Intelligent suction-type underground drainage pipeline sediment removal robot and sediment removal method

A sediment removal method based on an intelligent suction-type underground drainage pipeline sediment removal robot, comprising the following steps:

• step S101:
• transmitting, by the 4G wireless communication module (22), received pipeline inlet/outlet flow velocity/flow rate data to the deep learning development board (13) of the in-pipe integrated robot;
• step S102:
• taking, by the intelligent pipeline siltation diagnosis module of the in-pipe integrated robot, the pipeline inlet/outlet flow velocity/flow rate data in step S101 as input, running on the deep learning development board of the in-pipe integrated robot, and outputting a pipeline siltation diagnosis result;
• wherein when a siltation depth is greater than or equal to one-fourth of a pipe diameter, the pipeline siltation diagnosis result indicating that siltation occurs is outputted, and sediment removal is required;
• and when the siltation depth is less than one-fourth of the pipe diameter, the pipeline siltation diagnosis result indicates that siltation does not occur, and sediment removal is not required;
• step S103:
• transmitting, by the intelligent pipeline siltation diagnosis module of the in-pipe integrated robot, the pipeline siltation diagnosis result to the central instruction transceiver module (11) of the in-pipe integrated robot;
• wherein when the pipeline siltation diagnosis result indicating that siltation occurs is outputted, the central instruction transceiver module (11) controls the driving wheel (2) and the telescopic rod (1) of the in-pipe integrated robot to move in an underground drainage pipeline, and during the movement, the central instruction transceiver module (11) simultaneously activates the high-pressure water nozzle (5) the sediment-crushing cutter (6), the annular metal sliding groove (16), the sludge suction pipe (7), the sludge discharge pipe (8), and the vacuum sewage suction pump (9) to perform coordinated sediment removal;
• step S104:
• during the movement of the in-pipe integrated robot, detecting, by the ranging radar (10) of the in-pipe integrated robot, in real time whether there is pipeline sediment higher than the sediment-crushing cutter (6) of the in-pipe integrated robot;
• step S105:
• if the ranging radar (10) detects in real time that there is pipeline sediment higher than the sediment-crushing cutter (6) of the in-pipe integrated robot and a distance therebetween is less than 10 cm, controlling, by the central instruction transceiver module (11) of the in-pipe integrated robot, the driving wheel (2) to stop moving forward, and transmitting an operating instruction to the nail-head electric hammer (4) at the same time;
• step S106:
• after the nail-head electric hammer (4) receives the operating instruction sent by the central instruction transceiver module (11), moving vertically and horizontally by using the metal sliding groove (15), hammering the pipeline sediment to crush the pipeline sediment into small pieces of sediment, and then further crushing, by the sediment-crushing cutter (6), the small pieces of sediment into fine particles;
• and
• step S107:
• spraying, by the high-pressure water nozzle (5) by using water flow, the fine particles obtained by crushing by the sediment-crushing cutter (6), sucking, by the vacuum sewage suction pump (9), a mixed fluid of the water flow and the fine particles into a ground sediment removal container through the sludge suction pipe (7) and the sludge discharge pipe (8) and repeating the above steps to complete sediment removal of the underground drainage pipeline.