Precise dredging device for polluted bottom mud

Abstract

The precise dredging device comprises a frame assembly, a sensing assembly, an analysis assembly, a dredging assembly and a control unit and can adapt to the complex water area environment of the river bottom, hydrological environment information of the river bottom is collected through the sensing assembly, and after the hydrological environment information is transmitted to the analysis assembly to be analyzed, the dredging assembly is used for dredging the river bottom. The control unit controls the dredging assembly according to the analyzed types of the polluted bottom mud, and controls the opening and closing time of the suction pipe and the pulverizer according to different environment information, so that the technical effect of adopting different dredging modes according to different bottom mud environments and the walking path and mode are achieved, and accurate dredging is achieved.

Description

Technical Field

[0001] The invention relates to the field of riverbed sediment dredging, and in particular to a device for accurately dredging polluted sediment. Background Art

[0002] In the existing technology, sediment dredging technology has been widely used. For example, the cutter suction dredger is one of the most advanced environmentally friendly sediment dredging equipment. The equipment sucks up the surface sediment through the pipeline under the action of the mud pump and transports it to the land yard over a long distance. The cutter suction dredger is equipped with an automatic control and monitoring system, which can greatly improve the accuracy and efficiency of dredging.

[0003] However, the existing sediment dredging technology has the problems of low dredging accuracy, great damage to benthic organisms and aquatic plants, and easy secondary pollution. Although some precision dredging equipment has appeared on the market, such as cutter suction dredgers, etc., these equipment have improved the dredging accuracy and efficiency to a certain extent. However, these equipment still have some shortcomings, such as inaccurate positioning, complex operation, high maintenance cost, etc., especially in deep sea or complex water environments, the applicability of existing equipment is limited. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a contaminated sediment precision dredging device to solve the technical problems of the prior art sediment dredging device being inaccurately positioned at the bottom of the water and unable to adapt to complex water environments.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is: A device for accurate dredging of polluted sediments, comprising a frame assembly, a sensor assembly, an analysis assembly, a dredging assembly and a control unit, wherein the frame assembly comprises a support plate and a plurality of walking groups, each of the walking groups being hinged to the support plate, and the plurality of walking groups being distributed at intervals along the circumference of the support plate, and the walking groups being used to support the support plate to move on the riverbed; the sensor assembly comprises a water flow sensor and a soil sampler, the water flow sensor being distributed along the circumference of the support plate, the soil sampler being arranged on the support plate, the sampling end of the soil sampler extending downward, and the soil sampler being used to collect soil samples of the polluted sediments; the analysis assembly comprises a first analysis module and a second analysis module, the first analysis module being electrically connected to the plurality of water flow sensors, the second analysis module being electrically connected to the soil sampler, and the first analysis module being used to obtain soil samples based on water flow data collected by the plurality of water flow sensors to the distribution area of ​​the contaminated sediment in the current riverbed, the second analysis module is used to analyze the type of the current contaminated sediment according to the soil sample; the dredging component includes a suction pipe, a suction pump body, a first storage box and a crusher, the crusher is arranged on the lower surface of the support plate, the suction pipe passes through the support plate and is arranged toward the bottom of the support plate, the suction pipe is provided with the suction pump body, and the first storage box is detachably connected to the suction pipe; the control unit is electrically connected to the frame component, the sensor component, the analysis component, and the dredging component respectively, the control unit is used to control the walking path of the frame component according to the aggregation area of ​​the contaminated sediment in the current riverbed output by the analysis component, and the control unit is also used to set the opening and closing time of the crusher and the opening and closing time of the suction pipe according to the type of the contaminated sediment output by the analysis component to complete the dredging operation of the contaminated sediment.

[0006] In some embodiments, each of the walking groups includes a ball joint, a support foot, a universal wheel, a first drive unit and a second drive unit, the ball joint is arranged between the walking group and the support plate; one end of the support foot is connected to the support plate through a ball joint damping; the universal wheel is arranged at the other end of the support foot; the first drive unit is connected to the universal wheel in a transmission connection, and the first drive unit is used to drive the universal wheel to walk; the second drive unit is connected to the universal wheel in a transmission connection, and the second drive unit is used to control the rotation angle of the universal wheel.

[0007] In some embodiments, the frame assembly also includes a spiral blade group and a third drive unit. The spiral blade group is arranged on one side of the support plate, and the spiral blade group includes a plurality of spiral blades. The third drive unit is arranged on the support plate, and the third drive unit is transmission-connected to the spiral blade group. The third drive unit is used to drive the spiral blade group to rotate, so as to drive the support plate to move in a forward direction.

[0008] In some embodiments, the dredging assembly includes a first rotating rod and a fourth driving unit; the first rotating rod is arranged on the lower surface of the support plate, the first rotating rod is movably connected to the support plate, and the crusher is provided at the downwardly extending end of the first rotating rod; the fourth driving unit is transmission-connected to the first rotating rod, and the fourth driving unit is used to control the rotation angle of the first rotating rod so as to make the crusher move away from or close to the bottom of the end of the suction pipe.

[0009] In some embodiments, the dredging assembly also includes a second storage tank, which is placed on a hull, and the hull is configured to travel on the river surface where the current riverbed is located; the dredging device also includes an airbag assembly, which is arranged at the bottom of the first storage tank, and the first storage tank is detachably connected to the support plate through the airbag assembly; the dredging assembly can be placed in a tank replacement state, and when the dredging assembly is placed in a tank replacement state, the airbag assembly inhales gas to make the first storage tank float to the height of the hull, and after the first storage tank is replaced by the second storage tank, the airbag assembly exhales gas to make the second storage tank drop to the same height as the support plate.

[0010] In some embodiments, the airbag assembly includes an airbag body, an air pipe and a first valve, the first storage box is detachably connected to the airbag body, or the second storage box is detachably connected to the airbag body; the air pipe is connected to the airbag body; the first valve is arranged on the air pipe, the first valve is electrically connected to the control unit, and the first valve is used to control the air intake and air output in the airbag body.

