Collaborative sewage pipeline cleaning and crawling robot for pollution reduction and carbon reduction

Abstract

This invention discloses a crawling robot for cleaning sewage pipes, which promotes pollution reduction and carbon reduction. The crawling robot includes a cleaning module and a carbon capture module. The cleaning module can thoroughly remove contaminants from the pipes. The carbon capture module can concentrate and recover greenhouse gases from the pipes. The cleaning module includes a telescopic propulsion high-speed rotating cleaning mechanism (5), a high-pressure flushing mechanism, a cleaning agent spraying mechanism, and a composite sludge removal mechanism. The carbon capture module includes a gas extraction mechanism and an adsorption mechanism (11). The adsorption mechanism includes an electrochemical reaction unit, an activated carbon adsorption layer, and a membrane separation component, which are connected in series. This crawling robot can thoroughly remove contaminants from pipes and achieve carbon emission reduction.

Description

Technical Field

[0001] This invention relates to a pipeline cleaning robot, and more particularly to a sewage pipeline cleaning crawling robot that combines pollution reduction and carbon reduction. Background Technology

[0002] Currently, municipal and industrial sewage pipelines transport wastewater containing oil, solids, and high organic matter for extended periods. This easily leads to the formation of grease deposits on the inner walls of the pipelines and the accumulation of solid debris and sludge at the bottom, resulting in pipe blockage and reduced flow capacity. At the same time, the decomposition of accumulated organic matter produces greenhouse gases such as methane and carbon dioxide. These gases leak from damaged parts of the pipeline or are discharged with the wastewater, which not only exacerbates the atmospheric greenhouse effect but also further damages the pipeline structure due to increased gas pressure inside the pipeline.

[0003] Existing sewage pipe cleaning equipment mostly focuses on the single function of mechanical dredging or high-pressure water flushing, which has the following drawbacks:

[0004] 1) It can only remove solid deposits and cannot effectively treat stubborn grease on the pipe wall, resulting in incomplete cleaning;

[0005] 2) There is a lack of means to treat greenhouse gases inside the pipelines, and greenhouse gases are directly emitted during the cleaning process, making it impossible to achieve the carbon reduction target;

[0006] 3) Traditional equipment is mostly large and vehicle-mounted, which makes it difficult to operate in sewage branch pipes with small diameters and many bends, resulting in poor flexibility;

[0007] 4) The cleaning operation relies on manual operation, lacks intelligent sensing and automated operation capabilities, is inefficient and easily causes secondary pollution. Summary of the Invention

[0008] The purpose of this invention is to provide a sewage pipe cleaning crawling robot that combines pollution reduction and carbon reduction. This crawling robot can remove dirt from the pipe from all directions and achieve carbon emission reduction.

[0009] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0010] A sewage pipe cleaning crawling robot that synergistically reduces pollution and carbon emissions includes a crawling body; the crawling robot also includes a clearing and cleaning module and a carbon capture module; the clearing and cleaning module can remove dirt from inside the pipe from all directions; the carbon capture module can concentrate and recover greenhouse gases inside the pipe.

[0011] Furthermore, the carbon capture module and the obstacle removal and cleaning module are configured to work in tandem in terms of timing: after the obstacle removal and cleaning module is started, the carbon capture module automatically runs continuously, and the gas extraction flow rate of the carbon capture module is positively correlated with the working intensity of the obstacle removal and cleaning module.

[0012] Furthermore, the obstacle removal and cleaning module includes a telescopic propulsion high-speed rotation obstacle removal mechanism, a high-pressure flushing mechanism, a cleaning agent spraying mechanism, and a composite sludge removal mechanism. The telescopic propulsion high-speed rotation obstacle removal mechanism is installed at the front end of the crawler body and consists of a telescopic cylinder and a high-speed rotating alloy drill bit. The high-speed rotation of the drill bit breaks down solid obstacles in the pipe, and hard blockages are removed by impact crushing. The high-pressure flushing mechanism includes a high-pressure water pump, a water tank, and a high-pressure water outlet. The water tank is built into the crawler body. The high-pressure water pump pressurizes the water and sprays high-pressure water into the inner wall of the pipe through the water outlet. The high-pressure water outlet can rotate 360°. The cleaning agent spraying mechanism includes a liquid tank, a micro pump, and an atomizing nozzle. The liquid tank stores environmentally friendly pipe degreasing cleaner. The micro pump delivers the cleaner to the atomizing nozzle for atomized spraying on the grease-adhered areas of the pipe wall. The composite sludge removal mechanism includes a spiral auger and a slag collection bin. The spiral auger is installed at the bottom of the crawler body and can push sludge and debris from the bottom of the pipe to the slag collection bin.

