Spacing-adjustable double-helix stirring and sucking dredging device and dredging method thereof

Abstract

The invention discloses a distance-adjustable double-helix stirring and sucking dredging device and a dredging method thereof, and relates to the technical field of environment-friendly dredging, the device comprises a front fixing frame and a rear fixing frame, the front fixing frame is symmetrically and rotatably connected with front rotating plates, the rear fixing frame is symmetrically and rotatably connected with rear rotating plates, and the front rotating plates are symmetrically and rotatably connected with the rear rotating plates; the front rotating plate and the rear rotating plate on the two sides are rotationally connected with connecting rods, the connecting rods are fixedly connected between the front rotating plate and the rear rotating plate, and a driving motor used for driving the spiral drill bit to rotate is further fixedly installed on the rear rotating plate. The rotation angle of the front rotating plates on the two sides is adjusted through a hydraulic cylinder. By means of the pipe diameter detection sensor, the distance between the two spiral drill bits can be automatically adjusted according to changes of the inner diameter of a pipeline. The hydraulic cylinder is controlled to expand or contract, it is ensured that the drill bit is tightly attached to the pipe wall, working environments with different pipe diameters are effectively adapted, therefore, the comprehensiveness and effect of dredging are improved, and the silt leakage phenomenon caused by improper spacing is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of environmentally friendly dredging, and in particular to a double-screw stirring and suction dredging device with adjustable spacing and a dredging method thereof. Background Art

[0002] In modern pipeline desilting and other environmental silt removal fields, spiral drill bits have been widely used in the excavation and cleaning of different types of sludge. As sludge properties (such as density, viscosity, water content, etc.) continue to change, traditional spiral drill bits have problems such as low efficiency, large equipment wear and high energy consumption during actual operation. Most existing spiral drill bits operate at a fixed speed and cannot be effectively adjusted according to the real-time changes in sludge density. As a result, in denser or looser sludge environments, the dredging efficiency and equipment operation stability are affected to varying degrees.

[0003] Most existing technologies rely on manual operation to adjust the drill bit spacing and speed, but this method is difficult to cope with complex operating environments and cannot achieve automated and efficient operation in the face of different pipe diameters and silt. At the same time, when the silt density is high, traditional drill bits often lack sufficient torque support, resulting in low operating efficiency and even possible equipment damage. On the contrary, in an environment where the silt is relatively loose, the fixed low-speed mode is difficult to maximize the efficiency of dredging equipment. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above problems existing in the prior art, the present invention is proposed.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A double-screw stirring and suction silt removal device with adjustable spacing, the device comprises: a front fixed frame and a rear fixed frame, the front fixed frame is symmetrically rotatably connected to a front rotating plate, the rear fixed frame is symmetrically rotatably connected to a rear rotating plate, and the front rotating plates and rear rotating plates on both sides are rotatably connected, a connecting rod is fixedly connected between the front rotating plates and the rear rotating plates, and a driving motor for driving a spiral drill bit to rotate is also fixedly installed on the rear rotating plate;

[0008] The rear fixed frame is fixedly connected with a sludge suction pipe through a fixed plate, and the front rotating plates on both sides are adjusted in rotation angle through hydraulic cylinders.

[0009] As a preferred solution of the double-screw suction dredging device with adjustable spacing described in the present invention, there are two groups of front and rear front rotating plates with an installation gap between them, the hydraulic cylinder is located in the installation gap, and both ends of the hydraulic cylinder are hinged to the front rotating plate through a hinge shaft.

[0010] A dredging method using a double-screw stirring and suction dredging device with adjustable spacing as described above comprises the following steps:

[0011] Step 1: When the device is started, the inner diameter of the pipeline is detected by the pipe diameter monitoring sensor installed at the front end of the device. According to the pipe diameter detection result, the hydraulic cylinder is controlled to adjust the distance between the two spiral drill bits so that the drill bits are close to the pipe wall and maintain smooth operation;

[0012] Step 2: Establish a torque self-adjusting mechanism to automatically adjust the rotation speed of the spiral drill bit according to the silt density. When the silt density is high, reduce the rotation speed to increase the torque; when the silt is loose, increase the rotation speed to speed up the dredging efficiency.

[0013] Step 3: The amount of silt stirred by the spiral drill is monitored by the silt flow sensor in the silt suction pipe, and the suction force of the suction pipe is adjusted according to the amount of silt.

