A suspended sediment transport and reservoir desilting system

Abstract

The application discloses a suspended sediment transport and reservoir dredging system, and relates to the technical field of hydraulic engineering.The system comprises an acoustic control array module, a sediment collection module and a control unit.The acoustic control array module is used for forming an acoustic potential well in water above a reservoir bottom silt layer to capture a sediment particle group in the reservoir bottom silt layer; the sediment collection module is used for collecting the sediment particle group to gather at a sediment collection target point to form a slurry; and the control unit is used for generating an acoustic potential well moving path based on position information of the acoustic control array module, a reservoir bottom topography and the sediment collection target point, and for controlling emission parameters of the acoustic control array module based on a motion state of the acoustic potential well and the sediment particle group and a concentration of the sediment particle group.The application can realize non-contact, directional and cooperative transport of the sediment particle group, orderly guide the sediment particle group to a collection point, and realize low-energy-consumption, low-disturbance, high-efficiency and intelligent dredging operation.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering technology, specifically to a suspended sediment transport and reservoir dredging system. Background Technology

[0002] Existing reservoir dredging technologies mainly suffer from the following drawbacks:

[0003] The existing method, mechanical excavation / vacuuming, requires large dredgers, pontoons, pipelines, etc., which involves large equipment, high investment, and long operation cycle. During construction, the reservoir's water level needs to be significantly lowered or its operation stopped, resulting in huge losses in power generation or water supply. It also causes significant disturbance and is prone to secondary pollution.

[0004] The second existing method, siphon dredging, requires a water level difference, has low dredging efficiency, and is only suitable for small-scale, specific areas.

[0005] The third existing method, environmentally friendly suction, can reduce diffusion, but it is still a contact-based, localized operation and cannot achieve large-scale synchronous disturbance and intelligent collection.

[0006] Traditional acoustic or vibration dredging: Existing technologies mostly utilize the oscillating effect of sound waves or vibrations to loosen silt. Essentially, they still create turbulence, suspending the sediment before it is discharged by natural water flow or suction equipment. This method has low energy efficiency, poor directionality, cannot control the movement path of suspended particles, and may spread pollutants to a wider area of ​​water. Summary of the Invention

[0007] The purpose of this invention is to achieve non-contact, directional, and coordinated transport of sediment particle groups, guiding them in an orderly manner to the collection point, thereby realizing low-energy, low-disturbance, high-efficiency, and intelligent dredging operations.

[0008] To achieve the above-mentioned objectives, the present invention provides a suspended sediment transport and reservoir dredging system, the system comprising:

[0009] 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.

[0010] 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.

[0011] 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.

[0012] Currently, existing technologies lack a disruptive dredging method capable of non-contact, directional, and orderly transport of large-scale sediments, and intelligent coordination with collection devices. The purpose of this invention is to completely overcome the shortcomings of existing technologies and provide a completely new dredging paradigm. Its core idea is not disturbance but manipulation. By creating a specific acoustic environment, the directional and coordinated transport of sediment particle groups is achieved, guiding them orderly to the collection point, thereby realizing low-energy, low-disturbance, high-efficiency, and intelligent dredging operations.

[0013] The core of this invention lies in utilizing the acoustic radiation force effect and standing wave field to achieve non-contact, directional, and programmed transport of macroscale (centimeter to meter scale) sediment particle groups. The specific principle is as follows:

[0014] Formation of the acoustic potential well: By manipulating a phased array transducer, an acoustic pressure node (or anti-node) is formed at a specific location on the reservoir bottom. For most sediment particles (whose acoustic impedance is greater than that of water), they are subjected to an acoustic radiation force directed towards the acoustic pressure node. A large number of particles are thus captured and aggregated near the node, forming a high-concentration silt mass. This step transforms disordered individual particles into a manipulable aggregate.

[0015] Movement and transport of potential wells: By dynamically adjusting the phase difference between the transducers in the phased array, the acoustic interference pattern can be controlled, causing the aforementioned acoustic potential wells (i.e., sound pressure nodes) to move slowly along a preset path (the speed is adjustable, such as a few centimeters per second). The captured silt clumps then move synchronously with the potential wells, as if on a conveyor belt. This step achieves ordered and directional transport of sediments, rather than disordered diffusion.

[0016] Multi-potential-well collaborative operation: The control system can generate and control multiple independent acoustic potential wells, simultaneously picking up silt from different locations in the reservoir area and transporting it all to the central collection well along different paths. This step enables large-scale, parallel intelligent dredging operations.

