An automatic sewage suction ship based on ultrasonic ranging

Abstract

The application relates to an automatic sewage suction ship based on ultrasonic ranging, and relates to the technical field of aquaculture. The automatic sewage suction ship comprises a sewage suction ship body, a sewage collection bin, a conveyor belt type sewage filter pressing device, a sewage receiving bin, a sewage treatment bin, a microbial agent drip irrigation device arranged above a sewage treatment opening, a traveling device arranged at two sides of the bottom surface of the sewage suction ship body, a ranging device arranged at the bottom surface of the sewage suction ship body, a sewage suction automatic telescopic pipe, a negative pressure sewage suction disc arranged at the bottom end of the sewage suction automatic telescopic pipe, a negative pressure fan, and a control device. The control device is internally provided with a GPS module. The multiple components cooperate with each other, the daily cleaning of residual feed and excrement is met, timely early warning treatment of blockage of the automatic sewage suction ship and accumulation of sludge at the bottom of the pool is effectively carried out, the water quality of aquaculture is ensured, the occurrence of diseases of the aquaculture organisms is reduced, strong technical support is provided for the aquaculture farmers to increase production and income, and the automatic sewage suction ship has a wide market application prospect.

Description

Technical Field

[0001] This application relates to the field of aquaculture technology, specifically to an automatic sludge suction vessel based on ultrasonic ranging. Background Technology

[0002] In the current aquaculture sector, especially regarding the treatment of uneaten feed, feces, and other waste at the bottom of ponds, the most common practice is post-harvest pond cleaning. This involves draining the pond and then using machinery (such as excavators) or manual labor to remove and transport the waste from the bottom. These traditional methods are cumbersome, require waiting for the pond to drain, are time-consuming and labor-intensive, and may damage the pond's bottom seepage prevention systems. Therefore, there is an urgent need for a waste suction and treatment technology to meet the current needs of aquaculture.

[0003] Therefore, to meet practical needs, an automatic sludge suction boat based on ultrasonic ranging is provided. Summary of the Invention

[0004] This application provides an automatic sludge suction boat based on ultrasonic ranging. Utilizing the collaborative operation of multiple components, it can effectively provide timely warnings and treatments for its own blockage and the accumulation of silt at the bottom of the pond, while meeting the daily cleaning needs of uneaten feed and feces. This ensures the quality of aquaculture water, reduces labor and time costs, reduces the accumulation of pollutants such as nitrogen and phosphorus in the water, and reduces the occurrence of diseases in aquatic organisms. It provides strong technical support for increasing production and income for aquaculture farmers and has broad market application prospects.

[0005] This application provides an automatic sewage suction vessel based on ultrasonic ranging, the automatic sewage suction vessel comprising:

[0006] The main body of the sewage suction vessel;

[0007] The sludge collection chamber is located inside the main body of the sludge suction vessel, and the top surface of the sludge collection chamber is provided with a sludge conveying port.

[0008] A conveyor belt type sludge filter press is inclinedly installed above the sludge collection bin. The lowest side of the conveyor belt type sludge filter press extends into the sludge conveying port. The conveying direction of the conveyor belt type sludge filter press is from the highest side to the lowest side.

[0009] Wastewater receiving chamber located below the highest side of the conveyor belt type sludge depressurization device and above the sludge collection chamber;

[0010] The sewage treatment chamber is located inside the main body of the sludge suction vessel. The top surface of the sewage treatment chamber is provided with a sewage treatment opening. The sewage receiving chamber is connected to the sewage treatment chamber through a sewage inlet pipe. The bottom surface of the sewage receiving chamber is higher than the highest point of the sewage treatment chamber. A sewage outlet pipe is provided on one side of the sewage treatment chamber, and a sewage pump is configured on the sewage outlet pipe.

[0011] A microbial agent drip irrigation device arranged above the sewage treatment opening;

[0012] A traveling device arranged on both sides of the bottom surface of the suction boat body, the traveling device being a rotatable turbine propulsion device;

[0013] A ranging device arranged on the bottom surface of the suction boat body, the ranging device being an ultrasonic ranging device;

[0014] A suction automatic telescopic pipe arranged on the bottom surface of the suction boat body, the top end of the suction automatic telescopic pipe being located above the highest side of the conveyor belt type sewage filter pressing device, the bottom end of the suction automatic telescopic pipe being provided with a negative pressure sewage suction disc, and the suction automatic telescopic pipe being configured with a negative pressure fan;

[0015] A control device arranged on the suction boat body, the control device being internally configured with a GPS module; wherein,

[0016] The control device is signal connected with the conveyor belt type sewage filter pressing device, the sewage pump, the microbial agent drip irrigation device, the traveling device, the ranging device, the suction automatic telescopic pipe, and the negative pressure fan;

[0017] The control device is used for receiving a set control instruction to control the opening or stopping of the conveyor belt type sewage filter pressing device, the sewage pump, the microbial agent drip irrigation device, the traveling device, the ranging device, and the negative pressure fan.

[0018] On the basis of the above technical solution, the control device is used for executing a dynamic anti-blocking process in response to a set dynamic anti-blocking process execution instruction, in which the ranging device is controlled to perform ultrasonic ranging to obtain a first interval distance between the bottom surface of the suction boat body and the top surface of the sewage at the bottom of the pool;

[0019] In the dynamic anti-blocking process, the control device is used for obtaining a corresponding telescopic pipe actual telescopic range based on the first interval distance, in combination with a preset telescopic pipe standard telescopic range and a corresponding telescopic pipe standard interval distance.

[0020] In the dynamic anti-blocking process, the control device is used for controlling the suction automatic telescopic pipe to perform a telescopic action within the telescopic pipe actual telescopic range at a preset first telescopic rate.

[0021] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further used for obtaining a second interval distance between the bottom of the negative pressure sewage suction disc and the top surface of the sewage at the bottom of the pool based on the first interval distance and the real-time length of the telescopic pipe of the suction automatic telescopic pipe.

[0022] In the dynamic anti-blocking process, the control device is further configured to obtain a corresponding negative pressure sewage suction disc actual sewage suction power adjustment range based on the second interval distance, in combination with a preset negative pressure sewage suction disc standard sewage suction power adjustment range and a corresponding negative pressure sewage suction disc standard interval distance.

[0023] In the dynamic anti-blocking process, the control device is configured to control the negative pressure fan to perform a reciprocating power adjustment action within the negative pressure sewage suction disc actual sewage suction power adjustment range at a preset first power adjustment rate.

[0024] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further configured to obtain a first actual telescopic rate based on the second interval distance, in combination with a preset negative pressure sewage suction disc safe interval distance and the first telescopic rate.

[0025] In the dynamic anti-blocking process, the control device is configured to control the sewage suction automatic telescopic pipe to perform a telescopic action within the telescopic pipe actual telescopic range at the first actual telescopic rate.

[0026] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further configured to obtain a first actual power adjustment rate based on the second interval distance, in combination with a preset negative pressure sewage suction disc safe interval distance and the first power adjustment rate.

[0027] In the dynamic anti-blocking process, the control device is configured to control the negative pressure fan to perform a reciprocating power adjustment action within the negative pressure sewage suction disc actual sewage suction power adjustment range at the first actual power adjustment rate.

