Suspended sediment transportation and reservoir desilting system

Abstract

The invention discloses a suspended sediment transportation and reservoir desilting system, and relates to the technical field of hydraulic engineering, the system comprises an acoustic control array module used for forming an acoustic potential well in water above a reservoir bottom sludge layer to capture sediment particle groups in the reservoir bottom sludge layer; the sediment gathering and collecting module is used for collecting sediment particle groups and gathering the sediment particle groups at a sediment gathering target point to form slurry; the control unit is used for generating an acoustic potential well moving path based on the acoustic control array module position information, the reservoir bottom terrain and the sediment collection target point, and is used for controlling emission parameters of the acoustic control array module based on the acoustic potential well and the movement state of the sediment particle population and the concentration of the sediment particle population; according to the invention, non-contact, directional and collaborative transportation of sediment particle groups can be realized, and the sediment particle groups are orderly guided to a collection point, so that low-energy-consumption, low-disturbance, high-efficiency and intelligent dredging operation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic engineering, in particular to a suspended sediment transport and reservoir dredging system. BACKGROUND

[0002] The existing reservoir dredging technology mainly has the following pain points:

[0003] The existing method one, mechanical excavation / suction: large dredging ships, pontoons, pipelines, etc. are needed, the equipment is large, the investment is high, the operation period is long, and the water level of the reservoir needs to be greatly reduced or stopped during construction, causing huge power generation or water supply losses. Disturbance, easy to cause secondary pollution.

[0004] The existing method two, siphon type dredging: it requires a water level difference, the dredging efficiency is low, and it is only suitable for small-scale and specific areas.

[0005] The existing method three, environmental winching: although it can reduce diffusion, it is still a contact type and local operation, and cannot realize large-scale synchronous disturbance and intelligent collection.

[0006] Traditional acoustic or vibration dredging: the existing technology uses the oscillation effect of sound waves or vibration to loosen the silt, which is still essentially to create disorder, so that the suspended sediment is discharged by relying on natural water flow or suction equipment. This method has low energy utilization rate, poor directivity, cannot control the movement path of suspended particles, and may spread pollutants to a wider water area. SUMMARY

[0007] The purpose of the present application is to realize non-contact, directional and cooperative transport of sediment particle groups, and to orderly guide them to the collection point, so as to realize low-energy, low-disturbance, high-efficiency and intelligent dredging operation.

[0008] To achieve the above-mentioned purpose of the application, the present application provides a suspended sediment transport and reservoir dredging system, which comprises:

[0009] An acoustic manipulation array module is used to form an acoustic potential well in the water above the silt layer at the bottom of the reservoir based on the control of the control unit, to capture the sediment particle groups in the silt layer at the bottom of the reservoir by using the acoustic potential well, and to move the acoustic potential well carrying the sediment particle groups towards the sediment collection target point based on the control of the control unit;

[0010] A sediment collection module is used to form a slurry by gathering the sediment particle groups at the sediment collection target point, to separate the water and the slurry in the mixing liquid at the sediment collection target point by the sediment collection module based on the control of the control unit, to separate the water and the slurry by the separation device, and to transport the slurry obtained by the separation to the subsequent treatment device through the sludge pipeline.

[0011] The control unit comprises a multi-sensor feedback system, an underwater acoustic camera, a turbidity sensor and a central controller; the multi-sensor feedback system is used to obtain the data of the reservoir bottom topography and the reservoir bottom silt thickness distribution, the underwater acoustic camera is used to monitor the movement state of the acoustic potential well and the sediment particle group, and the turbidity sensor is used to monitor the concentration of the sediment particle group; the central controller is used to generate the movement path of the acoustic potential well based on the acoustic manipulation array module position information, the reservoir bottom topography and the sediment collection target point, and is also used to control the emission parameters of the acoustic manipulation array module based on the movement state of the acoustic potential well and the sediment particle group and the concentration of the sediment particle group.

[0012] Wherein, the prior art lacks a revolutionary dredging method capable of non-contact, directional and orderly transport of large-scale sediments and intelligent cooperation with a collection device. The purpose of the present application aims to completely overcome the defects of the above-mentioned prior art and provide a completely new dredging paradigm. The core idea is not disturbance but manipulation. By creating a specific acoustic environment, the directional and cooperative transport of the sediment particle group is realized, and the sediment particle group is orderly guided to the collection point, so that low-energy-consumption, low-disturbance, high-efficiency and intelligent dredging operation is realized.

[0013] The core of the present application is to realize non-contact, directional and programmed transport of macro-scale (centimeter to meter) sediment particle groups by using acoustic radiation force effect and standing wave field, and the specific principle is as follows:

[0014] Formation of acoustic potential well: by adjusting the phase difference of the phased array transducer, an acoustic pressure node (or anti-node) is formed at a specific position on the reservoir bottom. For most sediment particles (whose acoustic impedance is greater than water), they will be subjected to an acoustic radiation force pointing to the acoustic pressure node. A large number of particles are thus captured and gathered near the node to form a high-concentration silt group. This step changes the disordered particle individuals into a manipulable assembly.

[0015] Movement and transport of potential well: by dynamically adjusting the phase difference of each transducer in the phased array, the interference pattern of the acoustic field can be controlled, so that the above-mentioned acoustic potential well (i.e. acoustic pressure node) moves slowly along the preset path (the speed is adjustable, such as several centimeters per second). The captured silt group will move synchronously with the potential well like on a conveyor belt. This step realizes the orderly and directional transport of sediments instead of disordered diffusion.

[0016] Multi-potential well cooperative operation: the control system can generate and control multiple independent acoustic potential wells, simultaneously pick up silt from different locations in the reservoir area, and transport all of them to the central collection well along different paths. This step realizes large-scale and parallel intelligent dredging operation.

[0017] Adaptive control: The system monitors the transport efficiency and the change of the bottom topography in real time through sensors. The control algorithm can automatically adjust the potential well path to avoid obstacles and adaptively adjust the acoustic field parameters according to the characteristics of the sludge (density, concentration) to ensure the best capture and transport efficiency. This step ensures the intelligence and robustness of the system.

[0018] Preferably, the control unit is further configured to arrange the acoustic manipulation array module based on the bottom topography and the bottom sludge thickness distribution data. Based on the bottom topography, the acoustic manipulation array module can be arranged to avoid obstacles, and based on the bottom sludge thickness distribution data, the acoustic manipulation array module can be densely arranged in areas with thicker sludge to improve the sludge removal effect in these areas.

