Intelligent deep water dredging device and method

Abstract

The application provides a kind of intelligent deep water dredging device and method, it is related to the technical field of the height where box is located, method includes: the thickness of silt layer is obtained;Determine target closure angle based on silt thickness;According to target closure angle, generate and send first control signal to hydraulic cylinder, so that the piston rod of hydraulic cylinder drives the closure of box cover around box, and the closure angle of box cover and box is target closure angle;According to target closure angle, determine the amount of silt suction into box;According to silt amount, determine the target speed of motor;According to target speed, generate and send second control signal to motor, so that motor drives blade rotation at target speed, thereby crushing the silt of box.The application can adjust the suction port area according to the silt condition to realize accurate dredging and improve the dredging efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of the height of a box, and particularly relates to an intelligent deep-water dredging device and method. BACKGROUND

[0002] Most of the rivers in China have high sediment concentrations. After a reservoir is built on a river, the water level is raised, the flow rate is reduced, and sediment is inevitably deposited in the reservoir. The existing reservoirs in China have been in operation for several decades, and there is universal sediment deposition in varying degrees. Reservoir sedimentation will cause a series of problems: loss of reservoir capacity, reduction of flood control and beneficial effects of the reservoir; increase of backwater level and reservoir inundation loss; accumulation of silt in front of the dam, affecting the normal and safe operation of the project; clean water discharge causing downstream river channel erosion; and pollution of water quality due to sediment deposition of pollutants. Therefore, reservoir sedimentation seriously affects the safety of flood control, operation safety, and ecological safety of the reservoir, and is an important problem to be solved in the operation and management of the reservoir.

[0003] For different types of reservoirs, the problems caused by sediment, particulate matter and pollutants in rivers, lakes and reservoirs are different, and the application of treatment technologies and equipment has both commonalities and differences. Most of the reservoirs (lake-type reservoirs) on the tributaries of the Yangtze River and the Yellow River have drinking water supply functions, and the sediment deposition and pollution of the bottom mud will cause drinking water safety problems. The release of pollutants from the sediment of the "sediment-pollution" type lake-type reservoir is concentrated in the surface layer of 10-20 cm, and it is necessary to accurately determine the range and release horizon of the released pollutants for "precise, thin layer, low disturbance and high concentration" dredging. However, the existing dredging equipment has a fixed suction opening of the air pump, which cannot realize the dredging control of the thin layer of the pollution layer, thereby reducing the dredging efficiency. SUMMARY

[0004] The application provides an intelligent deep-water dredging device and method, which can adjust the suction port area according to the silt condition to realize precise dredging and improve the dredging efficiency.

[0005] In a first aspect of the application, an intelligent deep-water dredging method is provided, which is applied to a dredging device, and the dredging device comprises a box, a motor, a main shaft, a blade, a hydraulic cylinder and a box cover.

[0006] Two sides of the box are respectively fixedly provided with one motor, and the rotating shafts of the two motors are fixedly connected to the main shaft, and the main shaft is provided with a blade.

[0007] The cylinder barrel of the hydraulic cylinder is fixedly connected to the box, the piston rod of the hydraulic cylinder is movably connected to the box cover, and the box cover is hingedly connected to the box.

[0008] The method comprises the following steps.

[0009] The thickness of the silt layer is obtained.

[0010] determine a target closing angle based on the sludge thickness;

[0011] generate and send a first control signal to the hydraulic cylinder according to the target closing angle, so that the piston rod of the hydraulic cylinder drives the box cover to close around the box body, and the closing angle of the box cover and the box body is the target closing angle;

[0012] determine the amount of sludge sucked into the box body according to the target closing angle;

[0013] determine a target rotating speed of the motor according to the amount of sludge;

[0014] generate and send a second control signal to the motor according to the target rotating speed, so that the motor drives the blade to rotate at the target rotating speed, thereby crushing the sludge in the box body.

[0015] Optionally, the target closing angle is determined based on the sludge thickness, specifically including:

[0016] obtain the physical properties of the sludge layer;

[0017] obtain the calculation coefficients of a preset nonlinear model;

[0018] bring the calculation coefficients into a nonlinear equation, and calculate the target closing angle according to the physical properties of the sludge and the sludge thickness.