[0028] On the basis of the above technical solution, in the dynamic anti-blocking process, the control device is further configured to construct a first interval distance change curve based on each of the first interval distances within a preset first pool bottom monitoring period.

[0029] In the dynamic anti-blocking process, the control device is further configured to obtain a first interval distance change rate based on the first interval distance change curve.

[0030] In the dynamic anti-blocking process, the control device is further configured to issue a pool bottom sewage thickness abnormality alarm when the first interval distance change rate is greater than a preset first interval distance change rate threshold.

[0031] On the basis of the above technical solutions, in the dynamic anti-blocking process, the control device is further configured to replace the numerical value of the telescopic pipe standard telescopic range with a numerical value of a shortened version of the telescopic pipe standard telescopic range within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold value.

[0032] In the dynamic anti-blocking process, the control device is further configured to replace the numerical value of the first telescopic rate with a numerical value of a slowed-down version of the first telescopic rate within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold value.

[0033] The numerical value of the shortened version of the telescopic pipe standard telescopic range is less than the numerical value of the telescopic pipe standard telescopic range.

[0034] The numerical value of the slowed-down version of the first telescopic rate is less than the numerical value of the first telescopic rate.

[0035] On the basis of the above technical solutions, the automatic telescopic sewage suction pipe is internally configured with a negative pressure monitoring device.

[0036] The control device is in signal connection with the negative pressure monitoring device.

[0037] The control device is internally configured with a negative pressure sewage suction disc actual sewage suction power and pipe internal negative pressure corresponding table, and the negative pressure sewage suction disc actual sewage suction power corresponds to a theoretical pipe internal negative pressure numerical value range in the automatic telescopic sewage suction pipe.

[0038] In the dynamic anti-blocking process, the control device is further configured to receive a real-time pipe internal negative pressure obtained by the negative pressure monitoring device, and obtain a negative pressure sewage suction disc actual sewage suction power of the negative pressure fan.

[0039] In the dynamic anti-blocking process, if the real-time pipe internal negative pressure is less than the minimum value of the theoretical pipe internal negative pressure numerical value range corresponding to the negative pressure sewage suction disc actual sewage suction power, it is determined that the automatic telescopic sewage suction pipe is blocked.

[0040] In the dynamic anti-blocking process, the control device is configured to temporarily increase or temporarily decrease the negative pressure sewage suction disc actual sewage suction power at a preset blockage adjustment time, at a preset blockage power adjustment frequency, at a preset blockage special-purpose power increase amplitude, and at a blockage special-purpose power decrease amplitude.

[0041] In the dynamic anti-blocking process, the control device is configured to temporarily extend or temporarily shorten the automatic telescopic sewage suction pipe at a preset blockage adjustment time, at a preset blockage length adjustment frequency, at a preset blockage special-purpose length extension amplitude, and at a blockage special-purpose length shortening amplitude.

[0042] The automatic flexible sewage suction pipe is internally provided with a pipe wall vibration device;

[0043] The control device is signal connected with the pipe wall vibration device;

[0044] In the dynamic anti-blocking process, the control device is configured to control the pipe wall vibration device to vibrate the automatic flexible sewage suction pipe at a preset first pipe wall vibration frequency within a preset blocking adjustment time.

[0045] On the basis of the above technical solution, the automatic flexible sewage suction pipe is internally provided with a negative pressure monitoring device;

[0046] The control device is signal connected with the negative pressure monitoring device;

[0047] The control device is internally provided with a negative pressure suction disc actual sewage suction power and pipe internal negative pressure corresponding table, and a theoretical pipe internal negative pressure numerical range corresponding to the negative pressure suction disc actual sewage suction power in the automatic flexible sewage suction pipe;

[0048] In the dynamic anti-blocking process, the control device is further configured to receive a real-time pipe internal negative pressure obtained by the negative pressure monitoring device, and obtain a negative pressure suction disc actual sewage suction power of the negative pressure fan;

[0049] In the dynamic anti-blocking process, if the real-time pipe internal negative pressure is less than the minimum value of the theoretical pipe internal negative pressure numerical range corresponding to the negative pressure suction disc actual sewage suction power, it is determined that the automatic flexible sewage suction pipe is blocked;

[0050] In the dynamic anti-blocking process, the control device is configured to control the negative pressure fan to work reversely at a preset standard negative pressure suction disc sewage discharge power within a preset blocking adjustment time, and temporarily increase or temporarily decrease the standard negative pressure suction disc sewage discharge power at a preset blocking power adjustment frequency, a preset blocking special lifting power amplitude and a blocking special lowering power amplitude;

[0051] In the dynamic anti-blocking process, the control device is configured to temporarily extend or temporarily shorten the automatic flexible sewage suction pipe at a preset blocking length adjustment frequency, a preset blocking special length extension amplitude and a blocking special length shortening amplitude within a preset blocking adjustment time;

[0052] The automatic flexible sewage suction pipe is internally provided with a pipe wall vibration device;

[0053] The control device is signal connected with the pipe wall vibration device;

[0054] In the dynamic anti-blocking process, the control device is configured to control the pipe wall vibration device to vibrate the automatic flexible sewage suction pipe at a preset first pipe wall vibration frequency within a preset blocking adjustment time.

[0055] On the basis of the above technical scheme, an inner wall of a top surface of the dirt collecting bin is provided with a dirt thickness ultrasonic detection device;

[0056] The dirt thickness ultrasonic detection device is in signal connection with the control device;

[0057] The control device is used to control the dirt thickness ultrasonic detection device to monitor the dirt thickness of the bottom of the dirt collecting bin, and obtain the real-time dirt thickness of the collecting bin;

[0058] The control device is also used to obtain the adjusted collecting bin cleaning cycle corresponding to the real-time dirt thickness of the collecting bin, based on the real-time dirt thickness of the collecting bin, in combination with a preset dirt thickness threshold of the collecting bin and the corresponding collecting bin cleaning cycle;

[0059] The control device is also used to issue a collecting bin cleaning date prompt based on the last collecting bin cleaning date, in combination with the adjusted collecting bin cleaning cycle corresponding thereto;

[0060] The control device is also used to obtain the real-time dirt thickness change curve of the collecting bin, and further obtain the real-time dirt thickness change acceleration of the collecting bin, by counting the real-time dirt thickness of the collecting bin;

[0061] The control device is also used to issue an abnormal dirt accumulation prompt of the collecting bin when the value of the real-time dirt thickness change acceleration of the collecting bin is greater than a preset real-time dirt thickness change acceleration threshold of the collecting bin.

[0062] The technical scheme provided in the present application has the following beneficial effects:

[0063] Reduction of breeding biological disease occurrence: through timely processing of dirt such as residual feed and feces at the bottom of the pond, accumulation of nutrients such as nitrogen and phosphorus in water is reduced, thereby reducing the breeding of harmful microorganisms and the probability of breeding biological disease occurrence, and promoting the increase of production and income of breeders.

[0064] Precise processing: by utilizing the cooperation of multiple components, timely early warning and processing of self-clogging and silt accumulation at the bottom of the pond are effectively carried out under the premise of meeting the daily cleaning of residual feed and feces, thereby guaranteeing the water quality of the pond and reducing the labor and time cost.

