Self-adaptive dredging robot

Abstract

The invention relates to the technical field of dredging robots, and provides a self-adaptive dredging robot which comprises a chassis assembly capable of moving relative to the ground. The box body is arranged on the chassis assembly and is used for accommodating a sensor; the desilting assembly is arranged on the chassis assembly and comprises a desilting head, a spiral reamer and a suction pipeline, the desilting head is provided with a connecting part and a movable part rotationally connected to the connecting part, the rotating axis of the movable part is parallel to the first direction, the connecting part is connected with the box body, and the movable part is located on the side, away from the box body, of the connecting part; a containing cavity is jointly formed between the connecting part and the movable part, the spiral reamer is rotationally connected to the connecting part and located in the containing cavity, the rotating axis of the spiral reamer is parallel to the first direction, the spiral reamer is used for cutting sludge, and a suction opening of the suction pipeline is formed in the connecting part and communicates with the containing cavity. And the suction pipeline is used for sucking sludge cut by the spiral reamer. According to the technical scheme, the sludge suction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging robots, and in particular to an adaptive dredging robot. Background Art

[0002] In the fields of silt cleaning, river dredging and engineering construction, dredging robots are usually used to suck out the silt. The suction port is a key component that comes into direct contact with the silt, and its performance directly determines the working stability, energy loss and scope of application of the equipment. Due to its fixed structure, the traditional suction port cannot be dynamically adjusted according to the terrain changes such as the undulation and inclination of the silt surface, making it difficult to form a stable suction environment with the silt surface. This will lead to problems such as air leakage and insufficient suction during the suction process, affecting the silt suction efficiency. Summary of the Invention The problem solved by the present invention is how to improve the sludge suction efficiency.

[0003] In order to solve the above problems, the present invention provides an adaptive dredging robot.

[0004] The present invention provides an adaptive dredging robot, comprising a chassis assembly that is movable relative to the ground; a box body that is arranged on the chassis assembly, the box body being used to accommodate a sensor; a dredging assembly that is arranged on the chassis assembly, the dredging assembly comprising a dredging head, a spiral auger and a suction pipeline, the dredging head having a connecting portion and a movable portion rotatably connected to the connecting portion, the rotation axis of the movable portion being parallel to a first direction, the connecting portion being connected to the box body, the movable portion being located on a side of the connecting portion away from the box body, an accommodating cavity being jointly formed between the connecting portion and the movable portion, the spiral auger being rotatably connected to the connecting portion and being located in the accommodating cavity, the rotation axis of the spiral auger being parallel to the first direction, the spiral auger being used to cut silt, the suction port of the suction pipeline being arranged on the connecting portion and being communicated with the accommodating cavity, and the suction pipeline being used to suck the silt cut by the spiral auger.

[0005] Optionally, the spiral auger includes a first auger and a second auger, and the first auger and the second auger are arranged at intervals along the first direction. The dredging assembly further includes: a driving member; a gear assembly, including a first gear, a second gear and a third gear, the driving member is drivingly connected to the first gear to drive the first gear to rotate, the second gear is meshed with the first gear, one end of the first auger is connected to the second gear to rotate synchronously with the second gear, the third gear is meshed with the second gear, and one end of the second auger is connected to the third gear to rotate synchronously with the third gear, the rotation axis of the first gear is parallel to the vertical direction, the rotation axes of the first auger and the second auger are parallel to the first direction, and the rotation directions are opposite, and the first direction has an angle with the vertical direction.

[0006] Optionally, the pitches of the first reamer and the second reamer gradually increase from a direction away from the first gear toward a direction close to the first gear.

[0007] Optionally, the suction pipeline has a first pipeline arranged in a vertical direction, a baffle is provided in the first pipeline, one end of the baffle is rotatably connected to the inner wall of the first pipeline, and the rotation axis of the baffle is parallel to the first direction. The first pipeline has a first inner wall and a second inner wall arranged opposite to each other along a second direction, and a protrusion is provided on the second inner wall, and the protrusion extends along the second direction; wherein the baffle is configured to block or open the first pipeline, and when the baffle is in the open position, the side wall of the baffle contacts the protrusion; when the baffle is in the blocking position, the other end of the baffle contacts the first inner wall.

[0008] Optionally, the suction pipeline includes multiple pipeline units connected in sequence, and two adjacent pipeline units are detachably connected via flanges.

[0009] Optionally, the suction pipeline has a second pipeline arranged along the second direction, a plurality of first through holes are provided on the outer peripheral wall of the second pipeline, a cylinder is sleeved on the outer peripheral wall of the second pipeline, a plurality of second through holes are provided on the outer peripheral wall of the cylinder, the cylinder can be rotated relative to the second pipeline so that the plurality of first through holes are aligned with the plurality of second through holes and the moisture of the sludge in the second pipeline is discharged, and the rotation axis of the cylinder is parallel to the second direction.

[0010] Optionally, the chassis assembly includes: a disc body, the box body is arranged on the disc body; and a protrusion provided on a side of the disc body away from the box body, the protrusion being used to contact with silt.