[0017] Adaptive control: The system monitors the transport efficiency and reservoir bottom topography changes in real time using sensors. The control algorithm automatically adjusts the potential trap path to avoid obstacles and adaptively adjusts the acoustic field parameters based on silt characteristics (density, concentration) to ensure optimal capture and transport efficiency. This step ensures the system's intelligence and robustness.

[0018] Preferably, the control unit is further configured to deploy acoustic control array modules based on reservoir bottom topography and silt thickness distribution data. Deploying acoustic control array modules based on reservoir bottom topography allows for the avoidance of obstacles, while deploying them densely in areas with thicker silt based on silt thickness distribution data improves silt removal efficiency in those areas.

[0019] Preferably, the control unit controls the acoustic potential well carrying the sediment particle group to move towards the sediment accumulation target point in the following specific manner:

[0020] The task scheduler receives dredging tasks and assigns initial tasks to each acoustic potential well based on silt thickness and dredging priority.

[0021] 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.

[0022] 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.

[0023] In this system, during the dredging process, dredging tasks are assigned based on the terrain and silt distribution of the dredging area. Multiple acoustic potential wells are formed during the dredging process. Each acoustic potential well has a different starting position but the same target position: the sediment accumulation point. Therefore, each acoustic potential well has its own path from the starting point to the end point. The path may encounter obstacles, other acoustic potential wells, and dynamic obstacles. Therefore, path planning is necessary to ensure smooth dredging, improve dredging effect, and increase dredging efficiency.

[0024] Preferably, the acoustic manipulation array module includes multiple array units, each array unit comprising an array of multiple transducers, with each array unit mounted on a corresponding underwater mobile platform. Mounting each array unit on its respective underwater mobile platform greatly improves the system's flexibility. This allows for simultaneous cleaning while moving, enabling a single small mobile array to complete dredging tasks over large areas, making it particularly suitable for complex, corner areas that are difficult to cover with traditional fixed arrays.

[0025] Preferably, the system further includes:

[0026] 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;

[0027] 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;

[0028] 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;

[0029] 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.

[0030] Platform pose sensor: used to provide real-time feedback on the pose information of the actuator;

[0031] 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.

[0032] 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.

[0033] Integrating the array unit into an underwater mobile platform for mobile dredging faces a fundamental contradiction: the formation of the acoustic potential well relies on nanometer-level precision acoustic phase control, while the underwater mobile platform inevitably experiences six degrees of freedom of attitude disturbances in the real underwater environment. These disturbances mainly originate from: translation and rotation caused by uneven water flow impacts, vibrations generated by the platform's own thrusters, and minute changes in buoyancy and counterweight. Traditional underwater mobile platform attitude control systems (such as IMU- and thruster-based PID control) can only achieve macroscopic trajectory stability with centimeter-degree precision, far from meeting the subwavelength stability requirements of acoustic phase control (for 1kHz sound waves, a wavelength of 1.5 meters, requiring millimeter-level or even better stability). Directly installed array units sway along with the underwater mobile platform, causing disordered acoustic phase relationships and making it impossible to form or maintain a stable acoustic potential well. To solve this problem, this invention improves the system by designing a master inertial measurement unit, a slave inertial measurement unit, a reference hydrophone array, a stabilizing platform mechanism, a platform attitude sensor, and a controller. Based on the macroscopic attitude control of the underwater mobile platform, it can achieve precise, active, and real-time attitude compensation for the array units, thereby stabilizing the acoustic phase center of the array units in an inertial reference frame, ensuring the formation, stability, and precise control of the acoustic potential well under the movement and disturbance of the underwater mobile platform.

[0034] Preferably, the outer shell of the underwater mobile platform adopts a multi-layer 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; wherein, each transducer is bonded to the inner side of the acoustic transmission layer by flexible conductive adhesive, the back electrode of the transducer is connected to the drive system through a flexible printed circuit, and the curved shape of the transducer array layer is conformal 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 path, and a cooling unit connected to the liquid cooling system inside the underwater mobile platform; the internal protective layer is made of electromagnetic shielding composite material.

