CN113585445A

CN113585445A - Underwater operation robot for cleaning bottom mud of sewage plant and working method

Info

Publication number: CN113585445A
Application number: CN202110826607.5A
Authority: CN
Inventors: 骆汉宾; 刘文黎; 李琛; 李翰林
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2021-11-02

Abstract

The invention relates to an underwater operation robot for cleaning bottom mud of a sewage plant and a working method, and belongs to the field of cleaning of bottom mud of the sewage plant. The robot includes: the device comprises an operation unit, a vehicle body unit, a mud storage unit and a lifting unit; the operation unit comprises a bucket, a scraper knife and a suction pipeline; the scraper knife is positioned in the bucket, two sides of the bucket are closed, and the opening at the rear end of the bucket is connected with the suction pipeline; a bucket mounted on the body unit to guide the sediment into the suction duct; the vehicle body unit and the mud storage unit are connected through a discharge pipeline, and the discharge pipeline is connected with at least one of the vehicle body unit and the mud storage unit in an openable manner; the front end of the discharge pipeline is communicated with the suction pipeline and is used as a channel for discharging the sludge from the suction pipeline into the sludge storage unit during working; the lifting unit is used for lifting the vehicle body unit and the mud storage unit. The invention can solve the technical problems that the prior art is not suitable for cleaning bottom mud of a sewage plant or has large limitation, inflexible operation, large floor area, easy damage to underground pipe networks and the like.

Description

Underwater operation robot for cleaning bottom mud of sewage plant and working method

Technical Field

The invention belongs to the field of bottom mud cleaning of sewage plants, and particularly relates to an underwater operation robot for cleaning bottom mud of a sewage plant and a working method.

Background

The sewage plant needs water to be precipitated in the collecting tank in the working process, then the precipitated water flows into the next step through a pipeline, but the precipitated sludge is remained in the collecting tank, the sludge is more and more for a long time, and even the sludge in the collecting tank can reach the thickness of several meters.

Generally, after the sludge in the collecting tank is too thick, a sewage plant adopts a method of stopping work for maintenance to clean the sludge in the collecting tank. But this results in high operating efficiency. If the machine does not need to be stopped for dredging, an underwater working method and an overwater working method generally exist. The underwater operation is generally performed by a robot, the robot pumps underwater sludge into the robot, then the underwater sludge floats upwards, the robot is separated from the sludge, and then the underwater operation is submerged again. The robot needs to float upwards every time of working cycle, and the working efficiency is low. The overwater operation method is that sludge is directly extracted on the water surface through a sludge ship, but the size of the ship is overlarge, the length of a rocker arm of the ship is limited, the operation depth is limited, and the method cannot be applied to dredging of a sewage plant.

In addition, the two types of dredging equipment have the following problems:

1. the robot does not have the function of lifting in water, namely the working environment of the robot is harsh, a gentle slope is required on the side of the water collecting pool, but most of the water collecting pools do not have the working condition;

2. the common sludge ship and the robot equipment have huge sizes, the water collecting pool environment is small, the number of underwater pipe networks is large, the operation is not fine enough, and the underground pipe networks are easy to damage;

3. the underwater environment is complex, but the existing equipment has less or no imaging equipment, and because the equipment is preset with a working environment, imaging is not needed, so the equipment is easy to damage in a water collecting tank;

4. two kinds of equipment are mostly natural drainage basins to the environment, and are not in the catch basin. Therefore, the working efficiency and the quality are greatly restricted;

5. the two devices are heavy in structure and not sensitive enough in movement, the underwater robot generally has only one gear, and the huge body causes very inflexible movement;

6. the two devices are not provided with detection systems, and cannot sense the cleaning condition of the sludge. Obstacles around the environment and a pipe network at the bottom cannot be sensed, so that the pipe network at the bottom is easily damaged or collides with the wall of the water collecting tank;

7. both of them have large power and are easy to waste.

For the reasons, the desilting robot for the sewage plant popular in the market is mainly used for scraping the sludge to the edge of the water pool in a mode of matching a fixed or movable truss and other main body frames and carrying a movable/liftable scraper, and then cleaning the sludge in the edge extraction mode. However, the equipment is limited by the factors of the self strength of the equipment, the erection floor space, the driving difficulty, the strength of the scraper, the movement range and the like, and the equipment of the type is only suitable for a water collecting tank with shallow depth and small area, has large limitation, is not flexible to operate, occupies large area and has high erection cost.

Therefore, a bottom mud cleaning device for a sewage plant, which has the advantages of wide application range, flexible operation, small occupied area and good safety, is urgently needed.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides a robot suitable for cleaning bottom mud of a sewage plant, and aims to solve the technical problems that the prior art is not suitable for cleaning the bottom mud of the sewage plant or has large limitation, inflexible operation, large occupied area, easy damage to an underground pipe network and the like.

