Adaptive fully enclosed low-disturbance dredging cutter device, system and control method

Abstract

The present invention provides an adaptive, fully enclosed, low-disturbance dredging auger device, system, and control method. The auger device includes an auger structure, a fixed cover structure, a movable cover structure, and a mud conveying system. The auger structure includes a spiral auger and a rotating shaft system. The spiral auger can cut and crush the silt under the rotation of the rotating shaft system. The fixed cover structure and the movable cover structure are arranged along the outside of the auger structure, and can connect to the external structure, protect the auger structure, and form an internal suction closed cavity. The mud conveying system can convey the cut and crushed mud upward. The present invention can effectively increase the mud concentration and dredging efficiency during the excavation process, avoid the diffusion of suspended matter and secondary pollution, and solve the problem of environmental dredging. At the same time, a corresponding control system and method are proposed for the above-mentioned device. While ensuring the pressure on the ground, the protective cover can be adaptively fitted to the mud surface, ensuring the closedness of the excavation area during the dredging process.

Description

Technical Field

[0001] The present invention relates to the field of dredging engineering, and in particular to an adaptive fully enclosed low-disturbance dredging cutter device, system and control method. Background Art

[0002] Dredging plays a vital role in numerous industries closely related to national economic development, including water transportation, water conservancy and flood control, industrial development, urban construction, and offshore energy. In recent years, with increasing public awareness and support for environmental protection, the concepts and technologies of environmentally friendly dredging have garnered increasing attention from industry insiders. Widely used traditional dredging methods include cutter suction and trailing suction dredging. These methods mechanically cut the bottom sediment with a cutter and then pump it to the vessel's discharge area. During this process, the sediment is agitated and dispersed, and suspended particles and organic pollutants in the bottom mud can cause secondary pollution and harm to surrounding water bodies and organisms.

[0003] To address the environmental challenges posed by the aforementioned dredging process, prior art US6318005B1 utilizes a mechanically switchable auger cover structure based on cutter suction dredging. This relatively closes the area where the auger excavates the bottom mud, reducing mud diffusion during the cutter suction process and increasing mud concentration. Furthermore, the angles of the front and rear auger covers can be adjusted as the excavation depth and direction change. However, the distribution of underwater mud is generally uneven, and this device still suffers from significant mud leakage and insufficient dredging efficiency when faced with rugged underwater environments. Prior art CN201062365Y proposes a double-helix auger suction cup dredging mechanical structure that utilizes a large number of spike-toothed knives for mud crushing. The double-helix auger structure then transports the mud to a central suction port. The semi-enclosed cover reduces mud leakage during the cutter suction process. However, the auger cover used in this device cannot be moved, so the closed range cannot be adjusted according to the excavation depth and terrain. The mud leaked during the dredging process will cause secondary pollution to the environment. The existing technology CN206859392U proposes a coaxial reversing spiral auger dredging mechanism, which adopts a similar structure and working method to the previous technology, but also has the problem of pollutant diffusion. The existing technology CN207452977U proposes an environmentally friendly dredging device with a roller. It uses a cutter suction structure consisting of multiple rows of spiral rollers and a fully enclosed cover to effectively prevent the spread of sludge during the dredging process. However, this device has the problem of limited excavation depth adjustment range and difficulty in coping with rugged underwater terrain.

[0004] To sum up, under the guidance of the concept of environmental dredging, the project urgently needs an environmental dredging and excavation equipment with good controllability, high dredging efficiency and strong terrain adaptability, which can achieve accurate and efficient dredging while avoiding secondary pollution during the excavation process. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention aims to provide an adaptive, fully enclosed, low-disturbance dredging auger device, system, and control method. By utilizing a terrain-adaptive front and rear auger movable protective shield and insert plate structure, this device effectively increases mud concentration and dredging efficiency during excavation, preventing the diffusion of suspended matter and secondary pollution, thereby resolving the challenges of environmentally friendly dredging. Furthermore, a corresponding control system and method are proposed for this device. While maintaining ground pressure, the protective shield adaptively conforms to the mud surface, ensuring a closed excavation area during dredging.

[0006] According to the present invention, an adaptive fully enclosed low-disturbance dredging cutter device is provided, which includes a cutter structure, a fixed cover structure, a movable cover structure and a mud conveying system;

[0007] The auger structure includes a spiral auger and a rotating shaft system; the spiral auger is arranged along the rotating shaft system, and the spiral auger can cut and crush the silt under the rotation of the rotating shaft system;

[0008] The fixed cover structure and the movable cover structure are arranged along the outer side of the reamer structure, and can connect the external structure, protect the reamer structure, and form a suction closed cavity inside;

[0009] The movable cover structure is arranged inside the fixed cover structure and is rotatable around the rotation axis, so as to change the area of the spiral reamer covered by the movable cover structure;

[0010] The mud conveying system can cut, crush and convey the mud by the reamer structure in the closed cavity.

[0011] Preferably, the spiral auger includes a spiral blade and a spiral cylinder; the spiral blade is fixed to the spiral cylinder, with the center of the spiral cylinder as the dividing line, and the spiral directions of the left and right spiral blades are opposite, so that when the spiral auger rotates in a fixed direction, the internal mud and sand can be transported from both sides to the center.

[0012] Preferably, the diameters of both ends of the spiral cylinder are larger than the central diameter so that a tapered transition section is formed in the center, thereby increasing the volume for accommodating silt and other pollutants.

[0013] Preferably, the fixed cover structure includes a reamer fixed cover and a reamer end face cover; the rotating shaft system includes a reamer bearing seat, a reamer base, a plum coupling, and a hydraulic motor;

[0014] The reamer fixing cover is in the shape of a partially cylindrical shell, covering the reamer structure; the reamer end face cover is fixed to the side of the reamer fixing cover; the reamer base is fixed to the reamer end face cover and supports and limits the rotating shaft system;

[0015] The reamer bearing seat is fixed on the base, and the reamer bearing seat supports both ends of the reamer structure. The reamer structure is connected to the hydraulic motor through a plum blossom coupling.

