A method, system, device, and storage medium for sub-membrane dredging

Abstract

The application discloses a kind of under membrane dredging method, system, equipment and storage medium.The method includes adjusting lifting mechanism, rotating mechanism, dredging mechanism, so that the rotary radius of dredging mechanism is R, the depth of water is H+h;By rotating mechanism driving dredging mechanism rotates half a circle, it can get a width r, depth h in silt construction zone;Repeat the above steps until the depth of H+h completes the dredging of the area of radius R+r;Repeat the above steps again until the depth of H+n*h completes the dredging of the area of R+r.The application can not only achieve the greatest degree of harmless dredging and improve the efficiency of silt pond dredging operation, but also achieve the rapidity and accuracy of under membrane dredging, which can make up for the problems of existing under membrane dredging operation in dredging efficiency, application range and precise control.Meanwhile, the under membrane dredging method can also effectively increase the operation range and improve the work efficiency.

Description

Technical Field

[0001] This invention relates to the field of dredging equipment technology, and in particular to a novel method, system, equipment and storage medium for subsurface dredging. Background Technology

[0002] Currently, many regions suffer from lagging sludge treatment capacity, resulting in large amounts of sludge failing to be treated in a standardized manner, thus causing "secondary pollution" to the local environment. Due to the significant changes in viscosity of temporarily stored sludge and its presence of large amounts of harmful gases, open-air excavation and transportation are unsuitable. Current under-membrane dredging methods, primarily using underwater robots, still have many problems. For example, application conditions are limited; the sludge contains a large amount of domestic waste, which can clog the dredging device; the dredging device is difficult to control, as the flexible steel cable controlling the underwater robot can cause significant positional deviations; work efficiency is low, as the underwater dredging robot's suction port is small, resulting in a small amount of sludge transported per unit time; and the sludge conveying pipe is prone to wear, as it needs to move with the underwater dredging robot, easily causing wall abrasion. Summary of the Invention

[0003] The purpose of this invention is to provide an improved method, system, equipment, and storage medium for under-membrane dredging. This not only solves the problems of large-scale release of toxic gases and low dredging efficiency caused by removing the diaphragm from the surface of the sludge pond during conventional dredging operations, thus maximizing harmless dredging and improving the efficiency of sludge pond dredging operations; but also achieves rapid and precise under-membrane dredging, overcoming the shortcomings of existing under-membrane dredging devices in terms of dredging efficiency, application range, and precise control. Furthermore, the multi-segment design of the dredging mechanism rocker arm in this under-membrane dredging device effectively increases the operating range and improves work efficiency.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] One aspect of the present invention is to provide a method for under-membrane dredging, comprising: S1, activating an under-membrane dredging device; S2, moving the under-membrane dredging device and adjusting its posture; moving the under-membrane dredging device to the area requiring dredging, adjusting its maximum dredging radius to R, and setting the sludge pump's entry depth to H; S3, determining whether the current construction requirements are met; if met, proceeding to S4; otherwise, returning to step S2; S4, completing one working trajectory; one working trajectory represents the rotating mechanism of the under-membrane dredging device rotating half a circle, and the dredging width... S5: Complete one-stage dredging of the construction zone with a depth of 2r and a height of h; One-stage dredging means that the construction zone with a radius of R+r and a height of h at a depth of H is completed; S6: Determine whether the current construction depth has been reached. If it has, proceed to S7; otherwise, return to S4; Determine whether the dredging depth in the cylindrical area with a radius of R+r has reached n*h. If yes, the construction depth has been reached; otherwise, the construction depth has not been reached; S7: Determine whether the construction area needs to be changed. If yes, return to S2; otherwise, stop the under-membrane dredging device.

[0006] Optionally, the under-membrane dredging device includes a bottom moving mechanism, a truss support mechanism, a lifting mechanism, a rotating mechanism, and a dredging mechanism; the bottom moving mechanism provides support and lateral movement for the truss support mechanism; the truss support mechanism provides gravity support for the lifting mechanism, the rotating mechanism, and the dredging mechanism; the lifting mechanism provides lifting for the dredging mechanism; the rotating mechanism provides rotation for the dredging mechanism; and the dredging mechanism removes silt from under the membrane.

[0007] Optionally, step S2, which involves moving the under-membrane dredging device and adjusting its posture, includes: moving the bottom moving mechanism so that the truss support mechanism reaches the area to be dredged; and adjusting the lifting mechanism, the rotating mechanism, and the dredging mechanism so that the dredging mechanism has a turning radius of R and a water depth of H.

[0008] Optionally, step S3, which involves determining whether the current construction requirements are met, includes: determining whether the new construction area after the relocation overlaps with the previous construction area. If they overlap, the construction requirements are not met; if they do not overlap, the construction requirements are met.

