Pipe cleaning robot based on physical rule guidance

Abstract

This invention discloses a pipeline dredging robot guided by physical rules, belonging to the field of water conservancy engineering and municipal pipeline maintenance technology. The dredging robot includes a working robot and a control box, as well as an intelligent diagnostic module for siltation in water conservancy and flood control pipelines. This invention connects the front and rear vehicles via flexible hoses, enabling stable passage through bends or unstructured terrain. Combined with a circuit system, the robot's motion posture is adjusted to prevent jamming or tipping. A silt-breaking system breaks up stubborn silt, and a silt-transfer system pumps it out. An information sensing system detects the conditions inside the water conservancy and flood control pipeline, improving the robot's situational awareness and dredging accuracy.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy engineering and municipal pipeline maintenance technology, and particularly relates to a pipeline dredging robot guided by physical rules. Background Technology

[0002] Currently, using robots to replace manual labor for pipeline dredging has become an industry consensus. However, in practical engineering applications, existing dredging robots still face the following significant technical bottlenecks: insufficient adaptability and stability of the robot's motion mechanism to complex pipe shapes. Most existing pipeline dredging robots adopt a single-unit rigid chassis structure. When facing curved pipes with small radii of curvature or unstructured terrain, the single-unit structure is prone to jamming or tipping over. Furthermore, during high-pressure water jetting or powerful mechanical breaking operations, the robot body is easily subjected to enormous recoil forces. The lack of an effective multi-body dynamics stability control mechanism makes it difficult to maintain the working posture, severely affecting dredging accuracy.

[0003] Patent application CN120291607A discloses a suction-type intelligent dredging robot and dredging method for underground drainage pipes. It can automate and intelligently diagnose and dredge siltation in underground drainage pipe networks within a certain maintenance area. However, the robot relies heavily on algorithms and mechanically breaks up pipes using an electric hammer, without further algorithmic improvements to enhance safety at pipe defects. Furthermore, the robot is a single-unit structure, making it less adaptable to bends in pipes compared to a modular design. Summary of the Invention

[0004] To address the problems of difficulty in diagnosing pipe siltation, low dredging efficiency, and poor operational stability in complex flow field environments, this invention provides a pipe dredging robot guided by physical rules.

[0005] The present invention is achieved through the following technical solutions.

[0006] This invention provides a pipeline dredging robot guided by physical rules, comprising a working robot and a working control box. The working robot includes a hardware structure comprising a front vehicle, a rear vehicle, and a fuselage shell structure, a motor system, a circuit system, an information sensing system, a silt crushing system, and a silt transfer system mounted on the front and rear vehicles. The front and rear vehicles are connected by a flexible hose. The working control box includes a software module, which includes an intelligent diagnostic module for siltation in water conservancy and flood control pipelines. The working robot and the working control box are connected by a cable.

[0007] Preferably, the mobility system is provided in multiple sets, and the multiple sets of mobility systems are arranged symmetrically with the central axis of the fuselage shell structure of the front vehicle and the rear vehicle as the center of symmetry. The mobility system includes a telescopic support arm, a drive wheel and a driven wheel, and the drive wheel and the driven wheel are fixed to the fuselage shell structure of the front vehicle and the rear vehicle through the telescopic support arm.

[0008] Preferably, the circuit system includes a central command controller, a three-axis gyroscope, and a signal interface. The central command controller and the three-axis gyroscope are located inside the fuselage shell structure of the front vehicle, and the signal interface is located at the rear of the fuselage shell structure of the rear vehicle. The three-axis gyroscope is used to sense the motion state of the robot working inside the water conservancy flood control pipeline and send attitude signals to the central command controller to adjust the attitude and movement of the robot.

[0009] Preferably, the sediment crushing system includes a multi-channel ultrasonic crushing rotary head, an omnidirectional high-pressure nozzle, a stirring brush, and an annular sliding groove, all mounted on the outer shell structure of the front vehicle. The multi-channel ultrasonic crushing rotary head is connected to the front of the outer shell structure of the front vehicle, and the annular sliding groove is provided on the multi-channel ultrasonic crushing rotary head. The omnidirectional high-pressure nozzle is located at the front of the outer shell structure of the front vehicle and is connected to the outer shell structure of the front vehicle via a pipe. The stirring brush includes multiple metal blades and is located at the lower part of the front vehicle.