To achieve the above object, according to one aspect of the present invention, there is provided an underwater operation robot for sludge cleaning in a sewage plant, comprising:

the device comprises an operation unit, a vehicle body unit, a mud storage unit and a lifting unit;

the operation unit comprises a bucket, a scraper knife and a suction pipeline; the scraper knife is positioned in the bucket, two sides of the bucket are closed, and the opening at the rear end of the bucket is connected with the suction pipeline; a bucket mounted on the body unit to guide the sediment into the suction duct;

the vehicle body unit and the mud storage unit are connected through a discharge pipeline, and the discharge pipeline is connected with at least one of the vehicle body unit and the mud storage unit in an openable manner; the front end of the discharge pipeline is communicated with the suction pipeline and is used as a channel for discharging the sludge from the suction pipeline into the sludge storage unit during working;

the lifting unit is used for lifting the vehicle body unit and the mud storage unit;

when cleaning work is executed, the vehicle body unit and the sludge storage unit are connected through the discharge pipeline, the front end of the discharge pipeline is communicated with the suction pipeline, the rear end of the discharge pipeline is communicated with the sludge storage unit, the vehicle body unit drives the operation unit to move, and bottom sludge is guided into the sludge storage unit through the suction pipeline and the discharge pipeline;

when the sediment is transferred, the discharged pipeline is separated from the vehicle body unit and/or the sediment storage unit, and the sediment storage unit is lifted through the lifting unit.

Further, the vehicle body unit is connected with the mud storage unit through a connecting piece capable of being opened and closed.

Furthermore, the openable connecting piece is a jensen type hook, a mechanical claw, a spring lock catch or a magnetic type threaded joint.

Further, the magnetic suction type threaded joint comprises a joint motor, a connecting rod, a fixed ring and a movable ring; the joint motor and the fixing ring are respectively arranged on the vehicle body unit and the mud storage unit; one end of the connecting rod is connected with an output shaft of the connector motor, and the other end of the connecting rod and the movable ring are respectively provided with a screw rod and a nut which are matched with each other; the fixed ring is connected with the movable ring;

the screw and the nut are magnets, or the connecting rod is made of a magnetic conductive material, the magnetism is controlled by the on-off of the electromagnetic device, and the screw or the nut arranged on the movable ring is made of a ferromagnetic material;

when the vehicle body unit and the mud storage unit need to be hooked, the vehicle body unit drives the connecting rod to be close to the movable ring, the screw rod and the nut are aligned through magnetic adsorption, and the connector motor rotates forwards to drive the connecting rod to rotate forwards so that the screw rod and the nut are butted; when the vehicle body unit and the mud storage unit need to be unhooked, the joint motor rotates reversely to drive the connecting rod to rotate reversely so as to separate the screw rod from the nut.

Further, the discharge pipe is openably and closably connected to at least one of the vehicle body unit and the mud storage unit by a quick coupling or a magnetic coupling.

Further, the vehicle body unit comprises a trailer body, a sliding plate and a filtering rear plate; the sliding plate is arranged at the bottom of the trailer body; at least one side of the trailer body is provided with a filter plate for draining water and filtering bottom mud to be left in the trailer body.

Further, the discharge pipeline is a telescopic pipeline or a retractable pipeline.

According to another aspect of the present invention, there is provided a method of operating an underwater operation robot as described above, comprising the steps of:

s1, connecting a vehicle body unit and a mud storage unit of the underwater operation robot through a discharge pipeline and sending the vehicle body unit and the mud storage unit into the water;

s2, starting the vehicle body unit, starting the submarine light, and transmitting a video signal of the underwater environment back through the camera;

s3, remotely controlling the movement of the vehicle body unit or automatically moving the vehicle body unit through a preset program by an operator to reach an operation area;

s4, the operation unit starts to operate, the scraper knife gathers the sludge mixture in the middle, the suction pipeline starts to generate suction force at the same time, the sludge mixture is sucked into the vehicle body and is discharged into the vehicle body unit through the discharge pipeline;

s5, after the sludge is collected to a specified volume, the sludge is discharged into a pipeline to be disconnected with the vehicle body unit or the sludge storage unit, the vehicle body unit returns to the water surface along with the lifting unit, and then the sludge in the vehicle body unit is emptied to be unloaded or an unloaded vehicle body unit is directly replaced;

s6, the vehicle body unit is sent back to the water by the lifting unit, the vehicle body unit and the mud storage unit are connected by the discharging pipeline again, and a new working cycle is started;

s7, judging the cleaning condition of the sludge through the environmental data returned by the sonar and/or the camera, and determining whether the cleaning work is finished;

and S8, finishing the cleaning work, and returning the vehicle body unit and the mud storage unit by taking the lifting unit.