[0009] Optionally, completing one work trajectory in step S4 includes: keeping the lifting mechanism and the dredging mechanism stationary, and rotating the dredging mechanism by the rotating mechanism to rotate it half a turn, thereby obtaining a construction zone with a width of 2r and a depth of h in the silt.

[0010] Optionally, step S5, which involves completing a deep dredging operation, includes: keeping the lifting mechanism and the dredging mechanism stationary, and rotating the dredging mechanism half a turn using the rotating mechanism to obtain a working zone with a width of 2r and a depth of h in the silt, while the remaining radius of the unworked area is Rr; adjusting the dredging mechanism and the lifting mechanism so that the dredging mechanism's rotation radius is R-2r and the water depth remains H, and rotating the dredging mechanism half a turn using the rotating mechanism to obtain a working zone with a width of 4r and a depth of h in the silt. The construction zone has a remaining radius of R-3r for the unconstructed area. The dredging mechanism and the lifting mechanism are adjusted so that the dredging mechanism's rotation radius is R-4r, while the water depth remains H. The dredging mechanism is then rotated half a turn by the rotating mechanism, resulting in a construction zone with a width of 6r and a depth of h in the silt. The remaining radius of the unconstructed area is R-5r. This process continues until the construction depth reaches h within a radius of R+r at depth H. At this point, the dredging of the cylindrical area with a radius of R+r and a height of h at that depth is complete.

[0011] Optionally, step S5, which involves completing one deep dredging operation, includes: adjusting the lifting mechanism, the rotating mechanism, and the dredging mechanism so that the dredging mechanism has a rotation radius of R and a water depth of H+h; by rotating the dredging mechanism half a turn, a construction zone with a width of 2r and a depth of h can be obtained in the silt, with the remaining unconstructed area having a radius of Rr; repeating the above steps until the dredging of the area with a radius of R+r is completed at a depth of H+h; repeating the above steps again until the dredging of the area with a radius of R+r is completed at a depth of H+n*h; wherein, completing one downward construction depth h within the radius of R+r area is recorded as 1, and 1 is added after each completion, n represents the number of downward construction depths h, and n is a pre-set target.

[0012] A second aspect of the present invention is to provide a subsurface dredging system, comprising: a control module adapted to start the subsurface dredging device, move the subsurface dredging device and adjust its posture, and control the subsurface dredging device to complete the dredging work; and a judgment module adapted to determine whether the construction requirements are met, whether the construction depth is reached, and whether the construction area needs to be changed.

[0013] A third aspect of the present invention is to provide a subsurface sludge removal device, comprising: a processor; a memory storing a computer program executable on the processor; wherein, when the computer program is executed by the processor, it implements the subsurface sludge removal method of the present invention.

[0014] A fourth aspect of the present invention is to provide a computer-readable storage medium storing a computer program that, when executed, implements the sub-dye dredging method of the present invention.

[0015] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0016] The sub-membrane dredging method provided by this invention not only solves the problems of large-scale release of toxic gases and low dredging efficiency caused by removing the diaphragm on the surface of the sludge pond during conventional dredging operations, thus maximizing harmless dredging and improving the efficiency of sludge pond dredging operations; but also achieves rapid and precise sub-membrane dredging, overcoming the problems of existing sub-membrane dredging operations in terms of dredging efficiency, application scope, and precise control; at the same time, this sub-membrane dredging method can also effectively increase the operating range and improve work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the sub-membrane sludge removal device in an embodiment of the present invention;

[0018] Figure 2(a) is a schematic diagram of the bottom moving mechanism in an embodiment of the present invention;

[0019] Figure 2(b) is an exploded view of the bottom moving mechanism in an embodiment of the present invention;

[0020] Figure 3(a) is a schematic diagram of the truss support mechanism in an embodiment of the present invention;

[0021] Figure 3(b) is an exploded view of the truss support mechanism in an embodiment of the present invention;

[0022] Figure 4(a) is a schematic diagram of the lifting mechanism in the rising state of the inner frame in an embodiment of the present invention;

[0023] Figure 4(b) is a schematic diagram of the lifting mechanism in the lowered state of the inner frame in an embodiment of the present invention;

[0024] Figure 5(a) is a schematic diagram of the rotating mechanism installed in the inner frame in an embodiment of the present invention;

[0025] Figure 5(b) is a schematic diagram of the decomposed structure of the rotating mechanism and the inner frame in an embodiment of the present invention;

[0026] Figure 5(c) is a schematic diagram of a rotating mechanism in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the dredging mechanism in an embodiment of the present invention;