[0019] Optionally, the first control signal is generated and sent to the hydraulic cylinder according to the target closing angle, specifically including:

[0020] determine the current closing angle of the box cover and the box body according to the extension amount of the hydraulic cylinder;

[0021] determine an angle deviation according to the current closing angle and the target closing angle;

[0022] calculate a PID control signal based on the angle deviation to obtain the first control signal, and the expression of the first control signal is as follows:

[0023]

[0024] wherein U is the first control signal, K p is a proportional gain constant, K i is an integral gain constant, K d is a differential gain constant, and Δθ is the angle deviation.

[0025] Optionally, the amount of sludge sucked into the box body is determined according to the target closing angle, specifically including:

[0026] determining a suction area of the silt suction inlet according to the target closing angle;

[0027] obtaining a measured silt density and underwater depth of the silt layer;

[0028] calculating the silt amount according to the suction area, underwater depth and silt density.

[0029] Optionally, the dredging device further comprises a winch, the winch is arranged on the dredging ship, and the winch is connected with the box through a steel wire rope;

[0030] After the second control signal is generated and sent to the motor according to the target rotating speed, the method further comprises:

[0031] determining the height of the box according to the length of the steel wire rope;

[0032] if it is judged that there is no silt at the height of the box, adjusting the length of the steel wire rope through the winch to lower the height of the box; or

[0033] if it is judged that there is no silt at the height of the box, determining a second driving speed according to the current first driving speed of the dredging ship to drive the dredging ship to adjust the position of the box, wherein the second driving speed is greater than the first driving speed.

[0034] In a second aspect of the present application, an intelligent deep-water dredging device is provided, the dredging device comprises a box, a motor, a main shaft, a blade, a hydraulic cylinder and a box cover, wherein:

[0035] two motors are respectively arranged on two sides of the box, the main shafts of the two motors are fixedly connected to the main shaft, and the main shaft is provided with a blade;

[0036] the cylinder barrel of the hydraulic cylinder is fixedly connected to the box, the piston rod of the hydraulic cylinder is movably connected to the box cover, and the box cover is hingedly connected to the box.

[0037] Optionally, the dredging device further comprises a baffle, and the baffle is arranged on the inner side of the box;

[0038] the baffle is hingedly connected to the box, so that when the box sucks silt, the baffle opens the suction inlet composed of the box and the box cover, and when the box discharges silt, the baffle blocks the suction inlet.

[0039] Optionally, the dredging device further comprises an air pump;

[0040] the air pump is arranged in the box and is used for sucking silt out of the box.

[0041] Optionally, the dredging device further comprises a plurality of guide side plates, and the guide side plates are arranged on the box cover;

[0042] The first side and the second side of the box cover are provided with the same number of guide side plates, and the guide side plates on the first side are arranged in the same direction, and the guide side plates on the second side are arranged in the same direction. The first side is any one side of the box cover, and the second side is one side of the box cover except the first side.

[0043] Optionally, the dredging device further comprises a plurality of suction port gratings and a plurality of scrapers, and the plurality of suction port gratings are arranged on the box body, and the plurality of scrapers are arranged on the main shaft;

[0044] The scraper and the suction port grating are arranged one by one, and the main shaft drives the scraper to rotate to remove the obstacles of the suction port grating.

[0045] In summary, the one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0046] 1. The present application can adjust the opening angle of the suction port according to the thickness of the sludge layer, thereby controlling the area of the suction port and achieving precise dredging. This is achieved by obtaining the thickness information of the sludge layer and determining the closing angle of the box cover and the box body through calculation to adjust the area of the suction port. The closing degree of the box cover driven by the hydraulic cylinder can be flexibly adjusted, so that the suction port dynamically changes according to different sludge conditions, and accurately sucks the appropriate amount of sludge. At the same time, the motor speed is adjusted according to the area of the suction port and the amount of sludge, so as to realize effective crushing and processing of the sludge, thereby improving the dredging efficiency and reducing energy consumption.

[0047] 2. The present application precisely calculates the target closing angle by introducing the physical properties of the sludge and the non-linear model calculation coefficient, combined with the thickness of the sludge. This can dynamically adjust the opening and closing angle of the suction port according to the physical properties (such as density, viscosity, etc.) of different sludge layers, to ensure optimal suction effect under different sludge conditions. In summary, the adaptability and control accuracy of the dredging device are improved, thereby optimizing the dredging efficiency and reducing unnecessary energy consumption and equipment wear and tear.

