CN116025053B - High-efficiency and safe dredging system and dredging methods - Google Patents
High-efficiency and safe dredging system and dredging methodsInfo
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- CN116025053B CN116025053B CN202211649102.7A CN202211649102A CN116025053B CN 116025053 B CN116025053 B CN 116025053B CN 202211649102 A CN202211649102 A CN 202211649102A CN 116025053 B CN116025053 B CN 116025053B
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Abstract
本发明公开了一种高效安全清淤系统及清淤方法，通过摄像头，可以实时了解清淤情况及料斗中的物料堆积和清理情况，当料斗中物料装满后，结合利用计米器与摄像头寻找最近检修井或设备下放口，使机器人移动至该地，同时利用伸缩架和无损挖掘吸污车进行物料清理，并通过观察物料清理情况，及时调整机器人位置，避免出现清理死角。另外，结合利用暗涵原有检修井，可有效减少机器人返回至设备下放口的次数及路面设备下放口的开挖数量和设备重新布放次数，大幅度节约人力、物力和时间，同时无损挖掘吸污车的结合使用，可以减少吸污管的堵塞问题和料斗更换次数，提高清淤效率，同时减少人员在设备下放口围栏边起吊下放料斗的危险，使清淤工作更加安全。
This invention discloses a highly efficient and safe dredging system and method. Through a camera, the dredging progress and the accumulation and clearing of materials in the hopper can be monitored in real time. When the hopper is full, a meter counter and camera are used to locate the nearest maintenance well or equipment lowering point, and the robot moves to that location. Simultaneously, a telescopic frame and a non-destructive excavation suction truck are used to clear the material. By observing the material clearing process, the robot's position is adjusted promptly to avoid blind spots. Furthermore, utilizing existing maintenance wells in culverts effectively reduces the number of times the robot returns to the equipment lowering point, the amount of excavation required at the equipment lowering point, and the number of times equipment needs to be redeployed, significantly saving manpower, resources, and time. The combined use of the non-destructive excavation suction truck reduces the problem of clogging the suction pipe and the frequency of hopper replacements, improving dredging efficiency. It also reduces the danger of personnel lifting and lowering the hopper near the equipment lowering point fence, making the dredging work safer.
Description
Technical Field
The invention relates to the technical field of sludge cleaning, in particular to a high-efficiency safe dredging system and a dredging method.
Background
Along with the acceleration of the urban process in China, the scale of the urban drainage system is gradually enlarged, and due to long-time sludge deposition, pipelines are blocked and sewage overflows, so that waterlogging is caused, regular cleaning is urgently needed, and the environmental pollution problem caused by urban process is also high in importance, so that sludge collection and harmless treatment of factories are also needed to be regularly collected and cleaned in areas such as river channels, ditches and sludge ponds. The large-scale sewer pipes and box culverts which are hidden underground always adopt manual dredging, but the manual dredging has the defects of high operation difficulty and poor safety, and particularly, toxic gas existing in the box culverts is extremely easy to cause personal safety accidents, so dredging equipment capable of carrying out unmanned operation is urgently needed in the dredging industry. At present, unmanned dredging equipment on the market is mainly a pumping type dredging robot, and a slurry pump is mounted on the robot to suck mud in a culvert, but the equipment cannot suck large-particle-size solid particles, so that the pumping blockage is very easy to cause.
Among the prior art, the patent of publication number CN108930328A discloses a clearance rainwater pipeline silt's robot, including wire rope line frame and robot body, the robot body is including the controller, shovel mud subassembly, coupling assembling, remove subassembly and storage module, in shoveling the rubbish of the inside silt of rainwater pipe to the scraper bowl through shovel mud subassembly, the cylinder group in the scraper bowl will be with the rubbish propelling movement of shoveling to the entrance point of first hoisting assembly, put into the bin with rubbish such as silt through first hoisting assembly and second hoisting assembly, drag the robot body to ground through wire rope when the bin is full and empty silt or rubbish. The problem of rainwater pipeline clearance difficulty can be solved to this robot, but at every turn clear up silt or rubbish in the bin and all need make the robot remove to the position of putting down to cause the robot to walk for a long time, greatly reduced dredging efficiency.
In addition, when the sediment stored in the dredging robot is cleaned, the existing part of methods are that the robot is moved to a lowering port, and a hopper is replaced through a lifting device, but the method requires a worker to perform related operations at the rail edge of the lowering port, so that safety accidents are easily caused.