[0010] Preferably, the information sensing system includes a Doppler flow velocity sensor, an ultrasonic thickness sensor, a lidar, and a detection component. Three Doppler flow velocity sensors are arranged circumferentially along the outer wall of the front vehicle. The ultrasonic thickness sensor and lidar are arranged on the multi-channel ultrasonic crushing rotating head. The detection component includes an ultrasonic flaw detection sensor and a pressure sensor, and the detection component is arranged between the driving wheel and the driven wheel of the front vehicle.

[0011] Preferably, the sediment transfer system is installed on the rear vehicle. The sediment transfer system includes a sediment suction device, a sediment discharge pipe, and a vacuum pump. The sediment suction device is installed at the bottom of the rear vehicle's outer shell structure, the sediment discharge pipe is installed at the rear of the rear vehicle's outer shell structure, and the vacuum pump is installed inside the rear vehicle's outer shell structure. The inlet end of the vacuum pump is connected to the sediment suction device, and the outlet end is connected to the sediment discharge pipe.

[0012] Preferably, the operation control box includes a box structure, a box cover, a power supply device, a pipeline non-contact ultrasonic level gauge, a wireless signal transceiver module, a signal antenna, a cable, and a development board. The operation control box is placed on the ground and fixed.

[0013] The power supply device, the non-contact ultrasonic level gauge, the wireless signal transceiver module, the signal antenna, and the development board are all installed and fixed inside the enclosure structure.

[0014] The beneficial effects of this invention are as follows:

[0015] This invention connects the front and rear vehicles via flexible hoses, enabling stable passage through bends or unstructured terrain. Combined with a circuit system, it adjusts the robot's motion posture to prevent jamming or tipping. A sediment-breaking system breaks up stubborn sediment, and a sediment-transfer system pumps it out. An information sensing system detects conditions within the water conservancy and flood control pipeline, improving the robot's situational awareness and dredging accuracy. Attached Figure Description

[0016] Figure 1 This is a connection diagram of the adaptive robot and the operation control box provided in this embodiment of the invention;

[0017] Figure 2 This is an assembly diagram of the adaptive operation robot provided in an embodiment of the present invention;

[0018] Figure 3 This is a side view of the adaptive work robot provided in an embodiment of the present invention;

[0019] Figure 4 This is a bottom view of the adaptive work robot provided in this embodiment of the invention;

[0020] Figure 5 This is a front view of the adaptive work robot provided in an embodiment of the present invention;

[0021] Figure 6 This is a rear view of the adaptive work robot provided in an embodiment of the present invention;

[0022] Figure 7 This is a hardware structure diagram of the operation control box provided in the embodiment of the present invention;

[0023] Figure 8 This is a flowchart of an embodiment of the present invention;

[0024] In the diagram, 1-telescopic support arm, 2-drive wheel, 3-driven wheel, 4-multi-channel ultrasonic crushing rotating head, 5-omnidirectional high-pressure nozzle, 6-stirring brush, 7-sludge suction device, 8-sludge discharge pipe, 9-vacuum pump, 10-Doppler flow velocity sensor, 11-central command controller, 12-three-axis gyroscope, 13-signal interface, 14-annular sliding groove, 15-ultrasonic thickness sensor, 16-lidar, 17-detection component, 18-box structure, 19-box cover, 20-power supply device, 21-non-contact ultrasonic level gauge, 22-wireless signal transceiver module, 23-signal antenna, 24-cable, 25-development board, 26-hose, 27-front vehicle, 28-rear vehicle. Detailed Implementation

[0025] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.