[0048] 3. Through the PID control method, the closing angle of the box cover is adjusted in real time according to the extension amount of the hydraulic cylinder. By calculating the deviation between the current closing angle and the target closing angle, a precise control signal is generated to adjust the action of the hydraulic cylinder. PID control combines proportional, integral and derivative regulators to ensure that the dredging device can quickly adjust the angle during the response process, and can also reduce errors and oscillations, so that the closing of the box cover is more stable and accurate, and the control accuracy and stability of the dredging process are improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a flowchart of an intelligent deepwater dredging method disclosed by an embodiment of the present application;

[0050] Figure 2 is a cross-sectional view of the internal structure of a box of an intelligent dredging device disclosed by an embodiment of the present application;

[0051] Figure 3 is a side view of an intelligent dredging device disclosed by an embodiment of the present application;

[0052] Figure 4 is a schematic diagram of the overall application of an intelligent dredging device disclosed by an embodiment of the present application;

[0053] Figure 5 is a schematic diagram of the distribution of a flow guide side plate of an intelligent dredging device disclosed by an embodiment of the present application;

[0054] Figure 6 is a schematic diagram of the distribution of a suction grid of an intelligent dredging device disclosed by an embodiment of the present application;

[0055] Figure 7 is a schematic diagram of the distribution of a scraper of an intelligent dredging device disclosed by an embodiment of the present application;

[0056] Legend of reference signs: 201, box; 202, motor; 203, main shaft; 204, blade; 205, hydraulic cylinder; 206, box cover; 207, baffle; 208, pneumatic pump; 209, winch; 210, flow guide side plate; 211, suction grid; 212, scraper. DETAILED DESCRIPTION

[0057] In order for those skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in conjunction with the drawings in the embodiments of the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0058] In the description of the embodiments of the present application, the words such as “for example” or “for instance” are used to represent an example, illustration or description. Any embodiment or design scheme described as “for example” or “for instance” in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as “for example” or “for instance” are intended to present the relevant concept in a specific manner.

[0059] In the description of the embodiments of the present application, the term "a plurality of" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implying the indicated technical features. Therefore, the features defined as "first", "second", etc. can be explicitly or implicitly included one or more features. The terms "include", "contain", "have" and their variants mean "include but are not limited to", unless otherwise specifically emphasized.

[0060] The problem of sediment deposition in reservoirs in China is serious, affecting flood control, operation and ecological safety, and causing a series of problems such as loss of reservoir capacity, deposition in front of the dam, downstream river erosion and water pollution. Especially for lake-type reservoirs, sediment deposition and pollution threaten drinking water safety, and pollutants are concentrated in the surface layer of 10-20 cm. Therefore, dredging must be precisely controlled, and the technology of "precision, thin layer, low disturbance, and high concentration" should be used. However, existing dredging equipment cannot effectively control thin layer dredging, resulting in low efficiency, and needs to be improved.

[0061] The embodiment discloses an intelligent deep water dredging method, referring to Figure 1 , comprising the following steps S110-S160:

[0062] The embodiment of the present application discloses an intelligent deep water dredging method applied to a dredging device, referring to Figure 2 and Figure 3 The dredging device includes a box body 201, a motor 202, a main shaft 203, a blade 204, a hydraulic cylinder 205, and a box cover 206. The box body 201 is the main body of the entire dredging device, used to contain the sucked sludge. Referring to Figure 2 , two motors 202 are located on the two sides of the box body 201, and the two motors 202 are installed on the box body 201 through a fixed seat and connected with the main shaft 203 through the rotating shaft, providing power. A plurality of blades 204 are installed on the main shaft 203, and the main shaft 203 is driven to rotate by the motor 202, and the blades 204 break the sucked sludge during rotation. The hydraulic cylinder 205 is used to control the opening angle of the box cover 206, referring to Figure 2 and Figure 3 The cylinder barrel of the hydraulic cylinder 205 is fixedly connected to the box body 201, the piston rod is movably connected to the box cover 206, and the box cover 206 is hinged to the box body 201. By extending and retracting the hydraulic cylinder 205, the opening angle of the box cover 206 and the box body 201 is adjusted, so as to control the suction amount of the sludge. The box cover 206 is connected to the box body 201 through a hinge, and its opening and closing are controlled by the hydraulic cylinder 205, so as to adjust the opening degree of the suction inlet and control the flow of the sucked sludge.