[0011] Optionally, the cross-section of the protrusion in the vertical direction is a conical structure.

[0012] Optionally, four walking assemblies are further included, two of the walking assemblies are respectively provided on both sides of the disc body in the first direction, and the two walking assemblies on each side of the frame body are arranged at intervals along the second direction, and the walking assemblies are configured to drive the chassis assembly to move.

[0013] Optionally, an inertial measurement unit, a sonar unit and a processing unit are provided in the box, and the inertial measurement unit, the sonar unit and the four walking components are respectively communicated with the control unit, the inertial measurement unit is used to collect the posture data of the box, the sonar module is used to scan the terrain and generate a terrain signal, the control unit is used to receive the posture data and the terrain signal and generate a control signal, the four walking components receive the first adjustment signal and drive the chassis assembly to move.

[0014] The beneficial effects of the adaptive dredging robot of the present invention are: The movable part of the dredging head is rotatably connected to the connecting part, and the rotation axis is parallel to the first direction. In this way, the movable part can flexibly respond to terrain changes such as undulations and inclinations on the silt surface. When the equipment is operating on complex terrain, the movable part can adaptively rotate, and cooperate with the movement function of the chassis assembly to always maintain a good fit with the silt surface, effectively avoiding the air leakage problem caused by poor fit of the traditional fixed suction port, thereby forming a stable suction environment, which can improve the silt suction efficiency. At the same time, the spiral auger in the dredging component is located in the accommodating cavity formed by the movable part and the connecting part, and its rotation axis is parallel to the first direction. When cutting the silt, it can crush and refine the silt, reducing the flow resistance of the silt. The crushed silt enters the pipeline through the suction port of the suction pipeline. Due to the early cutting treatment and stable suction environment, the silt is smoother during the suction process, avoiding the problem of low suction efficiency caused by insufficient suction force of the traditional suction port. Therefore, through the synergistic effect of the movable part and the connecting part, the cutting of the spiral auger and the suction of the suction pipeline are well coordinated, further improving the overall silt suction efficiency.

[0015] In addition, the chassis assembly can move relative to the ground, and combined with the flexible rotation of the movable part, the equipment can be moved in various complex terrains, thereby broadening the application scenarios of the equipment and improving the practicality of the equipment in different engineering environments. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 A schematic structural diagram of an adaptive dredging robot provided in an embodiment of the present invention; Figure 2 A schematic structural diagram of the adaptive dredging robot from another perspective provided by an embodiment of the present invention; Figure 3A schematic structural diagram of the adaptive dredging robot provided by an embodiment of the present invention from another perspective; Figure 4 A schematic cross-sectional view of an adaptive dredging robot provided by an embodiment of the present invention; Figure 5 A schematic diagram of the multi-sensor fusion terrain mapping process provided by an embodiment of the present invention; Figure 6 A schematic diagram of the dual-modal path generation principle flow diagram provided by an embodiment of the present invention; Description of reference numerals: Chassis assembly 10, plate body 11, protrusion 12, Box 20, Dredging head 30, connecting part 31, movable part 32, Spiral reamer 40, first reamer 41, second reamer 42, driving member 43, gear assembly 44, Suction pipe 50, first pipe 51, baffle 52, protrusion 53, pipe unit 54, second pipe 55, first through hole 56, suction port 57, Cylinder 60, second through hole 61, Traveling assembly 70, first direction X, second direction Y, vertical direction Z. DETAILED DESCRIPTION

[0016] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0017] The X-axis in the accompanying drawings represents the horizontal direction and is designated as the front-to-back position, with the positive direction of the X-axis representing the front side and the reverse direction of the X-axis representing the rear side. The Y-axis in the accompanying drawings represents the left-to-right position, with the positive direction of the Y-axis representing the left side and the reverse direction of the Y-axis representing the right side. The Z-axis in the accompanying drawings represents the vertical direction, that is, the up-down position, with the positive direction of the Z-axis representing the top and the reverse direction of the Z-axis representing the bottom. It should also be noted that the aforementioned X-axis, Y-axis, and Z-axis are intended solely for the purpose of facilitating the description of the present invention and simplifying the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0018] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0019] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0020] like Figures 1 to 6 As shown, an adaptive dredging robot provided by the present invention includes a chassis assembly 10, which can move relative to the ground; a box body 20, which is provided on the chassis assembly 10, and the box body 20 is used to accommodate a sensor; a dredging assembly, which is provided on the chassis assembly 10, and the dredging assembly includes a dredging head 30, a spiral auger 40 and a suction pipeline 50, the dredging head 30 has a connecting portion 31 and a movable portion 32 rotatably connected to the connecting portion 31, the rotation axis of the movable portion 32 is parallel to the first direction, the connecting portion 31 is connected to the box body 20, the movable portion 32 is located on the side of the connecting portion 31 away from the box body 20, and an accommodating cavity is formed between the connecting portion 31 and the movable portion 32, the spiral auger 40 is rotatably connected to the connecting portion 31 and is located in the accommodating cavity, the rotation axis of the spiral auger 40 is parallel to the first direction, the spiral auger 40 is used to cut silt, the suction port 57 of the suction pipeline 50 is provided at the connecting portion 31 and is connected to the accommodating cavity, and the suction pipeline 50 is used to suck the silt cut by the spiral auger 40.

