CN113585445B

CN113585445B - Underwater operation robot for cleaning bottom mud of sewage plant and working method

Info

Publication number: CN113585445B
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: 2024-05-14
Anticipated expiration: 2041-07-21
Also published as: CN113585445A

Abstract

The invention relates to an underwater operation robot for cleaning bottom mud of a sewage plant and a working method thereof, and belongs to the field of bottom mud cleaning of sewage plants. The robot includes: the device comprises an operation unit, a vehicle body unit, a mud storage unit and a lifting unit; the working unit comprises a bucket, a shovel blade and a suction pipeline; the shovel blade is positioned in the bucket, two sides of the bucket are closed, and the rear end opening is connected with the suction pipeline; the bucket is mounted on the vehicle body unit to guide the bottom mud into the suction pipe; 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 and closable manner; the front end of the discharge pipeline is communicated with the suction pipeline, and the discharge pipeline is used as a channel for discharging sludge into a sludge storage unit from the suction pipeline when in operation; 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 the bottom mud of the sewage plant or has large limitation, inflexible operation, large occupied area, easy damage to the underground pipe network 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 sludge cleaning of sewage plants, and particularly relates to an underwater operation robot for sludge cleaning of a sewage plant and a working method.

Background

In the working process of the sewage plant, water is required to be precipitated in the water collecting tank, and then the precipitated water flows into the next step through a pipeline, but the precipitated sludge is remained in the water collecting tank, so that the sludge is more and more long, and even the sludge in the water collecting tank can reach several meters thick.

Generally, after the sludge in the water collecting tank is too thick, a sewage plant can adopt a method of stopping working to carry out maintenance so as to clean the sludge in the water collecting tank. But this results in higher working efficiency. If the shutdown dredging is not needed, two general methods of underwater working and water working exist. The underwater operation is generally performed by a robot which extracts underwater sludge into the interior of the robot, then floats up, separates the robot from the sludge, and then descends again. The robot needs to float upwards every time in a working cycle, and the working efficiency is low. The water operation rule is that sludge is directly extracted on the water surface through a sludge ship, but the ship is oversized, meanwhile, the length of a ship rocker arm is limited, the operation water depth is limited, and the sludge dredging method is not suitable for dredging a sewage plant.

In addition, the two dredging devices have the following problems:

1. The robot has no lifting function in water, namely the working environment of the robot is very harsh, the gentle slope on the side of the water collecting tank is required, but most of the water collecting tanks do not have the working condition;

2. the commonly used sludge ship and robot equipment are huge in size, the water collecting pool environment is smaller, the number of underwater pipe networks is large, the operation is not fine enough, and the underground pipe network is easy to damage;

3. The underwater environment is complex, but the imaging equipment of the existing equipment is less or does not exist, and because the equipment is not required to image due to the preset working environment of the equipment, the equipment is easy to damage in a water collecting tank;

4. both devices are directed to the environment, mostly natural basins, not in the catch basin. Therefore, the working efficiency and the quality are greatly constrained;

5. the two kinds of equipment are heavy in structure and insensitive in movement, the underwater robot generally has only one gear, and the movement is very inflexible due to a huge machine body;

6. the two devices have no detection system and cannot sense the cleaning condition of the sludge. The obstacle around the environment and the pipe network at the bottom cannot be perceived, and the pipe network at the bottom is extremely easy to damage or collide with the water collecting tank wall;

7. The power of the two is generally large, and waste is easily caused.

For the above reasons, the dredging robot for the sewage plant in the market mainly uses a main body frame such as a fixed truss or a movable truss to cooperate with a movable/liftable scraper, so as to scrape the sludge to the edge of the water tank, and then clean the sludge in an edge extraction mode. But is limited by the factors of the self strength, the erection occupation, the driving difficulty, the scraper strength, the movement range and the like of the equipment, the equipment of the type is only suitable for a water collecting tank with shallow depth and small area, has larger limitation, is not flexible to operate, and has large occupation area and high erection cost.

Therefore, a sewage plant bottom mud cleaning device with wide application range, flexible operation, small occupied area and good safety is needed.

