CN109208677A - A kind of wide adaptation high efficiency smart environment-protective desilting dredging robot system floating clearly - Google Patents
A kind of wide adaptation high efficiency smart environment-protective desilting dredging robot system floating clearly Download PDFInfo
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- CN109208677A CN109208677A CN201811151848.9A CN201811151848A CN109208677A CN 109208677 A CN109208677 A CN 109208677A CN 201811151848 A CN201811151848 A CN 201811151848A CN 109208677 A CN109208677 A CN 109208677A
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- dredging
- desilting
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/104—Conveyors; Paddle wheels; Endless belts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/106—Overflow skimmers with suction heads; suction heads
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8833—Floating installations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9237—Suction wheels with axis of rotation in transverse direction of the longitudinal axis of the suction pipe
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/10—Pipelines for conveying excavated materials
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
Wide high efficiency smart environment-protective desilting dredging robot system floating clearly is adapted to the invention discloses a kind of comprising has self-balancing can the anti-winch body of cast formula, variable-angle the non-proliferation coaxially clear float means of mutual reverse spiral dredging, the anti-blocking conveying mechanism of low resistance self-floating quick locking, adaptive dredging essence control system and intelligent control and system effectiveness collaboration optimization system；The present invention is used to carry out dredging to water body; solve the technical problems such as robot body structure optimization design, environment-protective desilting key technology, dredging precision controlling, Robot Control Technology of desilting and dredging at this stage; applicability of the intelligent robot under each environment of desilting and dredging is substantially increased, has many advantages, such as that high reliablity, intelligence degree are high, comfort is good.
Description
Technical field
The present invention relates to water body dredging technology field, specially a kind of wide high efficiency smart environment-protective desilting that adapts to floats clearly dredger
Device people's system.
Background technique
China's water system is flourishing, and since economic development was rapid in recent years, industry and being discharged into for domestic pollutant lead to river along the river
Road soil erosion and water pollution are serious, and annual about 1,400,000,000 tons of sediment siltations are in nature or artificial water according to statistics.Separately
Outside, along with industrialized rapid development, a large amount of industrial wastewater and sanitary sewage are discharged into river, the siltation of silt and enter river
The pollutant of stream can be such that the self-purification function of natural water seriously weakens, and heavy metal, hazardous particulate matter etc. are enriched in bed mud, pollution
Object is often higher by the several orders of magnitude of overlying water, causes water eutrophication or black smelly phenomenon.
Currently, in China harbour, navigation channel, inland river and lake dredging up engineering, mainly by draining dredging, underwater clear
The approach such as silt carry out dredging and dredging.Wherein, draining dredging is carried out after constructing the flowing water drained in river by Temporary Cofferdam
Dredging work；Underwater desilting is to carry out channel cleanout dredging using grab type or pump suction type dredger.
All there is certain shortcoming in conventional channel cleanout dredging method, be mainly shown as: (1) dredgings such as dredger
Equipment volume is excessive, is not suitable for the requirement of small-sized waters operation, while low to environmental suitability；(2) Accrete clearing device dredging process
Flow field is larger, secondary pollution easy to form；(3) the dredger radius of gyration is big, functional single；(4) dredging vertical precision, plane
Precision control is inaccurate；(5) the modularized design overall coordination degree of optimization of intelligent desilting equipment is not high.
Summary of the invention
In order to overcome the above problem, the present invention provides a kind of wide adaptation high efficiency smart environment-protective desilting dredging system of robot floating clearly
System.