[0021] In this embodiment, the movable part 32 of the dredging head 30 is rotatably connected to the connecting part 31, and the rotation axis is parallel to the first direction, so that the movable part 32 can flexibly respond to terrain changes such as undulations and inclinations on the silt surface. When the equipment is operating on complex terrain, the movable part 32 can be adaptively rotated, and with the movement function of the chassis assembly 10, it can always maintain a good fit with the silt surface, thereby forming a stable suction environment, which can improve the silt suction efficiency. At the same time, the spiral auger 40 in the dredging assembly is located in the accommodating cavity formed by the movable part 32 and the connecting part 31, and its rotation axis is parallel to the first direction. When cutting the silt, the silt can be crushed and refined, reducing the flow resistance of the silt. The crushed silt enters the pipeline through the suction port 57 of the suction pipeline 50. Due to the early cutting treatment and stable suction environment, the silt is smoother during the suction process, avoiding the problem of low suction efficiency caused by insufficient suction force of the traditional suction port. Therefore, through the synergistic effect of the movable part 32 and the connecting part 31, the cutting of the spiral auger 40 and the suction of the suction pipeline 50 are well coordinated, further improving the overall silt suction efficiency.

[0022] In addition, the chassis assembly 10 can move relative to the ground, and combined with the flexible rotation of the movable part 32, the equipment can be moved in various complex terrains, thereby broadening the application scenarios of the equipment and improving the practicality of the equipment in different engineering environments.

[0023] In this embodiment, the connecting portion 31 and the movable portion 32 are arc-shaped structures.

[0024] In this embodiment, the movable portion 32 is driven to rotate by a hydraulic rod, and the hydraulic rod has a built-in pressure sensor and a damping adjustment module (response time ≤ 0.5s) to adjust the opening of the movable portion 32 in real time according to the fluctuation of the mud surface.

[0025] In this embodiment, an elastic sealing strip is provided on the edge of the movable portion 32 , and the inner walls of the movable portion 32 and the connecting portion 31 adopt a double-curvature guide surface to guide the sludge to enter the suction port 57 at an accelerated speed along the tangential direction.

[0026] In this embodiment, the diameter of the suction port 57 is calculated based on the non-Newtonian fluid characteristics: Calculation principle and parameter definition: Q: sludge flow rate (m3 / h), d: pipe diameter (m), V: critical flow velocity (m / s, needs to be >2.5m / s to prevent sedimentation) The relationship between the flow rate and the suction port 57 is:

[0027] For silt (similar to non-Newtonian fluid), a certain speed is required to prevent silt from settling.

[0028] Silt characteristics: Viscosity (μ): Electroplating / steel plant sludge is usually 5000-15000 cP (non-Newtonian fluid).

[0029] Density (ρ): 1.3-1.8 g / cm³.

[0030] Critical speed: High viscosity: 2.5-3.5 (m / s) > 10000 cP (viscosity unit) Low viscosity: 1.5-2.0 (m / s) <5000cP Select V according to viscosity and flow rate, and substitute the following formula to obtain the orifice diameter d For example, if the processing capacity Q = 20m3 / h (≈5.56L / s), the sludge viscosity is 8000cP, and the flow velocity v = 3.0m / s is selected: 0.0503m=50.3mm Actual correction: Considering the safety factor of 1.2-1.5, the final diameter of the suction port 57 is 60-70 mm.

[0031] Optionally, the spiral auger 40 includes a first auger 41 and a second auger 42, and the first auger 41 and the second auger 42 are arranged at intervals along the first direction. The dredging assembly also includes: a driving member 43; a gear assembly 44, including a first gear, a second gear and a third gear. The driving member 43 is driven and connected to the first gear to drive the first gear to rotate, the second gear is meshed with the first gear, one end of the first auger 41 is connected to the second gear to rotate synchronously with the second gear, the third gear is meshed with the second gear, and one end of the second auger 42 is connected to the third gear to rotate synchronously with the third gear. The rotation axis of the first gear is parallel to the vertical direction, and the rotation axes of the first auger 41 and the second auger 42 are parallel to the first direction, and the rotation directions are opposite, and the first direction has an angle with the vertical direction.

[0032] By setting up the above structure, when the first auger 41 rotates clockwise, it will generate a thrust to the right (towards the second auger 42) on the sludge within its range of action, while the second auger 42 rotating synchronously in the opposite direction will generate a thrust to the left (towards the first auger 41) on the sludge within its own range of action. The two forces in opposite directions form a combined force in the area between the auger blades, forcing the originally dispersed sludge material to break away from the original accumulation state and accelerate to converge toward the central axis between the two along the spiral blades of the auger. This greatly improves the sludge capture efficiency of the suction port 57, allowing more sludge to be concentrated near the suction port 57 in a short time, significantly increasing the amount of material entering the suction pipeline 50 per unit time. In this embodiment, the spiral radius of the first reamer 41 and the second reamer at the end away from the first gear is 150 mm, and the spiral radius of the first reamer 41 and the second reamer at the end close to the first gear is 100 mm.

