Underwater dredging construction method

Abstract

The invention relates to the technical field of underwater dredging construction. The underwater dredging construction method comprises the steps that environment information of a to-be-constructed area is obtained, the environment information is input into a sludge physical property model, sludge physical property information is obtained, the sludge physical property information is compared with a preset sludge standard value, a comparison result is obtained, and the sludge type is determined based on the comparison result. And selecting a sludge construction mode corresponding to the sludge category based on the sludge category, adjusting working parameters of the construction equipment according to the sludge construction mode, and after the working parameters are adjusted, executing dredging construction until the dredging task of the to-be-constructed area is completed. The method has the effects of improving the construction efficiency and reducing equipment damage.

Description

Technical Field

[0001] The invention relates to the technical field of underwater dredging construction, and in particular to an underwater dredging construction method. Background Art

[0002] At present, underwater dredging construction is widely used in the cleaning and improvement of ports, waterways, lakes and other waters. Dredging construction not only needs to consider the operating efficiency of construction equipment, but also needs to ensure the flatness of the construction surface to meet the requirements of subsequent operations or environmental restoration. Traditional dredging construction methods usually use fixed equipment operating parameters for construction, but this method cannot be dynamically adjusted according to environmental changes and the actual conditions of the construction surface, which can easily lead to uneven construction surfaces, low construction efficiency or equipment damage.

[0003] Existing underwater dredging technology usually relies on manual adjustments or preset standards to determine the construction method, but this cannot respond to changes in environmental factors in real time, such as water flow speed, tidal changes, temperature, etc., nor can it make real-time optimization adjustments based on the actual conditions of the construction surface, such as flatness, silt type, etc. Summary of the invention

[0004] In order to improve construction efficiency and reduce equipment damage, the present application provides an underwater dredging construction method.

[0005] The above-mentioned invention objective of the present application is achieved through the following technical solutions: An underwater dredging construction method, the underwater dredging construction method comprising: Obtain environmental information of the area to be constructed; Inputting the environmental information into a sludge physical property model to obtain sludge physical property information; Comparing the sludge physical property information with a preset sludge standard value to obtain a comparison result, and determining the sludge category based on the comparison result; Based on the silt category, selecting a silt construction method corresponding to the silt category; According to the sludge construction method, the working parameters of the construction equipment are adjusted, and after the working parameters are adjusted, the dredging construction is performed until the dredging task of the area to be constructed is completed.

[0006] By adopting the above technical solution, it is possible to obtain environmental information of the area to be constructed in real time and input it into the silt physical property model to achieve accurate analysis of environmental factors, thereby obtaining information on the physical properties of the silt; by comparing this information with the preset silt standard value, it is possible to accurately determine the silt category and select the most appropriate construction method according to different silt categories; by adjusting the working parameters of the construction equipment, it is possible to optimize the working state of the equipment in real time to ensure that the flatness of the construction surface meets the standards, thereby improving construction efficiency and quality, avoiding low construction efficiency or equipment damage caused by environmental changes or differences in silt characteristics, and ensuring that the construction task can be completed smoothly and achieve the expected results.

[0007] In a preferred example, the present application may be further configured as follows: the environmental information is input into the sludge physical property model to obtain sludge physical property information, including: The sludge physical property model normalizes the environmental factors of water flow velocity, tidal change, temperature change and water depth in the environmental information to obtain processed environmental factors, and calculates the influence of the processed environmental factors on the sludge physical properties through the sludge physical property model to obtain preliminary sludge physical properties; The sludge physical property model further dynamically adjusts the preliminary sludge physical properties according to real-time environmental changes to obtain adjusted sludge physical properties to compensate for fluctuations in environmental factors, and obtains the sludge physical property information based on the adjusted sludge physical properties.

[0008] By adopting the above technical scheme, the environmental factors such as water flow velocity, tidal changes, temperature changes and water depth in the environmental information are normalized, the key data affecting the physical properties of the sludge are accurately obtained, and the influence of the processed environmental factors is calculated by the sludge physical property model to obtain preliminary sludge physical property information; thereby, accurate prediction and evaluation of the sludge characteristics in the construction area can be achieved, providing an accurate basis for the selection of subsequent construction methods. At the same time, by dynamically adjusting the preliminary sludge physical properties and compensating for the fluctuations of environmental factors, it is possible to respond to environmental changes in a timely manner and ensure that the sludge physical properties remain stable during the construction process, thereby improving the adaptability of construction equipment to environmental changes, avoiding low construction efficiency or equipment damage caused by fluctuations in environmental factors, and ensuring the stability of construction results and construction quality.

[0009] In a preferred example, the present application may be further configured as follows: based on the preliminary sludge physical property information, the sludge physical property model further dynamically adjusts the sludge physical property according to real-time environmental changes to compensate for fluctuations in environmental factors, thereby obtaining the sludge physical property information, including: The adjusted sludge physical properties are obtained by the following formula: Among them, the P adjusted is the adjusted sludge physical property, the P initial is the preliminary sludge physical property, the E i is the environmental factor, the i For the E i The weight coefficient of Ei is the i-th environmental factor, and n is the total number of all environmental factors; The physical property information of the sludge is obtained by the following formula: Among them, P final is the sludge physical property information, the β j Environmental time factor, the β j For the T j The weight coefficient of , Tj is the jth time factor, and m is the total number of all time factors.

[0010] By adopting the above technical solution, environmental factors (such as water flow velocity, temperature, tidal changes, etc.) are processed through formulas, the influence of each environmental factor is calculated using weight coefficients, and the preliminary silt physical properties are adjusted to obtain more accurate adjusted silt physical property information; thereby, it is possible to respond to environmental changes in real time, accurately predict the silt physical properties of the area to be constructed, ensure that construction equipment is adjusted according to the latest silt properties, and improve construction accuracy and efficiency. Secondly, based on the adjustment of environmental factors, further corrections are made according to the influence of time factors, and the final silt physical property information is calculated; thereby ensuring that the silt characteristic information can dynamically reflect the influence of real-time environmental and time changes, avoid fluctuations in construction efficiency or equipment damage caused by changes in time factors, and ensure stability and reliability during the construction process.