[0063] Referring to Figure 3The dredging device further comprises a baffle 207, and the box body 201 and the box cover 206 form a suction inlet for sucking the silt. The baffle 207 is arranged inside the box body 201 and is connected with the box body 201 through a hinge, so that the baffle 207 can rotate at a predetermined angle to automatically open and close the silt conveying pipe.

[0064] When the silt is sucked, the hydraulic cylinder 205 drives the box cover 206 to open, the motor 202 drives the main shaft 203 and the blade 204 to rotate, and the silt is sucked through the suction inlet. During the suction process, the baffle 207 is opened due to water pressure, so as to be opened inward, thereby preventing the suction inlet from being blocked. At this time, the silt is stirred and broken by the blade 204 in the box body 201 and is stored in the box body 201. When the treated silt in the box body 201 reaches a certain amount, the dredging device stops sucking the silt, and when the silt is discharged from the box body 201, the baffle 207 is opened outward, but is blocked by the flow guide side plate, so that the flow direction of the silt flowing out can be controlled.

[0065] The dredging device further comprises an air pressure pump 208, which is pressed into the silt at the bottom of the water by gravity, and the silt enters the pump body under the action of the ambient hydrostatic pressure. Referring to Figure 4 The air pressure pump 208 is arranged in the box body 201 and is connected with the air compressor through a high-pressure gas conveying pipe. The air compressor pressurizes the compressed air through the high-pressure gas conveying pipe, and the air is distributed to the pump body of the air pressure pump 208 through a distributor. The silt in the pump body is discharged from the silt conveying pipe under the action of the high-pressure air; after the silt is discharged, the high-pressure air in the pump body is discharged to the atmosphere through the gas conveying pipe under the action of the distributor, and then the silt outside the pump body enters the pump body again under the action of the ambient hydrostatic pressure. One air pressure pump 208 is usually composed of three single pump bodies, and the distributor adjusts and controls the three single pump bodies in turn to realize continuous and stable slurry conveying. Referring to Figure 4 The dredging device further comprises a winch 209, which is connected with the box body 201 through a steel wire rope. The winch 209 can quickly wind and unwind the steel wire rope, so as to quickly and greatly adjust the position of the suction port of the air pressure pump 208.

[0066] The dredging device further comprises a plurality of flow guide side plates 210, referring to Figure 5One side of the box cover 206 is provided with a plurality of guide side plates 210, which are arranged in the same direction and used to divert the large obstacles along the spiral direction of the guide plates. The other side of the box cover 206 is also provided with a plurality of guide side plates 210, which are arranged in the same direction as the first side but have different relative positions, and are also used to divert the large obstacles along the spiral direction of the guide plates, but in the opposite direction of the first side. The guide side plate 210 is a plate-shaped structure installed outside the box cover 206, and the arrangement direction and number are designed according to the dredging requirements.

[0067] Referring to Figure 6 And Figure 7 The dredging device is also provided with a plurality of suction grilles 211 and a plurality of scrapers 212. The suction grilles 211 are arranged on the box body 201 of the dredging device and are mainly used to prevent larger foreign matters or sundries from entering the box body 201. They are equivalent to a filtering device, which blocks the solid particles (such as stones and branches) in the sludge that are not needed to enter the interior of the device, thereby protecting the air pump 208 and the blade 204 from being damaged. The scrapers 212 are installed on the main shaft 203 and are arranged one by one corresponding to the suction grilles 211. The scrapers 212 rotate with the main shaft 203 and play a role in removing the blockages on the suction grilles 211, thereby ensuring that the suction process is not disturbed by foreign matters.

[0068] S110, obtaining the sludge thickness of the sludge layer.

[0069] An underwater measuring device such as an ultrasonic detector or a laser range finder is used to detect the thickness of the sludge layer. The device is installed at the front end of the dredging device and scans the sludge distribution of the dredging area in real time. The data is transmitted to the control unit through the sensor system, and the control unit obtains and processes the sludge thickness data to provide basic parameters for the subsequent steps.

[0070] S120, determining a target closing angle based on the sludge thickness.

[0071] In actual dredging operations, the sludge physical properties such as sludge density of the sludge layer also affect the nonlinear relationship between the sludge thickness and the closing angle. High-density sludge is more difficult to clean than low-density sludge, so for high-density sludge, the closing angle should be relatively large to suck in more sludge. In addition, the viscosity, particle size, and water content of the sludge are also included.