In view of the above, there is a need to design a high-efficiency and safe dredging system and dredging method to solve the above problems.
Disclosure of Invention
The invention aims to provide a high-efficiency safe dredging system and a dredging method, which can combine and utilize the original blind inspection well, reduce the times of returning a robot to a device drop port, save the walking time of the robot, reduce the blockage problem of a sewage suction pipe and the replacement times of a hopper, reduce the safety risk and improve the dredging efficiency.
In order to achieve the aim of the invention, the invention provides a high-efficiency safe dredging system which comprises a dredging robot and a nondestructive dredging soil pick-up truck for cleaning materials in a hopper of the dredging robot through a soil pick-up pipe at a lower opening of a manhole or equipment, wherein the dredging robot is provided with a camera for observing dredging conditions and a telescopic frame for controlling the height of the hopper.
As a further improvement of the invention, the rear end of the shoveling and dredging robot is provided with a cradle head, the camera is arranged on the cradle head, and the observation direction of the camera is correspondingly changed according to the rotation of the cradle head.
As a further improvement of the invention, the ground is also provided with a control system, the control system is connected with the shoveling and dredging robot through a communication cable, the communication cable transmits information collected by the camera to the control system for analysis, so that a corresponding instruction is sent to control the dredging process of the shoveling and dredging robot, and the communication cable is provided with a meter.
As a further improvement of the invention, the telescopic frame is arranged on the lower side of the hopper and is used for lifting the hopper to the vicinity of the wellhead of the manhole or the equipment drop-out opening, and the hopper is provided with a proximity switch.
As a further improvement of the invention, the front end of the shoveling and dredging robot is provided with a bucket, and the movement adjustment of the bucket is performed through a mechanical arm connected with the bucket.
As a further improvement of the invention, the end of the mechanical arm away from the bucket is connected with a support component below the telescopic frame.
As a further improvement of the invention, the mechanical arm is rotationally regulated through a linear hydraulic cylinder, one end of the linear hydraulic cylinder is connected with the mechanical arm, and the other end of the linear hydraulic cylinder is connected with a supporting component arranged below the telescopic frame.
As a further improvement of the invention, a rotary hydraulic cylinder is arranged at the end of the mechanical arm connected with the bucket, and the rotary adjustment of the bucket is performed through the rotary hydraulic cylinder.
As a further improvement of the invention, the lower end of the shoveling and dredging robot is provided with a walking wheel for controlling the shoveling and dredging robot to walk and a crawler belt arranged on the walking wheel.
In order to achieve the above purpose, the invention also provides a dredging method of the efficient and safe dredging system, which comprises the following steps:
s1, enabling a shoveling and dredging robot to enter an underground area to be dredging from a device lowering port, operating a control system, driving a crawler belt to rotate through travelling wheels, enabling the shoveling and dredging robot to move to the front of sludge, controlling a bucket to dredge the sludge through a rotary hydraulic cylinder and a linear hydraulic cylinder in a combined mode, and transferring the sludge into a hopper;
s2, observing the storage condition of materials in a hopper through a camera, after the materials in the hopper are full, primarily determining the position of a shoveling and dredging robot through a meter, judging the distance between the shoveling and dredging robot and the nearest inspection well or equipment discharging opening, controlling the shoveling and dredging robot to rapidly travel a corresponding distance to the vicinity of the inspection well or equipment discharging opening, and enabling the shoveling and dredging robot to precisely travel to the position below the nearest inspection well or equipment discharging opening through the camera;
S3, at a lowering port of a manhole or equipment, controlling a dredging robot to stop walking, opening a telescopic frame, lifting a hopper, transmitting lifting stopping information to a control system by a proximity switch when the hopper approaches the hole, sending corresponding instructions by the control system to control the telescopic frame to stop lifting, enabling a worker to remove a manhole cover or insert a dirt suction pipe below a material at the edge of a fence, sucking the material into the dirt suction truck by using a nondestructive dredging truck, observing the material processing condition in the hopper by using a camera, and controlling the dredging robot to move back and forth to avoid dirt suction dead angles;
s4, after the material in the hopper is completely suctioned, the telescopic frame is contracted to the original position, and the robot is controlled to continue dredging;
S5, when the materials stored in the hopper and incapable of being processed through the soil pick-up truck are too much, the shoveling and dredging robot is controlled to walk to the nearest equipment discharging opening for processing.