[0035] Traditional underwater acoustic equipment installation methods involve attaching transducers as independent components to the hull of an underwater mobile platform or extending them through openings. This approach has serious drawbacks: It disrupts the fluid dynamics profile: protruding transducers increase drag, generate eddy noise, and severely impact the maneuverability and endurance of the underwater mobile platform. It limits acoustic performance: attached installations cause sound reflection and refraction, interfering with sound field patterns and reducing energy transmission efficiency. It makes heat dissipation difficult: the heat generated by high-power transducers is difficult to dissipate effectively through the watertight hull, leading to performance degradation or even damage. It results in low reliability: exposed transducers are susceptible to impact damage, and leaks are prone to occur at connections. To address these issues, this invention provides an improved conformal phased array and fluid-acoustic integrated hull. By deeply integrating the transducer array with the underwater mobile platform hull in terms of structure, acoustics, fluid dynamics, and thermal management, it achieves a balance of low drag, high acoustic efficiency, efficient heat dissipation, and high reliability.

[0036] Preferably, the acoustic transmission layer is made of polyurethane elastomer or butyl rubber, and its outer surface has a hydrophobic coating. Using polyurethane elastomer or butyl rubber as the main material results in an acoustic impedance very close to that of water, achieving impedance matching. The hydrophobic coating on the outer surface reduces turbulent boundary layer adhesion and inhibits biofilm formation.

[0037] Preferably, the system further includes several wireless charging and data relay stations. These stations are deployed based on the area to be dredged. When the underwater mobile platform's battery level falls below a threshold, it autonomously navigates to the nearest wireless charging and data relay station to perform wireless charging, data upload, and data download for the dredging task. High-power transducers consume a large amount of power, and the battery energy carried by the underwater mobile platform is limited, making it impossible to support long-term, large-scale dredging operations. This invention combines the flexibility of the mobile platform with the continuous energy / data support of fixed infrastructure, facilitating charging and data transmission, improving endurance, and solving the application bottleneck.

[0038] Preferably, the subsequent processing equipment is specifically used to process and obtain an impermeable mat, which is used to lay in the potential seepage area of ​​the reservoir. The impermeable mat 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.

[0039] Traditional mud treatment methods (such as stockpiling, landfilling, and simple dehydration for brick making) suffer from low efficiency, high cost, low value, and potential secondary pollution. Constructing a large-area impermeable mat from silt for use in reservoirs not only enhances seepage prevention but also automatically detects and triggers healing processes in the event of leakage. In contrast, traditional seepage prevention methods, such as clay compaction or HDPE membrane laying, are costly and lack self-repair capabilities after damage.

[0040] Preferably, the system further includes:

[0041] 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;

[0042] Predictive control decision module: used to receive sensing data, process it, and generate control decision commands;

[0043] 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.

[0044] Acoustic potential traps are stable in static or weakly flowing water, but their stability is severely challenged in strong currents. While acoustic potential trap technology shows great potential in underwater particle manipulation, it faces fundamental challenges in practical applications: dynamic flow fields such as water currents in natural water bodies cause two key disturbances to the acoustic potential trap: fluid drag force interference: the water flow exerts a continuous drag force on the trapped particles, and when this exceeds the binding capacity of the acoustic radiation force, the particles will escape from the potential trap. Acoustic field phase distortion: the uneven density of water caused by turbulence will cause sound wave refraction and phase distortion, compromising the integrity of the potential trap. Existing acoustic manipulation systems mostly operate in static or ideal flow fields, lacking the ability to adapt to real and complex flow fields. To address this problem, this invention designs a multimodal flow field sensing module, a predictive control decision module, and a dynamic acoustic field reconstruction module. By sensing the flow field state in real time, predicting particle trajectories, and dynamically reconstructing the acoustic field, the acoustic potential trap remains stable in strong and turbulent environments, ensuring the continuous capture and controllable transport of trapped particle swarms.

[0045] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0046] This invention applies macro-scale acoustic manipulation technology to the field of dredging in water conservancy projects. Its principle is completely different from any existing mechanical or disturbance-based dredging methods. It enables non-contact, directional, and coordinated transport of sediment particle groups, guiding them orderly to the collection point, thereby achieving low-energy, low-disturbance, high-efficiency, and intelligent dredging operations.

[0047] Revolutionary low disturbance: The entire process is guided in an orderly manner rather than by disorderly disturbance, which greatly reduces the spread of pollutants into the water body and minimizes the impact on the reservoir's ecological environment and water quality.

[0048] Extremely high energy efficiency: Energy is used directly to drive particle motion, rather than wasted on ineffective agitation and overcoming pipe friction. The system power consumption is far lower than that of conventional dredgers with equivalent efficiency.