[0011] In a preferred example, the present application may be further configured as follows: the comparison of the sludge physical property information with a preset sludge standard value to obtain a comparison result, and determining the sludge category based on the comparison result includes: Based on the comparison result, if the values ​​of fluidity, viscosity, hardness and thickness in the sludge physical property information are all greater than or equal to the preset sludge standard values, the sludge is determined to be hard sludge; Based on the comparison result, if the values ​​of the fluidity, viscosity, hardness and thickness in the sludge physical property information are all lower than the preset sludge standard values, the sludge is determined to be soft sludge; Based on the comparison result, if the fluidity in the sludge physical property information is greater than or equal to the preset fluidity standard value and the hardness is less than the preset hardness standard value, the sludge is determined to be sludge with high fluidity; Based on the comparison result, if the viscosity in the sludge physical property information is greater than or equal to the preset viscosity standard value, and the hardness is greater than the preset hardness standard value, the sludge is determined to be highly viscous sludge; Based on the comparison result, if the thickness in the sludge physical property information is greater than or equal to the preset thickness standard value, and the fluidity is lower than the preset fluidity standard value, the sludge category is determined to be thick sludge.

[0012] By adopting the above technical solution, the type of silt can be accurately determined by comparing the physical property information of silt (such as fluidity, viscosity, hardness, thickness, etc.) with the preset standard values ​​of silt. For example, when the values ​​of fluidity, viscosity, hardness and thickness are greater than or equal to the preset standard values, the silt can be classified as hard silt, so that a construction method suitable for hard silt can be selected; if these values ​​are lower than the standard values, it can be judged as soft silt, and a construction method suitable for soft silt can be selected; in addition, based on the comparison of fluidity and hardness, silt with strong fluidity or strong viscosity can be accurately identified, so that construction methods such as hydraulic dredging or high-pressure extrusion excavation can be selected in a targeted manner; for thick silt, its category can be reasonably judged, and a suitable construction method can be selected to avoid inefficiency or equipment damage caused by improper construction methods. Thereby improving the accuracy of the selection of construction methods and the construction efficiency, ensuring the adaptability of equipment during the construction process and the high efficiency of silt treatment.

[0013] In a preferred example, the present application may be further configured as follows: based on the sludge category, selecting a sludge construction method corresponding to the sludge category includes: If the sludge type is the hard sludge, a layered continuous excavation construction method is selected; If the sludge type is the soft sludge, the interval excavation construction method is selected; If the sludge type is the sludge with strong fluidity, the hydraulic dredging construction method is selected; If the sludge type is the sludge with strong viscosity, the pressurized extrusion excavation construction method is selected; If the sludge type is the thick layer sludge, a mixed construction method combining the layered continuous excavation construction method and the hydraulic dredging construction method is selected.

[0014] By adopting the above technical solution, the most suitable construction method is selected according to different silt categories to achieve accurate matching of construction methods and silt types. When the silt is judged to be hard silt, the layered continuous excavation construction method is selected to ensure efficient treatment of hard silt. When the silt is soft silt, the interval excavation construction method is adopted to adapt to the fluidity and excavation difficulty of soft silt. For silt with strong fluidity, the hydraulic dredging construction method is selected to improve the construction efficiency by utilizing the hydraulic effect. For silt with strong viscosity, the pressurized extrusion excavation construction method is adopted to deal with silt with high viscosity. Finally, for thick layers of silt, a mixed construction method combining layered continuous excavation and hydraulic dredging is used to optimize the construction efficiency and effect. This ensures that each type of silt can get the most suitable construction method.

[0015] In a preferred example, the present application can be further configured as follows: adjusting the working parameters of the construction equipment according to the sludge construction method, and performing dredging construction after adjusting the working parameters until the dredging task of the area to be constructed is completed, including: According to the layered continuous excavation construction method, adjusting the bucket width, stroke length and excavation depth of the construction equipment; According to the interval excavation construction method, the bucket opening width, the excavation depth and the operation path of the construction equipment are adjusted; according to the hydraulic dredging construction method, the water pressure, nozzle angle and injection flow rate of the construction equipment are adjusted; According to the pressurized extrusion excavation construction method, adjusting the extrusion pressure, stroke length and excavation angle of the construction equipment; According to the mixed construction method, the bucket width, the stroke length, the excavation depth, the water pressure, the nozzle angle and the injection flow rate of the construction equipment are adjusted.

[0016] By adopting the above technical scheme, the working parameters of the construction equipment are adjusted according to different construction methods to optimize the construction process. For example, for the layered continuous excavation construction method, the bucket width, stroke length and excavation depth can be adjusted to ensure that the equipment is adapted to hard or thick silt and provide efficient excavation capabilities. For the interval excavation construction method, the bucket opening width, excavation depth and operation path are adjusted to ensure that the equipment can effectively excavate soft or poorly fluid silt to avoid excessive or insufficient construction. For the hydraulic dredging construction method, the hydraulic action is optimized by adjusting the water pressure, nozzle angle and injection flow rate to improve the dredging efficiency of highly fluid silt. For the boost extrusion excavation construction method, the extrusion pressure, stroke length and excavation angle are adjusted to ensure effective treatment of highly viscous silt and reduce equipment load. For the mixed construction method, multiple parameters are adjusted simultaneously as needed, combining the advantages of layered continuous excavation and hydraulic dredging to improve the treatment efficiency and effect of thick silt. Thus, by accurately adjusting the equipment parameters, the equipment can be ensured to operate efficiently during the construction process, adapt to different types of silt, and maximize construction efficiency.

[0017] In a preferred example, the present application can be further configured as follows: the underwater dredging construction method further includes: Real-time monitoring of the flatness of the construction surface of the area to be constructed, and comparing the flatness of the construction surface with a preset flatness standard value, if the flatness of the construction surface does not meet the preset flatness standard value, obtaining a flatness deviation result; Based on the flatness deviation result, a flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets the preset flatness standard value.

[0018] By adopting the above technical solution, by real-time monitoring of the flatness of the construction surface in the area to be constructed and comparing the actual flatness with the preset standard value, the deviation of the flatness of the construction surface can be identified in time to ensure that the flatness of each stage of the construction process meets the expected requirements; thereby ensuring the construction quality and avoiding uneven or out-of-standard construction surfaces during the construction process. At the same time, based on the flatness deviation results, the flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value and adjust the working parameters of the construction equipment, which can dynamically optimize the equipment's operating mode, such as bucket width, stroke length, and excavation depth, to ensure that the flatness of the construction surface continues to meet the standard requirements. This improves the accuracy and adaptability of the construction, reduces manual intervention, improves construction efficiency, and avoids rework or waste caused by construction surfaces that do not meet the standards.

