Pneumatic tank type telescopic mud inlet pipe layered dredging equipment and method

Abstract

The invention discloses a pneumatic tank type telescopic mud inlet pipe layered dredging device and method. The device comprises a pneumatic tank arranged in the longitudinal direction of a ship body, a telescopic mud inlet pipe assembly correspondingly connected with the pneumatic tank, an air control system, a valve set and a drive control unit. The telescopic mud inlet pipe assembly comprises a sleeve type telescopic pipe, a driving mechanism, a guiding anti-twisting structure and an underwater sealing structure, and the mud inlet depth can be automatically adjusted. The pneumatic control system is communicated with the pneumatic tank through a gas pipeline, the valve group is connected in series with the sludge feeding and discharging pipelines and is linked with the pneumatic control system, and the control unit is driven to regulate and control the sludge feeding depth and the switching of sludge suction and discharging working conditions. The device can be aligned with a target mud layer, layered desilting is achieved, mixed layer suction and water pollution are avoided, the sludge resource utilization rate is increased, meanwhile, the running state can be monitored in real time, grounding blockage and mechanism overload are prevented, manual intervention is reduced, and desilting precision and equipment safety are improved.

Description

Technical Field

[0001] This invention belongs to the technical field of dredging equipment, specifically relating to a pneumatic tank-type telescopic mud inlet pipe layered dredging equipment and method. Background Technology

[0002] The sediment deposits at the bottom of inland waterways and near-shore waterways exhibit significant stratification, with substantial differences in water content, viscosity, density, and composition among different depths. This not only demands varying precision in dredging operations but also highlights the different resource utilization values ​​of each sediment layer. However, existing pneumatic dredging equipment generally suffers from structural defects, making it difficult to meet the requirements of precise stratification operations.

[0003] Traditional equipment often uses fixed, rigid inlet pipes with no automatic height adjustment. This makes it difficult to accurately target the mud layer, leading to excessive disturbance of the bottom sediment and residue on the upper layer, resulting in incomplete dredging and water pollution. Furthermore, existing equipment often employs a crude, single-tank, simultaneous suction method, lacking a layered operation logic. This easily leads to the mixing of upper and lower mud layers during suction, resulting in uneven dredging and significantly reducing the efficiency and value of subsequent resource utilization due to the complex composition of the mixed mud. In addition, traditional equipment lacks intelligent protection mechanisms. If the inlet touches the bottom or is absorbed by the riverbed, it cannot automatically identify and handle the situation, easily causing blockage of the inlet pipe, overload of the drive mechanism, or even equipment damage, requiring frequent manual intervention and severely impacting continuous operation efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a pneumatic tank-type telescopic mud inlet pipe layered dredging device and method to solve the technical defects of existing pneumatic dredging devices, such as fixed mud inlet depth, lack of layered operation, and lack of intelligent protection.

[0005] To achieve the above objectives, this application provides the following technical solution: A first aspect of this application provides a pneumatic tank-type telescopic sludge inlet pipe layered dredging device, comprising: Pneumatic tanks are arranged at intervals along the longitudinal direction of the hull. Each pneumatic tank has a mud inlet end at the front end, a pneumatic control end at the top end, and a mud discharge end at the tail end. The telescopic mud inlet pipe assembly is set up one-to-one with each pneumatic tank, and each telescopic mud inlet pipe assembly is sealed and connected to the mud inlet end of the corresponding pneumatic tank. The telescopic mud inlet pipe assembly includes a sleeve-type telescopic pipe, a drive mechanism, a guide anti-torsion structure, and an underwater sealing structure; the output end of the drive mechanism is connected to the inner tube of the sleeve-type telescopic pipe, and the guide anti-torsion structure and the underwater sealing structure are both embedded in the fitting gap between the outer tube and the inner tube of the sleeve-type telescopic pipe. The pneumatic control system is connected to each of the pneumatic control terminals via a gas pipeline and is used to perform air extraction and inflation operations on the inner cavity of each pneumatic canister. The valve assembly includes a mud inlet valve and a mud outlet valve. The mud inlet valve is connected in series to the connecting pipeline between the mud inlet end and the telescopic mud inlet pipe assembly. The mud outlet valve is connected in series to the mud outlet pipe at the mud outlet end. The valve assembly is linked with the pneumatic control system. The drive control unit is electrically connected to each drive mechanism, pneumatic control system and valve group, and is used to adjust the mud inlet depth of the telescopic mud inlet pipe assembly and switch the mud suction and discharge working modes.

[0006] In one optional embodiment, the pneumatic canisters are arranged at intervals along the longitudinal direction of the hull, and the number is at least two. The telescopic mud inlet pipe assemblies corresponding to each of the pneumatic tanks are configured with different mud inlet depths to achieve layered dredging.

[0007] In one optional embodiment, the sleeve-type telescopic pipe includes an outer pipe and an inner pipe that can extend and retract relative to the outer pipe in a vertical direction, and the bottom end of the inner pipe is provided with a mud inlet for sucking up sludge. The guide anti-torsion structure is used to limit the circumferential rotation of the inner tube relative to the outer tube, and the underwater sealing structure is a multi-stage sealing structure and is embedded in the mating gap between the outer tube and the inner tube to prevent mud and water from seeping in.

[0008] In one optional embodiment, both the mud inlet valve and the mud outlet valve are electrically controlled valves; During the sludge suction operation, the sludge inlet valve is open, the sludge outlet valve is closed, and the pneumatic control system evacuates air from the inner cavity of the pneumatic tank. During the sludge discharge operation, the sludge inlet valve is closed, the sludge discharge valve is open, and the pneumatic control system inflates the inner cavity of the pneumatic tank.

[0009] In one alternative embodiment, the drive mechanism is an electric actuator.

[0010] In one optional embodiment, the drive control unit includes a synchronization control module, a protection module, and a valve control module, wherein the synchronization control module, the protection module, and the valve control module are interconnected.

[0011] In one optional embodiment, the pneumatic control system includes: Air pump, air pipeline and pressure monitoring module; The air pump is connected in a sealed manner to the air control end of each pneumatic tank via an air delivery pipeline; The pressure monitoring module is arranged in the gas pipeline or the inner cavity of the pneumatic tank and is electrically connected to the drive control unit to monitor and provide feedback on the gas pressure parameters of the inner cavity of each pneumatic tank in real time.