[0014] As a preferred solution of the dredging method of the double-helix stirring and suction dredging device with adjustable spacing described in the present invention, it also includes: linkage control of rotation speed and suction force, that is, when the spiral drill bit accelerates, the suction force automatically increases to ensure that the stirred sludge is sucked away in time; when the spiral drill bit decelerates, the suction force is reduced accordingly to avoid excessive suction.

[0015] As a preferred solution of the dredging method of the double-screw stirring and suction dredging device with adjustable spacing described in the present invention, wherein: in the step 1, the specific method of controlling the hydraulic cylinder to adjust the distance between the two spiral drill bits is:

[0016] S101: By installing a pipe diameter monitoring sensor on the device, the inner diameter data D of the pipeline is collected in real time pipe (t); At the same time, obtain the friction coefficient P between the spiral drill bit and the pipe wall friction and the force F applied by the hydraulic cylinder during adjustment;

[0017] D pipe =Real-time output value of pipe diameter monitoring sensor

[0018] S102: In order to ensure that the device runs smoothly during the adjustment process, the operation efficiency function S is introduced, which is dynamically adjusted according to the internal feedback and operating environment of the device. Its expression is:

[0019]

[0020] Among them, λ is the device response rate coefficient, t0 is the start time point, and this function is in the form of a Sigmoid function, which ensures that the efficiency value changes between 0 and 1 and quickly tends to a stable state;

[0021] S103: Calculate the distance d between the spiral drill bits based on the above parameters drill and is adjusted by hydraulic cylinders.

[0022] As a preferred solution of the dredging method of the double-screw suction dredging device with adjustable spacing described in the present invention, wherein: the distance d drill The calculation formula is:

[0023]

[0024] The numerator represents the cumulative distance change during the adjustment process, and the denominator is used to balance the relationship between the force of the hydraulic cylinder and the pipe diameter at multiple time points tn, ensuring that the adjusted spiral drill head distance can dynamically adapt to the change in pipe diameter.

[0025] As a preferred solution of the dredging method of the double-screw stirring and suction dredging device with adjustable spacing described in the present invention, the torque self-adjusting mechanism specifically includes the following steps:

[0026] S201: Install a sludge density sensor on the silt removal device to collect the sludge density ρ(t) inside the pipeline in real time;

[0027] S202: The density value ρ(t) obtained by the sludge density sensor is used to calculate the power consumption P(t) currently required by the device, that is, the power and sludge density are in an exponential decay relationship, so as to reduce the load caused by high-density sludge:

[0028] P(t)=P0·e -αρ(t )

[0029] Among them, P0 is the initial power, α is the density adjustment coefficient;

[0030] S203: Dynamically adjust the rotation speed of the auger bit, and use the integral of the density ρ(t) to calculate the cumulative effect of the sludge density. The rotation speed is inversely proportional to the cumulative density, that is, the greater the density, the slower the rotation speed:

[0031]

[0032] S204: In combination with the real-time density ρ(t) and the power consumption P(t), the rotation speed ω(t) of the auger bit is adjusted. After the rotation speed is determined, the torque T(t) of the device is calculated to ensure that sufficient torque is provided to maintain stable operation of the device in a high-density sludge environment.

[0033] As a preferred solution of the dredging method of the double-screw stirring and suction dredging device with adjustable spacing described in the present invention, the adjustment formula of the rotation speed is:

[0034]

[0035] Among them, β is the speed adjustment coefficient, and γ is the basic adjustment parameter of the rotation speed, which is used to avoid infinite increase or decrease of the speed;

[0036] The adjustment formula of the torque T(t) is:

[0037]

[0038] Among them, P(t) is the current power; ω(t) is the rotation speed at the current moment.

[0039] As a preferred solution of the silting method of the double-screw suction silting device with adjustable spacing described in the present invention, wherein: the first threshold value ρ1 and the second threshold value ρ2 are set, if the real-time silt density ρ(t is greater than the first threshold value ρ1, then at this time, the formula is:

[0040]

[0041] To reduce the rotation speed w(t), this is the low speed and high torque mode;

[0042] If the real-time silt density ρ(t) is less than the first threshold ρ2, then the formula is:

[0043]

[0044] Then increase the drill bit rotation speed w(t), where k is the speed-increasing coefficient, to ensure that the speed increases reasonably as the density decreases. This is the high-speed mode.