[0019] In a preferred example, the present application can be further configured as follows: based on the flatness deviation result, the flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets the preset flatness standard value, including: According to the flatness deviation result, the flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value to obtain the adjustment amplitude value; Based on the adjustment amplitude value, the flatness adjustment algorithm adjusts the working parameters of the construction equipment until the flatness of the construction surface meets the preset flatness standard value.

[0020] By adopting the above technical solution, according to the flatness deviation result, the flatness adjustment algorithm can accurately calculate the difference between the flatness of the construction surface and the preset standard value, and obtain the adjustment amplitude value according to this difference, so as to adjust the working parameters of the construction equipment in real time to ensure that the flatness of the construction surface always meets the preset standard value; thereby realizing real-time monitoring and dynamic adjustment of flatness during the construction process, avoiding quality problems caused by insufficient or excessive flatness during the construction process, and improving construction accuracy and effect. At the same time, based on the adjustment amplitude value, the flatness adjustment algorithm can flexibly optimize various parameters of the construction equipment, automatically adjust working parameters such as bucket width, stroke length, etc., to ensure that the equipment is always in the best working state. Thereby improving the adaptability and efficiency of the construction equipment. In a preferred example, the present application can be further configured as follows: according to the flatness deviation result, the flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value, and obtains the adjustment amplitude value, including: The adjustment amplitude value is calculated by the following formula: Wherein, X is the adjustment amplitude value, ΔP is the difference between the flatness of the construction surface and the preset flatness standard value; P 标准 is the preset flatness standard value; the γ is the basic coefficient for flatness adjustment, which controls the initial ratio of the adjustment amplitude value; the δ is the sensitivity coefficient of the ΔP to the X, the κ is the environmental adjustment coefficient, the min amplitude is the minimum limit value of the adjustment amplitude value, and the max amplitude is the maximum limit value of the adjustment amplitude value.

[0021] By adopting the above technical solution, by using the formula to calculate the adjustment amplitude value, the required adjustment amplitude value can be accurately calculated according to the difference between the flatness of the construction surface and the preset flatness standard value. The γ in the formula controls the initial proportion of the adjustment amplitude value, δ reflects the sensitivity of the construction surface flatness deviation to the adjustment amplitude value, and κ takes into account the influence of environmental factors on the adjustment amplitude value to ensure the rationality of the adjustment amplitude value. By setting the minimum and maximum adjustment amplitude value limits, it is possible to avoid equipment damage or excessive construction due to excessive or insufficient adjustment, thereby ensuring that the equipment is adjusted within a safe range and avoiding the problem of excessive load or insufficient adjustment of the equipment.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. It can obtain the environmental information of the construction area in real time and input it into the sludge physical property model to achieve accurate analysis of environmental factors, thereby obtaining the physical property information of the sludge; by comparing this information with the preset sludge standard value, it can accurately determine the sludge category and select the most suitable construction method according to different sludge categories; by adjusting the working parameters of the construction equipment, it can optimize the working status of the equipment in real time to ensure that the flatness of the construction surface meets the standards, thereby improving construction efficiency and quality, avoiding low construction efficiency or equipment damage caused by environmental changes or differences in sludge characteristics, and ensuring that the construction task can be successfully completed and achieve the expected results; 2. Process environmental factors (such as water velocity, temperature, tidal changes, etc.) through formulas, use weight coefficients to calculate the impact of each environmental factor, and adjust the preliminary silt physical properties to obtain more accurate adjusted silt physical property information; thereby responding to environmental changes in real time, accurately predicting the silt physical properties of the area to be constructed, ensuring that construction equipment is adjusted according to the latest silt properties, and improving construction accuracy and efficiency. Secondly, based on the adjustment of environmental factors, further corrections are made according to the impact of time factors, and the final silt physical property information is calculated; thereby ensuring that the silt characteristic information can dynamically reflect the impact of real-time environmental and time changes, avoiding fluctuations in construction efficiency or equipment damage due to changes in time factors, and ensuring stability and reliability during the construction process; 3. By using this formula to calculate the adjustment amplitude value, the required adjustment amplitude value can be accurately calculated based on the difference between the flatness of the construction surface and the preset flatness standard value. The γ in this formula controls the initial proportion of the adjustment amplitude value, δ reflects the sensitivity of the construction surface flatness deviation to the adjustment amplitude value, and κ takes into account the impact of environmental factors on the adjustment amplitude value to ensure the rationality of the adjustment amplitude value. By setting the minimum and maximum adjustment amplitude value limits, it is possible to avoid equipment damage or excessive construction due to excessive or insufficient adjustment, thereby ensuring that the equipment is adjusted within a safe range and avoiding problems such as excessive load or insufficient adjustment of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of an underwater dredging construction method in one embodiment of the present application; Figure 2 It is a flowchart for implementing step S20 in the underwater dredging construction method in one embodiment of the present application; Figure 3 It is a flowchart for implementing step S202 in the underwater dredging construction method in one embodiment of the present application; Figure 4 It is a flowchart for implementing step S30 in the underwater dredging construction method in one embodiment of the present application; Figure 5 It is a flowchart for implementing step S40 in the underwater dredging construction method in one embodiment of the present application; Figure 6 It is a flowchart for implementing step S50 in the underwater dredging construction method in one embodiment of the present application; Figure 7 This is a flowchart of the implementation after step S50 in the underwater dredging construction method in one embodiment of the present application; Figure 8 It is a flowchart for implementing step S70 in the underwater dredging construction method in one embodiment of the present application; Fig. 9 It is an implementation flow chart of step S701 in the underwater dredging construction method in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings.

[0025] In one embodiment, if Figure 1 As shown, the present application discloses an underwater dredging construction method, which specifically includes the following steps: S10: Obtain environmental information of the area to be constructed.

[0026] Specifically, multiple sensors are deployed in the area to be constructed, including Doppler current meters for measuring water flow velocity, water level sensors for monitoring tidal changes, ultrasonic depth sounders for recording water depths, and temperature sensors for measuring temperature. Each sensor collects information at a fixed interval, and the collection time interval can be set to a few minutes or hours according to construction requirements. After the information collected by all sensors is processed and abnormal values ​​are eliminated, the environmental information of the area to be constructed is obtained.

[0027] S20: Inputting the environmental information into the sludge physical property model to obtain sludge physical property information.

