Visual dredging equipment

Abstract

The visual desilting equipment comprises a desilting ship, a connecting disc is fixedly installed on the upper surface of the desilting ship, a U-shaped frame is fixedly installed on the upper surface of the connecting disc, a ring cylinder is fixedly installed in the U-shaped frame, and a planetary gear reducer is rotatably installed in the ring cylinder; the output end of the planetary gear reducer rotatably penetrates out of the upper surface of the annular cylinder and is fixedly connected with an embedded groove, the embedded groove is formed in the lower surface of a balance weight table, the balance weight table is rotatably installed on the upper surface of the connecting disc, and an extension mechanism is rotatably installed at one end of the balance weight table. And a suction end of the desilting mechanism is fixedly mounted at one end of the last section of the extension mechanism. Through the design of the extension mechanism and the desilting mechanism, through the multi-dimensional flexible extension of the extension mechanism and the efficient suction and transportation capacity of the desilting mechanism, accurate cleaning of river silt is achieved, a visualization system provides real-time underwater picture support for operation, and desilting pertinence and accuracy are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of silt clearing equipment, and in particular to a visual silt clearing equipment. Background Art

[0002] In order to reduce endogenous pollution, restore the depth and width of river channels, and increase the capacity of reservoirs or aquaculture areas, a commonly used method is to dredge or remove the silt deposited at the bottom of lakes, rivers, reservoirs, etc. through dredging equipment.

[0003] For example, Chinese patent publication number CN222500391U discloses a water conservancy river channel dredging device, comprising a main body and a separation mechanism, wherein the separation mechanism is located at the upper end of the main body, the main body comprising a device body, a silt suction pump, and a silt suction pipe, wherein the silt suction pump is fixedly mounted at the left end of the upper end of the device body, and the silt suction pipe is fixedly mounted at the left end of the silt suction pump, the main body further comprising a delivery pipe, a silt collection box, and auxiliary components, wherein the delivery pipe is fixedly mounted at the right end of the silt suction pump, and the silt collection box is fixedly mounted at the middle of the upper end of the device body. The water conservancy river channel dredging device, by installing the main body, can break up the silt entering the silt suction pipe during dredging operations on the water conservancy river channel, thereby preventing large silt from entering the silt suction pipe and causing pipe blockage, thereby ensuring the normal dredging operations of the device body and improving the protectiveness of the device body.

[0004] However, the above-mentioned water conservancy river dredging equipment has poor operational flexibility, and the angle and position adjustment of the silt suction pipe are limited, making it difficult to adapt to complex river terrain. In addition, there is a lack of real-time monitoring, and it is impossible to know the underwater silt distribution and silt suction status. It is easy to miss or repeat operations. The delivery pipe also has no special support structure and will be deformed by external force during operation, affecting the silt delivery efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a visual dredging equipment to solve the problem that the water conservancy river dredging equipment proposed in the above background technology has poor operational flexibility, the angle and position adjustment of the silt suction pipe are limited, and it is difficult to adapt to complex terrain such as shallows, deep pits, and bends in the river channel. At the same time, there is a lack of real-time monitoring means, and the distribution range, thickness and actual situation of underwater silt suction operations cannot be known in time, which makes it easy to miss or repeat operations, affecting the efficiency of silt cleaning.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A visual dredging device comprises a dredging boat, wherein a connecting disk is fixedly mounted on the upper surface of the dredging boat, a C-shaped frame is fixedly mounted on the upper surface of the connecting disk, an annular cylinder is fixedly mounted inside the C-shaped frame, a planetary gear reducer is rotatably mounted inside the annular cylinder, and the output end of the planetary gear reducer passes through the upper surface of the annular cylinder and is fixedly connected to an embedded groove, the embedded groove is provided on the lower surface of the counterweight platform, the counterweight platform is rotatably mounted on the upper surface of the connecting disk, the connecting disk is fixedly mounted on the surface of the deck of the dredging boat, an extension mechanism is rotatably mounted on one end of the counterweight platform, a suction end of the dredging mechanism is fixedly mounted on one end of the last segment of the extension mechanism, the discharge outlet of the dredging mechanism passes through the extension mechanism and is opposite to the collecting pool, and the collecting pool is fixedly mounted in the deck of the dredging boat in a sunken state.

[0008] The above-mentioned visual silt clearing equipment, wherein the silt clearing mechanism can extend into the river to suck up the silt by extending the extension mechanism, and the sucked-in silt is discharged into the collection pool through the pipe installed in the extension mechanism for centralized collection.

[0009] The above-mentioned visual dredging equipment, wherein the lower surface of the coupling of the planetary gear reducer is fixedly connected to the output shaft of the motor, and the motor is fixedly installed on the upper surface of the U-shaped frame. The motor can drive the planetary gear reducer through the coupling to drive the output shaft to drive the counterweight platform to rotate at an angle.

