Sluice desilting equipment and control method

Abstract

The invention discloses sluice dredging equipment and a control method, and the sluice dredging equipment comprises a supporting walking device which comprises a fixed support; the silt pumping and discharging device comprises a lifting pipeline, an outlet pipeline and an inlet pipeline, the lifting pipeline is installed on one side of the fixing support, the outlet pipeline and the inlet pipeline are connected to the two ends of the lifting pipeline respectively, the lifting pipeline extends in the vertical direction, and the outlet pipeline, the inlet pipeline and the fixing support are all located on the same side of the lifting pipeline; the crushing and stirring device comprises a stirring tool bit and a jet flow spray head, and the stirring tool bit and the jet flow spray head are installed at the end, away from the lifting pipeline, of the inlet pipeline; the visual identification device is mounted at one end, far away from the lifting pipeline, of the inlet pipeline; and the control integration device is mounted at the top of the fixed bracket. According to the water gate, deposits accumulated at the position of the water gate can be effectively cleaned.

Description

Technical Field

[0001] This application relates to, but is not limited to, the technical field of sluice dredging, and particularly relates to a sluice dredging device and a control method. Background Art

[0002] When the water in a river flows, it will carry sediment and garbage. As the water flows, the sediment and garbage will accumulate at the sluice position and form a relatively thick silt deposit at the sluice position, resulting in the sluice being unable to open and close normally. In related technologies, the sediment is mainly cleaned manually, but diving operations are required, the cleaning efficiency is not high, it is time-consuming and laborious, and the cleaning cost is high. At the same time, traditional cleaning equipment cannot clean the blocking space. Summary of the Invention

[0003] The embodiments of this application provide a sluice dredging device and a control method, which can effectively clean the sediment accumulated at the sluice position.

[0004] In a first aspect, the embodiments of this application provide a sluice dredging device, and the sluice dredging device includes:

[0005] A supporting and traveling device, the supporting and traveling device includes a fixing bracket for fixing the sluice dredging device to the sluice;

[0006] A sludge pumping and discharging device, including a lifting pipe, an outlet pipe, an inlet pipe, and an air compressor. The lifting pipe is installed on one side of the fixing bracket. The outlet pipe and the inlet pipe are respectively connected to both ends of the lifting pipe. The lifting pipe extends in the vertical direction. The outlet pipe, the inlet pipe, and the fixing bracket are all located on the same side of the lifting pipe. An air vent connected to the air compressor is opened on the side of the inlet pipe away from the lifting pipe;

[0007] A crushing and agitating device, the crushing and agitating device includes a stirring cutter head and a jet nozzle, and the stirring cutter head and the jet nozzle are installed at one end of the inlet pipe away from the lifting pipe;

[0008] A visual recognition device, the visual recognition device is installed at one end of the inlet pipe away from the lifting pipe;

[0009] A control integration device, the control integration device is installed on the top of the fixing bracket, and the control integration device is respectively connected to the air compressor, the visual recognition device, the stirring cutter head, and the jet nozzle.

[0010] The silt cleaning equipment for the sluice according to the embodiments of the first aspect of the present application has at least the following beneficial effects: The system is stably installed on the sluice through the fixed bracket to avoid displacement and shaking during operation; the three-section pipeline design of the silt pumping and discharging device forms an efficient silt discharging path, and the vertical lifting pipeline is combined to achieve the vertical lifting and horizontal discharging of the sediment; the stirring cutter head and the jet nozzle of the crushing and stirring device directly act on the sediment to break the hard and caked sediment and improve the silt cleaning efficiency; the linkage between the visual recognition device and the control integration device realizes automatic recognition and precise control, reduces manual intervention, and improves safety and operation accuracy.

[0011] According to some embodiments of the first aspect of the present application, the silt pumping and discharging device includes a rotary joint, a fixed joint, and a driving motor for driving the rotary joint. The two ends of the rotary joint are respectively connected to the lifting pipeline and the outlet pipeline, the two ends of the fixed joint are respectively connected to the lifting pipeline and the inlet pipeline, and the driving motor is connected to the control integration device.

[0012] According to some embodiments of the first aspect of the present application, the fixed joint is a 105-degree elbow.