[0028] Figure 7(a) is a schematic diagram of the sub-membrane dredging device completing a construction zone with a width of 2r and a depth of h in an embodiment of the present invention;

[0029] Figure 7(b) is a schematic diagram of the sub-membrane dredging device completing a construction zone with a width of 4r and a depth of h in an embodiment of the present invention;

[0030] Figure 7(c) is a schematic diagram of the sub-membrane dredging device completing a construction zone with a width of 6r and a depth of h in an embodiment of the present invention;

[0031] Figure 7(d) is a schematic diagram of another construction zone with a width of 2r and a depth of h in the sub-membrane dredging device in an embodiment of the present invention;

[0032] Figure 8 This is a schematic flowchart of the sub-membrane sludge removal method in an embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1- Bottom moving mechanism; 2- Truss support mechanism; 3- Lifting mechanism; 4- Rotating mechanism; 5- Dredging mechanism;

[0035] 6-Pulley; 7-Side steel plate and reinforcing rib; 8-Composite steel frame; 9-Flat steel plate; 44-Pin; 45-Guide rail; 46-Sleeper;

[0036] 10-Left truss; 11-Perforated square steel plate; 12-Connecting steel pipe; 13-Right truss;

[0037] 14-First fixed pulley; 15-Second fixed pulley; 16-Third fixed pulley; 17-Fourth fixed pulley; 18-Lifting lug; 19-Intermediate support; 20-Inner frame; 21-Outer frame; 47-Wire rope;

[0038] 22-Sealing plate; 23-Reinforcing rib plate; 24-Circular steel plate; 25-Thrust bearing; 26-Rotating tube; 27-Sleeve; 28-Motor; 29-Transmission gear; 30-Rotating tube gear; 31-Inner frame bottom bracket;

[0039] 32-First hinge point; 33-First hydraulic cylinder; 34-Second hinge point; 35-Third hinge point; 36-Second hydraulic cylinder; 37-Fourth hinge point; 38-Fifth hinge point; 39-Sixth hinge point; 40-Upper rocker arm; 41-Lower rocker arm; 42-Mud pump; 43-Cutter head. Detailed Implementation

[0040] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Furthermore, the embodiments and features in the embodiments of the present invention can be combined with each other unless otherwise specified.

[0041] Reference Figures 1 to 7(d) This invention provides a novel under-membrane sludge removal device. This device employs a modular design and can be used for sludge removal in temporary storage areas.

[0042] Reference Figure 1 The under-membrane dredging device includes a bottom moving mechanism 1, a truss support mechanism 2, a lifting mechanism 3, a rotating mechanism 4, and a dredging mechanism 5. The bottom moving mechanism 1 provides support and lateral movement for the truss support mechanism 2; the truss support mechanism 2 provides gravity support for the lifting mechanism 3, the rotating mechanism 4, and the dredging mechanism 5; the lifting mechanism 3 provides lifting and lowering for the dredging mechanism 5; the rotating mechanism 4 provides rotation for the dredging mechanism 5; and the dredging mechanism 5 is used to remove silt from under the membrane.

[0043] In practice, bottom moving mechanisms 1 are installed on both sides of the cofferdam of the temporary sludge storage pond. That is, there are two sets of bottom moving mechanisms 1, which are respectively installed on the left and right sides of the cofferdam of the temporary sludge storage pond.

[0044] In some embodiments, each set of bottom moving mechanisms 1 may further include two bottom moving mechanisms 1 arranged side by side.

[0045] Referring to Figures 2(a) and 2(b), each bottom moving mechanism 1 includes a sleeper 46, a guide rail 45, two pulleys 6, and an assembly. The assembly includes two side steel plates and reinforcing ribs 7, two composite steel frames 8, and a flat steel plate 9. The sleeper 46 is arranged on the left or right side of the temporary sludge storage pond cofferdam. The guide rail 45 is installed on the sleeper 46. The two pulleys 6 are both set on the guide rail 45. Each pulley 6 and a composite steel frame 8 are connected together by a pin 44 in a side steel plate and reinforcing rib 7. The two composite steel frames 8 are connected to the flat steel plate 9 by bolts and nuts. Thus, the two pulleys 6 and the assembly together form a pulley group.

[0046] In practice, the bottom moving mechanism 1 is connected to the truss support mechanism 2, and can support and move the truss support mechanism 2 as well as the lifting mechanism 3, rotating mechanism 4 and dredging mechanism 5 fixed on the truss support mechanism 2.

[0047] In practical implementation, the bottom moving mechanism 1 moves the entire under-membrane sludge removal device by rolling the pulley 6 on the guide rail 45. Since the bottom moving mechanism 1 can be arranged along the length of the cofferdam of the temporary sludge storage tank, the under-membrane sludge removal device can move along the length of the temporary sludge storage tank by relying on the bottom moving mechanism 1.