[0010] The above-mentioned visual dredging equipment, wherein the extension mechanism includes a first connecting arm, the first connecting arm is rotatably mounted on one end of the counterweight platform, both sides of the first connecting arm are rotatably connected to the piston rod of the first hydraulic rod, the other ends of the two groups of the first hydraulic rods are rotatably mounted on one end of the counterweight platform, and the first connecting arm can be raised or lowered by pushing or pulling back the first hydraulic rod;

[0011] The other end of the first connecting arm is rotatably mounted with a second connecting arm, a first connecting block is fixedly mounted on the upper surface of the first connecting arm, a second hydraulic rod is rotatably mounted on the upper surface of the first connecting block, a piston rod of the second hydraulic rod is rotatably connected to one end of the second connecting arm, and the second connecting arm can be lifted or lowered by pushing or pulling back the second hydraulic rod;

[0012] Among them, the other end of the second connecting arm is rotatably mounted with a third connecting arm, one end of the upper surface of the second connecting arm is fixedly mounted with a second connecting block, the outer surface of the second connecting block is rotatably mounted with a third hydraulic rod, the piston rod of the third hydraulic rod is rotatably connected to one end of the third connecting arm, and the third connecting arm can be lifted or lowered by pushing or pulling back the third hydraulic rod.

[0013] The above-mentioned visual dredging equipment, wherein the lower surfaces of the first connecting arm and the second connecting arm are both provided with paving channels in a U-shaped manner, and the paving channels can allow the pipes connected to the discharge ends of the dredging mechanism to pass through.

[0014] The above-mentioned visual dredging equipment, wherein a tubular searchlight is fixedly installed at one end of the third connecting arm, and diving cameras are fixedly installed on both sides of the third connecting arm. When the tubular searchlight penetrates into the river through the three connecting arms, it can synchronously provide supplementary light for the diving cameras on both sides to ensure clear shooting, assist the equipment to accurately capture the underwater dredging operation images. The diving cameras will first convert the captured underwater images into electrical signals through built-in sensors and encode them into digital video streams, and then transmit them to the display screen in the dredging ship through special waterproof cables with water pressure resistance and corrosion resistance, providing intuitive underwater visualization support for the dredging operation.

[0015] The above-mentioned visual dredging equipment, wherein the dredging mechanism includes a vertical mud pump, the vertical mud pump is fixedly installed at one end of an I-beam, the I-beam is fixedly installed at the other end of the third connecting arm, a filter hole pipe is connected and installed at one end of the suction pipe orifice of the vertical mud pump, and the filter hole pipe extends to the lower ends of the third connecting arm and the I-beam.

[0016] The above-mentioned visual dredging equipment, wherein an L-shaped pipe is connected and installed at one end of the discharge port of the vertical mud pump, the other end of the L-shaped pipe is connected and installed with a hose through a flange, the hose passes through the paving channels opened on the lower surfaces of the first connecting arm and the second connecting arm, and penetrates out of the paving channel of the first connecting arm and is located in the collection pool.

[0017] The above-mentioned visual dredging equipment, wherein a rubber ring is fixedly installed on the outer surface of the hose穿装于 the paving channel, a θ-shaped ring is穿装于 the rubber ring, and both ends of the θ-shaped ring pass through both ends of the rubber ring and are rotatably installed at both ends in the paving channel. The θ-shaped ring can effectively pull and support the hose, thereby preventing the conveying hose from collapsing inward during operation or the bending and extension of the connecting arm.

[0018] The above-mentioned visual dredging equipment, wherein the hose is made of nitrile rubber.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] Through the collaborative design of each component, the visual dredging equipment has achieved remarkable technical effects in many aspects, specifically as follows:

[0021] 1. In terms of operational precision and efficiency, the counterweight platform, through the linkage of components such as the motor and planetary gear reducer, can drive the extension mechanism to flexibly adjust the operating direction, allowing the dredging mechanism to accurately target silt in different areas of the river channel, effectively reducing leakage and adapting to complex silt distribution. At the same time, the extension mechanism can drive the dredging mechanism to extend directly into the river for operations, eliminating the need for frequent movement of the dredging vessel, significantly reducing the time required for repositioning. Combined with the centralized collection pool design, it achieves continuous silt removal and efficient collection, reducing the time spent in intermediate links and significantly improving dredging efficiency.

[0022] 2. In terms of operating range and adaptability, the first, second, and third connecting arms of the extension mechanism are driven by hydraulic rods to achieve sequential extension and angle adjustment, which can expand the operating range in multiple dimensions and easily adapt to silt areas of varying depths and locations within the river channel. This particularly enhances coverage of complex terrain and avoids missed areas due to limited operating range. The combination of a tubular searchlight and a submersible camera provides operators with real-time, clear underwater images, facilitating timely adjustments to the movement of each connecting arm, ensuring that the silt removal mechanism accurately reaches the designated operating area, further enhancing the targeted and precise nature of silt removal operations.

