Intelligent pipeline dredging robot and system

Abstract

The invention relates to the technical field of pipeline desilting equipment, in particular to an intelligent pipeline desilting robot which is characterized in that a moving assembly is connected with a hydraulic power station, and the hydraulic power station provides power for the moving assembly so as to drive a desilting robot body to move; the execution assembly is connected with the hydraulic power station, the hydraulic power station provides power for the execution assembly so as to drive the execution assembly to execute the dredging action in the pipeline, and the dredging action comprises at least one of the smashing action, the pumping action and the flushing action; the collecting assembly is used for collecting multi-source environment data of a pipeline where the dredging robot body is located and transmitting the multi-source environment data to the operation assembly through the hydraulic power station, and the operation assembly generates an operation instruction according to at least one of the multi-source environment data and the user operation intention. The operation instruction comprises a moving instruction and / or a dredging instruction of the dredging robot body. Therefore, the problems of large size, high cost, poor applicability and the like of pipeline dredging equipment in the related technology are solved.

Description

Technical Field

[0001] This application relates to the technical field of municipal engineering machinery and pipeline dredging equipment, and in particular to an intelligent pipeline dredging robot. Background Technology

[0002] With the acceleration of urbanization, the scale of underground drainage pipe networks continues to expand. However, long-term operation leads to the accumulation of silt and debris in the pipes, causing poor drainage and even flooding. Traditional manual dredging is inefficient and risky, making it difficult to meet the needs of large-scale pipe network maintenance. Manual dredging requires entering confined spaces, posing safety hazards such as poisoning and suffocation; mechanical dredging equipment is bulky and difficult to adapt to complex pipe network environments. Summary of the Invention

[0003] This application provides an intelligent pipeline dredging robot and system to solve the problems of large size, high cost and poor applicability of pipeline dredging equipment in related technologies.

[0004] The first aspect of this application provides an intelligent pipeline dredging robot. The dredging robot is connected to a hydraulic power station, and the hydraulic power station is connected to an operating component. The operating component sends operating commands to the hydraulic power station to operate the dredging robot. The dredging robot includes: a dredging robot body; a moving component of the dredging robot body connected to the hydraulic power station, which provides power to the moving component to move the dredging robot body; an execution component of the dredging robot body connected to the hydraulic power station, which provides power to the execution component to perform dredging actions within the pipeline, wherein the dredging actions include at least one of crushing, extraction, and flushing actions; and a data acquisition component of the dredging robot body for acquiring multi-source environmental data of the pipeline where the dredging robot body is located, transmitting the multi-source environmental data to the operating component via the hydraulic power station, and generating operating commands based on at least one of the multi-source environmental data and user operating intentions, including movement commands and / or dredging commands for the dredging robot body.

[0005] Optionally, the hydraulic power station includes: a generator, a hydraulic pump, a control valve group, an oil tank, and an oil circuit. The generator is connected to the dredging robot via an electrical circuit, the oil tank is connected to the hydraulic pump, the hydraulic pump is connected to the hydraulic cylinder inside the dredging robot via an oil circuit, the hydraulic cylinder is connected to the oil tank via a return oil line, and a control valve group is installed on the oil circuit to control at least one of the direction, pressure, and flow rate of the hydraulic oil in the oil circuit.

[0006] Optionally, the control valve assembly includes at least one directional valve, a pressure valve, and a flow valve.

[0007] Optionally, the operation components include a display, operation buttons, and a controller. The display shows an interactive interface that displays at least one of the interactive operation, status data of the dredging robot, and multi-source environmental data. When the operation button is operated by the user, a user operation intention is generated. The controller generates an operation command based on at least one of the multi-source environmental data and the user operation intention.

[0008] Optionally, the operation component also includes a mobile operation platform, which is connected to the controller and generates user operation intentions when the mobile operation platform is operated by the user.

[0009] Optionally, the moving component includes a first track, a second track, a first power transmission shaft, a second power transmission shaft, a first hydraulic power motor, and a second hydraulic power motor. The first hydraulic power motor is connected to the first track via the first power transmission shaft, and the second hydraulic power motor is connected to the second track via the second power transmission shaft. The first and second hydraulic power motors control the dredging robot body to perform at least one of the following actions: forward movement, backward movement, left turn, right turn, and stop.

[0010] Optionally, the execution components include a cleaning device, a robotic arm, and a tool head integrated at the end of the robotic arm, wherein the cleaning device cleans and / or extracts sludge from the pipe, and the tool head removes and / or crushes the sludge from the pipe.

[0011] Optionally, the cleaning device includes a water gun, a sludge suction head, a slurry pump, and a sewage pipe. The water gun is connected to the water source of the hydraulic power station via a water pipe. The sludge suction head is located at the front end of the sewage pipe. The slurry pump, powered by the hydraulic power station, drives the sludge suction head to extract the crushed sludge through the sewage pipe.