[0065] Improvement of processing efficiency: compared with the traditional silt processing mode such as draining and dredging, the present application can continuously process the dirt at the bottom of the pond in the breeding cycle without waiting for the process of draining the pond, thereby greatly saving time.

[0066] Reduction of damage to the structure of the pond: the present application works on the water surface, and only absorbs feces and residual feed through the suction pipe and other components without causing physical damage to the bottom of the pond, thereby being beneficial to protecting the integrity of the pond. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0068] Figure 1 A structural schematic diagram of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0069] Figure 2 A suction automatic telescopic pipe dynamic adjustment flowchart in a dynamic anti-blocking process of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0070] Figure 3 A suction power dynamic adjustment flowchart in a dynamic anti-blocking process of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0071] Figure 4 A pool bottom sewage thickness abnormality alarm flowchart in a dynamic anti-blocking process of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0072] Figure 5 A telescopic pipe blocking early warning flowchart based on suction power-tube internal negative pressure monitoring of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0073] Figure 6 A suction work flowchart of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0074] Figure 7 A working principle diagram of an automatic sewage suction ship based on ultrasonic ranging provided in an embodiment of the present application;

[0075] In the drawings:

[0076] 1, sewage suction ship main body; 2, sewage collection bin; 20, sewage conveying port; 21, sewage thickness ultrasonic detection device; 3, conveying belt type sewage filter pressing device; 4, sewage receiving bin; 40, sewage inlet pipe; 5, sewage treatment bin; 50, sewage treatment opening; 51, sewage outlet pipe; 52, sewage pump; 53, microbial agent drip irrigation device; 6, traveling device; 7, ranging device; 8, suction automatic telescopic pipe; 80, negative pressure sewage suction disc; 81, negative pressure fan; 82, negative pressure monitoring device; 83, pipe wall vibration device; 9, control device; A, suction automatic telescopic pipe top end; B, suction automatic telescopic pipe bottom end. DETAILED DESCRIPTION

[0077] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the range of protection of the present application.

[0078] The embodiments of the present application are further described in detail below with reference to the drawings.

[0079] The embodiments of the present application provide an automatic sewage suction ship based on ultrasonic ranging, which utilizes multiple components to cooperate, under the premise of meeting the daily cleaning of leftover food and feces, effectively timely warns and processes the blockage of the ship and the accumulation of sludge at the bottom of the pool, guarantees the water quality of aquaculture, reduces the labor and time cost, reduces the accumulation of pollutants such as nitrogen and phosphorus in water and the occurrence of diseases of aquaculture organisms, provides strong technical support for the yield increase of aquaculture farmers, and has a broad market application prospect.

[0080] To achieve the above technical effects, the general idea of the present application is as follows:

[0081] An automatic sewage suction ship based on ultrasonic ranging, the automatic sewage suction ship comprising:

[0082] a sewage suction ship body 1;

[0083] a sewage collection bin 2 arranged inside the sewage suction ship body 1, a top surface of the sewage collection bin 2 being provided with a sewage conveying port 20;

[0084] a conveying belt type sewage filter device 3 arranged obliquely above the sewage collection bin 2, a lowest side of the conveying belt type sewage filter device 3 extending into the sewage conveying port 20, and a transmission direction of the conveying belt type sewage filter device 3 being from a highest side to the lowest side;

[0085] a sewage water receiving bin 4 arranged below the highest side of the conveying belt type sewage filter device 3 and above the sewage collection bin 2;

[0086] a sewage water treatment bin 5 arranged inside the sewage suction ship body 1, a top surface of the sewage water treatment bin 5 being provided with a sewage water treatment opening 50, the sewage water receiving bin 4 and the sewage water treatment bin 5 being in communication through a sewage water inlet pipe 40, a bottom surface height of the sewage water receiving bin 4 being higher than a height of a highest point of the sewage water treatment bin 5, one side of the sewage water treatment bin 5 being provided with a sewage water outlet pipe 51, and the sewage water outlet pipe 51 being configured with a sewage water pump 52;

[0087] a microbial agent drip irrigation device 53 arranged above the sewage water treatment opening 50;

[0088] A traveling device 6 is arranged on both sides of the bottom surface of the sewage suction ship body 1, and the traveling device 6 is a rotatable turbine propulsion device;

[0089] A ranging device 7 is arranged on the bottom surface of the sewage suction ship body 1, and the ranging device 7 is an ultrasonic ranging device;

[0090] A sewage suction telescopic pipe 8 is arranged on the bottom surface of the sewage suction ship body 1, the top end of the sewage suction telescopic pipe 8 is located above the highest side of the conveyor belt type sewage filter device 3, the bottom end of the sewage suction telescopic pipe 8 is provided with a negative pressure sewage suction disc 80, and the sewage suction telescopic pipe 8 is configured with a negative pressure fan 81;

[0091] A control device 9 is arranged on the sewage suction ship body 1, and the control device 9 is internally configured with a GPS module; wherein,

[0092] The control device 9 is signal connected with the conveyor belt type sewage filter device 3, the sewage water pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the ranging device 7, the sewage suction telescopic pipe 8, and the negative pressure fan 81;

[0093] The control device 9 is used for receiving a set control instruction, and controlling the opening or stopping of the conveyor belt type sewage filter device 3, the sewage water pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the ranging device 7, and the negative pressure fan 81.

[0094] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0095] Referring to Figures 1-7 The embodiments of the present application provide an automatic sewage suction ship based on ultrasonic ranging, which comprises:

[0096] A sewage suction ship body 1;

[0097] A sewage collection bin 2 is arranged in the sewage suction ship body 1, and the top surface of the sewage collection bin 2 is provided with a sewage conveying port 20;

[0098] A conveyor belt type sewage filter device 3 is arranged obliquely above the sewage collection bin 2, the lowest side of the conveyor belt type sewage filter device 3 extends into the sewage conveying port 20, and the conveying direction of the conveyor belt type sewage filter device 3 is from the highest side to the lowest side;

[0099] A sewage water receiving bin 4 is arranged below the highest side of the conveyor belt type sewage filter device 3 and above the sewage collection bin 2;

[0100] A sewage treatment bin 5 is arranged inside the sewage suction ship body 1, a top surface of the sewage treatment bin 5 is provided with a sewage treatment opening 50, the sewage receiving bin 4 and the sewage treatment bin 5 are communicated through a sewage inlet pipe 40, a bottom surface height of the sewage receiving bin 4 is higher than a height of a highest point of the sewage treatment bin 5, a sewage outlet pipe 51 is arranged on one side of the sewage treatment bin 5, and the sewage outlet pipe 51 is provided with a sewage pump 52;

[0101] A microbial agent drip irrigation device 53 is arranged above the sewage treatment opening 50;

[0102] Traveling devices 6 are arranged on both sides of a bottom surface of the sewage suction ship body 1, and the traveling devices 6 are rotatable turbine propulsion equipment;

[0103] A ranging device 7 is arranged on the bottom surface of the sewage suction ship body 1, and the ranging device 7 is an ultrasonic ranging device;

[0104] A sewage suction automatic telescopic pipe 8 is arranged on the bottom surface of the sewage suction ship body 1, a top end of the sewage suction automatic telescopic pipe 8 is located above a highest side of the conveyor belt type sewage filter pressing device 3, a bottom end of the sewage suction automatic telescopic pipe 8 is provided with a negative pressure sewage suction disc 80, and the sewage suction automatic telescopic pipe 8 is provided with a negative pressure fan 81;

[0105] A control device 9 is arranged on the sewage suction ship body 1, and a GPS module is arranged inside the control device 9; wherein,

[0106] The control device 9 is signal connected with the conveyor belt type sewage filter pressing device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the ranging device 7, the sewage suction automatic telescopic pipe 8 and the negative pressure fan 81;

[0107] The control device 9 is used for receiving a set control instruction, and controlling opening or stopping of the conveyor belt type sewage filter pressing device 3, the sewage pump 52, the microbial agent drip irrigation device 53, the traveling device 6, the ranging device 7 and the negative pressure fan 81.