[0023] 3. In terms of equipment reliability, the filter tube in the dredging mechanism can initially intercept larger particles of debris in the silt, effectively preventing pump clogging. The nitrile rubber hose has excellent flexibility and wear resistance, adapting to the conveying needs under complex working conditions. The combination of the rubber ring and the θ-shaped ring effectively pulls and supports the hose, preventing it from collapsing inward during bending and extension of the connecting arm or during silt conveying, ensuring smooth silt conveying. These design features ensure that the entire system can maintain efficient and stable silt suction and conveying performance in complex terrain such as winding rivers and varying depths, improving the equipment's adaptability to diverse dredging scenarios.

[0024] 4. In terms of operational safety, after the silt cleaning operation is completed, the extension mechanism can drive the dredging mechanism to fold and rotate it to the dredging vessel for storage through the drive of the planetary gear reducer, avoiding accidental collisions of the equipment due to shaking during the movement of the vessel, and significantly improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of the overall front view of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the overall top view of the present invention;

[0027] Figure 3 It is a schematic diagram of the overall structure of the present invention when viewed from above;

[0028] Figure 4It is a schematic structural diagram of the overall side section of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the extension mechanism of the present invention.

[0030] Figure 6 This is a schematic diagram of the structure of the pipeline paving of the present invention

[0031] Figure 7 Schematic diagram of the structure of the dredging mechanism of the present invention

[0032] In the figure: 1. Dredging vessel; 101. Collection tank; 102. Counterweight platform; 103. Embedded groove; 104. Connecting plate; 105. Motor; 106. U-shaped frame; 107. Ring cylinder; 108. Planetary gear reducer; 109. Coupling; 2. Extension mechanism; 201. First connecting arm; 202. First hydraulic rod; 203. First connecting block; 204. Second hydraulic rod; 205. Second connecting arm; 206. Second connecting block; 207. Third hydraulic rod; 208. Third connecting arm; 209. Tubular searchlight; 210. Diving camera; 211. Paved channel; 3. Dredging mechanism; 301. I-beam; 302. Mud vertical pump; 303. L-shaped pipe; 304. Hose; 305. Rubber ring; 306. θ-shaped ring; 307. Filter tube. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] See also Figure 1-Figure 7The present embodiment provides a visual dredging device, comprising: a dredging vessel 1, a connection plate 104 is fixedly mounted on the upper surface of the dredging vessel 1, a U-shaped frame 106 is fixedly mounted on the upper surface of the connection plate 104, and a ring cylinder 107 is fixedly mounted in the U-shaped frame 106, a planetary gear reducer 108 is rotatably mounted in the ring cylinder 107, and the output of the planetary gear reducer 108 is rotatably passed through the upper surface of the ring cylinder 107 and fixedly connected to the embedded groove 103, and the embedded groove 103 is opened on the counterweight platform The dredging vessel 1 has a lower surface on which the counterweight platform 102 is rotatably mounted, and the counterweight platform 102 is rotatably mounted on the upper surface of the connecting plate 104. The connecting plate 104 is fixedly mounted on the surface of the deck of the dredging vessel 1. One end of the counterweight platform 102 is rotatably mounted with the extension mechanism 2, and one end of the last segment of the extension mechanism 2 is fixedly mounted with the suction end of the dredging mechanism 3. The discharge port of the dredging mechanism 3 passes through the extension mechanism 2 and faces the collection tank 101. The collection tank 101 is fixedly mounted in a sunken position on the deck of the dredging vessel 1. In this way, the dredging mechanism 3 can extend the extension mechanism 2 to reach into the river to suck up the silt, and the sucked-in silt will be discharged into the collection tank 101 through the pipe installed in the extension mechanism 2 for centralized collection. The lower surface of the coupling 109 of the planetary gear reducer 108 is fixedly connected to the output shaft of the motor 105, and the motor 105 is fixedly installed on the upper surface of the U-shaped frame 106, so that the motor 105 can drive the planetary gear reducer 108 through the coupling 109 to drive the output shaft to drive the counterweight platform 102 to rotate at an angle.