[0016] Preferably, the fixed cover structure further includes a connecting beam; the connecting beam is fixedly connected to the reamer fixed cover and is used for connecting the reamer structure with an external structure.

[0017] Preferably, the movable cover structure includes a movable cover, a movable plug-in plate, and a movable plug-in plate slot;

[0018] One end of the movable cover is fixed to the inner side of the fixed cover structure, and the other end is provided with a plurality of movable plug-ins. The movable plug-ins are movably installed on the movable cover through movable plug-in slots, so that the movable plug-ins can move back and forth in the movable plug-in slots to extend the shape of the movable cover.

[0019] Preferably, the slurry delivery system comprises a sludge pipeline and a high-pressure water pipeline arranged in the center of the reamer structure;

[0020] The sludge pipe and the high-pressure water pipe are both connected to the closed cavity; during the dredging operation, the mud cut and crushed by the auger structure is transported upward through the sludge pipe, and the high-pressure water is transported to the inside of the closed cavity through the high-pressure water pipe.

[0021] Preferably, the movable cover structure further includes a movable cover oil cylinder and a movable oil cylinder base;

[0022] One end of the piston rod of the movable cover oil cylinder is fixed on the movable cover structure, and the other end is hinged on the movable cylinder base. The rotation angle of the movable cover structure is controlled by the extension and contraction of the piston rod of the movable cover oil cylinder.

[0023] According to the present invention, an adaptive fully enclosed low-disturbance dredging cutter system is provided, comprising an adaptive fully enclosed low-disturbance dredging cutter device, a collection system, a control center, and an execution system;

[0024] The acquisition system is equipped with sensors installed on various devices, including a movable cover travel sensor, a cylinder pressure sensor, a bridge angle sensor, a cavity pressure sensor, a water depth and flow sensor, and a motor monitoring sensor, for collecting real-time operation data and environmental data of the device and providing it to the control center;

[0025] The control center processes and analyzes various environmental and device operation data collected by the acquisition system, provides real-time monitoring for onboard personnel, and sends autonomous operation and manual operation instructions to the execution system for execution;

[0026] The execution system controls the reamer device to complete corresponding operations according to the output instructions of the control center.

[0027] According to the present invention, a control method for an adaptive fully enclosed low-disturbance dredging cutter device is provided, which adopts an adaptive fully enclosed low-disturbance dredging cutter device control system and includes the following steps:

[0028] Step 100: Determine the excavation depth H, the single dredging thickness d, the ballast load, and the working pressure of the oil cylinder in the forward direction according to the dredging operation requirements and the underwater geological conditions of the operating waters, and manually input them into the control center;

[0029] Step 101: After the dredging vessel arrives at the operation site, the bridge is lowered to allow the cutter device to reach the bottom of the water area. After the cutter device is stably seated on the bottom mud, the staff starts the cutter hydraulic motor of the device and first performs preliminary excavation on the bottom mud according to the determined single excavation thickness d and excavation depth H parameters until the bottom edge of the cutter reaches the excavation depth and excavation thickness requirements. At the same time, the ballast of the cutter device is adjusted according to the ballast requirement to ensure an appropriate excavation-to-ground pressure ratio, thus completing the preparation work for the dredging operation.

[0030] Step 102: Start the control system of the reamer device. The control center will calculate the corresponding movable cover stroke angle θb based on the angle θa between the current bridge structure and the vertical direction and the geometric parameters of the reamer device, and then output the corresponding control signal to execute the system so that the movable cover stroke angle reaches θb. At this time, the edge of the movable cover should be flush with the bottom edge of the reamer to ensure that the excavation surface is flat during the subsequent advancement of the reamer device.

[0031] Step 103: A relatively closed working chamber is formed between the fixed cover and the movable cover of the auger device and the bottom mud. At this time, the staff monitors the working conditions and starts the auger device to perform dredging operations.

[0032] Step 104: After the cutter mechanism is properly activated, at every moment of the dredger's advancement, the control center calculates the corresponding movable cover travel angle θb based on the angle θa between the current bridge structure and the vertical direction, and issues a corresponding control signal to ensure that the rear excavation area remains flat.

[0033] Step 105: After the dredging work is completed, the dredging operation control system is first turned off, and the staff controls the bridge to rise to the recovery position, inspects and maintains the cutter device, and then proceeds to the next operation site.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This invention utilizes a terrain-adaptive auger shield with a plug-in structure. During dredging, the shield automatically moves in line with the mud surface under the action of a stiffness-adjustable buffer system (hydraulic or other type). This shield, in conjunction with a fixed cover, forms a fully enclosed chamber, solving the problem of pollutant spillage and diffusion during traditional auger excavation and effectively preventing secondary contamination during dredging. Furthermore, the fully enclosed chamber creates a powerful vacuum under the suction of a mud pump, resolving the problem of low slurry concentration during traditional auger excavation, significantly increasing the suction concentration of mud and improving production efficiency.

[0036] 2. The present invention enhances the terrain adaptability of the device by arranging a plurality of laterally distributed movable plug plates on the front and rear movable covers, thereby solving the problem of easy leakage of the movable cover caused by lateral terrain changes (the presence of local pits or protrusions).

[0037] 3. The present invention utilizes a tapered transition section on the auger drive shaft to increase the volume for silt and other contaminants, preventing large contaminants from becoming stuck in the auger and increasing production. High-pressure water jets located near the suction port break up large contaminants, eliminating the problem of underwater contaminants clogging the suction port.

[0038] 4. The present invention adjusts the weight of the terrain adaptive auger protective cover in water by adjusting the ballast amount, thereby increasing its relative pressure to the ground and improving the geological adaptability of the device.