Disclosure of Invention

Aiming at the defects or improvement demands of the prior art, the invention provides a robot suitable for cleaning the 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 cleaning sludge of a sewage plant, comprising:

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

The working unit comprises a bucket, a shovel blade and a suction pipeline; the shovel blade is positioned in the bucket, two sides of the bucket are closed, and the rear end opening is connected with the suction pipeline; the bucket is mounted on the vehicle body unit to guide the bottom mud into the suction pipe;

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 and closable manner; the front end of the discharge pipeline is communicated with the suction pipeline, and the discharge pipeline is used as a channel for discharging sludge into a sludge storage unit from the suction pipeline when in operation;

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

When the cleaning work is executed, the vehicle body unit is connected with the mud storage unit through a discharge pipeline, so that the front end of the discharge pipeline is communicated with the suction pipeline, the rear end of the discharge pipeline is communicated with the mud storage unit, and the vehicle body unit drives the operation unit to move and guides the bottom mud into the mud storage unit through the suction pipeline and the discharge pipeline;

When the bottom mud is transferred, the discharging pipeline is separated from the vehicle body unit and/or the mud storage unit, and the mud storage unit is lifted by the lifting unit.

Further, the vehicle body unit and the mud storage unit are also connected through an openable connecting piece.

Further, the openable connection piece is a jana type hook, a mechanical claw, a spring lock catch or a magnetic attraction type threaded joint.

Further, the magnetic type threaded joint comprises a joint motor, a connecting rod, a fixed ring and a movable ring; the joint motor and the fixed 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 joint 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 rod and the nut are magnets, or the connecting rod is a magnetic conductive material, the magnetism is controlled by the on-off of the electromagnetic device, and the screw rod or the nut arranged on the movable ring is 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 joint motor drives the connecting rod to rotate forward to enable the screw rod and the nut to be in butt joint; when the car body unit and the mud storage unit need unhooking, the joint motor is reversed to drive the connecting rod to be reversed so as to separate the screw rod from the nut.

Further, the drain pipe is openably and closably connected to at least one of the body unit and the mud storage unit by a quick connector or a magnetically attractive connector.

Further, the body unit comprises a trailer body, a skateboard and a filtering back board; the skateboard 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 for filtering the bottom sludge to remain inside 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 working method of an underwater working robot as described above, comprising the steps of:

S1, connecting a vehicle body unit of an underwater operation robot with a mud storage unit through a discharge pipeline and sending the vehicle body unit and the mud storage unit into the water;

S2, starting a vehicle body unit, starting a diving light, and transmitting a water bottom environment video signal through a camera;

S3, an operator remotely controls the movement of the vehicle body unit or the vehicle body unit automatically moves through a preset program to reach an operation area;

S4, starting to operate the operation unit, converging the sludge mixture into the middle by the shovel blade, starting to generate suction force by the suction pipeline, sucking the sludge mixture into the vehicle body, and discharging the sludge mixture into the sludge storage unit through the discharge pipeline;

s5, after the sludge is collected to a specified capacity, the connection between the discharge pipeline and the vehicle body unit or the sludge storage unit is disconnected, the sludge storage unit returns to the water surface along with the lifting unit, and then the sludge in the sludge storage unit is emptied to make the sludge storage unit empty, or the empty sludge storage unit is directly replaced;

S6, the lifting unit sends the mud storage unit back to the water, the vehicle body unit and the mud storage unit are connected through a discharge pipeline again, and a new working cycle is started;

S7, judging the sludge cleaning condition through the environmental data returned by the sonar and/or the camera, so as to determine whether the cleaning work is finished;

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

Further, the method for disconnecting and reconnecting the drain pipe with the body unit or the mud storage unit during operation is as follows:

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

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

c. when the operation is completed, 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 directly and manually controls the vehicle body unit to return to the original position and adjust the posture, and then the vehicle body unit is disconnected with the vehicle body unit or the mud storage unit through a discharging pipeline, and the mud storage unit floats upwards along with the lifting unit;

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

e. The camera at the rear part of the vehicle body unit is opened to start to identify the marker on the mud storage unit, and the self-posture alignment marker is finely adjusted, so that the alignment work is completed, and the discharge pipeline is reconnected with the vehicle body unit or the mud storage unit.