[0019] Preferably, the control unit controls the specific way of moving the acoustic potential well carrying the sediment particle group to the sediment collection target point as follows:

[0020] Using the task scheduler to receive the dredging task, and assigning an initial task to each acoustic potential well according to the sludge thickness and dredging priority;

[0021] Using the path planner to plan a predicted path for each acoustic potential well from its respective sludge aggregation point to the sediment collection target point. The path planning of the path planner is based on static obstacles, dynamic obstacles, and path distance;

[0022] Using the conflict detection and resolution device to monitor the predicted paths of all acoustic potential wells in real time. When it is determined that the predicted paths of two or more acoustic potential wells will conflict in space or time at a future time, the conflict detection and resolution device initiates a resolution strategy to eliminate the conflict.

[0023] In the system, during the dredging process, the dredging tasks are assigned according to the topography and sludge distribution of the dredging area. Then, multiple acoustic potential wells are formed during the dredging process, each with a different starting position but the same target position, which is the sediment collection target point. Therefore, each acoustic potential well has a path from the starting point to the ending point, and may encounter obstacles, other acoustic potential wells, and dynamic obstacles on the path. Therefore, the path needs to be planned to ensure smooth dredging and improve the dredging effect and efficiency.

[0024] Preferably, the acoustic manipulation array module includes a plurality of base array units, each base array unit including an array of a plurality of transducers, and each base array unit is installed on a corresponding underwater mobile platform. Installing each base array unit on a corresponding underwater mobile platform greatly improves the flexibility of the system. It can achieve cleaning while walking and complete large-area dredging tasks with a small mobile array, which is particularly suitable for complex corner areas that are difficult to cover with traditional fixed arrays.

[0025] Preferably, the system further comprises:

[0026] a main inertial measurement unit installed on the underwater mobile platform shell for monitoring the pose change of the underwater mobile platform body;

[0027] a slave inertial measurement unit installed on the base array unit installation base of the stable platform mechanism for monitoring the actual pose of the base array unit;

[0028] a reference hydrophone array installed outside the underwater mobile platform shell for measuring the relative phase of the emitted sound wave in the external water medium;

[0029] a stable platform mechanism, the upper platform of the stable platform mechanism is installed with the base array unit through the actuator, and the lower platform of the stable platform mechanism is rigidly connected with the underwater mobile platform body;

[0030] a platform pose sensor for feeding back the pose information of the actuator in real time;

[0031] a controller for receiving the signal of the main inertial measurement unit, receiving the signal of the slave inertial measurement unit, receiving the signal of the platform pose sensor and controlling the actuator;

[0032] wherein the main inertial measurement unit collects the acceleration and angular velocity of the underwater mobile platform in real time, and calculates the first pose disturbance generated by the motion of the underwater mobile platform on the base array unit based on the acceleration and angular velocity of the underwater mobile platform; the reference hydrophone array measures the relative phase of the emitted sound wave in the external water medium, the controller compares the measured actual phase relationship with the ideal phase relationship, calculates the phase error vector, converts the phase error vector into the pose adjustment amount required by the stable platform mechanism, generates the pose adjustment instruction based on the pose adjustment amount, generates the pose disturbance instruction based on the first pose disturbance, and superimposes the pose adjustment instruction and the pose disturbance instruction to generate the actuator control instruction.

[0033] Wherein, the array elements are integrated into the underwater mobile platform to realize mobile dredging, which faces a fundamental contradiction: the formation of acoustic potential well depends on the nanometer precision of acoustic phase control, while the underwater mobile platform inevitably has six-degree-of-freedom pose disturbance in the real underwater environment. This disturbance mainly comes from: translation and rotation caused by uneven water flow impact, vibration generated by the underwater mobile platform's own thruster, and slight changes in buoyancy and counterweight. The traditional underwater mobile platform attitude control system (such as PID control based on IMU and thruster) can only realize macroscopic track stability, and its accuracy is in centimeter-degree level, which cannot meet the stability requirement of sub-wavelength level (for 1kHz sound wave, wavelength 1.5 meters, i.e. millimeter level or even better) for acoustic phase control. The directly installed array elements will sway with the underwater mobile platform, causing the acoustic phase relationship to be disordered, and the stable acoustic potential well cannot be formed or maintained. In order to solve this problem, the system is improved, and a master inertial measurement unit, a slave inertial measurement unit, a reference hydrophone array, a stable platform mechanism, a platform pose sensor, and a controller are designed. It can realize precise, active, and real-time pose compensation of the array elements on the basis of macroscopic pose control of the underwater mobile platform, so as to stabilize the acoustic phase center of the array elements in an inertial reference frame, and ensure the formation, stability and accurate control of the acoustic potential well under the movement and disturbance of the underwater mobile platform.

[0034] Preferably, the shell of the underwater mobile platform adopts a multi-layer composite structure, including from outside to inside: an acoustic transmission layer, a transducer array layer, a thermal management structure layer, and an internal protection layer; wherein each transducer is bonded inside the acoustic transmission layer through flexible conductive glue, the transducer back electrode is connected with the driving system through flexible printed circuit, and the curved surface shape of the transducer array layer is conformal with the shell of the underwater mobile platform; the thermal management structure layer includes a base material as a force bearing structure and a heat conduction path, and a cooling unit connected with the liquid cooling system inside the underwater mobile platform; the internal protection layer adopts electromagnetic shielding composite material.

[0035] The traditional underwater acoustic equipment installation method is to attach the transducer as an independent component to the underwater mobile platform shell or extend through the opening. This method has serious defects: it destroys the fluid shape; the protruding transducer increases the sailing resistance, generates vortex noise, and seriously affects the maneuverability and endurance of the underwater mobile platform. The acoustic performance is limited; the additional installation will produce acoustic reflection and refraction, interfere with the sound field mode, and reduce the energy transmission efficiency. It is difficult to dissipate heat; the heat generated by the high-power transducer is difficult to effectively dissipate through the watertight shell, resulting in performance degradation or even damage. The reliability is low; the exposed transducer is easy to be damaged by collision, and the connection is easy to leak. In order to solve this problem, the present application improves and provides a conformal phased array and fluid-acoustic integrated shell, which realizes the unity of low resistance, high sound efficiency, high efficient heat dissipation and high reliability by deeply integrating the transducer array with the underwater mobile platform shell in structure, acoustics, fluid and thermal management.

[0036] Preferably, the acoustic transmission layer is made of polyurethane elastomer or butyl rubber, and the outer surface of the acoustic transmission layer has a hydrophobic coating. Polyurethane elastomer or butyl rubber is used as the main material, which has a very close acoustic impedance to water, realizing impedance matching. The outer surface has a hydrophobic coating, which reduces the adhesion of the turbulent boundary layer and inhibits biological adhesion.

[0037] Preferably, the system further comprises a plurality of wireless charging and data relay stations; the wireless charging and data relay stations are arranged based on the dredging area, and the underwater mobile platform autonomously navigates to the nearest wireless charging and data relay station for wireless charging, data uploading and downloading of dredging tasks when the power is lower than the threshold. The high-power transducer consumes a lot of power, and the underwater mobile platform carries limited battery energy, which cannot support long-time and large-range dredging operations. The present application combines the flexibility of the mobile platform with the continuous energy / data support of the fixed infrastructure, facilitates charging and data transmission, improves the endurance, and solves the bottleneck of application.