The technical solution of the present invention is to provide a kind of wide high efficiency smart environment-protective desiltings that adapts to float dredging robot system clearly,
It is characterized in that comprising:
Self-balancing can the anti-winch body of cast formula, include propulsion system, self-balancing system and electrical apparatus controlling system, institute
Stating self-balancing system includes rotating floating body and fuselage, and the rotating floating body is set as " U " font, and the fuselage is set to described
In rotating floating body, connected between the rotating floating body and the fuselage by live bearing；The propulsion system includes to promote
Device, turbine and worm mechanism and motor, there are two the propeller settings and is located at the two sides of the fuselage, the propeller
One end be provided with a turbine and worm mechanism, the motor is set in the fuselage and is separately connected the propeller；It is logical
The setting for crossing two propellers and turbine and worm mechanism cooperates twisting-proof type drive system by the way of the propulsion of axis stream direct injection,
The travelings such as research water plant winding, the soft or hard uneven and tube friction of mud viscosity resistance, mud hinder to drive to setting
The continuity of dredging process is realized in the influence of system, guarantees the forward speed of equipment 0.6m/s, reaches 10h cruise duration；Using simultaneously
Arrange rear-mounted layout, design can cast formula advancing movement device, the power method of salary distribution and walking resistance between research is advanced
With turning resistance square, minor-circle turn and cast are realized；The adaptive equalization dress that design floating drum is matched with rotating floating body
It sets, studies the arrangement and preposition desilting system self gravity and anti-work when working of motor and electrical apparatus controlling system
Firmly to the affecting laws of equipment overall stability, adaptive adjustment of the side tilt angle at 60 ° or less is solved, realizes that dredging is clear
The self-balancing operation of floating dredging robot.
The coaxial mutual clear float means of reverse spiral dredging of variable-angle non-proliferation, include dredging reamer, suction pump and pass
Joint arm, the suction pump are set in the fixing seat, and the fixing seat is set on the fuselage, one end of the fixing seat
The joint arm is connected, the front end of the joint arm connects the dredging reamer, and the tail end of the dredging reamer is connected with defeated mud
Pipe, the dredging tube connect the suction pump；By the setting of dredging reamer, suction pump and joint arm, design is coaxial reciprocal
Spiral remove device reduces agitation of the dredging reamer to sludge to greatest extent under the premise of guaranteeing breaking capacity, subtracts simultaneously
The small influence to suction pump suction performance；The multiple pump orifices being arranged then are used for anti-eddy diffusivity, and adsorption capacity, suction inlet arrange quantity
Broken mud is adsorbed with mode and the affecting laws of water surface duckweed suction, effectively control pollutant range of scatter≤1m3 are mentioned
Height dredging desilting efficiency data >=20%；Requirement of the bed-silt topographic profile to reamer mapping of freedom degree is studied, design variable-angle is clear
Silt mechanism, meets the multi-angle transformation operation of dredging reamer, and pump orifice is arranged in fixing seat ambient level position, realizes to water
It is carried out while the removing operation of face duckweed is with silt displacement operation, realizes the high efficiency of dredging operation floating clearly.
Adaptive dredging essence control system, includes supersonic sounding module, high-precision GPS-RTK locating module and infrared survey
It away from module, is analyzed using multi signal, designs mutually coordinated scheme between each module by signal, the signal of three modules is merged
The control of dredging precision is realized in optimization processing, cooperation；
The anti-blocking conveying mechanism of low resistance self-floating quick locking includes flexible duct and attachment device, the flexible duct table
Face is provided with layer of surface floating body layer；
Intelligent control and system effectiveness cooperate with optimization system, include main control module, efficiency collaboration optimization module and real-time prison
Control module.
Preferably, the attachment device includes pin end, and the front end of the pin end is connected with lock sleeve, the locking
The leading portion of the inner sidewall of set offers a circle groove, is set side by side with several springs in the groove, the front side of the groove in
The front edge of the lock sleeve is provided with spacer pin, and the front end of the lock sleeve is connected with female connector by the spacer pin.
Preferably, the side of the female connector is provided with an axial limiting slideway.
Preferably, the rear end of the pin end connects the flexible duct, and the flexible duct is knitted added with PEN fiber
Object.
Preferably, the lateral surface of the flexible duct is provided with the circle surface floating body layer, and the surface floating body layer is excellent
It is selected as closed pore PE foamed material layer.
Preferably, one end of the fuselage is connected with a floating drum, and the floating drum is located in the rotating floating body.
Preferably, the side of the fixing seat is arranged at intervals with multiple pump orifices.
Preferably, the top of the dredging reamer is provided with housing.
Preferably, the main control module uses CAN bus and centralized processing unit, in conjunction with dredging dredging robot floating clearly
The function mode of system establishes the multi-parameter complexity incidence relation of influence to desilt and dredge efficiency and precision, improves control program
Adaptability and accuracy.