[0028] Specifically, the collected environmental information is input into the silt physical property model. The silt physical property model includes multiple calculation units for analyzing the influence of water flow velocity, tidal changes, water depth and temperature on the physical properties of silt. First, the model standardizes these environmental data to ensure that all data have a unified analysis scale. Then, according to the preset relationship or empirical database in the model, the influence of each environmental factor on the fluidity, hardness, viscosity and thickness of the silt is calculated one by one. After comprehensive calculation, the output represents the physical property information of the silt. The physical property information of the silt includes four indicators: fluidity, hardness, viscosity and thickness.

[0029] S30: Compare the sludge physical property information with the preset sludge standard value to obtain a comparison result, and determine the sludge category based on the comparison result. Specifically, compare each indicator in the sludge physical property information with the preset sludge standard value one by one, and judge whether it meets the standard value range by directly comparing the size. For example, when all indicators exceed the standard value, it can be determined as hard sludge, and when all indicators are lower than the standard value, it can be determined as soft sludge. For the case where some indicators meet the requirements but some do not, it is determined as highly fluid, highly viscous or thick sludge according to pre-defined classification rules, and finally the corresponding sludge category is clearly output.

[0030] S40: Based on the silt category, a silt construction method corresponding to the silt category is selected.

[0031] Specifically, according to the determined silt category, the corresponding construction method table is queried. For example, for hard silt, the layered continuous excavation construction method is selected to ensure the stability of excavation. For soft silt, the interval excavation construction method is selected to use the fluidity of the silt to reduce the operating resistance. For silt with strong fluidity, hydraulic dredging construction is adopted to promote silt dredging through high-pressure water flow. For silt with strong viscosity, high-pressure extrusion excavation construction is adopted to adjust the pressure of the extrusion equipment to achieve effective excavation. For thick layers of silt, a mixed construction method of layered continuous excavation and hydraulic dredging is used to ensure construction efficiency.

[0032] S50: According to the sludge construction method, the working parameters of the construction equipment are adjusted. After the working parameters are adjusted, the dredging construction is performed until the dredging task of the area to be constructed is completed.

[0033] Specifically, according to the selected construction method, the key parameters of the construction equipment are adjusted. For example, in layered continuous excavation construction, the width, excavation depth and stroke length of the bucket are adjusted to ensure adaptation to the physical properties of the sludge. In interval excavation construction, the width of the bucket opening and the working path are adjusted to ensure uniformity of work coverage. In hydraulic dredging construction, the injection angle and flow rate of the nozzle are adjusted to match the fluidity of the sludge. In high-pressure extrusion excavation, the pressure and excavation angle of the extrusion equipment are adjusted to optimize the effect on viscous sludge. After all adjustments are completed, the construction equipment is started for dredging, and the construction progress is monitored in real time until the construction tasks in the area are completed.

[0034] In one embodiment, if Figure 2 As shown, in step S20, the environmental information is input into the sludge physical property model to obtain sludge physical property information, including: S201: The silt physical property model normalizes the environmental factors of water flow velocity, tidal changes, temperature changes and water depth in the environmental information to obtain processed environmental factors, and calculates the influence of the processed environmental factors on the silt physical properties through the silt physical property model to obtain preliminary silt physical properties.

[0035] Specifically, after obtaining environmental information such as water flow velocity, tidal changes, temperature changes, and water depth, the data of each factor is first cleaned to remove outliers that may be caused by measurement errors or data noise, and then the cleaned data is normalized. The normalization process is completed by calculating the ratio between the actual value of each factor and the maximum and minimum values ​​of the factor in the historical data to ensure that the numerical range of each factor is consistent, thereby eliminating the impact of dimensional differences on model calculations. After normalization, the impact of environmental factors on physical properties such as silt fluidity, viscosity, hardness, and thickness is calculated through a physical property prediction model based on regression analysis. The model combines the mapping relationship between environmental factors and physical properties in historical data, and improves the calculation accuracy through multiple iterative optimizations, and finally outputs preliminary silt physical properties.

[0036] S202: The sludge physical property model further dynamically adjusts the preliminary sludge physical properties according to real-time environmental changes to obtain adjusted sludge physical properties to compensate for fluctuations in environmental factors, and obtains sludge physical property information based on the adjusted sludge physical properties.

[0037] Specifically, after the preliminary calculation of the sludge physical properties is completed, the dynamic changes of environmental factors are collected in real time, including the fluctuation range of water flow velocity, the amplitude of tidal cycle changes, small temperature fluctuations and the trend of water depth changes. The real-time data is compared with the preliminary calculated physical properties. The deviation of the real-time environmental factors on the sludge physical properties is calculated, and the preliminary physical properties are gradually corrected using the dynamic adjustment formula. During the correction process, the weight of each factor on the physical properties is combined to calculate the local effect of the real-time data on fluidity, viscosity, hardness and thickness, and it is iteratively integrated with the preliminary results to finally obtain the adjusted sludge physical properties.

[0038] In one embodiment, if Figure 3 As shown, in step S202, based on the preliminary sludge physical property information, the sludge physical property model further dynamically adjusts the sludge physical property according to real-time environmental changes to compensate for the fluctuation of environmental factors, thereby obtaining sludge physical property information, including: S2021: The adjusted sludge physical properties are obtained by the following formula: Among them, P adjusted is the adjusted sludge physical properties, P initial is the preliminary sludge physical properties, E i is the environmental factor, α i For E i The weight coefficient of Ei is the i-th environmental factor, and n is the total number of all environmental factors.

[0039] Specifically, the adjusted sludge physical properties are realized by quantitatively evaluating the interaction between the initially calculated sludge physical properties and the environmental factors. The process includes: multiplying all collected environmental factors with their corresponding weight coefficients to reflect the relative influence of environmental factors on sludge physical properties, accumulating all product results and adding them to the unit value to express the result of the comprehensive effect of multiple factors, and finally multiplying this comprehensive result with the initially calculated sludge physical properties to achieve the adjustment of the initial sludge physical properties. For example, when the collected initial sludge physical properties P initial The input environmental factors include a water velocity of 3 m / s, a tidal amplitude of 2 m, and a water depth of 5 m. By calculating the product of each environmental factor, for example, 0.3×3, 0.5×2, and 0.2×5, the sum is 2.9, which is then added to the unit value 1 to obtain a total impact coefficient of 3.9. Finally, P initial Multiplying this by 3.9 gives an adjusted sludge physical property of 780.