[0039] 5. Based on the above-mentioned device, the present invention proposes a method for controlling the movement stroke of the front and rear protective covers, wherein the front push rod is passively adaptively adjusted (buffer system working pressure) and changes according to different ground pressures; the rear push rod controls the extension stroke according to different working angles to ensure a flat excavation surface, so that the terrain-adaptive auger protective cover can select different restoring stiffness characteristics according to the actual working geological conditions, solving the problem of poor adhesion to the mud surface caused by changes in geological conditions, thereby improving the geological adaptability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0041] Figure 1 It is a schematic diagram of the three-dimensional structure of the device of the present invention;

[0042] Figure 2 This is a schematic diagram of the front structure of the device of the present invention;

[0043] Figure 3 It is a cross-sectional view of the structure of the device of the present invention;

[0044] Figure 4 This is a schematic diagram of the reamer cylinder structure of the device of the present invention;

[0045] Figure 5 It is a schematic diagram of the side structure of the device of the present invention;

[0046] Figure 6 This is an exploded view of the reamer shafting structure of the device of the present invention;

[0047] Figure 7 This is a schematic diagram of the low-angle operation of the device of the present invention;

[0048] Figure 8 This is a high-angle operation schematic diagram of the device of the present invention;

[0049] Figure 9 This is a schematic diagram of the backward operation of the device of the present invention;

[0050] Figure 10 This is a schematic diagram of the operation of the plugboard of the device of the present invention;

[0051] Figure 11 This is a block diagram of the control system of the device of the present invention.

[0052] The figure shows:

[0053] 100-Spiral Blade

[0054] 101-Spiral Cylinder

[0055] 102-Reamer bearing seat

[0056] 103-Base

[0057] 104-Plum blossom coupling

[0058] 105-Hydraulic Motor

[0059] 200-Reamer fixed cover

[0060] 201-Reamer end cover

[0061] 202-Front movable cylinder base

[0062] 203-Rear movable cylinder base

[0063] 204-Connecting beam

[0064] 300-Front movable cover

[0065] 301-Front movable panel

[0066] 302-Active card slot

[0067] 303-Front movable cover cylinder

[0068] 400-rear movable cover

[0069] 401-Rear movable cover cylinder

[0070] 402-rear movable plug board

[0071] 500-Sludge Pipeline

[0072] 501-High-pressure water pipeline

[0073] 502-Mud suction port

[0074] 503-High-pressure flushing nozzle

[0075] 504-Filter DETAILED DESCRIPTION

[0076] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0077] Example 1

[0078] The present embodiment provides an adaptive, fully enclosed, low-disturbance dredging auger device, comprising an auger structure, a fixed cover structure, a movable cover structure, and a mud conveying system; the auger structure comprises a spiral auger and a rotating shaft system; the spiral auger is arranged along the rotating shaft system, and the spiral auger can cut and crush silt under the rotation of the rotating shaft system; the fixed cover structure and the movable cover structure are arranged along the outside of the auger structure, can connect to the external structure, protect the auger structure, and form a suction closed cavity inside; the movable cover structure is arranged on the inside of the fixed cover structure, can rotate around the rotating shaft system, and can change the area of the spiral auger covered by the movable cover structure; the mud conveying system can convey upward the mud cut and crushed by the auger structure in the closed cavity formed by the fixed cover structure and the movable cover structure.

[0079] Furthermore, the spiral auger includes a spiral blade 100 and a spiral cylinder 101; the spiral blade 100 is fixed to the spiral cylinder 101, with the center of the spiral cylinder 101 as the dividing line. The spiral directions of the left and right spiral blades 100 are opposite, so that when the spiral auger rotates in a fixed direction (clockwise or counterclockwise), the internal mud and sand can be transported from both sides to the center. The diameters of the spiral cylinder 101 at both ends are larger than the central diameter, forming a tapered transition section in the center to increase the volume for accommodating silt and other pollutants and prevent large pieces of pollutants from getting stuck in the auger. Preferably, the taper of the tapered transition section is preferably in the range of 0.1-0.15.

[0080] Furthermore, the fixed cover structure includes a reamer fixed cover 200 and a reamer end face cover 201; the rotating shaft system includes a reamer bearing seat 102, a reamer base 103, a plum blossom coupling 104, and a hydraulic motor 105; the reamer fixed cover 200 is in the shape of a partial cylindrical shell, covering the reamer structure; the reamer end face cover 201 is fixed to the side of the reamer fixed cover 200, covering the side of the rotating shaft system; the reamer base 103 is fixed to the reamer end face cover 201, fixing the position of the rotating shaft system; the reamer bearing seat 102 is fixed to the base 103, supporting both ends of the reamer structure, and connecting the shaft system to the hydraulic motor 105 via the plum blossom coupling 104. Preferably, the reamer fixed cover 200 covers the reamer structure within a range of 120 degrees, and the reamer end face cover 201 and the reamer fixed cover 200 form a 1 / 3 cylindrical covering shell.

[0081] Furthermore, the fixed cover structure further includes a connecting beam 204 ; the connecting beam 204 is fixedly connected to the reamer fixed cover 200 and is used to connect the reamer structure with an external structure.

[0082] Furthermore, the movable cover structure includes a movable cover, a movable insert plate, and a movable insert plate slot. One end of the movable cover is fixedly connected to the inner side of the fixed cover structure, and the other end is provided with a plurality of movable insert plates. The movable insert plates are movably mounted to the movable cover via the movable insert plate slots, allowing the movable insert plates to move back and forth within the movable insert plate slots, thereby extending the movable cover's shape. Specifically, one end of the movable cover is mounted to the inner side of the reamer fixed cover 200. Depending on the different positions of the movable cover in front of and behind the reamer fixed cover 200, it is divided into a front movable cover 300 and a rear movable cover 400.

[0083] Specifically, the movable plate slots are freely movable, allowing the movable plate to fall automatically under gravity. They can also be designed as spring slots or other structures with adjustable stiffness. When the movable plate encounters fluctuations in the underlying terrain, the plate can automatically retract or extend within a certain range due to changes in pressure between the movable plate and the ground. The multiple horizontally distributed movable plates can ensure that their edges adhere to the ground when encountering lateral fluctuations in the terrain, allowing the movable cover and the fixed cover to form a closed internal cavity.