Further, in step S1, the body unit and the mud storage unit are further connected through an openable connecting piece, so that the 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 adjusts the gesture according to the original position calibrated in the step S and the generated operation map, and the openable connecting piece is disconnected;

In step e, after the alignment work is completed, the openable connector is reconnected.

In general, the above technical solutions conceived by the present invention, compared with the prior art, can achieve the following beneficial effects:

1. According to the underwater operation robot, the sludge can be transferred 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 equipment 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 submerged system is not required to be designed for the vehicle body unit, and the miniaturization design of the vehicle body is facilitated; and moreover, the sludge is collected through the bucket and the scraper knife in the bucket, so that the threat to a submarine pipeline network is greatly reduced compared with the traditional scraper. Therefore, the invention is widely applicable to various water ponds with different depths and areas, and has flexible operation, small occupied area, low erection cost and extremely high application prospect.

2. The design is used for connecting the openable connecting piece of the vehicle body unit and the mud storage unit, so that the design requirement of the pipeline can be greatly reduced, the mud storage unit can be directly pulled by the vehicle body unit to perform dredging and collecting operations, and the separation and independent lifting of the mud storage unit are not influenced.

3. Under the condition of limited vision in an underwater environment, the magnetic attraction type threaded joint is adopted, the automatic alignment can be utilized for greatly reducing the connection difficulty, and the equipment reliability and the working efficiency are improved. The cooperation threaded connection makes the connection more firm, and the connection of fixed ring and expansion ring makes the automobile body unit can also freely turn to when traction stores up mud unit, and the work is more nimble.

4. The sliding plate can prevent the trailer body from sinking into bottom mud, and compared with the traditional wheel type mechanism, the sliding plate is less likely to collide with a submarine pipe network by utilizing the sleigh principle, has small moving resistance, is favorable for reducing the load of a vehicle body unit and realizes energy conservation; the rear side of the trailer body is set to be the filtering rear plate, so that water can flow away through the filtering rear plate, the inside of the sludge trailer body is improved, the capacity of the trailer body is improved, the working efficiency is improved, and the lifting times are reduced.

5. The exhaust 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 is pulled to move together with the mud storage unit; when the vehicle body unit moves independently, the telescopic pipeline or the retractable pipeline can greatly lift the moving range of the vehicle body unit, and the mud storage unit can be directly on-site standby at the lifting unit.

6. The invention also provides a matched operation method of the underwater operation robot, which uses the vehicle-mounted sonar and the camera as an environment detector, and can be manually controlled by an operator or can realize full-automatic operation through a preset program. In addition, the working efficiency of the robot can be greatly increased by the operation method that the vehicle body unit and the mud storage unit are separable, the robot can continuously and uninterruptedly work under water by a method that the robot is provided with a plurality of mud storage units, a transportation ship body or a gradient is not required to be arranged, and a complex floating and submerging system is not required to be arranged for the vehicle body unit, so that the miniaturization design of the vehicle body unit is facilitated, and the robot is better suitable for various water collecting pond environments with different depths and sizes.

7. Aiming at the full-automatic hooking scheme, an automatic alignment scheme comprising origin calibration, operation map construction and marker calibration and identification technology is designed, so that unmanned full-automatic hooking operation is realized on the basis of an openable mechanical structure, and the automatic hooking device is not only suitable for connection of an exhaust pipeline and a vehicle body unit or a mud storage unit, but also suitable for connection of the vehicle body unit and the mud storage unit.

Drawings

Fig. 1 is a perspective view of a substrate sludge cleaning robot according to a preferred embodiment of the present invention.

Fig. 2 is a view showing a construction of a track of a substrate sludge cleaning robot according to a preferred embodiment of the present invention.

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

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

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

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

Fig. 7 is a schematic view of the butt joint process of the magnetically attractable screw joint according to the preferred embodiment of the present invention.