[0038] Preferably, the subsequent processing equipment is specifically used for processing to obtain a anti-permeation pad, the anti-permeation pad is used for laying in the potential permeation area of the reservoir, and the anti-permeation pad adopts a three-layer structure: the upper layer is a geotextile, the middle layer is a silt composite material, and the lower layer is a fiber felt; wherein, the processing method of the silt composite material is: the slurry is subjected to dewatering treatment, then the dewatered slurry is mixed with superabsorbent resin, fiber and microbial nutrient source to obtain a mixed material, and a plurality of capsules are embedded in the mixed material to form the silt composite material, the capsule shell is a water-soluble polymer, and the inside is wrapped with a calcium carbonate precursor solution.

[0039] Among them, the traditional sludge treatment method (such as stacking, landfill, simple dehydration and brick making) has problems of low efficiency, high cost, low value, possible secondary pollution and the like. The silt is made into a anti-seepage pad which can be laid on the basin in a large area. The anti-seepage pad not only can enhance the anti-seepage, but also can automatically sense and trigger healing when seepage occurs. The traditional method is compared: the traditional anti-seepage adopts clay rolling or laying HDPE film, which has high cost and cannot be self-repaired after damage.

[0040] Preferably, the system further comprises:

[0041] Multi-modal flow field sensing module: for collecting flow field data around the acoustic manipulation array module and state data of the acoustic potential well, obtaining sensing data;

[0042] Predictive control decision module: for receiving sensing data, processing to generate control decision instructions;

[0043] Dynamic sound field reconstruction module: for receiving control decision instructions, generating sound field control parameters based on control decision instructions, and controlling the corresponding acoustic manipulation array module based on sound field control parameters.

[0044] The acoustic potential well is stable in static or weak flow water, but its stability is indeed severely challenged in strong water flow. The acoustic potential well technology has great potential in underwater particle manipulation, but it faces fundamental challenges in practical water application: the dynamic flow field such as water flow existing in natural water bodies will cause two key interferences to the acoustic potential well: fluid drag force interference: the water flow exerts a continuous drag force on the trapped particles, which will escape from the potential well when the binding capacity of the acoustic radiation force is exceeded. Sound field phase distortion: the inhomogeneous density of the water body caused by turbulence will cause sound refraction and phase distortion, destroying the integrity of the potential well. Existing acoustic manipulation systems mostly work in static or ideal flow fields, lacking self-adaptive ability to cope with real complex flow fields. In order to solve this problem, the present application designs a multi-modal flow field sensing module, a predictive control decision module and a dynamic sound field reconstruction module, which can realize real-time sensing of flow field state, prediction of particle motion trajectory and dynamic reconstruction of sound field, so that the acoustic potential well remains stable in strong flow and turbulent flow environment, ensuring the sustained capture and controllable transport of trapped particle groups.

[0045] The one or more technical solutions provided by the present application have at least the following technical effects or advantages:

[0046] The present application applies macro-scale acoustic manipulation technology to the field of silt dredging in water conservancy projects, which is fundamentally different from any existing mechanical or disturbance type dredging method, and can realize non-contact, directional and cooperative transport of sediment particle groups, orderly guiding them to the collection point, thereby realizing low energy consumption, low disturbance, high efficiency and intelligent dredging operation.

[0047] Revolutionary low disturbance: The whole process is orderly guided rather than disorderly disturbance, greatly reducing the spread of pollutants to the water body, and minimizing the impact on the ecological environment and water quality of the reservoir.

[0048] Very high energy efficiency ratio: Energy is directly used to drive particle movement, rather than wasted in invalid agitation and overcoming pipe friction. The system power consumption is much lower than that of the traditional dredger with the same efficiency.

[0049] Intelligent and automated: The whole process is controlled by intelligent algorithm, which can realize unmanned automatic operation and adapt to complex reservoir bottom environment.

[0050] No need to stop production: All equipment can be deployed in advance, and the normal power generation, flood control and water supply scheduling of the reservoir dam are not affected during operation, which has huge economic benefits. BRIEF DESCRIPTION OF DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application;

[0052] Figure 1 It is a schematic diagram of a suspended sediment transport and reservoir dredging system. DETAILED DESCRIPTION

[0053] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0054] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from the scope described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0055] Those skilled in the art should understand that in the disclosure of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the above-mentioned terms cannot be understood as a limitation on the present application.

[0056] It can be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of one element can be one, and in another embodiment, the number of the element can be multiple, and the term "one" cannot be understood as a limitation on the number.

[0057] Embodiment one;

[0058] Please refer to Figure 1 , Figure 1 A schematic diagram of a suspended sediment transport and reservoir dredging system is provided, and the present application provides a suspended sediment transport and reservoir dredging system, which comprises:

[0059] An acoustic manipulation array module is used to form an acoustic potential well in water above the reservoir bottom silt layer based on the control of the control unit, to capture a group of sediment particles in the reservoir bottom silt layer by using the acoustic potential well, and to move the acoustic potential well carrying the group of sediment particles towards a sediment collection target point based on the control of the control unit;

[0060] A sediment collection module is used to concentrate the group of sediment particles to form a slurry at the sediment collection target point, to suck the mixture of water and slurry at the sediment collection target point into a separation device for water and slurry separation operation based on the control of the control unit, and to transport the slurry obtained by separation to a subsequent treatment device through a sludge pipeline;

[0061] The control unit comprises a multi-sensor feedback system, an underwater acoustic camera, a turbidity sensor and a central controller; the multi-sensor feedback system is used to obtain reservoir bottom topography and reservoir bottom silt thickness distribution data, the underwater acoustic camera is used to monitor the motion state of the acoustic potential well and the group of sediment particles, and the turbidity sensor is used to monitor the concentration of the group of sediment particles; the central controller is used to generate an acoustic potential well moving path based on the acoustic manipulation array module position information, the reservoir bottom topography and the sediment collection target point, and is also used to control the emission parameters of the acoustic manipulation array module based on the motion state of the acoustic potential well and the group of sediment particles and the concentration of the group of sediment particles.

[0062] The acoustic manipulation array module can be implemented as follows:

[0063] It comprises a base array unit composed of a plurality of independently controllable high-power low-frequency transducer arrays deployed on the reservoir bottom. Each transducer unit is encapsulated in a pressure-resistant, watertight shell and connected to the water surface platform through a cable.

[0064] Array arrangement: the array is arranged in a grid or specific topological structure according to the reservoir bottom topography, covering the target dredging area.