[0012] Optionally, the acquisition components include at least one of sonar, lidar, camera, illumination device, and dielectric constant sensor, wherein the illumination device provides illumination for the camera, the camera acquires image data and / or video data inside the pipe, the lidar acquires point cloud data inside the pipe, the sonar acquires sound wave data inside the pipe, and the dielectric constant sensor acquires the dielectric constant inside the pipe, the dielectric constant being used to analyze the water content of the sludge inside the pipe.

[0013] A second aspect of this application provides a control system for an intelligent pipeline dredging robot, comprising: an intelligent pipeline dredging robot; a hydraulic power station and an operating component, wherein the dredging robot is connected to the hydraulic power station, the hydraulic power station is connected to the operating component, and the operating component sends operating commands to the hydraulic power station to operate the dredging robot.

[0014] Therefore, this application has the following beneficial effects:

[0015] In this embodiment, a dredging robot is connected to a hydraulic power station, which in turn is connected to an operating component. The operating component sends operating commands to the hydraulic power station to operate the dredging robot. Since the hydraulic power station is located outside the pipeline and provides power to the dredging robot, the robot does not require its own power equipment, significantly reducing its size. This makes it suitable for complex pipeline environments, and the reduced size also lowers the cost. Furthermore, it eliminates concerns about energy supply and range limitations, allowing for extended operation. The smaller size and reduced structural complexity also facilitate maintenance and repair, reducing maintenance costs. Maintenance costs are reduced; additionally, the dredging robot is equipped with a data acquisition component that can collect multi-source environmental data from the pipeline, enhancing the robot's environmental perception capabilities within the pipeline. The operation component can combine the multi-source environmental data fed back by the dredging robot with at least one user operation intention to adjust the power output of the hydraulic power station, ensuring the effectiveness of the dredging operation. Through the operation component, not only can the dredging robot's data processing and decision-making be automatically realized, improving its data processing and decision-making capabilities and the intelligence of pipeline dredging, but it can also actively control the dredging robot according to the user's operation intention. The operation complexity and technical threshold are low, making it easy for users to operate and effectively improving the efficiency of pipeline dredging.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 This is a structural diagram of the control system of the intelligent pipeline dredging robot according to an embodiment of this application;

[0019] Figure 2 This is a structural diagram of an intelligent pipeline dredging robot according to an embodiment of this application.

[0020] Figure 3 This is a structural diagram of a mobile component according to an embodiment of this application;

[0021] Figure 4 Here is an example diagram of an intelligent pipeline dredging robot according to an embodiment of this application;

[0022] Figure 5 This is a structural diagram of the execution component according to an embodiment of this application;

[0023] Figure 6 This is a structural diagram of a hydraulic power unit according to an embodiment of this application;

[0024] Figure 7 This is a flowchart illustrating the implementation of the control system of the intelligent pipeline dredging robot according to an embodiment of this application.

[0025] Explanation of reference numerals in the attached drawings: control system 10, intelligent pipeline dredging robot 100, hydraulic power station 200, operation component 300, dredging robot body 110, moving component 120, execution component 130, acquisition component 140, first track 121, second track 122, first power transmission shaft 123, second power transmission shaft 124, first hydraulic power motor 125, second hydraulic power motor 126, cleaning device 131, robotic arm, tool head 132, hydraulic cylinder 133, third hydraulic auger motor 134, display 310, operation button 320 and indicator light 330. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0027] In the development of modern cities, wastewater treatment is a crucial environmental engineering project, especially pipeline dredging. However, when pipeline dredging is performed by workers, the following problems often arise:

[0028] 1. High safety risks, specifically: exposure to hazardous environments: workers need to enter deep water, narrow pipes or environments containing toxic gases (such as hydrogen sulfide), which can easily lead to drowning, poisoning or suffocation accidents; lack of real-time monitoring: it is impossible for humans to predict sudden risks such as sudden changes in water flow or structural collapse.

[0029] 2. Inefficient and costly, specifically: High dependence on manpower: slow dredging speed, large-scale projects require dozens of people to work together, and the construction period can last for weeks or even months; high overall cost: labor, equipment rental (such as water pumps and excavators) and downtime losses drive up the total cost; for example, the cost of manual dredging can be more than twice that of robot operation.

[0030] 3. Insufficient precision and adaptability, specifically: extensive operation: it is difficult to control the dredging depth manually, which easily leads to incomplete cleaning or excessive damage to the underlying structure; environmental limitations: narrow pipes, complex riverbeds or deep water areas (>10 meters) cannot be entered manually, resulting in blind spots in dredging.

[0031] 4. Significant ecological disturbance: Specifically, water bodies need to be drained: Traditional methods often require draining water bodies, destroying the habitats of aquatic organisms, and the exposed silt is prone to emitting foul odors and pollutants.