[0108] It should be noted that the technical scheme of the embodiment of the application can be applied to cleaning work of bottom sewage of a breeding pond;

[0109] And the specific structure of the inside of the breeding pond is as follows:

[0110] The bottom is the bottom of the aquaculture pond, above which is the sludge, and above that is uneaten feed and feces. In this embodiment, the sludge at the bottom of the pond specifically includes sludge and uneaten feed and feces. This is because, in actual operation, uneaten feed and feces will be sucked in during suction, and sludge at the bottom of the pond will also be sucked in to a certain extent due to the power and distance during operation. Sludge at the bottom of the pond is often one of the causes of blockage of the automatic suction telescopic pipe 8. The various operating procedures in this embodiment are designed to minimize the blockage caused by sucking in too much sludge at the bottom of the pond while sucking in uneaten feed and feces.

[0111] Additionally, it should be noted that since the main purpose of this application embodiment is to inhale uneaten bait and feces, rather than sludge from the bottom of the pond, but since inhaling sludge from the bottom of the pond is difficult to avoid, when setting the working parameters, the specific values ​​of the working parameters can be adaptively adjusted according to actual working experience or actual working environment in order to minimize the inhalation of sludge from the bottom of the pond.

[0112] Furthermore, the control device 9 has various control methods for the automatic suction telescopic pipe 8, the negative pressure suction plate 80, and the negative pressure fan 81;

[0113] For example, the automatic suction telescopic pipe 8 can be set to a specific length, and the negative pressure fan 81 can be set to a specific power to perform suction work. At this time, a specific dynamic anti-clogging process can also be used to avoid clogging.

[0114] In this embodiment, by utilizing the collaborative operation of multiple components, while meeting the requirements for daily cleaning of uneaten feed and feces, the system can effectively provide timely warnings and treatments for its own blockage and the accumulation of silt at the bottom of the pond, thus ensuring the quality of aquaculture water, reducing labor and time costs, reducing the accumulation of pollutants such as nitrogen and phosphorus in the water, and reducing the occurrence of diseases in aquatic organisms. This provides strong technical support for farmers to increase production and income, and has broad market application prospects.

[0115] Furthermore, as shown in the attached diagram of the instruction manual. Figure 2 As shown, Figure 2 The diagram shown is a flowchart of the dynamic adjustment process of the automatic telescopic suction pipe in the dynamic anti-clogging process.

[0116] The control device 9 is used to respond to the set dynamic anti-blocking process execution command and execute the dynamic anti-blocking process. In the dynamic anti-blocking process, the ranging device 7 is controlled to perform ultrasonic ranging to obtain the first interval distance between the bottom surface of the main body 1 of the sewage suction boat and the top surface of the sewage at the bottom of the pool.

[0117] In the dynamic anti-blocking process, the control device 9 is used to obtain the actual telescopic range of the telescopic pipe based on the first interval distance, combined with the preset standard telescopic range of the telescopic pipe and the corresponding standard interval distance of the telescopic pipe.

[0118] In the dynamic anti-blocking process, the control device 9 is configured to control the automatic telescopic suction pipe 8 to perform a telescopic action at a preset first telescopic rate within a telescopic range of the telescopic pipe.

[0119] It should be noted that the control device 9 pre-stores the horizontal height of the bottom of the breeding pond in the state without dirt, which can be the altitude, and based on the horizontal height of the bottom of the current suction boat body 1, the altitude of the bottom of the current suction boat body 1 can be known in the state without dirt, and the interval distance without dirt in the state without dirt is subtracted from the first interval distance, which is the thickness of the dirt in the corresponding area.

[0120] In the above manner, the first interval distance can be monitored, and the distance between the bottom surface of the suction boat body 1 and the dirt on the pond bottom can also be known, that is, the interval distance without dirt in the state without dirt.

[0121] Specifically, the first interval distance is divided by the value of the telescopic pipe standard interval distance, and then multiplied by the telescopic pipe standard telescopic range, so as to obtain the telescopic range of the telescopic pipe.

[0122] Further, as shown in the accompanying drawings of the specification, Figure 3 As shown in the accompanying drawings of the specification, Figure 3 The suction power dynamic adjustment flowchart in the dynamic anti-blocking process is shown.

[0123] In the dynamic anti-blocking process, the control device 9 is further configured to obtain a second interval distance between the bottom of the negative pressure suction disc 80 and the top surface of the dirt on the pond bottom based on the first interval distance and the real-time length of the telescopic pipe of the automatic telescopic suction pipe 8.

[0124] In the dynamic anti-blocking process, the control device 9 is further configured to obtain the actual suction power adjustment range of the corresponding negative pressure suction disc based on the second interval distance, in combination with the preset negative pressure suction disc standard suction power adjustment range and the corresponding negative pressure suction disc standard interval distance.

[0125] In the dynamic anti-blocking process, the control device 9 is configured to control the negative pressure fan 81 to perform a reciprocating power adjustment action at a preset first power adjustment rate within the actual suction power adjustment range of the negative pressure suction disc.

[0126] Specifically, the second interval distance is divided by the value of the negative pressure suction disc standard interval distance, and then multiplied by the negative pressure suction disc standard suction power adjustment range, so as to obtain the actual suction power adjustment range of the negative pressure suction disc.

[0127] Further, in the dynamic anti-blocking process, the control device 9 is further configured to obtain a first actual telescopic speed based on the second interval distance, in combination with a preset safe interval distance of the negative pressure sewage suction disc and the first telescopic speed;

[0128] In the dynamic anti-blocking process, the control device 9 is configured to control the automatic telescopic sewage suction pipe 8 to perform a telescopic action within a telescopic range of the telescopic pipe at the first actual telescopic speed.

[0129] It should be noted that, in the adjustment process, the specific core logic is:

[0130] The closer the negative pressure sewage suction disc is to the top surface of the sewage at the bottom of the pool, the smaller the value of the first actual telescopic speed, and the smaller the telescopic range of the telescopic pipe, thereby avoiding stirring and diffusion of the bottom sludge and collision with the bottom structure.

[0131] Specifically, the second interval distance is divided by the value of the safe interval distance of the negative pressure sewage suction disc, and then multiplied by the first telescopic speed to obtain the first actual telescopic speed.

