Dredging robot control system and method

Abstract

The invention relates to the technical field of robot control, and discloses a desilting robot control system and method.The control system comprises a control module, a hydraulic station module, a valve bank module, a hydraulic detection module and a robot; the robot comprises a walking mechanism, a vehicle body and a bucket. The bucket is provided with a bucket body, a spiral auger is arranged in the bucket body, a silt discharging opening of the bucket body is connected with a discharging pipe, a filter screen is arranged in the bucket body, a driving shaft is arranged between the filter screen and the spiral auger, the driving shaft is connected with a hydraulic motor, the driving shaft is sleeved with a sleeve in a threaded connection mode, the sleeve is connected to the bucket body in a sliding mode, and a plurality of crushing cutter sets are arranged on the sleeve; the walking mechanism comprises a front walking wheel and a rear walking wheel and is driven by a hydraulic motor; the control module is simultaneously connected with the hydraulic station module and the valve group module, the valve group module is connected with the hydraulic station module, the hydraulic station module is connected with the hydraulic motor, and the hydraulic detection module is connected with the control module. The problem that an existing desilting robot is low in desilting operation efficiency can be solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a dredging robot control system and a control method. Background Art

[0002] During operation, an aluminum electrolytic plant requires a water reservoir to cool down or cool down system equipment to ensure efficient operation. After long-term operation, the reservoir tends to accumulate silt. If this silt is not cleaned, it can flow into the equipment with the water flow, causing equipment failure. Therefore, regular desilting of the reservoir is essential.

[0003] Currently, desilting of reservoirs is mainly done manually, which has the problems of low efficiency, poor working environment, incomplete desilting and poor desilting quality.

[0004] To effectively avoid the low efficiency of manual dredging, dredging robots are being developed to replace manual dredging. However, current dredging robots are motor-driven, and operating underwater poses a risk of electrical leakage. Therefore, the reservoir must be drained before the robot can begin dredging. However, production in a workshop is continuous, and draining the reservoir means stopping production, which seriously affects production efficiency. Summary of the Invention

[0005] The present invention aims to provide a dredging robot control system and control method to solve the problem that existing dredging robots need to empty the water tank for dredging operations, which affects the production efficiency of the workshop.

[0006] To achieve the above-mentioned object, the present invention adopts the following technical solution: a dredging robot control system includes a control module, a hydraulic station module, a valve group module, a hydraulic detection module and a robot; The robot includes a walking mechanism, a body and a bucket, the body is located above the walking mechanism, and the bucket is arranged on the front side of the body; the bucket has a bucket body, a spiral auger is arranged to rotate in the bucket body, the end of the spiral auger is connected to a hydraulic motor, a spiral blade is fixed on the spiral auger, and the spiral blades on both sides of the spiral auger rotate in opposite directions, a silt discharge port is provided in the middle of the bucket body, the silt discharge port is connected to a discharge pipe, the discharge pipe is connected to a suction pump, and the suction pump is driven by a hydraulic motor, a filter is provided in the bucket body, and there is a distance between the filter screen and the silt discharge port and between the filter screen and the spiral auger, a drive shaft is provided between the filter screen and the spiral auger, the drive shaft is connected to the hydraulic motor, a casing is sleeved and threaded on the drive shaft, and the casing is slidably connected to the bucket body at the same time, a plurality of groups of crushing knife groups are fixed on the casing, and the plurality of groups of crushing knife groups are arranged in sequence along the axial direction of the casing, each group of crushing knife groups includes a plurality of blades, and the blades are distributed in a circular array around the axial direction of the casing; The traveling mechanism includes a front traveling wheel and a rear traveling wheel, a crawler track is sleeved between the front traveling wheel and the rear traveling wheel, and the front traveling wheel and the rear traveling wheel are each driven by another hydraulic motor; The control module is connected to the hydraulic station module and the valve group module at the same time. The valve group module is also connected to the hydraulic station module. The hydraulic station module is connected to the hydraulic motor. The hydraulic detection module is also connected to the control module. The hydraulic detection module includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic motor.

[0007] The principles of this program are: When the robot is operating, the control module controls the valve group module to adjust the liquid pressure sent by the hydraulic station module to the hydraulic motor, so that the hydraulic motor works at the expected speed and rotation direction, and then controls the walking structure to move, controls the spiral auger to push the silt, controls the drive shaft to rotate to crush the silt, and controls the suction pump to suck away the silt.

[0008] The walking mechanism controls the robot to walk in the reservoir to perform dredging operations, and the bucket is used to remove and clean the silt.