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

1. Bucket, 2. Blade, 3. Body bucket link, 4. Suction duct, 5. Upper housing, 6. Lower body, 7. Sonar assembly, 8. Camera, 9. Track, 10. Drive gear, 11. Thrust wheel and side panel link, 12. Thrust wheel, 13. Body and track link, 15. Track side panel, 14/16. Small thrust wheel, 17. Side panel body connector, 18. Discharge duct, 19. Openable connector, 20. Trailer body, 21. Slide, 22. Filter plate, 23. Elevator car, 24. Link, 25. Hook, 26. Lifter, 27. Connecting rod, 28. Fixed ring, 29. Moving ring, 30. Nut.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

As shown in fig. 1 to 3, in the present embodiment, the underwater operation robot is used for operation in a water collection tank of a sewage plant, and the operation unit 001 includes a bucket 1, a blade 2, a vehicle body bucket link 3, and a suction pipe 4. The closed structure of scraper bowl 1 can help the muddy water that scraper knife 2 lifted to fly away, and the spiral structure of scraper knife 2 can make the foundation soil restraint in scraper bowl 1 middle part from both sides to the rotatory mode in centre to conveniently collect the foundation soil to improve the efficiency of operation. The spiral cutter suction form of the shovel blade 2 can better lift the mud-water mixture, so that the operation efficiency is improved.

Referring also to fig. 2, the body portion of the body unit takes the form of a crawler, including crawler 9, drive gear 10, track wheel and side panel links 11, track wheel 12, body and track links 13, small track wheels 14/16, track side panels 15, and side panel body connectors 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 falling into mud and heavy, the thrust wheel has increased spring bradyseism structure when linking to each other with side board connecting rod 11 and track side board 15, under this kind of circumstances, the stability of increase automobile body that can be great.

The large number of thrust wheels 12 at the bottom can enable the crawler belt to be meshed with the gears better so as to bear the weight of the robot and prevent the sideslip of the crawler belt.

The robot makes the neutralization shared on each wheel smaller and the pressure more uniform through the double rows of thrust wheels, thereby improving the maneuverability of the device.

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

Referring to fig. 1, 4 and 5, the lower body 6 is preferably connected to the trailer by a retractable connector 19 (in this embodiment, a magnetic type screwed joint is preferred), and the magnetic type screwed joint can be automatically retracted and extended, and a positioning device (preferably, a camera-based visual identification positioning device) is arranged on the back of the body unit 002, so that the position of the magnetic type screwed joint on the trailer can be identified and positioned, and the position of the lower body can be automatically adjusted, so that the magnetic type screwed joint can be correctly closed.

Preferably, the drain pipe 18 is a telescopic pipe, and when the lower body 6 is separated from the trailer body 20, the drain pipe 18 is contracted, and the openable connection 19 is opened, so that the elevator car 23 starts to operate, and the trailer body 20 is transported to the water surface for cleaning or direct replacement. The empty trailer body 20 is then returned to the water, the body unit 002 adjusts its posture to realize the alignment by the positioning device (or the remote control of the operator), then the openable connecting piece 19 is closed, and the discharging pipe 18 extends out to be combined with the opening of the upper part of the trailer body 20 by the magnetic attraction joint or the quick joint.

The sled 21 of trailer automobile body 20 lower part structure is similar to the principle of sled, compares with ordinary wheeled structure, and the scooter type structure can increase the area of contact with the bed mud, can let the trailer more smooth and easy when moving under water like this, avoids the trailer to sink into in the bed mud, can reduce the load of robot simultaneously.

The specific structural form of the lifting unit 004 is not limited, and a simple cable lifting mechanism can be adopted, and an underwater lifting elevator, a lifting frame and the like can also be adopted. As a schematic illustration, the elevator for transporting a trailer in this example comprises an elevator car 23, a connecting rod 24, a claw 25 and a lifting rod 26, as shown in fig. 1, 4, 6. Preferably, guide slots may be provided on the lifting platform (e.g. lifting plate, lift car, etc.) to cooperate with the slide plate 21 to achieve guiding positioning of the mud storage unit 003, on the one hand, the trailer body 20 is more stable during lifting, and on the other hand, the trailer body 20 may be kept in a relatively fixed position, so that it is more convenient to align with positioning of the body unit 001, thereby facilitating interconnection.

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

Preferably, the lower body 6 is connected to the trailer body 20 through a drain pipe 18, the sewage sucked by the working unit 001 flows into the trailer body 20 through the drain pipe 18, then there is a filter plate 22 provided with small holes at the rear of the trailer body 20, the water flows out through the filter plate 22, and the sludge is filtered and remains inside the trailer body 20.