[0035] Through the design of the dredging vessel 1, the collecting tank 101, the counterweight platform 102, the connecting disk 104, the motor 105, the planetary gear reducer 108, the extension mechanism 2 and the dredging mechanism 3, when the dredging vessel 1 travels to the designated position and cleans the silt, the motor 105 can be started to drive the coupling 109 to drive the planetary gear reducer 108 to operate in the ring cylinder 107, and the output end of the planetary gear reducer 108 drives the counterweight platform 102 to rotate on the connecting disk 104, and the rotating counterweight platform 102 can drive the extension mechanism 2 to adjust the working direction, so that the dredging mechanism 3 can accurately aim at the silt in different areas, adapt to the complex silt distribution in the river channel, and reduce the leakage phenomenon. Subsequently, the extension mechanism 2 can be started to allow It drives the dredging mechanism 3 to extend into the river, and there is no need to frequently move the dredging ship 1, thereby saving time for adjusting the position. The dredging mechanism 3 can be started to absorb the silt after it is sent to the designated silt area in the river. The absorbed silt can be transported through the pipeline installed in the extension mechanism 2, and finally discharged into the collection pool 101 fixedly installed on the deck of the dredging ship 1 for centralized collection, realizing continuous cleaning and centralized collection, reducing the time consumption of the intermediate links, and after the silt cleaning operation is completed, the extension mechanism 2 can drive the dredging mechanism 3 to fold together and be rotated to the dredging ship 1 for storage through the drive of the planetary gear reducer 108, avoiding accidental collision of the equipment due to shaking during the movement of the ship body, thereby improving operation safety.

[0036] like Figure 5-Figure 6 As shown, the extension mechanism 2 includes a first connecting arm 201, which is rotatably mounted on one end of the counterweight platform 102, and both sides of the first connecting arm 201 are rotatably connected to the piston rods of the first hydraulic rods 202, while the other ends of the two sets of first hydraulic rods 202 are rotatably mounted on one end of the counterweight platform 102, so that the first connecting arm 201 can be pushed or pulled back by the first hydraulic rods 202 to achieve lifting or lowering operations;

[0037] The other end of the first connecting arm 201 is rotatably mounted with a second connecting arm 205. A first connecting block 203 is fixedly mounted on the upper surface of the first connecting arm 201. A second hydraulic rod 204 is rotatably mounted on the upper surface of the first connecting block 203. The piston rod of the second hydraulic rod 204 is rotatably connected to one end of the second connecting arm 205, so that the second connecting arm 205 can be pushed or pulled back by the second hydraulic rod 204 to achieve the operation of lifting or lowering.

[0038] Among them, the other end of the second connecting arm 205 is rotatably installed with the third connecting arm 208, one end of the upper surface of the second connecting arm 205 is fixedly installed with the second connecting block 206, the outer surface of the second connecting block 206 is rotatably installed with the third hydraulic rod 207, and the piston rod of the third hydraulic rod 207 is rotatably connected to one end of the third connecting arm 208, so that the third connecting arm 208 can be pushed or pulled back by the third hydraulic rod 207 to achieve lifting or lowering operations.

[0039] The lower surfaces of the first connecting arm 201 and the second connecting arm 205 are both provided with a paved channel 211 in a U-shaped manner, and the paved channel 211 can allow the pipe connected to the discharge end of the dredging mechanism 3 to pass through.

[0040] A tubular searchlight 209 is fixedly installed at one end of the third connecting arm 208, and a diving camera 210 is fixedly installed on both sides of the third connecting arm 208, so that the tubular searchlight 209 can synchronously provide supplementary light for the diving cameras 210 on both sides during the process of being inserted into the river through the three sets of connecting arms, ensuring clear shooting and helping the equipment to accurately capture the underwater dredging operation scene. The diving camera 210 will convert the captured underwater scene into an electrical signal through a built-in sensor and encode it into a digital video stream, and then transmit it to the display screen in the dredging vessel 1 through a special waterproof cable that is resistant to water pressure and corrosion, providing intuitive underwater visualization support for dredging operations.

[0041] Through the design of the first connecting arm 201, the first hydraulic rod 202, the second hydraulic rod 204, the second connecting arm 205, the third hydraulic rod 207, the third connecting arm 208, the tubular searchlight 209 and the diving camera 210, during the dredging operation, the first connecting arm 201 can be adjusted in angle by rotating with the counterweight platform 102, and can be lifted or lowered under the push or pull of the two sets of first hydraulic rods 202, so as to adjust the initial operating angle of the entire extension mechanism 2. When the position of the first connecting arm 201 is determined, the first connecting block 203 The second hydraulic rod 204 on the upper part can drive the second connecting arm 205 connected thereto to rotate around the connection point with the first connecting arm 201 by pushing or pulling back, thereby extending or retracting the second connecting arm 205 and further expanding the working range. Subsequently, the third hydraulic rod 207 on the second connecting block 206 can drive the third connecting arm 208 to rotate around the connection point with the second connecting arm 205 by pushing or pulling back, thereby completing the extension of the third connecting arm 208 and pushing the dredging mechanism 3 at its end to the designated working area. During the entire extension process, The tubular searchlight 209 at one end of the third connecting arm 208 is turned on synchronously to provide lighting for the diving cameras 210 on both sides. After capturing the underwater images, the diving cameras 210 are converted into electrical signals and encoded into digital video streams, which are transmitted to the display screen in the dredging vessel 1 through a dedicated waterproof cable, providing real-time visualization support for the precise operation of the extension mechanism 2. The paved channel 211 on the lower surface of the first connecting arm 201 and the second connecting arm 205 provides a space for the pipeline of the dredging mechanism 3 to pass through, ensuring the smooth flow of the silt conveying channel, and through the first and second connecting arms, the dredging mechanism 3 can be connected to the dredging vessel 1. , the sequential extension and angle adjustment of the three connecting arms can achieve multi-dimensional expansion of the operating range, and can adapt to silt areas of different depths and positions in the river channel, especially with stronger coverage of complex terrain, avoiding the problem of missed cleaning due to limited operating range, and cooperating with the tubular searchlight 209 and the diving camera 210, providing the operator with real-time and clear underwater images, which can accurately judge the position of the dredging mechanism 3 and the surrounding silt conditions, and facilitate timely adjustment of the actions of each connecting arm to ensure that the dredging mechanism 3 can accurately reach the designated operating area and improve the targeted dredging.

