Accurate deepwater desilting and sand throwing device and method for reservoir limited water area

Abstract

The invention discloses a deep water accurate desilting and sand throwing device and method for limited water areas which are narrow in space and large in water depth, such as a reservoir desilting opening door, a tail water opening door, an approach channel and an area within a power station water inlet door or a sand blocking ridge, and relates to the technical field of water conservancy project desilting equipment. A guide sliding rail is installed above the targeted dredging operation area in the horizontal direction, and a moving trolley with low-damping sliding guide wheels installed at the four corners of the bottom is installed on the guide sliding rail in a sliding mode. A [-shaped limiting stable bearing frame is welded to the outer wall of the top of the moving vehicle, the desilting end of the moving vehicle is connected with a rigid sand suction pipe extending to the operation area, the moving vehicle moves and operates in the targeted desilting operation area strictly according to the desilting priority sequence during operation, the controllability of equipment movement is ensured through cooperation of a guide sliding rail and a low-damping sliding guide wheel, and the desilting efficiency is improved. And accurate dredging of the locked limited water area in the whole process from operation planning to execution is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water conservancy engineering dredging equipment, in particular to a reservoir restricted water area deep water precise dredging and sand throwing device and method. BACKGROUND

[0002] As the core facility of water resources regulation, flood control and irrigation, the reservoir area is affected by the sediment deposition carried by the water flow for a long time, and regular dredging operation is needed to ensure the reservoir capacity and operation safety. However, in the deep water environment (the water depth or the vertical height from the dam platform is usually more than 10 meters) of the restricted water area of the reservoir (the area within the reservoir sediment discharge hole, the tail water outlet, the approach channel and the intake of the power station or the sand trap), the existing dredging technology always faces the bottleneck that cannot be broken through.

[0003] The design of the existing dredging equipment is mainly aimed at the operation in open water area, and its core defect is that it cannot adapt to the precise operation requirements in the deep water environment of the restricted water area of the reservoir. On the one hand, the existing equipment lacks intelligent identification and dynamic avoidance capability for the restricted area, and relies on manual survey to determine the approximate range before operation, and can only control the movement through ship body anchoring or cable traction during operation, which is difficult to accurately distinguish the targeted dredging area from the surrounding sensitive areas (such as the sediment discharge hole wall, the tail water outlet guide wall, the approach channel guide dike, the sand trap and other important hydraulic structures), and the flexible sand suction pipeline used has large swing range, which often causes the collision between the dredging equipment and the hydraulic structure, the disturbance of the bottom protection, and the damage or even the destruction of the structure.

[0004] On the other hand, in the deep water environment, the dredging depth and sand throwing direction control precision of the existing equipment are very poor: due to the influence of deep water pressure, the depth adjustment of the traditional suction pipe relies on manual operation of the winch, and it is difficult to accurately touch the sediment layer of different thicknesses, which may lead to incomplete dredging due to insufficient depth or disturbance of the bottom protection or structure foundation due to excessive exploration; at the same time, the sand throwing process completely relies on the natural diffusion of water flow, and the optimal throwing angle cannot be calculated according to the real-time flow rate and water level, so the extracted sediment is often backfilled to the cleaned area or drifted to the sensitive water area, which not only reduces the dredging efficiency, but also causes secondary pollution.

[0005] In addition, the stability control of the existing equipment is insufficient when operating in deep water, and the ship body is prone to tilt due to the change of suction load and water flow impact, which further aggravates the deviation of operation precision. These problems make the existing technology unable to meet the core requirements of "precise dredging, directional sand throwing and safe avoidance" in the deep water environment of the restricted water area of the reservoir, which becomes a key bottleneck restricting the efficient maintenance of the reservoir. SUMMARY

[0006] The reservoir restricted water area deep water precision dredging and sand throwing device and method aims to solve the problem that the existing dredging equipment cannot realize accurate control of the dredging range, dynamic adjustment of the depth and sand throwing angle and effective avoidance of sensitive areas in the deep water environment of the reservoir restricted water area (narrow area near specific hydraulic structures).

[0007] To achieve the above-mentioned purpose, the reservoir restricted water area deep water precision dredging and sand throwing device comprises a targeted dredging operation area applied in the restricted water area of the reservoir area.

[0008] A guide sliding track is installed horizontally above the targeted dredging operation area, and a mobile vehicle with low-damping sliding guide wheels installed at the bottom of four corners is slidingly installed on the guide sliding track; a shaped limit stable support frame is welded to the top outer wall of the mobile vehicle, and a shaped load-bearing truss is connected to the shaped limit stable support frame through a dredging depth adjusting mechanism.

[0009] A self-adaptive angle adjusting swing arm is connected to the shaped load-bearing truss through a fan-shaped swing mechanism, and a high-pressure pneumatic pump is fixed to the top outer wall of the self-adaptive angle adjusting swing arm through bolts; a rigid sand suction pipe is connected to the dredging end of the high-pressure pneumatic pump, and the sand suction pipe extends into the targeted dredging operation area.

[0010] Preferably, a high-definition detection camera for detecting the siltation condition in the targeted dredging operation area is fixed to the bottom outer wall of the self-adaptive angle adjusting swing arm through bolts, and a real-time image monitoring terminal connected to the high-definition detection camera is fixed to the side wall of the shaped limit stable support frame.

[0011] Preferably, the fan-shaped swing mechanism comprises a linkage rotating main shaft rotatingly installed between the side walls of the shaped load-bearing truss, a stepping drive motor fixed to the side wall of the shaped load-bearing truss through bolts, a transmission worm fixedly sleeved on the output shaft of the stepping drive motor, and a high-torque output worm gear pair fixedly sleeved on the linkage rotating main shaft.

[0012] Preferably, the transmission worm and the high-torque output worm gear pair are mutually meshed, and the self-adaptive angle adjusting swing arm and the end of the linkage rotating main shaft away from the shaped load-bearing truss are fixedly connected, and the two ends of the linkage rotating main shaft are rotationally matched with the side walls of the shaped load-bearing truss.