[0026] Example:

[0027] like Figures 1 to 8 As shown, a pipeline dredging robot guided by physical rules includes a working robot and a working control box. The working robot includes a hardware structure, comprising a front vehicle 27, a rear vehicle 28, and a fuselage shell structure, a motor system, a circuit system, an information sensing system, a silt crushing system, and a silt transfer system mounted on the front vehicle 27 and the rear vehicle 28. The front vehicle 27 and the rear vehicle 28 are connected by a flexible hose 26, which is a universal metal flexible hose that can rotate in any direction, facilitating the passage of the front vehicle 27 and the rear vehicle 28 through curves. The working control box includes a software module, which includes an intelligent diagnostic module for siltation in water conservancy and flood control pipelines. The working robot is connected to the working control box by a cable 24, which internally consists of signal transmission lines and power transmission lines for transmitting signals and power.

[0028] The motor system is provided in multiple sets, and the multiple sets of motor systems are arranged symmetrically with the central axis of the fuselage shell structure of the front vehicle 27 and the rear vehicle 28 as the center of symmetry. The motor system includes a telescopic support arm 1, a drive wheel 2 and a driven wheel 3. The drive wheel 2 and the driven wheel 3 are both fixed to the fuselage shell structure of the front vehicle 27 and the rear vehicle 28 through the telescopic support arm 1.

[0029] The circuit system includes a central command controller 11, a three-axis gyroscope 12, and a signal interface 13. The central command controller 11 and the three-axis gyroscope 12 are located inside the fuselage shell structure of the front vehicle 27, and the signal interface 13 is located at the upper rear of the fuselage shell structure of the rear vehicle 28. The three-axis gyroscope 12 is used to sense the motion state of the robot working inside the water conservancy flood control pipeline and send attitude signals to the central command controller 11 to adjust the attitude and movement of the robot.

[0030] The sediment crushing system includes a multi-channel ultrasonic crushing rotary head 4, an omnidirectional high-pressure nozzle 5, a stirring brush 6, and an annular sliding groove 14, all mounted on the outer shell structure of the front vehicle 27. The multi-channel ultrasonic crushing rotary head 4 is connected to the center of the front outer shell structure of the front vehicle 27. The multi-channel ultrasonic crushing rotary head 4 is provided with an annular sliding groove 14, allowing it to move left and right and forward and backward, and to rotate based on the annular sliding groove 14. The omnidirectional high-pressure nozzle 5 is located on the upper front side of the outer shell structure of the front vehicle 27 and is connected to the outer shell structure of the front vehicle 27 via a metal pipe. The stirring brush 6, composed of multiple metal blades, can rotate at the bottom of the vehicle and can be adjusted vertically. The stirring brush 6 is located at the bottom of the front vehicle 27.

[0031] The information sensing system includes a Doppler flow velocity sensor 10, an ultrasonic thickness sensor 15, a lidar 16, and a detection component 17; three Doppler flow velocity sensors 10 are arranged circumferentially along the outer wall of the front vehicle 27; the ultrasonic thickness sensor 15 and the lidar 16 are arranged on the multi-channel ultrasonic crushing rotary head 4; the detection component 17 includes an ultrasonic flaw detection sensor and a pressure sensor, and the detection component 17 is arranged between the driving wheel 2 and the driven wheel 3 of the front vehicle 27.

[0032] The sediment transfer system includes a sediment suction device 7, a sediment discharge pipe 8, and a vacuum pump 9. The sediment suction device 7 is located at the bottom rear end of the rear vehicle 28's outer shell structure. The sediment discharge pipe 8 is located at the center of the rear part of the rear vehicle 28's outer shell structure. The vacuum pump 9 is located inside the rear vehicle 28's outer shell structure at a slightly rearward position. The inlet end of the vacuum pump 9 is connected to the sediment suction device 7, and the outlet end is connected to the sediment discharge pipe 8, for transferring the crushed sludge and sediment to the outside.

[0033] The central command controller 11 is responsible for controlling the motors of the telescopic support arm 1, the drive wheel 2, the multi-channel ultrasonic crushing rotary head 4, the omnidirectional high-pressure nozzle 5, the stirring brush 6, the sediment suction device 7, the sediment discharge pipe 8, the vacuum sludge pump 9, the Doppler flow velocity sensor 10, the three-axis gyroscope 12 for attitude control, the annular sliding groove 14, the ultrasonic thickness sensor 15, the lidar 16, and the detection component 17.