[0012] In an optional embodiment, a control unit is further included, which is remotely connected to the drive control unit.

[0013] In one alternative embodiment, the control unit is a touch tablet.

[0014] A second aspect of this application provides a layered dredging method, wherein the method employs the pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment as described above, comprising: The sludge inlet depth of each telescopic sludge inlet pipe assembly is set by the drive control unit to form a layered sludge dredging gradient; The drive control unit controls the drive mechanism to extend and retract the inner tube to the preset mud inlet depth, and simultaneously controls the mud inlet valve to open and the mud outlet valve to close, thus entering the mud suction mode. Under the sludge suction condition, the drive control unit links with the pneumatic control system to start the air pumping operation. Utilizing the air pressure difference between the inner cavity of the pneumatic tank and the water body, the sludge in the water body is sucked into the pneumatic tank in sequence through the telescopic sludge inlet pipe assembly and the sludge inlet valve. The pressure monitoring module collects and feeds back the air pressure parameters of the inner cavity of the pneumatic tank in real time. When the amount of sludge stored in the pneumatic tank reaches a preset threshold, or the sludge suction time meets the preset requirements, the drive control unit triggers a working condition switching command, closes the sludge inlet valve, opens the sludge discharge valve, and controls the pneumatic control system to inflate the pneumatic tank cavity to complete the sludge discharge operation.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The telescopic inlet pipe assembly, with its sleeve-type telescopic tube and drive mechanism, enables automatic adjustment of the inlet depth, solving the problems of traditional fixed inlet pipes that cannot accurately align with the mud layer, resulting in uneven dredging and water pollution. Multiple pneumatic tanks arranged longitudinally along the hull, combined with the layered control logic of the drive control unit, overcome the problem of crude mixed-layer suction, achieving layered dredging and enhancing the resource utilization value of sludge. The drive control unit, in conjunction with the pneumatic control system and valve group, and with the guide anti-torsion structure and underwater sealing structure, can monitor the operating status in real time, effectively preventing bottom adhesion at the inlet, pipe blockage, and overload damage to the mechanism, reducing manual intervention.

[0016] 2. The pneumatic tanks are arranged at least two apart along the longitudinal direction of the hull, with each corresponding telescopic mud inlet pipe assembly configured with different mud inlet depths. This allows for targeted and precise layered dredging of mud layers at different depths, completely solving the problem of mixed layers caused by the extensive overall suction of traditional equipment. It also avoids the mixing of different mud components, improves the resource utilization value of each layer of mud, and allows multiple tanks to operate simultaneously, covering a larger dredging area. This significantly improves the overall efficiency of dredging operations in inland rivers and near-shore waters, and is suitable for operation scenarios with significant mud layer stratification.

[0017] 3. The vertical extension and retraction of the inner tube allows for precise adjustment of the sludge inlet depth. The guide and anti-torsion structure prevents pipe bending and seal damage caused by circumferential rotation of the inner tube. The multi-stage sealing structure effectively prevents mud and water from seeping into the fitting gaps, protecting internal components from corrosion. The sludge inlet enables efficient sludge suction.

[0018] 4. The electric control valve has a fast response speed, which can realize the rapid and accurate switching between sludge suction and discharge conditions. The linkage control avoids the air pressure loss and sludge leakage caused by the asynchronous action of the valve and the pneumatic control system. The negative pressure suction during sludge suction and the positive pressure push during sludge discharge ensures the smoothness of sludge suction and discharge, reduces sludge residue in the pipeline, improves the efficiency and stability of sludge suction and discharge operations, and reduces the probability of equipment failure.

[0019] 5. The electric push rod outputs stable thrust, providing continuous and controllable power for the extension and retraction of the inner tube, adapting to the power requirements of complex underwater operating environments. Its precise extension and retraction control enables fine-tuning and depth setting of the mud entry point, ensuring that the mud entry port is accurately aligned with the target mud layer. Compared with other drive mechanisms, the electric push rod has a simple structure, low failure rate, and convenient maintenance. It can also achieve precise electrical signal linkage with the drive control unit, providing reliable power support for depth control of layered dredging and improving the accuracy of equipment operation.

[0020] 6. The synchronous control module ensures the synchronization and accuracy of the depth adjustment of each telescopic mud inlet pipe assembly, the protection module realizes real-time monitoring of the equipment's operating status, and the valve control module realizes the linkage between the valve group and the pneumatic control system. The modules share data and coordinate actions, avoiding the functional limitations of a single control unit and improving the overall control accuracy and operational coordination of the equipment.