[0011] In some embodiments, the sensing assembly further includes a first mass sensor and a second mass sensor, wherein the first mass sensor is disposed at the bottom of the first storage tank, and the first mass sensor is used to detect the mass of the contaminated sludge inside the first storage tank; the second mass sensor is disposed at the bottom of the second storage tank, and the first mass sensor is used to detect the mass of the contaminated sludge inside the second storage tank; and the control unit is electrically connected to the first mass sensor and the second mass sensor.

[0012] In some embodiments, the sensing assembly also includes a first telescopic rod and a fifth driving unit, the first telescopic rod is arranged on the lower surface of the support plate, and the soil sampler is provided at the downwardly extending end of the first telescopic rod; the fifth driving unit is transmission-connected to the first telescopic rod, and the fifth driving unit is used to drive the first telescopic rod to reciprocate in the vertical direction.

[0013] In some embodiments, the contaminated sediment precision dredging device further includes a communication unit, which is electrically connected to the control unit, and the communication unit is used to upload the current riverbed dredging status information to the server at a preset frequency.

[0014] In some embodiments, the precise dredging device for contaminated sediment is suitable for a precise dredging method for contaminated sediment, the method comprising acquiring multiple water flow information collected by a current water flow sensor, obtaining a slow-flow area of ​​a current river channel according to the water flow information, the slow-flow area being an accumulation area of ​​the contaminated sediment; controlling the soil sampler to collect soil samples from the slow-flow area where the current device is located, and acquiring analysis results of the soil samples, the analysis results including the pollution category of the current soil samples; generating a dredging strategy for the current dredging component according to the pollution category and the depth of the current accumulation area, the dredging strategy including the opening and closing time of the crusher and the opening and closing time of the suction pipe; and acquiring map information of the current riverbed, generating a walking path for the current frame component according to the slow-flow area and the map information.

[0015] Different from the prior art, a contaminated sediment precision dredging device in the above technical scheme includes a frame component, a sensor component, an analysis component, a dredging component and a control unit. The support plate is driven to move in the river channel by the walking group in the frame component. During the walking process, the underwater environment is detected and sampled by the sensor component, and the dredging component is guided to work after the information collected by the sensor component is analyzed by the analysis component. The walking path of the frame component is known by the control unit according to the contaminated sediment output by the analysis component at the bottom of the river channel, and the dredging operation is guided according to the type of contaminated sediment output by the analysis component; the present invention drives the overall device to adapt to the complex water environment of the river bottom through the walking group in the frame component, and collects the hydrological environment information of the river bottom through the sensor component. After being transmitted to the analysis component for analysis, the control unit controls the dredging component with the analyzed contaminated sediment type, and controls the opening and closing time of the suction pipe and the crusher according to different environmental information, so as to achieve the technical effect of adopting different dredging methods according to different sediment environments, as well as the walking path and method. Through this dredging method, it can adapt to different water environments, accurately locate the water information, and improve the applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0017] Figure 1It is a schematic diagram of the three-dimensional structure of the polluted sediment precision dredging device provided by the present invention; Figure 2 is a schematic diagram of the overall structure of a control unit proposed in a specific embodiment of the present invention; Figure 3 is a schematic diagram of a three-dimensional structure of a frame assembly proposed in a specific embodiment of the present invention; Figure 4 is a schematic diagram of the three-dimensional structure of a dredging assembly proposed in a specific embodiment of the present invention; Figure 5 is a schematic diagram of the three-dimensional structure of the walking group proposed in a specific embodiment of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of a spiral blade assembly according to a specific embodiment of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of a pulverizer proposed in a specific embodiment of the present invention; Figure 8 is a schematic cross-sectional structure diagram of an airbag assembly proposed in a specific embodiment of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the soil sampler proposed in the specific embodiment of the present invention.

[0018] Reference numerals: 1. Frame assembly; 11. Support plate; 12. Walking group; 121. Ball joint; 122. Support foot; 123. Universal wheel; 124. First drive unit; 125. Second drive unit; 13. Spiral blade assembly; 14. Third drive unit; 2. Sensing assembly; 21. Water flow sensor; 22. Soil sampler; 23. First mass sensor; 24. Second mass sensor; 25. First telescopic rod; 26. Fifth drive unit; 3. Analysis assembly; 31. First analysis module; 32. Second analysis module; 4. Dredging assembly; 41. Suction pipe; 42. Suction pump body; 43. First storage box; 44. Crusher; 45. First rotating rod; 46. Fourth drive unit; 47. Second storage box; 5. Control unit; 6. Airbag assembly; 61. Airbag body; 62. Air pipe; 63. First valve; 7. Communication unit. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0020] The present invention provides a device for accurate dredging of polluted sediments, which can adapt to the complex water environment of the riverbed, and collect the hydrological environment information of the riverbed through a sensor component. After the information is transmitted to the analysis component for analysis, the control unit controls the dredging component according to the analyzed polluted sediment category, and controls the opening and closing time of the suction pipe and the crusher according to different environmental information, thereby achieving the technical effect of adopting different dredging methods according to different sediment environments, as well as the walking paths and methods, and realizing accurate dredging.

[0021] See also Figure 1-4 The present embodiment provides a contaminated sediment precision dredging device, including a frame component 1, a sensor component 2, an analysis component 3, a dredging component 4 and a control unit 5. The frame component 1 includes a support plate 11 and a plurality of walking groups 12, each walking group 12 is hinged to the support plate 11, and the plurality of walking groups 12 are distributed at intervals along the circumference of the support plate 11, and the walking groups 12 are used to support the support plate 11 to move on the riverbed; the sensor component 2 includes a water flow sensor and a soil sampler 22, the water flow sensor is distributed along the circumference of the support plate 11, the soil sampler 22 is arranged on the support plate 11, and the sampling end of the soil sampler 22 extends downward, and the soil sampler 22 is used to collect soil samples of the contaminated sediment; the analysis component 3 includes a first analysis module 31 and a second analysis module 32, the first analysis module 31 is electrically connected to the plurality of water flow sensors, and the second analysis module 32 is electrically connected to the soil sampler 22, and the first analysis module 31 is used to collect soil samples according to the plurality of water flow sensors. The collected water flow obtains the distribution area of ​​the contaminated sediment in the current riverbed, and the second analysis module 32 is used to analyze the type of the current contaminated sediment according to the soil sample; the dredging component 4 includes a suction pipe 41, a suction pump body 42, a first storage box 43 and a crusher 44, the crusher 44 is arranged on the lower surface of the support plate 11, the suction pipe 41 passes through the support plate 11 and is arranged toward the bottom of the support plate 11, the suction pipe 41 is provided with a suction pump body 42, and the first storage box 43 is detachably connected to the suction pipe 41; the control unit 5 is electrically connected to the frame component 1, the sensor component 2, the analysis component 3, and the dredging component 4 respectively, the control unit 5 is used to control the walking path of the frame component 1 according to the aggregation area of ​​the contaminated sediment in the current riverbed output by the analysis component 3, and the control unit 5 is also used to set the opening and closing time of the crusher 44 and the opening and closing time of the suction pipe 41 according to the type of the contaminated sediment output by the analysis component 3, so as to complete the dredging operation of the contaminated sediment.