[0042] like Figure 7As shown, the desilting mechanism 3 includes a vertical mud pump 302, which is fixedly mounted on one end of an I-beam 301, which is in turn fixedly mounted on the other end of the third connecting arm 208. A filter tube 307 is connected to one end of the suction port of the vertical mud pump 302, which extends between the lower ends of the third connecting arm 208 and the I-beam 301. An L-shaped tube 303 is connected to one end of the discharge port of the vertical mud pump 302, and the other end of the L-shaped tube 303 is connected to a hose 304 via a flange. The hose 304 passes through a paved channel 211 formed on the lower surfaces of the first and second connecting arms 201, 205, and then exits through the paved channel 211 of the first connecting arm 201 and is located in the collection tank 101. A rubber ring 305 is fixedly mounted on the outer surface of the hose 304 installed in the paved channel 211. A theta-shaped ring 306 is rotated inside the rubber ring 305. The two ends of the theta-shaped ring 306 are rotatably extended from the rubber ring 305 and rotatably mounted at the ends of the paved channel 211. This allows the theta-shaped ring 306 to effectively pull and support the hose 304, preventing it from collapsing inward during operation or when the connecting arm is bent and extended. The hose 304 is made of nitrile rubber.

[0043] Through the design of the mud vertical pump 302, the hose 304, the rubber ring 305, the θ-shaped ring 306 and the filter hole pipe 307, during the dredging operation, the mud vertical pump 302 fixed on the I-beam 301 at the other end of the third connecting arm 208 is started, and the filter hole pipe 307 connected to its suction pipe mouth draws in underwater silt. The filter hole pipe 307 can initially intercept larger particles of debris in the silt to prevent it from entering the pump body and causing blockage. The sucked silt is pressurized by the mud vertical pump 302 and enters the L-shaped pipe 303 from the discharge port, and is then transported through the nitrile rubber hose 304 connected by the flange. The hose 304 is allowed to pass through the paved channel 211 on the lower surface of the first connecting arm 201 and the second connecting arm 205, and finally the silt is discharged into The silt is collected centrally in the collection pool 101, and in the process of silt transportation, the rubber ring 305 fixed on the outer surface of the hose 304 and the θ-shaped ring 306 installed inside play a key role. The two ends of the hose 304 pass through the rubber ring 305 and are rotatably installed at the two ends of the paved channel 211, playing a pulling and supporting role, effectively preventing the hose 304 from collapsing inward when the connecting arm is bent, extended or silt is transported. At the same time, the flexibility and wear resistance of the nitrile rubber material ensure the stable transportation performance of the hose 304 under complex working conditions, and the entire transportation system can cooperate with the flexible movement of the connecting arm, and can still maintain efficient silt suction and transportation in complex terrain such as curved river channels and varying depths, thereby improving the equipment's adaptability to diverse dredging scenarios.

[0044] In this embodiment, the visual dredging device further includes a control unit configured to calculate the hydraulic rod adjustment amount of the extension mechanism 2 based on the real-time image data captured by the submersible camera 210 using the following equation:

[0045]

[0046] in:

[0047] ΔL i Indicates the extension adjustment value of the i-th hydraulic rod (unit: mm);

[0048] K is the adaptive control gain (dimensionless);

[0049] is the image gradient vector (unit: pixel intensity / mm), which is obtained in real time through image processing and represents the intensity change rate at the silt boundary;

[0050] φ i is the gradient direction of the i-th hydraulic rod and the image The angle (unit: radian);

[0051] i is the hydraulic rod index (corresponding to the first hydraulic rod 202 , the second hydraulic rod 204 or the third hydraulic rod 207 ).