[0048] In some embodiments, the bottom moving mechanism 1 can be welded to the truss support mechanism 2 via a flat steel plate 9 in its pulley system.

[0049] Referring to Figures 3(a) and 3(b), the truss support mechanism 2 is assembled on the bottom moving mechanism 1 and includes a left truss 10, a perforated square plate 11, a connecting steel pipe 12, and a right truss 13. The left truss 10 and right truss 13 are respectively installed on the planar rigid plates 9 of the bottom moving mechanism 1 on the left and right sides of the temporary sludge storage pond cofferdam, and are supported by pulley blocks. The left truss 10 and right truss 13 are connected by bolts, nuts, and the connecting steel pipe 12. The perforated square steel plate 11 is installed between the left truss 10 and right truss 13, used to install the outer frame 21 of the lifting mechanism 3 and serving as a maintenance platform for the lifting mechanism 3, the rotating mechanism 4, and the dredging mechanism 5.

[0050] In this embodiment of the invention, the steel structures in the truss support mechanism 2 are connected by bolts and nuts, which makes them easy to assemble and disassemble; the trusses, namely the left truss 10 and the right truss 13, are respectively connected to and fixed to the connecting steel pipe 12 by bolts and nuts, which improves the stability during support; and the perforated square steel plate 11 is installed at the top center of the left truss 10 and the right truss 13, which can also make the support structure bear the force evenly.

[0051] Furthermore, the left truss 10 and the right truss 13 can be combined in the form of multiple steel trusses to better adapt to changes in the silt site.

[0052] In practice, the lifting mechanism 3 can be fixed at the center of the top of the truss support mechanism 2, that is, it can be fixed on the perforated square steel plate 11, and it also serves as the lifting and rotating mechanism 4 and the dredging mechanism 5.

[0053] Referring to Figures 4(a) and 4(b), the lifting mechanism 3 may include a pulley block, a lifting lug 18, an intermediate support 19, an inner frame 20, and an outer frame 21; the pulley block further includes a first fixed pulley 14, a second fixed pulley 15, a third fixed pulley 16, and a fourth fixed pulley 17. The bottom of the outer frame 21 is fixed to the upper center of the truss support mechanism 2, i.e., the perforated square steel plate 11 of the truss support mechanism 2; the inner frame 20 is vertically mounted inside the outer frame 21, and the outer wall of the inner frame 20 is fitted to the inner wall of the outer frame 21; the intermediate bracket 19 is installed on the top of the inner frame 20; the first fixed pulley 14 and the second fixed pulley 15 are installed on the top outer side of the outer frame 21; the lifting lug 18 is installed on the top inner side of the outer frame 21; the third fixed pulley 16 and the fourth fixed pulley 17 are fixed on the top of the inner frame 20; the intermediate bracket 19 is used to connect the third fixed pulley 16, the fourth fixed pulley 17 and the inner frame 20, and the third fixed pulley 16 and the fourth fixed pulley 17 are welded to the top of the intermediate bracket 19, and the lower part of the intermediate bracket 19 is welded to the top of the inner frame 20.

[0054] Furthermore, the lifting mechanism 3 also includes a steel wire rope 47. After being released from the lifting winch on the shore, the steel wire rope 47 passes sequentially through the first fixed pulley 14, the third fixed pulley 16, the second fixed pulley 15, and the fourth fixed pulley 17 before being locked to the lifting lug 18. In this way, the third fixed pulley 16 and the fourth fixed pulley 17 can form a movable pulley structure, reducing the tension on the steel wire rope 47 while allowing relative movement between the inner frame 20 and the outer frame 21.

[0055] In practice, the first fixed pulley 14, the second fixed pulley 15, the third fixed pulley 16, the fourth fixed pulley 17 and the lifting lug 18 can be installed in the same plane, and the line connecting adjacent upper and lower pulleys is tangent to the vertical line and the adjacent upper and lower pulleys are located at the two ends of the vertical line, which facilitates the transmission of force.

[0056] In practice, the lifting lug 18 can be installed on the top inner side of the outer frame 21 and at the edge of the middle position to fix the steel wire rope 47.

[0057] In this embodiment of the invention, the wire rope 47 winding can reduce the tension of the wire rope 47; the outer wall of the inner frame 20 is attached to the inner wall of the outer frame 21, which can constrain the horizontal movement of the inner frame 20; and the bottom of the outer frame 21 is fixed at the upper center position of the truss support mechanism 2, so the inner frame 20 can rise or fall freely without hindering the truss support structure 2.