[0022] In this embodiment, the support plate 11 is the central mechanism connecting the sensor component 2 and the dredging component 4. The support plate 11 is preferably made of high-strength lightweight alloy material, has good load-bearing capacity and corrosion resistance, and can adapt to the working environment of long-term underwater operations. The walking group 12 is used to support the support plate 11 to move on the riverbed. Multiple walking groups 12 are evenly distributed around the support plate 11 to ensure that the support plate 11 is stable and flexible to move.

[0023] In this embodiment, a plurality of water flow sensors 21 are evenly distributed along the circumference of the support plate 11, which are used to monitor the speed and direction of the riverbed water flow in real time, and provide accurate water flow data for the analysis component 3. The soil sampler 22 has a sampling end that extends downward to the riverbed through a telescopic mechanism, and can automatically collect soil samples of contaminated sediment. The soil sampler 22 is a common soil drill in the prior art, which mechanically drives the drill rod to drill into the soil and collect soil samples.

[0024] In this embodiment, the first analysis module 31 receives data collected by multiple water flow sensors, and obtains the distribution area of ​​the contaminated sediment in the current riverbed through algorithm analysis. The second analysis module 32 receives soil samples collected by the soil sampler 22, and determines the type of contaminated sediment (such as heavy metal pollution, organic pollution, etc.) through technical means such as chemical analysis and spectral analysis.

[0025] In this embodiment, the pulverizer 44 is arranged on the lower surface of the support plate 11, and the contaminated sludge is crushed into fine particles by a high-speed rotating blade to facilitate the subsequent suction operation. The suction pipe 41 passes through the support plate 11 and is arranged toward the bottom of the support plate 11. The negative pressure is generated by the suction pump body 42 to suck the crushed contaminated sludge into the pipe. The suction pump body 42 provides sufficient suction force for the suction pipe 41 to ensure that the contaminated sludge can be smoothly sucked in. The first storage box 43: It is detachably connected to the suction pipe 41 and is used to temporarily store the sucked contaminated sludge. When the storage box is full, it can be easily replaced or emptied.

[0026] In this embodiment, the control unit 5 adopts an advanced embedded system with powerful data processing and control capabilities. According to the contaminated sediment distribution area and category information output by the analysis component 3, the control unit 5 can intelligently plan the walking path of the frame component 1 and set the opening and closing time of the crusher 44 and the suction pipe 41.

[0027] In this embodiment, after the device is started, the sensor component 2 starts working, the water flow sensor and the soil sampler 22 respectively collect the water flow data and the polluted bottom mud samples of the riverbed, the analysis component 3 receives the data collected by the sensor component 2, and obtains the distribution area and category of the polluted bottom mud through algorithm analysis. The control unit 5 intelligently plans the walking path of the framework component 1 according to the output result of the analysis component 3, so that the device can accurately move to the gathering area of ​​the polluted bottom mud. After reaching the designated position, the control unit 5 starts the crusher 44 to crush the polluted bottom mud into fine particles. At the same time, the suction pump body 42 and the suction pipe 41 are started to suck the crushed polluted bottom mud into the first storage box 43. When the storage box is full, the control unit 5 sends a prompt signal, and the operator can easily replace or empty the storage box, repeating the above steps until the polluted bottom mud dredging operation of the entire riverbed is completed.

[0028] In this embodiment, the walking group 12 in the frame component 1 drives the entire device to adapt to the complex water environment of the riverbed, and the hydrological environment information of the riverbed is collected through the sensor component 2. After being transmitted to the analysis component 3 for analysis, the control unit 5 controls the dredging component 4 according to the analyzed polluted sediment type, and controls the opening and closing time of the suction pipe 41 and the crusher 44 according to different environmental information, thereby achieving the technical effect of adopting different dredging methods according to different sediment environments, as well as walking paths and methods. Through this dredging method, it can adapt to different water environments, achieve accurate positioning of water information, and improve the applicability of the device.

[0029] For further information, see Figure 5 In some embodiments, each walking group 12 includes a ball joint 121, a support foot 122, a universal wheel 123, a first drive unit 124 and a second drive unit 125, the ball joint 121 is arranged between the walking group 12 and the support plate 11; one end of the support foot 122 is dampedly connected to the support plate 11 through the ball joint 121; the universal wheel 123 is arranged at the other end of the support foot 122; the first drive unit 124 is transmission-connected to the universal wheel 123, and the first drive unit 124 is used to drive the universal wheel 123 to walk; the second drive unit 125 is transmission-connected to the universal wheel 123, and the second drive unit 125 is used to control the rotation angle of the universal wheel 123.