Further, the method for disconnecting and reconnecting the discharge pipeline and the vehicle body unit or the mud storage unit in the operation process is as follows:

a. the origin calibration is performed in step S1: after the vehicle body unit is launched, calibrating an initial position and an initial posture, setting a self starting point as a coordinate zero point, and simultaneously recording the self posture; meanwhile, the relative positions of the vehicle body unit and the mud storage unit at the moment are recorded by using a marker preset on the mud storage unit, so that the original point calibration is completed;

b. in the moving process of the vehicle body unit, the construction of surrounding environment coordinates is completed through a sonar and a camera carried by the vehicle body unit, and an operation map is generated;

c. when the operation is finished, the vehicle body unit automatically returns to the original position and adjusts the posture according to the original position calibrated in the step S and the generated operation map, or is directly and manually controlled to return to the original position and adjust the posture, then the vehicle body unit or the sludge storage unit is discharged into a pipeline to be disconnected, and the sludge storage unit floats upwards along with the lifting unit;

d. the sludge storage unit descends along with the lifting unit after being emptied or replaced;

e. and opening a camera at the rear part of the vehicle body unit to start to identify the marker on the mud storage unit, fine-adjusting the posture of the camera to align the marker, finishing the alignment work at the moment, and discharging the alignment mark into a pipeline to be reconnected with the vehicle body unit or the mud storage unit.

Further, in step S1, the vehicle body unit and the mud storage unit are further connected through an openable and closable connector, so that the vehicle body unit drags the mud storage unit to move together;

in the step c, the vehicle body unit carries the mud storage unit to return to the original position and adjust the posture according to the original position calibrated in the step S and the generated operation map, and the openable connecting piece can be disconnected;

and e, after the alignment work is finished, the openable connecting piece is reconnected.

In general, compared with the prior art, the above technical solution contemplated by the present invention can obtain the following beneficial effects:

1. the underwater operation robot can realize sludge transfer only by conveying the sludge storage unit through the lifting unit in a mode of combined operation of the separable vehicle body unit and the sludge storage unit, so that the vehicle body unit can continuously operate underwater for a long time, the structure of the whole device is greatly simplified, a sludge ship and a slope are not required to be reformed, a large truss structure is not required, a complex floating and submerging system is not required to be designed for the vehicle body unit, and the miniaturization design of a vehicle body is facilitated; and, realize the collection of silt through the scraper bowl with inside spiller, compare in traditional scraper, greatly reduced the threat to submarine pipe network. Therefore, the invention is widely suitable for water collecting ponds with different depths and areas, and has the advantages of flexible operation, small occupied area, low erection cost and extremely high application prospect.

2. The design is used for connecting the car body unit and storing up the openable connecting piece of mud unit, then can reduce the design requirement of draining into the pipeline by a wide margin, both can directly pull by the car body unit and store up the mud unit and carry out the desilting and collect the operation, does not influence the separation and the independent lift that store up the mud unit yet.

3. Adopt magnetism to inhale formula screwed joint, under the limited condition of vision in the environment under water, utilize magnetism to adsorb automatic alignment can greatly reduced and connect the degree of difficulty, improve equipment reliability and work efficiency. The connection is more stable due to the matching of threaded connection, the vehicle body unit can freely turn when the mud storage unit is dragged due to the connection of the fixed ring and the movable ring, and the work is more flexible.

4. The slide plate can prevent the trailer body from being sunk into bottom mud, and compared with the traditional wheel type mechanism, the slide plate is more difficult to collide with a submarine pipe network by using the sled principle, has small moving resistance, is beneficial to reducing the load of a trailer body unit and realizes energy conservation; establish trailer automobile body trailing flank into filtering the back plate, then enable water and flow away through filtering the back plate, inside the mud trailer automobile body, promote the automobile body capacity, and then improve the operating efficiency, reduce the lift number of times.

5. The discharge pipeline is set to be a telescopic pipeline or a retractable pipeline, so that the movement flexibility of the vehicle body unit can be greatly improved, and free steering is easier to realize when the vehicle body unit drags the mud storage unit to move together; when the vehicle body unit moves independently, the telescopic pipeline or the retractable pipeline can greatly improve the moving range of the vehicle body unit, and the mud storage unit can directly stand by at the lifting unit.

6. The invention also provides a matched operation method of the underwater operation robot, which utilizes the vehicle-mounted sonar and the camera as an environment detector, can be manually remotely controlled by an operator, and can also realize full-automatic operation through a preset program. And the work efficiency of the robot can be greatly increased by the separable operation method of the vehicle body unit and the mud storage unit, the robot can continuously and uninterruptedly work underwater by the method of arranging the plurality of mud storage units through the robot, a transportation ship body or a slope does not need to be arranged, a complex floating and submerging system does not need to be arranged for the vehicle body unit, the miniaturization design of the vehicle body unit is facilitated, and the detachable operation method can be better suitable for water collecting pool environments with different depths and sizes.