[0072] The nonlinear model is used to establish a mathematical relationship between the thickness of the silt, the physical properties, and the closing angle of the dredging device. The calculation coefficients in the nonlinear model are obtained through historical data. The acquisition of the coefficients can be queried through the database of the control system, and according to different silt types and environmental conditions, the corresponding model coefficients are selected.

[0073] The nonlinear model can include a polynomial, exponential, or logarithmic equation, as follows:

[0074] θ target = k1 · (H mud ) 2 + k2 · p mud + k3 · h mud

[0075] where θ target is the target closing angle, k1, k2, k3 are pre-designed calculation coefficients, H mud is the thickness of the silt layer, p mud is the silt density, and h mud is the silt viscosity.

[0076] The nonlinear equation can adjust the opening and closing angle of the box cover 206 according to different physical properties and thicknesses, ensuring that the silt suction effect during dredging reaches the best. The calculated closing angle will be updated according to the real-time changing data, so as to adjust the operating parameters of the dredging device in different dredging areas or silt conditions.

[0077] S130, according to the target closing angle, generating and sending the first control signal to the hydraulic cylinder.

[0078] After calculating the target closing angle, the control system generates the corresponding control signal. These signals are generated according to the target closing angle, real-time feedback signals, and pre-set operation procedures, ensuring the accurate action of the hydraulic cylinder 205. The control signal is sent to the control module of the hydraulic cylinder 205 in the form of pulse width modulation (PWM) signal or analog voltage signal. The piston rod of the hydraulic cylinder 205 adjusts the opening and closing angle of the box cover 206 through the signal, ensuring the optimal suction amount of the silt under the condition of the specified thickness and physical properties.

[0079] Specifically, the extension and retraction amount of the hydraulic cylinder 205 piston rod is detected in real time by the displacement sensor or the telescopic sensor installed on the hydraulic cylinder 205. The relationship between the extension and retraction amount and the opening and closing angle of the box cover 206 is determined through geometric relationship. The mathematical function relationship between the extension and retraction amount of the hydraulic cylinder 205 and the angle of the box cover 206 can be linear or nonlinear function, depending on the mechanical design.

[0080] According to the current closing angle and the target closing angle, the angle deviation is determined, which is obtained by the difference between the target closing angle and the current closing angle. The angle deviation is the core input of the PID control algorithm, which determines how to adjust the action of the hydraulic cylinder 205. PID control is a commonly used feedback control algorithm that can continuously adjust dynamically according to the angle deviation. The formula of its control signal is:

[0081]

[0082] where U is the first control signal, K p is the proportional gain constant, K i is the integral gain constant, and K d is the derivative gain constant, and Δθ is the angle deviation.

[0083] The proportional gain constant represents the linear influence of the angle deviation on the output control signal. The integral gain constant represents the influence of the accumulation of the angle deviation over time, which helps to eliminate the steady-state error of the system. The derivative gain constant represents the influence of the rate of change of the angle deviation on the control signal, which is used to predict the trend of the angle change, provide damping effect, and prevent overshoot. The proportional part adjusts the control signal according to the current deviation value, quickly responds to the angle deviation. The integral part adjusts the control signal according to the accumulation of the angle deviation, compensates for the continuous deviation. The derivative part adjusts the control signal according to the speed of the deviation, smoothens the response and reduces system oscillation. The calculated control signal U is converted into a control voltage or current signal suitable for the hydraulic cylinder 205 through a digital signal processor (DSP) or a controller. The signal can be a pulse width modulation (PWM) signal, or other forms required by the hydraulic cylinder 205 control system.

[0084] S140, determining the amount of silt sucked into the box according to the target closing angle.

[0085] By controlling the closing angle of the box cover 206 and the box 201, the opening area of the silt suction inlet is changed. The smaller the closing angle, the smaller the area of the suction inlet; on the contrary, the larger the angle, the larger the area. The relationship between the suction area and the target closing angle is usually a geometric function, which is derived from the design of the device and the mechanical structure, and may be a nonlinear relationship. The area-angle relationship model is usually established by simulation or experimental data.