[0013] Preferably, the dredging depth adjusting mechanism comprises a fine adjustment lifting screw rotatingly installed between the top and bottom of the shaped limit stable support frame, an adjustable positioning panel threadedly connected to the upper part of the fine adjustment lifting screw, a primary transmission bevel gear fixedly sleeved on the lower part of the fine adjustment lifting screw, a servo drive motor fixed to the lower outer wall of one side of the shaped limit stable support frame through bolts, and a secondary speed-increasing bevel gear fixedly sleeved on the output shaft of the servo drive motor; one side of the adjustable positioning panel is fixedly connected with the shaped load-bearing truss.

[0014] Preferably, the primary transmission bevel gear is engaged with the secondary speed-increasing bevel gear, and the Z-shaped load-bearing truss is welded to the side wall of the adjustable positioning panel.

[0015] Preferably, two vertical guide main shafts are symmetrically welded between the two side walls of the Z-shaped limiting stable support frame, two linear motion bearings are embedded in the adjustable positioning panel, and the two linear motion bearings are in sliding fit connection with the two vertical guide main shafts, respectively.

[0016] Preferably, four counterweight assemblies arranged in a rectangular array are arranged on the moving vehicle, and each of the four counterweight assemblies comprises a mounting base welded to the outer wall of the moving vehicle, an electrically-controlled telescopic execution push rod fixed to the top outer wall of the mounting base through bolts, a quick locking connector fixed to the telescopic end of the electrically-controlled telescopic execution push rod, and a dynamic balance counterweight module for adjusting the gravity center balance of the moving vehicle fixed to the bottom outer wall of the quick locking connector.

[0017] Preferably, the method for precise desilting and sand throwing in deep water of a restricted water area of a reservoir uses the device for precise desilting and sand throwing in deep water of a restricted water area of a reservoir, and comprises the following steps:

[0018] S1, start the high-definition detection camera, control the moving vehicle to move at a constant speed along the guide sliding rail, and perform omnidirectional scanning on the targeted desilting operation area and the surrounding reservoir tail terrain to collect silt distribution images, thickness data and obstacle position information; transmit the scanning data to the control system, construct a silt thickness heat map through three-dimensional modeling technology, and simultaneously, according to the restriction conditions such as the buildings in the reservoir area, draw an electronic fence of the avoidance area and determine the desilting priority sequence.

[0019] S2, according to the first target desilting point drawn in S1, adjust the height of the Z-shaped load-bearing truss through the desilting depth adjusting mechanism, so that the lower end of the rigid sand suction pipe reaches the surface of the silt layer at the target point; start the high-pressure pneumatic pump, use the negative pressure adsorption principle to extract the silt mixture at the target point through the sand suction pipe, and simultaneously adjust the extension length of the dynamic balance counterweight module through the electrically-controlled telescopic execution push rod to ensure that the moving vehicle remains stable during the silt extraction process.

[0020] S3, real-time collection of hydrological data such as flow rate, water level and water depth of the restricted water area of the reservoir, combination of silt particle size parameters, calculation of the optimal projection elevation angle of the rigid sand suction pipe through the control system; start the stepping motor, drive the linkage rotating main shaft to swing along the fan-shaped track through the meshing transmission of the transmission worm and the high-torque output worm gear pair, and adjust the sand throwing end of the rigid sand suction pipe to the corresponding angle to make the extracted silt be projected to the preset sand depositing area.

[0021] S4, install a differential pressure sensor at the dredging section of the suction pipe to monitor the sediment flow in the pipe in real time, and install a microwave water content meter at the pipe opening end to detect the water content of the sediment mixture; through the conversion of flow and water content data, the real-time dredging amount of dry sediment is obtained, and the dredging amount, target point coordinates, suction pipe angle and other parameters are transmitted to the real-time image monitoring terminal for display, so that the operator can monitor the operation state in real time.

[0022] S5, when the dredging amount measured in S4 reaches a preset threshold such as the upper limit of the single-point dredging amount, or the high-definition detection camera detects that the device approaches the boundary of the electronic fence of the avoidance area, the high-pressure pneumatic pump automatically stops dredging; the dredging depth adjusting mechanism lifts the suction pipe out of the water surface, the mobile vehicle moves along the low-damping sliding guide wheel to the next dredging point on the guide sliding track, and the steps of S2-S4 are repeated until the dredging operation in all target areas is completed.

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] The traditional dredging equipment in the prior art adopts a large-area extensive operation mode, and when operating in the restricted water area of the reservoir, due to the lack of accurate identification and avoidance mechanism for sensitive areas such as buildings and aquatic biological protection areas, the problem of equipment collision with facilities or damage to the ecology often occurs, while the deep water precision dredging and sand throwing device for the restricted water area of the reservoir cooperates the scanning of the high-definition detection camera and the mobile vehicle, generates a heat map containing the deposition thickness and obstacle position by combining the three-dimensional modeling technology, and specially demarcates an avoidance area electronic fence, and strictly moves and operates in the targeted dredging operation area according to the dredging priority sequence during operation, and the cooperation of the guide sliding track and the low-damping sliding guide wheel ensures the controllability of the device moving track, and the target area is locked from the operation planning to the execution, which completely avoids the misoperation on the non-dredging area in the restricted water area, and the protection of the reservoir ecology and infrastructure is improved by more than 60% compared with the traditional equipment.

[0025] The prior art relies on a fixed-depth suction pipe when dredging in deep water, which is difficult to adapt to different deposition layer thicknesses, and the sand throwing angle adjustment relies on manual visual observation, which is easily deviated under the impact of water flow, resulting in sediment backfilling or throwing to non-pre-set areas. The device is designed to adjust the mechanism according to the characteristics of deep water: the dredging depth adjusting mechanism drives the bevel gear transmission through the servo drive motor, and cooperates with the rigid limiting of the vertical guide spindle and the linear motion bearing, so as to realize the depth fine adjustment in the deep water high pressure environment, and ensure that the rigid suction pipe reaches the deep water deposition layer of different thicknesses; the fan-shaped swing mechanism adopts a combination of step drive motor and worm and gear transmission, utilizes the high torque output and self-locking characteristics, combines with the optimal throwing angle calculated by the real-time flow rate, water level and other hydrological data of the restricted water area of the reservoir, and can stably maintain the angle even under the impact of deep water flow, so as to ensure that the sediment is directed to the pre-set sand depositing area.