[0034] The operation control box includes a box structure 18, a box cover plate 19, a power supply device 20, a pipeline non-contact ultrasonic level gauge 21, a wireless signal transceiver module 22, a signal antenna 23, a cable 24, and a development board 25; the wireless signal transceiver module 22 is a 5G wireless signal transceiver module, and the operation control box is placed on the ground and fixed.

[0035] The power supply device 20, the non-contact ultrasonic level gauge 21, the wireless signal transceiver module 22, the signal antenna 23, and the development board 25 are all installed and fixed inside the box structure 18; the intelligent diagnostic module for siltation in water conservancy and flood control pipelines runs on the development board 25.

[0036] The wireless signal transceiver module 22 is used to receive the operation control commands received by the signal antenna 23 and the fluid state index data transmitted by the cable 24, and transmit the above data to the development board 25 as data input for the intelligent diagnosis algorithm of siltation in water conservancy and flood control pipelines.

[0037] The stirring brush 6, hose 26, and annular sliding groove 14 are all made of metal. The signal interface 13 is a multi-signal interface for preventing the fall off of the aviation plug. The signal antenna 23 is a high-power anti-interference signal antenna. The cable 24 is a towed floating cable. The cable 24 is also connected to the pipeline non-contact ultrasonic level gauge 21 and the wireless signal transceiver module 22.

[0038] The wireless signal transceiver module 22 is not a single radio frequency component, but a comprehensive data gateway terminal integrating a physical communication interface. For example... Figure 7 As shown, after the cable 24 enters the enclosure structure 18, it directly connects to the wired data interface of the non-contact ultrasonic level gauge 21, the wireless signal transceiver module 22, and the development board 25 via the terminal block to establish physical contact. The wireless signal transceiver module 22 is responsible not only for transmitting and receiving wireless signals but also acts as a front-end data aggregation node, receiving fluid state index data transmitted from the cable 24. Data from the non-contact ultrasonic level gauge 21 and the wireless signal transceiver module 22 are transmitted to the development board 25 via the cable 24 to achieve electrical signal transmission. Furthermore, the non-contact ultrasonic level gauge 21 and the wireless signal transceiver module 22 adopt a compact modular layout within the enclosure, sharing the aforementioned terminal block for equipment wiring.

[0039] A detection method for a pipeline dredging robot guided by physical rules includes the following steps:

[0040] S1, the deployment phase: the robot is placed into the target water conservancy and flood control pipeline through the rainwater well. The operator issues the operation command through the ground terminal. The operation control box, which is placed on the ground, receives the operation control command and the fluid state index data transmitted by the cable 24. The operation control box then transmits the signal to drive the robot's motor system to start.

[0041] S2, Model Building Stage: The ultrasonic flaw detection sensor and pressure sensor are activated, the Doppler flow velocity sensor 10 starts flow velocity detection, and the intelligent diagnosis algorithm for siltation in water conservancy and flood control pipelines combines the design parameters (pipe diameter, slope) and real-time flow field data of water conservancy and flood control pipelines to adjust the telescopic support arm 1 so that the operating robot is in the best operating posture. At the same time, the multi-channel ultrasonic crushing rotating head 4 drives the ultrasonic thickness measuring sensor 15 and the lidar 16 to start rotating and scanning the water conservancy and flood control pipelines, and initially constructs a three-dimensional distribution map of siltation in water conservancy and flood control pipelines.

[0042] S3, Intelligent Diagnosis Stage: Development Board 25 runs the intelligent diagnosis algorithm for siltation in water conservancy and flood control pipelines, inputs the data collected by the operation robot, and calculates the optimal operation parameters by combining the reaction kinetic model of the chemical ablation reagent.

[0043] S4, Parameter Adjustment Stage: Based on the optimal operating parameters obtained by the intelligent diagnostic algorithm for siltation in water conservancy and flood control pipelines, adjust and set the ultrasonic frequency of the multi-channel ultrasonic crushing rotating head 4, the jet pressure of the omnidirectional high-pressure nozzle 5, the stirring speed of the stirring brush 6, and the negative pressure power of the vacuum pump 9.