[0021] 7. The air pump enables switching between pumping and filling modes, providing stable air pressure for sludge suction and discharge. The sealed connection of the air supply and exhaust pipes ensures leak-free gas transmission. The pressure monitoring module collects and feeds back the air pressure parameters inside the pneumatic tank in real time, providing data support for the drive control unit to adjust the pumping and filling rate. This avoids equipment damage and reduced sludge removal efficiency caused by excessively high or low air pressure, achieving precise air pressure control and ensuring that sludge suction and discharge operations are carried out in a stable air pressure environment, thereby improving operational safety. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of a pneumatic tank-type telescopic mud inlet pipe layered dredging device provided by the present invention; Figure 2 This invention provides a cross-sectional view of the pneumatic tank and telescopic mud inlet pipe assembly in a pneumatic tank-type telescopic mud inlet pipe layered dredging device. Figure 3 This is a schematic diagram of the guide and anti-torsion structure in the pneumatic tank-type telescopic mud inlet pipe layered dredging equipment provided by the present invention. Figure 4 This is a schematic diagram of the drive control unit in the pneumatic tank-type telescopic mud inlet layered dredging device provided by the present invention. In the diagram: 1. Hull; 2. Pneumatic tank; 3. Exhaust pipe; 4. Mud discharge port; 5. Mud discharge valve; 6. Outer pipe; 7. Inner pipe; 8. Electric push rod; 9. Guide anti-torsion structure; 10. Underwater seal; 11. Mud inlet; 12. Mud inlet valve; 13. Synchronous control module; 14. Remote control unit; 15. Protection module; 16. Pneumatic control system; 17. Mud discharge pipe; 18. Valve control module; 19. Drive control unit. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] To address the technical deficiencies mentioned in the background section, this embodiment provides a pneumatic tank-type telescopic mud inlet pipe layered dredging device and method.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings: like Figures 1-4As shown, in a first aspect of the present invention, a pneumatic tank-type telescopic mud inlet pipe layered dredging device is provided, comprising: pneumatic tanks 2, arranged longitudinally along the hull 1 at intervals, each pneumatic tank 2 having a mud inlet end at its front end, a pneumatic control end at its top end, and a mud discharge end at its rear end; telescopic mud inlet pipe assemblies, corresponding one-to-one with each pneumatic tank 2, each telescopic mud inlet pipe assembly being sealed to the mud inlet end of the corresponding pneumatic tank 2; wherein, the telescopic mud inlet pipe assembly includes a sleeve-type telescopic pipe, a drive mechanism, a guide anti-torsion structure 9, and an underwater sealing structure 10; the output end of the drive mechanism is connected to the inner tube of the sleeve-type telescopic pipe, and the guide anti-torsion structure 9 is connected to the underwater sealing structure 10. The components 10 are all embedded in the fitting gap between the outer and inner tubes of the sleeve-type telescopic tube; the pneumatic control system 16 is connected to each pneumatic control end via the exhaust pipe 3, and is used to perform air extraction and air filling operations on the inner cavity of each pneumatic tank 2; the valve group includes a mud inlet valve 12 and a mud outlet valve 5, the mud inlet valve 12 is connected in series to the connection pipe between the mud inlet end and the telescopic mud inlet tube assembly, and the mud outlet valve 5 is connected in series to the mud outlet pipe 17 at the mud outlet end, and the valve group is linked with the pneumatic control system 16; the drive control unit 19 is electrically connected to each drive mechanism, the pneumatic control system 16 and the valve group respectively, and is used to adjust the mud inlet working depth of the telescopic mud inlet tube assembly and switch the suction and discharge working modes.

[0029] During implementation, at least two pneumatic tanks 2 are used, which are evenly spaced along the longitudinal direction of the hull 1. The spacing between them is adjusted according to the length of the hull 1, the coverage area of ​​the dredging operation, and the stratification characteristics of the mud layer. All pneumatic tanks 2 are fixed to the deck area of ​​the hull 1 using a double fixing method of welding and bolt reinforcement. Shock-absorbing pads are added at the contact points between the tank and the deck to reduce the impact of vibration on the sealing performance and connection stability of the tank during equipment operation.

[0030] The telescopic mud inlet pipe assembly is installed perpendicular to the deck of the ship hull 1. Its top end is connected to the front mud inlet end of the pneumatic tank 2 by a flange seal. A high-pressure resistant rubber gasket is installed at the flange connection. The gasket is made of nitrile rubber, which is suitable for the corrosive environment of underwater silt operation, ensuring the sealing of the connection and preventing mud and water leakage and air pressure leakage.

[0031] In this embodiment, the air pump of the pneumatic control system 16 is arranged in the equipment compartment of the hull 1. The exhaust pipe 3 is laid along the side of the deck of the hull 1 and fixed by pipe clamps. The exhaust pipe 3 is made of stainless steel and the pipe diameter is designed according to the volume of the pneumatic tank 2 and the air extraction and inflation rate. The exhaust pipe 3 and the pneumatic control end at the top of the pneumatic tank 2 are also connected by a sealed joint. The joint has a built-in sealing ring to prevent leakage during gas transmission.

[0032] The mud inlet valve 12 and the mud outlet valve 5 of the valve group are installed near the mud inlet end and mud outlet end pipeline of the pneumatic tank 2, respectively, to reduce the sludge residue and resistance caused by the pipeline length. The mud inlet valve 12 is connected in series between the mud inlet end of the pneumatic tank 2 and the connecting pipeline of the telescopic mud inlet pipe assembly. The mud outlet valve 5 is connected in series between the mud outlet end of the pneumatic tank 2 and the mud outlet pipe 17. The mud outlet pipe 17 is laid longitudinally along the hull 1 and extends to the sludge collection area outside the hull 1 or the docking position of the transport ship.

[0033] In this embodiment, the drive control unit 19 is integrated into an independent control cabinet located in the operating room of the ship hull 1. The control cabinet is waterproof, dustproof, and shockproof. A cooling fan is installed inside the cabinet to ensure the stable operation of the drive control unit 19. The remote control unit 14 is a handheld touch tablet that establishes stable communication with the drive control unit 19 in the control cabinet via wireless Bluetooth or 4G signal. The communication distance is not less than 50m, which meets the needs of remote control on site.

[0034] The pneumatic tank 2 is a pressure-bearing tank made of 304 stainless steel, which has good corrosion resistance and pressure resistance. It is suitable for the operating pressure requirements of negative pressure sludge suction and positive pressure sludge discharge. The volume of the tank is designed according to the efficiency requirements of dredging operations, and 1-3m³ is usually selected. The front end of the tank is the sludge inlet end, which is equipped with a flange interface to achieve a sealed connection with the telescopic sludge inlet pipe assembly; the top end is the pneumatic control end, which is equipped with an air supply interface and connected to the air supply and exhaust pipe 3; the tail end is the sludge discharge end, which is equipped with a large-diameter flange interface and connected to the sludge discharge pipe 17. The diameter of the sludge discharge end is larger than that of the sludge inlet end to ensure smooth sludge discharge and reduce the risk of pipeline blockage.

[0035] Furthermore, the inner wall of the pneumatic tank 2 is polished to reduce the adhesion of sludge to the inner wall of the tank. A drain port is set at the bottom of the tank to facilitate cleaning of the tank during equipment maintenance. A pressure gauge interface is set at the top of the tank, which can be connected to an external pressure gauge to realize intuitive monitoring of the air pressure inside the tank. At the same time, this interface is connected to the pressure monitoring module of the pneumatic control system 16 to complete the real-time acquisition and feedback of air pressure parameters.

[0036] In this embodiment, the telescopic mud inlet pipe assembly is a component for adjusting the mud inlet depth, corresponding one-to-one with each pneumatic tank 2, including a sleeve-type telescopic pipe, a drive mechanism, a guide anti-torsion structure 9, and an underwater sealing structure 10; wherein, the sleeve-type telescopic pipe is the main structure, the drive mechanism provides the telescopic power, the guide anti-torsion structure 9 ensures the straightness of the telescopic process, and the underwater sealing structure 10 prevents mud and water from seeping into the fitting gap of the telescopic pipe.