[0049] Intelligent and automated: The entire process is controlled by intelligent algorithms, enabling unmanned and automated operation, and can adapt to complex warehouse environments.

[0050] No production stoppage required: All equipment can be pre-deployed, and the operation will not affect the normal power generation, flood control, and water supply scheduling of the reservoir dam, resulting in huge economic benefits. Attached Figure Description

[0051] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0052] Figure 1 This is a schematic diagram of the composition of a suspended sediment transport and reservoir dredging system. Detailed Implementation

[0053] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0054] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0055] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

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

[0057] Example 1;

[0058] Please refer to Figure 1 , Figure 1 This invention provides a suspended sediment transport and reservoir dredging system, comprising:

[0059] 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.

[0060] 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.

[0061] 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.

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

[0063] The system includes array units, consisting of multiple independently controllable arrays of high-power, low-frequency transducers deployed at the bottom of the reservoir. Each transducer unit is encapsulated in a pressure-resistant, watertight housing and connected to the surface platform via cables.

[0064] Array layout: The array is arranged in a grid or specific topological structure according to the topography of the reservoir bottom to cover the target dredging area.

[0065] Sound field generation: Under the command of the intelligent control module, each transducer unit emits sound waves with specific frequencies (low frequencies, such as 100Hz-1000Hz), specific phases, and amplitudes. By precisely controlling the output of each unit, one or more acoustic potential traps are synthesized and moved in the water above the silt layer at the bottom of the reservoir.

[0066] The sediment collection module can be implemented as follows:

[0067] Includes a central collection well: a negative pressure suction central collection well is set at the preset lowest point or edge of the dredging area.

[0068] Adaptive suction port: The suction port of the collection well is designed to be adjustable and equipped with a vortex separator to initially separate water from high-concentration mud.

[0069] Sludge transport pipeline: pumps high-concentration sludge to onshore treatment facilities.

[0070] The control unit can be implemented as follows: a multi-sensor feedback system, including a multi-beam echo sounder to map the terrain and silt thickness distribution in real time; an underwater acoustic camera to monitor the sound field and particle motion; and a turbidity sensor to monitor concentration. A central controller, with a built-in core algorithm, receives sensor data and calculates and dynamically adjusts the transmission parameters (frequency, phase, power) of each unit in the acoustic array in real time.

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

[0072] The specific dredging process for the entire system can be summarized as follows:

[0073] Preliminary survey: A multibeam echo sounder was used to perform a detailed scan of the target reservoir area, generating a digital elevation model (DEM) and a silt thickness distribution map.

[0074] System Deployment: Based on the survey results, plan the placement of the acoustic array and the location of the collection well. Lower and secure the transducer units to the bottom of the reservoir according to the design. Lay the cables, sludge conveying pipelines, and the surface energy platform.

[0075] Path planning: In the control software, multiple optimal transport paths from each siltation area to the collection well are planned based on the silt distribution.

[0076] Dredging has begun:

[0077] Upon system startup, the central controller calculates the initial sound field parameters based on the planned path.

[0078] The acoustic array is activated, forming an acoustic potential well at a designated starting point to capture and collect silt.

[0079] The controller begins to dynamically adjust the phase, causing the potential well to move along the planned path, thus propelling the silt mass forward.

[0080] Multiple potential wells work simultaneously to transport silt from various locations in a synchronized manner.

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

[0082] Collection and treatment: The negative pressure suction system at the collection well extracts the high-concentration mud and transports it through pipelines to the dewatering and drying plant on shore for treatment.

[0083] Operation completed: When the sensor detects that the silt thickness in the target area has reached the design requirements, the system automatically stops the operation in that area and can switch to the next area.

[0084] To avoid obstacles and improve dredging efficiency in key siltation areas, the control unit is also used to deploy acoustic manipulation array modules based on reservoir bottom topography and silt thickness distribution data. Large obstacles on the reservoir bottom, such as reefs, driftwood, and abandoned structures, must be avoided during deployment. These obstacles severely interfere with sound field propagation, producing strong reflections and scattering, and compromising the stability of the acoustic potential well. The sound fields generated by each transducer unit must achieve sufficient overlap and interference within the target manipulation area (e.g., 0.5-2 meters above the silt surface). The formation of the acoustic potential well depends on constructive and destructive interference of sound waves. Only with sufficient energy coverage and overlap can a sufficiently strong, clearly defined acoustic pressure node (potential well) and acoustic radiation force gradient be formed.