[0044] S5, the collaborative dredging execution phase, uses omnidirectional high-pressure nozzle 5 to spray chemical ablation reagent to soften the silt, uses multi-channel ultrasonic crushing rotating head 4 to ultrasonically crush the silt, uses stirring brush 6 to assist in stirring and crushing the silt, and uses silt transfer system to pump and transport the crushed silt.

[0045] S6, Dynamic Adaptation Stage: During the operation, the flow field changes inside the water conservancy and flood control pipeline are monitored in real time. If the flow velocity changes abruptly, the posture of the operating robot and the suction power of the sediment transfer system are adjusted. The condition of the inner wall of the water conservancy and flood control pipeline is detected by ultrasonic flaw detection sensors and pressure sensors. If new deposits are found, the omnidirectional high-pressure nozzle 5 and the multi-channel ultrasonic crushing rotating head 4 are triggered to start, and the new deposits are targeted for dredging, thus completing the dredging of a section of the water conservancy and flood control pipeline.

[0046] S7, Secondary Inspection Stage: After dredging a section of the flood control pipeline, the ultrasonic thickness sensor 15 and the lidar 16 scan the undragged section of the flood control pipeline again. The intelligent siltation diagnosis module of the flood control pipeline compares the data before and after dredging. If the siltation residue rate is high, secondary dredging is initiated; if the residue rate is low, the control system is activated to move the robot to the next section of the flood control pipeline and repeat the process of S2-S6.

[0047] S8, during the shutdown and recovery phase, after the entire section of the water conservancy and flood control pipeline has been dredged, the intelligent diagnosis module for siltation in the water conservancy and flood control pipeline generates a dredging report, which is transmitted to the ground terminal via the wireless signal transceiver module 22. The operator controls the operation robot to return to the rainwater well, and the omnidirectional high-pressure nozzle 5 switches to the clean water spraying mode to clean the multi-channel ultrasonic crushing rotating head 4, the stirring brush 6, and the suction port of the silt suction device 7 to prevent siltation from affecting the next use. Finally, the operation robot is shut down, and the dredging robot and the stored silt are recovered.

[0048] The intelligent diagnostic phase of S3 includes the following steps:

[0049] S31: Construct a high-dimensional heterogeneous sensing spatiotemporal tensor field based on Riemannian manifold geometry; the development board 25 concurrently collects sensor data from the operating robot through signal interface 13, and constructs the system state tensor on the Riemannian manifold space based on the non-Euclidean geometric features of the inner wall of the water conservancy flood control pipeline. First, using point cloud data collected by LiDAR 16, a manifold metric tensor is defined to establish a body-orthogonal curvilinear coordinate system for the water conservancy and flood control pipeline. Secondly, the flow field velocity vector collected by the Doppler flow velocity sensor 10 The thickness field of the sediment layer collected by the ultrasonic thickness sensor 15 And the acoustic impedance spectrum acquired by the ultrasonic flaw detection sensor and pressure sensor array Spatiotemporal registration and dimensionless processing are performed to generate the input feature tensor. :

[0050] ;

[0051] in, for The input feature tensor at time step; This is to iterate over any specific moment within the time window from the start time to the current time; For time-series feature aggregation operators, it means that from Time's up A collection of time window data at any given moment; for The velocity vector of the flow field acquired by the time-of-flight Doppler flow velocity sensor; The maximum modulus of the flow velocity; For multimodal feature splicing operators; for The thickness field of the sediment layer collected by the ultrasonic thickness gauge at any time; The diameter of the water conservancy and flood control pipeline; Acoustic impedance spectrum data; The standard acoustic impedance of water is used as the reference value for dimensionless processing. The six-DOF attitude vectors of the robot are provided by a three-axis gyroscope;

[0052] S32: Inversion of non-Newtonian fluid rheological properties based on Physical Information Neural Network (PINN); The feature tensor generated in S31... The input is fed into a physical information neural network, which introduces the Herschel-Bulkley non-Newtonian fluid constitutive equation as a physical constraint layer, and minimizes the hybrid loss function. To invert the true rheological parameters of the sediment:

[0053] ;