[0037] Furthermore, the sleeve-type telescopic pipe includes an outer pipe 6 and an inner pipe 7. Both the outer pipe 6 and the inner pipe 7 are made of stainless steel. The outer pipe 6 is a fixed pipe, with its top end sealed to the mud inlet end of the pneumatic tank 2 and its bottom end having an open structure. The inner pipe 7 can extend and retract relative to the outer pipe 6 in the vertical direction. The extension stroke is designed according to the mud depth requirements of the dredging operation, typically 0-3m, and is suitable for inland rivers and near-shore waters with a water depth of 3-6m.

[0038] The bottom end of the inner tube 7 is provided with a sludge inlet 11. The sludge inlet 11 has a funnel-shaped structure to increase the coverage area for sludge suction. A filter screen is installed inside the sludge inlet 11. The filter screen has a pore size of 5-10mm, which can filter large debris in the water and prevent debris from entering the pipeline and causing blockage. The filter screen adopts a detachable design for easy cleaning and replacement.

[0039] Furthermore, the drive mechanism uses an electric push rod 8 to provide power for the extension and retraction of the inner tube 7. The fixed end of the electric push rod 8 is fixed to the outer wall of the outer tube 6 through a bracket, and the output end is connected to the outer wall of the inner tube 7 through a transmission connection. The connection position adopts a hinged method to accommodate the slight angle adjustment during the extension and retraction process and avoid jamming caused by a hard connection.

[0040] Specifically, the electric push rod 8 is an industrial-grade waterproof type with an IP68 protection rating, suitable for underwater operation environments. The push rod has a built-in displacement encoder, which can collect the extension and retraction displacement signals of the push rod in real time and transmit the signals to the synchronous control module 13 of the drive control unit 19 to achieve precise closed-loop control of the displacement. The rated thrust of the electric push rod 8 is designed according to the weight of the inner tube 7 and the underwater resistance, and is usually selected as 5000N-10000N. The extension and retraction speed is 5-10mm / s to ensure the stability and accuracy of the extension and retraction process.

[0041] In this embodiment, the guide anti-torsion structure 9 is embedded in the fitting gap between the outer tube 6 and the inner tube 7. It adopts a keyway guide fit method. An axial keyway is provided on the inner side wall of the outer tube 6, and a guide key that matches the keyway is provided on the outer side wall of the inner tube 7. The fitting gap between the guide key and the keyway is 0.1-0.2mm. This ensures the smooth expansion and contraction of the inner tube 7 in the vertical direction, and effectively restricts the circumferential rotation of the inner tube 7 relative to the outer tube 6. It prevents problems such as pipe bending and damage to the sealing structure caused by torsion of the inner tube 7 during expansion and contraction.

[0042] In addition, the guide key and keyway of the guide anti-torsion structure 9 are made of wear-resistant nylon material, which reduces wear during the mating process and improves the service life of the components.

[0043] In this embodiment, the underwater sealing structure 10 is a multi-stage sealing structure, which is embedded in the mating gap between the outer tube 6 and the inner tube 7 of the mud inlet pipe, and is located on the outside of the guide anti-torsion structure 9. It adopts a combination of step seal and double-acting dust ring for sealing. The step seal is the main sealing element to achieve mud and water sealing under high pressure, and the double-acting dust ring is the auxiliary sealing element to prevent underwater mud, sand and debris from entering the mating gap and wearing the sealing element and the guide structure.

[0044] Furthermore, the underwater sealing structure 10 is arranged in a ring along the inner side of the bottom end of the outer tube 6, and fits tightly against the outer wall of the inner tube 7, ensuring effective sealing throughout the full extension and retraction stroke of the inner tube 7, preventing mud and water from seeping into the interior of the telescopic tube, and avoiding damage to components such as the electric push rod 8 due to mud and water erosion.

[0045] In this embodiment, the pneumatic control system 16 is a power system for realizing negative pressure sludge suction and positive pressure sludge discharge, including an air pump, an exhaust pipe 3, and a pressure monitoring module. The air pump is an integrated variable frequency vacuum pump and air compressor, which is arranged in the equipment compartment of the hull 1. It can switch between air extraction and air filling modes according to the operation requirements. The air extraction rate is 0.5-1.5 m³ / min, and the air filling rate is 0.3-1.0 m³ / min. The variable frequency control can realize stepless adjustment of the air extraction and air filling rates to adapt to the dredging operation requirements of different mud layer characteristics.

[0046] The exhaust pipe 3 is a stainless steel pipe. One end is connected to the air outlet / inlet of the air pump, and the other end is sealed to the air control end of each pneumatic tank 2 via a branch pipe. Each branch pipe is equipped with an independent electrically controlled air valve, which is controlled by the valve control module 18 of the drive control unit 19. This enables independent air extraction and inflation control of each pneumatic tank 2, meeting the needs of alternating operation of multiple tanks.

[0047] The pressure monitoring module uses a high-precision pressure sensor, which can be selectively arranged in the main pipeline of the exhaust pipe 3 or in the inner cavity of each pneumatic tank 2. In this embodiment, it is preferable to arrange a pressure sensor at the pressure gauge interface on the top of each pneumatic tank 2 to realize independent and accurate monitoring of the air pressure in the inner cavity of each pneumatic tank 2.

[0048] In this embodiment, the pressure monitoring module is electrically connected to the drive control unit 19, which can convert the real-time collected air pressure parameters into electrical signals and transmit them to the drive control unit 19. This provides data support for switching between sludge suction and discharge conditions and for precise control of air pressure. When the air pressure inside the tank exceeds the preset threshold, the drive control unit 19 can issue an alarm in a timely manner and control the air pump to adjust its working state to ensure operational safety.

[0049] In this embodiment, the valve assembly includes a mud inlet valve 12 and a mud discharge valve 5. Both the mud inlet valve 12 and the mud discharge valve 5 are electrically controlled valves, and stainless steel electric ball valves are selected to suit the water operation environment. The nominal diameter of the valve is designed according to the pipe diameter. The nominal diameter of the mud inlet valve 12 is consistent with the pipe diameter of the telescopic mud inlet pipe assembly, and the nominal diameter of the mud discharge valve 5 is consistent with the pipe diameter of the mud discharge pipe 17, so as to ensure the smooth flow of sludge.