[0026] The prior art is prone to tilting or even overturning when the device is used in deep water in a reservoir restricted water area due to changes in dredging load, water flow impact and other factors, and manual real-time monitoring and adjustment are required; and the amount of dredging is measured by weighing after the fact, and the progress of the operation cannot be controlled in real time. The device has four rectangular array distributed dynamic balance counterweight modules, which can adjust the extension length in real time through the electric control telescopic push rod during dredging, dynamically compensate the center of gravity deviation, ensure the stable operation of the mobile vehicle on the guide sliding rail, and solve the pain point of equipment imbalance under high pressure in deep water. At the same time, through the real-time monitoring of the differential pressure sensor and the microwave moisture content instrument, the dry silt removal amount can be measured and transmitted to the real-time image monitoring terminal at the same time, and combined with the automatic cycle of "detection-operation-displacement", the dredging point is automatically switched when reaching the threshold or approaching the fence, and the whole process does not require manual intervention. Compared with the prior art, the device failure rate is reduced by more than 50%, the labor cost is reduced by 70%, and continuous stable and efficient operation can be realized in the deep water environment of the reservoir restricted water area. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the application;

[0028] Figure 2 It is a schematic diagram of the stable support frame structure of the application;

[0029] Figure 3 It is a schematic diagram of the self-adaptive angle adjusting swing arm structure of the application;

[0030] Figure 4 It is a further schematic diagram of the self-adaptive angle adjusting swing arm structure of the application;

[0031] Figure 5 It is a schematic diagram of the reservoir restricted water area of the application;

[0032] Figure 6 It is a schematic diagram of the step drive motor structure of the application;

[0033] Figure 7 It is a schematic diagram of the primary transmission bevel gear structure of the application;

[0034] Figure 8 It is a schematic diagram of the dynamic balance counterweight module structure of the application.

[0035] In the figure: 1, mobile vehicle; 2, U-shaped limit stable support frame; 3, U-shaped bearing truss; 4, self-adaptive angle adjusting swing arm; 5, high-pressure pneumatic pump; 6, rigid sand suction pipe; 7, targeted dredging operation area; 8, limited water area in reservoir area; 9, guiding sliding track; 10, dynamic balance counterweight module; 11, low-damping sliding guide wheel; 12, high-definition detection camera; 13, real-time image monitoring terminal; 14, linkage rotating main shaft; 15, stepping drive motor; 16, transmission worm; 17, high-torque output worm gear pair; 18, fine adjustment lifting screw; 19, adjustable positioning panel; 20, primary transmission bevel gear; 21, servo drive motor; 22, secondary speed-increasing bevel gear; 23, vertical guide main shaft; 24, linear motion bearing; 25, mounting base; 26, electric control telescopic execution push rod; 27, quick locking connecting piece. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] Please refer to Figures 1-8As shown, the present application provides a technical solution: a reservoir restricted water area deep water precision dredging and sand throwing device, which is applied to the targeted dredging operation area 7 of the restricted water area 8 of the reservoir, the device is installed on the platform above the targeted dredging operation area 7, and the core includes a moving vehicle 1 moving along a guide sliding track 9, which realizes stable movement through a bottom low-damping sliding guide wheel 11; a Z-shaped limiting stable support frame 2 on the moving vehicle 1 is connected with a Z-shaped bearing truss 3 through a dredging depth adjusting mechanism, the dredging depth adjusting mechanism is composed of a fine adjustment lifting screw 18, an adjustable positioning panel 19, a primary transmission bevel gear 20, a servo drive motor 21 and a secondary speed increasing bevel gear 22, and cooperates with a vertical guide main shaft 23 and a linear motion bearing 24 to ensure lifting stability and adjust the dredging depth; the Z-shaped bearing truss 3 is connected with a self-adaptive angle adjusting swing arm 4 through a fan-shaped swing mechanism, the fan-shaped swing mechanism includes a linkage rotating main shaft 14, a stepping drive motor 15, a transmission worm 16 and a high-torque output worm gear pair 17, and can drive the self-adaptive angle adjusting swing arm 4 to realize fan-shaped angle adjustment; a high-pressure pneumatic pump 5 installed on the self-adaptive angle adjusting swing arm 4 extracts silt through a rigid sand suction pipe 6, a high-definition detection camera 12 at the bottom of the self-adaptive angle adjusting swing arm 4 cooperates with a real-time image monitoring terminal 13 on the Z-shaped limiting stable support frame 2 to realize visual monitoring of the operation area, and the moving vehicle 1 is provided with a dynamic balance counterweight module 10 adjusted by an electric control telescopic execution push rod 26, the dynamic balance counterweight module 10 is connected with the electric control telescopic execution push rod 26 through a quick locking connector 27, and the electric control telescopic execution push rod 26 is fixed on a mounting base 25, so that the center of gravity can be adjusted in real time to adapt to the change of operation load;

[0038] The dredging method thereof includes:

[0039] S1. The three-dimensional shape measurement of the accumulated body is completed by using a multi-beam sounding system, the terrain is scanned by a high-definition detection camera 12, the three-dimensional model is generated by scanning the terrain with a Haizhutongchuang MS400C multi-beam system, the detailed information such as accumulation distribution and thickness is further determined, the moving vehicle 1 is moved along the guide sliding track 9, the moving vehicle 1 is positioned to the specified position and fixed along the guide sliding track 9 during operation, and the accumulation thermal map and the avoidance fence are constructed;

[0040] S2. The depth of the rigid sand suction pipe 6 is adjusted to the accumulated layer by the dredging depth adjusting mechanism, and the high-pressure pneumatic pump 5 is started to extract silt, during the process of adjusting the depth to extract silt, the depth of the rigid sand suction pipe 6 is accurately adjusted by a hydraulic push rod according to the three-dimensional model generated in the early stage, the high-definition detection camera 12 is used for real-time monitoring to ensure that the suction pipe reaches the accumulated layer, and the dynamic balance counterweight module 10 is adjusted and stabilized by the electric control telescopic execution push rod 26 at the same time;

[0041] S3. Based on the hydrological data of the reservoir area restricted water area 8, the optimal throwing angle is calculated, and the sand throwing is completed by adjusting the angle of the rigid sand suction pipe 6 through the fan swing mechanism including the linkage rotating main shaft 14 and the stepping drive motor 15. When adjusting the angle for sand throwing, according to the water flow and terrain parameters of the throwing area, the servo motor cooperates with the driving motor 15 to accurately adjust the angle of the rigid sand suction pipe 6, ensuring the accuracy of the sand throwing position;

[0042] S4. Utilizing the differential pressure sensor (Emerson FLOWSIC600) with an accuracy of ±2% and the microwave moisture content meter (Saimo MS-580) with an accuracy of ±0.5%, the measurement and monitoring link is used to real-time measure the sediment flow and moisture content by Emerson FLOWSIC600 differential pressure sensor and Saimo MS-580 microwave moisture content meter, and transmit the data to PLC system (such as Siemens S7-1200). The data is converted by PLC system (such as Siemens S7-1200) according to the formula dry sediment weight = flow rate x (1-moisture content) x dry density, with an error of ≤3%, and displayed on the real-time image monitoring terminal 13. During the dredging process, the differential pressure sensor and microwave moisture content meter real-time measure the dredging amount, and automatically stop when reaching the preset value.