[0054] in, These are the weighting coefficients for data-driven items; The flow field state or rheological parameters predicted by the neural network; The actual data observed by the sensor; These are the weighting coefficients for the physical constraint terms; For incompressible fluid Navier-Stokes dynamic residuals; The rheological physical residual is used to determine the hardness of sediment and whether it is in the form of soft mud or hard crust. Its definition is as follows:

[0055] ;

[0056] In the formula, For the shear stress tensor, Shear rate, To retrieve the yield stress of the sedimentary deposits from the inversion output, This is the consistency coefficient. The rheological index;

[0057] at the same time, For incompressible fluid Navier-Stokes dynamic residuals, ensure that the predicted flow field conforms to momentum conservation:

[0058] ;

[0059] in, The fluid velocity vector is denoted by g; g is the acceleration due to gravity. This represents the time corresponding to the current momentum conservation equation for the flow field environment. The density of the sediment fluid; For fluid pressure; Unit tensor; ∠ is the viscous stress tensor; ▽ is the bitwise operation symbol;

[0060] S33: Construct operational stability boundary constraints incorporating the dynamics of the operational robot; the intelligent diagnostic algorithm for siltation in water conservancy and flood control pipelines introduces multibody dynamics equations to perform overall modeling of the front vehicle 27, rear vehicle 28, and hose 26 of the operational robot, and calculates the anti-overturning stability domain under complex flow fields. Establish the Lagrange dynamic equations:

[0061] ;

[0062] In the formula, For the generalized mass matrix of the robot; A generalized coordinate vector representing the spatial displacement and attitude angle of a robot. For generalized velocity vectors, The first derivative; It is a generalized acceleration vector. The second derivative; The matrix represents the Coriolis force and the centrifugal force. Here is the nonlinear stiffness matrix of hose 26; It is an external generalized force vector, which includes the omnidirectional high-pressure nozzle recoil force and the crusher head excitation force; The generalized gravity vector of the system; For the transpose of the contact Jacobian matrix; The contact force between the robot and the inner wall of the pipe;

[0063] In the aforementioned Lagrange dynamic equations, the generalized coordinate vector The spatial displacement data is obtained based on the displacement distance of the drive wheel 2; the attitude angle data is provided by the three-axis gyroscope 12 in real time sensing the six degrees of freedom motion state of the robot.

[0064] S34: Optimization of breakup parameters based on Rayleigh-Plesset cavitation dynamics; establishment of an acoustic-fluid coupled cavitation efficiency model for the coordinated operation of the multi-channel ultrasonic breakup rotating head 4 and the omnidirectional high-pressure nozzle 5; introduction of Rayleigh-Plesset equations to describe the dynamic behavior of microbubbles under the combined action of ultrasound and jet:

[0065] ;

[0066] In the formula, The instantaneous radius of the cavitation bubble; Let be the first derivative of the bubble radius with respect to time, representing the velocity. Let be the second derivative of the bubble radius with respect to time, representing acceleration; It is the saturated vapor pressure inside the liquid. The environmental driving pressure at infinity is mainly determined by the ultrasonic field; The additional static pressure generated by the jet; The surface tension coefficient of the liquid; The dynamic viscosity of the liquid;

[0067] The intelligent diagnostic algorithm for siltation in water conservancy and flood control pipelines finds the optimal ultrasonic frequency by numerically solving the above differential equations. With jet pressure This causes the peak pressure of the microjets generated when the cavitation bubbles collapse to reach its maximum value. Maximize, and satisfy:

[0068] ;

[0069] In the formula, The internal bonding strength of the silt;

[0070] Meanwhile, based on the degree of freedom of the annular sliding groove 14, the cutting angle of the stirring brush 6 is optimized. To achieve the combined effect of mechanical shearing and cavitation erosion;

[0071] S35: Transfer efficiency control based on critical velocity of solid-liquid two-phase flow; for sediment transfer systems, a critical velocity control model based on Durand-Condolios theory is established to prevent blockage of sediment discharge pipe 8; the critical non-sludge velocity is calculated. :

[0072] ;

[0073] This is the Durand empirical coefficient, which is related to particle size and concentration; It is the acceleration due to gravity; The diameter of the pipe of the sediment extractor 7; The density of the solid particles in the sediment; The density of the fluid used to transport sediment;