[0065] Sound field generation: Each transducer unit emits sound waves of specific frequency (low frequency, such as 100Hz-1000Hz), specific phase and amplitude under the instruction of the intelligent control module. By precisely controlling the output of each unit, one or more acoustic potential wells are synthesized and moved in the water above the silt layer at the bottom of the reservoir.

[0066] The implementation of the sediment collection module can be:

[0067] Central collection well: At the preset lowest point or edge of the dredging area, a negative pressure suction type central collection well is set up.

[0068] Self-adaptive suction port: The suction port of the collection well is designed to be adjustable, equipped with a vortex separator to preliminarily separate water and high-concentration slurry.

[0069] Sludge pipeline: Pump high-concentration slurry to onshore treatment facilities.

[0070] The implementation of the control unit can be: multi-sensor feedback system: including a multi-beam sounding system to draw a real-time topographic and silt thickness distribution map; underwater acoustic camera to monitor the sound field and particle movement state; turbidity sensor to monitor concentration. Central controller: built-in core algorithm, receives sensor data, calculates and dynamically adjusts the emission parameters (frequency, phase, power) of each unit of the acoustic array in real time.

[0071] The entire system can also be equipped with an energy system: powered by a photovoltaic floating platform on the water surface or shore power.

[0072] The specific dredging process of the entire system can be:

[0073] Pre-survey: Use a multi-beam sounding system to scan the target reservoir area in detail, generate a digital elevation model (DEM) and silt thickness distribution map.

[0074] System deployment: According to the survey results, plan the layout position of the acoustic array and the position of the collection well. Sink the transducer units to the bottom of the reservoir according to the design and fix them. Lay the cable, sludge pipeline and energy platform on the water surface.

[0075] Path planning: In the control software, according to the silt distribution, plan multiple optimal transport paths from each silt accumulation area to the collection well.

[0076] Start dredging:

[0077] Start the system, and the central controller calculates the initial sound field parameters according to the planned path.

[0078] Acoustic array starts, forms an acoustic potential well at the designated starting point, captures and converges silt.

[0079] The controller starts to dynamically adjust the phase, making the potential well move along the planned path, and driving the sludge group forward.

[0080] Multiple potential wells work simultaneously to synchronize the transportation of sludge from different places.

[0081] The sensor network monitors in real time, feeds back data, and the controller fine-tunes to ensure the transportation process is stable and reliable.

[0082] Collection and treatment: The high-concentration sludge transported by the negative pressure suction system at the collection well is pumped through the pipeline to the dehydration and drying field on the shore for treatment.

[0083] Job completion: When the sensor detects that the sludge thickness in the target area meets the design requirements, the system automatically stops the operation in that area and can switch to the next area.

[0084] In order to avoid obstacles and improve the dredging effect in key sludge areas, the control unit is also used to arrange the acoustic manipulation array module based on the reservoir bottom terrain and sludge thickness distribution data. When arranging, large obstacles on the reservoir bottom, such as reefs, sunken wood, and abandoned buildings, are avoided. These obstacles can seriously interfere with the propagation of the sound field, producing strong reflection and scattering, and destroying the stability of the potential well. The sound field generated by each transducer unit needs to be able to achieve sufficient overlap and interference in the target manipulation area (such as 0.5-2 meters above the sludge surface). The formation of the acoustic potential well depends on the constructive and destructive interference of sound waves. Only with sufficient energy coverage and overlap, can a sound pressure node (potential well) with sufficient strength and clear boundary and acoustic radiation force gradient be formed.

[0085] Specific arrangement methods can be:

[0086] 1. Global uniform grid arrangement, suitable for large-area preliminary dredging; applicable scenarios: suitable for large-area reservoirs with relatively flat terrain and uniform sedimentation.

[0087] 2. Non-uniform topology arrangement, suitable for precise dredging in key areas: according to the sludge thickness thermal map obtained through preliminary survey, transducer units are densely arranged in the core area with the most serious sedimentation and sparsely arranged in the edge area with less sedimentation. Concentrate limited acoustic energy on the area most in need of dredging, greatly improve system energy efficiency and dredging speed.

[0088] 3. Multi-subarray partitioned cooperative arrangement, suitable for super-large reservoir dredging: the entire dredging area is divided into several sub-areas. Each sub-area is equipped with an independent, smaller acoustic array. Each sub-array can work independently to clean the silt in its own area, or work cooperatively under the coordination of the central controller to form a large, movable potential well to transport silt from multiple sub-areas to a common collection well. Solves the problem of large-scale single array size, high cost, and complex control in super-large reservoirs. Improves the modularity and scalability of the system.

[0089] 4. Movable array arrangement for special terrain or experimental applications: the transducer array is installed on one or more unmanned underwater vehicles (AUVs) or track robots that can move slowly on the reservoir bottom. This greatly improves the flexibility of the system. A small mobile array can be used to complete the dredging task in a large area.

[0090] In this invention, multiple transducers (phased array) work cooperatively to form a complex, three-dimensional standing wave field at the desired location in the water. A specific acoustic pressure node in this standing wave field acts as an invisible energy trap, constantly pulling particles around it into the acoustic potential well.

[0091] In this invention, frequency, phase, and amplitude are the three independent and most important dimensions of the acoustic field. The control of frequency is to control the size of the particles and the scale of the potential well. The control of phase is to control the shape of the acoustic wave front and the precise position of the potential well. The control of amplitude is to control the strength of the acoustic radiation force, i.e. the depth or intensity of the potential well.

[0092] In this invention, by controlling the output of each unit, one or more acoustic potential wells are synthesized and moved in the water above the silt layer in the reservoir bottom. The specific implementation is as follows:

[0093] Use phased array technology combined with closed-loop feedback control. The intelligent control cabinet has a multi-channel power amplifier and a multi-channel digital signal processor (DSP). Each transducer unit is independently connected to a power amplifier channel and a DSP channel. Control logic:

[0094] Input (set value): the control algorithm (existing control algorithms or programs can be used, and the embodiments of the invention do not make corresponding limitations) receives instructions, such as: "generate a potential well at coordinates (X1, Y1, Z1), then move at speed V along path L to coordinates (X2, Y2, Z2)".

[0095] Calculation (beamforming algorithm):

[0096] The algorithm (which can be an existing algorithm or program, and embodiments of the present application do not make corresponding limitations) calculates the optimal phase value (Φ1, Φ2, Φ3... Φn) and amplitude value (A1, A2, A3... An) required by each transducer unit according to the current position of the target potential well, in combination with the precise geometric model of the transducer array and the underwater acoustic propagation model. This calculation process can be referred to as beamforming. n ) and amplitude value (A1, A2, A3... An). n ) and amplitude value (A1, A2, A3... An).