Preferably, the drain pipe 18 is retractable or retractable and may be a bellows, rubber hose, or the like as is common.

Preferably, a positioning device for positioning is arranged at the rear part of the trailer body, and can identify the position of the openable connecting piece 19 so as to automatically adjust the pose of the robot, for example, the positioning device can be a positioning device based on visual positioning, and the pose adjustment is performed by identifying a marker preset on the trailer body 20 based on the marker, so that the openable connecting piece 19 is aligned, and the subsequent connection hooking is facilitated.

Preferably, a WiFi transmitter may be mounted on the lower vehicle body 6, and the mobile phone end may communicate with the WiFi transmitter through the app, so as to control the movement of the sludge cleaning robot of the sewage plant or receive and view data transmitted from each vehicle-mounted device.

Preferably, a pressure sensor is also provided on the lower body 6 for detecting the pressure under water.

Preferably, a margin sensor is provided inside the trailer body 20, which triggers an alarm when the sludge stored in the trailer is about to collect. 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 facilitate adjusting the moving speed of the robot according to the actual working condition, for example, the robot may travel at a medium speed during dredging, may travel rapidly when the lower vehicle body 6 makes a round trip with the lifting platform 004, and may travel at a low speed or at an ultra-low speed during the process of aligning and reconnecting the lower vehicle body 6 with the trailer body 20 and the drain pipe 18.

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

Referring to fig. 6, fig. 6 is a flow chart illustration of a robotic operation, the method of operation comprising the steps of:

S1, the robot is connected with a trailer and simultaneously sent into the water through an elevator.

S2, starting the robot, starting the diving light, and transmitting a water bottom environment video signal through the camera.

S3, an operator controls the beginning movement of the robot, and forward and backward movement and turning of the robot are achieved until the robot reaches a working area by controlling forward rotation and reverse rotation of the motor and the direction and gear of the driving gear.

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

S5, after the sludge is fully collected, controlling the robot to return to the elevator, disconnecting the robot from the trailer, contracting the connected pipeline, returning the trailer to the water surface along with the elevator, and emptying the trailer.

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

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

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

Taking the case that the lower vehicle body 6 is fixedly connected with the discharging pipeline 18 and can be connected with the trailer vehicle body 20 in an opening and closing manner, the connecting method of the discharging pipeline 18 and the trailer vehicle body 20 is as follows:

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

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

B. And in the moving process of the robot, the scanning construction of the surrounding environment coordinates is completed in real time through sonar and a camera.

C. when the operation is completed, the robot body returns to the original position and adjusts the posture according to the original position and the generated map, meanwhile, the pipeline is disconnected with the magnetic suction port of the trailer, the pipeline is disconnected, and meanwhile, the claw is disconnected, and the trailer is recovered along with the elevator.

D. The trailer descends with the elevator after being emptied or replaced. Preferably, the elevator is provided with grooves for guiding, and the operator correctly positions the trailer according to the grooves on the elevator, and the trailer descends with the elevator. The presence of the marker in front of the trailer at this time facilitates the identification by the robot.

E. After the trailer is in place, the camera at the rear part of the robot body unit is opened to start identifying the marker, and meanwhile, the pose and the posture of the robot body unit are finely adjusted according to the identification result of the marker so as to align, after the alignment work is completed, the pipeline starts to stretch, meanwhile, the magnetic suction port is electrified to start the work, and the pipeline is automatically adsorbed to realize the alignment and the fixation of the pipeline when being close to the magnetic suction port of the trailer.

Preferably, as shown in fig. 7, in the present embodiment, when the openable and closable connecting piece 19 is a magnetic attraction type threaded joint, the connecting principle and the unhooking reconnecting method are as follows:

(a) The robot returns to its original position after performing the work, and is ready for unhooking.

(B) The trailer is connected with the magnetic attraction type screwed joint of the vehicle body unit through two circular ring-shaped objects (a fixed ring 28 and a movable ring 29), so that the trailer can conveniently move along with the vehicle body unit.