Preferably, the efficiency collaboration optimization module includes drive system, desilting system and smart control system, using efficiency
Optimum Regulation strategy realizes efficiency collaboration optimization between each system.
The beneficial effects of the present invention are: a kind of wide high efficiency smart environment-protective desilting that adapts to of the invention floats clearly dredging system of robot
System be provided with self-balancing can the anti-winch body of cast formula, variable-angle non-proliferation coaxially the clear float means of mutual reverse spiral dredging,
The anti-blocking conveying mechanism of low resistance self-floating quick locking, adaptive dredging essence control system and intelligent control and system effectiveness collaboration are excellent
Change system to carry out dredging to water body, solves desilt and dredge at this stage robot body structure optimization design, environment-protective desilting key
The technical problems such as technology, dredging precision controlling, Robot Control Technology substantially increase intelligent robot of desilting and dredging in each ring
Applicability under border has many advantages, such as that high reliablity, intelligence degree are high, comfort is good.
Unbalance problem, the adaptive equalization knot that design floating drum is matched with rotating floating body are rolled for dredging robot
Structure solves adaptive adjustment of the side tilt angle at 60 ° or less, realizes equipment self-balancing.
For the low problem of control precision, adaptive dredging essence control system is designed, with ultrasonic technology and GPS-RTK
Plane positioning technology guarantees to excavate vertical precision≤± 5~10cm, plane positioning precision≤± 30cm, optimization dredging path rule
It draws.
For the unstable problem of low efficiency of desilting and dredging, control, using CAN bus and centralized processing unit, in conjunction with clear
It becomes silted up and dredges intelligent robot function mode, establish the multi-parameter complexity incidence relation of influence to desilt and dredge efficiency and precision, improve
The adaptability and accuracy of control system.
Detailed description of the invention
Fig. 1 be self-balancing of the invention can the anti-winch body of cast formula structural schematic diagram；
Fig. 2 is the structural schematic diagram of the coaxial mutual clear float means of reverse spiral dredging of variable-angle non-proliferation of the invention；
Fig. 3 is dredging reamer and housing assembling schematic diagram of the invention；
Fig. 4 is the structural schematic diagram of the anti-blocking conveying mechanism of low resistance self-floating quick locking of the invention；
Fig. 5 is the technology frame of adaptive dredging essence control system and intelligent control and system effectiveness collaboration optimization system of the invention
Figure.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
As shown in Figures 1 to 5, a kind of wide high efficiency smart environment-protective desilting that adapts to of the invention floats clearly dredging robot system,
Its it is special comprising: self-balancing can the anti-winch body 12 of cast formula, variable-angle non-proliferation coaxially mutual reverse spiral dredging is floating clearly
Mechanism, the anti-blocking conveying mechanism of low resistance self-floating quick locking, adaptive dredging essence control system and intelligent control and system effectiveness
Cooperate with optimization system.
As shown in Figure 1, self-balancing can the anti-winch body 12 of cast formula, include propulsion system 1, self-balancing system 10 and
Electrical apparatus controlling system, the self-balancing system 10 include rotating floating body 11 and fuselage 12, and the rotating floating body 11 is arranged
For " U " font, the fuselage 12 is set in the rotating floating body 11, is passed through between the rotating floating body 11 and the fuselage 12
Live bearing 13 connects；The propulsion system 1 includes propeller 14, turbine and worm mechanism 15 and motor 16, the propeller
There are two 14 settings and is located at the two sides of the fuselage 12, and one end of the propeller 14 is provided with a turbine and worm machine
Structure 15, the motor 16 are set in the fuselage 12 and are separately connected the propeller 14；One end of the fuselage 12 connects
There is a floating drum 17, the floating drum 17 is located in the rotating floating body 11.