[0013] Furthermore, the carbon capture module includes a gas extraction mechanism and an adsorption mechanism; the gas extraction mechanism is a micro vacuum pump with an air inlet located on the side wall of the crawling body and a built-in gas sensor; the adsorption mechanism includes an electrochemical reaction unit, an activated carbon adsorption layer, and a membrane separation component, which are arranged in series; the gas extracted by the micro vacuum pump passes through the activated carbon adsorption layer to remove impurities and the membrane separation component to concentrate greenhouse gases.

[0014] Furthermore, the activated carbon adsorption layer has a thickness of 6 cm, uses coal-based granular activated carbon, and has an iodine adsorption value ≥1000 mg / g, for removing hydrogen sulfide and ammonia from the gas; the membrane separation component uses a polyimide hollow fiber membrane.

[0015] Furthermore, the crawling robot also includes a perception and detection module, which, combined with the control system and AI intelligent analysis, can automatically identify pipe blockages and siltation.

[0016] Furthermore, the sensing and detection module includes a waterproof high-definition camera and an immersion ultrasonic sensor; the waterproof high-definition camera is installed at the front end of the crawling body to acquire and transmit high-definition images of the inside of the pipe to an external terminal in real time; the immersion ultrasonic sensor is embedded in the bottom and side wall of the crawling body to measure the amount of silt deposited.

[0017] Furthermore, the crawling body includes a chassis, a drive system, a sensing system load component, a working system load component, a control system, and a four-limb walking mechanism. The chassis integrates a power module and a control motherboard. The drive system includes a servo motor and a transmission assembly. The drive system is connected to the four-limb walking mechanism to drive the overall crawling robot to perform actions. The four-limb walking mechanism is a retractable multimodal motion mechanism. The control system uses a PLC programmable controller, pre-stores pipe cleaning operation programs, and can receive signals from the sensing and detection module and send action commands to various functional modules. The crawling robot also includes a robotic arm located at the front end of the crawling body. The end of the robotic arm is equipped with an anti-slip rubber pad to assist the robot in walking along the pipe wall on inclined or variable-diameter pipe sections.

[0018] Furthermore, the four-limbed walking mechanism includes a wheeled walking unit, a tracked walking unit, and a helical drive unit. The wheeled walking unit is used for rapid movement within conventional pipelines, the tracked walking unit is used for stable movement in silt deposition areas, and the helical drive unit is used for all-terrain passage in high water level and high siltation scenarios.

[0019] Furthermore, the body of the crawling robot is made of waterproof and corrosion-resistant stainless steel, and integrates a rechargeable lithium battery and an external cable interface. The control system adopts a PLC programmable controller and is equipped with a wireless communication module, which supports data interaction with external terminals and switching of operating modes. The four-limb walking mechanism adopts a folding design, and the wheels and legs hang down naturally when entering the well, so that the external circumference of the crawling robot is smaller than the size of the inspection well. After landing at the bottom of the well chamber, it automatically unfolds and enters the working walking state.

[0020] The main advantages of the wastewater pipeline cleaning crawling robot of the present invention, which combines pollution reduction and carbon reduction, compared with the prior art, are as follows:

[0021] 1) The cleaning module can thoroughly remove solid obstacles, silt, and grease from the pipe walls, as well as other contaminants, reducing water pollution caused by pollutant decay and leakage at the source.

[0022] 2) The carbon capture module in the crawling robot uses electrochemical carbon capture technology, which can extract and concentrate greenhouse gases in the pipeline in real time, directly reducing carbon emissions and achieving a synergistic effect of pollution control and carbon reduction. Attached Figure Description

[0023] Figure 1 This is a first structural schematic diagram of the sewage pipe cleaning crawling robot with pollution reduction and carbon reduction synergy of the present invention. This diagram is a schematic diagram of the overall structure.

[0024] Figure 2 This is a schematic diagram of the second structure of the crawling robot of the present invention, which is a cross-sectional view.

[0025] Figure 3 This is a schematic diagram of the third structure of the crawling robot of the present invention, which is a side view sectional view. Detailed Implementation

[0026] The following provides further details on specific embodiments of the present invention:

[0027] This embodiment provides a sewage pipe cleaning crawling robot that combines pollution reduction and carbon reduction. The crawling robot can remove dirt from the pipe from all directions and achieve carbon emission reduction.