7. Aiming at the full-automatic hooking scheme, an automatic alignment scheme including an original point calibration technology, an operation map construction technology and a marker calibration identification technology is designed, so that unmanned full-automatic hooking operation is realized on the basis of an openable mechanical structure, and the full-automatic hooking device is suitable for connection of a discharge pipeline and a vehicle body unit or a mud storage unit and is also suitable for connection of the vehicle body unit and the mud storage unit.

Drawings

Fig. 1 is a perspective view of a sediment removal robot according to a preferred embodiment of the present invention.

Fig. 2 is a structure view of a crawler of the sediment cleaning robot according to the preferred embodiment of the present invention.

Fig. 3 is a front view of a sludge cleaning robot according to a preferred embodiment of the present invention.

Fig. 4 is a left side view of the sludge cleaning robot in the preferred embodiment of the present invention.

Fig. 5 is a top view of a sludge cleaning robot according to a preferred embodiment of the present invention.

Fig. 6 is a schematic workflow diagram of the sludge cleaning robot according to the preferred embodiment of the present invention.

Fig. 7 is a schematic diagram of the magnetic attraction type threaded joint docking process according to the preferred embodiment of the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

1. the elevator comprises a bucket, 2, a scraper knife, 3, a car body bucket connecting rod, 4, a suction pipeline, 5, an upper car shell, 6, a lower car body, 7, a sonar component, 8, a camera, 9, a crawler, 10, a driving gear, 11, a thrust wheel and side panel connecting rod, 12, a thrust wheel, 13, a car body and crawler connecting rod, 15, a crawler side panel, 14/16, a small thrust wheel, 17, a side panel car body connecting piece, 18, an exhaust pipeline, 19, an openable connecting piece, 20, a trailer car body, 21, a sliding plate, 22, a filter plate, 23, an elevator cage, 24, a connecting rod, 25, a claw, 26, a lifting rod, 27, a connecting rod, 28, a fixed ring, 29, a movable ring and 30 nuts.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 to 3, in the present embodiment, the underwater work robot is used in a sump of a sewage plant, and the work unit 001 includes a bucket 1, a blade 2, a car body bucket link 3, and a suction pipe 4. The closed structure of the scraper bucket 1 can help the muddy water raised by the scraper blade 2 to scatter, and the spiral structure of the scraper blade 2 can make the bottom mud restrained in the middle of the scraper bucket 1 from two sides to the middle in a rotating mode, so that the bottom mud is conveniently collected, and the operation efficiency is improved. The spiral cutter suction mode of the scraper knife 2 can also better lift the muddy water mixture, thereby increasing the operation efficiency.

Referring also to fig. 2, the body portion of the body unit takes the form of a crawler, including tracks 9, drive gears 10, track wheel and side panel links 11, track wheels 12, body and track links 13, small track wheels 14/16, track side panels 15, and side panel body links 17.

Wherein, the design of double thrust wheel can increase the width of track to increase the area of contact of track and bed mud and then improve the bearing capacity of bed mud and prevent that the robot from being absorbed in mud heavily, thrust wheel and side board connecting rod 11 and track side board 15 have increased spring bradyseism structure when linking to each other, under this kind of condition, the stability of increase automobile body that can be great.

And a large number of supporting wheels 12 are arranged at the bottom, so that the crawler belt can be better meshed with the gears to bear the weight of the robot and prevent the crawler belt from sideslipping.

The robot has the advantages that through the double rows of supporting wheels, the neutrality shared by each wheel is small, the pressure is more uniform, and the mobility of the device is improved.

Referring to fig. 3, the sonar 7 assembly and the camera 7 are located higher than the working unit 001 of the robot, so that the environmental detection can be better performed.

Referring to fig. 1, 4 and 5, preferably, the lower body 6 is connected to the trailer through the openable connecting member 19 (preferably, the present embodiment is a magnetic-type threaded joint), and the magnetic-type threaded joint can be opened and closed automatically, and at the same time, a positioning device (preferably, a visual identification positioning device based on a camera) is provided at the back of the body unit 002, so that the position of the magnetic-type threaded joint on the trailer can be identified and positioned, and the position of the magnetic-type threaded joint can be adjusted automatically, so that the magnetic-type threaded joint can be closed correctly.