The beneficial effects of the invention are as follows:
1. according to the invention, the underground dredging conditions and the material accumulation and cleaning conditions in the hopper can be known in real time through the arrangement of the camera, the camera is utilized to observe the material accumulation conditions in the hopper in the bucket dumping process, the materials in the bucket are dumped at different positions in the hopper by adjusting the rotating angle of the mechanical arm, so that the materials in the hopper are uniformly distributed, after the materials in the hopper are filled, the position of the dredging robot is initially determined through the cooperation of the meter and the camera, the dredging robot is enabled to rapidly travel to the position near the nearest well or equipment discharging opening through the cooperation of the meter, the camera is utilized to enable the dredging robot to accurately travel to the position below the nearest well or equipment discharging opening, the travel time of the dredging robot for searching the well or equipment discharging opening can be greatly saved, meanwhile, the hopper is enabled to rapidly rise to the position near the hole through the cooperation of the telescopic bracket and the proximity switch, the material cleaning condition is conveniently observed through the well opening, the position of the meter is timely adjusted, the dredging robot is prevented, the material is conveniently and the effective sludge cleaning efficiency is effectively improved.
2. According to the dredging method, the materials in the hopper are cleaned through the latest inspection well or equipment discharging opening, so that the number of times that a robot returns to the equipment discharging opening can be effectively reduced, the running time of the robot is saved, meanwhile, the combination of the dredging soil pick-up truck and the dredging soil pick-up truck can be used in a lossless manner, the blocking problem of the soil pick-up pipe and the replacement time of the hopper can be reduced, the dredging efficiency is improved, the danger that personnel lift the discharging hopper at the fence edge of the equipment discharging opening is reduced, and the dredging process is safer.
3. The dredging method disclosed by the invention comprehensively utilizes the original hidden culvert inspection and repair well, can reduce the excavation quantity of the lowering ports of pavement equipment and the rearranging times of the equipment, greatly saves manpower, material resources and time, can efficiently dredge the soil, simultaneously ensures the clean and tidy ground, and furthest reduces the influence of dredging work on peripheral life.
Drawings
FIG. 1 is a schematic diagram of the dirt suction operation of the high-efficiency and safe dredging system of the invention.
Fig. 2 is a schematic view of a dredging operation of the dredging robot according to the present invention.
Fig. 3 is a schematic view of dumping materials of the dredging robot.
Reference numerals
11. Bucket, 12, rotary hydraulic cylinder, 13, mechanical arm, 14, linear hydraulic cylinder, 20, support component, 30, expansion bracket, 41, cradle head, 42, camera, 50, hopper, 51, proximity switch, 61, travelling wheel, 62, caterpillar, 70, control system, 71, communication cable, 72, meter, 81, nondestructive excavation soil pick-up car, 82, soil pick-up tube, 91, maintenance well, 92, well cover, 93, equipment drop port, 94 and fence.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to aspects of the present invention are shown in the drawings, and other details not greatly related to the present invention are omitted.
In addition, it should be further noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1 to 3, the invention provides a high-efficiency safe dredging system, which comprises a dredging robot and a nondestructive dredging soil pick-up truck 81 for cleaning materials in a dredging robot hopper 50 through a soil pick-up pipe 82 at a repairing well 91 or a device lowering port 93, wherein a camera 42 for observing dredging conditions and a telescopic frame 30 for controlling the height of the hopper 50 are arranged on the dredging robot, and the camera 42 is arranged on a cradle head 41 at the rear end of the dredging robot, so that the observing direction of the camera 42 is changed through rotation of the cradle head 41.
Specifically, a control system 70 is further arranged on the ground, the control system 70 is connected with the dredging robot through a communication cable 71, the communication cable 71 transmits information collected by the camera 42 to the control system 70 for analysis, so that corresponding instructions are sent to control the dredging process of the dredging robot, a meter 72 is arranged on the communication cable 71, and the distance between the dredging robot and the latest well inspection and repair can be preliminarily determined through the meter 72.
Specifically, the telescopic frame 30 is arranged at the lower side of the hopper 50 and is used for lifting the hopper 50 to the vicinity of a wellhead of the repair well 91 or a device lowering port 93, and the hopper 50 is provided with a proximity switch 51 which is used for preventing the hopper 50 from bumping into a bottom plate in the lifting process.