[0085] The specific arrangement method can be as follows:

[0086] 1. Uniform grid layout, suitable for large-area preliminary dredging; applicable scenarios: suitable for large reservoir areas with relatively flat terrain and uniform siltation.

[0087] 2. Non-uniform topology layout, suitable for precise dredging in key areas: Based on the thermal map of silt thickness obtained from previous surveys, transducer units are densely deployed in the core area with the most severe siltation, and sparsely deployed in the peripheral areas with less siltation. This concentrates limited acoustic energy on the areas most in need of dredging, significantly improving system energy efficiency and dredging speed.

[0088] 3. Multi-subarray coordinated deployment, suitable for dredging of ultra-large reservoirs: The entire dredging area is divided into several sub-regions. Each sub-region is equipped with an independent, smaller acoustic array. Each subarray can work independently to clean the silt in its assigned area; alternatively, under the coordination of a central controller, they can work collaboratively to form a large, movable potential well, transporting silt from multiple sub-regions to a common collection well. This solves the problems of excessively large scale, high cost, and complex control associated with single arrays in ultra-large reservoirs. It also improves the system's modularity and scalability.

[0089] 4. Mobile array deployment for special terrains or experimental applications: The transducer array is mounted on one or more unmanned underwater vehicles (AUVs) or rail-mounted robots that can move slowly along the bottom of the silt. This greatly improves the system's flexibility. It allows for continuous cleaning while moving, enabling a small mobile array to complete dredging tasks over large areas.

[0090] This invention utilizes multiple transducers (phased arrays) working together to synthesize a complex, three-dimensional standing wave field at the desired locations in the water. A specific sound pressure node within this standing wave field acts like an invisible energy trap, continuously drawing in and capturing surrounding particles to form an acoustic potential well.

[0091] Among them, frequency, phase, and amplitude are three independent and most important dimensions for manipulating the sound field. The purpose of frequency control is to control the size of the particles and the scale of the potential well. The purpose of phase control is to control the shape of the sound wave front and the precise position of the potential well. The purpose of amplitude control is to control the intensity of the sound radiation force, that is, the depth or force of the potential well.

[0092] The specific implementation method for synthesizing and moving one or more acoustic potential traps in the water above the silt layer at the bottom of the reservoir by controlling the output of each unit is as follows:

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

[0094] Input (set value): The control algorithm (which may use existing control algorithms or programs, and is not limited in this embodiment of the invention) receives an instruction, such as: "Generate a potential well at coordinates (X1, Y1, Z1) and then move along path L at speed V to coordinates (X2, Y2, Z2)".

[0095] Calculation (beamforming algorithm):

[0096] The algorithm (which can use existing algorithms or programs, and is not limited in this embodiment of the invention) calculates the optimal phase value (Φ1, Φ2, Φ3... Φ) required for each transducer unit based on the current position of the target potential well and the accurate geometric model and underwater acoustic propagation model of the transducer array. n ) and amplitude values ​​(A1, A2, A3 ... A n This calculation process can be called beamforming.

[0097] Output (Execution):

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

[0099] Feedback (calibration and optimization):

[0100] Underwater acoustic sensors (such as hydrophone arrays) monitor the actual sound field in real time and transmit the data back to the controller. The controller compares the actual sound field with the theoretically expected sound field. If there is a deviation (due to factors such as water temperature changes or water flow disturbances), the control algorithm adaptively fine-tunes the phase and amplitude output of each unit to maintain the stability and accuracy of the potential well. Through a closed-loop feedback process, the robustness of the system in complex real-world environments is ensured.

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

[0102] Objective: To ensure that the sound waves emitted by all transducers are in phase and superimposed (constructive interference) at the target moving point P(t), thus forming a sound pressure node (potential well) at that point. Since each transducer is at a different distance from the target point P(t), the time required for sound wave propagation is also different. To ensure they arrive at point P(t) simultaneously (in phase), this time difference must be compensated. Compensation is achieved by having the farther transducers emit earlier and the closer ones emit later. This compensated time difference... Directly converted into the phase difference of the transmitted signal Conversion relationships: (where f is the sound wave frequency).

[0103] Implementation methods and steps:

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

[0105] Establish a three-dimensional coordinate system (X, Y, Z) for the bottom of the reservoir. Accurately measure and input the spatial coordinates (x, y, z) of each transducer unit i. i , yi , z i The preset potential well needs to move along a path L, which consists of a series of continuous three-dimensional coordinate points. Define , where t is time.