[0084] Furthermore, the mud conveying system includes a sludge pipe 500 and a high-pressure water pipe 501 arranged in the center of the auger structure; the sludge pipe 500 and the high-pressure water pipe 501 both pass through the fixed cover structure and are arranged in the closed cavity; during the dredging operation, the mud cut and crushed by the auger structure is transported upward through the sludge pipe 500, and the high-pressure water of the external structure is transported to the inside of the closed cavity through the high-pressure water pipe 501.

[0085] Specifically, the water in the high-pressure water pipe 501 is sprayed out through the high-pressure flushing nozzle 503, which can break up large pieces of pollutants and prevent the large pieces of pollutants on the bottom of the water from clogging the mud suction port 502; a filter screen 504 is arranged on the mud suction port 502 to prevent large pieces of uncrushed pollutants from entering and clogging the mud suction port 502 and the sludge pipe 500.

[0086] Furthermore, the movable cover structure also includes a movable cover cylinder and a movable cylinder base. One end of the movable cover cylinder's piston rod is fixed to the movable cover structure, and the other end is hinged to the movable cylinder base. The movable cover structure's rotation angle is controlled by the extension and contraction of the movable cover cylinder's piston rod. Specifically, based on the installation position of the movable cylinder base, it is divided into a front movable cylinder base 202 fixed to the front edge of the reamer fixed cover 200 and a rear movable cylinder base 203 fixed to the rear edge of the reamer fixed cover 200.

[0087] The present invention also provides a control system for an adaptive fully enclosed low-disturbance dredging cutter device, which adopts the above-mentioned adaptive fully enclosed low-disturbance dredging cutter device and also includes a collection system, a control center, and an execution system;

[0088] The acquisition system is arranged with sensors installed on various devices, including movable cover stroke sensors, cylinder pressure sensors, bridge angle sensors, cavity pressure sensors, water depth and flow sensors, and motor monitoring sensors, which are used to collect real-time operation data and environmental data of the devices and provide them to the control center.

[0089] Specifically, the movable cover stroke sensor mainly collects the real-time rotation angle or displacement stroke data of the front and rear movable covers of the device; the cylinder pressure sensor mainly collects the working pressure data inside the front and rear movable cover cylinders; the bridge angle sensor mainly collects the real-time angle data between the dredging cutter bridge and the vertical or horizontal direction of gravity; the intra-cavity pressure sensor is arranged in the internal cavity covered by the fixed cover and the movable cover, and mainly collects the water pressure data inside the cavity; the water depth and water flow sensor is arranged outside the fixed cover cavity of the device, and mainly collects the real-time water depth and water flow data of the device operating water area; the motor monitoring sensor includes a hydraulic motor speed sensor, a torque sensor, etc., which mainly collects various real-time operating parameters of the cutter hydraulic motor for monitoring.

[0090] The control center processes and analyzes various environmental and device operation data collected by the acquisition system, provides real-time monitoring for onboard staff, and sends autonomous operation and manual operation instructions to the execution system for execution.

[0091] Specifically, the control center consists of four parts: a data processing module, an operation control module, an operation monitoring module, and an emergency backup module. The data processing module is primarily responsible for performing preliminary filtering, removing impurities, and converting the voltage data directly collected by the various sensors in the acquisition system to obtain the various measured physical quantities and submit them to other modules. The operation monitoring module converts the necessary data into charts and provides real-time monitoring for onboard crew members through a visual interface. The operation control module is primarily responsible for outputting operational instructions to the execution system, including instructions for dredging cutter start-up and speed control, movable cover rotation instructions, high-pressure water nozzle start-up instructions, and ballast adjustment instructions. The hood's rotation is primarily controlled by the extension and retraction of the piston rods of the front and rear hood cylinders. For the front hood hydraulic cylinder, a constant pressure control method is used, allowing the hood to move in line with the ground. The constant pressure value is determined and manually input based on the topographical and geological conditions of the excavation area. For the rear hood hydraulic cylinder, the extension and retraction stroke function is solely dependent on the bridge tilt angle, while the bridge size and structural shape remain unchanged. Each bridge tilt angle corresponds to a specific extension and retraction stroke. Within this stroke, the hood edge remains flush with the lower edge of the auger, ensuring a smooth excavation area. The emergency backup module is a simplified version of the operation control module, primarily responsible for emergency takeover in extreme situations, such as when the operation control module fails or the machine cannot be shut down. This module does not require autonomous operation; it simply provides a manual control channel for the execution system. In an emergency, switching to this module allows for emergency shutdown of the auger and manual control of the hood cylinder mechanism, ensuring the auger can be recovered in an emergency.

[0092] The execution system controls the reamer device to complete corresponding operations according to the output instructions of the control center.

[0093] The present invention also provides a control method for an adaptive fully enclosed low-disturbance dredging cutter device, which uses the above-mentioned adaptive fully enclosed low-disturbance dredging cutter device control system and further includes the following steps:

[0094] Step 100: Based on the dredging operation requirements and the underwater geological conditions of the operating area, the excavation depth H, the single dredging thickness d, the ballast load, and the forward cylinder operating pressure parameters are determined and manually input into the control center. Specifically, the compression rods of the front and rear movable covers are retracted to the minimum, fully opening the covers to prevent damage to the covers from impacting the bottom during the lowering of the auger.

[0095] Step 101: After the dredging vessel arrives at the operation site, the bridge is lowered to allow the cutter device to reach the bottom of the water area. After the cutter device is stably seated on the bottom mud, the staff starts the cutter hydraulic motor of the device and first performs preliminary excavation on the bottom mud according to the determined single excavation thickness d and excavation depth H parameters until the bottom edge of the cutter reaches the excavation depth and excavation thickness requirements. At the same time, the ballast of the cutter device is adjusted according to the ballast requirement to ensure appropriate excavation-to-ground pressure ratio, and the preparation work for the dredging operation is completed.