[0030] In this embodiment, the ball joint 121 serves as a key component for connecting the walking group 12 and the support plate 11. The ball joint 121 allows the walking group 12 to make small adjustments in multiple directions relative to the support plate 11. This design enhances the adaptability and stability of the device on an uneven riverbed. One end of the support leg 122 is connected to the support plate 11 through a damping connection of the ball joint 121. The design of the damping connection is intended to slow down the shaking of the support leg 122 during movement and improve the stability of walking. The other end of the support leg 122 is used to install the universal wheel 123, which plays a supporting and guiding role. The universal wheel 123 is installed at the other end of the support leg 122 and has the ability to move in all directions. This design enables the walking group 12 to move freely in any direction, greatly enhancing the flexibility of the device. The first drive unit 124 is connected to the universal wheel 123 in transmission connection and is responsible for providing the power required for walking. By precisely controlling the rotation speed and steering of the first drive unit 124, the walking group 12 can be made to walk smoothly in a specified direction. The first drive unit 124 preferably adopts a servo motor, which provides power for the rotation of the universal wheel 123. The second drive unit 125 is also connected to the universal wheel 123 by transmission, but is mainly used to control the rotation angle of the universal wheel 123. By adjusting the output of the second drive unit 125, the steering angle of the walking group 12 can be precisely controlled to achieve precise positioning of the device. The second drive unit 125 preferably adopts a rotary steering gear, which is connected to the steering mechanism of the universal wheel 123 by transmission through the steering wheel. When the ball joint 121 drives the support leg 122 and the universal wheel 123 to twist, the angle of the universal wheel 123 is adjusted by the second drive unit 125 to adapt to the twisting of the support leg 122 and the universal wheel 123 caused by the internal damping of the ball joint 121.

[0031] In this embodiment, when the device needs to move on the riverbed, the control unit 5 will issue a command to the first drive unit 124 according to the preset walking path and the current environmental conditions. After receiving the command, the first drive unit 124 will drive the universal wheel 123 to rotate, thereby driving the entire walking group 12 forward or backward. Since the universal wheel 123 has the ability to move in all directions, the walking group 12 can move freely in any direction. In order to achieve accurate positioning of the device, the control unit 5 will issue a command to the second drive unit 125 to adjust the rotation angle of the universal wheel 123. After receiving the command, the second drive unit 125 will drive the universal wheel 123 to make fine adjustments, thereby changing the direction of travel of the walking group 12. Due to the design of the ball joint 121 and the support foot 122, the walking group 12 can achieve flexible steering while maintaining stability. In complex environments such as the riverbed, the device may encounter various obstacles and uneven terrain. At this time, the damping connection design of the ball joint 121 and the support foot 122 will play an important role. They can allow the walking group 12 to make minor adjustments to adapt to environmental changes while maintaining overall stability. Multiple walking groups 12 are distributed at intervals along the circumference of the support plate 11, and jointly support the movement of the entire device on the riverbed. Through the unified scheduling and precise control of the control unit 5, each walking group 12 can work together to ensure the stability and flexibility of the device in a complex environment.

[0032] In this embodiment, through the damping connection between the ball joint 121 and the support leg 122, when the universal wheel 123 is moving on a riverbed or underwater environment with relatively flat terrain, when the resistance to the universal wheel 123 on the walking path of the universal wheel 123 is less than the damping of the ball joint 121, the ball joint 121 will not drive the support leg 122 to twist. When a special terrain appears on the walking path that hinders the universal wheel 123 from moving, and the resistance to the universal wheel 123 from the terrain is greater than the internal damping of the ball joint 121, the ball joint 121 will drive the support leg 122 to twist, so that the universal wheel 123 The angle of the universal wheel 123 changes, and at the same time, the universal wheel 123 adapts to the angle change under the drive of the second drive unit 125. When the walking group 12 moves to the flat terrain again, the damping of the ball joint 121 will reset the twisted support leg 122, so as to adapt to walking on the flat terrain. One end of the support leg 122 is connected to the damping of the support plate 11 through the ball joint 121, which improves the adaptability of the walking group 12 in complex underwater environments, can cope with different underwater environments, avoid damage to equipment, and improve dredging work efficiency.

[0033] For further information, see Figure 6In some embodiments, the frame assembly 1 further includes a spiral blade group 13 and a third driving unit 14, wherein the spiral blade group 13 is disposed on one side of the support plate 11, and the spiral blade group 13 includes a plurality of spiral blades; the third driving unit 14 is disposed on the support plate 11, and the third driving unit 14 is transmission-connected to the spiral blade group 13, and the third driving unit 14 is used to drive the spiral blade group 13 to rotate, so as to drive the support plate 11 to move in a forward direction.

[0034] In this embodiment, in addition to the original support plate 11, walking group 12 and other components, the frame assembly 1 further includes the following key components: a spiral blade group 13. The spiral blade group 13 is arranged on one side of the support plate 11 and is composed of a plurality of spiral blade groups 13. These spiral blades extend along the length direction of the support plate 11 and are slightly inclined downward to form a certain propulsion angle. The material of the spiral blades is a high-strength, corrosion-resistant alloy material to ensure its durability and stability in the complex environment of the riverbed. The third drive unit 14 is arranged in the support plate 11 and is connected to the spiral blade group 13 through a transmission mechanism (such as gear transmission, chain transmission or belt transmission, etc.). The third drive unit 14 is responsible for providing power to drive the spiral blade group 13 to rotate. The third drive unit 14 can select an efficient and stable power source such as an electric motor or a hydraulic motor to meet the needs of the device under different working conditions.

[0035] When the device needs to move on the riverbed, the third drive unit 14 starts and drives the spiral blade group 13 to rotate. During the rotation of the spiral blade, friction will be generated with the bottom mud, thereby pushing the support plate 11 and the entire device forward. Due to the design of the inclination angle of the spiral blade, the device can also generate a certain downward force while moving forward, which helps to enhance the stability and grip of the device. The propulsion function of the spiral blade group 13 and the walking function of the walking group 12 complement each other. During the movement of the device, the universal wheel 123 of the walking group 12 is responsible for providing flexible steering and support, while the spiral blade group 13 provides additional power for the device through its propulsion mechanism. This design enables the device to maintain a stable moving speed and direction in a complex and changeable riverbed environment. The third drive unit 14 can realize linkage control with the control unit 5. The control unit 5 can intelligently adjust the output power and rotation speed of the third drive unit 14 according to the real-time collected environmental data (such as riverbed terrain, water flow speed, etc.) and the preset moving path to achieve precise movement and efficient operation of the device.