Specifically, the bucket 11 is arranged at the front end of the dredging robot, the movement of the bucket 11 is controlled by a mechanical arm 13 connected with the bucket 11, a rotary hydraulic cylinder 12 is arranged at the end, connected with the bucket 11, of the mechanical arm 13, the rotary direction of the bucket 11 is regulated by the rotary hydraulic cylinder 12, and one end, far away from the bucket 11, of the mechanical arm 13 is connected with a support assembly 20 below the telescopic frame 30.
Specifically, the mechanical arm 13 is rotationally adjusted by a linear hydraulic cylinder 14, one end of the linear hydraulic cylinder 14 is connected with the mechanical arm 13, and the other end is connected with a support assembly 20 arranged below the expansion bracket 30.
Specifically, the lower end of the dredging robot is provided with a walking wheel 61 for controlling the dredging robot to walk and a crawler belt 62 arranged on the walking wheel 61.
The invention also provides a dredging method, which carries out dredging treatment according to the high-efficiency safe dredging system in any one of the technical schemes, and comprises the following steps:
S1, enabling a shoveling and dredging robot to enter an underground area to be dredged from a device lowering port 93, operating a control system 70, driving a crawler belt 62 to rotate through a travelling wheel 61, enabling the shoveling and dredging robot to move to the front of sludge, controlling a bucket 11 to dredge and transfer the sludge into a hopper 50 through the combination of a rotary hydraulic cylinder 12 and a linear hydraulic cylinder 14, observing the material accumulation condition in the hopper 50 by using a camera 42 in the process of pouring the bucket 11, and enabling materials in the bucket 11 to be dumped at different positions in the hopper 50 through adjusting the rotation angle of a mechanical arm 13, so that the materials in the hopper 50 are uniformly distributed;
s2, observing the storage condition of materials in the hopper 50 through the camera 42, after the materials in the hopper 50 are filled, primarily determining the position of the dredging robot through the meter 72, judging the distance between the dredging robot and the nearest repair well 91 or the equipment lowering opening 93, controlling the dredging robot to quickly travel a corresponding distance to the vicinity of the repair well 91 or the equipment lowering opening 93, and simultaneously enabling the dredging robot to precisely travel to the position below the nearest repair well 91 or the equipment lowering opening 93 through the camera 42;
S3, at a position of a repair well 91 or a device lowering port 93, controlling a shoveling and dredging robot to stop walking, opening a telescopic frame 30, lifting a hopper 50, transmitting lifting stopping information to a control system 70 by a proximity switch 51 when the hopper 50 approaches the hole, controlling the telescopic frame 30 to stop lifting by the control system 70 by a corresponding instruction, enabling a worker to remove a well cover 92 or inserting a dirt suction pipe 82 below a material at the edge of a fence 94, sucking the material into the dirt suction truck by using a nondestructive dredging and dredging truck 81, observing the material treatment condition in the hopper 50 through a wellhead, and controlling the shoveling and dredging robot to move back and forth to avoid dirt suction dead angles;
s4, after the material in the hopper 50 is completely suctioned, the telescopic frame 30 is contracted to the original position, and the robot is controlled to continue dredging;
And S5, when the materials stored in the hopper 50 and incapable of being processed by the sewage suction truck are excessive, controlling the shovel dredging robot to walk to the nearest equipment discharging opening 93 for processing.
The working principle of the efficient and safe dredging system and the dredging method provided by the invention is explained below.