[0043] S5. When reaching the threshold value or approaching the fence, the mobile vehicle 1 automatically moves to the next dredging point along the guide sliding track 9 by the low-damping sliding guide wheel 11, and repeats the above dredging process.

[0044] The present application realizes dredging, directional sand throwing and automatic operation in the deep water environment of restricted water area, greatly improves the dredging efficiency and operation safety, and is especially suitable for complex reservoir environment with buildings or ecological protection areas.

[0045] The data table of the embodiment is as follows:

[0046] Parameter Value Test condition Slide positioning accuracy ±0.25m Water depth 50 m, flow velocity 1.2 m / s Air nozzle negative pressure 55 kPa Pipe diameter 400 mm Sand throwing landing deviation ≤2.1m Throwing distance 150 m Measurement error ≤1.3％ Medium fine sand moisture content 15-25%

[0047] According to Figure 1 and Figure 2As shown, the mobile vehicle 1 is the core mobile carrier, and the mobile vehicle 1 has a size of about 3m x 2m x 2m, serving as a work vehicle configured with a rigid sand suction pipe 6. Low-damping sliding guide wheels 11 are installed at the bottom corners of the mobile vehicle 1, which can stably slide along the guide sliding track 9 horizontally installed above the targeted dredging work area 7 to realize horizontal movement adjustment of the work position. A shaped limiting stable support frame 2 is welded to the top outer wall of the mobile vehicle 1, which serves as a load-bearing foundation and limiting frame of the overall structure, providing stable support for the upper components and, through the two vertical guide shafts 23 symmetrically welded between the two side walls, forming a sliding fit connection with the two linear motion bearings 24 embedded in the adjustable positioning panel 19 to provide guidance and limiting for the lifting action of the dredging depth adjustment mechanism, ensuring the stability and reliability of the adjustment process. The shaped limiting stable support frame 2 is connected with a shaped load-bearing truss 3 through the dredging depth adjustment mechanism, and the side wall is also fixed with a real-time image monitoring terminal 13 connected with the high-definition detection camera 12, which can display the work area image and data in real time. In addition, the mobile vehicle 1 is provided with four rectangular array distributed counterweight components, each component including a mounting base 25 welded to the outer wall, etc., to adjust the center of gravity through the dynamic balance counterweight module 10, and further ensure the balance and stability of the overall structure during the work process in cooperation with the shaped limiting stable support frame 2. The remaining structures of the device include: the shaped load-bearing truss 3 is connected with the self-adaptive angle adjustment swing arm 4 through the fan-shaped swing mechanism, and the high-pressure pneumatic pump 5 is installed on the swing arm, and the rigid sand suction pipe 6 connected to the dredging end extends to the targeted dredging work area 7, etc. The method moves the mobile vehicle 1 along the guide sliding track 9 to scan and locate the dredging point, relies on the mechanism on the shaped limiting stable support frame 2 to realize depth adjustment, angle adjustment and other operations, and finally realizes limited water area deep dredging, directional sand throwing and automatic operation, improves efficiency and safety, and is suitable for complex reservoir environment.

[0048] According to Figure 1 , Figure 3 and Figure 4As shown, the adaptive angle adjusting swing arm 4 is the core component for realizing the dredging angle control, which is connected with the Z-shaped load-bearing truss 3 through a sector swing mechanism, the sector swing mechanism includes a linkage rotating main shaft 14 rotatably installed between the two side walls of the Z-shaped load-bearing truss 3, a stepping drive motor 15 fixed to the side wall of the Z-shaped load-bearing truss 3, a transmission worm 16 sleeved on the output shaft of the stepping drive motor 15, and a high-torque output worm gear pair 17 sleeved on the linkage rotating main shaft 14, the transmission worm 16 and the high-torque output worm gear pair 17 are meshed with each other, and the adaptive angle adjusting swing arm 4 is fixedly connected with the end of the linkage rotating main shaft 14 away from the Z-shaped load-bearing truss 3, and can swing along a sector trajectory under the driving of the stepping drive motor 15, so as to realize the adjustment of the angle. The top outer wall of the adaptive angle adjusting swing arm 4 is fixed with a high-pressure pneumatic pump 5 through bolts, and the dredging end of the high-pressure pneumatic pump 5 is connected with a rigid sand suction pipe 6 extending into the targeted dredging operation area 7, and through the angle adjustment of the swing arm, the rigid sand suction pipe 6 can be aligned with the dredging point and the projection angle can be adjusted. At the same time, the bottom outer wall of the adaptive angle adjusting swing arm 4 is fixed with a high-definition detection camera 12 for detecting the siltation condition in the targeted dredging operation area 7, which can transmit the collected image information to a real-time image monitoring terminal 13 on the side wall of the Z-shaped limiting stable support frame 2, and provide visual basis for the dredging operation. In the device, the Z-shaped load-bearing truss 3 is connected with the Z-shaped limiting stable support frame 2 on the top of the mobile vehicle 1 through the dredging depth adjusting mechanism, and the low-damping sliding guide wheel 11 at the bottom of the mobile vehicle 1 can move along the guide sliding track 9. In the method steps, in S3, after calculating the optimal projection elevation angle based on the hydrological data of the restricted water area 8 of the reservoir, the adaptive angle adjusting swing arm 4 is adjusted through the sector swing mechanism to make the rigid sand suction pipe 6 reach the set angle and complete the sand throwing operation. Through the flexible angle adjustment of the adaptive angle adjusting swing arm 4, the dredging and directional sand throwing in the deep water environment of the restricted water area of the reservoir are realized, the operation efficiency and height are improved, and the device is suitable for complex reservoir environment.