[0036] In this embodiment, a spiral blade group 13 is provided to provide auxiliary power for the action group to move underwater, which is beneficial for the auxiliary action group to overcome the water flow resistance when moving underwater and avoid the water flow impacting the device and causing damage to the device. The third drive unit 14 is controlled by the control unit 5, and the water flow information received by the water flow sensor 21 is analyzed. According to the analysis result obtained after analysis by the first analysis module 31, the speed of the third drive motor is controlled by the control unit 5 to affect the speed of the spiral blade group 13, thereby changing the auxiliary power brought by the spiral blade group 13 and improving the adaptability of the device to the underwater environment.

[0037] For further information, see Figure 7 In some embodiments, the dredging assembly 4 includes a first rotating rod 45 and a fourth driving unit 46; the first rotating rod 45 is arranged on the lower surface of the support plate 11, the first rotating rod 45 is movably connected to the support plate 11, and the end of the first rotating rod 45 extending downward is provided with the crusher 44; the fourth driving unit 46 is transmission-connected to the first rotating rod 45, and the fourth driving unit 46 is used to control the rotation angle of the first rotating rod 45 so that the crusher 44 moves away from or approaches to the bottom of the end of the suction pipe 41.

[0038] In this embodiment, the first rotating rod 45 is arranged on the lower surface of the support plate 11, and is connected to the fourth driving unit 46 through a transmission mechanism (such as gear transmission, chain transmission, etc.). The fourth driving unit 46 controls the rotation angle of the first rotating rod 45 to adapt to different operation requirements. The first rotating rod 45 extends downward, and a crusher 44 is arranged at its end to crush the contaminated sludge. The fourth driving unit 46 can use a rotary steering gear as a power source to meet the needs under different working conditions. By adjusting the output of the fourth driving unit 46, the rotation of the first rotating rod 45 is realized, so that the crusher 44 is moved away from or close to the lower end of the suction pipe 41.

[0039] The first rotating rod 45 is connected to the support plate 11 through a movable connection (such as a bearing connection). This design allows the first rotating rod 45 to rotate freely within a certain range to meet different operation requirements. The first rotating rod 45 extends downward, and a crusher 44 is provided at its end for crushing the contaminated sludge.

[0040] In this embodiment, when the crusher 44 is positioned at the target area, the fourth drive unit 46 drives the crusher 44 to start working. The blades or crushing teeth of the crusher 44 rotate at high speed to crush the contaminated sludge. This design can effectively crush the hard materials and viscous sludge on the riverbed, providing convenience for subsequent suction operations. While crushing, the suction pipe 41 will work synchronously to suck the crushed contaminated sludge into the pipeline. This collaborative operation mode can significantly improve the dredging efficiency of the device while reducing energy consumption and operating costs.

[0041] Furthermore, in some embodiments, the dredging assembly 4 also includes a second storage box 47, which is placed on the hull, and the hull is configured to travel on the river surface where the current riverbed is located; the dredging device also includes an airbag assembly 6, which is arranged at the bottom of the first storage box 43, and the first storage box 43 is detachably connected to the support plate 11 through the airbag assembly 6; the dredging assembly 4 can be placed in a box replacement state, and when the dredging assembly 4 is placed in a box replacement state, the airbag assembly 6 inhales gas to make the first storage box 43 float to the height of the hull, and after the first storage box 43 is replaced by the second storage box 47, the airbag assembly 6 exhales gas to make the second storage box 47 drop to the same height as the support plate 11.

[0042] In this embodiment, the hull is configured to travel on the river surface where the current river bottom is located, providing a stable working platform for the entire dredging device, the second storage box 47 is used to cooperate with the first storage box 43, and when the first storage box 43 is full of sludge, the device can continue to work by replacing the storage box, and the airbag assembly 6 is arranged at the bottom of the first storage box 43, and the first storage box 43 is lifted and lowered by inflation and deflation. The airbag assembly 6 is composed of a plurality of airbags, which are connected to the air pump through pipes and can be inflated and deflated independently or synchronously. The design of the airbag assembly 6 takes into account the pressure bearing capacity, sealing and durability to ensure stable performance during long-term operation.

[0043] In this embodiment, when the dredging assembly 4 needs to replace the storage box, the airbag assembly 6 starts to inhale gas, so that the first storage box 43 floats to the height of the hull, so that the operator can remove the first storage box 43 from the airbag assembly 6. Then, the operator connects the second storage box 47 to the dredging assembly 4, and turns the second storage box 47 to the airbag assembly 6. Then, the airbag assembly 6 starts to spit out gas, so that the second storage box 47 drops to the same height as the support plate 11, and the storage box replacement process is completed. After replacing the storage box, the dredging assembly 4 continues to crush, suck and transport the polluted sludge at the riverbed, and transports the treated polluted sludge to the new storage box. When the new storage box is full, the above-mentioned process of replacing the storage box is repeated.

[0044] In this embodiment, through the mutual cooperation between the airbag assembly 6 and the first storage box 43 and the second storage box 47, when the internal space of the first storage box 43 is filled with sludge, the sludge dredging work can be continued by replacing the second storage box 47. While the second storage box 47 stores sludge, the user can remove the sludge inside the first storage box 43. When the second storage box 47 is full, the first storage box 43 can be replaced, thereby avoiding the dredging work of the device from being stopped due to insufficient internal space and processing of the first storage box 43 or the second storage box 47, thereby improving the dredging efficiency of the device.

[0045] For further information, see Figure 8 In some embodiments, the airbag assembly 6 includes an airbag body 61, an air pipe 62 and a first valve 63, the first storage box 43 is detachably connected to the airbag body 61, or the second storage box 47 is detachably connected to the airbag body 61; the air pipe 62 is communicated with the airbag body 61; the first valve 63 is arranged on the air pipe 62, the first valve 63 is electrically connected to the control unit 5, and the first valve 63 is used to control the air intake and air outlet in the airbag body 61.