[0052] For example, during a dredging operation, the submersible camera 210 captures underwater images (such as the distribution of riverbed silt) in real time, and the control unit (integrated into the operating system of the dredging vessel 1) performs the following steps:

[0053] 1. Image processing: Perform edge detection on the current frame to identify the boundaries of the silt-rich area. Calculate the image gradient at the boundary points. The gradient direction points to the area with increased silt thickness.

[0054] 2. Parameter calculation: measure the current direction of each hydraulic rod and The angle φi between the directions.

[0055] 3. Solve the equation: Substitute into the equation to calculate ΔLi. For example, if The modulus is 15 pixel intensity / mm (indicating a strong boundary), K = 0.5, φ1 = 30° (the first hydraulic rod), then:

[0056] ΔL1=0.5·15·cos(30°)≈0.5·15·0.866≈6.5mm

[0057] A positive ΔLi indicates an extension of the hydraulic rod, while a negative value indicates a shortening.

[0058] 4. Adjustment execution: Control unit outputs ΔL iThe signal is sent to the hydraulic system, driving the hydraulic rods (202, 204, 207) to move, thereby adjusting the angles of the connecting arms (201, 205, 208) to move the silt clearing mechanism 3 toward the silt-rich area.

[0059] Parameter Description

[0060] ΔL i Hydraulic Rod Extension Adjustment: Determines the instantaneous displacement of the hydraulic rod. Positive values ​​increase the rod length, raising the connecting arm; negative values ​​decrease the length, lowering the connecting arm. The range is typically ±10mm, based on system calibration.

[0061] K (Adaptive Control Gain): Dynamically adjusted based on water depth and mud viscosity (K = 0.3 in shallow water, K = 0.7 in deep water). Optimized through historical operating data to ensure a balance between response speed and stability.

[0062] Image gradient vector: extracted from the video stream of the submersible camera (210). Calculates pixel intensity changes perpendicular to the mud boundary using the Sobel operator. Unit conversion: pixel intensity / mm. Pixel coordinates are mapped to spatial dimensions using camera calibration.

[0063] φ i (Angle): The current direction vector of the hydraulic rod and The angle of the direction vector is measured in real time by the inclination sensor, with a range of [0,π] radians. i When =0, the hydraulic rod is aligned with the gradient direction and the adjustment amount is maximum.

[0064] i (hydraulic rod index): i=1 corresponds to the first hydraulic rod 202 , i=2 corresponds to the second hydraulic rod 204 , and i=3 corresponds to the third hydraulic rod 207 .

[0065] Technical Effects

[0066] Improve dredging accuracy: Through real-time guidance of image gradients, the dredging mechanism 3 can quickly lock the silt boundary, reduce the leakage rate (actual measurement reduction of 30%), and avoid repeated operations.

[0067] Enhanced adaptive capabilities: Equations integrate visual feedback, allowing the equipment to automatically adapt to complex river terrain (such as shoals and bends), eliminating the need for frequent movement of the dredging vessel1.

[0068] Optimizing energy consumption: Hydraulic rod adjustment ΔL i With gradient strength Proportional to the speed, avoiding excessive movement can significantly save energy.

[0069] Improve real-time performance: The calculation is simple (only multiplication and cosine operations are required), and the processing delay is less than 100ms, meeting real-time control requirements.

[0070] Working Principle Process

[0071] 1. Initialization: After the dredging vessel 1 is positioned, the extension mechanism 2 is extended, and the submersible camera 210 and the tubular searchlight 209 are started to capture real-time underwater images.

[0072] 2. Image acquisition and processing:

[0073] The underwater camera 210 converts the video stream into a digital signal.

[0074] The control unit extracts the current frame and calculates the image gradient (The high gradient area corresponds to the silt boundary).

[0075] 3. Equation calculation:

[0076] Measuring φ i (Hydraulic rod and angle between the directions);

[0077] Substitute into the equation and solve for ΔL i , for example, a strong boundary ( Large) or small φ i When ΔL i Increase and drive the hydraulic rod for quick adjustment.

[0078] 4. Organizational Adjustment:

[0079] Hydraulic system receives ΔL i , driving the first, second and third hydraulic rods (202, 204, 207) to move.

[0080] The connecting arms (201, 205, 208) flex and extend to drive the silt removal mechanism 3 to move to the target point.

[0081] 5. Desilting execution: The vertical mud pump 302 is started, and the sludge is sucked through the filter tube 307 . The hose 304 , supported by the θ-shaped ring 306 , transports the sludge to the collection tank 101 .

[0082] 6. Feedback loop: Continuously monitor the image and repeat steps 2-5 until the gradient ΔI is below the threshold (indicating that sludge removal is complete).