[0028] See Figure 1 , Figure 2 and Figure 3 The crawling robot in this embodiment mainly includes a crawling body 1, a perception and detection module, an obstacle clearing and cleaning module, and a carbon capture module.

[0029] The sensing and detection module, obstacle clearing and cleaning module, and carbon capture module are all electrically connected to the crawling body 1, and are powered by the crawling body 1 and coordinated by the control system.

[0030] The crawling body 1 includes a body, a drive system, a sensing system load component, a working system load component, a control system, and a four-limb walking mechanism 2.

[0031] The casing is made of waterproof and corrosion-resistant stainless steel and integrates a power module and control motherboard.

[0032] As a specific implementation method,

[0033] The body is made of 304 stainless steel, with dimensions of 65cm in length, 35cm in width, and 28cm in height, and a wall thickness of 3mm. It has an IP68 waterproof rating. The body integrates a 24V / 120Ah lithium battery pack as the power module, and the external cable interface supports 220V AC mains input. It can operate continuously for 5 hours when powered by lithium battery, and can achieve uninterrupted operation when connected to external AC mains power.

[0034] The drive system includes a servo motor and a transmission assembly, which are connected to the quadrupedal walking mechanism 2 and are used to drive the overall crawling robot to perform forward, backward, turning and obstacle-crossing actions.

[0035] The quadrupedal locomotion mechanism 2 is a retractable multimodal motion mechanism, which adopts a composite drive structure of "wheel structure + track structure + helical structure", including:

[0036] Wheeled walking unit for rapid movement within conventional pipelines;

[0037] Tracked walking unit, used for stable movement in silt deposition areas;

[0038] The spiral drive unit is used for all-terrain passage in high water level and high siltation scenarios.

[0039] As a specific implementation method,

[0040] The wheeled walking unit uses 12cm diameter rubber wheels for rapid movement within conventional drying pipelines, with a maximum travel speed of 8m / min.

[0041] The tracked walking unit uses 8cm wide rubber tracks for stable walking in silt deposition areas, with a maximum climbing angle of 30°.

[0042] The spiral drive unit adopts a double spiral drum structure, which is used for all-terrain passage in high water level and high siltation scenarios, and can travel stably in pipes with water depths exceeding 20cm.

[0043] The four-limb walking mechanism 2 adopts a folding design. When entering the well, the wheels and legs naturally fold down, reducing the robot's external circumference to less than 40cm, which is smaller than the diameter of a standard inspection well (usually 60-80cm). It can smoothly enter and exit from the existing inspection well. After landing at the bottom of the well chamber, it automatically unfolds and enters the working walking state. When exiting the well, the robot is lifted up, and the wheels and legs naturally fold down to exit the well, without the need for personnel to go down into the well to operate.

[0044] The crawling robot also includes a robotic arm located at the front end of the crawling body 1. The end of the robotic arm is equipped with an anti-slip rubber pad to adapt to the inner wall of pipes of different diameters for walking. As a specific implementation, the robotic arm is a two-degree-of-freedom articulated arm, driven by a miniature electric actuator, with a telescopic length range of 10-25cm. It can actively extend to abut against the pipe wall in inclined pipe sections or where the pipe diameter changes, assisting the robot in stable walking.

[0045] The control system employs a PLC programmable controller, pre-stores pipeline cleaning operation programs, and can receive signals from the sensing and detection modules and send action commands to various functional modules. The control system is also equipped with a wireless communication module, enabling data interaction with external terminals and supporting switching between manual remote control and automatic operation modes. Remote control of the robot and real-time data transmission are achieved through a ground-based main control device.

[0046] More specifically, the control system uses a Siemens S7-200 SMART PLC programmable controller, equipped with a 4G / 5G wireless communication module, to interact with the ground main control device and support manual remote control and automatic operation mode switching.

[0047] It should be noted that the power module of the crawler body 1 uses a rechargeable lithium battery and is equipped with an external cable interface, which can be connected to the mains power through the external cable to achieve long-term continuous operation; when powered by lithium battery, it can operate continuously for more than 4 hours, and when connected to the mains power, it can achieve uninterrupted operation.

[0048] The sensing and detection module includes a waterproof high-definition camera 3 and an immersion ultrasonic sensor 4.

[0049] The waterproof high-definition camera 3 is installed at the front end of the crawling body 1, equipped with a high-brightness LED spotlight, and uses directional WiFi transmission technology to solve the signal attenuation problem. It can acquire and transmit high-definition images of the inside of the pipeline to an external terminal in real time.