[0086] The density of the silt is measured in real time by a density sensor installed in the dredging device, or obtained in advance by an external sampling device. The density sensor usually uses ultrasonic, pressure sensor and other methods to detect the mass density of the silt. The current underwater depth of the box is measured by a depth sensor or a depth finder, and the environmental hydrostatic pressure is determined based on the underwater depth, the formula is P water = ρ·g·h, where P is the environmental hydrostatic pressure, ρ is the density of water, g is the acceleration of gravity, and h is the underwater depth.

[0087] According to the suction area, the underwater depth and the silt density, the silt quantity is calculated, and first of all, it is assumed that the flow rate of the silt into the box 201 under the action of hydrostatic pressure is v mud , which can be calculated according to the Bernoulli equation:

[0088]

[0089] , wherein v mud is the flow rate of the silt into the box 201, P water is the hydrostatic pressure of water, P mud is the pressure of the silt layer, p mud is the silt density.

[0090] The further silt quantity can be calculated by the product of the suction port area and the silt flow rate: Q = A x V mud , A is the suction area of the suction port, and the calculated silt quantity by combining the suction port area and the silt density can accurately reflect the total quantity of the silt actually sucked in the dredging process, thereby optimizing the entire dredging process and improving the efficiency.

[0091] S150, according to the silt quantity, determining the target rotating speed of the motor.

[0092] The control system of the dredging device determines the target rotating speed of the motor 202 on the main shaft 203 according to the calculated silt quantity, so as to ensure that the blade 204 can effectively crush and transport the silt. According to the volume flow rate of the sucked silt, combined with the dynamic formula: ω = k x Q mud , wherein ω is the target rotating speed of the motor 202, k is the proportional constant between the rotating speed of the motor 202 and the flow rate, and Q mud is the silt quantity. By adjusting the rotating speed of the motor 202 according to the silt quantity, it is ensured that the dredging device can work at the most appropriate crushing efficiency under different silt conditions.

[0093] S160, generating and sending a second control signal to the motor according to the target rotating speed.

[0094] The control system generates a second control signal and sends the signal to the control module driving the motor 202. The signal controls the rotating speed of the motor 202 by adjusting the voltage or current of the motor 202 according to the target rotating speed determined in the previous step. The rotating speed feedback of the motor 202 is transmitted back to the control system in real time through the encoder to ensure the accuracy of the target rotating speed. If there is a deviation between the actual rotating speed and the target value, the control system will automatically perform closed-loop feedback adjustment. The motor 202 can adjust its rotating speed according to the change of the real-time silt quantity, and drive the blade 204 on the main shaft 203 to crush and transport the silt at a suitable speed.

[0095] When the motor 202 receives the target rotation speed signal, it drives the main shaft 203 to rotate, and the blades 204 on the main shaft 203 rotate accordingly. The rotating motion of the blades 204 breaks up the sludge in the suction box 201, reducing the size of the sludge particles and facilitating subsequent discharge.

[0096] Further, a sludge sensor or a pressure sensor installed on the dredging device is used to detect whether there is a sludge layer in the underwater area where the box 201 is currently located. The sludge sensor can detect the thickness of the sludge near the box 201 through ultrasonic, laser or infrared scanning technology. The pressure sensor detects the pressure changes on the box 201 to determine whether the box 201 is located in a sludge layer. When the sludge layer is thick, it will exert greater pressure on the box 201. If it is detected that the sludge density at the height of the box 201 is below a preset threshold, or there is no sludge (e.g., the sludge layer thickness is close to zero), it is determined that the box 201 is located in a sludge-free area. When it is detected that there is no sludge at the height of the box 201, the control system generates and sends instructions to the winch 209, which controls the length of the wire rope to lower the height of the box 201 so that it enters the area with sludge to continue the dredging work.

[0097] Alternatively, when it is detected that there is no sludge at the height of the box 201, a second driving speed is determined based on the current first driving speed. The first driving speed is the driving speed of the dredging ship during the current dredging operation. Generally, the dredging ship drives at a low speed to ensure that the dredging device can fully suck in and process the sludge. When the system determines that there is no sludge at the height of the box, an acceleration mechanism is triggered. The control system calculates an acceleration factor based on the current first driving speed of the dredging ship, and then multiplies the first driving speed by the acceleration factor to obtain the second driving speed that the dredging ship needs to adjust. The determination of the acceleration factor can be based on various factors, such as the length of the sludge-free area, the current water flow speed, the urgency of the dredging task, etc. The acceleration factor is dynamically adjusted according to these factors to ensure that the dredging ship can quickly adjust its position according to the dredging requirements. By accelerating the driving, the dredging ship can quickly adjust the position of the box, reduce the time of ineffective operation, and improve the efficiency of the entire dredging process.