[0040] S2022: The physical properties of sludge are obtained by the following formula: Among them, Pfinal is the physical property information of sludge, β j Environmental time factor, β j T j The weight coefficient of , Tj is the jth time factor, and m is the total number of all time factors.

[0041] Specifically, the acquisition of silt physical property information is completed by correcting the adjusted silt physical properties combined with the dynamic changes in the time dimension. The specific process includes: multiplying the time factors such as the daily changes of tides and the long-term seasonal changes with their corresponding weight coefficients one by one, and calculating the comprehensive impact of the time factors on the silt physical properties; accumulating the impact values ​​of all time factors and adding them to the unit value to represent the comprehensive adjustment of the time factor to the dynamic characteristics of the environment; finally, multiplying this comprehensive adjustment value with the adjusted silt physical properties to obtain the silt physical property information that can comprehensively reflect the impact of real-time and long-term environmental changes. For example, when the adjusted silt physical property P adjusted The input time factor includes the real-time tidal cycle change of 1.2 and the long-term seasonal change of 0.8. By calculating the product of each time factor, for example, 0.4×1.2, 0.6×0.8, the sum is 1.44, which is then added to the unit value 1 to obtain the total time adjustment coefficient of 2.44. Finally, P adjusted Multiplying by 2.44, the final sludge physical property information is 1903.2.

[0042] In one embodiment, if Figure 4 As shown, in step S30, the sludge physical property information is compared with the preset sludge standard value to obtain a comparison result, and the sludge category is determined based on the comparison result, including: S301: Based on the comparison results, if the values ​​of fluidity, viscosity, hardness and thickness in the sludge physical property information are greater than or equal to the preset sludge standard values, the sludge category is determined to be hard sludge.

[0043] Specifically, by extracting specific values ​​of fluidity, viscosity, hardness and thickness from the physical property information of sludge, each value is compared one by one with the preset sludge standard value. For example, if the fluidity is 0.6, the viscosity is 0.8, the hardness is 1.2, and the thickness is 2.5, and the preset standard values ​​are 0.5, 0.7, 1.0 and 2.0 respectively, then all values ​​are greater than or equal to the standard values ​​and are judged to be hard sludge.

[0044] S302: Based on the comparison results, if the values ​​of fluidity, viscosity, hardness and thickness in the sludge physical property information are all lower than the preset sludge standard values, the sludge category is determined to be soft sludge.

[0045] Specifically, by obtaining specific values ​​of fluidity, viscosity, hardness and thickness from the physical property information of the sludge, each value is compared with the preset sludge standard value. For example, if the fluidity is 0.3, the viscosity is 0.4, the hardness is 0.5, and the thickness is 1.5, and the preset standard values ​​are 0.5, 0.7, 1.0 and 2.0 respectively, then all values ​​are less than the standard values ​​and are judged to be soft sludge.

[0046] S303: Based on the comparison result, if the fluidity in the sludge physical property information is greater than or equal to the preset fluidity standard value and the hardness is less than the preset hardness standard value, the sludge category is determined to be sludge with high fluidity.

[0047] Specifically, specific values ​​of fluidity and hardness are extracted from the physical property information of the sludge and compared with the preset standard values ​​of fluidity and hardness respectively. For example, if the fluidity is 0.6 and the hardness is 0.5, the preset fluidity standard value is 0.5, and the hardness standard value is 1.0, then the conditions that the fluidity is greater than or equal to the standard value and the hardness is less than the standard value are met, and the sludge is judged to be highly fluid.

[0048] S304: Based on the comparison result, if the viscosity in the sludge physical property information is greater than or equal to the preset viscosity standard value, and the hardness is greater than the preset hardness standard value, the sludge category is determined to be sludge with strong viscosity.

[0049] Specifically, specific values ​​of viscosity and hardness are extracted from the physical property information of the sludge and compared with the preset viscosity and hardness standard values. For example, if the viscosity is 0.9 and the hardness is 1.2, the preset viscosity standard value is 0.8, and the hardness standard value is 1.0, then the viscosity is greater than or equal to the standard value and the hardness is greater than the standard value, and it is judged to be sludge with strong viscosity.

[0050] S305: Based on the comparison result, if the thickness in the sludge physical property information is greater than or equal to a preset thickness standard value, and the fluidity is lower than a preset fluidity standard value, the sludge category is determined to be thick sludge.

[0051] Specifically, by extracting specific values ​​of thickness and fluidity from the physical property information of the sludge and comparing them with the preset standard values ​​of thickness and fluidity, for example, if the thickness is 3.0 and the fluidity is 0.4, the preset standard value for thickness is 2.5, and the standard value for fluidity is 0.5, then the conditions that the thickness is greater than or equal to the standard value and the fluidity is lower than the standard value are met, and it is determined to be a thick layer of sludge.

[0052] In one embodiment, if Figure 5 As shown, in step S40, based on the silt category, a silt construction method corresponding to the silt category is selected, including: S401: If the sludge is hard sludge, select the layered continuous excavation construction method.

[0053] Specifically, the layered continuous excavation construction method targets the high hardness characteristics of hard silt. By setting the bucket width and tool cutting depth of the excavation equipment, it ensures that each excavation can effectively cut the silt without damaging the equipment. First, shallow cutting is carried out on the surface of the silt to remove the loose hard silt on the surface, and then the cutting depth is gradually deepened to cut the harder silt in the lower layer. After each layer of excavation is completed, the excavation depth and path of the next layer are adjusted by monitoring the flatness and hardness changes of the excavation surface to avoid incomplete excavation due to uneven layers of hard silt. At the same time, through the multi-stage power control of the equipment, lower propulsion speeds and higher cutting forces are used in areas with thicker hard silt to ensure the smoothness and efficiency of the equipment operation.

[0054] S402: If the sludge type is soft sludge, select the interval excavation construction method.

[0055] Specifically, the interval excavation construction method is designed for the high fluidity and low supporting force characteristics of soft silt. By dividing the construction area into several unconnected interval blocks, the damage to the overall stability of the silt caused by continuous excavation is avoided. The excavation path is gradually advanced in a zigzag or circular pattern. Only part of the silt in an interval block is excavated each time. At the same time, other blocks are used as support areas. The excavation depth and width of the excavation equipment are dynamically adjusted according to the thickness changes of the soft silt to reduce the disturbance to the surrounding unexcavated areas. When a block is excavated, the deformation detection of the silt in the surrounding area is used to determine whether the next interval block position needs to be adjusted, thereby achieving accurate and safe soft silt excavation.