[0106] Step 2: Calculate the distance difference and path difference in real time;

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

[0109] Calculate the path difference: Find the value d that is the farthest among all distances. max(t) Then calculate the difference between each cell and the maximum value. This difference means that sound waves emitted by a transducer that is farther away need to travel a longer distance. It takes a certain distance to reach point P(t).

[0110] Step 3: Convert the path difference into a time delay or phase shift;

[0111] To compensate for the path difference and ensure all sound waves arrive at point P(t) simultaneously, units located further away need to emit earlier. This advance time... for:

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

[0113] According to the formula This converts the time delay into the phase offset that needs to be applied. Obtain the phase control amount required for each transducer unit i at time t in order to form a potential well at point P(t).

[0114] Step 4: Generate control signals and drive the transducer;

[0115] The DSP has an internal reference signal source (such as a sine wave). For the i-th channel, the DSP calculates... The reference signal is phase-shifted accordingly to generate a unique drive signal for that channel. This drive signal is then amplified and transmitted to the corresponding transducer unit. All transducers simultaneously emit sound waves with the same frequency but precisely calibrated initial phases.

[0116] Step 5: Move the potential well - execute in a loop;

[0117] The above process does not end with a single calculation, but rather is executed repeatedly at an extremely high refresh rate (e.g., 1000 times per second).

[0118] At time t0: Control all transducers to form a potential well at point P(t0).

[0119] Timing: Control all transducers, at A point forms a potential well.

[0120] Timing: Control all transducers, at A point forms a potential well. ...

[0122] Due to the extremely high refresh rate, the discrete changes in the potential well position can be viewed as continuous and smooth movement. The silt clump captured by the acoustic radiation force will be captured again by the potential well at the next moment before it has a chance to diffuse, thus being locked in and moving with the potential well.

[0123] In this embodiment of the invention, the specific method by which the control unit controls the acoustic potential well carrying the sediment particle group to move towards the sediment accumulation target point is as follows:

[0124] The task scheduler receives dredging tasks and assigns initial tasks to each acoustic potential well based on silt thickness and dredging priority.

[0125] 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.

[0126] 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.

[0127] The specific implementation method is as follows:

[0128] Task scheduler: Responsible for receiving dredging tasks (such as cleaning areas A, B, and C) and assigning initial tasks to each generated potential well based on sludge thickness, priority, and the current state of the system.

[0129] Path planner: Independently plans the optimal path from the starting point (silt accumulation point) to the ending point (collection well) for each potential well. Planning is based on: Static obstacles: reservoir bottom topography, rocks, buildings, etc. (from previous survey data). Dynamic obstacles: other moving potential wells, aquatic life protection areas, etc. Optimal efficiency: the path should be as short as possible with the lowest energy consumption.

[0130] Conflict Detection and Resolution: This module monitors the predicted paths of all potential wells in real time. When it predicts that the paths of two or more potential wells will conflict spatially or temporally at some point in the future (e.g., due to their proximity causing mutual interference of sound fields, or because they will arrive at the confluence well entrance at the same time), this module will initiate a resolution strategy.

[0131] Priority scheduling: Allow potential wells carrying larger amounts of silt to pass through first.

[0132] Speed ​​adjustment: Accelerate one potential well and decelerate the other to stagger their passage times.

[0133] Temporary path replanning: Commands one of the potential wells to detour a short distance.

[0134] In this embodiment of the invention, the acoustic control array module includes multiple array units, each array unit comprising an array of multiple transducers, and each array unit is mounted on a corresponding underwater mobile platform. The underwater mobile platform can be a mobile unmanned underwater vehicle (AUV).

[0135] In this embodiment, the array units in the acoustic control array module can be adjusted according to actual needs, and no corresponding limitation is imposed. The number of transducers in the array units can also be adjusted according to actual needs, and no corresponding limitation is imposed. The transducers can be iXblue JH series piezoelectric ceramic transducers and rare earth super magnetostrictive transducers (such as CCJ-03 type), and can be selected according to actual needs, and no corresponding limitation is imposed.

[0136] In this embodiment of the invention, the system further includes:

[0137] Main inertial measurement unit: Installed on the hull of the underwater mobile platform, used to monitor the attitude changes of the underwater mobile platform body; such as monitoring the 6-DoF attitude changes (three-axis acceleration, three-axis angular velocity) of the AUV body.

