the rear end of the bottom of the fuselage, the sludge discharge pipe is arranged at the rear center of the fuselage shell, and the vacuum sewage pump is arranged at a rear position inside the fuselage; the front end of the vacuum sewage pump is connected to the sludge suction pipe, and the rear end is connected to the sludge discharge pipe, which is used to transport the crushed sludge in the pipe to the outside.

[0009] Preferably, the circuit components include a ranging radar, a central command transceiver module, a three-axis gyroscope, a deep learning development board and an aviation plug-in interface. The ranging radar is arranged at the upper front part of the fuselage, the aviation plug-in interface is arranged at the upper rear part of the fuselage, and the central command transceiver module, the three-axis gyroscope and the deep learning development board are arranged inside the fuselage.

[0010] Preferably, the central command transceiver module is responsible for controlling the motor for controlling the active pulley, the three-axis gyroscope for attitude control, the ranging radar, the metal sliding groove, the annular metal sliding groove, the high-pressure water nozzle and the vacuum sewage suction pump;

[0011] The three-axis gyroscope is used to measure and sense the motion state of the robot integrated in the tube for the central command transceiver module to adjust its posture.

[0012] Preferably, the pipeline congestion intelligent diagnosis module adopts a stacked sparse autoencoder and a logistic regression classifier as the pipeline congestion intelligent diagnosis algorithm, and takes the drainage pipe flow characteristic index data as input, and the drainage pipe congestion length and congestion thickness as output; the pipeline congestion intelligent diagnosis module runs on a deep learning development board, and the deep learning development board outputs the pipeline congestion diagnosis results and transmits them to the central command transceiver module of the robot integrated in the pipe.

[0013] Preferably, the manhole box includes a box body, a box cover, a fixing claw, a lithium battery, a pipeline contactless liquid level meter, a 4G wireless communication module, a whip transmitting antenna and a floating towing cable; the lithium battery, 4G wireless communication module, the pipeline contactless liquid level meter and the whip transmitting antenna are all installed and fixed inside the box body.

[0014] Preferably, the 4G wireless communication module is used to receive the flow characteristic index data sent by the ground control console, and transmit the flow characteristic index data of the drainage pipe to the pipe congestion intelligent diagnosis module of the robot integrated in the pipe, and use it as data input for the pipe congestion intelligent diagnosis algorithm.

[0015] Preferably, the whip-shaped transmitting antenna is connected to the 4G wireless communication module to upload and download 4G wireless data; one end of the floating towing cable is connected to the pipeline contactless level meter, lithium battery, 4G wireless communication module and ground water source, and the other end is connected to the aerial plug interface; the box body and the box cover are fixed to the wall of the manhole by the fixing claws.

[0016] On the other hand, in order to achieve the above purpose, the present invention also provides the following technical solutions: a dredging method based on a suction-type underground drainage pipe intelligent dredging robot, comprising the following steps:

[0017] Step S101, transmitting the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board of the in-pipe integrated robot via a 4G wireless communication module;

[0018] In step S102, the pipeline congestion intelligent diagnosis module of the in-pipe integrated robot uses the pipeline inlet and outlet flow velocity / flow rate data in step S101 as input, runs on the deep learning development board of the in-pipe integrated robot, and outputs a pipeline congestion diagnosis result. When the congestion depth is greater than or equal to one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has occurred and desilting is required; when the congestion depth is less than one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has not occurred and desilting is not required.

[0019] In step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation results to the central command transceiver module of the in-pipe integrated robot. When the pipeline siltation diagnosis output indicates that siltation has occurred, the central command transceiver module controls the driving wheels and telescopic rod of the in-pipe integrated robot to move within the underground drainage pipe. During the movement, the central command transceiver module simultaneously activates the high-pressure water nozzle, silt crushing blade, annular metal sliding trough, silt extraction pipe, silt discharge pipe, and vacuum sewage suction pump to perform a coordinated silt removal operation.

[0020] Step S104: During the movement of the in-pipe integrated robot, the ranging radar of the in-pipe integrated robot detects in real time whether there is any pipe sediment higher than the sediment crushing blade of the in-pipe integrated robot;

[0021] In step S105, if the ranging radar detects in real time that the pipeline sediment is higher than the sediment crushing blade of the in-pipe integrated robot and the distance between them is less than 10 cm, the central command transceiver module of the in-pipe integrated robot controls the driving wheel to stop moving forward and simultaneously sends a work instruction to the nail-face electric hammer;

[0022] In step S106, after receiving the work command from the central command transceiver module, the nail-faced electric hammer uses the metal sliding groove to move up and down and left and right and hammer the pipeline sediment to crush it into small pieces of sediment. The sediment crushing blade then further crushes the small pieces of sediment into fine particles.