[0032] Given the shortcomings of manual dredging, this application utilizes intelligent equipment, specifically a dredging robot, to replace manual labor and achieve intelligent dredging. This can significantly contribute to the operational efficiency of wastewater treatment plants and environmental improvement. The dredging robot is a flexible, maneuverable robot capable of accessing pipe diameters and possessing strong suction capabilities. It is suitable for inspection and dredging in high-risk environments such as municipal pipe networks, culverts, water treatment plants, gas field pools, lagoons, drinking water reservoirs, and cooling tower pools. It is a powerful tool for dredging in confined spaces, offering high dredging efficiency and can be equipped with larger suction pumps.

[0033] Therefore, dredging robots can serve as an alternative to traditional dredging methods. Through intelligent, unmanned, and precise design, they systematically solve long-standing pain points in traditional operations, such as safety risks, ecological damage, and low efficiency, as detailed below.

[0034] 1. Alternatives for high-risk environment operations: unmanned operation and real-time risk warning.

[0035] Remote control: Operators can work remotely through a control console, completely avoiding risks such as confined spaces and toxic gas environments.

[0036] Multi-sensor fusion: Integrates toxic gas detectors, sonar, water flow sensors, etc., to identify hydrogen sulfide, sudden changes in water flow or obstacles in real time, triggering automatic obstacle avoidance or emergency stop.

[0037] 2. Ecological protection optimization: minimally invasive operations and resource recycling.

[0038] Water-based dredging technology: No need to drain the water body, direct underwater dredging reduces ecological disturbance.

[0039] Precision separation technology: The washing system separates organic sludge from sand and gravel, while preserving the ecological matrix.

[0040] 3. Efficiency and cost restructuring: Automation and continuous operation capabilities.

[0041] Highly efficient dredging capability; long-term economic efficiency: although the cost of a single unit exceeds the cost of labor, it supports continuous 24-hour operation and has a lifespan of 5-10 years, making the overall cost lower than the cost of labor.

[0042] 4. Adaptability to complex scenarios: structural design and dynamic optimization.

[0043] Miniaturization and modularization: adaptable to narrow pipes, hydraulic drive ensures powerful obstacle crossing in confined spaces.

[0044] The adjustable robotic arm adapts to irregular riverbeds and uneven water bottoms, and is capable of deep-water operations.

[0045] 5. Precise control and data empowerment: Intelligent decision support.

[0046] Precise execution with preset parameters: Set dredging standards according to depth and range to avoid over-dredging.

[0047] Real-time data acquisition: Records silt thickness, composition, and location information to generate a dredging map.

[0048] High-definition cameras and pan-tilt systems enable full visualization of the operation, assisting in remote decision-making.

[0049] The intelligent pipeline dredging robot and system of this application are described below with reference to the accompanying drawings.

[0050] Specifically, such as Figure 1 As shown, the control system 10 of the intelligent pipeline dredging robot includes: intelligent pipeline dredging robot 100, hydraulic power station 200 and operation component 300.

[0051] The dredging robot 100 is connected to the hydraulic power station 200, which is connected to the operating component 300. The operating component 300 sends operating commands to the hydraulic power station 200 to operate the dredging robot 100.

[0052] It is understood that in this embodiment of the application, the dredging robot is connected to a hydraulic power station, and the hydraulic power station is connected to an operating component. The operating component sends operating commands to the hydraulic power station to operate the dredging robot. Since the hydraulic power station is located outside the pipeline and provides power to the dredging robot, the dredging robot does not need to be equipped with a power device, which greatly reduces the size of the dredging robot. This makes it suitable for complex pipeline environments, and the reduction in size also reduces the cost of the dredging robot. At the same time, there is no need to worry about energy supply and range limitations, allowing the dredging robot to operate for a long time. In addition, the small size and reduced structural complexity of the dredging robot also facilitate maintenance and repair, reducing maintenance and repair costs.

[0053] In the embodiments of this application, such as Figure 2 As shown, the intelligent pipeline dredging robot 100 includes: a dredging robot body 110, a moving component 120, an execution component 130, and a data acquisition component 140.

[0054] The dredging robot body 110 includes a moving component 120 connected to a hydraulic power station, which provides power to the moving component 120 to move the dredging robot body 110. The dredging robot body 110 also includes an execution component 130 connected to the hydraulic power station, which provides power to the execution component 120 to perform dredging actions within the pipeline. These dredging actions include at least one of crushing, extraction, and flushing actions. The dredging robot body 110 also includes a data acquisition component 140 for acquiring multi-source environmental data of the pipeline where the dredging robot body 110 is located. This data is transmitted to an operation component via the hydraulic power station. The operation component generates operation commands based on at least one of the multi-source environmental data and the user's operational intent. These operation commands include movement commands and / or dredging commands for the dredging robot body 110.