Preferably, the discharge conduit 18 is a telescopic conduit, and when the lower car 6 is separated from the trailer body 20, the discharge conduit 18 is contracted, the openable and closable coupling 19 is opened, the cage 23 is operated, and the trailer body 20 is transported to the surface of the water for cleaning or direct replacement. Then the empty trailer body 20 returns to the underwater, the body unit 002 adjusts the self posture through the positioning device (or the remote control of the operator) to realize the alignment, then the openable connecting piece 19 is closed, and the discharge pipe 18 extends out to be combined with the opening hole at the upper part of the trailer body 20 through a magnetic suction connector or a quick connector.

The principle of the similar sled of slide 21 structure of trailer 20 lower part compares with ordinary wheeled structure, and the contact area of slide formula structure can increase and bed mud can let more smoothly when the trailer moves under water like this, avoids the trailer to be absorbed in the bed mud, can reduce the load of robot simultaneously.

The specific structural form of the lifting unit 004 of the invention is not limited, and a simple cable hoisting mechanism can be adopted, and an underwater lifting elevator, a lifting frame and the like can also be adopted. As a schematic illustration, as shown in fig. 1, 4 and 6, the elevator for transporting a trailer in this example comprises an elevator cage 23, a connecting rod 24, a claw 25 and a lifter 26. Preferably, a guide groove can be arranged on the lifting platform (such as a hoisting plate, a lift car and the like) to match with the sliding plate 21 to realize the guiding and positioning of the mud storage unit 003, so that the trailer body 20 is more stable in the lifting process on one hand, and the trailer body 20 can be always in a relatively fixed position on the other hand, and is more conveniently aligned with the positioning of the vehicle body unit 001, thereby facilitating the interconnection.

Preferably, the lower body 6 is provided with a dive light to assist in illumination.

Preferably, the lower body 6 is connected to the trailer body 20 by means of a discharge conduit 18, through which conduit 18 the sewage mixture sucked in by the working unit 001 flows into the trailer body 20, after which there is a filter plate 22 provided with small holes at the rear of the trailer body 20, through which filter plate 22 the water flows away, and the sludge is filtered to stay inside the trailer body 20.

Preferably, the discharge conduit 18 is retractable or retractable, and may be commonly referred to as a bellows hose, a rubber hose, or the like.

Preferably, the rear part of the vehicle body is provided with a positioning device for positioning, which can identify the position of the openable and closable connecting piece 19 so as to automatically adjust the pose of the robot, for example, the positioning device based on visual positioning can adjust the pose by identifying a marker which is preset on the trailer body 20, and the pose is adjusted by taking the marker as a reference so as to realize the alignment of the openable and closable connecting piece 19 and facilitate the subsequent connection and hooking.

Preferably, can carry on the wiFi transmitter on lower automobile body 6, the cell-phone end can communicate with it through app to control sewage plant sediment cleaning robot's motion or receive and look over the data that each mobile unit transmitted.

Preferably, the lower vehicle body 6 is further provided with a pressure sensor for detecting underwater pressure.

Preferably, a residual sensor is provided inside the trailer body 20, which triggers an alarm when the trailer is about to be filled with sludge. The remaining amount sensor may be a pressure sensor (provided at the bottom), a distance sensor (provided at the top), or the like.

Preferably, the driving gear 10 may be provided with a plurality of power gears so as to adjust the moving speed of the robot according to actual conditions, for example, the robot may travel at a medium speed during dredging, may travel at a high speed while reciprocating between the working position and the elevating platform 004, and may travel at a low speed or at an ultra-low speed during the course of the aligned reconnection of the lower body 6 with the trailer body 20 and the discharge pipe 18.

The working method of the present invention is further explained below.

Referring to fig. 6, fig. 6 is a flow chart schematic of a robot operation, the working method of which comprises the following steps:

and S1, connecting the robot with the trailer, and sending the robot into the water through the elevator.

And S2, starting the robot, starting the submarine light, and transmitting a video signal of the underwater environment back through the camera.

And S3, controlling the robot to start moving by the operator, and realizing the forward and backward movement and turning of the robot by controlling the forward rotation and the reverse rotation of the motor and the direction and the gear of the driving gear until reaching a working area.

S4, the robot operation unit starts to operate, the front knife scraper knife rotates towards the middle through two sides, lifted bottom mud is gathered to the middle, meanwhile, a suction force is generated at the position of a pipeline, the mud mixture is sucked into the vehicle body, and the mud mixture is sucked into the trailer through the pipeline. Preferably, the mixture passes through a trailer rear filter plate, water flows out of the filter plate, and sludge is stored in the trailer.

And S5, controlling the robot to return to the elevator after the sludge is fully collected, disconnecting the robot from the trailer, simultaneously shrinking the connecting pipeline, returning the trailer to the water surface along with the elevator, and then emptying the trailer.

S6, the trailer returns underwater along the elevator, and the robot adjusts the position through the positioning device. The hook is then closed and the pipe extends out to connect the trailer. A new work cycle is started.