[0132] Further, in the dynamic anti-blocking process, the control device 9 is further configured to obtain a first actual power adjustment speed based on the second interval distance, in combination with a preset safe interval distance of the negative pressure sewage suction disc and the first power adjustment speed;

[0133] In the dynamic anti-blocking process, the control device 9 is configured to control the negative pressure fan 81 to perform a reciprocating power adjustment action within a range of actual sewage suction power adjustment of the negative pressure sewage suction disc at the first actual power adjustment speed.

[0134] It should be noted that, in the adjustment process, the specific core logic is:

[0135] The closer the negative pressure sewage suction disc is to the top surface of the sewage at the bottom of the pool, the greater the value of the first actual power adjustment speed, and the greater the range of actual sewage suction power adjustment of the negative pressure sewage suction disc, thereby avoiding causing sewage suction blockage.

[0136] Specifically, the second interval distance is divided by the value of the safe interval distance of the negative pressure sewage suction disc to obtain a ratio coefficient, and then 1 is subtracted from the ratio coefficient and multiplied by the first power adjustment speed to obtain the first actual telescopic speed.

[0137] Further, as shown in the Figure 4 , the bottom of the pool is shown in the dynamic anti-blocking process. Figure 4 , the bottom of the pool is shown in the dynamic anti-blocking process.

[0138] In the dynamic anti-blocking process, the control device 9 is further configured to construct a first interval distance change curve based on the first interval distances within a preset first pool bottom monitoring period;

[0139] In the dynamic anti-blocking process, the control device 9 is further configured to obtain a first interval distance change rate based on the first interval distance change curve;

[0140] In the dynamic anti-blocking process, the control device 9 is further configured to issue a pool bottom dirt thickness abnormality warning when the first interval distance change rate is greater than a preset first interval distance change rate threshold.

[0141] Further, in the dynamic anti-blocking process, the control device 9 is further configured to replace the value of the telescopic pipe standard telescopic range with a preset shortened version of the telescopic pipe standard telescopic range value within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold;

[0142] In the dynamic anti-blocking process, the control device 9 is further configured to replace the value of the first telescopic rate with a preset first telescopic rate of the slowed-down version when the first interval distance change rate is greater than the first interval distance change rate threshold within a preset first safety insurance time;

[0143] The value of the shortened version of the telescopic pipe standard telescopic range is less than the value of the telescopic pipe standard telescopic range;

[0144] The value of the first telescopic rate of the slowed-down version is less than the value of the first telescopic rate.

[0145] It should be noted that the maximum value of the range value of the shortened version of the telescopic pipe standard telescopic range is less than the maximum value of the range value of the telescopic pipe standard telescopic range;

[0146] The minimum value of the range value of the shortened version of the telescopic pipe standard telescopic range is greater than the minimum value of the range value of the telescopic pipe standard telescopic range;

[0147] The value of the first telescopic rate of the slowed-down version is less than the value of the first telescopic rate.

[0148] And, after the first safety insurance time, the values of the telescopic pipe standard telescopic range and the first telescopic rate are restored.

[0149] Further, the automatic telescopic suction pipe 8 is internally configured with a negative pressure monitoring device 82;

[0150] The control device 9 is in signal connection with the negative pressure monitoring device 82;

[0151] The control device 9 is configured with a table of actual suction power of the negative pressure suction disc and corresponding negative pressure in the pipe, and the actual suction power of the negative pressure suction disc corresponds to a range of theoretical negative pressure in the pipe in the suction automatic telescopic pipe 8;

[0152] As shown in the accompanying drawings of the specification Figure 5 As shown in the accompanying drawings of the specification Figure 5 As shown in the accompanying drawings of the specification

[0153] In the dynamic anti-blocking process, the control device 9 is also configured to receive the real-time negative pressure in the pipe monitored by the negative pressure monitoring device 82 and obtain the actual suction power of the negative pressure suction disc of the negative pressure fan 81.

[0154] In the dynamic anti-blocking process, if the real-time negative pressure in the pipe is less than the minimum value of the range of the theoretical negative pressure in the pipe corresponding to the actual suction power of the negative pressure suction disc, it is determined that the suction automatic telescopic pipe 8 is blocked.

[0155] In the dynamic anti-blocking process, the control device 9 is configured to temporarily increase or temporarily decrease the actual suction power of the negative pressure suction disc within a preset blocking adjustment time, at a preset blocking power adjustment frequency, with a preset blocking special power amplitude and a blocking special power amplitude.

[0156] In the dynamic anti-blocking process, the control device 9 is configured to temporarily extend or temporarily shorten the suction automatic telescopic pipe 8 within a preset blocking adjustment time, at a preset blocking length adjustment frequency, with a preset blocking special length extension amplitude and a blocking special length shortening amplitude.

[0157] The suction automatic telescopic pipe 8 is internally configured with a pipe wall vibration device 83.

[0158] The control device 9 is signal connected with the pipe wall vibration device 83.

[0159] In the dynamic anti-blocking process, the control device 9 is configured to control the pipe wall vibration device 83 to vibrate the suction automatic telescopic pipe 8 at a preset first pipe wall vibration frequency within a preset blocking adjustment time.

[0160] It should be noted that the actual suction power of the negative pressure suction disc is temporarily increased or temporarily decreased, and the suction automatic telescopic pipe 8 is temporarily extended or temporarily shortened.

[0161] Therefore, after completing the dynamic anti-blocking process, the actual suction power of the negative pressure suction disc and the suction automatic telescopic pipe 8 before the dynamic anti-blocking process are restored.

[0162] The specific determination criteria for completing the dynamic anti-blocking process include but are not limited to:

[0163] The process execution time corresponding to the dynamic anti-blocking process execution instruction;

[0164] The moment when the dynamic anti-blocking process stop instruction is received.

[0165] Further, the inside of the automatic flexible sewage suction pipe 8 is configured with a negative pressure monitoring device 82;

[0166] The control device 9 is signal connected with the negative pressure monitoring device 82;

[0167] The control device 9 is configured with a negative pressure sewage suction disc actual sewage suction power and pipe negative pressure corresponding table, and the negative pressure sewage suction disc actual sewage suction power corresponds to a theoretical pipe negative pressure value range in the automatic flexible sewage suction pipe 8;

[0168] In the dynamic anti-blocking process, the control device 9 is also used for receiving the real-time pipe negative pressure monitored and obtained by the negative pressure monitoring device 82, and obtaining the negative pressure sewage suction disc actual sewage suction power of the negative pressure fan 81;

[0169] In the dynamic anti-blocking process, if the real-time pipe negative pressure is less than the minimum value of the theoretical pipe negative pressure value range corresponding to the negative pressure sewage suction disc actual sewage suction power, it is determined that the automatic flexible sewage suction pipe 8 appears to be blocked;

[0170] In the dynamic anti-blocking process, the control device 9 is used for controlling the negative pressure fan 81 to work reversely with a preset standard negative pressure sewage suction disc sewage discharge power within a preset blocking adjustment time, and temporarily increasing or temporarily reducing the standard negative pressure sewage suction disc sewage discharge power with a preset blocking power adjustment frequency, a preset blocking special lifting power amplitude and a blocking special reducing power amplitude;

[0171] In the dynamic anti-blocking process, the control device 9 is used for temporarily extending or temporarily shortening the automatic flexible sewage suction pipe 8 with a preset blocking length adjustment frequency, a preset blocking special length extension amplitude and a blocking special length shortening amplitude within a preset blocking adjustment time;

[0172] The inside of the automatic flexible sewage suction pipe 8 is configured with a pipe wall vibration device 83;

[0173] The control device 9 is signal connected with the pipe wall vibration device 83;

[0174] In the dynamic anti-blocking process, the control device 9 is used for controlling the pipe wall vibration device 83 to vibrate the automatic flexible sewage suction pipe 8 with a preset first pipe wall vibration frequency within a preset blocking adjustment time.