[0058] In specific implementation, the inner frame 20 of the lifting mechanism 3 is used to install the rotating mechanism 4.

[0059] Reference Figures 5(a) to 5(c)The rotating mechanism 4 may include a rotating tube 26, a top limiting structure of the rotating tube, a thrust bearing 25, a sleeve 27, a motor 28, a transmission gear 29, a rotating tube gear 30, and a bottom support 31 of the inner frame. The inner frame bottom support 31 is fixedly connected to the inner frame 20 of the lifting mechanism 3 and can be welded to the lower part of the inner frame 20. Four motors 28 are provided and are respectively installed at the four corners of the inner frame bottom support 31 near the edge. The rotating tube 26 passes through the rotating tube gear 30, and its upper end passes through and is supported on the middle support 19. Its lower end extends downward and serves as the base of the hinge points 32 and 39 of the dredging mechanism 5. Four transmission gears 29 are also provided and are all installed on the inner frame bottom support 31. Each transmission gear 29 includes an upper gear and a lower gear. The upper gear of each transmission gear 29 meshes with the gear of one motor 28, and the lower gear of each transmission gear 29 meshes with the rotating tube gear 30. The sleeve 27 is installed at the center of the bottom of the inner frame 20 and passes through and is fixed to the inner frame bottom support 31 to limit the left and right swing and lateral movement of the rotating tube 26. The upper part of the rotating tube 26 is provided with a rotating tube top limiting structure to provide vertical force.

[0060] Furthermore, the top limiting structure of the rotating tube includes a sealing plate 22, a reinforcing rib 23, and a steel plate ring 24. The sealing plate 22 is positioned at the top of the rotating tube 26 and seals its top. The steel plate ring 24 is connected to the intermediate support 19 by a thrust bearing 25, which reduces the frictional resistance between the steel plate ring 24 and the intermediate support 19 when the rotating tube 26 rotates. The reinforcing rib 23, the steel plate ring 24, and the thrust bearing 25 are sequentially fitted onto the upper part of the rotating tube 26, with the reinforcing rib 23 located on the upper surface of the steel plate ring 24 and the steel plate ring 24 located on the upper surface of the thrust bearing 25, thus limiting the upward displacement of the thrust bearing 25. Simultaneously, the lower surface of the thrust bearing 25 is fixed at the top center of the intermediate support 19, supporting the rotating tube 26 and the entire dredging mechanism 5.

[0061] In specific implementation, the rotating mechanism 4 is driven by the motor 28 to drive the transmission gear 29, which then acts on the rotating tube gear 30, thereby driving the rotating tube 26 to rotate.

[0062] In practice, the dredging mechanism 5 is used to clean the silt under the silt in the mud pit, and the rotating mechanism 4 is used to rotate the dredging mechanism 5 to expand the working area.

[0063] Reference Figure 6The dredging mechanism 5 may include hinge points 32, 34, 35, 37, 38, and 39, hydraulic cylinders 33 and 36, rocker arms 40 and 41, a mud pump 42, and a cutter head 43. The rocker arms 40 and 41 are rotated by the extension and retraction of the push rods of hydraulic cylinders 33 and 36, thereby expanding the working area. The various components are connected by hinge points 32, 34, 35, 37, 38, and 39. Specifically, hydraulic cylinder 33 is connected to the rotating tube 26 and the upper rocker arm 40 via a hinge point. The mud pump 42 is installed at the edge of the lower rocker arm 41, and the cutter head 43 is installed at the mud inlet of the mud pump 42 to achieve better mud suction. Furthermore, the dredging mechanism 5 adopts a symmetrical structure to increase the dredging working area.

[0064] Specifically, the dredging mechanism 5 may include a first hinge point 32, a second auger point 34, a third auger point 35, a fourth auger point 37, a fifth auger point 38, a sixth auger point 39, a first hydraulic cylinder 33, a second hydraulic cylinder 36, an upper rocker arm 40, a lower rocker arm 41, a mud pump 42, and a cutter head 43.

[0065] In specific implementation, the first hydraulic cylinder 33 is connected to the rotating tube 26 via the first hinge point 32; the upper rocker arm 40 is connected to the first hydraulic cylinder 33 via the second hinge point 34; the upper rocker arm 40 is connected to the second hydraulic cylinder 36 via the third hinge point 35; the second hydraulic cylinder 36 is connected to the lower rocker arm 41 via the fourth hinge point 37; the upper rocker arm 40 and the lower rocker arm 41 are connected via the fifth hinge point 38; and the upper rocker arm 40 and the rotating tube 26 are connected via the sixth hinge point 39. Both the first hydraulic cylinder 33 and the second hydraulic cylinder 36 are telescopic cylinders. The first hydraulic cylinder 33 enables the upper rocker arm 40 to rotate up and down around the sixth hinge point 39, and the telescopic movement of the second hydraulic cylinder 36 enables the lower rocker arm 41 to rotate left and right around the fifth hinge point 38. This structure effectively increases the working area.