[0056] S403: If the sludge is highly fluid, hydraulic dredging is selected.

[0057] Specifically, the hydraulic dredging construction method mainly uses high-pressure water flow to flush the highly fluid silt, and transports the silt from the original location to a designated location or a collection container. During the implementation process, the water pressure output of the water pump is adjusted to achieve the best flushing effect. Too low water pressure may lead to insufficient flushing efficiency, and too high water pressure may lead to excessive dispersion of the silt. By adjusting the angle and direction of the nozzle, the flushing range and intensity of the water flow can be accurately controlled. At the same time, combined with the monitoring data, the movement trajectory of the silt during the flushing process is dynamically analyzed, and the injection direction and water pressure are corrected in real time to ensure that the silt can be evenly dispersed and discharged, especially in high-fluidity areas. The method of flushing and diversion in sections can be used to prevent the silt from re-aggregating due to excessive fluidity.

[0058] S404: If the sludge is of high viscosity, the pressurized extrusion excavation construction method is selected.

[0059] Specifically, the pressurized extrusion excavation construction method uses special extrusion tools or drill bits to perform high-pressure layered crushing on viscous silt. The equipment applies high pressure through the hydraulic system to overcome the strong adhesion of viscous silt. In actual operation, the extrusion force is adjusted in real time according to the viscosity parameters of the silt to avoid equipment overload due to excessive pressure or poor crushing effect due to insufficient pressure. The extrusion tool advances along a predetermined trajectory to gradually decompose the viscous silt by spiral extrusion or vertical crushing. At the same time, the adhesion of the silt is reduced through an auxiliary water spray system, so that the crushed silt is easy to remove. During the crushing process, the distribution of the extrusion force and the advancement speed are adjusted to achieve effective treatment of high-viscosity silt.

[0060] S405: If the sludge type is thick sludge, a mixed construction method combining the layered continuous excavation construction method and the hydraulic dredging construction method is selected.

[0061] Specifically, the hybrid construction method combines the advantages of layered continuous excavation and hydraulic dredging. First, the layered continuous excavation method is used to peel off the upper part of the thick silt layer by layer, and the hard silt is cut into small pieces that are easy to transport. At the same time, the hydraulic dredging construction method is used to efficiently flush the lower or deep silt, solving the problem of changes in viscosity and fluidity at different depths in thick silt. During the implementation process, the thickness of the silt layer and the density of the lower layer are dynamically monitored, and the excavation method is switched according to the density changes to ensure the optimal excavation and transportation efficiency of the thick silt.

[0062] In one embodiment, if Figure 6 As shown, in step S50, the working parameters of the construction equipment are adjusted according to the silt construction method. After the working parameters are adjusted, dredging construction is performed until the dredging task of the area to be constructed is completed, including: S501: According to the layered continuous excavation construction method, the bucket width, stroke length and excavation depth of the construction equipment are adjusted.

[0063] Specifically, when adjusting the layered continuous excavation construction equipment, the bucket width is set to adapt to the lateral distribution range of the silt layer to avoid excavating too wide at one time, resulting in excessive equipment load, or too narrow, resulting in reduced efficiency. The stroke length is dynamically adjusted according to the length planning of the construction area, and priority is given to the smoothness of each excavation to ensure that the equipment can cover the silt surface of the entire area. The excavation depth is dynamically optimized based on the feedback of real-time monitoring data. The excavation depth is adjusted layer by layer according to the thickness changes of the hard silt layer. At the same time, the flatness is monitored during the excavation of each layer to avoid affecting the overall construction effect due to excavating too deep or too shallow.

[0064] S502: According to the interval excavation construction method, the bucket opening width, excavation depth and operation path of the construction equipment are adjusted.

[0065] Specifically, in the interval excavation construction method, the adjustment of the bucket opening width is mainly based on the fluidity and density characteristics of the soft silt. The size of the excavation area is controlled by gradually increasing or decreasing the bucket opening width to avoid instability of the surrounding silt caused by excessive opening. The excavation depth gradually decreases according to the silt thickness of the current interval block to ensure that the necessary support area is retained while maximizing the removal of silt. The operation path is achieved by planning a zigzag or circular trajectory. The specific trajectory selection is determined by the shape of the construction area and the stability of the surrounding blocks. In the real-time adjustment of the operation path, the coordination of excavation and regional distribution is ensured through the feedback of monitoring equipment.

[0066] S503: According to the hydraulic dredging construction method, the water pressure, nozzle angle and jet flow rate of the construction equipment are adjusted.

[0067] Specifically, the equipment adjustment of the hydraulic dredging construction method focuses on the flushing efficiency of high-pressure water flow. The flushing force is controlled by dynamically adjusting the output pressure of the water pump. When the silt density in the construction area is high, the water pressure is set to maximum output to enhance the flushing ability. The nozzle angle is adjusted in real time according to the depth and horizontal position of the target area. The deep silt and surface silt are covered at different angles by tilting the nozzle. The jet flow is achieved by adjusting the flow rate of the water pump. For silt areas with strong fluidity, the jet flow is appropriately reduced to reduce the secondary aggregation of silt.

[0068] S504: According to the pressurized extrusion excavation construction method, the extrusion pressure, stroke length and excavation angle of the construction equipment are adjusted.

[0069] Specifically, the pressurized extrusion excavation construction method achieves effective treatment of high-viscosity sludge through pressure control of the hydraulic system. The extrusion pressure is dynamically adjusted according to the real-time monitored viscosity data. The extrusion force is gradually increased in areas with strong viscosity to decompose the adhesion of the sludge. The stroke length is set in combination with the area and equipment stroke planning to reduce the repeatability of a single operation and improve efficiency. The excavation angle controls the crushing effect of the viscous sludge by adjusting the inclination direction of the equipment's tool, especially in deep areas. Precise control of high-pressure crushing operations is achieved by gradually reducing the excavation angle.

[0070] S505: According to the mixed construction method, the bucket width, stroke length, excavation depth, water pressure, nozzle angle and injection flow rate of the construction equipment are adjusted.