[0097] Output (execution):

[0098] The DSP generates n original electrical signals with specific phase differences and amplitudes. The multi-channel power amplifier amplifies these n signals to the required power. The amplified electrical signals drive the corresponding transducer units to emit acoustic waves with specific phases and amplitudes.

[0099] Feedback (calibration and optimization):

[0100] The underwater acoustic sensor (such as a hydrophone array) monitors the actual acoustic field in real time and transmits data back to the controller. The controller compares the actual acoustic field with the theoretically expected acoustic field. If there is a deviation (due to factors such as water temperature changes, water flow disturbances, etc.), the control algorithm will adaptively fine-tune the phase and amplitude output of each unit to maintain the stability and accuracy of the potential well. Through the closed-loop feedback process, the robustness of the system in complex real environments is ensured.

[0101] The specific implementation of dynamically adjusting the phase difference of each transducer in the phased array to make the acoustic potential well move slowly along the preset path is as follows:

[0102] Objective: Let all the sound waves emitted by the transducers achieve in-phase superposition (constructive interference) at the target moving point P(t), thereby forming a pressure node (potential well) at that point. Since the distance from each transducer to the target point P(t) is different, the time required for sound wave propagation is also different. In order to make them arrive at P(t) simultaneously (in-phase), this time difference must be compensated for. The compensation is achieved by allowing the transducers that are far away to emit earlier, and the transducers that are close to delay emission. This compensation time difference is directly converted into the phase difference of the emitted signal . The conversion relationship is: (Where f is the frequency of the sound wave).

[0103] Implementation and steps:

[0104] Step 1: Establish a mathematical model and coordinate system;

[0105] Establish a three-dimensional coordinate system (X, Y, Z) at the bottom of the pool. Accurately measure and input the spatial coordinates (x i , yi , z i ). The path L that the preset potential well needs to move is defined by a series of consecutive three-dimensional coordinate points , where t is time.

[0106] Step two: Real-time calculation of distance difference and wave path difference;

[0107] For each time t and target point P(t), the central controller (DSP) performs the following calculations for each transducer unit i:

[0108] Calculate distance: Calculate the straight-line distance d i(t) from the i-th transducer to the target point P(t). The specific distance calculation method can use existing distance calculation formulas or algorithms, and the embodiments of the present application do not make corresponding limitations;

[0109] Calculate wave path difference: find the farthest value d max(t) from all distances, and then calculate the difference between each unit and the maximum value. ; This difference means that the sound wave emitted by the transducer with a longer distance needs to travel a longer distance to reach the P(t) point.

[0110] Step three: Convert wave path difference into time delay or phase shift;

[0111] In order to compensate for the wave path difference, all sound waves need to arrive at P(t) at the same time, and the units with a longer distance need to be emitted in advance. The time in advance is:

[0112] ; (where c is the speed of sound in water);

[0113] According to the formula , convert the time delay into the phase shift amount that needs to be applied. Obtain the phase control amount required by each transducer unit i at time t in order to form a potential well at P(t).

[0114] Step four: Generate control signals and drive transducers;

[0115] The DSP has a reference signal source (such as a sine wave) inside. For the i-th channel, the DSP performs a corresponding phase shift on the reference signal according to the calculated , to generate a unique drive signal for that channel. After power amplification, the drive signal is transmitted to the corresponding transducer unit. All transducers simultaneously emit sound waves with the same frequency but with precisely calibrated initial phases.

[0116] Step five: movement of the potential well - loop execution;

[0117] The above process is not calculated once at a point and then ended, but is executed in a loop with a very high refresh rate (for example, 1000 times per second):

[0118] t0 moment: control all transducers, form a potential well at P(t0) point.

[0119] moment: control all transducers, form a potential well at point.

[0120] moment: control all transducers, form a potential well at point. ...

[0122] Due to the extremely high refresh rate, the discrete changes in the position of the potential well can be regarded as continuous and smooth movement. The silt group captured by the acoustic radiation force has not yet had time to spread before it is captured again by the potential well at the next moment, so it is locked and moves with the potential well.

[0123] Among them, in the embodiment of the application, the specific way in which the control unit controls the acoustic potential well carrying the sediment particle group to move towards the sediment collection target point is:

[0124] Use the task scheduler to receive the dredging task, and according to the silt thickness and the dredging priority, assign an initial task to each acoustic potential well;

[0125] Use the path planner to plan a predicted path for each acoustic potential well from its respective silt aggregation point to the sediment collection target point, and the path planning of the path planner is based on: static obstacles, dynamic obstacles and path distance;

[0126] Use the conflict detection and resolution device to monitor the predicted paths of all acoustic potential wells in real time, and when it is judged that the predicted paths of two or more acoustic potential wells will conflict in space or time at a future moment, the conflict detection and resolution device starts a resolution strategy to eliminate the conflict.

[0127] The specific implementation is:

[0128] Task scheduler: responsible for receiving the dredging task (such as cleaning A area, B area, C area), and according to the silt thickness, priority and current state of the system, assigning an initial task to each generated potential well.

[0129] Path planner: independently plan the optimal path for each sink from the start point (mud accumulation point) to the end point (collection well). The planning includes: static obstacles: library bottom terrain, rocks, buildings, etc. (from previous survey data). Dynamic obstacles: other moving sinks, aquatic life protection areas, etc. Efficiency optimization: the path is as short as possible, and the energy consumption is the lowest.

[0130] Conflict detection and resolution: real-time monitoring of the predicted paths of all sinks. When the paths of two or more sinks are predicted to conflict in space or time at some future time (such as too close distance causing mutual interference of sound field, or arriving at the collection well entrance at the same time), the module will start the resolution strategy:

[0131] Priority scheduling: let the sink with more mud carry capacity pass first.

[0132] Speed adjustment: let one sink speed up and the other slow down to stagger the passing time.

[0133] Temporary path re-planning: command one sink to detour a short distance.

[0134] In the embodiments of the present application, the acoustic manipulation array module includes a plurality of base array units, each base array unit including an array of a plurality of transducers, and each base array unit is respectively installed on a corresponding underwater mobile platform. The underwater mobile platform can be an autonomous underwater vehicle (AUV).

[0135] In the embodiments of the present application, the number of transducers in the base array unit can be adjusted according to actual needs, and the embodiments of the present application do not make corresponding limitations. The number of transducers in the base array unit can also be adjusted according to actual needs, and the embodiments of the present application do not make corresponding limitations. The transducers can be iXblue JH series piezoelectric ceramic transducers and rare earth giant magnetostrictive transducers (such as CCJ-03 type), which can be selected according to actual needs, and the embodiments of the present application do not make corresponding limitations.

[0136] In the embodiments of the present application, the system further includes:

[0137] Main inertial measurement unit: installed on the underwater mobile platform shell, used for monitoring the pose change of the main body of the underwater mobile platform; such as monitoring the 6-DoF pose change (three-axis acceleration, three-axis angular velocity) of the main body of the AUV.