[0066] Furthermore, the mud pump 42 is installed at the farthest end of the lower rocker arm 41; the cutter head 43 is installed at the suction port of the mud pump 42, so that the mud pump 42 can better suck up silt when the cutter head 43 rotates.

[0067] In this embodiment of the invention, the rocker arm of the dredging mechanism 5 is multi-segmented, with the upper rocker arm 40 and the lower rocker arm 41 connected by a hinge point 38. By controlling the extension and retraction of the upper hydraulic cylinders 33 and 36 of the rocker arm, the dredging operation area can be maximized.

[0068] In practice, the dredging mechanism 2 can be symmetrically arranged in two sets.

[0069] In practice, the flat steel plates 9 on the four bottom moving mechanisms 1 of the dredging device are connected one-to-one to four shore traction winches via steel cables, and the dredging device can move forward or backward by the linkage of the four traction winches.

[0070] The lifting mechanism 3 of the under-membrane dredging device is connected to the shore lifting winch via a steel wire rope 47, and the lifting mechanism 3 is raised or lowered via the shore lifting winch.

[0071] The motor 28 in the rotating mechanism 4 of the under-film dredging device is connected to the starting box on the shore via a cable. The rotation of the rotating mechanism 4 is achieved by changing the forward and reverse rotation of the motor 28.

[0072] The hydraulic cylinder, cutter head 43, and mud pump 42 in the dredging mechanism 5 of the under-film dredging device are connected to the hydraulic pump station on the shore through hydraulic oil pipes. The extension and retraction of the hydraulic cylinder and the speed adjustment of the cutter head 43 and mud pump 42 are realized through the control panel.

[0073] The above actions can be performed simultaneously or in stages, which can greatly reduce the difficulty of the work and the number of personnel required.

[0074] During the dredging process, the maximum construction area requirements can be met by adjusting the position and posture of the lifting mechanism 3, the rotating mechanism 4, and the dredging mechanism 5. The dredging process uses a fan-shaped working area as one work trajectory. The device posture is adjusted to reach a new fan-shaped area for further dredging, and this cycle continues until the dredging of the circular area at that depth is completed, constituting one depth dredging operation.

[0075] The attitude of the under-membrane dredging device is then adjusted to perform deeper dredging. This cyclical working trajectory is repeated to complete another deep dredging operation until the required dredging depth is reached. At this point, the dredging device is moved to a new construction area by pulling the bottom moving mechanism 1 and the truss support structure 2.

[0076] The main construction trajectory and depth dredging of this sub-membrane dredging device are as follows: Figures 7(a) to 7(d) As shown.

[0077] Reference Figures 7(a) to 7(d)The bottom moving mechanism 1 of the under-membrane dredging device moves the truss support mechanism 2 to a designated position. Then, the lifting mechanism 3, rotating mechanism 4, and dredging mechanism 5 are adjusted so that the rotation radius of the two mud pumps 42 in the two sets of dredging mechanisms 5 is R, and the water depth is H, thus initiating the downward dredging operation. Assume that the suction range of the mud pump 42 during dredging is a cylinder with radius r and depth h, while the area to be dredged is a cylinder with radius R+r. Keeping the lifting mechanism 3 and dredging mechanism 5 stationary, the rotating mechanism 4 drives the two mud pumps 42 to rotate half a turn, thus creating a construction zone with a width of 2r and a depth of h in the silt. The remaining radius of the unconstructed area is Rr, as shown in Figure 7(a). Then, adjust the dredging mechanism 5 and lifting mechanism 3 so that the rotation radius of the mud pumps 42 is R-2r, while the water depth remains H. The rotating mechanism 4 then drives the two mud pumps 42 to rotate half a turn, thus creating a construction zone with a width of 4r and a depth of h in the silt. The remaining radius of the unconstructed area is R-2r. 3r, as shown in Figure 7(b); then adjust the dredging mechanism 5 and the lifting mechanism 3 so that the turning radius of the mud pump 42 is R-4r and the water depth is still H. By rotating the two mud pumps 42 half a turn through the rotating mechanism 4, a construction zone with a width of 6r and a depth of h can be obtained in the silt. The radius of the unconstructed area is still R-5r, as shown in Figure 7(c); and so on, until the construction depth in the area with a radius of R+r at depth H reaches h, indicating that the dredging of the cylindrical area with a radius of R+r and a height of h at this depth is completed.