[0055] Understandably, the dredging robot body 110 is equipped with a data acquisition component 140, which can collect multi-source environmental data of the pipeline, improving the environmental perception capability of the dredging robot 100 within the pipeline. The operation component 300 can combine the multi-source environmental data fed back by the dredging robot 100 with at least one user operation intention to adjust the power output of the hydraulic power station 200, ensuring the effectiveness of the dredging operation. Through the operation component 300, not only can the data processing and decision-making of the dredging robot 100 be automatically realized, improving the data processing and decision-making capabilities and the intelligence of pipeline dredging, but it can also actively control the dredging robot according to the user's operation intention. The operation complexity and technical threshold are low, making it easy for users to operate and effectively improving the efficiency of pipeline dredging.

[0056] In the embodiments of this application, such as Figure 3 As shown, the mobile assembly 120 includes a first track 121, a second track 122, a first power transmission shaft 123, a second power transmission shaft 124, a first hydraulic power motor 125, and a second hydraulic power motor 126.

[0057] The first hydraulic power motor 125 is connected to the first track 121 via the first power transmission shaft 123, and the second hydraulic power motor 126 is connected to the second track 122 via the second power transmission shaft 124. The first hydraulic power motor 125 and the second hydraulic power motor 126 control the dredging robot body 110 to perform at least one of the following actions: forward movement, backward movement, left turn movement, right turn movement, and stop movement.

[0058] It is understandable that, such as Figure 4As shown, the dredging robot 100 is powered by two hydraulic motors on its body, which control the first track 121 and the second track 122 to control the robot's forward, backward, left, right, and stop movements. The speed of each movement is adjustable. The first track 121 and the second track 122 are designed with a variable diameter track chassis, and the hydraulic telescopic track width is adaptively adjustable, enabling it to climb slopes up to 35°, facilitating obstacle crossing. It also features an anti-current stability system; in deep water operations, micro-vector thrusters counteract flow disturbances.

[0059] In the embodiments of this application, such as Figure 5 As shown, the execution component 130 includes a cleaning device 131, a robotic arm, and a tool head 132 integrated at the end of the robotic arm. The cleaning device 131 cleans and / or extracts sludge from the pipe, and the tool head 132 removes and / or crushes the sludge from the pipe.

[0060] It is understandable that, such as Figure 5 As shown, the execution component 130 also includes a hydraulic cylinder 133. The hydraulic power station 200 controls the hydraulic cylinder 133 to drive the lifting and lowering of the bucket; controls the third hydraulic auger motor 134 to crush the silt; mixes the silt and water together through the cleaning device 131; and starts the powerful suction function to pump the mixture of water and silt out of the pipeline.

[0061] Specifically, the tool head includes the bucket assembly and Figure 4 The auger device shown can be a multi-joint flexible robotic arm, such as a 7-DOF robotic arm, to simulate human arm movements. The end effector integrates an electronically controlled tool head switch for quick tool head switching. Pressure sensors monitor the resistance of the robotic arm in real time and automatically reduce pressure to prevent jamming when encountering hard objects.

[0062] In this embodiment, the cleaning device 131 includes a water gun, a sludge suction head, a slurry pump, and a sewage pipe. The water gun is connected to the water source of the hydraulic power station through a water pipe. The sludge suction head is located at the front end of the sewage pipe. The slurry pump, based on the power provided by the hydraulic power station, drives the sludge suction head to extract the crushed sludge through the sewage pipe.

[0063] Understandably, a water gun can be a high-pressure water gun to improve sludge removal capabilities. In practical applications, such as... Figure 4 As shown, a high-pressure water gun is used to flush away the crushed sludge, and a powerful slurry pump sucks up the sludge and discharges it through a drain pipe. Figure 4 As shown, in actual use, the dredging robot can also be equipped with a spray system.

[0064] Specifically, this application also employs a cyclone suction head design and in-situ sludge separation technology. The cyclone suction head design includes: a built-in spiral guide vane generating centrifugal force to separate stones / garbage (>5cm) from sludge, reducing clogging rate by 90%; and reverse pulse flushing: a 0.1-second high-pressure backwash (15MPa) is triggered every 30 minutes of operation to remove sludge adhering to the suction port. The in-situ sludge separation technology includes injecting 20-50μm microbubbles to allow organic sludge to float and separate, while sand and gravel sink and backfill the riverbed, resulting in an ecological substrate retention rate >85%; and the use of a screw filter press and chemical conditioning to reduce sludge moisture content from 98% to 65%.

[0065] In this embodiment, the acquisition component 140 includes at least one sonar, lidar, camera, lighting device, water quality sensor, and dielectric constant sensor. The lighting device provides illumination for the camera, the camera acquires image data and / or video data within the pipe, the lidar acquires point cloud data within the pipe, the sonar acquires sound wave data within the pipe, the dielectric constant sensor acquires the dielectric constant within the pipe, the water quality sensor is used to detect pH value and hydrogen sulfide, and the dielectric constant is used to analyze the water content of sludge within the pipe.