In this embodiment, the connection between the body unit and the trailer is located on the connecting rod 27 near the body unit side, and is connected by screw threads. 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 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 calibration and positioning of the new trailer are completed by the vehicle body unit, the electromagnetic device in the vehicle body unit is electrified to magnetize the connecting rod 27, the nut 30 is attracted to align the connecting rod 27 with the threads at the end part of the connecting rod 27 automatically, and then the joint motor rotates positively, and the connecting rod 27 is screwed in slowly.

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

In general, the invention provides a bottom sludge cleaning robot specially applicable to a sewage plant and a matched working method, and the underwater sludge is cleaned by a method of bottom operation of a small robot (namely, an operation unit 001+a vehicle body unit 002). Meanwhile, the lifting structure of the lifting unit 004 is used for guaranteeing 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 a gradient in the prior art, and a complex floating and submerging system is not required to be arranged for the vehicle body, so that the miniaturization of the vehicle body can be achieved, and the operation flexibility is further improved. The body unit 002 is connected with the mud storage unit 003, and the mud storage unit 003 stores cleaned mud, so that each time cleaning only needs to return the mud storage unit 003 to the water surface, the body unit 002 can be kept underwater, and a plurality of mud storage units 003 are arranged to realize underwater continuous operation. Meanwhile, the condition of surrounding sludge can be detected through sonar, and the place with the largest sludge can be quickly found out to perform dredging. The sonar has 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 power used and reduce the energy waste. Meanwhile, a plurality of gears are arranged for the movement of the robot, and the gears can be controlled through a mobile phone program, so that the working mode can be freely switched, and the robot is flexibly suitable for different scenes and different dredging requirements.

Regarding the job unit aspect:

The shovel blades 2 of the operation unit 001 can make muddy water restrained inside the bucket 1 through the shell of the bucket 1 while lifting muddy water, and meanwhile, the shovel blades 2 on two sides can make lifted bottom mud restrained in the middle from outside to inside rotation, so that the muddy water can be prevented from escaping when being sucked, and a better cleaning effect is achieved. And compared with a traditional lifting translation type scraper, the spiral cutter suction type scraper 2 is used, the working process is more gentle, and the scraper 2 is positioned in the bucket 1, so that the damage to a bottom pipeline can be effectively prevented.

Regarding the vehicle body structure:

The vehicle body structure is streamline and can walk under water better. The cameras arranged at the front end and the rear end can enable operators to more intuitively observe the surrounding environment and the state of the trailer. And the images collected by the camera at the rear end can be further used for realizing the autonomous pose adjustment of the vehicle body in an intelligent marker identification mode, so that the automatic operation is facilitated. The sonar device at the front part can predict the surrounding environment in advance to prevent encountering obstacles, and can be further used for judging dredging conditions.

With respect to track structure:

The structure of the two rows of thrust wheels can enlarge the width of the crawler belt so as to increase the stability of the robot moving in water. The spring that thrust wheel and curb plate are connected can increase the shock-absorbing performance of robot effectively, guarantees the steady operation of robot in the environment under water. The driving gear is divided into a plurality of power gears, so that the robot can move underwater at different speeds.

Regarding the trailer portion:

The slide plate structure at the lower part of the trailer can well reduce the resistance under water, thereby reducing the load of the robot. The filter plate at the rear part of the trailer can separate the sewage mixture, so that only the sludge to be cleaned is remained in the trailer.

Regarding the part of 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 and uninterruptedly work under water by a method of providing the robot with a plurality of trailers. And the device which is miniaturized can be better suitable for the environment of the water collecting tank.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

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

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

the working unit (001) comprises a bucket (1), a shovel blade (2) and a suction pipeline (4); the shovel blade (2) is positioned in the bucket (1), two sides of the bucket (1) are closed, and the rear end opening is connected with the suction pipeline (4); the bucket (1) is mounted on the vehicle body unit (002) to guide the bottom mud into the suction pipe (4);

The vehicle body unit (002) and the mud storage unit (003) are connected through a 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 and closable manner; the front end of the discharge pipeline (18) is communicated with the suction pipeline (4), and is used as a channel for discharging sludge from the suction pipeline (4) into the sludge storage unit (003) during operation;