[0046] In this embodiment, the airbag body 61 is the core component of the airbag assembly 6 and is made of high-strength, corrosion-resistant materials, such as rubber or synthetic fibers. The airbag body 61 is designed as a detachable connection structure, which is convenient for connection and disassembly with the first storage box 43 or the second storage box 47. The connection method may be a bolt connection, a snap connection or other reliable connection method. The shape and size of the airbag body 61 are customized according to the weight, volume and operational requirements of the first storage box 43 and the second storage box 47 to ensure sufficient buoyancy and stability. The air pipe 62 is a pipe connecting the airbag body 61 and the air pump, which is used to transmit gas (such as air or nitrogen). The air pipe 62 is designed to be a flexible pipe to adapt to the shape change of the airbag body 61 during the inflation and deflation process. The diameter and length of the air pipe 62 are customized according to the size of the airbag body 61 and the operating requirements to ensure sufficient gas flow and pressure. The first valve 63 is set on the air pipe 62 to control the air intake and outlet in the airbag body 61. The first valve 63 is an electrically controlled valve, which is electrically connected to the control unit 5 and can receive instructions from the control unit 5 to open or close. The type of the first valve 63 can be a solenoid valve, a pneumatic valve or other types of electrically controlled valves, which are selected according to specific needs. The design of the first valve 63 takes into account sealing, corrosion resistance and durability to ensure stable performance during long-term operation.

[0047] In this embodiment, when the storage box needs to be raised, the control unit 5 sends an opening command to the first valve 63, and the first valve 63 opens, allowing gas to enter the airbag body 61 from the air pump through the air pipe 62. As the amount of gas in the airbag body 61 increases, the airbag body 61 gradually expands and generates buoyancy, causing the storage box to rise.

[0048] When the storage box rises to a specified height, the control unit 5 sends a closing command to the first valve 63, the first valve 63 closes, and the air intake stops. When the storage box needs to be lowered, the control unit 5 sends an opening command to the first valve 63 (or changes the command state to allow gas to flow out), the first valve 63 opens, and allows the gas in the airbag body 61 to be discharged through the air pipe 62. As the amount of gas in the airbag body 61 decreases, the airbag body 61 gradually shrinks and loses buoyancy, causing the storage box to descend. When the storage box descends to a specified height, the control unit 5 sends a closing command to the first valve 63 (or stops changing the command state), the first valve 63 closes, and the deflation stops.

[0049] Furthermore, in some embodiments, the sensor assembly 2 also includes a first mass sensor 23 and a second mass sensor 24, wherein the first mass sensor 23 is disposed at the bottom of the first storage box 43, and the first mass sensor 23 is used to detect the mass of the contaminated sludge inside the first storage box 43; the second mass sensor 24 is disposed at the bottom of the second storage box 47, and the first mass sensor 23 is used to detect the mass of the contaminated sludge inside the second storage box 47; and the control unit 5 is electrically connected to the first mass sensor 23 and the second mass sensor 24.

[0050] In this embodiment, the first mass sensor 23 is arranged at the bottom of the first storage box 43, and is used to detect the mass of the contaminated sediment inside the first storage box 43. The first mass sensor 23 adopts a high-precision weighing sensor, which can monitor the mass change of the sediment in the storage box in real time and transmit the data to the control unit 5. The second mass sensor 24 is arranged at the bottom of the second storage box 47, and is used to detect the mass of the contaminated sediment inside the second storage box 47. The structure and working principle of the second mass sensor 24 are the same as those of the first mass sensor 23. It also adopts a high-precision weighing sensor and has the characteristics of waterproof, anti-corrosion and wear resistance. The second mass sensor 24 and the first mass sensor 23 work independently without interfering with each other, and can monitor the mass of the sediment in the two storage boxes at the same time. The control unit 5 is electrically connected to the first mass sensor 23 and the second mass sensor 24, and is used to receive and process the data transmitted by the sensors. The control unit 5 can realize real-time monitoring and intelligent control of the operating status of the dredging device according to the received quality data, such as automatically adjusting the dredging speed, warning that the storage box is full, etc.

[0051] In this embodiment, the first mass sensor 23 and the second mass sensor 24 respectively monitor the quality of the contaminated sludge in the first storage box 43 and the second storage box 47 in real time. The sensor transmits the quality data monitored in real time to the control unit 5 through electrical signals. When the quality of the contaminated sludge in the first storage box 43 or the second storage box 47 reaches a preset full load threshold, the control unit 5 will issue a warning signal to prompt the operator to replace the storage box.

[0052] For further information, see Fig. 9 In some embodiments, the sensor assembly 2 also includes a first telescopic rod 25 and a fifth driving unit 26, wherein the first telescopic rod 25 is arranged on the lower surface of the support plate 11, and the soil sampler 22 is provided at the downwardly extending end of the first telescopic rod 25; the fifth driving unit 26 is transmission-connected to the first telescopic rod 25, and the fifth driving unit 26 is used to drive the first telescopic rod 25 to reciprocate in the vertical direction.

[0053] In this embodiment, the first telescopic rod 25 is arranged on the lower surface of the support plate 11, and is a supporting and transmission component of the soil sampler 22. The first telescopic rod 25 is designed as a multi-stage telescopic structure, and the length is adjustable through the internal mechanical structure to meet the soil sampling needs at different depths. The material of the first telescopic rod 25 is selected from high-strength and corrosion-resistant materials to ensure stability and durability in long-term underwater operations. The downward extending end of the first telescopic rod 25 is provided with a soil sampler 22 for collecting riverbed soil samples. The soil sampler 22 is a component for actual soil collection, and is designed to be a structure that is easy to insert and pull out of the soil. The fifth drive unit 26 is transmission-connected to the first telescopic rod 25, and is used to drive the first telescopic rod 25 to reciprocate in the vertical direction. The fifth drive unit 26 may adopt electric, hydraulic or pneumatic driving methods, and the specific selection is determined according to the working environment and needs. The fifth drive unit 26 is electrically connected to the control unit 5, and can receive instructions from the control unit 5 to start, stop and speed adjust operations.