In view of water plant is intensive, mud viscosity is big and conveyance conduit is to equipment running resistance in environment of desilting and dredging
The problems such as, in order to guarantee the stability of dredging process, anti-strand drive system is designed, in view of 14 work of axial impellers
Make the difference of principle Yu propeller type propeller 14, can effectively solve normal spiral paddle propeller 14 and be easy winding water plant
And the problem of causing power interruption；The present invention uses two small-sized axial impellers 14, is placed in 12 on both sides of the middle of fuselage,
The stationarity and preferable dynamic property for guaranteeing operational process, realize the predetermined forward speed of 0.6m/s.In view of floating body exists
This big problem of the radius of gyration, designs the propulsion system 1 that cast can be achieved in water, using turbine and worm mechanism 15, realizes
360 ° of revolutions of propeller 14；During forward-reverse, turbine and worm is driven to drive on both sides of the middle propeller 14 by motor 16
It realizes rotation, changes the direction of motion；During turning, two 14 direction of propulsion of propeller are controlled on the contrary, realizing that equipment surrounds
The original place of the heart rotates, and solves the problems, such as that turning radius is big, improves equipment to terrain adaptability.In view of environment bottom of desilting and dredging
Mud is soft or hard uneven and water surface operation may meet with stormy waves and caused by the unstable problem of equipment center, design self-balancing knot
Structure matches structure with rotating floating body 11 using floating drum 17, and floating drum 17 is used to balance gravity and the suction of preposition dredging mechanism
Caused by uneven stability, when equipment run-off the straight, rotating floating body 11 can be responded rapidly to around live bearing 13 generation deflection, change
Itself draft, fuselage 12 keep horizontal under the effect of gravity, realize the stability of equipment running process.
As shown in Fig. 2-Fig. 3, the coaxial mutual clear float means of reverse spiral dredging of variable-angle non-proliferation, include dredging reamer
21, suction pump 22 and joint arm 23, the suction pump 22 are set in the fixing seat 2, and the fixing seat 2 is set to described
On fuselage 12, one end of the fixing seat 2 connects the joint arm 23, and the front end of the joint arm 23 connects the dredging reamer
21, the tail end of the dredging reamer 21 is connected with dredging tube 24, and the dredging tube 24 connects the suction pump 22；The fixing seat
2 side is arranged at intervals with multiple pump orifices 25；The top of the dredging reamer 21 is provided with housing 26.
The present invention is using coaxial mutually reverse spiral dredging reamer 21, and when clearing up mud, reciprocal sped structure can guarantee quilt
Broken mud focuses on centre along reamer slot, plays the role of non-proliferation, while improving the efficiency of suction pump 22；To improve
Breaking capacity establishes reamer three-dimensional motion model, with fuzzy mathematics theory, optimizes to reamer；For adsorbing
It is also easy to produce vortex in journey and pollutes object and spreads this problem, based on the low spy for being not likely to produce vortex of flow velocity inside screw pump
Property, the suction pump 22 of the invention G type screw pump high using applicability establishes aspiration procedure model and imports Fluent and taken out
It is drawn through the flow field analysis of journey, adds housing 26 above dredging reamer 21 to reduce the flow field that suction generates, effectively control pollution
Object range of scatter is in 1m3 hereinafter, adding pump orifice 25 simultaneously improves pumping efficiency；In order to realize dredging integration floating clearly, the machine
Structure uses the upper and lower clear float means of integral type dredging, in 2 ambient level location arrangements suction inlet of fixing seat, realizes to the clear of water surface duckweed
Except operation, fluid pressure type joint arm 23 is used to the cleaning of mud, the multi-angle transformation operation of reamer is realized, passes through hydraulic motor
It drives reamer to carry out mud broken, realizes the high efficiency of dredging operation, meet the clear of bottom sludge and water surface pollutant
The integration of reason.
Adaptive dredging essence control system, includes supersonic sounding module, high-precision GPS-RTK locating module and infrared survey
Away from module.The present invention uses supersonic sounding module, realizes the real-time monitoring to cutting depth, and carry out time delay estimadon calculation
The optimization of method utmostly reduces measurement error, guarantees to excavate vertical precision≤± 5~10cm；In view of small-sized waters GPS is fixed
The larger problem of position error, in order to guarantee to position plane precision≤± 30cm, the complexity based on carrier phase difference technique algorithm
Property, using high-precision GPS-RTK locating module, realize the accurate positioning of equipment and making rational planning for for dredging path；In view of clear
The problems such as silt environmental complexity, barrier is more, this system are reflected strong based on the difference that infrared signal encounters obstacle distance
Also different principles is spent, using infrared distance measurement module, realizes and barrier is evaded in equipment traveling process；To realize precision intelligence
Energyization control, the present invention are analyzed using multi signal, mutually coordinated scheme between each module by signal are designed, to the signal of three modules
Fusion optimization processing is carried out, the control of dredging precision is realized in cooperation.