[0045] If the real-time silt density ρ(t) is between the first threshold ρ1 and the first threshold ρ2:

[0046] The current spiral drill speed w(t) is maintained, that is, no adjustment is made. This is the medium-speed balance mode.

[0047] As a preferred solution of the dredging method of the double-screw stirring and suction dredging device with adjustable spacing described in the present invention, wherein: if the sludge density ρ(t) is greater than the first threshold ρ1 N times, it is determined that the sludge density is high and persists, and the enhanced torque mode is started to further reduce the rotation speed to ensure successful dredging;

[0048] If ρ(t) is less than ρ2 for N consecutive times;

[0049] It is determined that the silt density is low, and the high-efficiency silt removal mode is started, that is, the rotation speed is increased again to enhance the silt removal efficiency.

[0050] Beneficial effects of the present invention:

[0051] 1. The present invention uses a pipe diameter detection sensor to automatically adjust the distance between the two spiral drill bits according to the change in the inner diameter of the pipe. By controlling the expansion or contraction of the hydraulic cylinder, the drill bit is ensured to be close to the pipe wall, effectively adapting to the working environment of different pipe diameters, thereby improving the comprehensiveness and effect of dredging and avoiding silt leakage caused by improper spacing;

[0052] 2. The present invention monitors the silt density in real time and automatically adjusts the drill speed and torque to ensure sufficient torque support in a high-density silt environment and increase the speed in a loose silt environment, thereby significantly improving the dredging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0054] Figure 1 This is a schematic diagram of the structure of a double-screw stirring and suction dredging device with adjustable spacing proposed by the present invention;

[0055] Figure 2 This is a partial top view of the structure of a double-screw stirring and suction dredging device with adjustable spacing proposed by the present invention;

[0056] Figure 3 This is a schematic diagram of the top view of the double-screw stirring and suction dredging device with adjustable spacing proposed by the present invention;

[0057] Figure 4 The present invention provides a schematic flow chart of a dredging method for a double-screw stirring and suction dredging device with adjustable spacing.

[0058] In the figure: 101-front fixing frame, 102-rear fixing frame, 103-front rotating plate, 104-rear rotating plate, 105-connecting rod, 106-driving motor, 107-sludge suction pipe, 108-auger head, 109-hydraulic cylinder, 110-fixed plate DETAILED DESCRIPTION

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0061] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0062] Reference Figure 1-Figure 4 , which is an embodiment of the present invention, provides a dredging method of a double-screw stirring and suction dredging device with adjustable spacing, the device comprising:

[0063] A front fixing frame 101 and a rear fixing frame 102, the front fixing frame 101 is symmetrically rotatably connected to a front rotating plate 103, the rear fixing frame 102 is symmetrically rotatably connected to a rear rotating plate 104, and both the front rotating plates 103 and the rear rotating plates 104 on both sides are rotatably connected to 108, a connecting rod 105 is fixedly connected between the front rotating plate 103 and the rear rotating plate 104, and a driving motor 106 for driving the spiral drill bit 108 to rotate is also fixedly installed on the rear rotating plate 104;

[0064] The rear fixing frame 102 is fixedly connected with a sludge suction pipe 107 through a fixing plate 110 , and the sludge suction pipe 107 is connected to a suction pump through a hose. The front rotating plates 103 on both sides are used to adjust the rotation angle through hydraulic cylinders 109 .

[0065] That is to say, when the front rotary plate 103 begins to extend, both the front rotary plate 103 and the rear rotary plate 104 will open, thereby controlling the distance between the two spiral drill bits 108 .