[0013] According to some embodiments of the first aspect of the present application, the fixed bracket includes a first top beam, a first side beam, and a second side beam. The first side beam and the second side beam are respectively arranged on both sides of the first top beam. The lifting pipeline is installed on the side of the first side beam away from the second side beam, and the sluice is located in the installation groove formed by the first top beam, the first side beam, and the second side beam.

[0014] According to some embodiments of the first aspect of the present application, the inlet pipeline includes a first part and a second part. The first part is connected to the lifting pipeline through the fixed joint. The bending angle between the first part and the second part is 105 degrees. The stirring cutter head, the jet nozzle, and the visual recognition device are all installed on the second part.

[0015] According to some embodiments of the first aspect of the present application, a maintenance opening is further provided at the top of the outlet pipeline.

[0016] In a second aspect, the embodiments of the present application provide a control method for a silt cleaning equipment for a sluice, including the silt cleaning equipment as described in the embodiments of the first aspect. The control method includes:

[0017] Obtain underwater image information, and control the working states of the stirring cutter head and the jet nozzle according to the underwater image information. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0019] Figure 1 It is a schematic structural diagram of the sluice dredging equipment provided by the embodiment of the present application;

[0020] Figure 2 It is a partial schematic diagram of the sluice dredging equipment provided by the embodiment of the present application;

[0021] Figure 3 It is a flowchart of the control method of the sluice dredging equipment provided by the embodiment of the present application. Detailed implementation manners

[0022] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] It can be understood that although the functional modules are divided in the device schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the sequence in the flowchart. Terms such as "first" and "second" in the specification, claims or the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0024] When the water in the river flows, it will carry sediment and garbage. As the water flows, the sediment and garbage will accumulate at the sluice position and form a relatively thick silt deposit at the sluice position, resulting in the sluice being unable to open and close normally; in the related art, the sediment is mainly cleaned by manual cleaning, but diving operations are required, the cleaning efficiency is not high, it is time-consuming and laborious, and the cleaning cost is high. At the same time, the traditional cleaning equipment cannot clean the blocking space.

[0025] Based on this, the embodiments of the present application provide a sluice dredging equipment and a control method. By fixing the bracket, the system is stably installed on the gate to avoid displacement and shaking during operation; the three-section pipeline design of the silt pumping and discharging device forms an efficient silt discharging path, and the vertical lifting pipeline is combined to realize the vertical lifting and horizontal discharging of the silt; the stirring cutter head and the jet nozzle of the crushing and stirring device directly act on the silt to break the hard and compacted silt and improve the dredging efficiency; the linkage of the visual recognition device and the control integration device realizes automatic recognition and precise control, reduces manual intervention, and improves safety and operation accuracy.

[0026] The following will further elaborate on the embodiments of the present application in conjunction with the accompanying drawings.

[0027] In a first aspect, with reference to Figure 1 and Figure 2 , Figure 1 FIG. 1 is a schematic structural diagram of a sluice dredging device provided in an embodiment of the present application, Figure 2 and FIG. 2 is a partial schematic diagram of the sluice dredging device provided in an embodiment of the present application.

[0028] It can be understood that the sluice dredging device includes a supporting and traveling device, a silt pumping and discharging device, a crushing and stirring device, a visual recognition device 440, and a control integration device 700. During the working process of the sluice dredging device, it may shake. The supporting and traveling device includes a fixing bracket for fixing the sluice dredging device to the gate 100, so as to improve the stability of the sluice dredging device. The silt pumping and discharging device includes a lifting pipe 200, an outlet pipe 300, and an inlet pipe 400. The lifting pipe 200 is installed on one side of the fixing bracket. The outlet pipe 300 and the inlet pipe 400 are respectively connected to both ends of the lifting pipe 200. The lifting pipe 200 extends in the vertical direction, and the outlet pipe 300 extends in the horizontal direction. The outlet pipe 300, the inlet pipe 400, and the fixing bracket are all located on the same side of the lifting pipe 200. Among them, one end of the inlet pipe 400 away from the lifting pipe 200 is a suction port 410, and one end of the outlet pipe 300 away from the lifting pipe 200 is a discharge port 310. The silt pumping and discharging device further includes an air compressor. When the air compressor starts to work, the sediment at the bottom of the gate 100 is sucked into the inlet pipe 400 through the suction port 410, then passes through the lifting pipe 200, and finally is discharged from the discharge port 310 of the outlet pipe 300. Since the air compressor extracts the sediment by forming a suction force through air pressure change, that is, when the sediment is discharged from the discharge port 310, there will be an impact force. By setting the discharge port 310 on the same side as the fixing bracket, the situation of the fixing bracket shaking caused by the impact force can be avoided. The crushing and stirring device includes a stirring cutter head 420 and a jet nozzle 430. The stirring cutter head 420 and the jet nozzle 430 are installed at one end of the inlet pipe 400 away from the lifting pipe 200. By setting the stirring cutter head 420 at one end of the inlet pipe 400 away from the lifting pipe 200, the hard and compact sediment can be broken and dispersed, so as to avoid large-volume hard and compact sediment from entering the silt pumping and discharging device, thereby causing blockage of the silt pumping and discharging device, and improving the cleaning effect of the sluice dredging device. By setting the jet nozzle 430 at one end of the inlet pipe 400 away from the lifting pipe 200, the sediment can be dispersed. Through the cooperation of the jet nozzle 430 and the stirring cutter head 420, the hard and compact sediment can be broken and dispersed, and the cleaning effect of the sluice dredging device is improved. The visual recognition device 440 is installed at one end of the inlet pipe 400 away from the lifting pipe 200. Through the visual recognition device 440, the underwater situation can be recognized in real time, so as to judge the sediment accumulation situation at the position of the suction port 410.