As shown in figure 4, the anti-blocking conveying mechanism of low resistance self-floating quick locking, includes flexible duct 3 and attachment device
4,3 surface of flexible duct is provided with layer of surface floating body layer 30.
In a preferred embodiment of the present invention, the attachment device 4 includes pin end 41, the front end of the pin end 41
It is connected with lock sleeve 42, the leading portion of the inner sidewall of the lock sleeve 42 offers a circle groove 43, sets side by side in the groove 43
Several springs 44 are equipped with, the front side of the groove 43 is provided with spacer pin 45, the lock in the front edge of the lock sleeve 42
Fixed 42 front end is connected with female connector 46 by the spacer pin 45；The side of the female connector 46 is provided with an axial limiting
Slideway 47；The rear end of the pin end 41 connects the flexible duct 3, and the flexible duct 3 is added with PEN fabric；Institute
The lateral surface for stating flexible duct 3 is provided with a trap hole PE foamed material layer.For the contact pressure between conveyance conduit and ground
And the influence that friction area advances to equipment, the changing rule of manifold pressure, flexible duct 3 are added in pumping procedure
PEN fabric enhances the flexibility and intensity of pipeline, on the one hand meets the requirement of equipment big displacement transformation movement, on the other hand
The reliability for guaranteeing transmission process prevents blocking and booster；Due to individual pipe floater transport inconvenient and occupied space compared with
Greatly, self-floating structure is designed, the influence of mud and self weight of pipeline to pipeline buoyancy is studied, light material shape is wrapped up using outside
The two-layer equation pipeline of formula analyzes the advantage and disadvantage of various floating body materials, chooses the long closed pore PE foamed material of the slim and graceful durability of material
As floating body material, realize pipeline on the water surface from floating, the resistance of reduction equipment traveling process；Due to being managed during sludge pumping
Road internal pressure causes greatly the problems in pipeline junction stress collection, and attachment device 4, which uses, can be converted to rotary power rotation
The compressing structure of torque realizes the purpose of flexible duct 3 and defeated dredge pump quick locking, prevents flexible duct 3 from falling off.
It include that main control module, efficiency collaboration are excellent as shown in figure 5, intelligent control and system effectiveness cooperate with optimization system
Change module and real-time monitoring module.
In a preferred embodiment of the present invention, the main control module uses CAN bus and centralized processing unit, in conjunction with clear
The function mode for clear floating dredging robot system of becoming silted up, establishes the efficiency that influences to desilt and dredge and is associated with the multi-parameter complexity of precision
The adaptability and accuracy of control program improve in system；Efficiency collaboration optimization module include drive system, desilting system and
Smart control system realizes efficiency collaboration optimization between each system using efficiency optimization regulating strategy.
Master control system, using CAN bus technology and centralized processing unit electric-control system, in conjunction with intelligence machine of desilting and dredging
People's function mode establishes the multi-parameter complexity incidence relation of influence to desilt and dredge efficiency and precision, improves the adaptation of control program
Property and accuracy；Secondly consider coordinate operation between each system, the shadow between research drive system, desilting system and smart control system
Rule is rung, optimization module is cooperateed with using efficiency, realizes efficiency collaboration optimization between each system；Real-time monitoring module passes more in conjunction with
Sensor integration technology is controlled by the adaptive adjustment of the Implementation of Expert System parameter based on pattern-recognition, operation process
Automatic Optimal and fault self-diagnosis establish its operation stability quantitative assessment system.
A kind of wide adaptation high efficiency smart environment-protective desilting dredging robot system floating clearly of the invention is provided with self-balancing can be former
Coaxially the clear float means of mutual reverse spiral dredging, low resistance self-floating are quick for the rotary anti-winch body 12 in ground, variable-angle non-proliferation
Lock anti-blocking conveying mechanism, adaptive dredging essence control system and intelligent control and system effectiveness collaboration optimization system come to water body into
Row dredging solves desilt and dredge at this stage robot body structure optimization design, environment-protective desilting key technology, dredging precision control
The technical problems such as system, Robot Control Technology substantially increase applicability of the intelligent robot under each environment of desilting and dredging.