And S7, the cleaning condition of the sludge can be judged through the environmental data returned by the sonar. Thereby deciding whether to continue operating.

And S8, finishing the work, and returning the robot and the trailer together along with the elevator.

For example, the discharge pipe 18 is fixedly connected to the lower vehicle body 6 and can be connected to the trailer body 20 in an openable and closable manner, and the connection method of the discharge pipe 18 and the trailer body 20 is as follows:

a. after the robot is launched, the original position and the original posture are firstly calibrated, the starting point of the robot is set as the zero point of the coordinate, and the posture of the robot is recorded at the same time. Meanwhile, a marker which can be identified by the machine exists in front of the trailer, the relative position of the trailer and the robot is recorded, and the origin calibration is completed.

Preferably, there is a groove on the elevator to determine the trailer placement position, ensuring the fixed attitude of the trailer when connected.

b. And scanning and constructing the surrounding environment coordinates in real time by using a sonar and a camera in the moving process of the robot.

c. When the operation was accomplished, the original position and the adjustment gesture were got back to the map of robot automobile body according to the initial point position with the generation, and the pipeline is inhaled the mouth with the magnetism of trailer and is disconnected simultaneously, and pipeline disconnection, and the claw disconnection simultaneously, the trailer is retrieved along with the elevator.

d. The trailer is lowered with the elevator after it is emptied or replaced. Preferably, the elevator is provided with a groove for guiding, and the operator correctly places the trailer according to the groove on the elevator, and the trailer descends along with the elevator. The marker is arranged in front of the trailer at the moment, so that the robot can conveniently identify the marker.

e. After the trailer is in place, the camera at the rear part of the robot body unit is opened to start recognizing the marker, the self pose posture is finely adjusted to align according to the recognition result of the marker, the pipeline starts to extend after the alignment work is completed, the magnetic suction port is electrified to start working, and the pipeline is automatically adsorbed when being close to the magnetic suction port of the trailer to realize the pipeline alignment and fixation.

Preferably, as shown in fig. 7, in the present embodiment, when the openable and closable connector 19 is a magnetic-attraction type threaded joint, the connection principle and unhooking reconnection method is as follows:

(a) after the robot performs the work, it returns to the original position to prepare for unhooking.

(b) The magnetic-type threaded joint of the trailer and the vehicle body unit is connected through two annular objects (a fixed ring 28 and a movable ring 29) so that the trailer can move along with the vehicle body unit.

In this embodiment, the connection between the body unit and the trailer is provided on the connection rod 27 on the side close to the body unit, and is connected by a screw. The connecting rod 27 is provided with threads, and the movable ring 28 is provided with a nut 30. The joint motor can control the screwing in and screwing out of the connecting rod 27.

(c) The joint motor inside the vehicle body unit is reversed, the connecting rod 27 is screwed out of the release nut 30, and the openable connecting piece is unhooked.

(d) After the body unit finishes calibrating and positioning a new trailer, an electromagnetic device inside the body unit is electrified to magnetize the connecting rod 27, the nut 30 is attracted to automatically align with the thread at the end of the connecting rod 27, then the joint motor rotates forwards, and the connecting rod 27 slowly rotates forwards.

(e) After the connecting rod 27 contacts the nut 30, the joint motor continues to operate until the connecting rod 27 is completely connected to the nut 30.

In general, the invention provides a sediment cleaning robot specially suitable for sewage plants and a matched working method, and underwater sludge is cleaned by a method of bottom operation of a small robot (namely an operation unit 001+ a vehicle body unit 002). Simultaneously, the lifting structure of the lifting unit 004 is used for ensuring the lifting of the vehicle body unit 002 and the mud storage unit 003, the lifting operation can be carried out without a transportation ship body or gradient in the prior art, and a complex floating and diving system is not required to be arranged on the vehicle body, so that the miniaturization of the vehicle body can be realized, and the operation flexibility is further improved. And automobile body unit 002 links to each other with storage mud unit 003, and storage mud unit 003 stores the mud of clearance to clearance only needs storage mud unit 003 to return the surface of water at every turn, and automobile body unit 002 can continue to stay underwater, is equipped with a plurality of storage mud units 003 and can realize underwater continuous operation. Meanwhile, the sludge condition around can be detected by sonar, and the place with the most sludge can be quickly found out to carry out desilting. The sonar has a wider detection range than the camera under water, can effectively avoid obstacles and prevent the pipeline at the bottom of the pool from being damaged. The miniaturized robot can further reduce the used power and reduce the energy waste. Meanwhile, a plurality of gears are arranged for the movement of the robot, and the control can be carried out through a mobile phone program, so that the working mode can be freely switched, and different scenes and different dredging requirements can be flexibly met.