[0050] Both the mud inlet valve 12 and the mud outlet valve 5 are electrically connected to the valve control module 18 of the drive control unit 19. The valve control module 18 controls their opening and closing actions. The valve opening and closing response time is ≤1s, ensuring the timely switching between mud suction and discharge conditions.

[0051] Furthermore, the mud inlet valve 12 is connected in series between the mud inlet end of the pneumatic tank 2 and the connecting pipe of the telescopic mud inlet pipe assembly to control the opening and closing of the pipe; the mud discharge valve 5 is connected in series between the mud discharge end of the pneumatic tank 2 and the mud discharge pipe 17 to control the opening and closing of the pipe, and the opening and closing actions of the mud inlet valve 12 and the mud discharge valve 5 are linked with the air extraction and air filling actions of the pneumatic control system 16 to ensure precise switching between mud suction and mud discharge conditions without action conflict.

[0052] In this embodiment, the drive control unit 19 is integrated in the control cabinet and includes a synchronous control module 13, a protection module 15 and a valve control module 18. The three modules establish mutual communication connections through an internal bus to realize data sharing and collaborative control.

[0053] The synchronous control module 13 is electrically connected to the electric push rod 8 of each telescopic mud inlet pipe assembly, receives the displacement feedback signal transmitted by the built-in displacement encoder of the electric push rod 8, and outputs telescopic control commands to the electric push rod 8 according to the preset mud inlet depth parameters, so as to realize closed-loop precise control of the telescopic stroke of the inner tube 7 of each mud inlet pipe.

[0054] The synchronous control module 13 can realize the independent control and synchronous calibration of each electric push rod 8. It can set different mud inlet depths for each telescopic mud inlet pipe assembly corresponding to each pneumatic tank 2 according to the mud layer stratification characteristics, and can also synchronously adjust the height of each mud inlet 11 during operation to adapt to the deviation in operating depth caused by the change in the draft of the hull 1.

[0055] The protection module 15 is electrically connected to the drive circuit of the electric push rod 8 and the pressure monitoring module of the pneumatic control system 16. It collects the load current parameters of the electric push rod 8 and the internal air pressure parameters of the pneumatic tank 2 in real time, and compares the collected parameters with the preset safety threshold in real time.

[0056] The load current safety threshold of the electric push rod 8 is set according to its rated current, which is usually 1.2-1.5 times the rated current. When the load current exceeds the threshold and lasts for more than 2 seconds, it is judged as an abnormal working condition such as the mud inlet 11 touching the bottom, being blocked, or encountering large debris. The air pressure safety threshold of the pneumatic tank 2 is -0.1MPa~0.6MPa. When the air pressure inside the tank exceeds this range, it is judged as an abnormal working condition such as a malfunction of the pneumatic control system or a pipeline leak.

[0057] When the protection module 15 determines that the equipment is in an abnormal operating condition, it will immediately trigger the preset protection actions, including stopping the descent of the electric push rod 8, controlling the electric push rod 8 to raise the mud inlet 11 by a preset distance (0.2-0.5m), sending an alarm signal to the remote control unit 14, and controlling the pneumatic control system 16 to briefly supply air to the mud inlet pipe, etc., effectively avoiding equipment damage and improving operational safety.

[0058] The valve control module 18 is a linkage control module for valves and the pneumatic control system. It is electrically connected to the air pump and branch pipeline electric control valves of the mud inlet valve 12, the mud outlet valve 5, and the pneumatic control system 16. According to the working conditions, it outputs opening, closing and switching control commands to achieve precise matching between the opening and closing sequence of the mud inlet valve 12 and the mud outlet valve 5 and the air extraction and inflation actions of the pneumatic control system 16.

[0059] The valve control module 18 has a built-in preset action logic. During the sludge suction operation, it controls the sludge inlet valve 12 to open and the sludge outlet valve 5 to close. At the same time, it controls the pneumatic control system 16 to start the air extraction mode to extract air from the inner cavity of the pneumatic tank 2. During the sludge discharge operation, it controls the sludge inlet valve 12 to close and the sludge outlet valve 5 to open. At the same time, it controls the pneumatic control system 16 to switch to the air filling mode to fill the inner cavity of the pneumatic tank 2. This ensures the coordination of the actions of each component and avoids problems such as sludge leakage and air pressure loss caused by asynchronous actions.

[0060] In this embodiment, the remote control unit 14 is a remote control component, using an industrial-grade touch panel, integrating functions such as parameter setting, status monitoring, mode switching, and emergency control. The remote control unit 14 is wirelessly connected to the drive control unit 19 via Bluetooth or 4G, enabling remote setting of operating parameters, including the mud inlet depth, suction time, air pressure threshold, and load current threshold of each telescopic mud inlet component. It can receive real-time equipment operating status parameters transmitted by the drive control unit 19, including the actual depth of each mud inlet 11, the load current of the electric push rod 8, the internal air pressure of the pneumatic tank 2, and the opening and closing status of the valves, and display them intuitively on the screen. It can remotely start and stop the equipment, remotely switch between suction and discharge modes, and remotely switch between manual and automatic working modes. It also has functions such as emergency shutdown and emergency pipe lifting. When an emergency occurs on site, an emergency control command can be issued through the remote control unit 14 to promptly control the equipment to stop operation, improving the controllability of the operation.

[0061] Furthermore, this dredging equipment has two working modes: manual and automatic. The two modes can be seamlessly switched through the remote control unit 14 to meet the needs of different operating scenarios. The control logic in both modes is implemented by the drive control unit 19, and the coordination of the actions of each component remains consistent.

[0062] The automatic working mode is the equipment's regular operating mode, suitable for dredging scenarios where the mud layer is relatively uniform and the working area is large. In this mode, the operator only needs to preset the operating parameters through the remote control unit 14. The drive control unit 19 will automatically complete all operating processes such as mud inlet depth adjustment, mud suction and discharge mode switching, equipment operation monitoring and abnormal operating condition protection according to the preset parameters, without manual intervention, thus improving operating efficiency.