[0138] Slave inertial measurement unit: installed on the base array unit mounting base of the stable platform mechanism, used for monitoring the actual pose of the base array unit.

[0139] Reference hydrophone array: mounted outside the hull of the underwater mobile platform, used to measure the relative phase of the emitted sound waves in the external water medium; specifically, it consists of at least three hydrophones, fixedly mounted outside the AUV hull with a known geometric configuration, and as far away as possible from the transducer's main lobe, for directly measuring the relative phase of the emitted sound waves at key points in the external water medium.

[0140] Stabilization Platform Mechanism: The upper platform of the stabilization platform mechanism is equipped with an array unit via actuators, and the lower platform is rigidly connected to the main body of the underwater mobile platform. The stabilization platform mechanism can adopt a six-legged parallel Stewart platform configuration. The actuators are implemented by using piezoelectric ceramic actuators or voice coil motors (VCAs) for each of the six legs, providing nanometer-level resolution and high bandwidth (>100Hz) telescopic motion.

[0141] Platform posture sensor: used to provide real-time feedback on the posture information of the actuators; specifically, each outrigger integrates a high-precision grating ruler or capacitive displacement sensor to provide real-time feedback on the outrigger length for closed-loop control within the platform.

[0142] The controller receives signals from the master inertial measurement unit (IMU), slave IMUs, and platform pose sensors, and controls the actuators. The lower platform of the Stewart platform is mounted within the AUV's main frame using damping material to isolate high-frequency mechanical vibrations. The transducer array, as a single module, is rigidly mounted to the upper platform of the Stewart platform. The reference hydrophone array extends outside the AUV housing via a rigid bracket, and its position is calibrated.

[0143] The main inertial measurement unit (MMU) collects the acceleration and angular velocity of the underwater mobile platform in real time. Based on the acceleration and angular velocity of the underwater mobile platform, it calculates the first attitude disturbance of the underwater mobile platform on the array unit. The reference hydrophone array measures the relative phase of the emitted sound wave in the external water medium. The controller compares the measured actual phase relationship with the ideal phase relationship, calculates the phase error vector, converts the phase error vector into the attitude adjustment amount required by the stabilizing platform mechanism, generates attitude adjustment command based on the attitude adjustment amount, generates attitude disturbance command based on the first attitude disturbance, and superimposes the attitude adjustment command and attitude disturbance command to generate actuator control command.

[0144] The specific control process is as follows:

[0145] Feedforward control (coarse compensation, high bandwidth):

[0146] Objective: To quickly counteract most of the shaking of the AUV body.

[0147] Process: The main IMU collects the acceleration and angular velocity of the AUV in real time. Through a well-established dynamic inverse model, the dynamic inverse model can use the existing model, or use machine learning to train the corresponding model, or use the current AI model, the embodiment of the application does not make corresponding limitation, calculate the pose disturbance (such as 6 degrees of freedom of the pose disturbance respectively: ) that the motion of the AUV main body will cause to the transducer array on the platform. The controller immediately takes the negative value of this pose disturbance as the target instruction and sends it to the servo control system of the Stewart platform. The actuator drives the platform to move in the opposite direction, actively pulling the transducer array back to the target pose. Compensation is made at the source of the AUV disturbance, with extremely fast response and handling of most high-frequency vibrations.

[0148] Feedback control (fine calibration, residual error elimination): Purpose: to eliminate the residual phase error caused by the inaccuracy of the feedforward model, actuator drift, and changes in the underwater acoustic propagation environment. Process: The reference hydrophone array continuously monitors the sound wave phase of several fixed points in the external sound field. The controller compares the actual phase relationship measured with the ideal phase relationship calculated theoretically to calculate the phase error vector. Through a sound field-pose mapping algorithm, the sound field-pose mapping algorithm can use the existing algorithm to realize, such as sound field control based on Ambisonics or vector amplitude panning (VBAP), etc., the embodiment of the application does not make corresponding limitation, the phase error vector is converted into the micro-pose adjustment amount (6 degrees of freedom of the micro-pose adjustment amount respectively: ) that the stable platform needs to make. Mapping algorithm example: If the hydrophone detects that the sound wave phase lags, indicating that the sound path has become longer, the control system will calculate an instruction to make the transducer array micro-move (reduce the sound path) in the direction of the hydrophone. The fine-tuning instruction is superimposed on the feedforward instruction and sent to the actuator. Form a real acoustic closed loop to ensure the ultimate accuracy of the acoustic phase, which is not affected by model errors and time-varying environment.

[0149] In the embodiment of the application, the shell of the underwater mobile platform adopts a multi-layer composite structure, from the outside to the inside, including: an acoustic transmission layer, a transducer array layer, a thermal management structure layer, and an internal protection layer; wherein each transducer is bonded inside the acoustic transmission layer through a flexible conductive adhesive, the transducer back electrode is connected with the driving system through a flexible printed circuit, and the transducer array layer is conformal to the shape of the shell of the underwater mobile platform; the thermal management structure layer includes a base material as a force bearing structure and a heat conduction path, and a cooling unit connected with a liquid cooling system inside the underwater mobile platform; the internal protection layer adopts an electromagnetic shielding composite material.

[0150] The thickness of the acoustic transmission layer can be designed as a quarter of the center wavelength of the working frequency, at which the acoustic transmission efficiency from water to the shell is the highest. The substrate of the thermal management structure layer can adopt high-thermal-conductivity carbon fiber composite material, which serves as the main load-bearing structure and the heat conduction path. The cooling system is connected with the liquid cooling system inside the AUV and adopts deionized water or special fluorinated liquid as the cooling medium. The internal protection layer adopts electromagnetic shielding composite material to protect the internal electronic equipment from electromagnetic interference of the transducer.

[0151] In the embodiment of the present application, the acoustic transmission layer is made of polyurethane elastomer or butyl rubber, and the outer surface of the acoustic transmission layer has a hydrophobic coating.

[0152] In the embodiment of the present application, the system further comprises a plurality of wireless charging and data relay stations; the wireless charging and data relay stations are arranged based on the area to be dredged, and the underwater mobile platform autonomously navigates to the nearest wireless charging and data relay station to perform wireless charging, data uploading and downloading of the dredging task when the power is lower than a threshold. The wireless charging can adopt existing charging methods and devices, and the specific wireless charging method and device are not limited in the embodiment of the present application.