[0096] Step 102, start the control system of the reamer device. The control center will calculate the corresponding movable cover stroke angle θb based on the angle θa between the current bridge structure and the vertical direction and the geometric parameters of the reamer device, and then output the corresponding control signal to execute the system to make the movable cover stroke angle reach θb. At this time, the edge of the movable cover should be flush with the bottom edge of the reamer to ensure that the excavation surface is flat during the subsequent forward movement of the reamer device.

[0097] Specifically, the formula for calculating the stroke angle is: θb = π - θa - θg - arccos(Ri / Ro), where θg, Ri, and Ro are the geometric parameters of the cutter assembly: the angle θg between the line connecting the starting point of the cutter cover's stroke and the cutter axis and the bridge structure, the radius Ri of the cutter structure, and the radius Ro of the cutter cover structure. These geometric parameters vary depending on the vessel and application scenario. For example, a cutter operating in a lake or pond may have a smaller geometry than one operating in a river, but the above stroke angle calculation method applies to both. Similarly, based on the operating pressure of the front cover cylinder set in step 100, the control center will issue a control signal, causing the front cover cylinder to push out the piston rod and align the cover edge with the bottom mud. When the cutter assembly retracts for excavation, the above commands for the front and rear covers are interchanged, and the front cover's stroke angle θf is determined by the angle θa between the bridge and the vertical.

[0098] In step 103, a relatively closed working chamber is formed between the fixed cover and the movable cover of the auger device and the bottom mud. At this time, the staff monitors the working situation and starts the auger device to perform dredging operations.

[0099] Specifically, the auger hydraulic motor is turned on, and the auger begins to crush the bottom mud and transport it to the center; the mud pump device is turned on, and the relatively closed internal working chamber forms a strong suction vacuum under the suction action of the mud pump device. The mixture of mud and water crushed at the bottom is quickly transported to the upper hull through the mud pipe; the high-pressure flushing nozzle is started to prevent large pieces of mud from clogging the mud suction port.

[0100] Step 104: After the cutter mechanism starts normally, the dredger slowly moves forward. At each moment, the control center calculates the corresponding movable cover travel angle θb based on the angle θa between the current bridge structure and the vertical direction, and issues a corresponding control signal to ensure that the rear excavation area always remains flat.

[0101] Specifically, when the front movable cover cylinder encounters rising terrain under the preset working pressure, it will automatically retract the piston rod, causing the movable cover to retract upward; when encountering a sinking terrain, it will automatically push out the piston rod, causing the movable cover to extend downward; when encountering lateral terrain changes, different movable plugs at different positions will be pushed out to different distances due to their own gravity or the action of the spring device, so that the edge of the movable cover always remains in contact with the bottom mud, thereby ensuring that the internal working chamber remains relatively closed. It should be noted that when the water depth or terrain of the excavation area changes drastically, the auger may not be able to dig into the soil, and the terrain changes may exceed the range of the movable cover. At this time, the operation monitoring module of the control center will give an alarm to stop the dredging operation. The staff should stop the dredger from moving forward, set new excavation parameters or find the excavation direction again, and repeat the above steps.

[0102] Step 105: After the dredging work is completed, the dredging operation control system is first turned off, and the staff controls the bridge to rise to the recovery position, inspects and maintains the cutter device, and then proceeds to the next operation site.

[0103] Specifically, shut down the auger hydraulic motor, mud pump device and high-pressure water nozzle, retract the movable cover cylinder piston rod to the minimum to prevent possible impact damage during the recovery of the auger device.

[0104] Example 2

[0105] This embodiment is a preferred example of embodiment 1.

[0106] This embodiment provides an adaptive, fully enclosed, low-disturbance dredging cutter device, which includes four parts: a cutter structure, a fixed cover structure, a movable cover structure, and a mud conveying system.

[0107] The reamer structure consists of a spiral reamer and a rotating shaft system, such as Figure 2 、 Figure 4 、 Figure 6As shown, the spiral blade 100 is fixed on the spiral cylinder 101, with the center of the spiral cylinder 101 as the dividing line. The spiral directions of the left and right spiral blades are opposite, so that when the spiral cutter rotates in a fixed direction (clockwise or counterclockwise), the internal mud and sand will be transported from both sides to the center, that is, the working surfaces of the spiral cutters on both sides move from both sides to the center during dredging operations; the spiral cylinder 101 has an outer shape with a diameter at both ends larger than the central diameter, and a tapered transition section is formed in the center, which serves to increase the volume for accommodating silt and other pollutants and prevent large pieces of pollutants from getting stuck in the cutter. The preferred taper range of the tapered transition section is 0.1-0.15. The rotating shaft system is as follows Figure 6 As shown, the reamer base 103 is fixed to the reamer end cover 201, which serves to fix the position of the reamer shaft system. The reamer bearing seat 102 is fixed to the base 103. The two ends of the spiral cylinder 101 are supported by the reamer bearing seat 102 and connected to the shaft system of the hydraulic motor 105 through the plum blossom coupling 104. In this way, the hydraulic motor 105 can drive the spiral cylinder and the spiral reamer to rotate, cutting and crushing the silt.