[0074] The intelligent diagnostic algorithm for siltation in water conservancy and flood control pipelines is based on the real-time mixing density of silt at the inlet of the silt extractor 7. Dynamically adjust the negative pressure power of vacuum sewage pump 9 Ensure the actual flow rate within the silt extractor 7 pipe. Always within the safe zone:

[0075] ;

[0076] In the formula, For safety margin coefficient, Maximum flow rate limit to prevent excessive wear of the silt extractor 7 pipe;

[0077] S36: Global optimal control closed loop based on Hamilton-Jacobi-Bellman (HJB) equations; coupling the subsystems in S31 to S35 to construct the Hamiltonian function of the whole system. Solve for the global energy-optimal control law:

[0078] ;

[0079] In the formula, It is an energy functional; This is the system state vector; To control the input vector; The transpose of the costate variable vector represents the shadow price of the system state change;

[0080] The system dynamics equations describe the rate of change of the system state over time;

[0081] ;

[0082] In the formula, It is an energy functional; To optimize the weighting coefficients of the objective; The rate of removal of sediment per unit time; This represents the total energy consumption of the system. This is the current control input vector; To smooth the control reference trajectory and prevent drastic fluctuations in the control input; These are the start and end times of the task;

[0083] The optimal control vector is obtained by solving the Hamilton-Jacobi-Bellman partial differential equation:

[0084] ;

[0085] In the formula, The optimal ultrasonic frequency; To achieve the optimal jet pressure; To achieve the optimal stirring speed; For optimal negative pressure power, It is the transpose symbol;

[0086] The above operations complete the closed-loop control from perception, inversion, decision-making to execution.

[0087] The collaborative dredging execution phase of S5 includes the following steps:

[0088] S51: Silt Softening: The 360-degree oscillating omnidirectional high-pressure nozzle 5 is activated. Based on the three-dimensional distribution map of siltation in the water conservancy and flood control pipeline, the intelligent siltation diagnosis module of the water conservancy and flood control pipeline controls the oscillation angle of the omnidirectional high-pressure nozzle 5 and the extension stroke of its hydraulic telescopic nozzle, accurately spraying the chemical ablation reagent onto the siltation surface and crevices; the nozzle adopts a fan-shaped spray pattern to ensure uniform reagent coverage and complete silt softening;

[0089] S52: Ultrasonic Breakup: After the silt softening is completed, the multi-channel ultrasonic breakup rotating head 4 is activated. The cylindrical rotating head drives 4 ultrasonic hammers to rotate at high speed. At the same time, the ultrasonic hammers output high-frequency vibrations to break the softened silt and coagulated blocks into small pieces. The ultrasonic thickness sensor 15 and the lidar 16 monitor the breaking effect in real time. If large silt and coagulated blocks are detected, the intelligent diagnosis module for siltation in the water conservancy and flood control pipeline extends the breaking time and increases the ultrasonic power of the multi-channel ultrasonic breakup rotating head 4.

[0090] S53: Mixing Assist: When the mixing brush 6 is activated, it rotates and mixes with the bottom of the water conservancy and flood control pipeline, mixing the broken up silt and small clumps with a small amount of water to form a slurry, thus preventing particle settling; at the same time, the bristles of the mixing brush 6 can reach into the gaps in the inner wall of the water conservancy and flood control pipeline to remove the attached silt. With the help of the flaw detection data of the operation robot, the mixing brush 6 can avoid the defective areas of the water conservancy and flood control pipeline, thus improving the safety of the operation.

[0091] S54: High-efficiency suction: The sediment transfer system is activated. Based on the flow field data and the concentration of the mud after stirring, the intelligent diagnosis module for sedimentation in the water conservancy and flood control pipeline adjusts the negative pressure power of the vacuum sludge pump 9. The mud-like sediment is quickly sucked out of the water conservancy and flood control pipeline through the suction port of the sediment suction device 7. The omnidirectional high-pressure nozzle 5 continuously sprays clean water, forming a pushing water flow in the water conservancy and flood control pipeline, which helps the mud to converge towards the suction port of the sediment suction device 7, avoiding sediment residue. The suctioned mud is output to the external storage device through the sediment discharge pipe 8, completing the dredging.