[0029] It should be noted that the angle between the lifting pipe 200 and the outlet pipe 300 is 90 degrees.

[0030] It should be noted that a ventilation hole connected to the air compressor is provided on one side of the inlet pipe 400 close to the suction port 410. When the air compressor is placed on the shore, the air compressor can be connected to the ventilation hole through a pipe, and the control integration device 700 is connected to the air compressor to control the working state of the air compressor. In addition, in some embodiments, the air compressor is not connected to the control integration device 700, but is driven by an external controller.

[0031] It should be noted that the control integration device 700 further includes a display, which is connected to the visual recognition device 440, and the staff can understand the underwater situation in real time through the display.

[0032] It should be noted that the control integration device 700 further includes a working motor 710 for driving the stirring cutter head 420 to rotate and a high-pressure water pump 720 for providing high-pressure water flow to the jet nozzle 430. Among them, the working motor 710 and the high-pressure water pump 720 can be installed on the top of the mounting bracket.

[0033] It can be understood that the fixing bracket includes a first top beam 500, a first side beam 510, and a second side beam 520. The first side beam 510 and the second side beam 520 are respectively arranged on both sides of the first top beam 500. The first top beam 500, the first side beam 510, and the second side beam 520 form a mounting groove, and the gate 100 is located in the mounting groove. The gate 100 includes a first side surface, a second side surface, and a first top surface. The first side beam 510 abuts against the first side surface, the second side surface abuts against the second side beam 520, and the first top beam 500 abuts against the first top surface. Since the first side beam 510 and the second side beam 520 are respectively arranged on both sides of the gate 100, even if the sluice dredging equipment shakes during the working process, the sluice dredging equipment will not shift under the action of the first side beam 510 and the second side beam 520.

[0034] It should be noted that a first fixing block 511 and a second fixing block 512 are arranged in parallel along the vertical direction on the side of the first side beam 510 away from the gate 100. A first through hole is provided on the first fixing block 511, and a second through hole is provided on the second fixing block 512. The lifting pipe 200 passes through the first through hole and the second through hole.

[0035] It should be noted that a working platform 600 is installed on the top of the first top beam 500, and the control integration device 700 is installed on the working platform 600. The staff can operate the control integration device 700 on the working platform 600 to control the sluice dredging equipment.

[0036] Specifically, the working platform 600 further includes a first lifting strut 610 and a second lifting strut 620. The control integration device 700 is located between the first lifting strut 610 and the second lifting strut 620. Support brackets for supporting the outlet pipe 300 are installed at the tops of the first lifting strut 610 and the second lifting strut 620. The control motors of the first lifting strut 610 and the second lifting strut 620 are both connected to the control integration device 700. Staff can control the rising and falling of the first lifting strut 610 and the second lifting strut 620 through the control integration device 700. In addition, the first fixing block 511 and the second fixing block 512 only limit the lifting pipe 200 in the horizontal direction. Therefore, the overall stability of the dredging and sludge discharging device can also be maintained during the lifting and lowering process of the first lifting strut 610 and the second lifting strut 620.