[0108] The fixed and movable cover structures form the primary exterior of the inventive device, connecting it to the upper hull, providing structural strength, protecting the cutter structure, and forming an internal, closed suction chamber. The cutter fixed cover 200 is a partially cylindrical shell, covering the cutter structure over an angle of approximately 120°. The cutter end cover 201 is affixed to the side of the fixed cover 200, shielding the cutter shaft. Together, they form a one-third cylindrical fixed shell. The fixed cover 200 is equipped with a front movable cylinder base 202 and a rear movable cylinder base 203, respectively fixed to the front and rear edges of the fixed cover 200. A connecting beam 204 is affixed to the fixed cover 200, connecting the entire cutter head structure to the hull cutter bridge structure. The movable cover structure comprises a front movable cover 300 and a rear movable cover 400. The movable covers, similar in appearance to the fixed covers, are located inside the fixed cover and can rotate about the cutter shaft, thereby varying the area they cover the cutter. The front movable cover oil cylinder 303 and the rear movable cover oil cylinder 401 are hinged to the front movable cylinder base 202 and the rear movable cylinder base 203 respectively. One end of the piston rod of the hydraulic cylinder is fixed on the movable cover to be controlled. In this way, the rotation angle of the movable cover can be controlled by the extension and contraction of the hydraulic cylinder piston rod. Figure 1 、 Figure 2 、 Figure 5 As shown. There are several movable insert plates designed on the front and rear movable covers. The front movable insert plate 301 is fixed to the front movable cover 300 through the movable insert plate slot 302. Its shape is equivalent to the extension of the movable cover shape. It can extend a certain coverage range outward on the basis of the movable cover. Figure 1 、 Figure 2 、 Figure 5As shown. The movable plug plate slot 302 can be designed as a freely movable slot so that the movable plug plate falls down by itself due to gravity, or it can be designed as a spring slot or other structure with adjustable stiffness. When the movable plug plate encounters undulations in the bottom terrain, due to the changes in pressure between it and the ground, the plug plate can automatically shrink or extend within a certain range. When several movable plug plates distributed laterally encounter lateral undulations in the terrain, they can ensure that their respective edges fit the ground, so that the auger movable cover and the auger fixed cover form a closed internal cavity. The structure of the rear movable cover plug plate 402 is exactly the same as that of the front movable cover plug plate 301. The working principle of the movable cover plug plate adapting to the terrain distribution is as follows Figure 10 shown.

[0109] The mud conveying system includes a silt pipe 500 and a high-pressure water pipe 501 arranged in the center of the auger head. Both pipes pass directly through the auger fixing cover 200 to connect to the internal cavity of the invention device. During the dredging operation, the mud cut and crushed by the auger is transported upward through the silt pipe 500, and the high-pressure water on the hull is transported to the internal cavity of the invention device through the high-pressure water pipe 501. It is sprayed out through the high-pressure water nozzle 503 to break up large pieces of pollutants and prevent the blocky pollutants on the bottom of the water from clogging the mud suction port 502. In addition, a filter screen 504 is arranged on the mud suction port 502 to prevent large pieces of uncrushed pollutants from entering and clogging the mud suction port 502 and the silt pipe 500. The mud suction port 502, the high-pressure water nozzle 503 and the filter screen 504 are arranged as shown in the figure. Figure 3 shown.

[0110] Based on the above-mentioned terrain-adaptive fully enclosed low-disturbance environmentally friendly dredging cutter device, a set of control systems and operation control methods are designed. The control system includes three parts: acquisition system, control center and execution system. The control system block diagram is shown as follows: Figure 11As shown. The acquisition system is mainly composed of various sensors arranged on the device, including movable cover stroke sensors, cylinder pressure sensors, bridge angle sensors, cavity pressure sensors, water depth and flow sensors, and motor monitoring sensors. Its main function is to collect real-time operation data and environmental data of the mechanism, and provide data processing and command decision-making to the upper control center. Among them, the movable cover stroke sensor mainly collects the real-time rotation angle or displacement stroke data of the front and rear movable covers of the device; the cylinder pressure sensor mainly collects the working pressure data inside the oil cylinders of the front and rear movable covers; the bridge angle sensor mainly collects the real-time angle data between the dredging cutter bridge and the vertical or horizontal direction of gravity; the cavity pressure sensor is arranged in the internal cavity covered by the fixed cover and movable cover, and mainly collects water pressure data inside the cavity; the water depth and flow sensor is arranged outside the cavity of the fixed cover of the device, and mainly collects real-time water depth and water flow data of the device's operating water area; the motor monitoring sensor includes a hydraulic motor speed sensor, a torque sensor, etc., and mainly collects various real-time operating parameters of the cutter hydraulic motor for monitoring. The control center is mainly responsible for processing and analyzing the various environmental and mechanism operation data collected by the acquisition system, providing real-time monitoring for the crew on board, and sending autonomous operation and manual operation instructions to the execution system for execution. The control center includes four parts: data processing module, operation control module, operation monitoring module and emergency backup module. The data processing module is mainly responsible for performing preliminary filtering, removing impurities and conversion processing on the voltage data directly collected by the various sensors of the acquisition system to obtain the various measured physical quantities and submit them to other modules; the operation monitoring module converts the necessary data into charts and provides real-time monitoring for the crew on board through a visual interface; the operation control module is mainly responsible for outputting operation instructions to the execution system, including dredging auger start-up and speed control instructions, movable cover rotation instructions, high-pressure water nozzle start-up instructions, ballast adjustment instructions, etc. The rotation of the movable hood is primarily controlled by the extension and retraction of the piston rods of the front and rear movable hood cylinders. For the hydraulic cylinder of the movable hood in the forward direction, a constant pressure control method is used, allowing the movable hood to move in line with the ground. The constant pressure value is determined and manually input based on the topographical and geological conditions of the excavation area. For the hydraulic cylinder of the movable hood in the rear direction, the extension and retraction stroke function is only related to the bridge inclination angle, provided that the bridge size and structural shape remain unchanged. Each bridge inclination angle corresponds to a corresponding extension and retraction stroke. Under this stroke, the edge of the movable hood remains flush with the lower edge of the auger, ensuring a smooth excavation area. The emergency backup module is a simplified module based on the operation control module. It is mainly responsible for emergency takeover in extreme situations such as operation control module failure and inability to shut down.This module does not need to have the function of autonomous operation, it only needs to provide a manual control channel for the execution system. After switching to this module in an emergency situation, the emergency shutdown of the reamer device and the manual control of the movable cover cylinder mechanism can be realized, thereby ensuring the escape and recovery of the reamer device in an emergency situation.