[0049] According to Figure 1 and Figure 5As shown, the restricted water area 8 in the reservoir area is divided into the targeted dredging operation area 7 which needs to be treated, and the two constitute the working environment basis of the device. In order to realize the operation of the targeted dredging operation area 7, a guide sliding track 9 is installed in the horizontal direction above it. The guide sliding track 9 is fixed to the reservoir bank, and the length of the track is adapted to the range of the targeted dredging operation area 7 (usually 50-100 meters). The track provides a moving path for the mobile vehicle 1. The guide rail can make the mobile vehicle walk above the restricted area, so that the mobile vehicle and the sand suction pipe fully cover the dredging area, and at the same time, it can fix the sand suction pipe and avoid the sand suction pipe from knocking the hydraulic structure of the restricted area due to vibration or swing. The low-damping sliding guide wheel 11 at the bottom of the four corners of the mobile vehicle 1 is in sliding cooperation with the guide sliding track 9, so that it can move stably along the track, and then drive all the working components on the vehicle to cover different positions of the targeted dredging operation area 7. In the operation method, the S1 step is to move the mobile vehicle 1 along the guide sliding track 9, drive the high-definition detection camera 12 to scan the targeted dredging operation area 7 and the surrounding reservoir tail terrain, and combine the environmental restrictions of the restricted water area 8 in the reservoir area, such as buildings and protection area, to set up an electronic fence to avoid the area. In the S5 step, when the operation reaches the threshold or approaches the fence, the mobile vehicle 1 automatically moves to the next dredging point along the guide sliding track 9, so as to ensure that only the targeted dredging operation area 7 is operated in the complex environment of the restricted water area 8 in the reservoir area, and interference to the non-target area is avoided. In the device, the U-shaped limiting stable support frame 2 is welded on the top of the mobile vehicle 1, and is connected with the U-shaped load truss 3 through the dredging depth adjusting mechanism. The U-shaped load truss 3 is connected with the self-adaptive angle adjusting swing arm 4 through the fan-shaped swing mechanism. The high-pressure pneumatic pump 5 on the swing arm extracts the sediment in the targeted dredging operation area 7 through the rigid sand suction pipe 6, and adjusts the projection angle based on the flow rate, water level and the like of the restricted water area 8 in the reservoir area. The guide sliding track 9 guarantees the spatial coverage of the operation. The present application relies on the guiding effect of the guide sliding track 9 to realize the dredging and sand throwing of the targeted dredging operation area 7 in the restricted water area 8 in the reservoir area, and improves the controllability and efficiency of the operation in the complex water environment.

[0050] According to Figure 1 , Figure 6The step-by-step drive motor 15 is the core driving component for realizing the dredging angle adjustment. The step-by-step drive motor 15 is fixed on the side wall of the Z-shaped load-bearing truss 3 by bolts, a transmission worm 16 is fixedly sleeved on the output shaft of the step-by-step drive motor 15, the transmission worm 16 is meshed with a high-torque output worm gear pair 17 fixedly sleeved on the linkage rotating main shaft 14, the linkage rotating main shaft 14 is rotatably installed between the two side walls of the Z-shaped load-bearing truss 3, and the adaptive angle adjustment swing arm 4 is fixedly connected with the end of the linkage rotating main shaft 14 away from the Z-shaped load-bearing truss 3, thereby the step-by-step drive motor 15, the transmission worm 16, the high-torque output worm gear pair 17 and the linkage rotating main shaft 14 jointly constitute a sector swing mechanism. During the operation, when it is necessary to adjust the projection angle of the rigid sand suction pipe 6, the step-by-step drive motor 15 is started, the linkage rotating main shaft 14 is driven to rotate through the meshing transmission of the transmission worm 16 and the high-torque output worm gear pair 17, and then the adaptive angle adjustment swing arm 4 is swung along a sector trajectory, thereby the projection angle of the rigid sand suction pipe 6 is adjusted and controlled. In the method step S3, based on the hydrological data such as flow rate, water level and water depth of the reservoir restricted water area 8 collected in real time, combined with the silt particle size parameters, the optimal projection angle of the rigid sand suction pipe 6 is calculated by the control system, then the step-by-step drive motor 15 is started, the angle of the adaptive angle adjustment swing arm 4 is adjusted by the above transmission shaft system, so that the sand projection end of the rigid sand suction pipe 6 reaches the corresponding angle, and the extracted silt is projected to the preset sand depositing area. In the device, the Z-shaped load-bearing truss 3 is connected to the Z-shaped limiting stable supporting frame 2 through the dredging depth adjusting mechanism, the Z-shaped limiting stable supporting frame 2 is welded on the top of the moving vehicle 1 sliding along the guide sliding rail 9, and the high-pressure pneumatic pump 5 and the high-definition detection camera 12 and other components are also installed on the adaptive angle adjustment swing arm 4. The step-by-step drive motor 15 provides stable power for the sector swing mechanism by virtue of its characteristics of accurately controlling the rotation angle, ensures the high precision of angle adjustment, and realizes the dredging and sand projection of the targeted dredging operation area 7 in the reservoir restricted water area 8 in cooperation with other components of the device and the method steps, thereby improving the efficiency and efficiency of the operation.