[0050] The immersion ultrasonic sensor 4 is embedded in the bottom and side wall of the crawling body 1 to detect the thickness of sludge accumulation at the bottom of the pipe and the location and volume of pipe blockages. At the same time, multiple sets of ranging sensors work together to measure the distance from the inner wall of the pipe to the sensor and the distance from the sludge layer to the sensor, respectively, to achieve accurate measurement of sludge deposition. The detection data is fed back to the control system in real time, and combined with AI intelligent analysis technology, the pipe defects are automatically identified and classified.

[0051] More specifically,

[0052] The waterproof high-definition camera 3 is installed at the front end of the crawling body 1. It adopts a 4K resolution waterproof high-definition camera 3 and is equipped with 6 sets of high-brightness LED spotlights. The illumination of a single set is 1000 lux, and the total illumination is 6000 lux, which can clearly capture images inside dark pipes. It adopts directional WiFi transmission technology, and the signal transmission distance can reach 200m, transmitting high-definition images of the inside of the pipe to the ground main control device in real time.

[0053] Immersion ultrasonic sensors 4 are installed at the bottom front end and the middle of the side wall of the crawler body 1, with a total of 5 sets. The bottom 3 sets are used to detect the thickness of sludge, and the side wall 2 sets are used to detect defects in the inner wall of the pipe. The immersion ultrasonic sensors 4 operate at a frequency of 200kHz and have a detection accuracy of ±1cm, which can accurately identify areas with a sludge thickness of ≥3cm. Through the coordinated operation of multiple sets of distance measuring sensors, the distance from the inner wall of the pipe to the sensor and the distance from the sludge layer to the sensor are measured respectively, so as to achieve accurate measurement of the amount of sludge deposition. The detection data is fed back to the control system in real time. Combined with AI intelligent analysis technology, the pipe defects are automatically identified and classified, and pipe wall cracks, deformations, blockage types, etc. can be identified.

[0054] The obstacle removal and cleaning module includes a telescopic propulsion high-speed rotating obstacle removal mechanism 5, a high-pressure flushing mechanism, a cleaning agent spraying mechanism, and a composite sludge removal mechanism.

[0055] The telescopic propulsion high-speed rotating obstacle clearing mechanism 5 is installed at the front end of the crawling body 1. It consists of a telescopic cylinder and a high-speed rotating alloy drill bit. The telescopic length can be adjusted according to the position of the blockage. The drill bit rotates at high speed to break up solid obstacles in the pipe. Hard blockages are cleared by impact crushing.

[0056] More specifically, the telescopic cylinder has a stroke of 45cm, the alloy drill bit has a diameter of 8cm, and the rotation speed is 1500r / min. It uses impact crushing to remove hard blockages such as concrete blocks and bricks, and the single crushing capacity can reach 50MPa.

[0057] The high-pressure flushing mechanism includes a high-pressure water pump, a water storage tank, and multiple sets of high-pressure water outlets 6.

[0058] The water storage tank is built into the crawling body 1. The high-pressure water pump pressurizes the water and sprays high-pressure water into the inner wall of the pipe through the outlet. The high-pressure outlet 6 can rotate 360° to achieve thorough cleaning of the inner wall of the pipe.

[0059] More specifically,

[0060] The high-pressure water outlet 6 is preferably in 4 groups.

[0061] The water storage tank has a capacity of 15L and is built into the front of the crawler body 1. The high-pressure water pump is a plunger-type high-pressure pump with a rated output pressure of 18MPa and a maximum flow rate of 12L / min. The high-pressure water outlets 6 are symmetrically distributed in a ring at the front end of the crawler body 1. Each outlet can be independently controlled, and the spray angle can be adjusted within the range of 0-360° to achieve thorough cleaning of the inner wall of the pipe. The high-pressure flushing mechanism is also equipped with a pre-pressurization device, which uses a hydraulic cylinder to drive a pressure plate to pre-pressurize the water in the tank. The pre-pressurization pressure is 0.5MPa, which can further increase the spray pressure of the high-pressure nozzles to over 20MPa, improving the high-pressure flushing effect.

[0062] The high-pressure flushing mechanism uses high-pressure water jet technology, which uses the impact force of the high-pressure water jet to peel off the dirt on the pipe wall. When the impact force is greater than the adhesion force between the dirt and the object surface, the high-pressure water will peel off and wash away the dirt, achieving efficient cleaning.

[0063] The high-pressure flushing mechanism is also equipped with a pre-pressurization device, which uses a hydraulic cylinder to drive a pressure plate to pre-pressurize the water in the tank, further increasing the spray pressure of the high-pressure nozzles and improving the high-pressure flushing effect.