[0023] In step S107, the high-pressure water nozzle uses water flow to spray the fine particles obtained by the silt crushing knife, and the vacuum sewage pump sucks the mixed fluid of water flow and fine particles into the ground silt removal container through the silt extraction pipe and the silt discharge pipe. Repeat the above steps to complete the silt removal process of the underground drainage pipe.

[0024] The beneficial effects of the present invention are as follows: the central command transceiver module onboard the robot analyzes data and issues commands, enabling the mechanical device to adaptively move within the pipeline. The nail-faced electric hammer pushes the sediment, the high-pressure water nozzle sprays water, the sediment crushing blade crushes the sediment, and finally, the silt is extracted by the silt extraction pipe to achieve the silt removal effect. The present invention can achieve efficient pipeline silt removal, which is more efficient than existing pipeline silt removal machines, with lower labor costs and fewer safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is an assembly diagram of the in-pipe integrated robot provided in an embodiment of the present invention;

[0026] Figure 2 is a side view of an in-pipe integrated robot provided in an embodiment of the present invention;

[0027] Figure 3 This is a bottom view of the in-pipe integrated robot provided in an embodiment of the present invention;

[0028] Figure 4 is a front view of an in-tube integrated robot provided in an embodiment of the present invention;

[0029] Figure 5 is a rear view of the in-pipe integrated robot provided in an embodiment of the present invention;

[0030] Figure 6 1 is a hardware structure diagram of a manhole box provided in an embodiment of the present invention;

[0031] Figure 7 1 is a diagram showing the connection relationship between modules in the hardware structure of the manhole box provided in an embodiment of the present invention;

[0032] Figure 8 1 is a diagram showing the connection relationship between the in-pipe integrated robot and the manhole box provided in an embodiment of the present invention;

[0033] In the figure, 1- telescopic rod, 2- driving wheel, 3- driven wheel, 4- nail-face electric hammer, 5- high-pressure water nozzle, 6- sediment crushing knife, 7- silt extraction pipe, 8- silt discharge pipe, 9- vacuum sewage pump, 10- ranging radar, 11- central command transceiver module, 12- three-axis gyroscope, 13- deep learning development board, 14- aviation plug interface, 15- metal sliding groove, 16- annular metal sliding groove, 17- box body, 18- box cover, 19- fixing claw, 20- lithium battery, 21- non-contact level gauge for pipeline, 22- 4G wireless communication module, 23- whip transmitting antenna, 24- floating towing cable. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] It should be noted that, unless there is a conflict, the embodiments and features of the embodiments of the present invention may be combined with each other. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0036] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use, or are the orientations or positional relationships commonly understood by those skilled in the art. These terms are intended only to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0038] See also Figures 1-8 The present invention provides a technical solution: a suction-type intelligent desilting robot for underground drainage pipes, such as Figure 8 As shown, the dredging robot consists of two parts: an in-pipe integrated robot and a manhole box; the in-pipe integrated robot includes a hardware structure and a software module. The hardware structure of the in-pipe integrated robot includes a mechanical component, a circuit component, a sediment crushing component, a sediment conveying component and a fuselage. The software module of the in-pipe integrated robot includes an intelligent diagnosis module for pipeline sedimentation.

[0039] like Figure 2 and Figure 3 As shown, there are multiple groups of mechanical components, which are symmetrically arranged on the outer shell of the fuselage with the central axis of the fuselage as the center of symmetry. The mechanical components include a telescopic rod 1, a driving wheel 2 and a driven wheel 3. The driving wheel 2 and the driven wheel 3 are both fixed to the outer shell of the fuselage through the telescopic rod 1.

[0040] Furthermore, it is set up into three groups, each group includes a driving wheel 2 arranged in the front and a driven wheel 3 arranged in the back. The driving wheel 2 can adjust the direction mechanically and automatically through the motor to perform circumferential rotation motion, thereby driving the integrated robot in the tube to move forward and avoid obstacles.

[0041] like Figure 1 As shown, the sediment crushing assembly includes a nail-faced electric hammer 4, a high-pressure water nozzle 5, and a sediment crushing knife 6 arranged on the machine body. Figure 4 As shown, the nail-face electric hammer 4 is arranged on the metal sliding groove 15 in the center of the front part of the fuselage, and can move left and right and forward and backward; the high-pressure water nozzle 5 is arranged at the front end of the bottom of the fuselage, and the sediment crushing knife 6 is arranged on the annular metal sliding groove 16 in the center of the bottom of the fuselage, and can move in a circular manner at the lower part of the fuselage. It is composed of multiple serrated blades, can extend up and down, and is circular in shape as a whole.