[0009] During bucket operation, the spiral blades on both sides push the silt toward the center of the bucket and discharge it through the silt discharge port. During this process, a filter is installed within the bucket to filter the silt at the discharge port, preventing large, hard silt clumps from being discharged directly into the discharge port, thereby preventing clogging. Furthermore, in this solution, the rotation of the drive shaft causes the casing to slide axially along the drive shaft, driving the crushing blade group within the bucket. This breaks up large, hard silt clumps within the bucket, and multiple crushing blade groups break up silt clumps sequentially, enhancing the crushing effect and facilitating their removal. The combined crushing and pushing action of the spiral auger allows the crushed silt to pass through the filter and be discharged from the discharge port, effectively clearing the silt clumps. A suction pump draws the silt out of the discharge pipe and discharges it, thus achieving automatic desilting of the reservoir.

[0010] During the robot's dredging process, the pressure sensor detects the pressure value of the hydraulic pressure delivered by the hydraulic station module to the hydraulic motor, and sends the pressure value information to the control module. The control module compares the received pressure value with the pressure value required for the robot operation, and controls the valve group module to change the pressure according to the operation requirements, thereby achieving the purpose of adjusting and controlling the operation mode of the hydraulic cylinder.

[0011] The advantages of this solution are: 1. Hydraulic control technology is used to power the robot, so that the robot can operate directly underwater, avoiding the tedious operation of emptying the reservoir in advance for dredging, ensuring the continuous operation of the workshop and improving the efficiency of dredging operations.

[0012] 2. The control module realizes automatic adjustment and control of the working state of the hydraulic cylinder, making the robot's operation mode flexible and adjustable.

[0013] 3. When the robot is performing dredging operations, it can prevent large and hard silt clumps from directly entering the silt outlet and causing blockage of the silt outlet.

[0014] 4. It can crush larger and harder silt clumps so that they can be cleaned normally, thus enhancing the effect of silt cleaning.

[0015] Preferably, as an improvement, the bucket is rotatably connected to the vehicle body, a hydraulic cylinder is provided on the vehicle body, a cylinder seat of the hydraulic cylinder is rotatably set on the vehicle body, a drive shaft of the hydraulic cylinder is rotatably connected to the bucket body, the hydraulic cylinder is connected to the hydraulic station module, and the hydraulic detection module also includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic cylinder.

[0016] Through the above solution, the hydraulic cylinder can drive the bucket to rotate, making the bucket work dynamically. In this way, the bucket can clear silt in different directions, ensuring the cleaning effect of the reservoir. Using hydraulic cylinder control, the robot can directly perform underwater operations, making it possible to start silting operations directly without emptying the reservoir in advance, ensuring silt removal efficiency.

[0017] Preferably, as an improvement, the bucket body is provided with an interlayer, and a through hole is provided on the side wall of the interlayer facing the inside of the bucket body, both ends of the drive shaft and both ends of the sleeve pass through the through hole and extend into the interlayer, the two ends of the sleeve are threadedly connected to the drive shaft, and at the same time, the two ends of the sleeve are slidingly connected to the inner wall of the interlayer of the bucket body; a cone is fixed on the edge of the through hole, one end of the cone connected to the through hole is a large diameter end, and the other end is a small diameter end, a scraper ring is provided at the small diameter end, and the sleeve passes through the scraper ring and the cone; the blades on adjacent crushing knife groups are staggered; the blades have two inclined surfaces facing the two sides of the bucket body respectively, and the cross-section of the blade is triangular or diamond-shaped.

[0018] With this solution, both ends of the drive shaft and the sleeve are positioned within the interlayer, and the threaded connection between the sleeve and the drive shaft is also achieved through these connections. This provides a barrier and protection against sludge contacting the threaded connection and potentially causing failure. Similarly, the sleeve's ends are slidably connected to the inner wall of the interlayer of the bucket body, preventing sludge from contacting the sliding connection and ensuring the sleeve can slide properly on the drive shaft. The tapered cylinder blocks sludge, preventing it from sliding into the interlayer along with the sleeve. When the sleeve slides relative to the drive shaft, a portion of the sleeve passes through the bucket body into the interlayer. The smaller diameter section of the tapered cylinder and the scraper ring scrape off any sludge adhering to this portion of the sleeve, allowing for cleaner entry into the interlayer and preventing it from interfering with the internal components. The staggered arrangement of the crushing blade groups allows the sludge clumps to be crushed from different angles, improving the efficiency of sludge treatment. The inclined surface facilitates the blade's entry into the sludge mass, thereby improving the sludge mass treatment effect. The triangular or diamond-shaped blade has sharp edges on both sides, making it easier for the blade to enter the sludge mass, quickly breaking it up, improving the crushing efficiency, and increasing the degree of sludge crushing.