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

When cleaning is carried out, the vehicle body unit (002) is connected with the mud storage unit (003) 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 mud storage unit (003), the vehicle body unit (002) drives the operation unit (001) to move, and bottom mud is led into the mud storage unit (003) through the suction pipeline (4) and the discharge pipeline (18);

When the bottom mud is transferred, the discharge pipeline (18) is separated from the vehicle body unit (002) and/or the mud storage unit (003), and the mud storage unit (003) is lifted by the lifting unit (004);

The vehicle body unit (002) is connected with the mud storage unit (003) through an openable connecting piece (19);

the openable connecting piece (19) is a magnetic attraction type threaded joint;

the magnetic type threaded joint comprises a joint motor, a connecting rod (27), a fixed ring (28) and a movable ring (29); the joint motor and the fixed 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 joint motor, and the other end of the connecting rod 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 materials, the magnetism is controlled by the on-off of an electromagnetic device, and the screw or the nut (30) arranged on the movable ring (29) is made of ferromagnetic materials;

When the vehicle body unit (002) and the mud 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 joint motor is rotated forward to drive the connecting rod (27) to rotate forward so that the screw rod and the nut (30) are in butt joint; when the vehicle body unit (002) and the mud storage unit (003) need to be unhooked, the joint motor is reversed to drive the connecting rod (27) to be reversed so as to separate the screw rod from the nut (30);

the discharging pipeline (18) is connected with at least one of the vehicle body unit (002) and the mud storage unit (003) in an openable and closable way through a quick connector or a magnetic connector;

the vehicle body unit (002) comprises a trailer body (20), a skateboard (21) and a filter 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 for retaining the sludge filter inside the trailer body (20).

2. An underwater operation robot for cleaning of bottom mud of sewage plants as claimed in claim 1, characterized in that the drain pipe (18) is a telescopic pipe or a retractable pipe.

3. A method of operating an underwater operation robot as claimed in claim 1 or 2, comprising the steps of:

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

s2, starting a vehicle body unit (002), starting a diving light, and transmitting a water bottom environment video signal through a camera;

S3, an 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 an operation area;

S4, starting to operate the operation unit (001), converging the sludge mixture into the middle by the shovel blade (2), starting to generate suction force by the suction pipeline (4), sucking the sludge mixture into the vehicle body, and discharging the sludge mixture into the sludge storage unit (003) through the discharge pipeline (18);

S5, after the sludge is collected to a specified capacity, the connection between a discharge pipeline (18) and a vehicle body unit (002) or a sludge storage unit (003) is disconnected, the sludge storage unit (003) returns to the water surface along with a lifting unit (004), and then the sludge in the sludge storage unit (003) is emptied to make the sludge empty, or the empty sludge storage unit (003) is directly replaced;

S6, the lifting unit (004) sends the mud storage unit (003) back to the lower part, the vehicle body unit (002) is connected with the mud storage unit (003) through a discharge pipeline (18) again, and a new working cycle is started;

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

4. A method of operating an underwater operation robot as claimed in claim 3, characterized in that the method of disconnecting and reconnecting the drain pipe (18) to the body unit (002) or the mud storage unit (003) during operation is as follows:

a. In step S1, origin calibration is performed: after launching, the vehicle body unit (002) firstly calibrates the initial position and the initial gesture, sets the self starting point as a coordinate zero point and records the self gesture; meanwhile, the relative positions of the vehicle body unit (002) and the mud storage unit (003) are recorded by using a marker preset on the mud storage unit (003), so that the origin calibration is completed;

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

c. When the operation is completed, the vehicle body unit (002) automatically returns to the original position and adjusts the gesture according to the original position calibrated in the step S1 and the generated operation map, or directly returns to the original position and adjusts the gesture by manual control, and then the discharge pipeline (18) is 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. the mud storage unit (003) descends along with the lifting unit (004) after being emptied or replaced;

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

5. The working method of the underwater operation robot as claimed in claim 4, wherein in the step S1, the body unit (002) and the mud storage unit (003) are further connected by an openable connection member (19) so that the 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 adjusts the posture, and the openable connecting piece (19) is disconnected;

in step e, after the alignment is completed, the openable connection (19) is reconnected.