When dredging, the dredging robot enters the underground dredging area from the equipment lowering opening 93, the control system 70 is controlled, the crawler belt 62 is driven to rotate anticlockwise through the travelling wheel 61, the dredging robot is enabled to travel forwards, the front situation is observed through the camera 42, and the dredging robot is enabled to travel to the front of the sludge. The rotary hydraulic cylinder 12 and the linear hydraulic cylinder 14 are used for jointly controlling the bucket 11 to carry out mud shoveling, after the bucket 11 is filled with sediment, the rotary hydraulic cylinder 12 drives the bucket 11 to rotate, the opening of the bucket 11 rotates to be parallel to the ground, the linear hydraulic cylinder 14 contracts to drive the mechanical arm 13 and the bucket 11 to integrally rotate clockwise, when the bucket 11 rotates to the position above the hopper 50, the rotary hydraulic cylinder 12 drives the bucket 11 to rotate 180 degrees, materials in the bucket 11 are poured into the hopper 50, in the whole shoveling process, the rotary hydraulic cylinder 12 and the linear hydraulic cylinder 14 are jointly used for controlling the height and the direction of the bucket 11, meanwhile, the camera 42 on the cradle head 41 is used for observing the accumulation condition of the materials in the hopper 50, and the materials in the bucket 11 are poured into different positions in the hopper 50 by adjusting the rotation angle of the mechanical arm 13, so that the materials in the hopper 50 are uniformly distributed. Observing the material storage condition in the hopper 50 through the camera 42, after the hopper 50 is full, primarily determining the position of the shoveling and dredging robot through the meter 72 and judging the distance between the shoveling and dredging robot and the nearest inspection well 91 or equipment lowering opening 93, rotating the travelling wheel 61 to drive the crawler 62 to rotate, controlling the shoveling and dredging robot to rapidly travel a corresponding distance to the vicinity of the inspection well 91 or the equipment lowering opening 93, simultaneously rotating the camera 42 by the cradle head 41, enabling the shoveling and dredging robot to precisely travel to the position below the nearest inspection well 91 or the nearest equipment lowering opening 93 by utilizing the camera 42, and controlling the robot to stop traveling. When the telescopic frame 30 is opened, the hopper 50 is lifted, and when the hopper 50 approaches the hole, the proximity switch 51 transmits lifting stopping information to the control system 70, the control system 70 sends corresponding instructions to control the telescopic frame 30 to stop lifting, a worker removes the well cover 92 or inserts the dirt suction pipe 82 below the material at the edge of the fence 94, the material is sucked into the dirt suction truck by using the nondestructive dredging dirt suction truck 81, the material treatment condition in the hopper 50 is observed through the wellhead, the dredging robot is controlled to move back and forth, dirt suction is stopped when most of the material in the hopper 50 is sucked away, the telescopic frame 30 is contracted to the original position, and the robot continues dredging. When the materials stored in the hopper 50 and incapable of being processed by the sewage suction truck are excessive, the shovel dredging robot is controlled to walk to the nearest equipment lowering port 93 for processing.
In summary, the invention discloses a high-efficiency safe dredging system and a dredging method, which can be used for knowing the underground dredging condition and the material accumulation and cleaning condition in a hopper 50 in real time through the arrangement of a camera 42, and when the material in the hopper 50 is full, a meter counter 72 and the camera 42 are combined to find the nearest repair well 91 or a device lowering port 93 so as to enable a robot to quickly move to the ground, and meanwhile, a telescopic frame 30 and a proximity switch 51 are used for lifting the hopper 50 to the vicinity of a hole so as to facilitate the material cleaning of a nondestructive dredging sewage suction truck 81, and the material cleaning condition is observed through a wellhead, so that the position of the robot is timely adjusted, and the rapid and effective cleaning of the material is facilitated. The combination utilizes the dredging method of the original hidden check and repair well 91, can effectively reduce the times of returning the robot to the equipment lowering opening 93, saves the running time of the robot, can reduce the excavation quantity of the pavement equipment lowering opening 93 and the rearranging times of the equipment, greatly saves manpower, material resources and time, simultaneously can reduce the blocking problem of the sewage suction pipe 82 and the replacement times of the hopper 50 by the combination of the nondestructive excavation sewage suction truck 81, improves the dredging efficiency, reduces the danger that personnel lifts up the lower hopper 50 at the edge of the fence 94 of the equipment lowering opening 93, and ensures that the dredging work is safer.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.