[0066] The dredging method using the above double-screw stirring and suction dredging device with adjustable spacing includes the following steps:

[0067] Step 1: When the device is started, the inner diameter of the pipeline is detected by the pipe diameter monitoring sensor installed at the front end of the device. According to the pipe diameter detection result, the hydraulic cylinder 109 is controlled to adjust the distance between the two spiral drill bits 108 so that the drill bits are close to the pipe wall and maintain smooth operation;

[0068] Specifically, the specific method of controlling the hydraulic cylinder 109 to adjust the distance between the two spiral drill bits 108 is:

[0069] S101: By installing a pipe diameter monitoring sensor on the device, the inner diameter data D of the pipeline is collected in real time pipe(t); At the same time, obtain the friction coefficient P between the spiral drill bit 108 and the pipe wall friction and the force F applied by the hydraulic cylinder 109 during adjustment;

[0070] D pipe =Real-time output value of pipe diameter monitoring sensor

[0071] S102: In order to ensure that the device runs smoothly during the adjustment process, the operation efficiency function S is introduced, which is dynamically adjusted according to the internal feedback and operating environment of the device. Its expression is:

[0072]

[0073] Among them, λ is the device response rate coefficient, t0 is the start time point, and this function is in the form of a Sigmoid function, which ensures that the efficiency value changes between 0 and 1 and quickly tends to a stable state;

[0074] S103: Calculate the distance d between the spiral drill bits 108 based on the above parameters drill , and is adjusted by hydraulic cylinder 109, the distance d drill The calculation formula is:

[0075]

[0076] The above formula integrates multiple factors such as the inner diameter of the pipeline, the thrust of the hydraulic cylinder 109, the friction force, the operating efficiency and the time integral, and realizes the dynamic matching between the spiral drill head 108 and the pipe wall. The numerator represents the accumulated distance change during the adjustment process, and the denominator is used to balance the relationship between the force of the hydraulic cylinder 109 at multiple time points tn and the pipe diameter, ensuring that the adjusted distance of the spiral drill head 108 can dynamically adapt to the change of pipe diameter.

[0077] Step 2: Establish a torque self-regulating mechanism to automatically adjust the rotation speed of the spiral drill bit 108 according to the silt density. When the silt density is large, reduce the rotation speed to increase the torque; when the silt is loose, increase the rotation speed to speed up the dredging efficiency.

[0078] Specifically, the torque self-regulation mechanism includes the following steps:

[0079] S201: Install a sludge density sensor on the silt removal device to collect the sludge density ρ(t) inside the pipeline in real time, and provide accurate density information for subsequent adjustment logic.

[0080] S202: The density value ρ(t) obtained by the sludge density sensor is used to calculate the power consumption P(t) currently required by the device, that is, the power and sludge density are in an exponential decay relationship, so as to reduce the load caused by high-density sludge:

[0081] P(t)=P0·e-αρ(t)

[0082] Among them, P0 is the initial power and α is the density adjustment coefficient; it provides accurate density information for subsequent adjustment logic.

[0083] S203: Dynamically adjust the rotation speed of the auger 108, and calculate the cumulative effect of the sludge density by integrating the density ρ(t). The rotation speed is inversely proportional to the cumulative density, that is, the greater the density, the slower the rotation speed:

[0084]

[0085] Provide basic calculation data for adjusting the rotation speed to ensure that the effect of density on speed conforms to the laws of physics.

[0086] S204: In combination with the real-time density ρ(t) and the power consumption P(t), the rotation speed ω(t) of the auger 108 is adjusted. After the rotation speed is determined, the torque T(t) of the device is calculated to ensure that sufficient torque is provided to maintain stable operation of the device in a high-density sludge environment.

[0087] The adjustment formula for the rotation speed is:

[0088]

[0089] Among them, β is the speed adjustment coefficient, and γ is the basic adjustment parameter of the rotation speed, which is used to avoid infinite increase or decrease in speed. The drill bit movement is adjusted according to the relationship between the rotation speed and the density to ensure that the dredging device can operate efficiently in silts of different densities.

[0090] The adjustment formula of torque T(t) is:

[0091]

[0092] Among them, P(t) is the current power; ω(t) is the rotation speed at the current moment. Ensure that the drill bit has sufficient torque when cleaning high-density silt, thereby ensuring silt removal efficiency.

[0093] Step 3: The amount of sludge stirred by the spiral drill 108 is monitored by the sludge flow sensor in the sludge suction pipe 107, and the suction force of the suction pipe is adjusted according to the amount of sludge, so as to ensure the maximum suction efficiency and avoid energy waste.

[0094] In addition, the method also includes: linkage control of rotation speed and suction force, that is, when the spiral drill bit 108 accelerates, the suction force automatically increases to ensure that the stirred sludge is sucked away in time; when the spiral drill bit 108 decelerates, the suction force is reduced accordingly to avoid excessive suction.

