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CN-121992838-A - Intelligent mechanical cutter suction system based on culvert dredging

CN121992838ACN 121992838 ACN121992838 ACN 121992838ACN-121992838-A

Abstract

The invention discloses an intelligent mechanical cutter suction system based on culvert dredging, which relates to the field of intelligent control and comprises a mobile bearing module, wherein a mechanical arm executing part is arranged on the left side of the top end of the mobile bearing module, and a main control unit is arranged at the center of the top end of the mobile bearing module, wherein the mobile bearing module is used for providing mobile capability and integral power support for each functional part and module through a travelling mechanism and an energy system; the invention always maintains the most efficient cutting and sucking state when facing complex and changeable culvert sludge, greatly shortens the whole dredging working time, improves the working accuracy and consistency, reduces the mechanical structure overload and collision risk caused by rough operation or path deviation, and prolongs the service life of the core working device.

Inventors

  • Duan Shangjin
  • Deng Xinze
  • Wu Haorui
  • Dou Peilong

Assignees

  • 山东交通学院

Dates

Publication Date
20260508
Application Date
20260212

Claims (10)

  1. 1. Intelligent mechanical hank is inhaled system based on culvert mediation, a serial communication port, including removing and bear module (1), remove the left side on the top of bearing module (1) and install arm executive component (2), remove the center department that bears module (1) top and install master control unit (3), wherein: The mobile bearing module (1) is used for providing mobile capability and integral power support for each functional component and module through the travelling mechanism and the energy system; the mechanical arm executing component (2) is used for executing the wringing and dredging operation through the mechanical arm driven by the hydraulic driving system and the hydraulic wringing head at the tail end of the mechanical arm; The lower level of the main control unit (3) is provided with a sub-module, and the sub-module comprises; The environment sensing module (31) is used for acquiring visual information of the working environment, front siltation outline and barrier information in real time so as to fuse environment data; The soil layer identification module (32) is used for collecting operation data of the rotating speed, the torque of the hydraulic drive system and the slurry suction flow of the mechanical arm executing component (2) during operation of the twisting suction head in real time, and judging the soil layer type of the current operation surface on line by carrying out matching analysis on the real-time operation data, the environment data and the characteristic database; The twisting and sucking regulation and control module (33) is used for regulating and outputting a target rotating speed and a target moment instruction aiming at the hydraulic twisting and sucking head on the mechanical arm executing component (2) according to the recognized soil layer result; the track control module (34) is used for receiving the environment fusion data from the environment sensing module (31) based on a PID control algorithm and carrying out motion control on the mobile bearing module (1) and the mechanical arm executing component (2) by combining with a preset dredging track plan; And the twisting and sucking diagnosis module (35) is used for comparing the moment parameters acquired by the twisting and sucking head of the mechanical arm executing component (2) with preset reference values of the current identified soil layer, and generating an early warning signal of the twisting and sucking head of the mechanical arm executing component (2) if the real-time value continuously and abnormally deviates from the reference range.
  2. 2. The culvert dredging-based intelligent mechanical cutter suction system according to claim 1, wherein the environment sensing module (31) constructs a three-dimensional profile model of a front siltation body through forward-looking sonar, forms a near-field protection area of the whole robot body through anti-collision sonar, monitors the distance between the robot and peripheral culvert walls or obstacles in real time, and sends an emergency obstacle avoidance or suspension instruction to the track control module (34) when the distance is lower than a safety threshold.
  3. 3. The culvert dredging-based intelligent mechanical cutter suction system of claim 1, wherein the process of matching analysis in the soil layer identification module (32) is as follows: Constructing and pre-storing a characteristic database containing standard operation data characteristics and environment data characteristics corresponding to various typical soil layer categories; In the operation process, acquiring operation data and environment data of a current operation surface in real time, and extracting corresponding real-time characteristics; matching and analyzing the extracted real-time features with standard features of various soil layer categories pre-stored in a feature database, and calculating the similarity between the real-time features and the standard features; And judging the soil layer category corresponding to the standard feature with the highest similarity as the soil layer category of the current working surface according to the similarity comparison result, and completing online identification.
  4. 4. The culvert dredging-based intelligent mechanical cutter suction system of claim 3 wherein the standard operation data features comprise cutter head rotating speed, moment relation curve features and mud flow change features, and the environment data features comprise sediment profile features and underwater video image texture features acquired by forward-looking sonar.
  5. 5. The culvert dredging-based intelligent mechanical cutter suction system of claim 1, wherein the cutter suction control module (33) has working logic of outputting high-torque and medium-low-rotation-speed operation instructions when a current soil layer is identified as a high-viscosity sub-clay layer, outputting medium-torque and high-rotation-speed instructions when a loose silt layer is identified, and outputting intermittent high-peak torque and low-rotation-speed instructions when a sand layer containing coarse particles is identified.
  6. 6. The culvert dredging-based intelligent mechanical cutter suction system of claim 1, wherein the process of the track control module (34) performing operation control on the mobile bearing module (1) and the mechanical arm executing component (2) is as follows: loading a preset dredging operation track planning scheme based on real-time environment data obtained by fusion of an environment sensing module (31); According to the track planning scheme, combining the real-time pose of the mobile bearing module (1) with the real-time operation position of the twisting suction head of the mechanical arm executing component (2), dynamically calculating the moving speed and steering instruction of the travelling mechanism of the mobile bearing module (1) and the movement adjustment quantity of each joint of the mechanical arm executing component (2) through a PID control algorithm; and synchronously outputting a control instruction to a traveling mechanism of the movable bearing module (1) and a hydraulic driving unit of the mechanical arm executing component (2), so that the movable bearing module (1) travels along a preset path, and a twisting suction head of the mechanical arm executing component (2) performs operation along a dredging section track.
  7. 7. The culvert dredging-based intelligent mechanical cutter suction system according to claim 1, wherein the cutter suction diagnosis module (35) performs continuous time sequence analysis based on the deviation degree by calculating the deviation degree of the real-time moment value relative to the median value of the reference range, wherein the deviation degree is defined as instant hard object impact if the deviation degree is recovered after being raised in a short period, is defined as cutter suction tooth progressive abrasion if the deviation degree shows a continuous and slowly rising trend, and is defined as cutter suction head internal flow channel blockage or key component structural damage if the deviation degree is raised step-like or is continuously in a high position when the soil layer is not changed significantly.
  8. 8. The culvert dredging intelligent mechanical cutter suction system according to claim 1, wherein the track control module (34) and the cutter suction diagnosis module (35) are interactively connected with a digital recording module (36) through a wireless network, and the digital recording module (36) is used for recording and storing the space coordinates of each dredging operation point, corresponding identifying soil layer information, applied operation parameters and environment perception data in real time to generate a dredging operation digital file and an operation map.
  9. 9. The culvert dredging-based intelligent mechanical cutter suction system of claim 8, wherein the digital recording module (36) is interactively connected with an interaction monitoring module (37) through a wireless network, and the interaction monitoring module (37) is used for matching with external display equipment so as to intensively display dredging operation digital files and operation maps fed back by the digital recording module (36) and provide a manual intervention interface.
  10. 10. The culvert dredging-based intelligent mechanical cutter suction system of claim 1, wherein the environment sensing module (31) is interactively connected with the soil layer identification module (32) and the cutter suction control module (33) through a wireless network, the track control module (34) is interactively connected with the cutter suction control module (33) through the wireless network, and the track control module (34) is interactively connected with the cutter suction diagnosis module (35) through the wireless network.