[0019] Preferably, as an improvement, the hydraulic station module includes a pump device and a main oil tank, and the pump device includes a motor and an oil pressure pump; The input shaft of the hydraulic pump is fixed to the output shaft of the motor, and the motor is used to control the operation of the hydraulic pump; the hydraulic pump is connected to the main oil tank to pump the hydraulic oil; the hydraulic pump is connected to the control module; The valve group module includes a first directional valve disposed between the oil pump and the hydraulic cylinder, the first directional valve having a first inlet, a second inlet, a first outlet, and a second outlet; the oil pump is connected to the first inlet via an oil pipe, the hydraulic cylinder has two hydraulic chambers, the two hydraulic chambers are connected to the first outlet and the second inlet respectively, and the second outlet is connected to the oil storage tank; The valve group module also includes a second directional valve arranged between the oil pump and the hydraulic motor. The second directional valve is provided with a third inlet, a fourth inlet, a third outlet and a fourth outlet. The oil pump is connected to the third inlet through an oil pipe. The hydraulic motor also has two hydraulic chambers, which are respectively connected to the third outlet and the fourth inlet. The fourth outlet is also connected to the oil storage tank.

[0020] With this solution, the hydraulic pump pressurizes the hydraulic oil from the main tank into the oil pipe, where it is transported through the pipe to one hydraulic chamber of the hydraulic cylinder and hydraulic motor, controlling their operation. The hydraulic motor and hydraulic cylinder adjust their internal pressure as needed, forcing the hydraulic oil in the other hydraulic chamber into the reservoir to achieve the desired pressure. When reverse control is required, the control module controls the directional valve, redirecting the hydraulic oil flow so that the hydraulic oil in the reservoir enters the hydraulic chamber and the hydraulic oil in the other hydraulic chamber flows back, matching the pressure and power requirements of the robot during operation.

[0021] Preferably, as an improvement, the valve group module further comprises a pressure valve provided on the oil pipe and close to the oil pressure pump, the outlet of the pressure valve is connected to an oil return pipe, and the oil return pipe is connected to a spare oil tank.

[0022] Through the above scheme, the pressure valve is used to control and adjust the oil pipeline delivery pressure so that the pressure matches the robot's operating requirements. When the oil pipeline pressure is high, the pressure valve is controlled and adjusted through the control module to discharge part of the hydraulic oil into the spare oil tank through the return oil pipe, thereby adjusting the hydraulic oil pressure to meet the needs.

[0023] Preferably, as an improvement, a filter is connected between the hydraulic pump and the oil tank; the main oil tank and the oil storage tank, as well as the main oil tank and the spare oil tank are all connected.

[0024] Through this solution, the filter is used to filter the hydraulic oil, ensuring that the hydraulic oil flowing into the hydraulic cylinder and hydraulic motor is clean, ensuring the normal operation of all equipment in the system. The hydraulic oil in the oil storage tank and the backup tank can be returned to the main oil tank for unified storage, thus facilitating the centralized processing of hydraulic oil.

[0025] Preferably, as an improvement, an isolation net is provided in the main oil tank, and the portion where the hydraulic pump is connected to the main oil tank, and the portions where the oil storage tank and the spare oil tank are connected to the main oil tank are all located on the same side of the isolation net.

[0026] Through the above solution, the isolation net can filter the hydraulic oil so that the hydraulic oil flowing into the hydraulic pump, oil storage tank and spare oil tank is free of impurities, thereby preventing impurities from entering the equipment and ensuring the normal operation of the equipment.

[0027] Preferably, as an improvement, the isolation net is conical, and the tip of the isolation net is toward the side where the hydraulic pump is connected to the main oil tank; the filter holes on the isolation net are all L-shaped; the aperture of the filter hole at one end facing the hydraulic pump is larger than the aperture at the other end.

[0028] The above solution utilizes a tapered isolation screen, which provides a larger filtration area and facilitates hydraulic oil filtration. The L-shaped filter holes allow the hydraulic oil to travel a longer path through the isolation screen than through straight holes, which helps slow the oil's movement. Furthermore, the curved L-shaped filter holes effectively block impurities, thus facilitating hydraulic oil filtration. The different pore sizes at each end of the filter holes effectively slow the oil's movement, facilitating filtration.

[0029] Preferably, as an improvement, the walking mechanism also includes a front drive shaft connecting the front walking wheels on both sides and a rear drive shaft connecting the rear walking wheels on both sides. The front drive shaft and the rear drive shaft are both provided with a dual-axis inclination sensor, and the dual-axis inclination sensor is connected to the control module.