[0042] The high-pressure water nozzle 5 can simultaneously provide high-pressure flushing for the crushing actions of the nail-face electric hammer 4 and the sediment crushing knife 6 to crush the sediment, making it convenient for the silt extraction pipe 7, the silt discharge pipe 8 and the vacuum sewage pump 9 to extract the crushed sediment out of the drainage pipe.

[0043] like Figure 5As shown, the silt conveying assembly includes a silt extraction pipe 7, a silt discharge pipe 8 and a vacuum sewage pump 9. The silt extraction pipe 7 is arranged at the rear end of the bottom of the fuselage, the silt discharge pipe 8 is arranged at the rear center of the fuselage shell, and the vacuum sewage pump 9 is arranged at the rear position inside the fuselage.

[0044] The front end of the vacuum sewage pump 9 is connected to the sludge extraction pipe 7, and the rear end is connected to the sludge discharge pipe 8, so as to transport the crushed sludge in the pipe to the outside.

[0045] like Figure 2 As shown, the circuit components include a ranging radar 10, a central command transceiver module 11, a three-axis gyroscope 12, a deep learning development board 13 and an aviation plug-in interface 14. The ranging radar 10 is arranged at the upper front part of the fuselage, the aviation plug-in interface 14 is arranged at the upper rear part of the fuselage, and the central command transceiver module 11, the three-axis gyroscope 12 and the deep learning development board 13 are arranged inside the fuselage.

[0046] The central command transceiver module 11 is responsible for controlling the motor for controlling the active pulley, the three-axis gyroscope 12 for attitude control, the ranging radar 10, the metal sliding groove 15, the annular metal sliding groove 16, the high-pressure water nozzle 5 and the vacuum sewage suction pump 9.

[0047] The three-axis gyroscope 12 is used to measure and sense the motion state of the integrated robot in the tube so that the central command transceiver module 11 can adjust its posture.

[0048] The pipeline congestion intelligent diagnosis module adopts a stacked sparse autoencoder and a logistic regression classifier as the pipeline congestion intelligent diagnosis algorithm, and takes the drainage pipe flow characteristic index data as input, and the drainage pipe congestion length and congestion thickness as output; the pipeline congestion intelligent diagnosis module runs on the deep learning development board 13, and the deep learning development board 13 outputs the pipeline congestion diagnosis results and transmits them to the central command transceiver module 11 of the integrated robot in the pipe.

[0049] like Figure 6 and Figure 7 As shown, the manhole box includes a box body 17, a box cover 18, a fixing claw 19, a lithium battery 20, a pipeline contactless liquid level meter 21, a 4G wireless communication module 22, a whip transmitting antenna 23 and a floating towing cable 24; the lithium battery 20, 4G wireless communication module 22, the pipeline contactless liquid level meter 21, and the whip transmitting antenna 23 are all installed and fixed inside the box body 17.

[0050] The suction-type intelligent dredging robot for underground drainage pipes can be powered by an external power supply. When an abnormality occurs in the external power supply, the manhole box automatically switches to the lithium battery 20 for power supply, thereby realizing dual-path redundancy of the power supply system.

[0051] The 4G wireless communication module 22 is used to receive the overflow characteristic index data sent by the ground control console, and transmit the overflow characteristic index data of the drainage pipe to the pipe congestion intelligent diagnosis module of the robot integrated in the pipe, and use it as data input for the pipe congestion intelligent diagnosis algorithm.

[0052] The whip transmitting antenna 23 is connected to the 4G wireless communication module 22 to upload and download 4G wireless data.

[0053] like Figure 8 As shown, one end of the floating towing cable 24 is connected to the pipeline contactless level meter 21, the lithium battery 20, the 4G wireless communication module 22 and the ground water source, and the other end is connected to the aerial plug interface 14.

[0054] The box body 17 and the box cover 18 are fixed to the wall of the manhole through the fixing claws 19.

[0055] Based on the same inventive concept as the above method embodiment, a dredging method for dredging underground drainage pipes using the above suction-type intelligent dredging robot includes the following steps:

[0056] Step S101, transmitting the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board 13 of the in-pipe integrated robot via the 4G wireless communication module 22;

[0057] In step S102, the pipeline congestion intelligent diagnosis module of the in-pipe integrated robot uses the pipeline inlet and outlet flow velocity / flow rate data in step S101 as input, runs on the deep learning development board of the in-pipe integrated robot, and outputs a pipeline congestion diagnosis result. When the congestion depth is greater than or equal to one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has occurred and desilting is required; when the congestion depth is less than one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has not occurred and desilting is not required.