[0071] Specifically, the hybrid construction method combines the characteristics of layered continuous excavation and hydraulic dredging. When adjusting the equipment, the bucket width and stroke length are first set according to the upper hard silt to ensure accurate cutting of the upper silt. At the same time, the water pressure and jet flow are adjusted in combination with hydraulic dredging to clean up the lower silt with strong fluidity. The excavation depth is adjusted by alternating layered excavation and deep flushing. The ratio of layering and flushing is determined according to the real-time monitored density and thickness data. The nozzle angle and bucket position are linked to ensure seamless connection between upper excavation and lower flushing. In areas with greater depth, the water pressure and nozzle flow are gradually adjusted to achieve efficient segmented operation.

[0072] In one embodiment, if Figure 7 As shown, after step S50, the underwater dredging construction method further includes: S60: Real-time monitoring of the flatness of the construction surface of the area to be constructed, and comparing the flatness of the construction surface with a preset flatness standard value. If the flatness of the construction surface does not meet the preset flatness standard value, a flatness deviation result is obtained.

[0073] Specifically, through the laser scanner and multi-point ranging sensor installed on the construction equipment, the height data of the surface of the construction area is continuously obtained, and these data are compared with the stored preset flatness standard values ​​in real time. The absolute value of the height difference is used to calculate the flatness deviation of the current area. When it is detected that the deviation value of a certain area exceeds the allowable range, these data are marked as deviation points. At the same time, by comparing with the average height of the adjacent area, it is further confirmed whether adjustment is needed, and detailed flatness deviation results are generated for subsequent adjustments.

[0074] S70: Based on the flatness deviation result, a flatness adjustment algorithm is used to automatically calculate an adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets a preset flatness standard value.

[0075] Specifically, based on the flatness deviation results, the adjustment amplitude value is calculated through the flatness adjustment algorithm. The algorithm comprehensively considers the distribution range of the deviation points, the size of the deviation value and the height change trend of the adjacent areas to ensure that the adjusted construction action can quickly restore the flatness of the construction surface. For example, when the deviation value is large and the range is concentrated, accurate filling is achieved by increasing the excavation depth or reducing the equipment stroke length. When the deviation value is small but widely distributed, the adjustment is refined by leveling layer by layer. At the same time, the surface data of the adjusted area is monitored in real time, and the adjustment parameters are iteratively updated until the flatness of the construction surface fully meets the preset standard value.

[0076] In one embodiment, if Figure 8As shown, in step S70, based on the flatness deviation result, a flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets the preset flatness standard value, including: S701: According to the flatness deviation result, the flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value to obtain an adjustment amplitude value.

[0077] Specifically, by acquiring real-time monitored construction surface flatness data, it is divided into sections and compared with the preset flatness standard values, the deviation amplitude of each section is calculated, and these deviation amplitudes are integrated into the overall deviation result. In order to improve the accuracy of the calculation, the deviation amplitude of each section is assigned different weights by weighted average. The weight is set according to the absolute value of the deviation and the importance of the position. After the integration is completed, the mechanical characteristics and working capacity range of the construction equipment are further combined to impose upper and lower limit constraints on the adjustment amplitude value, thereby ensuring that the calculated adjustment amplitude value can effectively improve the flatness without causing additional load on the construction equipment.

[0078] S702: Based on the adjustment amplitude value, the flatness adjustment algorithm adjusts the working parameters of the construction equipment until the flatness of the construction surface meets the preset flatness standard value.

[0079] Specifically, first, according to the size of the adjustment amplitude value, the key parameters of the construction equipment, such as excavation depth and bucket width, are adjusted preferentially to quickly repair large-scale flatness deviations. Then, the excavation stroke length and the operating path are finely adjusted to deal with areas with large local deviations. During the adjustment process, the operating status of the construction equipment and the flatness changes of the construction surface are monitored in real time. If the adjustment amplitude value is not sufficient to significantly improve the local flatness, the parameters of the construction equipment are adjusted in small amounts multiple times to gradually approach the flatness standard value until the monitoring data shows that the entire construction surface has reached the preset flatness standard value.

[0080] In one embodiment, if Fig. 9 As shown, in step S701, the flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value according to the flatness deviation result, and obtains the adjustment amplitude value, including: S7011: The adjustment amplitude value is calculated using the following formula: Where X is the adjustment amplitude value, ΔP is the difference between the flatness of the construction surface and the preset flatness standard value; P 标准 is the preset flatness standard value; γ is the basic coefficient for flatness adjustment, which controls the initial ratio of the adjustment amplitude value; δ is the sensitivity coefficient of ΔP to X, κ is the environmental adjustment coefficient, min amplitude is the minimum limit value of the adjustment amplitude value, and max amplitude is the maximum limit value of the adjustment amplitude value.

[0081] Specifically, the difference between the real-time monitored construction surface flatness and the preset flatness standard value is first calculated to obtain the deviation between the actual flatness of the construction surface and the standard value. On this basis, the deviation is divided by the standard value to calculate the relative deviation ratio. Then, according to the basic coefficient γ of the flatness adjustment, the relative deviation ratio is converted into the basic adjustment amplitude value. In order to make the adjustment amplitude value adapt to the construction environment conditions, the environmental adjustment coefficient κ is introduced to dynamically correct the basic adjustment amplitude value. At the same time, combined with the sensitivity coefficient δ, the adjustment response under different deviation degrees is amplified or reduced to ensure that the sensitivity of the adjustment is adapted to the actual needs. Finally, by limiting the upper and lower limits of the adjustment amplitude value, that is, the minimum limit value min amplitude and the maximum limit value max amplitude, the abnormal operation or performance damage of the construction equipment caused by excessive or too small adjustment is avoided, thereby obtaining the optimized adjustment amplitude value. For example, assuming that the currently monitored construction surface flatness value is 8.5 mm, and the preset flatness standard value is 10 mm, the deviation between the construction surface flatness and the standard value is calculated to be ΔP = 10-8.5 = 1.5 mm, and the relative deviation ratio is ΔP / P 标准 =1.5 / 10=0.15. Assuming that the basic coefficient γ of the flatness adjustment is 2, the environmental adjustment coefficient κ is 1.1, and the sensitivity coefficient δ is 1.5, the basic adjustment amplitude value is calculated as 2×0.15×1.1=0.33. By introducing the minimum limit value min amplitude of 0.2 and the maximum limit value max amplitude of 0.5, the calculation results are constrained, and the adjustment amplitude value X is obtained to be 0.33 mm. The construction equipment dynamically corrects the working parameters based on the adjustment amplitude value, and finally ensures that the flatness of the construction surface gradually reaches the preset standard value.