[0037] It should be noted that a supporting traveling wheel 501 is further installed on one side of the first top beam 500 close to the gate 100. A first guiding and positioning wheel 513 is installed on one side of the first side beam 510 close to the gate 10%. A second guiding and positioning wheel 521 is installed on one side of the second side beam 520 close to the gate 100. Through the supporting traveling wheel 501, the first guiding and positioning wheel 513 and the second guiding and positioning wheel 521, the sluice dredging equipment can move on the gate 100. In addition, locking mechanisms are installed on the supporting traveling wheel 501, the first guiding and positioning wheel 513 and the second guiding and positioning wheel 521. Through the locking mechanisms, the supporting traveling wheel 501, the first guiding and positioning wheel 513 and the second guiding and positioning wheel 521 can be controlled to be fixed or slide.

[0038] Specifically, the sluice dredging equipment further includes a winch, and the winch is used to tow the fixed bracket to move along the extending direction of the gate 100.

[0039] It can be understood that sediment will accumulate at the bottom of the gate 100. Therefore, the dredging and sludge discharging device includes a rotary joint 210, a fixed joint 220 and a driving motor for driving the rotary joint 210. The two ends of the rotary joint 210 are respectively connected to the lifting pipe 200 and the outlet pipe 300. The two ends of the fixed joint 220 are respectively connected to the lifting pipe 200 and the inlet pipe 400. The control integration device 700 is connected to the driving motor. The driving motor can control the rotation of the rotary joint 210, and further control the rotation of the lifting pipe 200.

[0040] It should be noted that in some embodiments, the rotary joint 210 can also be driven by a manual winch, that is, the rotation of the rotary joint 210 is controlled by turning the manual winch.

[0041] It should be noted that the lifting pipeline 200 includes a third part and a fourth part. The third part is located on the side of the first fixing block 511 close to the outlet pipeline 300, and the fourth part is located on the other side of the first fixing block 511 close to the inlet pipeline 400. The pipeline length of the fourth part is greater than the length of the gate 100, so that during the rotation of the lifting pipeline 200, the inlet pipeline 400 does not collide with the gate 100. For example, in the initial state, the inlet pipeline 400 is located on the side of the gate 100 close to the fixed bracket. If it is necessary to dredge the side of the gate 100 away from the fixed bracket, the rotation interface can be controlled to rotate, so that the lifting pipeline 200 can drive the inlet pipeline 400 to rotate to the side of the gate 100 away from the fixed bracket.

[0042] It should be noted that the inlet pipeline 400 includes a first part and a second part. The first part is connected to the lifting pipeline 200 through a fixed joint 220. The mixing cutter head 420, the jet nozzle 430, and the visual recognition device 440 are all installed on the second part. Since there are not only soil, sand and stones in the silt, but also large-sized garbage may exist. If the connection between the pipelines is at a right angle, then the large-sized garbage may get stuck between the connections of the pipelines, resulting in pipeline blockage. Therefore, in some embodiments, the bending angle of the fixed joint 220 is 105 degrees.

[0043] In addition, in some embodiments, the bending angle between the first part and the second part is also 105 degrees. The second part of the inlet pipeline 400 extends in the vertical direction. During the working process, the mixing cutter head 420 and the jet nozzle 430 installed on the second part will first break and wash the silt, and the broken silt will then enter the pipeline from the suction port 410, which can further prevent large-sized garbage from entering the pipeline.

[0044] Specifically, the second part includes the front side, the left side, the right side, and the rear side. In some embodiments, the mixing cutter heads 420 are installed on the front side, the left side, and the right side of the second part, and the jet nozzle 430 is installed on the front side of the second part. In addition, the water outlet direction of the jet nozzle 430 is perpendicular to the second part.

[0045] It should be noted that a plurality of jet modules are installed on the second part. Each jet module includes a plurality of jet nozzles 430. The plurality of jet nozzles 430 in the same jet module are connected to the same jet pipeline, that is, there are a plurality of jet pipelines, and each jet pipeline is connected to the control integration device 700, so that the control integration device 700 can separately adjust the working state of each jet pipeline.

[0046] It should be noted that in some embodiments, floating boxes 450 are installed on both sides of the first part, and the buoyancy provided by the floating boxes 450 can offset the downward force generated during the operation of the mixing cutter head 420.