[0058] In step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation result to the central command transceiver module 11 of the in-pipe integrated robot. When the pipeline siltation diagnosis result outputs that siltation has occurred, the central command transceiver module 11 controls the driving wheels 2 and telescopic rod 1 of the in-pipe integrated robot to move within the underground drainage pipe. During the movement, the central command transceiver module 11 simultaneously activates the high-pressure water nozzle 5, the silt crushing blade 6, the annular metal sliding groove 16, the silt extraction pipe 7, the silt discharge pipe 8, and the vacuum sewage pump 9 to perform a coordinated silt removal operation.

[0059] Step S104: During the movement of the in-pipe integrated robot, the ranging radar 10 of the in-pipe integrated robot detects in real time whether there is any pipe sediment higher than the sediment crushing blade 6 of the in-pipe integrated robot;

[0060] In step S105, if the ranging radar 10 detects in real time that the pipeline sediment is higher than the sediment crushing blade 6 of the in-pipe integrated robot and the distance between them is less than 10 cm, the central command transceiver module 11 of the in-pipe integrated robot controls the driving wheel 2 to stop moving forward and sends a work instruction to the nail-face electric hammer 4;

[0061] Step S106: After receiving the work instruction from the central instruction transceiver module 11, the nail-faced electric hammer 4 uses the metal sliding groove 15 to move up and down and left and right and hammer the pipeline sediment to crush it into small pieces. The sediment crushing blade 6 then further crushes the small pieces of sediment into fine particles.

[0062] In step S107, the high-pressure water nozzle 5 uses water flow to spray the silt crushing blade 6 to crush the fine particles, and the vacuum sewage pump 9 sucks the mixed fluid of water flow and fine particles into the ground silt removal container through the silt extraction pipe 7 and the silt discharge pipe 8. Repeat the above steps to complete the silt removal process of the underground drainage pipe.

[0063] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A suction-type intelligent dredging robot for underground drainage pipes, characterized in that: The dredging robot consists of two parts: an in-pipe integrated robot and a manhole box; the in-pipe integrated robot includes a hardware structure and a software module. The hardware structure of the in-pipe integrated robot includes a mechanical component, a circuit component, a sediment crushing component, a sediment conveying component and a fuselage; the software module of the in-pipe integrated robot includes an intelligent diagnosis module for pipeline sedimentation; The mechanical components are provided in multiple groups, and are centrally symmetrically arranged on the outer shell of the fuselage with the central axis of the fuselage as the symmetry center. The mechanical components include a telescopic rod (1), a driving wheel (2) and a driven wheel (3), and the driving wheel (2) and the driven wheel (3) are both fixed to the outer shell of the fuselage through the telescopic rod (1); The sediment crushing assembly comprises a nail-faced electric hammer (4), a high-pressure water jet (5), and a sediment crushing knife (6) arranged on the machine body; the nail-faced electric hammer (4) is arranged on a metal sliding groove (15) at the center of the front part of the machine body and can move left and right and forward and backward; the high-pressure water jet (5) is arranged at the front end of the bottom of the machine body, and the sediment crushing knife (6) is arranged on an annular metal sliding groove (16) at the center of the bottom of the machine body and can move in an annular manner at the lower part of the machine body, and is composed of a plurality of serrated blades, which can be extended up and down and are circular in shape as a whole; The silt transport assembly comprises a silt extraction pipe (7), a silt discharge pipe (8) and a vacuum sewage pump (9), wherein the silt extraction pipe (7) is arranged at the rear end of the bottom of the fuselage, the silt discharge pipe (8) is arranged at the center of the rear part of the fuselage shell, and the vacuum sewage pump (9) is arranged at a rearward position inside the fuselage; the front end of the vacuum sewage pump (9) is connected to the silt extraction pipe (7), and the rear end is connected to the silt discharge pipe (8), and is used to transport the crushed sludge in the pipe outward; The circuit assembly comprises a ranging radar (10), a central command transceiver module (11), a three-axis gyroscope (12), a deep learning development board (13) and an aviation plug-in interface (14); the ranging radar (10) is arranged at a slightly upper front portion of a fuselage; the aviation plug-in interface (14) is arranged at a slightly upper rear portion of a fuselage; and the central command transceiver module (11), the three-axis gyroscope (12) and the deep learning development board (13) are arranged inside the fuselage; The central command transceiver module (11) is responsible for controlling the motor for controlling the active pulley, the three-axis gyroscope (12) for attitude control, the ranging radar (10), the metal sliding groove (15), the annular metal sliding groove (16), the high-pressure water nozzle (5) and the vacuum sewage suction pump (9); The three-axis gyroscope (12) is used to measure and sense the motion state of the integrated robot in the tube for the central command transceiver module (11) to perform posture adjustment; The pipeline siltation intelligent diagnosis module adopts a stacked sparse autoencoder and a logistic regression classifier as a pipeline siltation intelligent diagnosis algorithm, and takes drainage pipeline flow characteristic index data as input, and drainage pipeline siltation length and siltation thickness as output; the pipeline siltation intelligent diagnosis module runs on a deep learning development board (13), and the deep learning development board (13) outputs the pipeline siltation diagnosis result and transmits it to the central command transceiver module (11) of the in-pipe integrated robot; The manhole box comprises a box body (17), a box cover (18), a fixing claw (19), a lithium battery (20), a pipeline contactless liquid level meter (21), a 4G wireless communication module (22), a whip-shaped transmitting antenna (23), and a floating towing cable (24); the lithium battery (20), the 4G wireless communication module (22), the pipeline contactless liquid level meter (21), and the whip-shaped transmitting antenna (23) are all installed and fixed inside the box body (17); The 4G wireless communication module (22) is used to receive the overflow characteristic index data sent by the ground control console, and transmit the overflow characteristic index data of the drainage pipe to the pipe siltation intelligent diagnosis module of the in-pipe integrated robot, and use it as data input for the pipe siltation intelligent diagnosis algorithm; The whip-shaped transmitting antenna (23) is connected to the 4G wireless communication module (22) to upload and download 4G wireless data; one end of the floating towing cable (24) is connected to the pipeline contactless level meter (21), the lithium battery (20), the 4G wireless communication module (22) and the ground water source, and the other end is connected to the aerial plug interface (14); the box body (17) and the box cover (18) are fixed to the wall of the manhole by the fixing claw (19).