[0153] In the embodiment of the present application, the subsequent processing equipment is specifically used for processing to obtain a anti-seepage pad, which is used for laying in a potential seepage area of a reservoir, and the anti-seepage pad adopts a three-layer structure: the upper layer is a geotextile, the middle layer is a silt composite material, and the lower layer is a fiber felt; wherein the processing method of the silt composite material is: the mud slurry is subjected to dewatering treatment, then the dewatered mud slurry is mixed with superabsorbent polymer, fiber and microbial nutrient source to obtain a mixed material, and a plurality of capsules are embedded in the mixed material to form the silt composite material, the capsule shell is a water-soluble polymer, and the inside is wrapped with a calcium carbonate precursor solution. The laying and mechanism of the anti-seepage pad: the anti-seepage pad in roll form is laid on the reservoir bottom or the upstream face of the dam, especially in the area with potential leakage risk. Anti-seepage in normal times: the silt layer itself provides anti-seepage function, and the superabsorbent polymer SAP gels after contacting water, further blocking the pores. Leakage self-healing: once concentrated leakage occurs, the water flow will quickly dissolve the microcapsule shell, and the released repair liquid reacts with the microorganisms to quickly generate calcium carbonate crystals in the leakage channel, automatically plugging the cracks, and the water flow itself becomes a trigger for repair. The silt composite material is mixed by the following components in percentage of dry silt weight: superabsorbent polymer: 0.5% ~ 1.5%; fiber: 0.8% ~ 2.0%; urea: 1.0% ~ 3.0%; calcium source: 1.0% ~ 3.0%; and Pasteuria bactridiforme bacterial liquid accounting for 10% ~ 30% of the total water consumption. The composition ratio of each component can be adjusted according to actual needs, and the embodiment of the present application does not make corresponding limitations. The role of superabsorbent polymer (SAP): dry SAP particles are mixed in the material. When cracks occur and water enters, SAP will preferentially and quickly absorb the infiltrated water, and expand by tens to hundreds of times. The role of fiber (basalt fiber): bridging effect: forming a three-dimensional network in the material, spanning microcracks, preventing crack expansion, and improving material toughness and crack resistance. Control crack width: dispersing possible wide cracks into a large number of harmless microcracks, and the microcracks are the ideal size for SAP and microorganisms to work.

[0154] In the embodiment of the present application, the system further comprises:

[0155] Multi-modal flow field perception module: used for collecting flow field data around the acoustic manipulation array module and state data of the acoustic potential well, to obtain perception data;

[0156] Predictive control decision module: used for receiving the perception data, processing to generate control decision instructions;

[0157] Dynamic sound field reconstruction module: used for receiving the control decision instructions, generating sound field control parameters based on the control decision instructions, and controlling the corresponding acoustic manipulation array module based on the sound field control parameters.

[0158] The implementation mode of the multi-modal flow field perception module can include:

[0159] Acoustic Doppler Velocimetry array: arranged around the transducer array to measure the three-dimensional flow velocity vector field V(x, y, z, t) with a sampling rate of ≥100 Hz. It provides spatial distribution information of the flow field within a range of 2-10 meters in front of the transducer array.

[0160] Particle Image Velocimetry system: uses a double-pulse laser light source and a high-speed camera. It measures the micro-scale flow field in the potential well region and its surrounding water body. It accurately obtains the flow velocity gradient, vorticity field and turbulence intensity near the potential well.

[0161] Reference tracer particle system: a small amount of neutral buoyancy and high reflectivity tracer particles are mixed in the potential well. By tracking the motion of these particles, the actual displacement and deformation of the potential well are directly measured.

[0162] The specific implementation mode of the predictive control decision module includes: fluid-particle coupling dynamics model, extended Kalman filter predictor and potential well path planner; the potential well path planner is used to calculate the optimal anchoring position sequence of the potential well according to the prediction result, generate a smooth potential well moving trajectory, and avoid sudden changes.

[0163] The implementation mode of the dynamic sound field reconstruction module includes: real-time phase compensation calculation unit: according to the new potential well target position, the phase offset of each transducer unit is recalculated; adaptive power control unit: dynamically adjusts the emission amplitude according to the flow field intensity.

[0164] The workflow is:

[0165] Data acquisition and fusion: synchronously acquire ADV, PIV and tracer particle data, and data fusion generates high-confidence flow field state estimation;

[0166] Motion prediction and decision: perform extended Kalman filtering, predict the particle motion trajectory within 100 ms in the future, calculate the optimal anchoring position of the potential well, and determine the required sound field power level;

[0167] Real-time sound field reconstruction: according to the new target position, the beamforming parameters are recalculated, the transducer driving signal is updated, the sound field performance is monitored, and a closed-loop control is formed;

[0168] Adaptive optimization: online adjustment of prediction model parameters according to control effect, learning of optimal control strategy under specific flow field mode.

[0169] Specific implementation mode-dynamic anchoring in uniform strong flow environment:

[0170] ADV detects the stable incoming flow, speed 2.0 m / s, direction 30° angle with the potential well moving path, the prediction model calculates the particle drift caused by the drag force as Δx = 0.15 m, Δy = 0.08 m; the controller shifts the potential well position to the predicted position in advance; at the same time, the launch power is increased to 80% of the rated value to enhance the binding force; the position is fine-tuned through the feedback of the tracer particles, and the steady-state error is <1 cm. The above-mentioned method can be applied in real complex water areas.

[0171] The input data of the multi-modal flow field perception module includes: ADV array original acoustic echo signal, high-speed image sequence of PIV system, optical tracking data of tracer particles, the processing process includes: ADV data processing: perform fast Fourier transform (FFT) analysis on acoustic echo to analyze Doppler shift, calculate three-dimensional flow velocity component, generate continuous flow velocity field through spatial interpolation, PIV data processing: perform cross-correlation algorithm processing on continuous image frames, calculate flow velocity gradient tensor, calculate vorticity field, calculate turbulence intensity; tracer particle processing: image recognition and particle tracking algorithm, calculate particle group center position, obtain particle group velocity through numerical differentiation, obtain deformation parameters (principal axis direction, eccentricity) through principal component analysis, output parameters: three-dimensional flow velocity vector field, flow velocity gradient tensor, vorticity field, turbulence intensity field, actual position of particle group, actual velocity of particle group and deformation parameters of particle group.

[0172] The predictive control decision module inputs data including: parameters from the perception module, current state of the system: current potential well position, current power setting, task target: expected delivery path, maximum allowed error; processing process: data fusion and state estimation, fluid-particle coupling dynamics model calculation: obtain acoustic radiation force, fluid drag force, buoyancy / gravity, additional mass force; extended Kalman filter prediction; potential well path planning; output data: potential well target position sequence, potential well target velocity, required power level, prediction confidence.

[0173] The input data of the dynamic sound field reconstruction module includes: target position, target velocity, power level and system state; the processing process: real-time phase compensation calculation; adaptive power control; beamforming parameter update; output data: driving signal, phase control value, amplitude control value.

[0174] Although preferred embodiments of the application have been described, those skilled in the art, once aware of the basic inventive concept, can make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the application.