[0030] Through the above solution, the dual inclination sensors can provide real-time feedback on the robot's movement posture in the mud, so that the controller can make adaptive walking adjustments to the walking mechanism.

[0031] In addition, the present invention provides a dredging robot control method, the technical solution is as follows: The hydraulic station module provides pressure to each hydraulic motor and hydraulic cylinder, so that each hydraulic cylinder and hydraulic motor works, and the robot moves in the water reservoir while removing the silt through the bucket, so that the silt is pumped out by the suction pump; The pressure sensor detects the pressure value of the hydraulic pressure delivered by the hydraulic station module to the hydraulic motor and hydraulic cylinder, and the detection result is sent to the control module. When the robot needs to remove silt through the bucket or needs to suck away the silt, the control module adjusts and controls the valve group module to change the hydraulic pressure of the corresponding hydraulic motor and hydraulic cylinder, so that the robot is in a suitable working state; At the same time, the inclination angles of the front and rear drive shafts are detected by a dual-axis inclination sensor, and the detection results are sent to the control module. When the robot needs to turn or climb and needs to adjust the inclination angle, the control module adjusts and controls the valve group module to change the hydraulic pressure of the hydraulic motors connected to the front and rear wheels, so that the robot is in a suitable inclination state.

[0032] Through the above scheme, the robot can be controlled for underwater operations, realizing automatic dredging operations of the robot underwater and improving dredging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the robot's structure.

[0034] Figure 2 A schematic diagram of the side structure of the bucket.

[0035] Figure 3This is a schematic diagram of the bucket's top structure, showing the internal state of the bucket when it is cut.

[0036] Figure 4 for Figure 3 Enlarged view of part A in the middle.

[0037] Figure 5 This is the control schematic diagram of the hydraulic station module and valve group module.

[0038] Figure 6 Schematic diagram of the main fuel tank structure.

[0039] Figure 7 for Figure 6 Enlarged view of part B in the middle.

[0040] Figure 8 This is the control principle diagram of the control system.

[0041] The figure marks in the drawings of the specification include: bucket body 1, spiral auger 2, spiral blade 3, silt discharge port 4, discharge pipe 5, filter screen 6, hydraulic motor 7, drive shaft 8, casing 9, crushing knife group 10, blade 11, interlayer 12, cone 13, scraper ring 14, inclined surface 15, front walking wheel 16, rear walking wheel 17, crawler 18, walking mechanism 19, body 20, bucket 21, hydraulic cylinder 22, hydraulic pump 23, first directional valve 26, first inlet 27, second inlet 28, first outlet 29, second outlet 30, oil storage tank 31, pressure valve 32, second directional valve 33, third inlet 34, fourth inlet 35, third outlet 36, fourth outlet 37, return oil pipe 38, spare oil tank 39, filter 40, main oil tank 41, isolation net 42, filter hole 43. DETAILED DESCRIPTION

[0042] The following is further described in detail through specific embodiments, but the embodiments of the present invention are not limited thereto. Unless otherwise specified, the technical means used in the following embodiments are conventional means well known to those skilled in the art; the experimental methods used are all conventional methods; and the materials, reagents, etc. used are all commercially available.

[0043] Example 1 Automatic desilting system for water reservoir in foundry workshop, combined with Figure 8 As shown, the system includes a control module, a hydraulic station module, a valve block module, a hydraulic detection module, and a robot. The hydraulic station module is located near the reservoir and provides power to the system. The control module in this embodiment uses a PLC controller, Siemens CPU 1215C AC / DC / Rly plus. This CPU offers excellent stability and data processing capabilities, as well as wide operating temperature. It is primarily responsible for data acquisition, logic operations within each module, data communication, and robot posture control.