[0033] Optionally, the pitches of the first reamer 41 and the second reamer 42 gradually increase from a direction away from the first gear toward a direction close to the first gear.

[0034] By setting up the above structure, according to the cutting linear velocity formula (linear velocity = angular velocity × radius), when the auger rotates synchronously as a whole, the cutting linear velocity in the outer large radius area is significantly higher, thereby generating a stronger cutting force. At the same time, the pitch in this area is smaller. The small pitch means that the number of spiral blades of the auger per unit length is greater and the teeth are more densely distributed. When the auger rotates, the number of contacts and cutting times between the auger and the silt per unit time can be increased, thereby being able to crush the compacted silt.

[0035] In this embodiment, the pitch of the first reamer 41 and the second reamer at the end away from the first gear is 80 mm, and the pitch of the first reamer 41 and the second reamer at the end close to the first gear is 290 mm. By setting these values, the sludge flow can be smoother, thereby reducing eddy currents and improving the sludge flow efficiency.

[0036] Optionally, the suction pipeline 50 has a first pipeline 51 arranged in a vertical direction, and a baffle 52 is provided in the first pipeline 51, one end of the baffle 52 is rotatably connected to the inner wall of the first pipeline 51, and the rotation axis of the baffle 52 is parallel to the first direction, and the first pipeline 51 has a first inner wall and a second inner wall arranged opposite to each other along the second direction, and a protrusion 53 is provided on the second inner wall, and the protrusion 53 extends along the second direction; wherein, the baffle 52 is configured to block or open the first pipeline 51, when the baffle 52 is in the open position, the side wall of the baffle 52 contacts the protrusion 53; when the baffle 52 is in the blocking position, the other end of the baffle 52 contacts the first inner wall.

[0037] By setting the above structure, in the extraction state, the sludge moves upward along the first pipeline 51 under the action of suction pressure, and the sludge forms a continuous thrust on the baffle 52. At this time, the baffle 52 rotates around the rotation axis parallel to the first direction, gradually stands up and breaks away from the contact with the first inner wall, and is in the open position. Since the side wall of the baffle 52 contacts the protrusion 53 of the second inner wall, the structure of the protrusion 53 extending along the second direction provides stable support for the baffle 52, so that the baffle 52 is maintained at a fixed inclination angle, and the sludge can pass smoothly in the forward direction without generating additional resistance, thereby ensuring that the suction efficiency is not affected; in the shutdown state, the sludge in the first pipeline 51 generates backflow and generates a force on the baffle 52, pushing the baffle 52 to rotate downward around the rotation axis. As the baffle 52 rotates, its other end gradually approaches the first inner wall, and finally contacts closely with the first inner wall and is in a blocking position. During this process, the baffle 52, the first inner wall and the raised portion 53 form a triangular stable structure, and the sealing is achieved by using the mechanical self-locking principle. That is, the greater the reverse pressure, the tighter the fit between the baffle 52 and the first inner wall, thereby completely blocking the reverse flow of sludge.

[0038] Optionally, the suction pipeline 50 includes multiple pipeline units 54 connected in sequence, and two adjacent pipeline units 54 are detachably connected via flanges.

[0039] By setting up the above structure, the suction pipe is split into multiple pipeline units 54, each pipeline unit 54 can be used as an independent functional carrier. By increasing or decreasing the number of pipeline units 54, the pressure output capacity of the entire suction pipeline 50 can be flexibly adjusted to adapt to sludge suction scenarios with different viscosities and depths. The flange connection method is convenient for the combination and splitting of the pipeline units 54, and can ensure that the pipeline units 54 are tightly connected and well sealed. Optionally, the suction pipeline 50 has a second pipeline 55 arranged along the second direction, and a plurality of first through holes 56 are provided on the outer peripheral wall of the second pipeline 55. A cylinder 60 is sleeved on the outer peripheral wall of the second pipeline 55, and a plurality of second through holes 61 are provided on the outer peripheral wall of the cylinder 60. The cylinder 60 can rotate relative to the second pipeline 55 so that the plurality of first through holes 56 and the plurality of second through holes 61 are arranged in alignment, and the moisture of the sludge in the second pipeline 55 is discharged. The rotation axis of the cylinder 60 is parallel to the second direction.