[0111] The use of a terrain-adaptive auger shield with a plug-in structure allows the device to automatically conform to uneven mud surfaces during dredging, solving the problem of pollutant spillage and diffusion during traditional auger excavation. It can also significantly increase the mud suction concentration and improve production efficiency. Based on the above-mentioned fully enclosed, low-disturbance environmentally friendly dredging coaxial reversing spiral auger device, a set of front and rear protective shield stroke control methods is provided to significantly improve its adaptability to soil and terrain. The specific operation steps are as follows:

[0112] In step 100, based on the dredging operation requirements and the underwater geological conditions of the operating area, parameters such as the dredging depth H, the single dredging thickness d, the ballast load, and the operating pressure of the forward cylinder are determined and manually input into the control center. The compression rods of the front and rear movable covers of the device are retracted to the minimum, fully opening the movable covers to prevent damage to the movable covers from impacting the underwater bottom during the lowering of the auger.

[0113] Step 101: After the dredging vessel arrives at the work site, it lowers the bridge to allow the cutter assembly to reach the bottom of the water. Once the cutter assembly is firmly seated on the bottom mud, the operator activates the cutter hydraulic motor. Initially, based on the determined single excavation thickness (d) and excavation depth (H) parameters, the operator performs preliminary excavation on the bottom mud until the bottom edge of the cutter assembly reaches the required excavation depth and thickness. Simultaneously, the cutter assembly ballast is adjusted based on the required ballast load to ensure an appropriate excavation-to-ground pressure ratio. Other preparatory work for the dredging operation is then completed.

[0114] Step 102, start the control system of the reamer device. Taking the forward excavation of the reamer device as an example, the control center will calculate the corresponding rear movable cover stroke angle θb based on the angle θa between the current bridge structure and the vertical direction and the geometric parameters of the reamer device, and then output the corresponding control signal. The piston rod of the rear movable cover cylinder is pushed out so that the rear movable cover stroke angle reaches θb. At this time, the edge of the rear movable cover should be flush with the bottom edge of the reamer to ensure that the excavation surface is flat during the subsequent forward movement of the reamer device. The formula for calculating the stroke angle is: θb = π-θa-θg-arccos (Ri / Ro), where θg, Ri and Ro are the geometric parameters of the auger device, which are the angle θg between the line connecting the starting point of the auger hood stroke and the auger shaft and the bridge structure, the radius Ri of the auger structure and the radius Ro of the auger hood structure. These geometric parameters will vary according to different carrying ships and different application scenarios. For example, the auger working in lakes and ponds may have a smaller geometric structure than the auger working in rivers and waterways, but the above-mentioned stroke angle calculation method is applicable to both. Similarly, according to the working pressure of the front hood cylinder set in step 100, the control center will give a control signal, and the front hood cylinder will push out the piston rod and make the edge of the hood fit with the bottom mud. When the auger device retreats for excavation, the above-mentioned instructions for the front and rear hoods are interchanged, and the front hood stroke angle θf will be determined by the angle θa between the bridge and the vertical direction. The relationship between the various angles during the dredging operation and the operation of the hood device are as follows. Figure 7 、 Figure 8 、 Figure 9 As shown, the principle of adaptive terrain change of the movable cover plug-in plate is as follows Figure 10 shown.

[0115] Step 103: After completing the above steps, a relatively closed operating chamber is formed between the fixed and movable covers of the cutter mechanism and the bottom mud. At this point, the operator confirms that everything is normal through the visual operation monitoring module and initiates the dredging operation. The cutter hydraulic motor is activated, and the cutter begins to break up the bottom mud and transport it to the center. The mud pump mechanism is activated. Due to the strong suction vacuum created by the relatively closed internal operating chamber under the mud pump mechanism, the mixture of crushed mud and water at the bottom is quickly transported to the upper hull through the mud pipe. The high-pressure water jet nozzle is activated to prevent large pieces of mud from clogging the mud suction port.

[0116] Step 104: After the cutter mechanism is properly activated, the dredger slowly advances. At each moment, the control center calculates the corresponding rear hood travel angle θb based on the angle θa between the current bridge structure and the vertical direction, and issues a corresponding control signal to ensure that the rear excavation area remains flat. The calculation method is the same as in step 102. When the front hood cylinder encounters rising terrain at the preset working pressure, it automatically retracts the piston rod, causing the hood to retract upward. When encountering falling terrain, it automatically pushes out the piston rod, causing the hood to extend downward. When encountering lateral terrain changes, different movable plates at different positions will be pushed out to different distances due to their own gravity or the action of a spring device, ensuring that the edge of the hood always remains in contact with the bottom mud, thereby ensuring that the internal working chamber remains relatively closed. It should be noted that when the water depth or terrain in the excavation area changes drastically, the auger may not be able to dig into the soil or the terrain changes may exceed the range of the movable cover. At this time, the operation monitoring module of the control center will give an alarm to stop the dredging operation. The staff should stop the dredger from moving forward, set new excavation parameters or find the excavation direction again, and repeat the above steps.

[0117] Step 105: After dredging is complete, the dredging control system is shut down, along with the cutter hydraulic motor, mud pump, and high-pressure water jets. The piston rods of the front and rear movable cover cylinders are retracted to their lowest position to prevent damage during cutter retraction. The crew then raises the bridge to the retraction position, inspects and maintains the cutter before proceeding to the next work site.