[0064] The cleaning agent spraying mechanism includes a storage tank, a micro pump, and four sets of atomizing nozzles 7. The storage tank stores environmentally friendly pipe degreasing cleaner, and the micro pump delivers the cleaner to the atomizing nozzles 7 to spray the cleaner onto the grease-attached areas of the pipe wall, assisting the high-pressure water flow in removing stubborn grease. The cleaning agent spraying mechanism works in conjunction with the high-pressure flushing mechanism. After the cleaner is sprayed and allowed to react, high-pressure water flushing is performed to improve the removal effect of stubborn grease.

[0065] More specifically, the storage tank has a volume of 6L and contains an environmentally friendly bio-based pipe degreasing cleaner, whose main components are nonionic surfactants and enzymes. The micro-pump has a flow rate of 0.5L / min, and the atomizing nozzle 7 has an atomization particle size of 60-100μm and a spray coverage angle of 120°, which can evenly cover the area of ​​the pipe wall where grease adheres. The cleaner spraying mechanism works in conjunction with the high-pressure flushing mechanism. After spraying the cleaner and allowing it to stand for 3 minutes, high-pressure water flushing is then performed, achieving a stubborn grease removal rate of over 95%.

[0066] The composite dredging mechanism includes a screw conveyor 8 and a slag collection bin 9.

[0067] The spiral auger 8 is installed at the bottom of the crawler body 1, pushing the sludge and debris at the bottom of the pipe to the slag collection bin 9. The slag collection bin 9 is equipped with a filter screen to achieve solid-liquid separation. The sewage after sludge removal flows back into the pipe, and the solid slag is collected by the robot. The composite sludge removal mechanism is linked with the high-pressure flushing mechanism, and adopts a composite process of "flushing + shoveling + suction". First, the sludge is loosened by high-pressure water jet, then mechanically removed by the spiral auger 8, and finally the sludge and sewage are discharged out of the pipe by vacuum suction. The slag collection bin 9 is a detachable structure, which facilitates the cleaning of the collected solid slag.

[0068] It should be noted that the slag collection bin 9 is a detachable structure, which facilitates the cleaning of the collected solid slag.

[0069] More specifically,

[0070] The auger 8 is installed at the bottom of the crawler body 1, employing a double-helix structure with a 12cm diameter helical blade, an 8cm pitch, a rotation speed of 350r / min, and a conveying capacity of 0.5m³ / h. The sludge collection bin 9 is a detachable drawer structure located at the rear bottom of the crawler body 1, with a volume of 12L. A 2mm aperture stainless steel filter screen is installed inside the bin to achieve solid-liquid separation. Wastewater after dredging flows back to the pipeline through the filter screen, while solid sludge is collected by the robot. The composite dredging mechanism is linked with the high-pressure flushing mechanism, employing a combined "flushing + shoveling + suction" process. First, high-pressure water jets at 18MPa pressure loosen the sludge, then the auger 8 mechanically removes it, and finally, a micro vacuum pump 10 assists in suction, achieving a comprehensive dredging efficiency of over 95%.

[0071] The carbon capture module includes a gas extraction mechanism and an adsorption mechanism 11.

[0072] The carbon capture module remains active throughout the entire process of robotic obstacle removal, cleaning, and dredging, achieving coordinated pollution reduction and carbon reduction. Specifically, the carbon capture module and the obstacle removal and cleaning module work in tandem: when the obstacle removal and cleaning module starts, the carbon capture module automatically runs continuously; the control system adjusts the pumping rate of the miniature vacuum pump 10 in real time according to the working intensity of the obstacle removal and cleaning module (e.g., the output pressure of the high-pressure water pump, the rotation speed of the screw conveyor 8, etc.), achieving a positive correlation between the gas extraction flow rate and the intensity of dust / odor generation. For example, when the obstacle removal and cleaning module is running at maximum power, the pumping rate of the miniature vacuum pump 10 automatically increases to the highest level; when the obstacle removal and cleaning module is working intermittently, the carbon capture module maintains a low flow rate for continuous suction, ensuring that the gas accumulation in the pipeline does not exceed the standard.

[0073] The gas extraction mechanism is a miniature vacuum pump 10, with its inlet located on the side wall of the crawler body 1. It incorporates built-in gas sensors (methane and carbon dioxide sensors, with detection ranges of 0-100% VOL and 0-5000 ppm respectively) to monitor the concentration of greenhouse gases such as methane and carbon dioxide in the pipeline in real time. The pumping operation automatically starts when the gas concentration exceeds a set threshold (methane > 0.5% VOL, carbon dioxide > 1000 ppm). The miniature vacuum pump 10 has a pumping rate of 6 L / min and a maximum vacuum of -85 kPa.