[0063] After the operating parameters are preset, the synchronous control module 13 of the drive control unit 19 will automatically output extension and retraction control commands to each electric push rod 8, controlling the inner tube 7 of each mud inlet pipe to extend and retract to the preset mud inlet depth, forming a layered dredging gradient; after all mud inlets 11 reach the preset depth, the valve control module 18 will automatically control the mud inlet valve 12 to open and the mud outlet valve 5 to close, and at the same time control the pneumatic control system 16 to start the air extraction mode, and the equipment enters the automatic mud suction mode; during the mud suction process, the pressure monitoring module collects the internal air pressure parameters of the pneumatic tank 2 in real time, and the protection module 15 monitors the negative pressure of the electric push rod 8 in real time. Regarding the current carrying capacity parameter, when the amount of sludge stored in the pneumatic tank 2 reaches a preset threshold (determined by changes in air pressure inside the tank or the duration of sludge suction), the valve control module 18 will automatically switch the control equipment to the sludge discharge mode, close the sludge inlet valve 12, open the sludge discharge valve 5, and simultaneously control the pneumatic control system 16 to switch to the air filling mode. After the sludge discharge is completed, the equipment will automatically switch back to the sludge suction mode and cycle through the sludge suction and discharge actions until the preset work area is cleared. If an abnormal condition occurs during the operation, the protection module 15 will automatically trigger the protection action. After the abnormality is eliminated, the equipment will automatically resume operation.

[0064] The manual working mode is suitable for scenarios with complex mud layer distribution, small working area, or equipment debugging and maintenance. In this mode, the operator can remotely control each component independently through the remote control unit 14, including the individual extension and retraction of the electric push rod 8, the individual opening and closing of the mud inlet valve 12 and the mud outlet valve 5, and the individual switching of the air extraction / air filling mode of the pneumatic control system 16, so as to achieve precise manual control of the dredging operation.

[0065] In manual mode, the protection module 15 of the drive control unit 19 remains operational, monitoring the equipment's operating parameters in real time. When abnormal conditions occur, it automatically triggers protective actions to prevent equipment damage due to human error and ensure operational safety. Simultaneously, the screen of the remote control unit 14 displays the real-time operating status parameters of each component, providing data support for manual operation and improving the accuracy of manual control.

[0066] A second aspect of the present invention provides a layered dredging method, wherein the method employs the pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment described above, comprising: Step 1: Set the sludge inlet depth of each telescopic sludge inlet pipe assembly through the drive control unit to form a layered sludge dredging gradient; For example, after the equipment is assembled, an initialization check is performed first. After the initialization check is passed, the operator selects the working mode (automatic / manual) through the remote control unit 14 and presets the mud inlet depth of each telescopic mud inlet pipe assembly according to the stratification characteristics of the mud layer in the working water area. This ensures that the mud inlet 11 corresponding to each pneumatic tank 2 is at different vertical heights, forming an orderly stratified dredging gradient. For example, the mud inlet 11 corresponding to the front pneumatic tank 2 is preset to a shallow floating mud layer depth of 0-1m, and the mud inlet 11 corresponding to the rear pneumatic tank 2 is preset to a deep silt layer depth of 1-2m. The preset mud inlet depth can be precisely adjusted according to the actual mud layer detection data. At the same time, operating parameters such as the mud suction time, the air pressure threshold of the pneumatic tank 2 cavity, and the load current threshold of the electric push rod 8 are preset. All preset parameters are transmitted to the drive control unit 19 via wireless communication and are stored and executed by the drive control unit 19.

[0067] After the operating parameters are preset, the operator sends a device start command through the remote control unit 14. After the drive control unit 19 receives the command, the synchronous control module 13 outputs extension control command to the electric push rod 8 of each extension mud inlet pipe assembly. The electric push rod 8 performs extension and retraction actions according to the command, driving the inner tube 7 of the mud inlet pipe to move vertically relative to the outer tube 6 of the mud inlet pipe.

[0068] The displacement encoder built into the electric push rod 8 will collect the telescopic displacement signal in real time and feed the signal back to the synchronous control module 13. The synchronous control module 13 compares the displacement feedback signal with the preset mud inlet depth parameter to achieve closed-loop precise control of the telescopic stroke of the inner tube 7 of the mud inlet pipe. When the telescopic stroke of the inner tube 7 of the mud inlet pipe reaches the preset mud inlet depth, the synchronous control module 13 will immediately control the electric push rod 8 to stop moving, so that the mud inlet 11 is precisely stopped at the preset mud layer depth. After all telescopic mud inlet pipe components have completed the mud inlet depth adjustment, each mud inlet 11 will be at a different mud layer depth, forming a stable layered operation layout, which is ready for subsequent layered suction.

[0069] Step 2: Use the drive control unit to control the drive mechanism to extend and retract the inner tube to the preset mud inlet depth, and simultaneously control the mud inlet valve to open and the mud outlet valve to close, thus entering the mud suction mode. For example, after the operation parameters are preset, the operator sends a device start command through the remote control unit 14. After the drive control unit 19 receives the command, the synchronous control module 13 outputs a telescopic control command to the electric push rod 8 of each telescopic mud inlet pipe assembly. The electric push rod 8 performs telescopic action according to the command, driving the inner tube 7 of the mud inlet pipe to move vertically relative to the outer tube 6 of the mud inlet pipe.

[0070] The displacement encoder built into the electric push rod 8 will collect the telescopic displacement signal in real time and feed the signal back to the synchronous control module 13. The synchronous control module 13 compares the displacement feedback signal with the preset mud inlet depth parameter to achieve closed-loop precise control of the telescopic stroke of the inner tube 7 of the mud inlet pipe. When the telescopic stroke of the inner tube 7 of the mud inlet pipe reaches the preset mud inlet depth, the synchronous control module 13 will immediately control the electric push rod 8 to stop moving, so that the mud inlet 11 is precisely stopped at the preset mud layer depth. After all telescopic mud inlet pipe components have completed the mud inlet depth adjustment, each mud inlet 11 will be at a different mud layer depth, forming a stable layered operation layout, which is ready for subsequent layered suction.