[0066] Specifically: the lighting unit includes two high-intensity LED modules, providing ample illumination even underwater for better lighting effects. The camera includes a full HD camera that transmits video to the control terminal's display screen via high-speed signal. The HD camera requires a 12V / 2A DC power supply and transmits signals to the front-end display with extremely low video transmission latency. The lighting unit uses DC dimming to control its on / off state and brightness. The dredging robot has pre-installed multiple sensor interfaces for easy sensor installation.

[0067] Understandably, the dredging robot 100 is equipped with sonar (to detect silt thickness and distribution), lidar (to construct underwater 3D maps), high-definition cameras (for real-time image transmission), and water quality sensors (to detect pH, hydrogen sulfide, etc.), enabling precise positioning and obstacle identification in turbid environments. It analyzes the silt moisture content (range 30-95%) using a dielectric constant sensor, automatically matching the suction intensity (0-150kPa) and auger speed (0-200rpm) to avoid excessive fragmentation or blockage.

[0068] Therefore, the embodiments of this application can utilize sonar sludge thickness imaging (accuracy ±2cm), lidar 3D modeling (point cloud density >1000 points / ㎡) and AI visual sludge recognition to solve the problem of traditional optical cameras failing in murky water, construct pipeline deformation diagrams in real time, and simultaneously mark corrosion points and sludge hotspots. At the same time, it can combine machine learning historical sludge data to predict key cleaning areas, improve efficiency by 40%, and achieve autonomous parameter adjustment based on sludge characteristics.

[0069] In summary, the dredging robot is a comprehensive solution integrating sensing technology, autonomous navigation, intelligent control, and a highly efficient dredging execution system. It aims to address the safety risks, low efficiency, and ecological damage associated with traditional dredging methods, as detailed below:

[0070] 1. Perception and navigation system.

[0071] Environmental perception: Equipped with sonar (to detect the thickness and distribution of silt), lidar (to build underwater 3D maps), high-definition cameras (for real-time image transmission) and water quality sensors (to detect pH value, hydrogen sulfide, etc.), it can achieve accurate positioning and obstacle recognition in turbid environments.

[0072] Dynamic obstacle avoidance: Through AI algorithms, sensor data is processed in real time to automatically plan the optimal dredging path and avoid obstacles such as pipe walls and rocks.

[0073] Deep adaptation technology: Supports deep-water operations of 30 meters or more.

[0074] 2. Mobile platform and structural design.

[0075] Compact chassis: Adopts high load-bearing tracked hydraulic drive, compatible with pipe diameters of DN600-DN2400, and has strong obstacle crossing ability (climbing angle ≥30°).

[0076] Modular robotic arm: The front end is equipped with interchangeable tools (bucket, auger, shovel), allowing for switching of working modes to suit different types of sludge (viscous sludge / gravel). For example: auger crushing system: crushes compacted sludge.

[0077] Adjustable front shovel arm: precisely controls the dredging depth and avoids over-digging.

[0078] 3. Dredging execution agency.

[0079] High-efficiency suction and discharge system: High-power centrifugal pump: suction efficiency up to 150m³ / h 3 / h is used to transport silt with wear-resistant pipes; mud-water separation technology: the back end integrates dewatering equipment to reduce the water content of silt to below 80% and form a resource-recoverable mud cake.

[0080] Self-cleaning design: Equipped with a high-pressure water gun flushing component to prevent the front shovel from accumulating and clogging with silt, thus improving continuous operation capability.

[0081] 4. Sludge treatment and resource utilization.

[0082] Staged sedimentation process: After being pumped by a slurry pump, the sludge is transported to a primary sedimentation tank → a secondary sedimentation tank → and then the clear water is reused, achieving a closed-loop environmental water cycle. Resource utilization: Dried sludge is used for landscaping soil and building material raw materials.

[0083] 5. Low-temperature pyrolysis carbon fixation technology.

[0084] After dredging, the sludge is pyrolyzed at 400℃ in an anaerobic environment to produce biochar carbon fixation material (carbon fixation rate > 50%), which is used for soil improvement or building materials.

[0085] In the embodiments of this application, such as Figure 6 As shown, the hydraulic power station 200 includes a motor drive, hydraulic power components, hydraulic auxiliary components, and hydraulic control components. Specifically, the hydraulic power station 200 includes a generator, a hydraulic pump, a control valve assembly, an oil tank, and an oil circuit. The generator is connected to the dredging robot via an electrical circuit, the oil tank is connected to the hydraulic pump, the hydraulic pump is connected to the hydraulic cylinder inside the dredging robot via an oil circuit, and the hydraulic cylinder is connected to the oil tank via a return oil line. A control valve assembly is installed on the oil circuit to control at least one of the direction, pressure, and flow rate of the hydraulic oil within the circuit; the control valve assembly includes at least one directional valve, a pressure valve, and a flow valve.