[0074] The adsorption mechanism 11 employs electrochemical carbon capture technology, comprising an electrochemical reaction unit, an activated carbon adsorption layer, and a membrane separation component, arranged in series. Unlike conventional fixed electrochemical carbon capture devices, in this embodiment of the crawling robot, the carbon capture module is miniaturized, with all components integrated inside the crawling body 1. The size of each component is adapted to the internal space of the crawling body 1, and all interfaces are waterproof and dustproof sealed to adapt to the high humidity and impurity environment inside the pipeline. The electrode area of ​​the electrochemical reaction unit does not exceed 150 cm², and the operating voltage is 2.5 V. By applying voltage, a pH gradient is formed on the electrode surface, converting dissolved inorganic carbon (mainly in the form of bicarbonate ions) in wastewater into captureable carbon dioxide gas and calcium carbonate solid.

[0075] The electrochemical reaction unit applies a 2.5V voltage to create a pH gradient on the electrode surface, converting dissolved inorganic carbon (mainly in the form of bicarbonate ions) in wastewater into collectable carbon dioxide gas and calcium carbonate solid. The energy consumption of the electrochemical reaction unit is 3.2 kWh per kilogram of carbon dioxide, and the single-time collection efficiency of dissolved inorganic carbon can reach 60%.

[0076] The gas drawn by the micro vacuum pump 10 passes through the activated carbon adsorption layer to remove impurities and the membrane separation component to concentrate greenhouse gases (methane and carbon dioxide). The concentrated gas is stored in the gas storage tank 12 and will be recycled by the robot.

[0077] As a specific implementation, the gas storage tank 12 is located at the top rear end of the crawling body 1 and adopts a quick-change structure, which can be replaced on-site and then centrally processed to treat the captured greenhouse gases.

[0078] The energy consumption of the electrochemical reaction unit can be as low as 3.4 kWh per kilogram of carbon dioxide, and the single-pass capture efficiency of dissolved inorganic carbon can reach more than 57%.

[0079] The activated carbon adsorption layer is 6cm thick and uses coal-based granular activated carbon with an iodine adsorption value ≥1000mg / g. It is used to remove impurities such as hydrogen sulfide and ammonia from gases.

[0080] The membrane separation unit uses a polyimide hollow fiber membrane, which has a separation efficiency of 92% for methane and 88% for carbon dioxide.

[0081] The concentrated gas is stored in gas storage tank 12, which has a volume of 4L and adopts a quick-change structure, allowing for on-site replacement and centralized processing of the captured greenhouse gases. The carbon capture module remains active throughout the entire process of robotic obstacle removal, cleaning, and dredging, achieving coordinated pollution reduction and carbon reduction.

[0082] To ensure the overall carbon-negative emissions of the process, the carbon capture module is powered primarily by the robot's built-in renewable energy power supply system or by external green electricity.

[0083] It should be noted that the gas storage tank 12 is a quick-change structure, which can be replaced on-site and then centrally processed to treat the captured greenhouse gases.

[0084] The following is a flowchart of a specific case of using a crawling robot of this implementation method to perform sewage pipe cleaning operations:

[0085] 1) Deployment into the well:

[0086] Move the crawling robot to the inspection well to be cleaned, and use a sling to vertically lower the crawling robot into the inspection well. The four-limb walking mechanism 2 hangs down and folds naturally, and the crawling robot smoothly passes through the well and lands at the bottom of the well chamber. Start the automatic operation mode, and the four-limb walking mechanism 2 automatically unfolds. The multimodal motion mechanism automatically switches to wheeled or tracked mode according to the condition of the bottom of the pipe, so that the crawling robot can enter the sewage pipe.

[0087] 2) Pipeline detection:

[0088] The crawling robot moves along the pipeline, and the waterproof high-definition camera 3 and immersion ultrasonic sensor 4 of the sensing and detection module begin to work, transmitting real-time images of the pipeline and siltation data to the control system. The system, combined with AI intelligent analysis technology, identifies the solid debris blockage points and the siltation areas at the bottom of the pipeline. In this case, the system identified a concrete blockage point with a diameter of 25cm and a siltation area at the bottom with a thickness of approximately 12cm.