[0175] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A suspended sediment transport and reservoir dredging system, characterized in that, The system includes: The acoustic manipulation array module is used to form an acoustic potential well in the water above the silt layer at the bottom of the reservoir based on the control of the control unit. The acoustic potential well is used to capture the sediment particle group in the silt layer at the bottom of the reservoir. Based on the control of the control unit, the acoustic potential well carrying the sediment particle group moves towards the sediment collection target point. The sediment collection module collects sediment particles at the sediment collection target point to form mud. The sediment collection module is used to draw the mixture of water and mud into the separation equipment at the sediment collection target point for water and mud separation operation based on the control of the control unit. The separated mud is then transported to the subsequent treatment equipment through the mud conveying pipeline. The control unit includes: a multi-sensor feedback system, an underwater acoustic camera, a turbidity sensor, and a central controller; the multi-sensor feedback system is used to obtain data on the reservoir bottom topography and the distribution of reservoir bottom silt thickness, the underwater acoustic camera is used to monitor the motion state of the acoustic potential well and sediment particle population, and the turbidity sensor is used to monitor the concentration of the sediment particle population; the central controller is used to generate the acoustic potential well movement path based on the location information of the acoustic manipulation array module, the reservoir bottom topography, and the sediment accumulation target point, and is also used to control the transmission parameters of the acoustic manipulation array module based on the motion state of the acoustic potential well and sediment particle population and the concentration of the sediment particle population.

2. The suspended sediment transport and reservoir dredging system according to claim 1, characterized in that, The control unit is also used to deploy an acoustic control array module based on the reservoir bottom topography and the distribution data of the reservoir bottom silt thickness.

3. The suspended sediment transport and reservoir dredging system according to claim 1, characterized in that, The specific method by which the control unit controls the movement of the acoustic potential well carrying the sediment particle group toward the sediment accumulation target point is as follows: The task scheduler receives dredging tasks and assigns initial tasks to each acoustic potential well based on silt thickness and dredging priority. The path planner is used to plan a predicted path from the respective silt accumulation point to the sediment collection target point for each acoustic potential well. The path planning of the path planner is based on: static obstacles, dynamic obstacles and path distance. The collision detection and resolution device monitors the predicted paths of all acoustic potential wells in real time. When it is determined that the predicted paths of two or more acoustic potential wells will collide spatially or temporally at some point in the future, the collision detection and resolution device will activate a resolution strategy to eliminate the collision.

4. The suspended sediment transport and reservoir dredging system according to claim 1, characterized in that, The acoustic manipulation array module includes multiple array units, each array unit comprising an array of multiple transducers, and each array unit is installed on a corresponding underwater mobile platform.

5. The suspended sediment transport and reservoir dredging system according to claim 4, characterized in that, The system also includes: Main inertial measurement unit: Installed on the hull of the underwater mobile platform, used to monitor the pose changes of the underwater mobile platform body; From the inertial measurement unit: mounted on the array unit mounting base of the stable platform mechanism, used to monitor the actual pose of the array unit; Reference hydrophone array: Installed on the outside of the hull of the underwater mobile platform, used to measure the relative phase of the emitted sound waves in the external water medium; Stabilization platform mechanism: The upper platform of the stabilization platform mechanism is equipped with an array unit through an actuator, and the lower platform of the stabilization platform mechanism is rigidly connected to the main body of the underwater mobile platform. Platform pose sensor: used to provide real-time feedback on the pose information of the actuator; The controller is used to receive signals from the master inertial measurement unit, signals from the slave inertial measurement unit, signals from the platform pose sensor, and to control the actuators. The main inertial measurement unit (MMU) collects the acceleration and angular velocity of the underwater mobile platform in real time. Based on the acceleration and angular velocity of the underwater mobile platform, it calculates the first attitude disturbance of the underwater mobile platform on the array unit. The reference hydrophone array measures the relative phase of the emitted sound wave in the external water medium. The controller compares the measured actual phase relationship with the ideal phase relationship, calculates the phase error vector, converts the phase error vector into the attitude adjustment amount required by the stabilizing platform mechanism, generates attitude adjustment command based on the attitude adjustment amount, generates attitude disturbance command based on the first attitude disturbance, and superimposes the attitude adjustment command and attitude disturbance command to generate actuator control command.

6. The suspended sediment transport and reservoir dredging system according to claim 4, characterized in that, The underwater mobile platform's outer shell adopts a multi-layered composite structure, comprising, from the outside to the inside: an acoustic transmission layer, a transducer array layer, a thermal management structure layer, and an internal protective layer. Each transducer is bonded to the inner side of the acoustic transmission layer with flexible conductive adhesive. The back electrode of the transducer is connected to the drive system via a flexible printed circuit. The curved shape of the transducer array layer conforms to the outer shell of the underwater mobile platform. The thermal management structure layer includes a substrate serving as a load-bearing structure and a heat conduction pathway, and a cooling unit connected to the liquid cooling system inside the underwater mobile platform. The internal protective layer uses an electromagnetic shielding composite material.

7. A suspended sediment transport and reservoir dredging system according to claim 6, characterized in that, The acoustic transmission layer is made of polyurethane elastomer or butyl rubber, and the outer surface of the acoustic transmission layer has a hydrophobic coating.

8. A suspended sediment transport and reservoir dredging system according to claim 4, characterized in that, The system also includes several wireless charging and data relay stations; the wireless charging and data relay stations are deployed based on the area to be dredged. When the underwater mobile platform's power is below a threshold, it autonomously navigates to the nearest wireless charging and data relay station to perform wireless charging, upload data, and download dredging tasks.

9. A suspended sediment transport and reservoir dredging system according to claim 1, characterized in that, The subsequent processing equipment is specifically used to process and obtain an anti-seepage pad, which is used to lay in the potential seepage area of ​​the reservoir. The anti-seepage pad adopts a three-layer structure: the upper layer is geotextile, the middle layer is silt composite material, and the lower layer is fiber felt. The silt composite material is processed by: dewatering the mud, then mixing the dewatered mud with superabsorbent resin, fiber and microbial nutrient source to obtain a mixed material, embedding several capsules in the mixed material to make a silt composite material. The capsule shell is a water-soluble polymer, and the inside is wrapped with a calcium carbonate precursor solution.

10. A suspended sediment transport and reservoir dredging system according to claim 1, characterized in that, The system also includes: Multimodal flow field sensing module: used to collect flow field data and acoustic potential well state data around the acoustic manipulation array module to obtain sensing data; Predictive control decision module: used to receive sensing data, process it, and generate control decision commands; Dynamic sound field reconstruction module: used to receive control decision commands, generate sound field control parameters based on the control decision commands, and control the corresponding acoustic manipulation array module based on the sound field control parameters.

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