[0044] like Figure 1 As shown, the robot includes a walking mechanism 19, a body 20 and a bucket 21. The body 20 is located above the walking mechanism 19, and the bucket 21 is provided on the front side of the body 20. In this embodiment, the bucket 21 is rotatably connected to the body 20. A hydraulic cylinder 22 is provided on the body 20. The cylinder seat of the hydraulic cylinder 22 is rotatably provided on the body 20. The hydraulic cylinder 22 is connected to the hydraulic station module. The hydraulic detection module includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic cylinder 22. The pressure sensor in this embodiment uses the sinomeasure DUP-P300 pressure transmitter. The bucket has a bucket body 1, and the drive shaft 8 of the hydraulic cylinder 22 is rotatably connected to the bucket body 1. Combined Figure 2 and Figure 3 As shown, a spiral auger 2 is rotated in the bucket body 1. In actual application, the spiral auger 2 is connected to a hydraulic motor 7. A spiral blade 3 is fixed on the spiral auger 2, and the spiral blades 3 on both sides of the spiral auger 2 rotate in opposite directions. A silt discharge port 4 is provided in the middle of the bucket body 1. The silt discharge port 4 is connected to a discharge pipe 5. The discharge pipe 5 is connected to a suction pump. The suction pump is driven by a hydraulic motor 7. A filter screen 6 is provided inside the bucket body 1. There is a distance between the filter screen 6 and the silt discharge port 4, and between the filter screen 6 and the spiral auger 2. A drive shaft 8 is provided between the filter screen 6 and the spiral auger 2. The drive shaft 8 is also connected to the hydraulic motor 7. A sleeve 9 is sleeved and threaded on the drive shaft 8. The sleeve 9 is simultaneously slidably connected to the bucket body 1. A plurality of crushing knife groups 10 are fixed on the sleeve 9. Figure 4 As shown, multiple groups of crushing knife groups 10 are sequentially arranged along the axial direction of the casing 9. Each group of crushing knife groups 10 includes multiple blades 11, and the blades 11 are distributed in a ring array around the axis direction of the casing 9.

[0045] The bucket body 1 is provided with an interlayer 12. The interlayer 12 has a through hole on its side wall facing the inside of the bucket body 1. Both ends of the drive shaft 8 and both ends of the sleeve 9 pass through the through hole and extend into the interlayer 12. The ends of the sleeve 9 are threadedly connected to the drive shaft 8. At the same time, the ends of the sleeve 9 are slidably connected to the inner wall of the interlayer 12 of the bucket body 1. A cone 13 is fixed on the edge of the through hole. The end of the cone 13 connected to the through hole is the large diameter end, and the other end is the small diameter end. A scraper ring 14 is provided on the small diameter end. The sleeve 9 passes through the scraper ring 14 and the cone 13. Figure 4 As shown, the blades 11 on adjacent crushing knife groups 10 are staggered. The blades 11 have two inclined surfaces 15 facing the two sides of the bucket body 1. The cross section of the blade 11 is triangular or rhombus-shaped. Figure 4 The cross section of the blade 11 is shown as a diamond. The crushing blade group 10 is close to the middle of the bucket body 1.

[0046] The traveling mechanism 33 comprises a front traveling wheel 16 and a rear traveling wheel 17, wherein a crawler track 18 is sleeved between the front traveling wheel 16 and the rear traveling wheel 17. The front traveling wheel and the rear traveling wheel are each driven by another hydraulic motor 7 respectively.

[0047] The control module is connected to the hydraulic station module and the valve group module at the same time. The valve group module is also connected to the hydraulic station module. The hydraulic station module is connected to the hydraulic motor 7. The hydraulic detection module is also connected to the control module. The hydraulic detection module also includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic motor 7. The pressure sensor also uses a Sinomeasure DUP-P300 pressure transmitter.

[0048] In actual use of this embodiment, when the robot is operating, the control module controls the valve block module to adjust the fluid pressure delivered by the hydraulic station module to the hydraulic motor 7 and hydraulic cylinder 22, so that the hydraulic motor 7 and hydraulic cylinder 22 operate at the desired speed and direction. This in turn controls the travel mechanism, the auger 2 to push the silt, the drive shaft 8 to rotate to break up the silt, and the suction pump to remove the silt. The travel mechanism 19 controls the robot's movement within the reservoir to perform silt removal operations, and the bucket 21 is used to remove and clean the silt.

[0049] When the bucket 21 is desilting the reservoir, the spiral auger 2 rotates under the action of the hydraulic motor 7 and transports the silt from both sides of the bucket body 1 to the middle. Under the action of the suction pump, the silt passes through the filter screen 6 and enters the silt discharge port 4, and is sucked into the discharge pipe 5 from the silt discharge port 4 for discharge. During this process, the hydraulic motor 7 controls the drive shaft 8 to rotate back and forth. The sleeve 9 is connected to the bucket body 1 due to sliding. At this time, the sleeve 9 slides horizontally along the axial direction of the drive shaft 8 under the push of the thread on the drive shaft 8, so that multiple groups of crushing knife groups 10 pass through the silt mass. The multiple groups of crushing knife groups 10 crush the silt mass in turn, thereby enhancing the processing effect of the silt mass. The multiple blades 11 in the crushing knife group 10 also crush the silt mass respectively. The inclined surface 15 on the blade 11 makes it easier for the blade 11 to enter the silt mass, thereby ensuring the crushing effect of the silt mass. The crushed sludge is reduced to a small volume by the combined action of the auger 2 and the blade 11, and is eventually sucked through the filter 6 and discharged into the discharge pipe 5. The hydraulic cylinder 22 can control the rotation of the bucket 21, so that the bucket 21 can work dynamically, so that the bucket 21 can clean the sludge in different directions, ensuring the cleaning effect of the water tank.