[0098] By using the technical solution of the present application, the opening and closing angle of the suction inlet can be adjusted according to the thickness of the sludge layer, so as to control the area of the suction inlet and achieve precise dredging. This is achieved by obtaining the thickness information of the sludge layer and adjusting the closing angle of the box cover 206 and the box 201 to adjust the area of the suction inlet. The closing degree of the box cover 206 driven by the hydraulic cylinder 205 can be flexibly adjusted, so that the suction inlet dynamically changes according to different sludge conditions and accurately sucks in the appropriate amount of sludge. At the same time, the rotation speed of the motor 202 is adjusted according to the area of the suction inlet and the amount of sludge, so as to achieve effective crushing and processing of the sludge, thereby improving the dredging efficiency and reducing energy consumption.

[0099] The embodiment of the present application further discloses a smart deep water dredging device, which comprises a box body 201, a motor 202, a main shaft 203, a blade 204, a hydraulic cylinder 205, a box cover 206, wherein:

[0100] Two motors 202 are fixedly arranged at two side edges of the box body 201 respectively, and the main shafts 203 of the two motors 202 are fixedly connected to the main shaft 203, and the main shaft 203 is provided with the blade 204.

[0101] The cylinder barrel of the hydraulic cylinder 205 is fixedly connected to the box body 201, the piston rod of the hydraulic cylinder 205 is movably connected to the box cover 206, and the box cover 206 is hinged to the box body 201.

[0102] In a possible implementation, the dredging device further comprises a baffle 207 arranged in the inside of the box body 201.

[0103] The baffle 207 is hinged to the box body 201, so that when the box body 201 sucks in the silt, the baffle 207 opens the suction port formed by the box body 201 and the box cover 206, and when the box body 201 discharges the silt, the baffle 207 blocks the suction port.

[0104] In a possible implementation, the dredging device further comprises an air pump 208.

[0105] The air pump 208 is arranged in the box body 201 and is used for sucking out the silt from the box body 201.

[0106] In a possible implementation, the dredging device further comprises a plurality of flow guide side plates 210 arranged in the box cover 206.

[0107] The first side edge and the second side edge of the box cover 206 are provided with the same number of flow guide side plates 210, the flow guide side plates 210 arranged on the first side edge have the same arrangement direction, the flow guide side plates 210 arranged on the second side edge have the same arrangement direction, the first side edge is any one side edge of the box cover 206, and the second side edge is one side edge of the box cover 206 except the first side edge.

[0108] In a possible implementation, the dredging device further comprises a plurality of suction port gratings 211 and a plurality of scrapers 212, the plurality of suction port gratings 211 are arranged in the box body 201, and the plurality of scrapers 212 are arranged in the main shaft 203.

[0109] The scraper 212 is arranged in one-to-one correspondence with the suction port grating 211, and the main shaft 203 drives the scraper 212 to rotate to push away the obstacles of the suction port grating 211.

[0110] The above descriptions are merely some example embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the specification and practice of the present disclosure. The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional technical means in the art that are not described in the present disclosure. The specification and examples are merely considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A smart deep water dredging method characterized by, The method is applied to a dredging device, the dredging device comprising a box body (201), a motor (202), a main shaft (203), a blade (204), a hydraulic cylinder (205), a box cover (206); Two sides of the box body (201) are respectively fixedly provided with one motor (202), and the rotating shafts of the two motors (202) are fixedly connected to the main shaft (203), and the main shaft (203) is provided with a blade (204); The cylinder barrel of the hydraulic cylinder (205) is fixedly connected to the box body (201), the piston rod of the hydraulic cylinder (205) is movably connected to the box cover (206), and the box cover (206) is hingedly connected to the box body (201); The method comprises: acquiring the thickness of the silt layer; determining a target closing angle based on the thickness of the silt; generating and sending a first control signal to the hydraulic cylinder (205) according to the target closing angle, so that the piston rod of the hydraulic cylinder (205) drives the box cover (206) to close around the box body (201), and the closing angle of the box cover (206) and the box body (201) is the target closing angle; determining the amount of silt sucked into the box body (201) according to the target closing angle; determining the target rotating speed of the motor (202) according to the amount of silt; generating and sending a second control signal to the motor (202) according to the target rotating speed, so that the motor (202) drives the blade (204) to rotate at the target rotating speed, thereby crushing the silt in the box body (201).