[0051] According to Figure 1 、 Figure 7The first-stage transmission bevel gear 20 is the core transmission component of the dredging depth adjusting mechanism. The first-stage transmission bevel gear 20 is fixedly sleeved on the lower part of the fine adjustment lifting screw rod 18, and the fine adjustment lifting screw rod 18 is rotatably installed between the top and bottom of the bracket-shaped limiting stable support frame 2, which is welded on the top of the moving vehicle 1 sliding along the guide sliding track 9. The first-stage transmission bevel gear 20 is meshed with the second-stage speed-increasing bevel gear 22 fixedly sleeved on the output shaft of the servo drive motor 21, and the servo drive motor 21 is fixed on the lower outer wall of one side of the bracket-shaped limiting stable support frame 2 by bolts. Thus, the first-stage transmission bevel gear 20, the second-stage speed-increasing bevel gear 22, the fine adjustment lifting screw rod 18 and the servo drive motor 21 jointly constitute the power transmission system of the dredging depth adjusting mechanism. During the operation, when it is necessary to adjust the dredging depth, the servo drive motor 21 is started, the output shaft drives the second-stage speed-increasing bevel gear 22 to rotate, and through the meshing transmission with the first-stage transmission bevel gear 20, the fine adjustment lifting screw rod 18 is driven to rotate, and then the adjustable positioning panel 19 threadedly connected to the upper part of the fine adjustment lifting screw rod 18 is lifted along the vertical direction. Since one side of the adjustable positioning panel 19 is fixedly connected with the bracket-shaped load truss 3, the bracket-shaped load truss 3 is connected with the adaptive angle adjusting swing arm 4 through the sector swing mechanism, and the high-pressure pneumatic pump 5 on the swing arm is connected with the rigid sand suction pipe 6 extending to the targeted dredging operation area 7, the lifting of the adjustable positioning panel 19 will drive the rigid sand suction pipe 6 to adjust the depth to reach the surface of the target point silt layer. Specifically, according to the first target dredging point, the height of the bracket-shaped load truss 3 is adjusted by the above-mentioned dredging depth adjusting mechanism involving the first-stage transmission bevel gear 20 to ensure that the lower end of the rigid sand suction pipe 6 reaches the silt layer. The first-stage transmission bevel gear 20 can efficiently transmit the power of the servo drive motor 21 to realize the stable rotation of the fine adjustment lifting screw rod 18, and cooperates with the sliding fit of the vertical guide main shaft 23 symmetrically welded between the two side walls of the bracket-shaped limiting stable support frame 2 and the linear motion bearing 24 embedded in the adjustable positioning panel 19 to ensure the stability and nature of the depth adjustment. The first-stage transmission bevel gear 20 plays a key role in power transmission and reversing in the dredging depth adjustment, realizes the dredging and sand throwing of the targeted dredging operation area 7 in the restricted water area 8 of the reservoir area, and improves the reliability and accuracy of the operation.

[0052] According to Figure 1 、 Figure 8As shown, the dynamic balance weight module 10 is the core balance component of the device to ensure stable operation. The dynamic balance weight module 10 is fixed to the telescopic end of the electric control telescopic execution push rod 26 through the quick locking connector 27, and the quick locking connector 27 is connected with the output end of the electric control telescopic execution push rod 26. The electric control telescopic execution push rod 26 is fixed on the top outer wall of the installation base 25 through bolts, and the installation base 25 is welded to the outer wall of the mobile vehicle 1. The four dynamic balance weight modules 10 are arranged in a rectangular array on the mobile vehicle 1. The low-damping sliding guide wheel 11 is installed at the bottom corners of the mobile vehicle 1, which can slide along the guide sliding track 9. The top of the mobile vehicle 1 is welded with a Z-shaped limiting stable support frame 2, and the Z-shaped bearing truss 3 is connected to the support frame through the dredging depth adjusting mechanism. The Z-shaped bearing truss 3 is connected to the adaptive angle adjusting swing arm 4 through the fan-shaped swing mechanism. The high-pressure pneumatic pump 5 on the swing arm extracts the silt in the targeted dredging area 7 through the rigid sand suction pipe 6. During the operation, especially when the high-pressure pneumatic pump 5 is started to extract silt, the center of gravity of the device is easy to deviate due to the change of load. At this time, the electric control telescopic execution push rod 26 will adjust the telescopic length, drive the dynamic balance weight module 10 to change the extension distance, and then adjust the center of gravity of the mobile vehicle 1, so as to ensure its stability during the dredging process, and avoid the device from sliding unstably or tilting on the guide sliding track 9 due to the imbalance of the center of gravity. The dynamic balance weight module 10 can respond to the change of the operation load in real time by cooperating with the electric control telescopic execution push rod 26, and realizes the stable connection with the execution push rod through the quick locking connector 27, so as to provide dynamic balance support for the mobile vehicle 1, and cooperate with other components to ensure the smooth dredging and sand throwing of the targeted dredging area 7 in the complex environment of the reservoir area limited water area 8, and improve the safety and stability of the device operation.

[0053] The effect achieved by the whole mechanism is:

[0054] The device is installed on the platform above the targeted dredging operation area 7, and the guide sliding track 9 is fixed to the bank of the reservoir. The length of the track is adapted to the range of the targeted dredging operation area 7 (usually 50-100 meters). The size of the mobile vehicle 1 is about 3m x 2m x 2m, which is used as a work vehicle equipped with a rigid sand suction pipe 6. The mobile vehicle 1 slides along the guide sliding track 9 to drive the dredging mechanism to work. The guide track not only allows the mobile vehicle to walk above the restricted area, but also fully covers the dredging area with the mobile vehicle and the sand suction pipe. At the same time, it also plays a role in fixing the sand suction pipe, avoiding the sand suction pipe from knocking the hydraulic structures in the restricted area due to vibration or swing. First, the high-definition detection camera 12 cooperates with the mobile vehicle 1 to complete the preliminary environmental detection. The mobile vehicle 1 moves at a constant speed along the guide sliding track 9 with the help of the low-damping sliding guide wheels 11 at the bottom. During operation, the mobile vehicle 1 is positioned to the designated position along the guide sliding track 9 and is fixed, driving the high-definition detection camera 12 to scan the targeted dredging operation area 7 and the surrounding reservoir tail terrain in all directions. At the same time, the multi-beam sounding system is used to complete the three-dimensional shape measurement of the accumulated body. In the scanning terrain link, the three-dimensional model is generated by scanning with the Haizhao Tongchuang MS400C multi-beam system, further determining the accumulated information, and real-time collecting the accumulated material distribution image, thickness data and obstacle position information. After the scanning data is transmitted to the control system, the accumulated thickness heat map is generated by three-dimensional modeling technology, and the avoidance area electronic fence is delimited combined with the environmental restrictions of the restricted water area 8 of the reservoir area, such as buildings and aquatic biological protection zones. Finally, the dredging priority sequence is determined, which provides a spatial coordinate reference for subsequent operations, ensuring that the device only works in the permitted area and avoiding interference with sensitive areas in the restricted water area. According to the first target dredging point planned in the preliminary planning, the device realizes depth control of the rigid sand suction pipe 6 through the dredging depth adjusting mechanism. During the depth adjustment and dredging process, the depth of the rigid sand suction pipe 6 is accurately adjusted by the hydraulic push rod according to the three-dimensional model generated in the preliminary stage, and the high-definition detection camera 12 is used for real-time monitoring to ensure that the suction pipe reaches the accumulated layer. Specifically, after the servo drive motor 21 is started, its output shaft drives the secondary speed-up bevel gear 22 to rotate. Through the meshing transmission with the primary transmission bevel gear 20, the fine adjustment lifting screw 18 is driven to rotate. Since the adjustable positioning panel 19 is threadedly connected with the fine adjustment lifting screw 18, and the adjustable positioning panel 19 is slidably connected with the vertical guide main shaft 23 on the vertical limiting stable support frame 2 through the linear motion bearing 24, the rotation of the fine adjustment lifting screw 18 is converted into the vertical lifting of the adjustable positioning panel 19, which in turn drives the vertical lifting of the fixed vertical load truss 3 and the self-adaptive angle adjusting swing arm 4, and finally makes the lower end of the rigid sand suction pipe 6 reach the surface of the accumulated layer at the target point. During the dredging process, the differential pressure sensor (Emerson FLOWSIC600) and the microwave moisture content meter (Saimo Electric MS-580) measure the dredging amount in real time, and automatically stop dredging when the preset value is reached. This process ensures the depth adjustment accuracy to adapt to the operation requirements of deep water environment through the speed reduction and torque increasing characteristics of the bevel gear transmission and the limiting effect of the vertical guide structure.In the dredging stage, the high-pressure pneumatic pump 5 is started, and the silt mixture at the target point is extracted through the rigid sand suction pipe 6 by using the negative pressure adsorption principle. At this time, the device maintains the system stability in real time through the dynamic balance weight module 10. Due to the change of load during the dredging process, the electric control telescopic push rod 26 adjusts the telescopic length according to the gravity monitoring data, drives the dynamic balance weight module 10 connected through the quick locking connector 27 to change the extension distance, and the four rectangular array distributed weight modules cooperate to adjust the gravity center of the mobile vehicle 1, so as to avoid the instability or inclination of the mobile vehicle 1 on the guide sliding rail 9, and ensure that the device can stably bear the dredging load in the deep water environment of the restricted water area 8. At the same time of dredging, the device realizes the directional projection of the silt through the fan-shaped swinging mechanism, so as to adapt to the flow and terrain conditions of the restricted water area 8 of the reservoir area, and to collect the flow velocity, water level, water depth and other data of the restricted water area 8 of the reservoir area in real time. Combined with the silt particle size parameters, the control system calculates the optimal projection angle of the rigid sand suction pipe 6. When adjusting the angle of the sand projection, the angle of the rigid sand suction pipe 6 is accurately adjusted by the synchronous servo motor and the driving motor 15 according to the flow and terrain parameters of the projection area. Then, the stepping motor 15 is started, the output shaft drives the transmission worm 16 to rotate, and through the meshing transmission with the high-torque output worm gear pair 17, the driving linkage rotating shaft 14 is driven to rotate, and then the self-adaptive angle adjusting swing arm 4 swings along the fan-shaped track, so that the sand projection end of the rigid sand suction pipe 6 reaches the calculated angle, and the extracted silt is directionally projected to the preset sand depositing area. In the metering and monitoring link, the silt flow and moisture content are measured in real time by Emerson FLOWSIC600 differential pressure sensor and Saimo MS-580 microwave moisture content meter, and the data are transmitted to the PLC system to realize real-time monitoring. This process ensures that the swing arm angle does not deviate under the impact of water flow through the self-locking characteristic and high-torque output of the worm and worm gear transmission, and realizes the sand projection in the restricted water area. In order to monitor the operation effect in real time and control the operation amount, the device is provided with a differential pressure sensor on the dredging section of the rigid sand suction pipe 6 to monitor the silt flow in the pipe, and a microwave moisture content meter is installed at the outlet end to detect the moisture content of the silt mixture. The real-time dredging amount of dry silt is calculated through the conversion of flow and moisture content data, and the parameters such as dredging amount, target point coordinates and sand suction pipe angle are transmitted to the real-time image monitoring terminal 13 simultaneously to realize the visual monitoring of the operation state, which is convenient for the operator to intervene in time. When the removal amount of a certain dredging point reaches the preset threshold value, or the high-definition detection camera 12 detects that the device approaches the electronic fence of the avoidance area, the high-pressure pneumatic pump 5 automatically stops dredging, and the dredging depth adjusting mechanism drives the rigid sand suction pipe 6 to lift off the water surface. Then, the mobile vehicle 1 automatically moves to the next dredging point along the guide sliding rail 9, and the above-mentioned depth adjustment, dredging, sand projection and metering process is repeated until the operation of all target areas in the targeted dredging operation area 7 is completed, forming an automatic cycle of "detection-operation-shifting", and finally realizing the efficient and safe dredging and sand projection operation in the deep water environment of the restricted water area of the reservoir.

[0055] Although the present application has been described in detail with reference to the foregoing embodiments, the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced by equivalent features, by those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A deep-water precision dredging and sand-throwing device for confined water areas of a reservoir, comprising a targeted dredging operation area (7) applied in confined water areas (8) of a reservoir, characterized in that: A guide sliding track (9) is installed horizontally above the targeted dredging operation area (7), and a mobile vehicle (1) with low-damping sliding guide wheels (11) installed at the four corners of the bottom is slidably installed on the guide sliding track (9); a C-shaped limiting and stabilizing support frame (2) is welded to the top outer wall of the mobile vehicle (1), and a C-shaped load-bearing truss (3) is connected to the C-shaped limiting and stabilizing support frame (2) through a dredging depth adjustment mechanism; The C-shaped load-bearing truss (3) is connected to an adaptive angle adjustment swing arm (4) via a fan-shaped swing mechanism, and a high-pressure pneumatic pump (5) is fixed to the top outer wall of the adaptive angle adjustment swing arm (4) by bolts; the sludge removal end of the high-pressure pneumatic pump (5) is connected via a rigid sand suction pipe (6), and the rigid sand suction pipe (6) extends into the targeted sludge removal operation area (7).

2. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 1, characterized in that: The bottom outer wall of the adaptive angle adjustment swing arm (4) is fixed with a high-definition detection camera (12) for detecting the siltation in the targeted dredging operation area (7) by bolts, and the side wall of the shaped limit stabilizing support frame (2) is fixed with a real-time image monitoring terminal (13) that is connected to the signal of the high-definition detection camera (12).

3. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 1, characterized in that: The fan-shaped swing mechanism includes a linkage rotating main shaft (14) rotatably mounted between the two side walls of the C-shaped load-bearing truss (3), a stepper drive motor (15) fixed to the side wall of the C-shaped load-bearing truss (3) by bolts, a transmission worm gear (16) fixedly mounted on the output shaft of the stepper drive motor (15), and a high torque output worm gear pair (17) fixedly mounted on the linkage rotating main shaft (14).

4. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 3, characterized in that: The transmission worm (16) meshes with the high torque output worm gear pair (17), and the adaptive angle adjustment arm (4) and the linkage rotating main shaft (14) are fixedly connected to each other at one end away from the C-shaped load-bearing truss (3). The two ends of the linkage rotating main shaft (14) are respectively rotated and engaged with the two side walls of the C-shaped load-bearing truss (3).

5. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 1, characterized in that: The dredging depth adjustment mechanism includes a fine-tuning lifting screw (18) rotatably mounted between the top and bottom of the C-shaped limiting and stabilizing support frame (2), an adjustable positioning panel (19) threadedly connected to the upper part of the fine-tuning lifting screw (18), a primary transmission bevel gear (20) fixedly mounted on the lower part of the fine-tuning lifting screw (18), a servo drive motor (21) fixed to the lower outer wall of one side of the C-shaped limiting and stabilizing support frame (2) by bolts, and a secondary speed-increasing bevel gear (22) fixedly mounted on the output shaft of the servo drive motor (21); one side of the adjustable positioning panel (19) is fixedly connected to the C-shaped load-bearing truss (3).

6. The deep-water precision dredging and sand-throwing device for restricted water areas of a reservoir according to claim 5, characterized in that: The primary transmission bevel gear (20) meshes with the secondary speed-increasing bevel gear (22), and the tangential load-bearing truss (3) is welded to the side wall of the adjustable positioning panel (19).

7. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 1, characterized in that: The C-shaped limiting and stabilizing support frame (2) has two vertical guide spindles (23) symmetrically welded between its two side walls. The adjustable positioning panel (19) is fitted with two linear motion bearings (24), and the two linear motion bearings (24) are slidably connected to the two vertical guide spindles (23) respectively.

8. The deep-water precision dredging and sand-throwing device for restricted water areas of reservoirs according to claim 1, characterized in that: The mobile vehicle (1) is provided with four counterweight components arranged in a rectangular array. Each of the four counterweight components includes a mounting base (25) welded to the outer wall of the mobile vehicle (1), an electrically controlled telescopic actuator (26) fixed to the top outer wall of the mounting base (25) by bolts, a quick-locking connector (27) fixed to the telescopic end of the electrically controlled telescopic actuator (26), and a dynamic balance counterweight module (10) fixed to the bottom outer wall of the quick-locking connector (27) for adjusting the center of gravity balance of the mobile vehicle (1).

9. A method for precise deep-water dredging and sand dumping in confined waters of a reservoir, using the device for precise deep-water dredging and sand dumping in confined waters of a reservoir as described in any one of claims 1-8, characterized in that: Includes the following steps: S1. Start the high-definition detection camera (12) and control the mobile vehicle (1) to move at a constant speed along the guide sliding track (9) to perform a full-range scan of the targeted dredging operation area (7) and the surrounding reservoir tail terrain, collect images of silt distribution, thickness data and obstacle location information; transmit the scan data to the control system, construct a silt thickness heat map through three-dimensional modeling technology, and at the same time delineate the avoidance zone electronic fence according to the restrictions of reservoir buildings, aquatic life protection areas and other restrictions, and determine the dredging priority sequence. S2. Based on the first target dredging point defined in S1, adjust the height of the U-shaped load-bearing truss (3) through the dredging depth adjustment mechanism so that the lower end of the rigid sand suction pipe (6) touches the surface of the silt layer at the target point; start the high-pressure pneumatic pump (5) and use the negative pressure adsorption principle to extract the mud and sand mixture at the target point through the rigid sand suction pipe (6). At the same time, adjust the extension length of the dynamic balance counterweight module (10) through the electric telescopic actuator push rod (26) to ensure that the mobile vehicle (1) remains stable during the dredging process. S3. Real-time collection of hydrological data such as flow velocity, water level, and water depth of the restricted water area (8) in the reservoir area, combined with the particle size parameters of the silt, and calculation of the optimal projection angle of the rigid sand suction pipe (6) through the control system; start the stepper drive motor (15), and drive the linkage rotating main shaft (14) to drive the adaptive angle adjustment swing arm (4) to swing along the fan-shaped trajectory through the meshing transmission of the transmission worm (16) and the high torque output worm wheel pair (17), so as to adjust the sand throwing end of the rigid sand suction pipe (6) to the corresponding angle, so that the extracted mud and sand are projected to the sand accumulation area. S4. Install a differential pressure sensor in the sludge pumping section of the rigid sand suction pipe (6) to monitor the flow rate of mud and sand in the pipe in real time. Simultaneously install a microwave moisture meter at the pipe opening to detect the moisture content of the mud and sand mixture. Calculate the real-time sludge removal volume (dry mud and sand weight) by converting the flow rate and moisture content data. Simultaneously transmit the sludge removal volume, target point coordinates, sand suction pipe angle and other parameters to the real-time image monitoring terminal (13) for display, so that the operator can monitor the operation status in real time. S5. When the dredging volume measured in S4 reaches the preset threshold (such as the upper limit of dredging volume at a single point), or when the high-definition detection camera (12) detects that the device is close to the boundary of the electronic fence of the avoidance area, the high-pressure pneumatic pump (5) automatically stops pumping dredging; the dredging depth adjustment mechanism drives the rigid sand suction pipe (6) to be lifted off the water surface, and the mobile vehicle (1) automatically moves to the next dredging point along the guide sliding track (9) through the low-damping sliding guide wheel (11), repeating steps S2-S4 until the dredging operation of all target areas is completed.

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