[0050] During the robot dredging process, each pressure sensor detects the pressure value of the hydraulic pressure delivered by the hydraulic station module to each hydraulic motor 7, and sends the pressure value information to the control module. The control module compares the received pressure value with the pressure value required for the robot operation, and controls the valve group module to change the pressure according to the operation requirements, thereby achieving the purpose of adjusting and controlling the operation mode of the hydraulic cylinder 22.

[0051] Example 2 This embodiment is based on the above embodiment and combines Figure 5 As shown, the hydraulic station module includes a pump unit and a main oil tank 41. The pump unit includes a motor and a hydraulic pump 23. The input shaft of the hydraulic pump 23 is fixed to the motor output shaft, and the motor is used to control the operation of the hydraulic pump 23. The hydraulic pump 23 is connected to the main oil tank 41 to pump hydraulic oil. The hydraulic pump 23 is also connected to the control module.

[0052] The valve group module includes a first directional valve 26 arranged between the oil pump 23 and the hydraulic cylinder 22. The first directional valve 26 is provided with a first inlet 27, a second inlet 28, a first outlet 29 and a second outlet 30; the oil pump 23 is connected to the first inlet 27 through an oil pipe, and the hydraulic cylinder 22 has two hydraulic chambers, which are respectively connected to the first outlet 297 and the second inlet 28, and the second outlet 30 is connected to the oil storage tank 31.

[0053] The valve group module also includes a second directional valve 33 arranged between the oil pump 23 and the hydraulic motor 7. The second directional valve 33 is provided with a third inlet 34, a fourth inlet 35, a third outlet 36 and a fourth outlet 37. The oil pump 23 is connected to the third inlet 34 through an oil pipe. The hydraulic motor 7 also has two hydraulic chambers, which are respectively connected to the third outlet 36 and the fourth inlet 35. The fourth outlet 37 is also connected to the oil storage tank 31.

[0054] The valve block module also includes a pressure valve 32, located on the oil pipe near the hydraulic pump 23. The outlet of the pressure valve 32 is connected to an oil return pipe 38, which in turn is connected to a reserve oil tank 39. A filter 40 is connected between the hydraulic pump 23 and the oil tank. A main oil tank 41 is connected to the oil storage tank 31, and to the reserve oil tank 39.

[0055] In practical applications, the hydraulic station module and valve assembly module are installed near the reservoir to provide power for the entire system. When the dredging robot is operating, the motor drives the hydraulic pump 23, which pumps the hydraulic oil in the main tank 41 toward the first inlet 27 and the third inlet 34. The hydraulic oil then flows through the first outlet 29 and the third outlet 36 into the hydraulic chambers on one side of the hydraulic cylinder 22 and the hydraulic motor 7, respectively. This squeezes the hydraulic chamber on the other side, causing the hydraulic oil in that chamber to flow toward the second inlet 28 and the fourth inlet 35. The oil then flows out of the directional valve through the second outlet 30 and the fourth outlet 37 and into the oil reservoir 31. The hydraulic oil in the oil reservoir 31 then flows back to the main tank 41 for storage, enabling the recycling of the hydraulic oil. When reverse control is required, the directional valve controls the flow of the hydraulic oil, causing the hydraulic oil to flow in the opposite direction, controlling the hydraulic cylinder 22 and the hydraulic motor 7 in reverse. This allows the robot to operate underwater. It can be understood that the multiple hydraulic cylinders 22 and hydraulic motors 7 are connected in parallel to the hydraulic oil output pipeline of the oil pump 23 in the above-mentioned connection manner to achieve separate driving and control of each hydraulic cylinder 22 and hydraulic motor 7.

[0056] Example 3 This embodiment is based on the above embodiment and combines Figure 6 and Figure 7 As shown, an isolation net 42 is provided in the main oil tank 41, and the tip of the isolation net 42 faces the side where the hydraulic pump 23 is connected to the main oil tank 41. The part where the hydraulic pump 23 is connected to the main oil tank 41, the oil storage tank 31 and the spare oil tank 39 are all located on the same side of the isolation net 42, that is, Figure 6 The isolation net 42 is tapered, with its tip facing the portion where the hydraulic pump 23 is connected to the main oil tank 41. The filter holes 43 on the isolation net 42 are all L-shaped. The diameter of the filter holes 43 on the end facing the hydraulic pump 23 is larger than the diameter on the other end.