[0040] By setting up the above structure, in actual dredging operations, the water content of the silt is not fixed, but presents a dynamic fluctuation state. In the initial stage, the water content is high due to the accumulation of more water. As the operation progresses, the water gradually disappears and the silt gradually thickens. When there is more water in the silt pool, the traditional water filtration structure cannot selectively filter, and will only extract a large amount of water first, causing the silt to quickly settle at the bottom of the pool due to the loss of water support. This not only reduces the silt suction volume per unit time, but also greatly reduces the suction efficiency due to the gradual thickening of the deposited silt. When the water is excessively extracted, the remaining viscous silt is easy to adhere to the inner wall of the pipe, causing blockage, further aggravating the interruption of the operation. Risk, in the open mode of this structure, the cylinder 60 rotates to the position of the multiple first through holes 56 and the second through holes 61. At this time, the moisture of the sludge in the second pipeline 55 can be discharged through the through holes and returned to the sludge pool, realizing the function of filtering moisture to the pool. It is suitable for high-water sludge scenarios. By discharging excess moisture in time, the sucked sludge is prevented from being too thin, and sludge deposition caused by excessive moisture is avoided; in the closed mode, the cylinder 60 rotates to the position of the first through holes 56 and the second through holes 61, and the side holes are sealed by the cylinder 60. At this time, the original consistency of the sludge can be maintained for extraction, which is suitable for low-water sludge scenarios, preventing excessive water loss from causing the sludge to be too thick, thereby avoiding pipeline blockage. It can be seen that the above structure can dynamically maintain the sludge consistency in the optimal range of 30-40%. The sludge fluidity and viscosity in this range are balanced, which minimizes the suction resistance and completely solves the problem of excessive water loss or excessive extraction, avoiding the viscosity blockage of the pipeline due to excessive thickness. The function is switched by rotating the cylinder 60, which can adapt to sludge of different consistencies. It prevents sludge deposition caused by extracting a large amount of water in the initial stage, and avoids the dilemma of viscous sludge being unable to be sucked out after water loss in the later stage. In this way, the ratio of water to sludge in the sludge pool can always be kept balanced, ensuring continuous and efficient suction operations. Optionally, the chassis assembly 10 includes: a disc body 11, with the box body 20 disposed on the disc body 11; and a protrusion 12 disposed on a side of the disc body 11 facing away from the box body 20, the protrusion 12 being used to contact with silt.

[0041] By setting up the above structure, the protrusion 12 on the side of the disc 11 facing away from the box 20 significantly increases the downward pressure of the equipment on the mud surface by reducing the contact area with the mud. According to the pressure formula (pressure = pressure / contact area), when the weight of the equipment is fixed, the concentrated force design of the protrusion 12 increases the pressure per unit area, which can effectively reduce the settlement of the equipment in soft mud. This ensures that the equipment maintains a stable posture on the uneven mud surface, avoids the body tilting or shaking due to uneven settlement, provides a stable working environment for the sensor in the box 20, and further improves the system reliability under complex working conditions. Optionally, the cross section of the protrusion 12 in the vertical direction is a conical structure.

[0042] By setting up the above structure, the cross-sectional area of ​​the conical structure gradually decreases in the vertical downward direction, making the contact points between the protrusion 12 and the silt surface more concentrated. Under the action of the equipment's own weight, the conical tip can focus the pressure highly on the contact area, thereby reducing the amount of sedimentation of the equipment and providing a more stable support foundation for the equipment. At the same time, the inclined side of the conical structure can guide the silt to flow smoothly along the inclined surface. When the equipment moves forward, the silt will be diverted to both sides along the tangent direction of the cone surface, avoiding the formation of silt or eddy currents at the front end of the protrusion 12. This further reduces the reverse resistance of the silt to the equipment, making the movement of the equipment in high-viscosity silt more convenient, thereby reducing obstacles during the movement process and improving the smoothness of the equipment's movement.

[0043] Optionally, four walking assemblies 70 are further included, with two walking assemblies 70 respectively provided on both sides of the disc body 11 in the first direction, and the two walking assemblies 70 on each side of the frame are arranged at intervals along the second direction, and the walking assemblies 70 are configured to drive the chassis assembly 10 to move.

[0044] By setting up the above structure, the layout of the four walking components 70 can evenly distribute the weight of the equipment. The four-track structure disperses the disc 11 and the upper load to four contact points. The pressure per unit area of ​​each track is significantly reduced, avoiding the problem of the track sinking into the mud due to excessive local pressure.

[0045] In this embodiment, all four traveling assemblies 70 are track-based and independently driven. The independent drive system, coupled with force sensors and a real-time control algorithm, monitors the ground reaction force in real time when the equipment is traveling over a slope or uneven surface. (For example, the force on the sloped track increases, while the force on the track in soft mud decreases.) This data is then transmitted to the control system. The system adjusts the speed of each track in real time based on the force differential. On a slope, the speed of the higher track is reduced and the speed of the lower track is increased, generating torque to offset the downward trend. In uneven surface, the driving force on tracks stuck in mud is reduced to prevent slippage, while the power on hard-ground tracks is increased to maintain the direction of travel. This ensures stable movement along the pre-set path. Furthermore, the independent drive of the four tracks enables the equipment to actively change its overall center of gravity distribution by adjusting the output power of each track. For example, when one track contacts a raised terrain and causes the fuselage to tilt, the system will increase the driving force of the other track, shifting the center of gravity to the lower side to balance the torque; when crossing a large gully or slope, by controlling the speed difference between the front and rear tracks, it ensures that no matter how the terrain changes, at least three sets of tracks are always in reliable contact with the ground, forming a triangular stable structure, which can prevent the equipment from overturning.