Regarding the job unit:

the blades 2 of the operation unit 001 can raise muddy water and restrain the muddy water in the bucket 1 through the shell of the bucket 1, and the blades 2 on the two sides rotate from outside to inside to restrain raised bottom mud in the middle, so that the muddy water can be prevented from escaping during suction, and a better cleaning effect is achieved. And the spiral cutter-suction type scraper knife 2 that uses compares in traditional lift translation formula scraper, and the working process is more gentle to scraper knife 2 is located 1 inside can effectively prevent to injure the bottom pipeline.

Regarding the vehicle body structure:

the vehicle body structure is streamline and can better walk underwater. The camera that both ends set up around can let the operator can be more audio-visual observation surrounding environment and trailer's state. And the images collected by the rear camera can be further used for realizing autonomous pose adjustment of the vehicle body in an intelligent marker identification mode, and automation operation is facilitated. The front sonar device can predict the surrounding environment in advance, prevent from encountering obstacles, and can be further used for judging the dredging condition.

Regarding the track structure:

the width of the crawler belt can be increased by the structure of the two rows of thrust wheels, so that the moving stability of the robot in water is improved. The springs connected with the thrust wheels and the side plates can effectively improve the damping performance of the robot, and ensure the stable operation of the robot in an underwater environment. The driving gear is divided into a plurality of power gears, so that the robot can move underwater at different speeds.

Regarding the trailer part:

the slide plate structure at the lower part of the trailer can well reduce underwater resistance, thereby reducing the load of the robot. The filter plate at the rear of the trailer can separate sewage mixture, and only sludge needing to be cleaned is left in the trailer.

Regarding the working method:

the method for separating the robot from the trailer can greatly increase the working efficiency of the robot, and the robot can continuously work underwater by the method that the robot is provided with a plurality of trailers. Meanwhile, the more miniaturized equipment can be better suitable for the environment of the water collecting tank.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An underwater operation robot for cleaning bottom mud of a sewage plant, comprising:

an operation unit (001), a vehicle body unit (002), a mud storage unit (003) and a lifting unit (004);

the operation unit (001) comprises a bucket (1), a scraper knife (2) and a suction pipeline (4); the scraper knife (2) is positioned inside the scraper bucket (1), two sides of the scraper bucket (1) are closed, and an opening at the rear end of the scraper bucket is connected with the suction pipeline (4); a bucket (1) mounted on the body unit (002) to introduce the sediment into the suction duct (4);

the vehicle body unit (002) and the mud storage unit (003) are connected through the discharge pipeline (18), and the discharge pipeline (18) is connected with at least one of the vehicle body unit (002) and the mud storage unit (003) in an openable manner; the front end of the discharge pipeline (18) is communicated with the suction pipeline (4) and is used as a channel for discharging the sludge from the suction pipeline (4) into the sludge storage unit (003) during working;

the lifting unit (004) is used for lifting the vehicle body unit (002) and the mud storage unit (003);

when cleaning work is carried out, the vehicle body unit (002) and the sludge storage unit (003) are connected through the discharge pipeline (18), so that the front end of the discharge pipeline (18) is communicated with the suction pipeline (4), the rear end of the discharge pipeline is communicated with the sludge storage unit (003), the vehicle body unit (002) drives the operation unit (001) to move, and bottom sludge is guided into the sludge storage unit (003) through the suction pipeline (4) and the discharge pipeline (18);

when the sediment is transferred, the discharge pipeline (18) is separated from the vehicle body unit (002) and/or the sediment storage unit (003), and the sediment storage unit (003) is lifted up through the lifting unit (004).

2. An underwater operation robot for sludge disposal in sewage plants according to claim 1, wherein the body unit (002) and the sludge storage unit (003) are further connected by an openable and closable connecting member (19).

3. An underwater operation robot for sludge disposal in sewage plants according to claim 2, wherein the openable connection (19) is a jensen hook, a gripper, a spring catch or a magnetic-type screw joint.

4. A robot for underwater operation for sludge cleaning in sewage plants according to claim 3, characterized in that the magnetic-type screw joint comprises a joint motor, a connecting rod (27), a fixed ring (28), a movable ring (29); the joint motor and the fixing ring (28) are respectively arranged on the vehicle body unit (002) and the mud storage unit (003); one end of the connecting rod (27) is connected with an output shaft of the connector motor, and the other end and the movable ring (29) are respectively provided with a screw rod and a nut (30) which are matched with each other; the fixed ring (28) is connected with the movable ring (29);

the screw and the nut are magnets, or the connecting rod (27) is made of magnetic conductive material, the magnetism is controlled by the on-off of the electromagnetic device, and the screw or the nut (30) arranged on the movable ring (29) is made of ferromagnetic material;

when the vehicle body unit (002) and the sludge storage unit (003) need to be hooked, the vehicle body unit (002) drives the connecting rod (27) to be close to the movable ring (29), the screw rod and the nut (30) are aligned through magnetic adsorption, and the connector motor rotates forwards to drive the connecting rod (27) to rotate forwards so that the screw rod and the nut (30) are butted; when the vehicle body unit (002) and the mud storage unit (003) need to be unhooked, the joint motor rotates reversely to drive the connecting rod (27) to rotate reversely to separate the screw rod from the nut (30).