Claims

1. A pipeline dredging robot guided by physical rules, characterized in that: The system includes a work robot and a work control box. The work robot includes a hardware structure, which includes a front vehicle (27), a rear vehicle (28), and a fuselage shell structure, a motor system, a circuit system, an information sensing system, a sediment crushing system, and a sediment transfer system installed on the front vehicle (27) and the rear vehicle (28). The front vehicle (27) and the rear vehicle (28) are connected by a hose (26). The work control box includes a software module, which includes an intelligent diagnosis module for sedimentation in water conservancy and flood control pipelines. The work robot and the work control box are connected by a cable (24). The motor system is provided in multiple sets, and the multiple sets of the motor system are arranged in a centrally symmetrical manner with the central axis of the fuselage shell structure of the front vehicle (27) and the rear vehicle (28) as the center of symmetry. The motor system includes a telescopic support arm (1), a drive wheel (2) and a driven wheel (3). The drive wheel (2) and the driven wheel (3) are both fixed to the fuselage shell structure of the front vehicle (27) and the rear vehicle (28) through the telescopic support arm (1). The circuit system includes a central command controller (11), a three-axis gyroscope (12), and a signal interface (13). The central command controller (11) and the three-axis gyroscope (12) are located inside the fuselage shell structure of the front vehicle (27), and the signal interface (13) is located at the rear of the fuselage shell structure of the rear vehicle (28). The three-axis gyroscope (12) is used to sense the motion state of the working robot in the water conservancy flood control pipeline and send attitude signals to the central command controller (11) to adjust the attitude of the working robot. The sediment crushing system includes a multi-channel ultrasonic crushing rotary head (4), an omnidirectional high-pressure nozzle (5), a stirring brush (6), and an annular sliding groove (14) installed on the outer shell structure of the front vehicle (27). The multi-channel ultrasonic crushing rotary head (4) is connected to the front part of the outer shell structure of the front vehicle (27), and the annular sliding groove (14) is provided on the multi-channel ultrasonic crushing rotary head (4). The omnidirectional high-pressure nozzle (5) is installed on the front part of the outer shell structure of the front vehicle (27) and is connected to the outer shell structure of the front vehicle (27) through a pipe. The stirring brush (6) includes multiple metal blades and is installed at the lower part of the front vehicle (27).

2. The pipeline dredging robot based on physical rules as described in claim 1, characterized in that: The information sensing system includes a Doppler flow velocity sensor (10), an ultrasonic thickness sensor (15), a lidar (16), and a detection component (17); three Doppler flow velocity sensors (10) are arranged circumferentially along the outer wall of the front vehicle (27); the ultrasonic thickness sensor (15) and the lidar (16) are arranged on the multi-channel ultrasonic crushing rotary head (4); the detection component (17) includes an ultrasonic flaw detection sensor and a pressure sensor, and the detection component (17) is arranged between the driving wheel (2) and the driven wheel (3) of the front vehicle (27).

3. The pipeline dredging robot based on physical rules as described in claim 1, characterized in that: The sediment transfer system is installed on the rear vehicle (28). The sediment transfer system includes a sediment suction device (7), a sediment discharge pipe (8), and a vacuum pump (9). The sediment suction device (7) is installed at the bottom of the rear vehicle (28) body shell structure. The sediment discharge pipe (8) is installed at the rear of the rear vehicle (28) body shell structure. The vacuum pump (9) is installed inside the rear vehicle (28) body shell structure. The feed end of the vacuum pump (9) is connected to the sediment suction device (7), and the discharge end is connected to the sediment discharge pipe (8).

4. The pipeline dredging robot based on physical rules as described in claim 1, characterized in that: The operation control box includes a box structure (18), a box cover (19), a power supply device (20), a pipeline non-contact ultrasonic level gauge (21), a wireless signal transceiver module (22), a signal antenna (23), a cable (24), and a development board (25). The operation control box is placed on the ground and fixed. The power supply device (20), the pipeline non-contact ultrasonic level gauge (21), the wireless signal transceiver module (22), the signal antenna (23), and the development board (25) are all installed and fixed inside the box structure (18).

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