[0118] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0119] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. An adaptive fully enclosed low-disturbance dredging cutter device, characterized in that: It includes a cutter structure, a fixed cover structure, a movable cover structure and a mud conveying system; The auger structure includes a spiral auger and a rotating shaft system; the spiral auger is arranged along the rotating shaft system, and the spiral auger can cut and crush the silt under the rotation of the rotating shaft system; The fixed cover structure and the movable cover structure are arranged along the outer side of the reamer structure, and can connect the external structure, protect the reamer structure, and form a suction closed cavity inside; The movable cover structure is arranged inside the fixed cover structure and is rotatable around the rotation axis, so as to change the area of the spiral reamer covered by the movable cover structure; The mud conveying system is capable of cutting, crushing and conveying the mud by the reamer structure in the closed cavity; The spiral auger comprises a spiral blade (100) and a spiral cylinder (101); the spiral blade (100) is fixed to the spiral cylinder (101), with the center of the spiral cylinder (101) as the dividing line, and the spiral directions of the left and right spiral blades (100) are opposite, so that when the spiral auger rotates in a fixed direction, the internal sediment can be transported from both sides to the center; The diameters of both ends of the spiral cylinder (101) are larger than the central diameter, so that a tapered transition section is formed in the center, thereby increasing the volume for accommodating silt and other pollutants; The movable cover structure includes a movable cover, a movable plug-in board, and a movable plug-in board slot; One end of the movable cover is fixedly connected to the inner side of the fixed cover structure, and the other end is provided with a plurality of movable plug-ins. The movable plug-ins are movably mounted on the movable cover through movable plug-in slots, so that the movable plug-ins can move back and forth in the movable plug-in slots to achieve an extension of the shape of the movable cover; Several laterally distributed movable plug plates are provided on the front and rear movable covers. When encountering laterally undulating terrain, the laterally distributed movable plug plates can ensure that their edges fit the ground, so that the movable cover and the fixed cover form a closed internal cavity.

2. The adaptive fully enclosed low-disturbance dredging cutter device according to claim 1 is characterized in that: The fixed cover structure includes a reamer fixed cover (200) and a reamer end face cover (201); the rotating shaft system includes a reamer bearing seat (102), a reamer base (103), a plum blossom coupling (104), and a hydraulic motor (105); The reamer fixing cover (200) is in the shape of a partial cylindrical shell, covering the reamer structure; the reamer end face cover (201) is fixed to the side of the reamer fixing cover (200); the reamer base (103) is fixed to the reamer end face cover (201) and supports and limits the rotating shaft system; The reamer bearing seat (102) is fixed on the reamer base (103), and the reamer bearing seat (102) supports both ends of the reamer structure. The reamer structure is connected to the hydraulic motor (105) through a plum blossom coupling (104).

3. The adaptive fully enclosed low-disturbance dredging cutter device according to claim 2 is characterized in that: The fixed cover structure further includes a connecting beam (204); the connecting beam (204) is fixedly connected to the reamer fixed cover (200) and is used for connecting the reamer structure with an external structure.

4. The adaptive fully enclosed low-disturbance dredging cutter device according to claim 1, characterized in that: The slurry conveying system comprises a sludge pipeline (500) and a high-pressure water pipeline (501) arranged in the center of the reamer structure; The sludge pipe (500) and the high-pressure water pipe (501) are both connected to the closed cavity; during the dredging operation, the sludge cut and crushed by the auger structure is transported upward through the sludge pipe (500), and the high-pressure water is transported to the inside of the closed cavity through the high-pressure water pipe (501).

5. The adaptive fully enclosed low-disturbance dredging cutter device according to claim 1 is characterized in that: The movable cover structure also includes a movable cover oil cylinder and a movable oil cylinder base; One end of the piston rod of the movable cover oil cylinder is fixed on the movable cover structure, and the other end is hinged to the movable cylinder base. The rotation angle of the movable cover structure is controlled by the extension and contraction of the piston rod of the movable cover oil cylinder.

6. An adaptive fully enclosed low-disturbance dredging cutter system, characterized in that: The adaptive fully enclosed low-disturbance dredging cutter device comprises any one of claims 1 to 5, and further comprises a collection system, a control center, and an execution system; The acquisition system is equipped with sensors installed on various devices, including a movable cover travel sensor, a cylinder pressure sensor, a bridge angle sensor, a cavity pressure sensor, a water depth and flow sensor, and a motor monitoring sensor, for collecting real-time operation data and environmental data of the device and providing it to the control center; The control center processes and analyzes various environmental and device operation data collected by the acquisition system, provides real-time monitoring for onboard personnel, and sends autonomous operation and manual operation instructions to the execution system for execution; The execution system controls the reamer device to complete corresponding operations according to the output instructions of the control center.

7. A control method for an adaptive fully enclosed low-disturbance dredging cutter device, characterized in that: The adaptive fully enclosed low-disturbance dredging cutter system according to claim 6 further comprises the following steps: Step 100: Determine the excavation depth H, the single dredging thickness d, the ballast load, and the working pressure of the oil cylinder in the forward direction according to the dredging operation requirements and the underwater geological conditions of the operating waters, and manually input them into the control center; Step 101: After the dredging vessel arrives at the operation site, the bridge is lowered to allow the cutter device to reach the bottom of the water area. After the cutter device is stably seated on the bottom mud, the staff starts the cutter hydraulic motor of the device and first performs preliminary excavation on the bottom mud according to the determined single excavation thickness d and excavation depth H parameters until the bottom edge of the cutter reaches the excavation depth and excavation thickness requirements. At the same time, the ballast of the cutter device is adjusted according to the ballast requirement to ensure an appropriate excavation-to-ground pressure ratio, thus completing the preparation work for the dredging operation. Step 102: Start the control system of the reamer device. The control center will calculate the corresponding movable cover stroke angle θb based on the angle θa between the current bridge structure and the vertical direction and the geometric parameters of the reamer device, and then output the corresponding control signal to execute the system so that the movable cover stroke angle reaches θb. At this time, the edge of the movable cover should be flush with the bottom edge of the reamer to ensure that the excavation surface is flat during the subsequent advancement of the reamer device. Step 103: A relatively closed working chamber is formed between the fixed cover and the movable cover of the auger device and the bottom mud. At this time, the staff monitors the working conditions and starts the auger device to perform dredging operations. Step 104: After the cutter mechanism is properly activated, at every moment of the dredger's advancement, the control center calculates the corresponding movable cover travel angle θb based on the angle θa between the current bridge structure and the vertical direction, and issues a corresponding control signal to ensure that the rear excavation area remains flat. Step 105: After the dredging work is completed, the dredging operation control system is first turned off, and the staff controls the bridge to rise to the recovery position, inspects and maintains the cutter device, and then proceeds to the next operation site.

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