[0095] Set the first threshold ρ1 and the second threshold ρ2. If the real-time silt density ρ(t) is greater than the first threshold ρ1, then the formula is:

[0096]

[0097] To reduce the rotation speed w(t), this is the low speed and high torque mode;

[0098] If the real-time silt density ρ(t) is less than the first threshold ρ2, then the formula is:

[0099]

[0100] Then increase the drill bit rotation speed w(t), where k is the speed-increasing coefficient, to ensure that the speed increases reasonably as the density decreases. This is the high-speed mode.

[0101] If the real-time silt density ρ(t) is between the first threshold ρ1 and the first threshold ρ2:

[0102] The current rotation speed w(t) of the spiral drill bit 108 is maintained, that is, no adjustment is made. At this time, it is a medium-speed balance mode. If the silt density ρ(t) is greater than the first threshold ρ1 N times, it is determined that the silt density is high and persists, and the enhanced torque mode is started to further reduce the rotation speed to ensure successful dredging. If ρ(t is less than ρ2 for N consecutive times, it is determined that the silt density is low, and the high-efficiency dredging mode is started, that is, the rotation speed is increased again to enhance the dredging efficiency. The enhanced torque mode and the high-efficiency dredging mode here can be understood as an upper and lower limit adjustment value of the rotation speed. As long as the above-mentioned setting conditions are met, the adjustment value is directly executed.

[0103] By introducing interactive rules and automatically determining the operating status by setting thresholds, intelligent response to sludge of different densities and pipe diameters is achieved, enhancing the adaptability and reliability of the equipment.

[0104] In summary, the present invention utilizes a pipe diameter detection sensor to automatically adjust the spacing between the two spiral drill bits 108 according to the change in the inner diameter of the pipe. By controlling the expansion or contraction of the hydraulic cylinder 109, the drill bit is ensured to be close to the pipe wall, effectively adapting to the working environment of different pipe diameters, thereby improving the comprehensiveness and effect of dredging, avoiding silt leakage caused by improper spacing, and automatically adjusting the drill bit speed and torque by real-time monitoring of silt density, ensuring sufficient torque support in a high-density silt environment, and increasing the speed in a loose silt environment, thereby significantly improving the dredging efficiency.

[0105] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A double-screw stirring and suction dredging device with adjustable spacing, characterized in that: The device comprises: a front fixing frame (101) and a rear fixing frame (102); a front rotating plate (103) is symmetrically rotatably connected to the front fixing frame (101); a rear rotating plate (104) is symmetrically rotatably connected to the rear fixing frame (102); and both the front rotating plates (103) and the rear rotating plates (104) on both sides are rotatably connected with (108); a connecting rod (105) is fixedly connected between the front rotating plate (103) and the rear rotating plate (104); and a driving motor (106) for driving a spiral drill bit (108) to rotate is also fixedly installed on the rear rotating plate (104); The rear fixed frame (102) is fixedly connected to a sludge suction pipe (107) via a fixed plate (110), and the front rotating plates (103) on both sides are used to adjust the rotation angle via hydraulic cylinders (109).

2. A double-screw stirring and suction dredging device with adjustable spacing according to claim 1, characterized in that: The front rotating plate (103) is provided with two groups at the front and rear, and an installation gap is left between them. The hydraulic cylinder (109) is located in the installation gap, and both ends of the hydraulic cylinder (109) are hinged to the front rotating plate (103) through a hinge shaft.

3. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 1 is characterized in that: The method comprises the following steps: Step 1: When the device is started, the inner diameter of the pipeline is detected by a pipe diameter monitoring sensor installed at the front end of the device. According to the pipe diameter detection result, the hydraulic cylinder (109) is controlled to adjust the distance between the two spiral drill bits (108) so that the drill bits are close to the pipe wall and maintain smooth operation; Step 2: Establish a torque self-regulating mechanism to automatically adjust the rotation speed of the spiral drill bit (108) according to the sludge density. When the sludge density is high, the rotation speed is reduced to increase the torque; when the sludge is loose, the rotation speed is increased to speed up the dredging efficiency. Step 3: The amount of sludge stirred by the spiral drill bit (108) is monitored by the sludge flow sensor in the sludge suction pipe (107), and the suction force of the suction pipe is adjusted according to the amount of sludge.

4. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 3 is characterized in that: The method further comprises: linkage control of rotation speed and suction force, that is, when the spiral drill bit (108) is accelerated, the suction force is automatically increased to ensure that the stirred sludge is sucked away in time; when the spiral drill bit (108) is decelerated, the suction force is correspondingly reduced to avoid excessive suction.

5. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 4 is characterized in that: In step 1, the specific method of controlling the hydraulic cylinder (109) to adjust the distance between the two spiral drill bits (108) is: S101: By installing a pipe diameter monitoring sensor on the device, the inner diameter data D of the pipeline is collected in real time pipe (t); and simultaneously obtain the friction coefficient P between the spiral drill bit (108) and the pipe wall friction and the force F applied by the hydraulic cylinder (109) during adjustment; D pipe =Real-time output value of pipe diameter monitoring sensor S102: In order to ensure that the device runs smoothly during the adjustment process, the operation efficiency function S is introduced, which is dynamically adjusted according to the internal feedback and operating environment of the device. Its expression is: Among them, λ is the device response rate coefficient, t0 is the start time point, and this function is in the form of a Sigmoid function, which ensures that the efficiency value changes between 0 and 1 and quickly tends to a stable state; S103: Calculate the distance d between the spiral drill bits (108) based on the above parameters drill and is adjusted by a hydraulic cylinder (109).

6. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 5, characterized in that: The distance d drill The calculation formula is: The numerator represents the accumulated distance change during the adjustment process, and the denominator is used to balance the relationship between the force of the hydraulic cylinder (109) and the pipe diameter at multiple time points tn, ensuring that the adjusted distance of the spiral drill bit (108) can dynamically adapt to the change in pipe diameter.

7. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 6, characterized in that: The torque self-adjusting mechanism specifically includes the following steps: S201: Install a sludge density sensor on the silt removal device to collect the sludge density ρ(t) inside the pipeline in real time; S202: The density value ρ(t) obtained by the sludge density sensor is used to calculate the power consumption P(t) currently required by the device, that is, the power and sludge density are in an exponential decay relationship, so as to reduce the load caused by high-density sludge: P(t)=P0·e -αρ(t ) Among them, P0 is the initial power, α is the density adjustment coefficient; S203: Dynamically adjust the rotation speed of the spiral drill bit (108), and use the integral of the density ρ(t) to calculate the cumulative effect of the sludge density. The rotation speed is inversely proportional to the cumulative density, that is, the greater the density, the slower the rotation speed: S204: In combination with the real-time density ρ(t) and the power consumption P(t), the rotation speed ω(t) of the auger (108) is adjusted. After the rotation speed is determined, the torque T(t) of the device is calculated to ensure that sufficient torque is provided to maintain stable operation of the device in a high-density sludge environment.

8. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 7, characterized in that: The adjustment formula of the rotation speed is: Among them, β is the speed adjustment coefficient, and γ is the basic adjustment parameter of the rotation speed, which is used to avoid infinite increase or decrease of the speed; The adjustment formula of the torque T(t) is: Among them, P(t) is the current power; ω(t) is the rotation speed at the current moment.

9. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 8, characterized in that: Set the first threshold ρ1 and the second threshold ρ2. If the real-time silt density ρ(t) is greater than the first threshold ρ1, then the formula is: To reduce the rotation speed w(t), this is the low speed and high torque mode; If the real-time silt density ρ(t) is less than the first threshold ρ2, then the formula is: Then increase the drill bit rotation speed w(t), where k is the speed-increasing coefficient, to ensure that the speed increases reasonably as the density decreases. This is the high-speed mode. If the real-time silt density ρ(t) is between the first threshold ρ1 and the first threshold ρ2: The current rotation speed w(t) of the spiral drill bit (108) is maintained, that is, no adjustment is made, and this is the medium speed balance mode.

10. The dredging method of the double-screw stirring and suction dredging device with adjustable spacing according to claim 9, characterized in that: If the silt density ρ(t) is greater than the first threshold ρ1 N times, it is determined that the silt density is high and persists, and the enhanced torque mode is started to further reduce the speed to ensure successful dredging; If ρ(t) is less than ρ2 for N consecutive times; It is determined that the silt density is low, and the high-efficiency silt removal mode is started, that is, the rotation speed is increased again to enhance the silt removal efficiency.

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