[0083] In addition, the existing technology (such as CN222500391U) lacks a real-time control equation based on image gradient. Geometric angle φ with hydraulic rod i Combined, through cos(φ i) achieves directional optimization, resolving the issues of "lack of real-time monitoring" and "poor operational flexibility" in existing technologies. This equation simplifies visual servo control, requiring only gradient data and avoiding complex 3D reconstruction, making it suitable for underwater dredging scenarios. It also enhances the multi-dimensional extension capabilities of Extension Mechanism 2 and, in conjunction with the visualization system, achieves the "precise cleaning" and "reduced missed cleaning" capabilities described in the manual.

[0084] In summary, this equation optimizes the motion control of the extension mechanism during the visual desilting process, improving both precision and efficiency. Based on real-time image data captured by a submersible camera, the equation calculates hydraulic rod adjustments. This, combined with image gradient features and coordinated control of multiple connecting arms, ensures the desilting mechanism quickly targets areas of high silt concentration.

[0085] According to the above technical solution, the working steps of this solution are summarized and sorted out: when performing dredging operations, the planetary gear reducer 108 can be driven to rotate in the ring cylinder 107 through the coupling 109 by starting the motor 105, and the rotating planetary gear reducer 108 can drive the counterweight platform 102 to rotate on the connecting disk 104 through the output shaft, thereby driving the entire extension mechanism 2 to adjust the angle in the horizontal direction. Subsequently, the first to third hydraulic rods 202, 204, and 207 respectively drive the corresponding connecting arms 201, 205, and 208 to flex and extend, so as to enable the dredging mechanism 3 to be probed into the designated water area as a whole. In this process, the tubular searchlight 209 at the end of the third connecting arm 208 is turned on synchronously to fill in the light for the diving cameras 210 on both sides, so that the underwater images captured by the diving cameras 210 are transmitted to the display screen of the dredging vessel 1 in real time via waterproof cables, and the operator can accurately locate the silt area through the visual image.

[0086] During the dredging stage, the mud vertical pump 302 can be started to suck the silt through the filter hole tube 307, so that the silt enters the nitrile rubber hose 304 through the L-shaped tube 303. During the transportation process, the rubber ring 305 outside the hose 304 and the θ-shaped ring 306 form a supporting structure. When the connecting arm is bent or extended, the θ-shaped ring 306 adaptively deforms through the rotating fulcrums at both ends, which not only ensures that the hose 304 bends flexibly with the mechanism, but also prevents it from collapsing due to internal negative pressure or external extrusion. Finally, the silt is transported along the hose 304 through the paved channel 211 to the collection tank 101 for centralized storage, completing a single dredging cycle. During the whole process, the weight balance of the counterweight platform 102 and the rigid support of the multi-layer connecting arm ensure the stability of the equipment when operating in complex waters, and the wear resistance of the nitrile rubber hose 304 and the real-time feedback of the visualization system jointly improve the dredging efficiency and operation accuracy.

[0087] In summary: Through the multi-dimensional flexible extension of the extension mechanism 2 and the efficient suction and transportation capacity of the dredging mechanism 3, accurate and efficient cleaning of river silt is achieved. Among them, the visualization system provides real-time underwater image support for the operation, ensuring the targeted and accurate dredging. The flexion and extension of the three sets of connecting arms not only improves the equipment's adaptability to complex terrain and reduces the phenomenon of missed dredging, but also enhances the equipment's durability and operational safety, effectively solving the shortcomings of traditional dredging equipment in flexibility, accuracy and efficiency, and providing a reliable technical solution for water conservancy river dredging operations.

[0088] Parts not described in the present invention are the same as those in the prior art or can be implemented using the prior art. Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual dredging device, characterized in that: The invention comprises a dredging vessel (1), wherein a connection plate (104) is fixedly installed on the upper surface of the dredging vessel (1), a U-shaped frame (106) is fixedly installed on the upper surface of the connection plate (104), a ring cylinder (107) is fixedly installed in the U-shaped frame (106), a planetary gear reducer (108) is rotatably installed in the ring cylinder (107), and an output end of the planetary gear reducer (108) passes through the upper surface of the ring cylinder (107) and is fixedly connected to an embedded groove (103), and the embedded groove (103) is opened at the lower surface of the counterweight platform (102). The counterweight platform (102) is rotatably mounted on the upper surface of the connecting plate (104), and the connecting plate (104) is fixedly mounted on the surface of the deck of the dredging vessel (1). One end of the counterweight platform (102) is rotatably mounted with an extension mechanism (2), and one end of the last segment of the extension mechanism (2) is fixedly mounted with the suction end of the dredging mechanism (3). The discharge outlet of the dredging mechanism (3) passes through the extension mechanism (2) and is opposite to the collection pool (101). The collection pool (101) is fixedly mounted in a sunken state in the deck of the dredging vessel (1).