[0047] It should be noted that the outlet pipe 300 is also provided with a maintenance opening 320 through which the staff can clean the silt or garbage that cannot be discharged from the discharge port 310. Since the silt and garbage are likely to get stuck at the connection between the lifting pipe 200 and the outlet pipe 300, the maintenance opening 320 can be provided at one end of the outlet pipe 300 close to the lifting pipe 200.

[0048] In a second aspect, referring to Figure 3 , Figure 3 is a flowchart of the control method for the sluice dredging equipment provided by the embodiment of the present application. The control method for the sluice dredging equipment can be applied to the above-mentioned Figure 1 sluice dredging equipment. The control method includes but is not limited to the following steps:

[0049] Step S100: Obtain underwater image information, and control the working states of the stirring cutter head and the jet nozzle according to the underwater image information.

[0050] It can be understood that when the staff is on the water surface, it is difficult to judge the accumulation situation of the underwater silt. Therefore, the underwater image can be obtained by the visual recognition device installed on the inlet pipe, and then according to the underwater image information, judge the accumulation situation of the underwater silt, the distribution situation of the silt and the garbage situation, and then control the working states of the stirring cutter head and the jet nozzle to improve the cleaning efficiency of the silt. For example, judge the silt density through the gray value in the underwater image information, judge the accumulation shape according to the contour analysis, and judge the accumulation situation of the silt in front of the pipe. If the silt density is low, the control integration device can close the stirring cutter head and start the jet nozzle to accelerate the silt fragmentation and pipe suction; if hard sediments (stones or compacted silt) are identified, the control integration device can increase the rotation speed of the stirring cutter head.

[0051] The above has described the embodiments of the present application in detail with reference to the drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application.

[0052] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A sluice dredging device, characterized in that, The described sluice dredging equipment includes: A supporting and traveling device, which includes a fixing bracket for fixing the sluice dredging equipment to the gate. A dredging and mud discharging device, including a lifting pipe, an outlet pipe, an inlet pipe, and an air compressor. The lifting pipe is installed on one side of the fixing bracket. The outlet pipe and the inlet pipe are respectively connected to both ends of the lifting pipe. The lifting pipe extends in the vertical direction. The outlet pipe, the inlet pipe, and the fixing bracket are all located on the same side of the lifting pipe. An air vent connected to the air compressor is provided on the side of the inlet pipe away from the lifting pipe. A crushing and agitating device, which includes a stirring cutter head and a jet nozzle. The stirring cutter head and the jet nozzle are installed at one end of the inlet pipe away from the lifting pipe. A visual recognition device, which is installed at one end of the inlet pipe away from the lifting pipe. A control integration device, which is installed on the top of the fixing bracket. The control integration device is respectively connected to the air compressor, the visual recognition device, the stirring cutter head, and the jet nozzle.

2. The sluice dredging equipment according to claim 1, characterized in that, The dredging and mud discharging device includes a rotary joint, a fixed joint, and a driving motor for driving the rotary joint. Both ends of the rotary joint are respectively connected to the lifting pipe and the outlet pipe. Both ends of the fixed joint are respectively connected to the lifting pipe and the inlet pipe. The driving motor is connected to the control integration device.

3. The sluice dredging equipment according to claim 2, characterized in that, The fixed joint is a 105-degree elbow.

4. The sluice dredging equipment according to claim 1, characterized in that, The fixing bracket includes a first top beam, a first side beam, and a second side beam. The first side beam and the second side beam are respectively arranged on both sides of the first top beam. The lifting pipe is installed on the side of the first side beam away from the second side beam. The gate is located in the installation groove formed by the first top beam, the first side beam, and the second side beam.

5. The sluice dredging equipment according to claim 2, characterized in that, The inlet pipe includes a first part and a second part. The first part is connected to the lifting pipe through the fixed joint. The bending angle between the first part and the second part is 105 degrees. The stirring cutter head, the jet nozzle, and the visual recognition device are all installed on the second part.

6. The sluice dredging equipment according to claim 1, characterized in that An inspection opening is also provided at the top of the outlet pipe.

7. A control method for a sluice dredging device, characterized in that, Applied to the sluice dredging equipment as described in claims 1 to 6, the control method includes: Obtaining underwater image information, and controlling the working states of the stirring cutter head and the jet nozzle according to the underwater image information.

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