[0175] It should be noted that the negative pressure fan 81 is controlled to work in reverse at a preset standard negative pressure sewage suction disc sewage discharge power, specifically, the original sewage suction, that is, the suction force is applied, at this time, the power value remains unchanged, the sewage discharge, that is, the thrust is applied, and the blockage condition is relieved.

[0176] Further, the top inner wall of the sewage collection bin 2 is provided with a sewage thickness ultrasonic detection device 21.

[0177] The sewage thickness ultrasonic detection device 21 is signal connected with the control device 9.

[0178] The control device 9 is used to control the sewage thickness ultrasonic detection device 21 to monitor the sewage thickness at the bottom of the sewage collection bin 2, and obtain the real-time thickness of the sewage in the collection bin.

[0179] The control device 9 is also used to obtain the corresponding adjusted collection bin cleaning cycle based on the real-time thickness of the sewage in the collection bin, in combination with a preset collection bin sewage thickness threshold and a corresponding collection bin cleaning cycle.

[0180] The control device 9 is also used to issue a collection bin cleaning date prompt based on the last collection bin cleaning date in combination with the corresponding adjusted collection bin cleaning cycle.

[0181] The control device 9 is also used to statistically obtain the real-time thickness of the sewage in the collection bin, and obtain the real-time thickness change curve of the sewage in the collection bin, and further obtain the real-time thickness change acceleration of the sewage in the collection bin.

[0182] The control device 9 is also used to issue an abnormal accumulation prompt of the sewage in the collection bin when the value of the real-time thickness change acceleration of the sewage in the collection bin is greater than a preset real-time thickness change acceleration threshold of the sewage in the collection bin.

[0183] It should be noted that the thicker the real-time thickness of the sewage in the collection bin is, the shorter the adjusted collection bin cleaning cycle is.

[0184] Specifically, the real-time thickness of the sewage in the collection bin is divided by the collection bin sewage thickness threshold to obtain an intermediate coefficient, 1 is subtracted from the intermediate coefficient, and then the collection bin cleaning cycle is multiplied to obtain the corresponding adjusted collection bin cleaning cycle.

[0185] It should be noted that the belt type sewage filter press device 3 can adopt a traditional belt type sewage filter press conveying device, and specifically can refer to the prior art with the patent number CN213708089U and the name of a inclined screen type solid-liquid separator with a preliminary screening device.

[0186] That is, at least the sewage collection bin 2 is brought into the sewage belt filter device 3 from the sewage conveying port 20, and in the process of high to low transmission, the sewage is squeezed while being transmitted, and the sewage flows into the sewage receiving bin 4, and then the sewage pump 52 controlled by the control device 9 is used to pump the sewage in the sewage receiving bin 4 into the sewage treatment bin 5 through the sewage outlet pipe 51.

[0187] Or refer to the existing technology that can realize the corresponding function in the same technical field.

[0188] Furthermore, the microbial agent drip irrigation device 53 can refer to the existing drip irrigation device, such as patent number CN111630999A, named Nutrient Solution Quantitative Drip Irrigation Device and Method for Vegetable Seedling, or patent number CN219679331U, named Seedling Box with Quantitative Drip Irrigation Structure.

[0189] And so on, with the drip irrigation function component and the liquid containing component, the microbial agent drip irrigation device 53 is controlled by the control device 9 to carry out the drip irrigation work of the microbial agent;

[0190] Or refer to the existing technology that can realize the corresponding function in the same technical field.

[0191] In addition, the distance measuring device 7 can refer to the device of patent number CN214333950U, named Water Depth Measuring Device, or other ultrasonic distance measuring devices;

[0192] The traveling device 6 can refer to the device of patent number CN208585397U, named Outboard Motor Automatic Steering Drive Device, or other underwater propulsion devices;

[0193] The sewage suction automatic telescopic pipe 8 and the negative pressure sewage suction disc 80 can refer to the corresponding device of patent number CN217128345U, Channel Slope Deep Cleaning Algae Mud Negative Pressure Recovery System, or other underwater sewage suction devices.

[0194] And the sewage suction automatic telescopic pipe 8 cooperates with the negative pressure sewage suction disc 80 and the negative pressure fan 81 to carry out the sewage suction work, and the microbial agent drip irrigation device 53 controls the negative pressure sewage suction disc 80 and the negative pressure fan 81.

[0195] The specific working mode or working principle can refer to patent number CN217128345U, named Channel Slope Deep Cleaning Algae Mud Negative Pressure Recovery System, or refer to the existing technology that can realize the corresponding function in the same technical field.

[0196] Based on the technical scheme of the embodiment of the present application, in the specific implementation, the following situations exist:

[0197] The traveling device 6 is arranged on both sides of the ship body, including a turbine and a steering shaft.

[0198] The ranging device 7 is arranged at the front and rear of the bottom of the sewage suction ship body 1, and each comprises a transducer for emitting ultrasonic waves and a receiver for receiving ultrasonic waves.

[0199] The sewage suction device of the embodiment of the application is arranged directly below the sewage suction ship body 1, and comprises a sewage suction telescopic pipe 8 and a negative pressure sewage suction disc 80, and the negative pressure sewage suction disc 80 is provided with a 10mm particle size filter screen.

[0200] The control device 9 is arranged above the sewage suction ship body 1.

[0201] The sewage treatment device of the embodiment of the application comprises the conveyor belt type sewage filter pressing device 3, the microbial agent drip irrigation device 53, the sewage treatment bin 5, the sewage collection bin 2, the sewage receiving bin 4 and the sewage inlet pipe 40, wherein the sewage collection bin 2 is arranged in the sewage suction ship body 1.

[0202] The technical scheme of the embodiment of the application is based on ultrasonic wave distance detection of the bottom of the pond; when the ranging module detects the distance to the bottom target, the automatic sewage suction telescopic pipe is controlled by the control module to feedback and control the length of the automatic sewage suction telescopic pipe, and the automatic sewage suction work is started, and the 10mm particle size filter screen of the negative pressure sewage suction disc only sucks in feces and leftover feed, without causing agitation and sludge diffusion of the bottom of the pond, so as to improve the growth environment of organisms in the pond and reduce the occurrence of diseases. The application can realize the effect of automatically and continuously cleaning the bottom, promote the increase of production and income of breeders, and has a good application scenario.