[0138] 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;

[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 acquires the acceleration and angular velocity of the AUV in real time. Using a pre-established inverse dynamic model (which can be an existing model, a model trained using machine learning, or a current AI model—this embodiment of the invention does not impose any limitations on this), the model calculates the magnitude of the pose disturbance (e.g., pose disturbances for the 6 degrees of freedom) that the AUV's motion will cause to the transducer array on the upper platform. The controller immediately sends the negative value of this pose disturbance as the target command to the Stewart platform's servo control system. The actuator drives the platform to move in the opposite direction, actively pulling the transducer array back to the target pose. Compensation is performed at the source of the AUV disturbance, with an extremely fast response, handling most high-frequency vibrations.

[0148] Feedback Control (Fine Calibration, Residual Elimination): Purpose: To eliminate residual phase errors caused by inaccurate feedforward models, actuator drift, and changes in the underwater acoustic propagation environment. Process: A reference hydrophone array continuously monitors the acoustic wave phase at several fixed points in the external sound field. The controller compares the measured actual phase relationship with the theoretically calculated ideal phase relationship to calculate the phase error vector. A sound field-pose mapping algorithm is used; this algorithm can be implemented using existing algorithms, such as Ambisonics-based sound field control or Vector Amplitude Translation (VBAP), etc. This embodiment of the invention does not impose any limitations on these algorithms. The phase error vector is converted into the micro-pose adjustment amount required by the stable platform (the micro-pose adjustment amounts for the 6 degrees of freedom are as follows: Mapping algorithm example: If the hydrophone detects a phase lag in the acoustic wave, indicating a longer sound path, the control system calculates a command to slightly adjust the transducer array towards the hydrophone (reducing the sound path). This fine-tuning command is superimposed on the feedforward command and sent to the actuator. This forms a true acoustic closed loop, ensuring ultimate accuracy of the acoustic phase, unaffected by model errors and time-varying environments.

[0149] In this embodiment of the invention, the outer shell of the underwater mobile platform adopts a multi-layer 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; wherein, each transducer is bonded to the inner side of the acoustic transmission layer by flexible conductive adhesive, the back electrode of the transducer is connected to the drive system through a flexible printed circuit, and the curved shape of the transducer array layer is conformal 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 path, and a cooling unit connected to the liquid cooling system inside the underwater mobile platform; the internal protective layer is made of electromagnetic shielding composite material.

[0150] The acoustic transmission layer can be designed with a thickness of one-quarter of the center wavelength of the operating frequency, at which point the sound wave transmission efficiency from water to the outer shell is highest. The thermal management structure layer can be made of high thermal conductivity carbon fiber composite material, serving as both the main load-bearing structure and a heat conduction pathway. The cooling system is connected to the internal liquid cooling system of the AUV, using deionized water or a special fluorinated liquid as the cooling medium. The internal protective layer uses electromagnetic shielding composite material to protect the internal electronic equipment from electromagnetic interference from the transducer.

[0151] In this embodiment of the invention, 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 this embodiment of the invention, the system further includes several wireless charging and data relay stations. These stations are deployed based on the area to be dredged. When the underwater mobile platform's battery level falls 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. Existing charging methods and devices can be used for wireless charging; however, this embodiment of the invention does not impose any specific limitations on the specific wireless charging methods and devices used.

[0153] In this embodiment of the invention, the subsequent processing equipment is specifically used to process and obtain an anti-seepage mat. The anti-seepage mat is laid in the potential seepage area of ​​the reservoir. The anti-seepage mat has a three-layer structure: an upper layer of geotextile, a middle layer of silt composite material, and a lower layer of fiber felt. The silt composite material is processed by dewatering the slurry, then mixing the dewatered slurry with superabsorbent polymer (SAP), fiber, and microbial nutrient source to obtain a mixed material. Several capsules are embedded in the mixed material to form the silt composite material. The capsule shell is a water-soluble polymer, and the interior contains a calcium carbonate precursor solution. The anti-seepage mat is laid in rolls on the bottom of the reservoir or the upstream face of the dam, especially in areas with potential leakage risks. During normal seepage prevention: the silt layer itself provides seepage prevention, and the superabsorbent polymer (SAP) gels upon contact with water, further blocking the pores. Self-healing leakage: Once a concentrated leak occurs, the water flow rapidly dissolves the microcapsule shell, releasing a repair solution that reacts with microorganisms to quickly generate calcium carbonate crystals in the leakage channel, automatically sealing the cracks. The water flow itself becomes the trigger for repair. The sludge composite material is composed of the following components mixed according to the percentage of dry sludge weight: superabsorbent polymer (SAP): 0.5% ~ 1.5%; fiber: 0.8% ~ 2.0%; urea: 1.0% ~ 3.0%; calcium source: 1.0% ~ 3.0%; and Bacillus pasteurellii bacterial solution, accounting for 10% ~ 30% of the total mixed water volume. The composition ratio of each component can be adjusted according to actual needs; this embodiment of the invention does not impose corresponding limitations. The role of superabsorbent polymer (SAP): Dry SAP particles are mixed in the material. When cracks form and water enters, the SAP preferentially and rapidly absorbs the infiltrated water, expanding rapidly tens to hundreds of times. Functions of the fibers (basalt fibers): Bridging effect: Forming a three-dimensional network within the material, spanning microcracks, preventing crack propagation, and improving the material's toughness and crack resistance. Controlling crack width: Dispersing potentially wide cracks into numerous harmless microcracks, which are the ideal scale for SAP and microorganisms to function.