[0054] In this embodiment, in the initial state, the first telescopic rod 25 is in a retracted state, and the soil sampler 22 is located near the lower surface of the support plate 11. When it is necessary to collect soil samples, the control unit 5 sends a start instruction to the fifth drive unit 26. After receiving the instruction, the fifth drive unit 26 starts to drive the first telescopic rod 25 to extend downward. As the first telescopic rod 25 extends, the soil sampler 22 gradually approaches the river bottom. When the soil sampler 22 reaches a predetermined sampling depth, the control unit 5 may send a signal to enable the soil sampler 22 to perform a sampling operation (such as collecting soil samples into the sampler by rotation, vibration or pushing). After the sampling is completed, the control unit 5 again sends an instruction to the fifth drive unit 26 to drive the first telescopic rod 25 to retract upward. As the first telescopic rod 25 retracts, the soil sampler 22 gradually leaves the river bottom and returns to the vicinity of the lower surface of the support plate 11. If multiple soil samples need to be collected, the above steps can be repeated to perform sampling at different positions.

[0055] Furthermore, in some embodiments, the contaminated sediment precision dredging device also includes a communication unit 7, and the communication unit 7 is electrically connected to the control unit 5, and the communication unit 7 is used to upload the current riverbed dredging status information to the server at a preset frequency.

[0056] In this embodiment, the communication unit 7 is a bridge connecting the dredging device and the server, responsible for data transmission and reception. The communication unit 7 can use wireless communication technology, such as 4G / 5G, Wi-Fi, Bluetooth, LoRa, NB-IoT, etc. The specific selection depends on factors such as the operating environment, transmission distance and data volume. The communication unit 7 is electrically connected to the control unit 5, and can receive the dredging status information sent by the control unit 5, and upload it to the server according to the preset frequency. The dredging status information includes but is not limited to the location, working status, dredging depth, quality of contaminated sediment, soil sampling results, etc. of the dredging device. This information is processed and integrated by the control unit 5 according to the data of each sensor to form a complete dredging status report. The dredging status information is encapsulated in a specific data format (such as JSON, XML, etc.) to facilitate the server to parse and process. The server is a central platform for receiving, storing and analyzing dredging status information. The server can monitor the progress and effect of the dredging operation in real time by receiving the dredging status information uploaded by the communication unit 7, and provide data support for decision-making and management.

[0057] In this embodiment, the control unit 5 continuously receives data from various sensors, such as location information, quality data, soil sampling results, etc. The control unit 5 processes and integrates these data to form complete dredging status information. The control unit 5 encapsulates the dredging status information according to a specific data format and sends it to the communication unit 7. The communication unit 7 uploads the encapsulated dredging status information to the server according to a preset frequency (such as every minute, every hour, etc.). The server receives the dredging status information uploaded by the communication unit 7, parses and stores it, and the server further analyzes and processes the received data, such as trend analysis, anomaly detection, etc. The server visualizes the analyzed and processed dredging status information in the form of charts, reports, etc. Managers can view the progress and effects of the dredging operation in real time through the server interface, and make decisions and management based on data support.

[0058] Furthermore, in some embodiments, the precise dredging device for contaminated sediment is suitable for a precise dredging method for contaminated sediment, the method comprising acquiring multiple water flow information collected by a current water flow sensor, obtaining a slow-flow area of ​​a current river channel according to the water flow information, the slow-flow area being an accumulation area of ​​the contaminated sediment; controlling the soil sampler 22 to collect soil samples from the slow-flow area where the current device is located, and acquiring analysis results of the soil samples, the analysis results including the pollution category of the current soil samples; generating a dredging strategy for the current dredging component 4 according to the pollution category and the depth of the current accumulation area, the dredging strategy including the opening and closing time of the crusher 44 and the opening and closing time of the suction pipe 41; and acquiring map information of the current riverbed, generating a walking path for the current frame component 1 according to the slow-flow area and the map information.

[0059] In this embodiment, the water flow sensor on the device collects water flow information in the river in real time, including flow rate, flow direction, etc., so as to obtain the polluted sediment accumulation area of ​​the current river. The control unit 5 analyzes the collected water flow information, and determines the slow-flow area of ​​the current river by comparing the water flow speeds at different positions. The slow-flow area is easy to become the accumulation area of ​​polluted sediment due to the slow water flow speed. The control unit 5 controls the soil sampler 22 to collect soil samples at the current position. The collected soil samples are sent to the laboratory or online analysis equipment for analysis to determine the pollution type of the soil samples (such as heavy metal pollution, organic pollution, etc.). The analysis results are uploaded to the server through the communication unit 7 for management personnel to check. Observe and make decisions, according to the pollution type of the soil sample and the depth of the accumulation area, the control unit 5 generates the dredging strategy of the current dredging component 4, the dredging strategy includes the opening and closing time of the crusher 44 (for crushing large blocks of material in the bottom mud), the opening and closing time of the suction pipe 41 (for extracting the bottom mud), etc. The control unit 5 controls the working state of the dredging component 4 according to the dredging strategy to achieve precise dredging. The map information acquisition module on the device (such as GPS, Beidou, etc.) obtains the current riverbed map information in real time. The control unit 5 generates the walking path of the current frame component 1 according to the position and map information of the slow-flow area. The walking path should cover all slow-flow areas as much as possible, while avoiding repeated dredging and omissions.