[0203] Under the cooperation of the negative pressure fan 81 and necessary motor driving, the sewage with water is sucked up by the sewage suction telescopic pipe 8, and then is transmitted to the conveyor belt type sewage filter pressing device 3, the dewatered sewage after filter pressing is transmitted to the sewage collection bin 2 at the bottom of the cabin, the sewage is flowed into the sewage treatment bin 5 through the sewage receiving bin 4 and the sewage inlet pipe 40 by gravity, the sewage is dripped into the microbial agent by the microbial agent drip irrigation device 53, and then is returned to the breeding pond through the sewage outlet pipe 51.

[0204] The control device 9 controls the travel and turning of the ship body, controls the sewage suction action and related dynamic anti-blocking process, and can also control the start / stop of the conveyor belt type sewage filter pressing device 3 and the microbial agent drip irrigation device 53.

[0205] As Figure 6As shown, the control device 9 sets the boat's travel route via a GPS module, and the propulsion device 6 controls the boat to travel and turn along the route. At the same time, the ranging device 7 collects the depth of the negative pressure suction plate 80 from the bottom of the pond and feeds back the ultrasonic receiving signal to the control device 9. After comparing the position of the bottom of the pond with the actual position of the negative pressure suction plate 80, the control device 9 sends an adjustment command to the automatic suction pipe 8 to adjust the extension / retraction of the suction pipe so that the position difference between the bottom of the pond and the position of the negative pressure suction plate 80 is 10 cm. Then, the control device 9 sends an opening command to the negative pressure suction plate 80 to cooperate with the negative pressure fan 81 to perform the suction work.

[0206] If necessary, a gravity sensor can be configured on the conveyor belt type waste filter press 3. When waste is sucked into the conveyor belt type waste filter press 3, the gravity sensor of the conveyor belt type waste filter press 3 collects a signal and feeds it back to the control device 9. The control device 9 then sends a start command for the conveyor belt type waste filter press 3 and the microbial agent drip irrigation device 53. When the gravity sensor does not collect a signal, the conveyor belt type waste filter press 3 and the microbial agent drip irrigation device 53 remain closed.

[0207] It should be noted that, in order to ensure that the technical solutions of the embodiments of this application can be implemented normally, commonly used equipment or technical solutions of the prior art or other technologies can be used to cooperate with the technical solutions of the embodiments of this application to achieve the corresponding technical functions.

[0208] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0209] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An automatic sewage sucking ship based on ultrasonic ranging, characterized by, The automatic sewage suction ship comprises: a sewage suction ship body (1); a sewage collection bin (2) arranged inside the sewage suction ship body (1), a top surface of the sewage collection bin (2) being provided with a sewage conveying port (20); a conveying belt type sewage filter pressing device (3) arranged obliquely above the sewage collection bin (2), a lowest side of the conveying belt type sewage filter pressing device (3) extending into the sewage conveying port (20), and a conveying direction of the conveying belt type sewage filter pressing device (3) being from a highest side to the lowest side; a sewage receiving bin (4) arranged below the highest side of the conveying belt type sewage filter pressing device (3) and above the sewage collection bin (2); a sewage treatment bin (5) arranged inside the sewage suction ship body (1), a top surface of the sewage treatment bin (5) being provided with a sewage treatment opening (50), the sewage receiving bin (4) and the sewage treatment bin (5) being in communication through a sewage inlet pipe (40), a bottom surface of the sewage receiving bin (4) being higher than a height of a highest point of the sewage treatment bin (5), and one side of the sewage treatment bin (5) being provided with a sewage outlet pipe (51), the sewage outlet pipe (51) being provided with a sewage water pump (52); a microbial agent drip irrigation device (53) arranged above the sewage treatment opening (50); a traveling device (6) arranged at two sides of a bottom surface of the sewage suction ship body (1), the traveling device (6) being a rotatable turbine propelling equipment; a distance measuring device (7) arranged at the bottom surface of the sewage suction ship body (1), the distance measuring device (7) being an ultrasonic distance measuring equipment; a sewage suction automatic telescopic pipe (8) arranged at the bottom surface of the sewage suction ship body (1), a top end of the sewage suction automatic telescopic pipe (8) being located above the highest side of the conveying belt type sewage filter pressing device (3), a bottom end of the sewage suction automatic telescopic pipe (8) being provided with a negative pressure sewage suction disc (80), and the sewage suction automatic telescopic pipe (8) being provided with a negative pressure air blower (81); a control device (9) arranged on the sewage suction ship body (1), the control device (9) being internally provided with a GPS module; wherein the control device (9) is in signal connection with the conveying belt type sewage filter pressing device (3), the sewage water pump (52), the microbial agent drip irrigation device (53), the traveling device (6), the distance measuring device (7), the sewage suction automatic telescopic pipe (8) and the negative pressure air blower (81); the control device (9) is used for receiving a set control instruction and controlling the conveying belt type sewage filter pressing device (3), the sewage water pump (52), the microbial agent drip irrigation device (53), the traveling device (6), the distance measuring device (7) and the negative pressure air blower (81) to start or stop.

2. The automatic sewage suction ship based on ultrasonic distance measurement according to claim 1, wherein The control device (9) is configured to execute a dynamic anti-blocking process in response to a set dynamic anti-blocking process execution instruction, in which the ranging device (7) is controlled to perform ultrasonic ranging to obtain a first interval distance between a bottom surface of the suction dredger and a top surface of sludge at the bottom of the pool; In the dynamic anti-blocking process, the control device (9) is configured to obtain a corresponding actual telescopic tube telescoping range based on the first interval distance, in combination with a preset telescopic tube standard telescoping range and a corresponding telescopic tube standard interval distance; In the dynamic anti-blocking process, the control device (9) is configured to control the automatic telescopic sludge suction tube (8) to perform telescoping action within the actual telescopic tube telescoping range at a preset first telescoping rate.

3. The automatic suction dredger based on ultrasonic ranging as claimed in claim 2, wherein: In the dynamic anti-blocking process, the control device (9) is further configured to obtain a second interval distance between a bottom of the negative pressure sludge suction disc (80) and the top surface of sludge at the bottom of the pool based on the first interval distance and a real-time length of the telescopic tube of the automatic telescopic sludge suction tube (8); In the dynamic anti-blocking process, the control device (9) is further configured to obtain a corresponding actual negative pressure sludge suction disc sludge suction power adjustment range based on the second interval distance, in combination with a preset negative pressure sludge suction disc standard sludge suction power adjustment range and a corresponding negative pressure sludge suction disc standard interval distance; In the dynamic anti-blocking process, the control device (9) is configured to control the negative pressure blower (81) to perform reciprocating power adjustment action within the actual negative pressure sludge suction disc sludge suction power adjustment range at a preset first power adjustment rate.

4. The automatic suction dredger based on ultrasonic ranging as claimed in claim 3, wherein: In the dynamic anti-blocking process, the control device (9) is further configured to obtain a first actual telescoping rate based on the second interval distance, in combination with a preset negative pressure sludge suction disc safety interval distance and the first telescoping rate; In the dynamic anti-blocking process, the control device (9) is configured to control the automatic telescopic sludge suction tube (8) to perform telescoping action within the actual telescopic tube telescoping range at the first actual telescoping rate.