[0046] In addition, the independently driven tracks also improve the maneuverability of the equipment. By controlling the speed difference between the tracks on both sides, the equipment can achieve on-the-spot turning or small-radius turning, thereby further enhancing the equipment's operational coverage capabilities in complex environments. In this embodiment, the parameter design and verification calculation are as follows: The robot weighs W = 600kg. The total pressure under gravity is P = W × g = 600kg × 9.8m / s² = 5880N. To avoid subsidence, the pressure per unit area P / A must be controlled to be less than the silt bearing capacity (with a minimum bearing capacity of 10kPa): Assume that the contact area between the four tracks and the ground is A, and the total area A ≥ P / 10kPa ≈ 0.588m².

[0047] That is, the contact area of ​​each track should be ≥ 0.147m². If the track width is 0.3m, the contact length should be ≥ 0.5m.

[0048] Ensuring stability in extreme operating conditions: To address extreme operating conditions, such as a single track becoming suspended in the air while on a slope or in unevenly hard and soft mud, the robot's load-bearing capacity must be verified with a "three-point grounding" system. In these situations, a single track must bear greater pressure, and its ground contact area must be ≥ 0.196 m². For a track width of 0.35 m, the ground contact area must be ≥ 0.56 m.

[0049] This calculation is the core basis for track size design, ensuring that even in non-ideal working conditions where the track is tilted or partially suspended, the remaining track can still provide sufficient support to prevent the vehicle from sinking too deep or overturning.

[0050] Stability parameter design: Track width W = 0.35 m, meeting the ground contact area requirements; The ground contact length of a single track (L) is ≥ 0.56 m, and the bearing pressure requirements are met when three points are grounded; The left and right wheelbase (the distance between the track centerlines) is between 0.6 and 0.7 m to ensure lateral stability and prevent rollover. The front and rear wheelbase (center distance between the front and rear track groups) is ≥ 0.8 m to ensure longitudinal stability and prevent front and rear tipping.

[0051] In this embodiment, the distributed layout of batteries and motors is optimized based on the center of gravity: Design goal: Within limited dimensions, through symmetrical distribution and optimized coordinates of key components (batteries and motors), the vehicle's center of gravity is controlled, significantly improving balance and sink resistance in muddy terrain. Furthermore, vehicle stability is enhanced through optimized torque distribution and symmetrical piping design.

[0052] The component layout and weight distribution are shown in the following table:

[0053] Center of gravity calculation and stability analysis:

[0054]

[0055] Horizontal (X-axis) calculation: Battery: distributed at the rear (-0.5), the resultant force on X is -50 kg·m; Motor + main structure + others: evenly distributed in the center → no offset in X direction; Suction port 57: The resultant force on X is 60 kg·m;

[0056] Horizontal (Y-axis) calculation: The batteries are arranged at ±0.25m, symmetrical front to back → no Y-direction offset; All other components are evenly distributed or at the center → the Y direction force is 0

[0057] Anti-overturning capacity verification and optimization space: Stability conclusion: The measured center of gravity offset = +1.67cm (forward shift), which is much smaller than the track support limit (front and rear wheel tracks ≥ 0.8m), meeting the anti-overturning requirements on muddy and inclined terrain.

[0058] Dynamic optimization design: If the suction port 57 assembly increases in weight (e.g. >80 kg), the adjustment can be made closer to zero by moving the battery back to (-0.7, ±0.25) or adding a counterweight (20 kg (-0.8, 0)) at the tail.

[0059] Analysis of the torque between the center of gravity and the wheels: The stability of the vehicle is improved by increasing the torque between the center of gravity and the wheels. When the vehicle is turning, accelerating, braking or disturbed by external forces, the torque distribution between the center of gravity and the wheels will directly affect the overall stability of the dredging vehicle.

[0060] Torque formula:

[0061] By increasing the wheelbase as much as possible, the weight distribution is improved, as shown in the figure. At the same time, the front and rear torques are kept equal to avoid uneven weight distribution that may cause the vehicle to "lift" or "nod" when accelerating or braking.

[0062] Optionally, an inertial measurement unit, a sonar unit and a processing unit are provided in the box 20. The inertial measurement unit, the sonar unit and the four walking components 70 are respectively communicated with the control unit. The inertial measurement unit is used to collect the posture data of the box 20, the sonar module is used to scan the terrain and generate a terrain signal, the control unit is used to receive the posture data and the terrain signal and generate a control signal, and the four walking components 70 receive the first adjustment signal and drive the chassis component 10 to move.

[0063] Through the above-described structure, the integration of an inertial measurement unit (IMU), a sonar unit, and a processing unit within the housing 20, coupled with the drive control of the four traveling components 70, enables the inertial measurement unit (IMU) to collect real-time posture data (including tilt angle, acceleration, angular velocity, etc.) of the housing 20, accurately capturing the equipment's own posture changes in three-dimensional space. The sonar unit then comprehensively scans the terrain in the work area, generating terrain signals that include terrain height differences, slopes, and obstacle distribution. The processing unit integrates and analyzes this posture data with the terrain signals to construct a three-dimensional map that includes slope grade, terrain complexity, and desilting priorities. For example, areas with slopes exceeding 15° are marked as high-priority work zones (requiring priority to prevent collapse), flat areas are marked as normal-priority, and areas with dense obstacles are marked as low-priority (requiring detours). This prioritization based on actual terrain data avoids the problems of "missing clearance" or "duplicated clearance" in complex terrain caused by traditional fixed-path planning, ensuring that the equipment prioritizes key areas and improving overall operational efficiency.