Claims (4)
1. The dredging method is characterized in that a high-efficiency safe dredging system is adopted for dredging, and comprises a dredging robot and a nondestructive dredging and soil pick-up truck for cleaning materials in a hopper of the dredging robot through a soil pick-up pipe at a manhole or equipment discharging port, wherein the dredging robot is provided with a camera for observing dredging conditions and a telescopic frame for controlling the height of the hopper;
The front end of the shoveling and dredging robot is provided with a bucket, and the bucket is moved and regulated through a mechanical arm connected with the bucket, one end of the mechanical arm, which is far away from the bucket, is connected with a supporting component below the telescopic frame, the mechanical arm is rotated and regulated through a linear hydraulic cylinder, one end of the linear hydraulic cylinder is connected with the mechanical arm, the other end of the linear hydraulic cylinder is connected with the supporting component below the telescopic frame, and a rotary hydraulic cylinder is arranged at the end, which is connected with the bucket, of the mechanical arm, and the rotary regulation of the bucket is carried out through the rotary hydraulic cylinder;
The dredging method comprises the following steps:
s1, enabling a shoveling and dredging robot to enter an underground area to be dredging from a device lowering port, operating a control system, driving a crawler belt to rotate through travelling wheels, enabling the shoveling and dredging robot to move to the front of sludge, controlling a bucket to dredge the sludge through a rotary hydraulic cylinder and a linear hydraulic cylinder in a combined mode, and transferring the sludge into a hopper;
s2, observing the storage condition of materials in a hopper through a camera, after the materials in the hopper are full, primarily determining the position of a shoveling and dredging robot through a meter, judging the distance between the shoveling and dredging robot and the nearest inspection well or equipment discharging opening, controlling the shoveling and dredging robot to rapidly travel a corresponding distance to the vicinity of the inspection well or equipment discharging opening, and enabling the shoveling and dredging robot to precisely travel to the position below the nearest inspection well or equipment discharging opening through the camera;
S3, at a lowering port of a manhole or equipment, controlling a dredging robot to stop walking, opening a telescopic frame, lifting a hopper, transmitting lifting stopping information to a control system by a proximity switch when the hopper approaches the hole, sending corresponding instructions by the control system to control the telescopic frame to stop lifting, enabling a worker to remove a manhole cover or insert a dirt suction pipe below a material at the edge of a fence, sucking the material into the dirt suction truck by using a nondestructive dredging truck, observing the material processing condition in the hopper by using a camera, and controlling the dredging robot to move back and forth to avoid dirt suction dead angles;
s4, after the material in the hopper is completely suctioned, the telescopic frame is contracted to the original position, and the robot is controlled to continue dredging;
S5, when the materials stored in the hopper and incapable of being processed through the soil pick-up truck are too much, the shoveling and dredging robot is controlled to walk to the nearest equipment discharging opening for processing.
2. The dredging method according to claim 1, wherein a cradle head is arranged at the rear end of the shoveling dredging robot, the camera is arranged on the cradle head, and the observation direction of the camera changes correspondingly according to rotation of the cradle head.
3. The dredging method according to claim 2, wherein a control system is further arranged on the ground and is connected with the dredging robot through a communication cable, the communication cable transmits information collected by a camera to the control system for analysis, so that corresponding instructions are sent to control the dredging process of the dredging robot, and a meter is arranged on the communication cable.
4. The dredging method according to claim 1, wherein the lower end of the dredging robot is provided with a walking wheel for controlling the dredging robot to walk and a crawler belt arranged on the walking wheel.
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| CN111960198A (en) * | 2020-09-16 | 2020-11-20 | 未来海工智能装备(山东)有限公司 | Constant-tension winding device and robot |
| CN214574574U (en) * | 2021-03-26 | 2021-11-02 | 山东卡特重工机械有限公司 | Urban pipeline dredging system |
| CN114991298A (en) * | 2022-06-23 | 2022-09-02 | 华中科技大学 | Intelligent robot for detecting and dredging urban drainage pipeline and working method |
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| JP2961212B2 (en) * | 1995-03-30 | 1999-10-12 | 運輸省第四港湾建設局長 | Dredging method by underwater dredging robot |
| KR101300983B1 (en) * | 2011-07-01 | 2013-08-27 | 전북대학교산학협력단 | An unmanned dredging system for the sewage sludge controlled by the remote controller |
| CN105016604B (en) * | 2015-06-25 | 2017-06-09 | 北京恒通国盛环境管理有限公司 | A kind of drainage pipeline networks sludge integral treatment method |
| CN113152562A (en) * | 2021-03-30 | 2021-07-23 | 中联重科股份有限公司 | Method and device for controlling dredging equipment, controller and dredging equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111960198A (en) * | 2020-09-16 | 2020-11-20 | 未来海工智能装备(山东)有限公司 | Constant-tension winding device and robot |
| CN214574574U (en) * | 2021-03-26 | 2021-11-02 | 山东卡特重工机械有限公司 | Urban pipeline dredging system |
| CN114991298A (en) * | 2022-06-23 | 2022-09-02 | 华中科技大学 | Intelligent robot for detecting and dredging urban drainage pipeline and working method |
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