5. The automatic suction dredger based on ultrasonic ranging as claimed in claim 3, wherein: In the dynamic anti-blocking process, the control device (9) is further configured to obtain a first actual power adjustment rate based on the second interval distance, in combination with a preset negative pressure sludge suction disc safety interval distance and the first power adjustment rate; In the dynamic anti-blocking process, the control device (9) is configured to control the negative pressure blower (81) to perform reciprocating power adjustment action within the actual negative pressure sludge suction disc sludge suction power adjustment range at the first actual power adjustment rate.

6. The automatic suction dredger based on ultrasonic ranging as claimed in claim 2, wherein: In the dynamic anti-blocking process, the control device (9) is further configured to construct a first interval distance change curve based on each of the first interval distances within a preset first pool bottom monitoring period. In the dynamic anti-blocking process, the control device (9) is further configured to obtain a first interval distance change rate based on the first interval distance change curve; In the dynamic anti-blocking process, the control device (9) is further configured to issue a pool bottom dirt thickness abnormality alarm when the first interval distance change rate is greater than a preset first interval distance change rate threshold. 7.The automatic sewage suction ship based on ultrasonic ranging according to claim 6, characterized in that: In the dynamic anti-blocking process, the control device (9) is further configured to replace the value of the telescopic pipe standard telescopic range with a preset shortened version of the value of the telescopic pipe standard telescopic range within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; In the dynamic anti-blocking process, the control device (9) is further configured to replace the value of the first telescopic rate with a preset slowed-down version of the value of the first telescopic rate within a preset first safety insurance time when the first interval distance change rate is greater than the first interval distance change rate threshold; The value of the shortened version of the telescopic pipe standard telescopic range is less than the value of the telescopic pipe standard telescopic range; The value of the slowed-down version of the first telescopic rate is less than the value of the first telescopic rate. 8.The automatic sewage suction ship based on ultrasonic ranging according to claim 6, characterized in that: The sewage suction automatic telescopic pipe (8) is internally configured with a negative pressure monitoring device (82); The control device (9) is in signal connection with the negative pressure monitoring device (82); The control device (9) is internally configured with a negative pressure suction disc actual sewage suction power and pipe internal negative pressure corresponding table, and a theoretical pipe internal negative pressure value range corresponding to the negative pressure suction disc actual sewage suction power in the sewage suction automatic telescopic pipe (8); In the dynamic anti-blocking process, the control device (9) is further configured to receive a real-time pipe internal negative pressure obtained by the negative pressure monitoring device (82) and obtain a negative pressure suction disc actual sewage suction power of the negative pressure blower (81); In the dynamic anti-blocking process, if the real-time pipe internal negative pressure is less than the minimum value of the theoretical pipe internal negative pressure value range corresponding to the negative pressure suction disc actual sewage suction power, it is determined that the sewage suction automatic telescopic pipe (8) is blocked; In the dynamic anti-blocking process, the control device (9) is configured to temporarily increase or temporarily decrease the negative pressure suction disc actual sewage suction power at a preset blockage adjustment time, at a preset blockage power adjustment frequency, at a preset blockage special purpose power amplitude, and at a blockage special purpose power amplitude; In the dynamic anti-blocking process, the control device (9) is configured to temporarily extend or temporarily shorten the sewage suction automatic telescopic pipe (8) at a preset blockage adjustment time, at a preset blockage length adjustment frequency, at a preset blockage special purpose length extension amplitude, and at a blockage special purpose length shortening amplitude; The sewage suction automatic telescopic pipe (8) is internally configured with a pipe wall vibration device (83); The control device (9) is in signal connection with the pipe wall vibration device (83); In the dynamic anti-blocking process, the control device (9) is configured to control the pipe wall vibration device (83) to vibrate the automatic sewage suction telescopic pipe (8) at a preset first pipe wall vibration frequency within a preset blocking adjustment time. 9.The automatic sewage suction ship based on ultrasonic ranging according to claim 6, characterized in that: The automatic sewage suction telescopic pipe (8) is internally configured with a negative pressure monitoring device (82); The control device (9) is in signal connection with the negative pressure monitoring device (82); The control device (9) is internally configured with a negative pressure sewage suction disc actual sewage suction power and pipe internal negative pressure corresponding table, and a theoretical pipe internal negative pressure numerical range corresponding to the negative pressure sewage suction disc actual sewage suction power in the automatic sewage suction telescopic pipe (8); In the dynamic anti-blocking process, the control device (9) is further configured to receive a real-time pipe internal negative pressure obtained by the negative pressure monitoring device (82) and acquire a negative pressure sewage suction disc actual sewage suction power of the negative pressure fan (81); In the dynamic anti-blocking process, if the real-time pipe internal negative pressure is less than the minimum value of the theoretical pipe internal negative pressure numerical range corresponding to the negative pressure sewage suction disc actual sewage suction power, it is determined that the automatic sewage suction telescopic pipe (8) is blocked; In the dynamic anti-blocking process, the control device (9) is configured to control the negative pressure fan (81) to work reversely at a preset standard negative pressure sewage suction disc sewage discharge power within a preset blocking adjustment time, and temporarily increase or temporarily decrease the standard negative pressure sewage suction disc sewage discharge power at a preset blocking power adjustment frequency, a preset blocking special lifting power amplitude and a blocking special lowering power amplitude; In the dynamic anti-blocking process, the control device (9) is configured to temporarily extend or temporarily shorten the automatic sewage suction telescopic pipe (8) at a preset blocking length adjustment frequency, a preset blocking special length extension amplitude and a blocking special length shortening amplitude within a preset blocking adjustment time; The automatic sewage suction telescopic pipe (8) is internally configured with a pipe wall vibration device (83); The control device (9) is in signal connection with the pipe wall vibration device (83); In the dynamic anti-blocking process, the control device (9) is configured to control the pipe wall vibration device (83) to vibrate the automatic sewage suction telescopic pipe (8) at a preset first pipe wall vibration frequency within a preset blocking adjustment time. 10.The automatic sewage suction ship based on ultrasonic ranging according to claim 1, characterized in that: The top inner wall of the sewage collection bin (2) is provided with a sewage thickness ultrasonic detection device (21); The sewage thickness ultrasonic detection device (21) is in signal connection with the control device (9); The control device (9) is configured to control the sewage thickness ultrasonic detection device (21) to monitor the sewage thickness of the bottom of the sewage collection bin (2) and obtain a collection bin sewage real-time thickness; The control device (9) is further configured to obtain a corresponding collection bin cleaning adjusted period based on the collection bin sewage real-time thickness, a preset collection bin sewage thickness threshold and a corresponding collection bin cleaning period. The control device (9) is further configured to issue a collection bin cleaning date prompt based on the last collection bin cleaning date and a corresponding collection bin cleaning adjusted period; The control device (9) is further configured to calculate the real-time thickness of the dirt in the collection bin, obtain a real-time thickness change curve of the dirt in the collection bin, and further obtain a real-time thickness change acceleration of the dirt in the collection bin; The control device (9) is further configured to issue a collection bin dirt accumulation abnormality prompt when the value of the real-time thickness change acceleration of the dirt in the collection bin is greater than a preset real-time thickness change acceleration threshold of the dirt in the collection bin.

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