Description

Intelligent mechanical cutter suction system based on culvert dredging Technical Field The invention relates to the technical field of intelligent control, in particular to an intelligent mechanical cutter suction system based on culvert dredging. Background Along with the acceleration of the urban process, a large number of culverts, box culverts and underground drainage pipe networks bear key functions of flood control, drainage and water delivery. In the long-term operation of the underground structures, the problems of serious sedimentation of sediment, household garbage and silt are generally faced, and particularly, the dredging pressure is huge before and after a rainy season, so that a higher standard is provided for the intelligent operation and maintenance of drainage facilities. The development of intelligent dredging equipment capable of adapting to complex working conditions has become an inevitable technical direction for improving the modernization level of infrastructure management. The conventional equipment generally lacks the capability of identifying an operation object in real time, the operation completely depends on the experience of a driver, the mixed or layered substrate of sludge, clay and sand with various ends in a culvert cannot be scientifically judged, the operation parameters cannot be selected improperly and cannot be adjusted adaptively according to the encountered differences of soil hardness and viscosity, the efficiency is low or the equipment is damaged due to overload, the traditional method is lack of accurate track tracking and operation point recording, dredging blind areas are easily left, the dredging effect is difficult to evaluate quantitatively, the equipment is easy to collide in the culvert with low visibility and narrow space, the operation safety is poor, the overall operation quality and efficiency are greatly fluctuated, and the economical efficiency is poor. Disclosure of Invention (One) solving the technical problems Aiming at the defects existing in the prior art, the invention provides an intelligent mechanical cutter suction system based on culvert dredging, which can effectively solve the problems in the prior art. (II) technical scheme In order to achieve the above purpose, the invention is realized by the following technical scheme: The invention discloses an intelligent mechanical cutter suction system based on culvert dredging, which comprises a mobile bearing module, wherein a mechanical arm executing part is arranged on the left side of the top end of the mobile bearing module, and a main control unit is arranged at the center of the top end of the mobile bearing module, wherein: The mobile bearing module is used for providing mobile capability and integral power support for each functional component and module through the travelling mechanism and the energy system; The mechanical arm executing component is used for executing the wringing dredging operation through the mechanical arm driven by the hydraulic driving system and the hydraulic wringing head at the tail end of the mechanical arm; the lower level of the main control unit is provided with a sub-module, and the sub-module comprises; The environment sensing module is used for acquiring visual information of an operation environment, front siltation outline and barrier information in real time so as to fuse environment data; the soil layer identification module is used for acquiring operation data of the rotating speed, the moment of the hydraulic driving system and the slurry suction flow of the mechanical arm executing component during operation of the twisting suction head in real time, and judging the soil layer type of the current operation surface on line by carrying out matching analysis on the real-time operation data, the environment data and the characteristic database; The twisting and sucking regulation and control module is used for pre-storing an optimal operation parameter strategy library corresponding to different soil layer categories, and regulating and outputting a target rotating speed and a target moment instruction aiming at a hydraulic twisting and sucking head on the mechanical arm executing component according to the recognized soil layer result so as to realize automatic matching and optimization of operation parameters; The track control module is used for receiving the environment fusion data from the environment sensing module based on a PID control algorithm, and combining with a preset dredging track plan to control the movement of the mobile bearing module and the mechanical arm executing component so as to ensure accurate and stable operation of the system along a preset path; And the twisting and sucking diagnosis module is used for comparing the moment parameters acquired by the twisting and sucking head of the mechanical arm executing component with preset reference values of the current identified soil layer, and generating early warning signals of