[0078] Furthermore, dredging is required in an area with a radius of R+r at a depth of H+h. Adjust the lifting mechanism 3, rotating mechanism 4, and dredging mechanism 5 so that the rotation radius of the two mud pumps 42 is R, and the water depth is H+h. Then, the rotating mechanism 4 drives the two mud pumps 42 to rotate half a turn, creating a construction zone with a width of 2r and a depth of h in the silt. The remaining radius of the unconstructed area is Rr, as shown in Figure 7(d). Repeat the above steps until the dredging of the area with a radius of R+r is completed at a depth of H+h. Repeat the above steps again until the dredging of the area with a radius of R+r is completed at a depth of H+n*h. Here, each completion of the downward construction depth h within the radius of R+r is recorded as 1, incremented by 1 each time. n represents the number of downward construction operations, and n is a pre-set target. For example, if our target is 5h, then n equals 5, meaning 5 downward construction operations are required.

[0079] This invention also provides a subsurface dredging method applicable to the subsurface dredging device.

[0080] Reference Figure 8 The sub-membrane sludge removal method includes:

[0081] S1, start the under-membrane sludge removal device;

[0082] S2, Move the under-membrane sludge removal device and adjust its posture;

[0083] Specifically, the under-film dredging device is moved to the area where dredging is required, and the maximum dredging radius is adjusted to R, so that the depth of the mud pump 42 is H.

[0084] In practice, when customizing the construction process, the construction area can be set as a cylinder with a radius of R+r and a "construction depth" of n*h.

[0085] S3: Determine whether the current construction requirements have been met. If they have, proceed to S4; otherwise, return to S2.

[0086] In practice, determining whether the current construction requirements have been met mainly involves judging whether the new construction area overlaps with the previous construction area after the relocation, and trying to avoid overlap.

[0087] S4 completes one work trajectory;

[0088] One working trajectory means that the rotating mechanism 4 rotates half a circle, and the dredging of the construction zone with a width of 2r and a depth of h is completed.

[0089] S5, completes a deep dredging operation;

[0090] A single deep dredging operation signifies the completion of dredging in a cylindrical region with radius R+r and height h at a depth of H.

[0091] S6, determine whether the current construction depth has been reached. If it has been reached, proceed to S7; otherwise, return to S4.

[0092] Specifically, it is determined whether the dredging depth within a cylindrical area with radius R+r has reached n*h. If so, the construction depth has been reached; otherwise, the construction depth has not been reached.

[0093] S7: Determine if the construction area needs to be changed. If yes, return to S2; otherwise, stop the under-membrane dredging device.

[0094] This invention also provides a sub-membrane sludge removal system.

[0095] Specifically, the under-membrane dredging system includes a control module and a judgment module. The control module is suitable for starting the under-membrane dredging device, moving the under-membrane dredging device and adjusting its posture, and controlling the under-membrane dredging device to complete the dredging work; the judgment module is suitable for judging whether the construction requirements have been met, whether the construction depth has been reached, and whether it is necessary to change the construction area.

[0096] This invention also provides a sub-membrane sludge removal device.

[0097] Specifically, the subsurface dredging device includes a processor and a memory. The memory stores a computer program that can run on the processor; and when the computer program is executed by the processor, it implements the subsurface dredging method of the present invention.

[0098] This invention also provides a computer-readable storage medium.

[0099] Specifically, the computer-readable storage medium stores a computer program that, when executed, implements the sub-membrane dredging method of the present invention.

[0100] The above description is merely an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for subsurface sludge removal, characterized in that, include: S1, activate the under-membrane dredging device; S2, move the under-membrane dredging device and adjust its posture; Move the under-membrane dredging device to the area to be dredged, adjust its maximum dredging radius to R, and set the immersion depth of its mud pump (42) to H. The dredging range is a cylinder with a radius of R+r, and the suction range of the mud pump is a cylinder with a radius of r and a depth of h. S3, determine whether the construction requirements have been met. If they have, proceed to S4; otherwise, return to step S2. S4, complete one work trajectory. One work trajectory means that the rotating mechanism (4) of the under-membrane dredging device rotates half a circle, and the dredging of the construction zone with a dredging width of 2r and a depth of h is completed. S5, complete one deep dredging. One deep dredging means that at a depth of H, by adjusting the rotation radius multiple times and rotating half a circle each time, the dredging of the cylindrical area construction zone with a radius of R+r and a height of h is completed. S6, determine whether the construction depth has been reached. If it has, proceed to S7; otherwise, return to S4. Determine whether the dredging depth within the cylindrical area with radius R+r has reached n*h. If yes, the construction depth has been reached; otherwise, the construction depth has not been reached. Here, n is the number of times the preset downward construction depth h has been reached. S7, determine whether the construction area needs to be changed. If yes, return to S2; otherwise, stop the under-membrane dredging device.