[0086] Understandably, the entire operating system is powered by a generator. A generator of appropriate power provides a stable power output to the hydraulic power station, ensuring the stable operation of the entire system. The generator also effectively solves the power supply problem for the entire equipment, ensuring operation can be completed even under conditions where external power supply is difficult.

[0087] In the embodiments of this application, such as Figure 6 As shown, the hydraulic power station 200 also includes an oil filter and a cooler. The hydraulic power station 200 also includes a water circuit to provide a water source for the dredging robot 100 during dredging. In addition, the hydraulic power station 200 is equipped with a power-adaptive generator and a sufficiently powerful motor to ensure the continuous and stable output of the entire hydraulic system, thereby ensuring the powerful dredging robot's ability to remove silt from the pipeline.

[0088] In practice, the hydraulic power unit 200 is connected to the dredging robot via a three-proof cable. All water, electrical, and oil circuits are laid out separately to ensure that they do not interfere with each other while also ensuring coordinated operation. The three-proof cable is waterproof, corrosion-resistant, and tear-resistant, and its length is typically greater than the working depth.

[0089] In this embodiment, the hydraulic power station 200 can also be designed with dual-mode power supply of fuel cell and supercapacitor. The hydrogen fuel cell provides continuous power, while the supercapacitor handles the peak power of mud suction, improving range. When walking downhill, the hydraulic motor generates electricity in reverse to achieve energy recovery.

[0090] In the embodiments of this application, such as Figure 7As shown, the operation component 300 includes a display 310, an operation button 320, an indicator light 330, and a controller. The display 310 displays an interactive interface that displays at least one of the interactive operation, status data of the dredging robot 100, and multi-source environmental data. When the operation button 320 is operated by the user, it generates the user's operation intention. The controller generates an operation command based on at least one of the multi-source environmental data and the user's operation intention.

[0091] It is understood that, through the operation component 300, the embodiments of this application can not only automatically realize data processing and decision-making of the dredging robot 100, improving data processing and decision-making capabilities and the intelligence of pipeline dredging, but also actively control the dredging robot according to the user's operating intentions. The operation complexity and technical threshold are low, making it easy for users to operate and effectively improving the efficiency of pipeline dredging. The indicator light 330 can display the status of the dredging robot 100, etc. The interactive interface is designed to be user-friendly and easy to operate, while ensuring that the camera on the dredging robot is a starlight-level camera module, transmitting signals to a display with sunlight-readable screen characteristics to ensure high-definition and high-brightness images.

[0092] Specifically, the operating component 300 is responsible for the overall control and scheduling of the robot, typically including a controller, image transmission system, and multi-protocol communication module, ensuring precise navigation and communication for the robot. The controller is equipped with an operating system and possesses autonomous decision-making capabilities, such as automatically adjusting the dredging intensity based on preset parameters (depth, range), and an emergency avoidance mechanism that automatically stops the robot when sonar detects a collision risk. The operating system, located on a control motherboard with an MCU, features a USB universal interface, allowing connection to storage devices for storing video recordings of the entire dredging operation. The interactive interface can display parameters of various parts of the hydraulic power station, including hydraulic pressure, oil temperature, and pipeline parameters. The operation buttons 320 can be physical or virtual. Physical buttons indicate the user's intention, while virtual buttons, displayed on the interactive interface, allow the user to determine their intention through interaction with these virtual buttons. The operating system sends instructions to the hydraulic power station, which then transmits the corresponding power to the dredging robot according to the instructions. The dredging robot then performs the corresponding actions. At the same time, the dredging robot 100 also transmits the collected video images to the operating system's display, and other statuses of the dredging robot 100 are transmitted to the display or corresponding indicator lights via signals.

[0093] Therefore, the operating component 300 is connected to the hydraulic power station 200 and the dredging robot 100. The operating component 300 uses the power provided by the hydraulic power station 200 to command the dredging robot 100 to operate in real time. Simultaneously, it adjusts the power output of the hydraulic power station 200 based on video images monitored by the dredging robot 100, ensuring the effectiveness of the dredging operation. A universal USB interface is integrated, allowing connection to a storage device to save video images of each operation to a designated location on the storage device for easy retrieval of work records later. The interactive interface displays the real-time movements of the robot, ensuring the effectiveness and real-time nature of remote control.

[0094] In this embodiment of the application, the operation component 300 further includes a mobile operation platform 340, which is connected to the controller. When the mobile operation platform is operated by the user, it generates the user's operation intention.