2. A dredging method based on the suction-type intelligent dredging robot for underground drainage pipes according to claim 1, characterized in that: The steps include: Step S101, transmitting the received pipeline inlet and outlet flow velocity / flow rate data to the deep learning development board (13) of the in-pipe integrated robot via the 4G wireless communication module (22); In step S102, the pipeline congestion intelligent diagnosis module of the in-pipe integrated robot uses the pipeline inlet and outlet flow velocity / flow rate data in step S101 as input, runs on the deep learning development board of the in-pipe integrated robot, and outputs a pipeline congestion diagnosis result. When the congestion depth is greater than or equal to one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has occurred and desilting is required; when the congestion depth is less than one-quarter of the pipe diameter, the pipeline congestion diagnosis result outputs that congestion has not occurred and desilting is not required. In step S103, the pipeline siltation intelligent diagnosis module of the in-pipe integrated robot transmits the pipeline siltation result to the central command transceiver module (11) of the in-pipe integrated robot; when the pipeline siltation diagnosis result outputs that siltation has occurred, the central command transceiver module (11) controls the driving wheel (2) and telescopic rod (1) of the in-pipe integrated robot to move in the underground drainage pipeline. During the movement, the central command transceiver module (11) simultaneously activates the high-pressure water nozzle (5), the silt crushing knife (6), the annular metal sliding groove (16), the silt extraction pipe (7), the silt discharge pipe (8) and the vacuum sewage pump (9) to perform a coordinated silt removal operation; Step S104, during the movement of the in-pipe integrated robot, the ranging radar (10) of the in-pipe integrated robot detects in real time whether there is any pipeline sediment higher than the sediment crushing blade (6) of the in-pipe integrated robot; Step S105: If the ranging radar (10) detects in real time that the pipeline sediment is higher than the sediment crushing blade (6) of the in-pipe integrated robot and the distance between the two is less than 10 centimeters, the central command transceiver module (11) of the in-pipe integrated robot controls the driving wheel (2) to stop moving forward and sends a work instruction to the nail-face electric hammer (4); In step S106, after receiving the working instruction sent by the central instruction transceiver module (11), the nail-face electric hammer (4) uses the metal sliding groove (15) to move up and down and left and right and hammer the pipeline sediment to crush it into small pieces of sediment, and then the sediment crushing knife (6) further crushes the small pieces of sediment into fine particles; In step S107, the high-pressure water nozzle (5) uses water flow to spray the fine particles obtained by the sediment crushing knife (6), and the vacuum sewage pump (9) sucks the mixed fluid of water flow and fine particles into the ground desilting container through the silt extraction pipe (7) and the silt discharge pipe (8). The above steps are repeated to complete the desilting process of the underground drainage pipe.

Images