[0057] In this embodiment, the isolation mesh 42 is used to filter the hydraulic oil, preventing impurities from entering the equipment and affecting its normal operation. The tapered isolation mesh 42 increases the filtration area and improves the filtration effect. Furthermore, the L-shaped filter holes 43 extend the hydraulic oil flow path and prevent impurities from passing through, further facilitating the effective filtration of the hydraulic oil. The pore size design of the filter holes 43 slows the flow of the hydraulic oil, further facilitating its effective filtration.

[0058] Example 4 The running mechanism 19 also includes a front drive shaft 8 connected to the front running wheels 16 on both sides and a rear drive shaft 8 connected to the rear running wheels 17 on both sides. Both the front drive shaft 8 and the rear drive shaft 8 are equipped with dual-axis inclination sensors, which are connected to the control module. In this embodiment, the dual-axis inclination sensor uses the Dunheng DUAL AXI dual-axis inclination sensor, model DH-GTQX-TS01.

[0059] In a specific application of this embodiment, the dual-axis inclination sensor can measure the angles of two mutually perpendicular directions, and provide real-time feedback on the robot's movement posture in the mud, thereby enabling the controller to adaptively adjust the walking mechanism 19 .

[0060] In addition, this embodiment also provides a control method for the dredging robot, which provides pressure to each hydraulic motor 7 and hydraulic cylinder 22 through the hydraulic station module, so that each hydraulic cylinder 22 and hydraulic motor 7 works, so that the robot moves in the water reservoir while producing silt through the bucket 21, so that the silt is extracted and discharged by the suction pump; The pressure sensor detects the pressure value of the hydraulic pressure delivered by the hydraulic station module to the hydraulic motor 7 and the hydraulic cylinder 22, and the detection result is sent to the control module. When the robot needs to remove silt through the bucket 21 or needs to suck away the silt, the control module adjusts and controls the valve group module to change the hydraulic pressure of the corresponding connected hydraulic motor 7 and hydraulic cylinder 22, so that the robot is in a suitable working state; At the same time, the inclination angles of the front drive shaft 8 and the rear drive shaft 8 are detected by a dual-axis inclination sensor, and the detection results are sent to the control module. When the robot needs to turn or climb and needs to adjust the inclination angle, the valve group module is adjusted and controlled by the control module to change the hydraulic pressure of the hydraulic motor 7 connected to the front walking wheel 16 and the rear walking wheel 17, so that the robot is in a suitable inclination state.

[0061] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. Dredging robot control system, characterized by: Including control module, hydraulic station module, valve group module, hydraulic detection module and robot; The robot includes a walking mechanism, a body and a bucket, the body is located above the walking mechanism, and the bucket is arranged on the front side of the body; the bucket has a bucket body, a spiral auger is arranged to rotate in the bucket body, the end of the spiral auger is connected to a hydraulic motor, a spiral blade is fixed on the spiral auger, and the spiral blades on both sides of the spiral auger rotate in opposite directions, a silt discharge port is provided in the middle of the bucket body, the silt discharge port is connected to a discharge pipe, the discharge pipe is connected to a suction pump, and the suction pump is driven by a hydraulic motor, a filter is provided in the bucket body, and there is a distance between the filter screen and the silt discharge port and between the filter screen and the spiral auger, a drive shaft is provided between the filter screen and the spiral auger, the drive shaft is connected to the hydraulic motor, a casing is sleeved and threaded on the drive shaft, and the casing is slidably connected to the bucket body at the same time, a plurality of groups of crushing knife groups are fixed on the casing, and the plurality of groups of crushing knife groups are arranged in sequence along the axial direction of the casing, each group of crushing knife groups includes a plurality of blades, and the blades are distributed in a circular array around the axial direction of the casing; The traveling mechanism includes a front traveling wheel and a rear traveling wheel, a crawler track is sleeved between the front traveling wheel and the rear traveling wheel, and the front traveling wheel and the rear traveling wheel are each driven by another hydraulic motor; The control module is connected to the hydraulic station module and the valve group module at the same time. The valve group module is also connected to the hydraulic station module. The hydraulic station module is connected to the hydraulic motor. The hydraulic detection module is also connected to the control module. The hydraulic detection module includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic motor.

2. The dredging robot control system according to claim 1, characterized in that: The bucket is rotatably connected to the vehicle body, a hydraulic cylinder is provided on the vehicle body, a cylinder seat of the hydraulic cylinder is rotatably set on the vehicle body, a drive shaft of the hydraulic cylinder is rotatably connected to the bucket body, the hydraulic cylinder is connected to the hydraulic station module, and the hydraulic detection module also includes a pressure sensor for detecting the hydraulic pressure delivered by the hydraulic station to the hydraulic cylinder.