[0095] Understandably, the mobile operation platform 340 can be operated by a handheld handle or a remote control platform in specific applications. The handheld handle can be connected to an alternative handle device through a universal interface, which can more conveniently control the dredging robot 100 and improve work efficiency. The remote control platform can include a handheld touch tablet and a dual-screen control panel, supporting zero-latency video transmission within 10 meters and real-time display of robot posture, silt thickness and environmental data.

[0096] In summary, the embodiments of this application, through intelligent, unmanned, and precise design, systematically solve the problems of safety risks, ecological damage, and low efficiency existing in traditional operations. They are applicable to the detection and dredging of high-risk environments such as municipal pipe networks, culverts, water treatment plants, gas field pools, and reservoirs, and have one or more of the following effects:

[0097] 1. Alternatives for high-risk environment operations: unmanned operation and real-time risk warning.

[0098] Remote control: Operators can work remotely through a control console, completely avoiding risks such as confined spaces and toxic gas environments.

[0099] Multi-sensor fusion: Integrates toxic gas detectors, sonar, water flow sensors, etc., to identify hydrogen sulfide, sudden changes in water flow or obstacles in real time, triggering automatic obstacle avoidance or emergency stop.

[0100] 2. Ecological protection optimization: minimally invasive operations and resource recycling.

[0101] Water-based dredging technology: No need to drain the water body, direct underwater dredging reduces ecological disturbance.

[0102] Precision separation technology: The washing system separates organic sludge from sand and gravel, while preserving the ecological matrix.

[0103] 3. Efficiency and cost restructuring: Automation and continuous operation capabilities.

[0104] Highly efficient dredging capability:

[0105] Long-term economic benefits: Although the cost of a single unit is 300,000 to 1 million yuan, it supports 24-hour continuous operation and has a lifespan of 5-10 years, making the overall cost lower than that of labor.

[0106] 4. Adaptability to complex scenarios: structural design and dynamic optimization.

[0107] Miniaturization and modularization: Adaptable to DN600 pipes, hydraulic drive ensures powerful obstacle crossing in confined spaces.

[0108] The adjustable robotic arm adapts to irregular riverbeds and uneven water bottoms, enabling deep-water operations.

[0109] 5. Precise control and data empowerment: Intelligent decision support.

[0110] Precise execution with preset parameters: Set dredging standards according to depth and range to avoid over-dredging.

[0111] Real-time data acquisition: Records silt thickness, composition, and location information to generate a dredging map.

[0112] High-definition cameras and PTZ systems enable full visualization of the operation process and assist in remote decision-making.

[0113] The control system of the intelligent pipeline dredging robot will be illustrated below through a specific implementation example, such as... Figure 7 As shown, the details are as follows:

[0114] Phase 1: Preliminary survey and scheme formulation.

[0115] 1. Environmental scanning.

[0116] Use pipeline inspection robots or sonar scanners to obtain: heat maps of silt thickness and distribution (e.g., accuracy ±2cm), pipeline deformation / rupture points (e.g., ellipticity >10% requires warning), and concentrations of harmful gases (e.g., hydrogen sulfide >10ppm triggers protection), etc.

[0117] 2. Dredging parameter settings.

[0118] Select the appropriate tool head (auger / bucket) based on the type of silt (viscous / sandy), and set the working depth, suction strength, and travel speed.

[0119] Phase 2: Robot Deployment and Security.

[0120] Assemble the equipment, connect the three-proof cable (waterproof / corrosion-proof / tear-resistant) to the hydraulic station, with a laying length equal to the working depth × 1.5; install the modular tool head; start the self-test: sensor calibration (sonar zero-point compensation) and sealing test.

[0121] Phase 3: Dredging operation execution.

[0122] 1. The adaptive dredging process includes:

[0123] Step 1, Locate the siltation area: Sonar scan → AI generates siltation priority map (prioritize areas with siltation > 70% of pipe diameter);

[0124] Step 2: Pattern Matching

[0125] Glueous sludge → screw conveyor crusher (150 rpm) + cyclone suction head (80 kPa suction);

[0126] Gravel and silt → high-pressure water jet flushing (15MPa) + bucket collection and transportation;

[0127] Step 3, Dynamic Adjustment: The dielectric sensor provides real-time feedback on the moisture content and automatically adjusts the suction power (e.g., 90% moisture content → suction power increased to 120kPa).

[0128] 2. Application of anti-interference technology.

[0129] Self-cleaning mechanism: Triggers a reverse pulse (15MPa) for 0.1 seconds every 30 minutes to remove sludge buildup at the suction port;

[0130] Obstacle crossing strategy: When encountering rocks / garbage piles (>10cm) → robotic arm tactile sensing → increase track torque by 50% for crossing.