5. The underwater operation robot for sludge disposal of a sewage plant of claim 1, wherein the discharge pipe (18) is openably connected to at least one of the body unit (002) and the sludge storage unit (003) by a quick coupling or a magnetic coupling.

6. An underwater operation robot for sludge disposal of sewage plants according to claim 1, wherein the body unit (002) comprises a trailer body (20), a slide plate (21) and a filter back plate (22); the sliding plate (21) is arranged at the bottom of the trailer body (20); at least one side of the trailer body (20) is provided with a filter plate (22) for draining water and keeping sediment filtered inside the trailer body (20).

7. An underwater working robot for sludge cleaning in sewage plants according to any of claims 1-6, characterized in that the discharge pipe (18) is a telescopic pipe or a retractable pipe.

8. A working method of an underwater operation robot according to any of claims 1-7, characterized by comprising the steps of:

s1, connecting a vehicle body unit (002) and a mud storage unit (003) of the underwater operation robot through a discharge pipeline (18) and sending the vehicle body unit and the mud storage unit into the water;

s2, starting the vehicle body unit (002), starting the submarine light, and transmitting a submarine environment video signal back through the camera;

s3, the operator remotely controls the movement of the vehicle body unit (002) or the vehicle body unit (002) automatically moves through a preset program to reach the operation area;

s4, the operation unit (001) starts to operate, the scraper knife (2) gathers the sludge mixture in the middle, the suction pipeline (4) starts to generate suction force, the sludge mixture is sucked into the vehicle body and is discharged into the vehicle body unit (002) through the discharge pipeline (18);

s5, after the sludge is collected to a designated capacity, the sludge is discharged into a pipeline (18) and is disconnected from the vehicle body unit (002) or the sludge storage unit (003), the vehicle body unit (002) returns to the water surface along with the lifting unit (004), and then the sludge in the vehicle body unit (002) is emptied to be unloaded, or an unloaded vehicle body unit (002) is directly replaced;

s6, the lifting unit (004) sends the vehicle body unit (002) back to the underwater, the vehicle body unit (002) and the mud storage unit (003) are connected again through the discharge pipeline (18), and a new working cycle is started;

and S8, finishing the cleaning work, and returning the vehicle body unit (002) and the mud storage unit (003) to the lifting unit (004).

9. The working method of an underwater operation robot according to claim 8, wherein the discharge duct (18) is disconnected and reconnected to the body unit (002) or the mud storage unit (003) during the working by:

a. the origin calibration is performed in step S1: after the vehicle body unit (002) is launched into water, the initial position and the initial posture are firstly calibrated, the self starting point is set as a coordinate zero point, and the self posture is recorded at the same time; meanwhile, the relative positions of the vehicle body unit (002) and the mud storage unit (003) at the moment are recorded by using a marker preset on the mud storage unit (003), so that the origin point calibration is completed;

b. in the moving process of the vehicle body unit (002), the construction of surrounding environment coordinates is completed through a sonar and a camera carried by the vehicle body unit (002), and a work map is generated;

c. when the operation is finished, the vehicle body unit (002) automatically returns to the original position and adjusts the posture according to the original position calibrated in the step S1 and the generated operation map, or directly and manually controls the vehicle body unit to return to the original position and adjust the posture, then the vehicle body unit is discharged into the pipeline (18) to be disconnected with the vehicle body unit (002) or the mud storage unit (003), and the mud storage unit (003) floats upwards along with the lifting unit (004);

d. after the sludge storage unit (003) is emptied or replaced, the sludge storage unit descends along with the lifting unit (004);

e. the camera at the rear part of the vehicle body unit (002) is opened to start recognizing the marker on the mud storage unit (003), and meanwhile, the self posture is finely adjusted to align the marker, so that the alignment work is completed, and the discharge pipeline (18) is reconnected with the vehicle body unit (002) or the mud storage unit (003).

10. The working method of an underwater operation robot according to claim 9, wherein in step S1, the vehicle body unit (002) and the mud storage unit (003) are further connected by the openable and closable connecting member (19) so that the vehicle body unit (002) drags the mud storage unit (003) to move together;

in the step c, the vehicle body unit (002) carries the mud storage unit (003) to return to the original position and adjust the posture, and the openable connecting piece (19) is disconnected;

in step e, after the alignment work is finished, the openable connecting piece (19) is reconnected.