3. The dredging robot control system according to claim 2, characterized in that: The bucket body is provided with an interlayer, and a through hole is provided on the side wall of the interlayer facing the inside of the bucket body. Both ends of the drive shaft and both ends of the sleeve pass through the through hole and extend into the interlayer. The two ends of the sleeve are threadedly connected to the drive shaft, and at the same time, the two ends of the sleeve are slidingly connected to the inner wall of the interlayer of the bucket body; a cone is fixed on the edge of the through hole, and one end of the cone is connected to the through hole with a large diameter end and the other end is a small diameter end. A scraper ring is provided at the small diameter end, and the sleeve passes through the scraper ring and the cone; the blades on adjacent crushing knife groups are staggered; the blades have two inclined surfaces facing the two sides of the bucket body respectively, and the cross-section of the blade is triangular or diamond-shaped.

4. The dredging robot control system according to claim 3, characterized in that: The hydraulic station module includes a pump device and a main oil tank, and the pump device includes a motor and an oil pressure pump; The input shaft of the hydraulic pump is fixed to the output shaft of the motor, and the motor is used to control the operation of the hydraulic pump; the hydraulic pump is connected to the main oil tank to pump the hydraulic oil; the hydraulic pump is connected to the control module; The valve group module includes a first directional valve disposed between the oil pump and the hydraulic cylinder, the first directional valve having a first inlet, a second inlet, a first outlet, and a second outlet; the oil pump is connected to the first inlet via an oil pipe, the hydraulic cylinder has two hydraulic chambers, the two hydraulic chambers are connected to the first outlet and the second inlet respectively, and the second outlet is connected to the oil storage tank; The valve group module also includes a second directional valve arranged between the oil pump and the hydraulic motor. The second directional valve is provided with a third inlet, a fourth inlet, a third outlet and a fourth outlet. The oil pump is connected to the third inlet through an oil pipe. The hydraulic motor also has two hydraulic chambers, which are respectively connected to the third outlet and the fourth inlet. The fourth outlet is also connected to the oil storage tank.

5. The dredging robot control system according to claim 4, characterized in that: The valve group module also includes a pressure valve arranged on the oil pipe and close to the oil pressure pump. The outlet of the pressure valve is connected to the return oil pipe, and the return oil pipe is connected to the spare oil tank.

6. The dredging robot control system according to claim 5, characterized in that: A filter is connected between the hydraulic pump and the oil tank; the main oil tank and the oil storage tank, as well as the main oil tank and the spare oil tank are all connected.

7. The dredging robot control system according to claim 6, characterized in that: An isolation net is provided inside the main fuel tank, and the portion where the hydraulic pump is connected to the main fuel tank, and the portion where the oil storage tank and the spare fuel tank are connected to the main fuel tank are all located on the same side of the isolation net.

8. The dredging robot control system and control method according to claim 7, characterized in that: The isolation net is conical in shape, with the tip of the isolation net facing the side where the hydraulic pump is connected to the main oil tank; the filter holes on the isolation net are all L-shaped; the aperture of the filter hole at one end facing the hydraulic pump is larger than the aperture at the other end.

9. The dredging robot control system according to any one of claims 2 to 8, characterized in that: The traveling mechanism also includes a front drive shaft connecting the front traveling wheels on both sides and a rear drive shaft connecting the rear traveling wheels on both sides. Both the front drive shaft and the rear drive shaft are provided with a dual-axis inclination sensor, which is connected to the control module.

10. The dredging robot control method according to claim 9, characterized in that: The hydraulic station module provides pressure to each hydraulic motor and hydraulic cylinder, so that each hydraulic cylinder and hydraulic motor works, and the robot moves in the water reservoir while removing the silt through the bucket, so that the silt is pumped out by the suction pump; The pressure sensor detects the pressure value of the hydraulic pressure delivered by the hydraulic station module to the hydraulic motor and hydraulic cylinder, and the detection result is sent to the control module. When the robot needs to remove silt through the bucket or needs to suck away the silt, the control module adjusts and controls the valve group module to change the hydraulic pressure of the corresponding hydraulic motor and hydraulic cylinder, so that the robot is in a suitable working state; At the same time, the inclination angles of the front and rear drive shafts are detected by a dual-axis inclination sensor, and the detection results are sent to the control module. When the robot needs to turn or climb and needs to adjust the inclination angle, the control module adjusts and controls the valve group module to change the hydraulic pressure of the hydraulic motors connected to the front and rear wheels, so that the robot is in a suitable inclination state.

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