[0071] Step 3: Under the sludge suction condition, the drive control unit links with the pneumatic control system to start the air pumping operation. Utilizing the air pressure difference between the inner cavity of the pneumatic tank and the water body, the sludge in the water body is sucked into the pneumatic tank in sequence through the telescopic sludge inlet pipe assembly and the sludge inlet valve. The pressure monitoring module collects and feeds back the air pressure parameters of the inner cavity of the pneumatic tank in real time. For example, after each sludge inlet 11 reaches the preset depth, the valve control module 18 of the drive control unit 19 will automatically trigger the sludge suction operation command. First, it controls the sludge inlet valve 12 corresponding to all pneumatic tanks 2 to open and the sludge discharge valve 5 to close, ensuring the opening and closing of the sludge suction pipeline and the sludge discharge pipeline. Then, it controls the pneumatic control system 16 to start the air pumping mode, and the air pump starts to work, performing air pumping operation on the inner cavity of each pneumatic tank 2 through the air supply and exhaust pipe 3.

[0072] The pressure monitoring module of the pneumatic control system 16 collects the air pressure parameters of the inner cavity of each pneumatic tank 2 in real time and feeds the parameters back to the drive control unit 19. The valve control module 18 adjusts the pumping rate of the air pump in real time according to the air pressure parameters to create a stable negative pressure environment in the inner cavity of the pneumatic tank 2. Utilizing the air pressure difference between the inner cavity of the pneumatic tank 2 and the water body, silt of the corresponding depth layer in the water body is sequentially sucked into the pneumatic tank 2 through the sludge inlet 11, the inner pipe 7 of the sludge inlet pipe, the outer pipe 6 of the sludge inlet pipe, and the sludge inlet valve 12. Since each sludge inlet 11 is at a different sludge depth, each pneumatic tank 2 can achieve independent and precise suction of silt of different depth layers, avoiding the mixing of upper and lower sludge layers and achieving the core goal of layered dredging.

[0073] During the sludge suction process, the protection module 15 of the drive control unit 19 will monitor the load current parameters of each electric push rod 8 in real time. When the load current of a certain electric push rod 8 exceeds the preset threshold, it is determined that the sludge inlet 11 has encountered abnormal conditions such as bottoming out or blockage. The protection module 15 will immediately trigger the protection action, stop the action of the electric push rod 8, and control it to raise the sludge inlet 11 by a preset distance. At the same time, it will send an alarm signal to the remote control unit 14. After the abnormality is eliminated, the sludge suction operation of the sludge inlet 11 will be resumed.

[0074] Step 4: When the amount of sludge stored in the pneumatic tank reaches a preset threshold, or the sludge suction time meets the preset requirements, the drive control unit triggers a working condition switching command, closes the sludge inlet valve, opens the sludge discharge valve, and controls the pneumatic control system to inflate the pneumatic tank cavity to complete the sludge discharge operation.

[0075] For example, during the sludge suction process, the drive control unit 19 will determine in real time whether the amount of sludge stored in the pneumatic tank 2 has reached a preset threshold based on the preset sludge suction time or the air pressure change inside the pneumatic tank 2. When the sludge suction time is used for determination, if the sludge suction time reaches the preset sludge suction time, it is determined that the sludge suction is completed; when the air pressure change is used for determination, if the negative pressure value inside the pneumatic tank 2 tends to stabilize and no longer changes significantly with the air extraction time, it indicates that the sludge in the pneumatic tank 2 is basically full, and it is determined that the sludge suction is completed.

[0076] When the drive control unit 19 detects that the sludge storage in a certain pneumatic tank 2 has reached a preset threshold, it will immediately send a sludge discharge condition command to the valve group and branch pipeline of the pneumatic control system 16 corresponding to that pneumatic tank 2, realize independent sludge discharge control of each pneumatic tank 2, ensure that the sludge suction operation of other pneumatic tanks 2 is not affected, realize the alternating suction and discharge of sludge from multiple tanks, and improve the overall operation efficiency.

[0077] After the drive control unit 19 issues the sludge discharge condition command, the valve control module 18 controls the corresponding sludge inlet valve 12 of the pneumatic tank 2 to close and the sludge discharge valve 5 to open, ensuring the sludge suction pipeline is closed and the sludge discharge pipeline is open and closed. Then, the branch pipeline electric control valve of the pneumatic control system 16 is controlled to switch the air pump to the inflation mode, and the inner cavity of the pneumatic tank 2 is inflated through the air supply and exhaust pipe 3.

[0078] During inflation, the pressure monitoring module collects the air pressure parameters inside the tank in real time. The valve control module 18 adjusts the inflation rate of the air pump according to the air pressure parameters, so that a stable positive pressure environment is formed inside the pneumatic tank 2. Using the positive pressure inside the tank, the sludge stored in the tank at the corresponding depth is discharged sequentially through the sludge discharge end, sludge discharge valve 5, and sludge discharge pipe 17 to the preset sludge collection area or transport ship, realizing the stratified discharge of sludge. During the sludge discharge process, the positive pressure inside the tank can effectively push out the sludge adhering to the inner wall of the tank, ensuring the thoroughness of sludge discharge and reducing the amount of sludge residue inside the tank.

[0079] After a pneumatic tank 2 completes sludge discharge, the valve control module 18 of the drive control unit 19 will automatically control the corresponding sludge discharge valve 5 of the pneumatic tank 2 to close and the sludge inlet valve 12 to open. At the same time, it will control the pneumatic control system 16 to switch back to the air extraction mode. The pneumatic tank 2 will then enter the sludge suction mode again and perform the sludge suction and discharge actions in a cycle.

[0080] Each pneumatic tank 2 independently and alternately performs the sludge suction and discharge actions according to the above steps, realizing continuous stratified suction and discharge of sludge at different depths. The operator can monitor the operating status and equipment operating parameters of each pneumatic tank 2 in real time through the remote control unit 14, and adjust the operating parameters according to the actual sludge removal progress. When the sludge removal in the work area reaches the preset standard, the operator issues a stop command through the remote control unit 14. The drive control unit 19 controls all sludge inlet valves 12 and sludge outlet valves 5 to close, the pneumatic control system 16 stops working and depressurizes, and the synchronous control module 13 controls all electric push rods 8 to retract, driving the inner tube 7 of the sludge inlet pipe to reset, and the equipment completes this stratified sludge removal operation.