[0064] like Figure 5 As shown in the figure, in this embodiment, an IMU (Inertial Measurement Unit) collects real-time robot pose data (with an accuracy of ±0.5°), combines it with a multi-beam sonar to perform high-resolution terrain scanning (with a resolution of ±2cm), and uses the Extended Kalman Filter (EKF) algorithm to deeply fuse and correct this multi-source data to construct a globally unified coordinate system. This fusion solution retains the IMU's real-time dynamic response advantage while eliminating IMU integral drift errors through the sonar's absolute position reference.

[0065] like Figure 6 As shown, in this embodiment, a dynamic planning path is formed according to the generated map: The system first automatically traverses all grids based on the fused terrain map, calculates the height difference and maximum slope of the area, and determines whether the terrain is flat by setting a threshold; If the terrain is flat, the spiral path generation algorithm is automatically selected, expanding outward from the center of the map to ensure efficient and complete coverage of the entire operating area; If the terrain is undulating, the serpentine path generation algorithm is automatically selected, starting from the lowest point and covering the terrain in rows along the Y-axis, giving priority to low-lying and complex areas to improve operation uniformity and adaptability; The initially generated path undergoes multiple rounds of smoothing using the gradient descent method to eliminate sharp turns and discontinuities in the path, improving the smoothness and safety of the robot's motion. Subsequently, the system automatically filters path points based on distance thresholds, removing redundant points and retaining only critical nodes, further optimizing path length and execution efficiency. The system continuously monitors changes in the terrain map. When significant changes are detected (such as new obstacles or landslides), it automatically triggers path replanning, ensuring the path always matches the actual terrain conditions, enabling real-time adaptation during the operation.

[0066] Algorithm core logic: Input: High-precision grid map integrating multi-beam sonar and IMU Flatness Verdict: if ΔH<0.3m and α_max<5°: terrain_type = FLAT else: terrain_type = COMPLEX Mode switching logic is as follows:

[0067] Path optimization algorithm: Gradient descent smoothing: eliminate path sharp corners (turn radius > 0.5m) Key point compression: remove redundant points (spacing threshold 0.8m) In this embodiment, the overall workflow of the robot is as follows: The system uses an IMU (Inertial Measurement Unit) to collect real-time acceleration and angular velocity data of the robot's motion, while also using multi-beam sonar to obtain surface point cloud information of the operating area. All raw data first undergoes pre-processing steps such as filtering, downsampling, and outlier removal to improve data quality. The Extended Kalman Filter (EKF) algorithm is used to deeply fuse IMU and sonar / radar data. This algorithm features dynamic noise adjustment and nonlinear state modeling capabilities, enabling real-time output of high-precision robot pose (position and attitude), as well as detection and adaptive processing of abnormal data. Based on the fused pose and point cloud data, the system performs coordinate transformation to unify all observation points into the global coordinate system. Through gridding and multi-frame data fusion, a high-resolution terrain height map is constructed in real time, and key features such as terrain height difference and slope are automatically extracted. The system analyzes the terrain map to assess the flatness and mud-water distribution of the operating area. By analyzing indicators such as height variance and maximum slope, it determines whether the sludge surface is uniform, providing data support for subsequent operation strategies. Based on the terrain analysis results, the system adaptively selects the optimal path planning mode: for flat areas, a spiral path is used to achieve efficient coverage; for complex areas, a serpentine path is used to prioritize low-lying and difficult-to-operate areas. All paths are smoothed and key points are optimized to ensure smooth and efficient robot movement. The path planning results are input into the vehicle control and operating mechanism (such as agitators, suction devices, etc.) control modules to achieve precise control of the robot body and operating mechanisms. The system has posture prediction and emergency escape mechanisms, which can automatically adjust operating parameters when abnormal posture or pressure is detected to ensure operational safety. The system continuously monitors operational status and environmental changes. If significant changes in terrain or sludge status are detected, it automatically triggers map reconstruction and path replanning, achieving closed-loop adaptive optimization of the entire process.

[0068] In other embodiments, an alternative to tracks is to use an all-terrain propeller.

[0069] In other embodiments, the mud suction method can achieve rheological control by integrating a high-frequency vibration plate or an ultrasonic vibration auxiliary system.

[0070] In other embodiments, the reamer structure alternative is a cutting disc plus screw propulsion combination.

[0071] In other embodiments, the rotating part is replaced by a flexible sealing membrane with negative pressure adsorption.

[0072] In other embodiments, the water filtration method may be replaced by membrane filtration or a centrifugal water-solid separator.