Above embodiments are only the one such embodiment of the present invention, and the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of wide high efficiency smart environment-protective desilting that adapts to floats clearly dredging robot system, characterized in that it comprises:
Self-balancing can the anti-winch body of cast formula, include propulsion system, self-balancing system and electrical apparatus controlling system, institute
Stating self-balancing system includes rotating floating body and fuselage, and the rotating floating body is set as " U " font, and the fuselage is set to described
In rotating floating body, connected between the rotating floating body and the fuselage by live bearing；The propulsion system includes to promote
Device, turbine and worm mechanism and motor, there are two the propeller settings and is located at the two sides of the fuselage, the propeller
One end be provided with a turbine and worm mechanism, the motor is set in the fuselage and is separately connected the propeller；
The coaxial mutual clear float means of reverse spiral dredging of variable-angle non-proliferation, include dredging reamer, suction pump and joint arm,
The suction pump is set in the fixing seat, and the fixing seat is set on the fuselage, one end connection of the fixing seat
The front end of the joint arm, the joint arm connects the dredging reamer, and the tail end of the dredging reamer is connected with dredging tube, institute
It states dredging tube and connects the suction pump；
Adaptive dredging essence control system, includes supersonic sounding module, high-precision GPS-RTK locating module and infrared distance measurement mould
Block is analyzed using multi signal, designs mutually coordinated scheme between each module by signal, carries out fusion optimization to the signal of three modules
The control of dredging precision is realized in processing, cooperation；
The anti-blocking conveying mechanism of low resistance self-floating quick locking includes flexible duct and attachment device, the flexible duct table
Face is provided with layer of surface floating body layer；
Intelligent control and system effectiveness cooperate with optimization system, include main control module, efficiency collaboration optimization module and real-time prison
Control module.
2. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: the attachment device includes pin end, and the front end of the pin end is connected with lock sleeve, the inner sidewall of the lock sleeve
Leading portion offer a circle groove, several springs are set side by side in the groove, the front side of the groove is in the lock sleeve
Front edge be provided with spacer pin, the front end of the lock sleeve is connected with female connector by the spacer pin.
3. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 2 floats clearly dredging robot system, feature
Be: the side of the female connector is provided with an axial limiting slideway.
4. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 2 floats clearly dredging robot system, feature
Be: the rear end of the pin end connects the flexible duct, and the flexible duct is added with PEN fabric.
5. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 or 4 floats clearly dredging robot system, special
Sign is: the lateral surface of the flexible duct is provided with the circle surface floating body layer, and the surface floating body layer is preferably closed pore
PE foamed material layer.
6. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: one end of the fuselage is connected with a floating drum, and the floating drum is located in the rotating floating body.
7. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: the side of the fixing seat is arranged at intervals with multiple pump orifices.
8. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: the top of the dredging reamer is provided with housing.
9. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: the main control module uses CAN bus and centralized processing unit, in conjunction with the running of dredging dredging robot system floating clearly
Mode, establishing influences the multi-parameter complexity incidence relation of efficiency and precision of desilting and dredging, and improves the adaptability of control program and quasi-
True property.
10. a kind of wide high efficiency smart environment-protective desilting that adapts to according to claim 1 floats clearly dredging robot system, feature
Be: the efficiency collaboration optimization module includes drive system, desilting system and smart control system, regulates and controls plan using efficiency optimization
Slightly, efficiency collaboration optimization between each system is realized.
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| CN201811151848.9A CN109208677A (en) | 2018-09-30 | 2018-09-30 | A kind of wide adaptation high efficiency smart environment-protective desilting dredging robot system floating clearly |
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| CN110725355A (en) * | 2019-10-11 | 2020-01-24 | 中交天津航道局有限公司 | A spiral dredger for environmental protection dredging projects |
| CN111877528A (en) * | 2020-08-05 | 2020-11-03 | 深圳市环境科学研究院 | a dredging device |
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