[0081] This pneumatic tank-type telescopic mud inlet pipe stratified dredging equipment and method is mainly applicable to stratified dredging operations in inland rivers, lakes, reservoirs, and near-shore shallow waterways. It is suitable for water environments with a water depth of 3-6m and obvious mud layer stratification. It can achieve precise stratified dredging of mud layers with a depth of 0-3m. The types of dredged silt include surface floating mud, middle layer silt, bottom layer silt, and other mud layers with different characteristics. At the same time, it can achieve classified collection of mud layers with different characteristics, improve the resource utilization value of silt, and is applicable to various engineering scenarios such as waterway dredging, water body ecological restoration, and reservoir dredging.

[0082] The equipment structure, component parameters, assembly method, control logic, and operation process described in this embodiment are all descriptions of specific implementation methods of the technical solution of the present invention, and are not intended to limit the present invention. Without exceeding the scope of the technical solution, the component parameters, layout spacing, operation parameters, etc. of the equipment can be adapted and adjusted according to the actual dredging operation requirements, and all of these are within the protection scope of the present invention.

[0083] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pneumatic tank-type telescopic sludge inlet pipe layered dredging device, characterized in that, include: Pneumatic tanks are arranged at intervals along the longitudinal direction of the hull. Each pneumatic tank has a mud inlet end at the front end, a pneumatic control end at the top end, and a mud discharge end at the tail end. The telescopic mud inlet pipe assembly is set up one-to-one with each pneumatic tank, and each telescopic mud inlet pipe assembly is sealed and connected to the mud inlet end of the corresponding pneumatic tank. The telescopic mud inlet pipe assembly includes a sleeve-type telescopic pipe, a drive mechanism, a guide anti-torsion structure, and an underwater sealing structure; the output end of the drive mechanism is connected to the inner tube of the sleeve-type telescopic pipe, and the guide anti-torsion structure and the underwater sealing structure are both embedded in the fitting gap between the outer tube and the inner tube of the sleeve-type telescopic pipe. The pneumatic control system is connected to each of the pneumatic control terminals via a gas pipeline and is used to perform air extraction and inflation operations on the inner cavity of each pneumatic canister. The valve assembly includes a mud inlet valve and a mud outlet valve. The mud inlet valve is connected in series to the connecting pipeline between the mud inlet end and the telescopic mud inlet pipe assembly. The mud outlet valve is connected in series to the mud outlet pipe at the mud outlet end. The valve assembly is linked with the pneumatic control system. The drive control unit is electrically connected to each drive mechanism, pneumatic control system and valve group, and is used to adjust the mud inlet depth of the telescopic mud inlet pipe assembly and switch the mud suction and discharge working modes.

2. The pneumatic tank-type telescopic sludge inlet layered dredging equipment according to claim 1, characterized in that, The pneumatic canisters are arranged at intervals along the longitudinal direction of the hull, and the number is at least two. The telescopic mud inlet pipe assemblies corresponding to each of the pneumatic tanks are configured with different mud inlet depths to achieve layered dredging.

3. The pneumatic tank-type telescopic sludge inlet layered dredging equipment according to claim 1, characterized in that, The sleeve-type telescopic pipe includes an outer pipe and an inner pipe that can extend and retract relative to the outer pipe in a vertical direction. The bottom end of the inner pipe is provided with a mud inlet for sucking up silt. The guide anti-torsion structure is used to limit the circumferential rotation of the inner tube relative to the outer tube, and the underwater sealing structure is a multi-stage sealing structure and is embedded in the mating gap between the outer tube and the inner tube to prevent mud and water from seeping in.

4. The pneumatic tank-type telescopic sludge inlet layered dredging equipment according to claim 1, characterized in that, Both the mud inlet valve and the mud outlet valve are electrically controlled valves. During the sludge suction operation, the sludge inlet valve is open, the sludge outlet valve is closed, and the pneumatic control system evacuates air from the inner cavity of the pneumatic tank. During the sludge discharge operation, the sludge inlet valve is closed, the sludge discharge valve is open, and the pneumatic control system inflates the inner cavity of the pneumatic tank.

5. The pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment according to claim 1, characterized in that, The drive mechanism is an electric push rod.

6. The pneumatic tank-type telescopic sludge inlet layered dredging equipment according to claim 1, characterized in that, The drive control unit includes a synchronization control module, a protection module, and a valve control module, which are interconnected and communicate with each other.

7. The pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment according to claim 1, characterized in that, The pneumatic control system includes: Air pump, air pipeline and pressure monitoring module; The air pump is connected in a sealed manner to the air control end of each pneumatic tank via an air delivery pipeline; The pressure monitoring module is arranged in the gas pipeline or the inner cavity of the pneumatic tank and is electrically connected to the drive control unit to monitor and provide feedback on the gas pressure parameters of the inner cavity of each pneumatic tank in real time.

8. The pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment according to claim 1, characterized in that, It also includes a control unit, which is remotely connected to the drive control unit.

9. The pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment according to claim 8, characterized in that, The control unit is a touch tablet.

10. A layered dredging method, characterized in that, The method employs the pneumatic tank-type telescopic sludge inlet pipe layered dredging equipment as described in any one of claims 1-9, comprising: The sludge inlet depth of each telescopic sludge inlet pipe assembly is set by the drive control unit to form a layered sludge dredging gradient; The drive control unit controls the drive mechanism to extend and retract the inner tube to the preset mud inlet depth, and simultaneously controls the mud inlet valve to open and the mud outlet valve to close, thus entering the mud suction mode. Under the sludge suction condition, the drive control unit links with the pneumatic control system to start the air pumping operation. Utilizing the air pressure difference between the inner cavity of the pneumatic tank and the water body, the sludge in the water body is sucked into the pneumatic tank in sequence through the telescopic sludge inlet pipe assembly and the sludge inlet valve. The pressure monitoring module collects and feeds back the air pressure parameters of the inner cavity of the pneumatic tank in real time. When the amount of sludge stored in the pneumatic tank reaches a preset threshold, or the sludge suction time meets the preset requirements, the drive control unit triggers a working condition switching command, closes the sludge inlet valve, opens the sludge discharge valve, and controls the pneumatic control system to inflate the pneumatic tank cavity to complete the sludge discharge operation.

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