[0089] 3) Obstacle clearing operations:

[0090] The control system drives the crawling body 1 to move to 50cm in front of the blockage point. The telescopic cylinder of the telescopic propulsion high-speed rotating obstacle clearing mechanism 5 extends 45cm. The alloy drill bit rotates at a high speed of 1500r / min to break the concrete block by impact crushing. The broken pieces are pushed to the slag collection bin 9 by the spiral auger 8.

[0091] 4) Cleaning operations:

[0092] The crawling robot moves to the sludge accumulation area. The cleaning agent spraying mechanism first sprays the degreasing cleaning agent onto the grease-adhered area of ​​the pipe wall through the atomizing nozzle 7 at a spraying rate of 0.2L / m². After standing for 3 minutes, the high-pressure flushing mechanism is activated. The high-pressure water pump sprays high-pressure water onto the pipe wall at a pressure of 18MPa and a flow rate of 12L / min. At the same time, the high-pressure water outlet 6 rotates at a speed of 60° / s to achieve thorough flushing of the pipe wall. Meanwhile, the auger 8 pushes the bottom sludge to the slag collection bin 9 at a speed of 350r / min, completing the pipe cleaning.

[0093] 5) Carbon capture operations:

[0094] Throughout the entire process of clearing obstacles and cleaning, the carbon capture module remains on. Gas sensors monitor the gas concentration in the pipeline in real time. When the methane concentration reaches 0.8% VOL, the micro vacuum pump 10 automatically starts, continuously extracting gas from the pipeline at a rate of 6 L / min. After the gas passes through the electrochemical reaction unit, the activated carbon adsorption layer, and the membrane separation component, the concentrated greenhouse gases (methane concentration ≥85%, carbon dioxide concentration ≥80%) are stored in the gas storage tank 12.

[0095] 6) Recycling operations:

[0096] After the operation is completed, the crawling robot retreats along the pipeline to the bottom of the inspection well. The four-limb walking mechanism 2 automatically folds, and the crawling robot is taken out of the inspection well by the sling. The slag collection bin 9 is disassembled, and about 8.5 kg of solid slag is cleaned up. The gas storage tank 12 is disassembled, and the captured greenhouse gas is transferred to the gas storage equipment for subsequent resource utilization. In this case, about 15 L of greenhouse gas is captured in a single operation (under standard conditions).

[0097] Tests showed that in this case, the crawling robot could clean a pipe length of 50-80m in a single operation, with a solid blockage removal rate of ≥98%, a stubborn grease removal rate of ≥95%, a bottom sludge removal rate of ≥93%, and a greenhouse gas capture efficiency of ≥85%, achieving a synergistic effect of pollution reduction and carbon reduction.

[0098] The main advantages of the crawling robot described in this embodiment are:

[0099] 1) The cleaning module can thoroughly remove solid obstacles, silt, and grease from the pipe walls, as well as other contaminants, reducing water pollution caused by pollutant decay and leakage at the source.

[0100] 2) The carbon capture module in the crawling robot uses electrochemical carbon capture technology, which can extract and concentrate greenhouse gases in the pipeline in real time, directly reducing carbon emissions and achieving a synergistic effect of pollution control and carbon reduction.

[0101] In addition, the crawling robot of this embodiment has other advantages:

[0102] 3) By combining the sensing and detection module with the control system and AI intelligent analysis technology, the system can automatically identify pipe blockages and siltation, and complete the clearing, flushing and dredging operations according to the preset program, reducing manual intervention and improving cleaning efficiency;

[0103] 4) The four-limb walking mechanism 2 adopts a multi-modal motion design of "wheel + track + spiral", which can adapt to sewage pipes of different diameters and has the ability to overcome obstacles. It can enter branch pipes and bends that are difficult for traditional equipment to reach. The folding design can make it easy to enter and exit from the existing inspection well without the need for personnel to go down into the well to operate.

[0104] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sewage pipe cleaning crawling robot that combines pollution reduction and carbon reduction, the crawling robot comprising a crawling body (1); Its features are: The crawling robot also includes an obstacle removal and cleaning module and a carbon capture module; The cleaning module can remove dirt from inside the pipe in all directions; The carbon capture module can concentrate and recover greenhouse gases within the pipeline.

2. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 1, characterized in that: The carbon capture module and the obstacle removal and cleaning module are configured to work in tandem in terms of timing: after the obstacle removal and cleaning module is started, the carbon capture module will automatically run continuously, and the gas extraction flow rate of the carbon capture module is positively correlated with the working intensity of the obstacle removal and cleaning module.

3. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 1, characterized in that: The obstacle removal and cleaning module includes a telescopic propulsion high-speed rotating obstacle removal mechanism (5), a high-pressure flushing mechanism, a cleaning agent spraying mechanism, and a composite sludge removal mechanism; The telescopic propulsion high-speed rotation obstacle clearing mechanism (5) is installed at the front end of the crawling body (1) and consists of a telescopic cylinder and a high-speed rotating alloy drill bit. The drill bit rotates at high speed to break solid obstacles in the pipe and removes hard blockages by impact crushing. The high-pressure flushing mechanism includes a high-pressure water pump, a water storage tank, and a high-pressure water outlet (6). The water storage tank is built into the crawling body (1). The high-pressure water pump pressurizes the water and sprays high-pressure water into the inner wall of the pipe through the outlet. The high-pressure outlet (6) can rotate 360°. The cleaning agent spraying mechanism includes a liquid storage tank, a micro pump, and an atomizing nozzle (7). The storage tank stores environmentally friendly pipe degreasing cleaner, and the micro pump delivers the cleaner to the atomizing nozzle (7) to atomize and spray the grease-attached area on the pipe wall. The composite dredging mechanism includes a spiral auger (8) and a slag collection bin (9). The spiral auger (8) is installed at the bottom of the crawling body (1). The spiral auger (8) can push the silt and debris at the bottom of the pipe to the slag collection bin (9).

4. The sewage pipe cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 3, characterized in that: The carbon capture module includes a gas extraction mechanism and an adsorption mechanism (11). The gas extraction mechanism is a miniature vacuum pump (10), with the air inlet located on the side wall of the crawling body (1) and a built-in gas sensor. The adsorption mechanism (11) includes an electrochemical reaction unit, an activated carbon adsorption layer and a membrane separation component, which are arranged in series. The gas drawn by the micro vacuum pump (10) passes through the activated carbon adsorption layer to remove impurities and the membrane separation component to concentrate greenhouse gases.

5. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 4, characterized in that: The activated carbon adsorption layer is 6 cm thick and uses coal-based granular activated carbon with an iodine adsorption value ≥1000 mg / g, used to remove hydrogen sulfide and ammonia from the gas. The membrane separation component uses a polyimide hollow fiber membrane.

6. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 5, characterized in that: The crawling robot also includes a perception and detection module, which, combined with the control system and AI intelligent analysis, can automatically identify pipe blockages and siltation.

7. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 6, characterized in that: The sensing and detection module includes a waterproof high-definition camera (3) and an immersion ultrasonic sensor (4). The waterproof high-definition camera (3) is installed at the front end of the crawling body (1) and is used to acquire and transmit high-definition images of the inside of the pipeline to an external terminal in real time. The immersion ultrasonic sensor (4) is embedded in the bottom and sidewall of the crawling body (1) for measuring the amount of silt deposited.

8. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 7, characterized in that: The crawling body (1) includes a body, a drive system, a sensing system load component, a working system load component, a control system, and a four-limb walking mechanism (2). The fuselage integrates a power module and a control motherboard. The drive system includes a servo motor and a transmission assembly. The drive system is connected to the four-limb walking mechanism (2) and is used to drive the overall crawling robot to perform actions. The quadrupedal walking mechanism (2) is a retractable multimodal motion mechanism. The control system uses a PLC programmable controller, which has a pre-stored pipeline cleaning operation program and can receive signals from the sensing and detection module and send action instructions to each functional module. The crawling robot also includes a robotic arm located at the front end of the crawling body (1), and the end of the robotic arm is provided with an anti-slip rubber pad for assisting the robot to walk along the pipe wall in inclined or variable diameter pipe sections.

9. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 8, characterized in that: The four-limb walking mechanism (2) includes a wheeled walking unit, a tracked walking unit, and a helical drive unit. The wheeled walking unit is used for rapid movement within conventional pipelines. The tracked walking unit is used for stable movement in silt deposition areas. The spiral drive unit is used for all-terrain passage in high water level and high siltation scenarios.

10. The sewage pipeline cleaning crawling robot with synergistic pollution reduction and carbon reduction as described in claim 8, characterized in that: The body of the crawling body (1) is made of waterproof and corrosion-resistant stainless steel, and integrates a rechargeable lithium battery and an external cable interface; the control system adopts a PLC programmable controller and is equipped with a wireless communication module to support data interaction with external terminals and switching of operating modes. The four-limb walking mechanism (2) adopts a folding design. When entering the well, the wheel legs hang down naturally, so that the outer circumference of the crawling robot is smaller than the size of the inspection well. After landing at the bottom of the well chamber, it automatically unfolds and enters the working walking state.

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