2. A visual dredging device according to claim 1, characterized in that: The desilting mechanism (3) can extend through the extension mechanism (2) to penetrate into the river to absorb the silt, and the sucked silt is discharged into the collection pool (101) through a pipe installed in the extension mechanism (2) for centralized collection.

3. A visual dredging device according to claim 1, characterized in that: The lower surface of the coupling (109) of the planetary gear reducer (108) is fixedly connected to the output shaft of the motor (105), and the motor (105) is fixedly installed on the upper surface of the U-shaped frame (106). The motor (105) can drive the planetary gear reducer (108) through the coupling (109) to drive the output shaft to drive the counterweight platform (102) to rotate at an angle.

4. The visual dredging equipment according to claim 1, characterized in that: The extending mechanism (2) comprises a first connecting arm (201), the first connecting arm (201) being rotatably mounted on one end of the counterweight platform (102), both sides of the first connecting arm (201) being rotatably connected to the piston rod of the first hydraulic rod (202), the other ends of the two groups of the first hydraulic rods (202) being rotatably mounted on one end of the counterweight platform (102), and the first connecting arm (201) being capable of achieving a lifting or lowering operation by pushing or pulling back the first hydraulic rod (202); The other end of the first connecting arm (201) is rotatably mounted with a second connecting arm (205); a first connecting block (203) is fixedly mounted on the upper surface of the first connecting arm (201); a second hydraulic rod (204) is rotatably mounted on the upper surface of the first connecting block (203); a piston rod of the second hydraulic rod (204) is rotatably connected to one end of the second connecting arm (205); and the second connecting arm (205) can be lifted or lowered by pushing or pulling back the second hydraulic rod (204); The other end of the second connecting arm (205) is rotatably mounted with a third connecting arm (208), one end of the upper surface of the second connecting arm (205) is fixedly mounted with a second connecting block (206), the outer surface of the second connecting block (206) is rotatably mounted with a third hydraulic rod (207), the piston rod of the third hydraulic rod (207) is rotatably connected to one end of the third connecting arm (208), and the third connecting arm (208) can be lifted or lowered by pushing or pulling back the third hydraulic rod (207).

5. The visual dredging equipment according to claim 4, characterized in that: The lower surfaces of the first connecting arm (201) and the second connecting arm (205) are both provided with a paving channel (211) in a U-shaped manner. The paving channel (211) can be used for the pipe connected to the discharge outlet of the silt clearing mechanism (3) to pass through.

6. The visual dredging equipment according to claim 4, characterized in that: A tubular searchlight (209) is fixedly mounted on one end of the third connecting arm (208), and a submersible camera (210) is fixedly mounted on both sides of the third connecting arm (208). The tubular searchlight (209) can synchronously fill in the light for the submersible cameras (210) on both sides during the process of probing into the river through the three groups of connecting arms, thereby ensuring clear shooting and assisting the equipment to accurately capture the underwater dredging operation scene. The submersible camera (210) will convert the captured underwater scene into an electrical signal through a built-in sensor and encode it into a digital video stream, and then transmit it to the display screen in the dredging vessel (1) through a special waterproof cable that is resistant to water pressure and corrosion, thereby providing intuitive underwater visualization support for the dredging operation.

7. The visual dredging equipment according to claim 1, characterized in that: The desilting mechanism (3) comprises a mud vertical pump (302), wherein the mud vertical pump (302) is fixedly mounted on one end of an I-beam (301), and the I-beam (301) is fixedly mounted on the other end of a third connecting arm (208). One end of the suction pipe port of the mud vertical pump (302) is connected to a filter tube (307) mounted thereon, and the filter tube (307) extends to the lower ends of the third connecting arm (208) and the I-beam (301).

8. The visual dredging equipment according to claim 7, characterized in that: One end of the discharge port of the vertical mud pump (302) is connected to an L-shaped pipe (303), and the other end of the L-shaped pipe (303) is connected to a hose (304) via a flange. The hose (304) passes through a paving channel (211) provided on the lower surface of the first connecting arm (201) and the second connecting arm (205), and passes through the paving channel (211) of the first connecting arm (201) and is located in the collection tank (101).

9. The visual dredging equipment according to claim 8, characterized in that: A rubber ring (305) is fixedly mounted on the outer surface of the hose (304) installed in the paving channel (211), and a θ-shaped ring (306) is installed inside the rubber ring (305). Both ends of the θ-shaped ring (306) pass through the two ends of the rubber ring (305) and are rotatably mounted at the two ends in the paving channel (211). The θ-shaped ring (306) can effectively pull and support the hose (304), thereby preventing the conveying hose (304) from collapsing inwards during operation or the bending and extension of the connecting arm.

10. The visual dredging equipment according to claim 9, characterized in that: The hose (304) is made of nitrile rubber.

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