[0082] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An underwater dredging construction method, characterized in that: The underwater dredging construction method comprises: Obtain environmental information of the area to be constructed; Inputting the environmental information into a sludge physical property model to obtain sludge physical property information; Comparing the sludge physical property information with a preset sludge standard value to obtain a comparison result, and determining the sludge category based on the comparison result; Based on the silt category, selecting a silt construction method corresponding to the silt category; According to the sludge construction method, the working parameters of the construction equipment are adjusted, and after the working parameters are adjusted, the dredging construction is performed until the dredging task of the area to be constructed is completed.

2. The underwater dredging construction method according to claim 1, characterized in that: The step of inputting the environmental information into the sludge physical property model to obtain sludge physical property information includes: The sludge physical property model normalizes the environmental factors of water flow velocity, tidal change, temperature change and water depth in the environmental information to obtain processed environmental factors, and calculates the influence of the processed environmental factors on the sludge physical properties through the sludge physical property model to obtain preliminary sludge physical properties; The sludge physical property model further dynamically adjusts the preliminary sludge physical properties according to real-time environmental changes to obtain adjusted sludge physical properties to compensate for fluctuations in environmental factors, and obtains the sludge physical property information based on the adjusted sludge physical properties.

3. The underwater dredging construction method according to claim 2, characterized in that: Based on the preliminary sludge physical property information, the sludge physical property model further dynamically adjusts the sludge physical property according to real-time environmental changes to compensate for fluctuations in environmental factors, thereby obtaining the sludge physical property information, including: The adjusted sludge physical properties are obtained by the following formula: Among them, the P adjusted is the adjusted sludge physical property, the P initial is the preliminary sludge physical property, the E i is the environmental factor, the i For the E i The weight coefficient of Ei is the i-th environmental factor, and n is the total number of all environmental factors; The physical property information of the sludge is obtained by the following formula: Among them, P final is the sludge physical property information, the β j Environmental time factor, the β j For the T j The weight coefficient of , Tj is the jth time factor, and m is the total number of all time factors.

4. The underwater dredging construction method according to claim 1, characterized in that: The step of comparing the sludge physical property information with a preset sludge standard value to obtain a comparison result, and determining the sludge category based on the comparison result includes: Based on the comparison result, if the values ​​of fluidity, viscosity, hardness and thickness in the sludge physical property information are all greater than or equal to the preset sludge standard values, the sludge is determined to be hard sludge; Based on the comparison result, if the values ​​of the fluidity, viscosity, hardness and thickness in the sludge physical property information are all lower than the preset sludge standard values, the sludge is determined to be soft sludge; Based on the comparison result, if the fluidity in the sludge physical property information is greater than or equal to the preset fluidity standard value and the hardness is less than the preset hardness standard value, the sludge is determined to be sludge with high fluidity; Based on the comparison result, if the viscosity in the sludge physical property information is greater than or equal to the preset viscosity standard value, and the hardness is greater than the preset hardness standard value, the sludge is determined to be highly viscous sludge; Based on the comparison result, if the thickness in the sludge physical property information is greater than or equal to the preset thickness standard value, and the fluidity is lower than the preset fluidity standard value, the sludge category is determined to be thick sludge.

5. The underwater dredging construction method according to claim 1, characterized in that: The selecting a sludge construction method corresponding to the sludge category based on the sludge category includes: If the sludge type is the hard sludge, a layered continuous excavation construction method is selected; If the sludge type is the soft sludge, the interval excavation construction method is selected; If the sludge type is the sludge with strong fluidity, the hydraulic dredging construction method is selected; If the sludge type is the sludge with strong viscosity, the pressurized extrusion excavation construction method is selected; If the sludge type is the thick layer sludge, a mixed construction method combining the layered continuous excavation construction method and the hydraulic dredging construction method is selected.

6. The underwater dredging construction method according to claim 1, characterized in that: The method of adjusting the working parameters of the construction equipment according to the sludge construction method, and performing dredging construction after adjusting the working parameters until the dredging task of the area to be constructed is completed, includes: According to the layered continuous excavation construction method, adjusting the bucket width, stroke length and excavation depth of the construction equipment; According to the interval excavation construction method, the bucket opening width, the excavation depth and the operation path of the construction equipment are adjusted; according to the hydraulic dredging construction method, the water pressure, nozzle angle and injection flow rate of the construction equipment are adjusted; According to the pressurized extrusion excavation construction method, adjusting the extrusion pressure, stroke length and excavation angle of the construction equipment; According to the mixed construction method, the bucket width, the stroke length, the excavation depth, the water pressure, the nozzle angle and the injection flow rate of the construction equipment are adjusted.

7. The underwater dredging construction method according to claim 1, characterized in that: The underwater dredging construction method further comprises: Real-time monitoring of the flatness of the construction surface of the area to be constructed, and comparing the flatness of the construction surface with a preset flatness standard value, if the flatness of the construction surface does not meet the preset flatness standard value, obtaining a flatness deviation result; Based on the flatness deviation result, a flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets the preset flatness standard value.

8. The underwater dredging construction method according to claim 7, characterized in that: Based on the flatness deviation result, the flatness adjustment algorithm is used to automatically calculate the adjustment amplitude value, and the working parameters of the construction equipment are adjusted until the flatness of the construction surface meets the preset flatness standard value, including: According to the flatness deviation result, the flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value to obtain the adjustment amplitude value; Based on the adjustment amplitude value, the flatness adjustment algorithm adjusts the working parameters of the construction equipment until the flatness of the construction surface meets the preset flatness standard value.

9. The underwater dredging construction method according to claim 8, characterized in that: The flatness adjustment algorithm calculates the difference between the flatness of the construction surface and the preset flatness standard value according to the flatness deviation result to obtain the adjustment amplitude value, including: The adjustment amplitude value is calculated by the following formula: Wherein, X is the adjustment amplitude value, ΔP is the difference between the flatness of the construction surface and the preset flatness standard value; P 标准 is the preset flatness standard value; the γ is the basic coefficient for flatness adjustment, which controls the initial ratio of the adjustment amplitude value; the δ is the sensitivity coefficient of the ΔP to the X, the κ is the environmental adjustment coefficient, the min amplitude is the minimum limit value of the adjustment amplitude value, and the max amplitude is the maximum limit value of the adjustment amplitude value.

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