2. The intelligent deep water dredging method as claimed in claim 1, wherein, The method comprises: acquiring the thickness of the silt layer; acquiring the thickness of the silt layer; acquiring the calculation coefficient of the preset nonlinear model; 3. The intelligent deep water dredging method as claimed in claim 1, wherein, bringing the calculation coefficient into a nonlinear equation, and calculating the target closing angle according to the physical properties of the silt and the thickness of the silt. The method comprises: determining the current closing angle of the box cover (206) and the box body (201) according to the extension amount of the hydraulic cylinder (205); determining the angle deviation according to the current closing angle and the target closing angle; wherein U is the first control signal, K p is a proportional gain constant, K i is an integral gain constant, K d is a derivative gain constant, and Δθ is the angle deviation.

4. The intelligent deep water dredging method of claim 1, wherein, calculating the PID control signal based on the angle deviation to obtain the first control signal, and the expression of the first control signal is as follows: The method comprises: determining the suction area of the silt suction inlet according to the target closing angle; acquiring the measured silt density and underwater depth of the silt layer; 5. The intelligent deep dredging method according to claim 4, wherein, calculating the amount of silt according to the suction area, the underwater depth and the silt density. The dredging device further comprises a winch (209), the winch (209) is arranged on a dredging ship, and the winch (209) is connected with the box body (201) through a steel wire rope; After the second control signal is generated and sent to the motor (202) according to the target rotating speed, the method further comprises: According to the length of the steel wire rope, the height of the box (201) is determined; If it is judged that there is no silt at the height of the box (201), the length of the steel wire rope is adjusted by the winch (209) to lower the height of the box (201); or, If it is judged that there is no silt at the height of the box (201), according to the current first driving speed of the dredging ship, the second driving speed is determined to make the dredging ship drive to adjust the position of the box, wherein the second driving speed is greater than the first driving speed.

6. An intelligent deep water dredging apparatus characterized by, The dredging device is used to perform the method of any one of claims 1-5, and the dredging device comprises a box (201), a motor (202), a main shaft (203), a blade (204), a hydraulic cylinder (205), a box cover (206), wherein: Two sides of the box (201) are respectively fixedly provided with one motor (202), and the main shaft (203) of the two motors (202) is fixedly connected to the main shaft (203), and the main shaft (203) is provided with a blade (204); The cylinder barrel of the hydraulic cylinder (205) is fixedly connected with the box (201), the piston rod of the hydraulic cylinder (205) is movably connected with the box cover (206), and the box cover (206) is hinged with the box (201).

7. The intelligent deep dredging device according to claim 6, wherein, The dredging device further comprises a baffle (207) arranged inside the box (201); The baffle (207) is hinged with the box (201), so that when the box (201) sucks in silt, the baffle (207) opens the suction inlet composed of the box (201) and the box cover (206), and when the box (201) discharges silt, the baffle (207) blocks the suction inlet.

8. The intelligent deep dredging device according to claim 6, wherein, The dredging device further comprises a pneumatic pump (208); The pneumatic pump (208) is arranged in the box (201) for sucking silt out of the box (201).

9. The intelligent deep dredging device according to claim 6, wherein, The dredging device further comprises a plurality of guide side plates (210) arranged on the box cover (206); The first side and the second side of the box cover (206) are provided with the same number of guide side plates (210), and the guide side plates (210) on the first side are arranged in the same direction, and the guide side plates (210) on the second side are arranged in the same direction, the first side is any one side of the box cover (206), and the second side is one side of the box cover (206) except the first side.

10. The intelligent deep dredging device according to claim 6, wherein, The dredging device further comprises a plurality of suction grilles (211) and a plurality of scrapers (212), a plurality of suction grilles (211) are arranged in the box (201), and a plurality of scrapers (212) are arranged on the main shaft (203); The scraper (212) is arranged one-to-one with the suction grille (211), and the main shaft (203) drives the scraper (212) to rotate to remove the obstacles of the suction grille (211).

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