[0131] In summary, the control systems of pipeline dredging robots in related technologies suffer from several problems, including: insufficient environmental perception; low communication reliability; weak data processing and decision-making capabilities; high operational complexity and technical barriers; limited energy supply and endurance; high maintenance and repair costs; and poor standardization and compatibility. Therefore, the embodiments of this application address the stability, integrity, and scalability of the equipment in actual operating environments, ensuring simple, convenient, and stable operation, stable transmission of video signals, strong anti-interference capabilities, short response time, and a certain degree of fault redundancy in the overall system.

[0132] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0133] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0134] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An intelligent pipeline dredging robot, characterized in that, The dredging robot is connected to a hydraulic power station, which is connected to an operating component. The operating component sends operating commands to the hydraulic power station to operate the dredging robot. The dredging robot includes: The main body of the dredging robot; The dredging robot body has a moving component, which is connected to the hydraulic power station. The hydraulic power station provides power to the moving component to drive the dredging robot body to move. The dredging robot body has an execution component, which is connected to the hydraulic power station. The hydraulic power station provides power to the execution component to drive the execution component to perform dredging actions in the pipeline. The dredging actions include at least one of crushing, extraction, and flushing actions. The data acquisition component of the dredging robot body is used to collect multi-source environmental data of the pipeline where the dredging robot body is located, and transmit the multi-source environmental data to the operation component through the hydraulic power station. The operation component generates the operation command based on at least one of the multi-source environmental data and the user's operation intention. The operation command includes the movement command of the dredging robot body and / or the dredging command.

2. The intelligent pipeline dredging robot according to claim 1, characterized in that, The hydraulic power station includes a generator, a hydraulic pump, a control valve group, an oil tank, and an oil circuit. The generator is connected to the dredging robot via an electrical circuit. The oil tank is connected to the hydraulic pump. The hydraulic pump is connected to the hydraulic cylinder inside the dredging robot via the oil circuit. The hydraulic cylinder is connected to the oil tank via a return oil line. The control valve group is installed on the oil circuit to control at least one of the direction, pressure, and flow rate of the hydraulic oil in the oil circuit.

3. The intelligent pipeline dredging robot according to claim 2, characterized in that, The control valve assembly includes at least one directional valve, a pressure valve, and a flow valve.

4. The intelligent pipeline dredging robot according to claim 1, characterized in that, The operation components include a display, operation buttons, and a controller. The display shows an interactive interface that displays at least one of the interactive operations, the status data of the dredging robot, and the multi-source environmental data. When the operation buttons are operated by the user, the user's operation intention is generated. The controller generates the operation instructions based on at least one of the multi-source environmental data and the user's operation intention.

5. The intelligent pipeline dredging robot according to claim 4, characterized in that, The operation component also includes a mobile operation platform, which is connected to the controller, and generates the user operation intention when the mobile operation platform is operated by the user.

6. The intelligent pipeline dredging robot according to claim 1, characterized in that, The mobile component includes a first track, a second track, a first power transmission shaft, a second power transmission shaft, a first hydraulic power motor, and a second hydraulic power motor. The first hydraulic power motor is connected to the first track via the first power transmission shaft, and the second hydraulic power motor is connected to the second track via the second power transmission shaft. The first and second hydraulic power motors control the dredging robot body to perform at least one of the following actions: forward movement, backward movement, left turn, right turn, and stop.

7. The intelligent pipeline dredging robot according to claim 1, characterized in that, The execution component includes a cleaning device, a robotic arm, and a tool head integrated at the end of the robotic arm, wherein the cleaning device cleans and / or extracts sludge from the pipe, and the tool head removes and / or crushes the sludge from the pipe.

8. The intelligent pipeline dredging robot according to claim 7, characterized in that, The cleaning device includes a water gun, a sludge suction head, a slurry pump, and a sewage pipe. The water gun is connected to the water source of the hydraulic power station via a water pipe. The sludge suction head is located at the front end of the sewage pipe. The slurry pump, powered by the hydraulic power station, drives the sludge suction head to extract the crushed sludge through the sewage pipe.

9. The intelligent pipeline dredging robot according to claim 1, characterized in that, The acquisition components include at least one of sonar, lidar, camera, lighting device, water quality sensor, and dielectric constant sensor. The lighting device provides illumination for the camera, the camera acquires image data and / or video data within the pipeline, the lidar acquires point cloud data within the pipeline, the sonar acquires sound wave data within the pipeline, the water quality sensor detects pH value and hydrogen sulfide, and the dielectric constant sensor acquires the dielectric constant within the pipeline. The dielectric constant is used to analyze the water content of the sludge within the pipeline.

10. A control system for an intelligent pipeline dredging robot, characterized in that, include: The intelligent pipeline dredging robot according to any one of claims 1-9; The system includes a hydraulic power station and an operating component, wherein the dredging robot is connected to the hydraulic power station, the hydraulic power station is connected to the operating component, and the operating component sends operating commands to the hydraulic power station to operate the dredging robot.

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