[0073] In other embodiments, the path planning and positioning system can be replaced with a visual SLAM + lidar fusion solution (suitable for GPS-denied environments) Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An adaptive dredging robot, characterized in that: include: A chassis assembly (10) movable relative to the ground; A box (20) is provided on the chassis assembly (10), and the box (20) is used to accommodate a sensor; A dredging assembly is provided on the chassis assembly (10), the dredging assembly comprising a dredging head (30), a spiral auger (40) and a suction pipeline (50), the dredging head (30) comprising a connecting portion (31) and a movable portion (32) rotatably connected to the connecting portion (31), the rotation axis of the movable portion (32) being parallel to a first direction, the connecting portion (31) being connected to the box (20), the movable portion (32) being located on a side of the connecting portion (31) away from the box (20), The connecting portion (31) and the movable portion (32) form a receiving chamber together. The spiral auger (40) is rotatably connected to the connecting portion (31) and is located in the receiving chamber. The rotation axis of the spiral auger (40) is parallel to the first direction. The spiral auger (40) is used to cut sludge. The suction port (57) of the suction pipeline (50) is provided at the connecting portion (31) and is communicated with the receiving chamber. The suction pipeline (50) is used to suck the sludge cut by the spiral auger (40).

2. The adaptive dredging robot according to claim 1, characterized in that: The spiral auger (40) includes a first auger (41) and a second auger (42), wherein the first auger (41) and the second auger (42) are arranged at intervals along the first direction, and the dredging assembly further includes: A driving member (43); The gear assembly (44) comprises a first gear, a second gear and a third gear, wherein the driving member (43) is connected to the first gear to drive the first gear to rotate, the second gear is meshed with the first gear, one end of the first reamer (41) is connected to the second gear to rotate synchronously with the second gear, the third gear is meshed with the second gear, and one end of the second reamer (42) is connected to the third gear to rotate synchronously with the third gear, the rotation axis of the first gear is parallel to the vertical direction, the rotation axes of the first reamer (41) and the second reamer (42) are parallel to the first direction, and the rotation directions are opposite, and the first direction has an angle with the vertical direction.

3. The adaptive dredging robot according to claim 2, characterized in that: The pitches of the first reamer (41) and the second reamer (42) gradually increase from a direction away from the first gear toward a direction close to the first gear.

4. The adaptive dredging robot according to claim 1, characterized in that: The suction pipeline (50) has a first pipeline (51) arranged in a vertical direction, a baffle (52) is provided in the first pipeline (51), one end of the baffle (52) is rotatably connected to the inner wall of the first pipeline (51), and the rotation axis of the baffle (52) is parallel to the first direction. The first pipeline (51) has a first inner wall and a second inner wall arranged opposite to each other in a second direction, and a protrusion (53) is provided on the second inner wall, and the protrusion (53) extends along the second direction. The baffle (52) is configured to block or open the first pipeline (51); when the baffle (52) is in the open position, the side wall of the baffle (52) contacts the protrusion (53); when the baffle (52) is in the blocking position, the other end of the baffle (52) contacts the first inner wall.

5. The adaptive dredging robot according to claim 1, characterized in that: The suction pipeline (50) comprises a plurality of pipeline units (54) connected in sequence, and two adjacent pipeline units (54) are detachably connected via flanges.

6. The adaptive dredging robot according to claim 1, characterized in that: The suction pipeline (50) has a second pipeline (55) arranged along the second direction, a plurality of first through holes (56) are provided on the outer peripheral wall of the second pipeline (55), a cylinder (60) is sleeved on the outer peripheral wall of the second pipeline (55), a plurality of second through holes (61) are provided on the outer peripheral wall of the cylinder (60), and the cylinder (60) can rotate relative to the second pipeline (55) so that the plurality of first through holes (56) and the plurality of second through holes (61) are arranged in alignment, and the moisture of the sludge in the second pipeline (55) is discharged, and the rotation axis of the cylinder (60) is parallel to the second direction.

7. The adaptive dredging robot according to claim 1, characterized in that: The chassis assembly (10) comprises: A tray (11), wherein the box (20) is arranged on the tray (11); The protrusion (12) is provided on a side of the disc (11) facing away from the box (20), and the protrusion (12) is used for contacting with silt.

8. The adaptive dredging robot according to claim 6, characterized in that: The cross section of the protrusion (12) in the vertical direction is a conical structure.

9. The adaptive dredging robot according to claim 6, characterized in that: The chassis (10) further comprises four walking assemblies (70), wherein two walking assemblies (70) are respectively provided on both sides of the disc body (11) in the first direction, and the two walking assemblies (70) on each side of the frame body are arranged at intervals along the second direction, and the walking assemblies (70) are configured to drive the chassis assembly (10) to move.

10. The adaptive dredging robot according to claim 9, characterized in that: An inertial measurement unit, a sonar unit, and a processing unit are provided in the box (20); the inertial measurement unit, the sonar unit, and the four walking components (70) are respectively connected to the control unit for communication; the inertial measurement unit is used to collect the posture data of the box (20); the sonar module is used to scan the terrain and generate a terrain signal; the control unit is used to receive the posture data and the terrain signal and generate a control signal; the four walking components (70) receive the first adjustment signal and drive the chassis component (10) to move.

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