[0060] In this embodiment, Different from the prior art, a device for accurate dredging of polluted sediment in the above technical solution includes a frame component 1, a sensor component 2, an analysis component 3, a dredging component 4 and a control unit 5. The support plate 11 is driven to move in the river channel by the walking group in the frame component 1. During the walking process, the underwater environment is detected and sampled by the sensor component 2, and the analysis component 3 analyzes the information collected by the sensor component 2 to guide the dredging component 4 to work. The control unit 5 knows the walking path of the frame component 1 at the bottom of the river channel according to the polluted sediment output by the analysis component 3, and guides the dredging component 4 according to the type of polluted sediment output by the analysis component 3. Dredging operation; The present invention drives the whole device to adapt to the complex water environment of the riverbed through the walking group 12 in the frame component 1, and collects the hydrological environment information of the riverbed through the sensor component 2. After being transmitted to the analysis component 3 for analysis, the control unit 5 controls the dredging component 4 according to the type of polluted sediment analyzed, and controls the opening and closing time of the suction pipe 41 and the crusher 44 according to different environmental information, so as to achieve the technical effect of using different dredging methods according to different sediment environments, as well as the walking path and method. Through this dredging method, it can adapt to different water environments, accurately locate the water information, and improve the applicability of the device. In addition, each functional unit in each embodiment of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0061] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0062] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A device for accurate dredging of polluted sediment, characterized in that: include: A frame assembly, comprising a support plate and a plurality of walking groups, each of the walking groups being hinged to the support plate, the plurality of walking groups being distributed at intervals along the circumference of the support plate, and the walking groups being used to support the support plate to move on the river bottom; The sensing assembly includes a water flow sensor and a soil sampler, wherein the water flow sensor is distributed along the circumference of the support plate, the soil sampler is arranged on the support plate, the sampling end of the soil sampler extends downward, and the soil sampler is used to collect soil samples of the contaminated sediment; The analysis component includes a first analysis module and a second analysis module, wherein the first analysis module is electrically connected to the plurality of water flow sensors, and the second analysis module is electrically connected to the soil sampler, wherein the first analysis module is used to obtain the distribution area of ​​the contaminated sediment in the current river bottom according to the water flow collected by the plurality of water flow sensors, and the second analysis module is used to analyze the type of the current contaminated sediment according to the soil sample; A dredging assembly, comprising a suction pipe, a suction pump body, a first storage box and a pulverizer, wherein the pulverizer is arranged on the lower surface of the support plate, the suction pipe passes through the support plate and is arranged toward the bottom of the support plate, the suction pipe is provided with the suction pump body, and the first storage box is detachably connected to the suction pipe; A control unit is electrically connected to the frame assembly, the sensor assembly, the analysis assembly, and the dredging assembly, respectively. The control unit is used to control the walking path of the frame assembly according to the concentration area of ​​the contaminated sludge in the current riverbed output by the analysis assembly, and the control unit is also used to set the opening and closing time of the crusher and the opening and closing time of the suction pipe according to the type of the contaminated sludge output by the analysis assembly, so as to complete the dredging operation of the contaminated sludge.

2. The contaminated sediment precision dredging device according to claim 1, characterized in that: Each walking group includes: A ball joint is arranged between the walking group and the support plate; A support foot, one end of which is connected to the support plate via a ball joint damping; A universal wheel, arranged at the other end of the supporting foot; A first driving unit is connected to the universal wheel in a transmission manner, and the first driving unit is used to drive the universal wheel to move; The second driving unit is drivingly connected to the universal wheel, and the second driving unit is used to control the rotation angle of the universal wheel.

3. The contaminated sediment precision dredging device according to claim 1, characterized in that: The frame assembly also includes: A spiral blade group is arranged on one side of the support plate, and the spiral blade group includes a plurality of spiral blades; A third driving unit is disposed on the support plate. The third driving unit is transmission-connected to the spiral blade group. The third driving unit is used to drive the spiral blade group to rotate, so as to drive the support plate to move in the forward direction.

4. The contaminated sediment precision dredging device according to claim 1, characterized in that: The desilting assembly comprises: A first rotating rod, arranged on the lower surface of the support plate, the first rotating rod is movably connected to the support plate, and the crusher is arranged at the end of the first rotating rod extending downward; A fourth driving unit is transmission-connected to the first rotating rod, and is used to control the rotation angle of the first rotating rod so as to move the pulverizer away from or close to the lower side of the end of the suction pipe.

5. The contaminated sediment precision dredging device according to claim 1, characterized in that: The dredging assembly further includes a second storage tank, the second storage tank being disposed on a hull, the hull being configured to travel on a river surface where a current river bottom is located; The dredging device also includes: An airbag assembly is arranged at the bottom of the first storage box, and the first storage box is detachably connected to the support plate through the airbag assembly; The dredging assembly can be placed in a box replacement state. When the dredging assembly is placed in the box replacement state, the airbag assembly inhales gas to make the first storage box float to the height of the hull, and after the first storage box is replaced by the second storage box, the airbag assembly exhales gas to make the second storage box descend to the same height as the support plate.

6. The contaminated sediment precision dredging device according to claim 5, characterized in that: The airbag assembly comprises: an airbag body, the first storage box being detachably connected to the airbag body, or the second storage box being detachably connected to the airbag body; A trachea, connected to the airbag body; The first valve is arranged on the trachea, the first valve is electrically connected to the control unit, and the first valve is used to control the air intake and air output in the airbag body.

7. The contaminated sediment precision dredging device according to claim 6, characterized in that: The sensor assembly also includes: A first mass sensor is disposed at the bottom of the first storage tank, and the first mass sensor is used to detect the mass of the contaminated sediment inside the first storage tank; A second mass sensor is disposed at the bottom of the second storage tank, and the second mass sensor is used to detect the mass of the contaminated sediment inside the second storage tank; The control unit is electrically connected to the first mass sensor and the second mass sensor.

8. The contaminated sediment precision dredging device according to claim 1, characterized in that: The sensor assembly also includes: A first telescopic rod, arranged on the lower surface of the support plate, wherein the soil sampler is arranged at the end portion of the first telescopic rod extending downward; The fifth driving unit is transmission-connected to the first telescopic rod, and the fifth driving unit is used to drive the first telescopic rod to reciprocate in a vertical direction.

9. The contaminated sediment precision dredging device according to claim 1, characterized in that: Also includes: A communication unit is electrically connected to the control unit, and is used to upload the current riverbed dredging status information to the service end according to a preset frequency.

10. The contaminated sediment precision dredging device according to any one of claims 1 to 9, characterized in that: Applicable to the precise dredging method of polluted sediment, the method includes: Acquire multiple water flow information collected by the current water flow sensor, and obtain the slow flow area of ​​the current river according to the water flow information, wherein the slow flow area is the gathering area of ​​the polluted sediment; Controlling the soil sampler to collect soil samples from the slow-flow area where the current device is located, and obtaining analysis results of the soil samples, wherein the analysis results include the pollution category of the current soil sample; Generate a dredging strategy for the current dredging component according to the pollution category and the depth of the current accumulation area, wherein the dredging strategy includes the start and stop time of the pulverizer and the start and stop time of the suction pipe; And, obtain the map information of the current river bottom, and generate the walking path of the current framework component according to the slow-flow area and the map information.

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