2. The method for subsurface dredging according to claim 1, characterized in that, The under-membrane dredging device includes a bottom moving mechanism (1), a truss support mechanism (2), a lifting mechanism (3), a rotating mechanism (4), and a dredging mechanism (5); the bottom moving mechanism (1) is used to provide support and lateral movement for the truss support mechanism (2); the truss support mechanism (2) is used to provide gravity support for the lifting mechanism (3), the rotating mechanism (4), and the dredging mechanism (5); the lifting mechanism (3) is used to provide lifting and lowering for the dredging mechanism (5); the rotating mechanism (4) is used to provide rotation for the dredging mechanism (5); and the dredging mechanism (5) is used to remove silt from under the membrane.

3. The method for subsurface dredging according to claim 2, characterized in that, Step S2 involves moving the under-membrane dredging device and adjusting its posture, including: moving the bottom moving mechanism (1) so that the truss support mechanism (2) reaches the area to be dredged; and adjusting the lifting mechanism (3), the rotating mechanism (4), and the dredging mechanism (5) so that the dredging mechanism (5) has a turning radius of R and an immersion depth of H.

4. The method for subsurface dredging according to claim 1, characterized in that, Step S3, which involves determining whether the current construction requirements are met, includes: determining whether the new construction area after the relocation overlaps with the previous construction area. If they overlap, the construction requirements are not met; if they do not overlap, the construction requirements are met.

5. The method for subsurface dredging according to claim 2, characterized in that, Step S4 describes completing one work trajectory by: keeping the lifting mechanism (3) and the dredging mechanism (5) stationary, and driving the dredging mechanism (5) to rotate half a circle through the rotating mechanism (4), thereby obtaining a construction zone with a width of 2r and a depth of h in the silt.

6. The method for subsurface dredging according to claim 2, characterized in that, Step S5, which involves completing a deep dredging operation, includes: keeping the lifting mechanism (3) and the dredging mechanism (5) stationary, and rotating the dredging mechanism (5) by the rotating mechanism (4) to rotate it half a turn, thereby obtaining a construction zone with a width of 2r and a depth of h in the silt. At this time, the remaining radius R of the unconstructed area is... r; Adjust the dredging mechanism (5) and the lifting mechanism (3) so that the turning radius of the dredging mechanism (5) is R. With a depth of 2r and still H, the dredging mechanism (5) is rotated half a turn by the rotating mechanism (4), thus creating a construction zone with a width of 4r and a depth of h in the silt. The remaining radius of the unconstructed area is R. 3r; Adjust the dredging mechanism (5) and the lifting mechanism (3) so that the turning radius of the dredging mechanism (5) is R. With a depth of 4r and still H, the dredging mechanism (5) is rotated half a turn by the rotating mechanism (4), thus creating a construction zone with a width of 6r and a depth of h in the silt. The remaining radius of the unconstructed area is R. 5r; and so on, until the construction depth in the area with radius R+r at depth H reaches h. At this point, it means that the dredging of the cylindrical area with radius R+r and height h at that depth is completed.

7. The method for subsurface dredging according to claim 2, characterized in that, Step S5 describes completing a deep dredging operation by: adjusting the lifting mechanism (3), the rotating mechanism (4), and the dredging mechanism (5) so that the dredging mechanism (5) has a rotation radius of R and a water depth of H+h; by rotating the dredging mechanism (5) half a turn through the rotating mechanism (4), a construction zone with a width of 2r and a depth of h can be obtained in the silt, with the remaining radius of the unconstructed area being R. r; Repeat the above steps until the dredging of the area with radius R+r is completed at a depth of H+h; Repeat the above steps again until the dredging of the area with radius R+n*h is completed at a depth of R+r; Wherein, completing the downward construction depth h within the area with radius R+r is recorded as 1, and 1 is added after each completion, n represents the number of downward construction depths h, and n is a pre-set target.

8. A sub-membrane sludge removal system, characterized in that, include: A control module is adapted to start the under-membrane dredging device, move the under-membrane dredging device and adjust its posture, and control the under-membrane dredging device to complete the dredging work, wherein the control module controls the under-membrane dredging device to perform the under-membrane dredging method as described in any one of claims 1 to 7; a judgment module is adapted to determine whether the construction requirements are met, whether the construction depth is reached, and whether the construction area needs to be changed.

9. A subsurface sludge removal device, characterized in that, include: processor; A memory stores a computer program that can run on the processor; wherein, when the computer program is executed by the processor, it implements the sub-dye dredging method as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed, it implements the sub-dye dredging method as described in any one of claims 1 to 8.

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