[0154] In this embodiment of the invention, the system further includes:

[0155] 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;

[0156] Predictive control decision module: used to receive sensing data, process it, and generate control decision commands;

[0157] 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.

[0158] The implementation methods of the multimodal flow field sensing module can include:

[0159] Acoustic Doppler velocity profiler array: Arranged around the transducer array, it measures the three-dimensional velocity vector field V(x,y,z,t) at a sampling rate of ≥100Hz. 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: Employs a dual-pulse laser surface light source and a high-speed camera. It performs microscale flow field measurements on the potential well region and the surrounding water. It accurately acquires the velocity gradient, vorticity field, and turbulence intensity near the potential well.

[0161] Reference tracer particle system: A small amount of neutral buoyancy, highly reflective tracer particles are mixed into 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 of the predictive control decision module includes: a fluid-particle coupled dynamics model, an extended Kalman filter predictor, and a potential well path planner; the potential well path planner is used to calculate the optimal anchoring position sequence of the potential well based on the prediction results, generate a smooth potential well movement trajectory, and avoid abrupt changes.

[0163] The implementation of the dynamic sound field reconstruction module includes: a real-time phase compensation calculation unit, which recalculates the phase offset of each transducer unit based on the new potential well target position; and an adaptive power control unit, which dynamically adjusts the emission amplitude based on the flow field intensity.

[0164] The workflow is as follows:

[0165] Data acquisition and fusion: Simultaneously acquire ADV, PIV and tracer particle data, and fuse the data to generate a high-confidence flow field state estimate;

[0166] Motion prediction and decision-making: Perform extended Kalman filtering to predict the particle trajectory within the next 100ms, calculate the optimal anchoring position of the potential well, and determine the required sound field power level;

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

[0168] Adaptive optimization: Adjust the parameters of the prediction model online based on the control effect, and learn the optimal control strategy under specific flow field modes.

[0169] Detailed Implementation - Dynamic Anchoring in a Uniform High-Flow Environment:

[0170] The ADV detected a stable incoming flow with a velocity of 2.0 m / s, its direction forming a 30° angle with the potential well's movement path. The prediction model calculated the particle drift caused by the drag force to be Δx = 0.15 m and Δy = 0.08 m. The controller shifted the potential well position to the predicted position in advance; simultaneously, the transmission power was increased to 80% of the rated value to enhance the binding force; and the position was fine-tuned through tracer particle feedback, with a steady-state error of <1 cm. This method enables application in real, complex water environments.

[0171] The input data of the multimodal flow field sensing module includes: the original acoustic echo signal of the ADV array, the high-speed image sequence of the PIV system, and the optical tracking data of the tracer particles. The processing includes: ADV data processing: performing Fast Fourier Transform (FFT) analysis on the acoustic echo to analyze the Doppler frequency shift, calculating the three-dimensional velocity components, and spatially interpolating to generate a continuous velocity field; PIV data processing: performing cross-correlation algorithm processing on continuous image frames to calculate the velocity gradient tensor, calculate the vorticity field, and calculate the turbulence intensity; tracer particle processing: image recognition and particle tracking algorithms to calculate the centroid position of the particle cluster, obtain the particle cluster velocity through numerical differentiation, and obtain the deformation parameters (principal axis direction, eccentricity) through principal component analysis. The output parameters are: three-dimensional velocity vector field, velocity gradient tensor, vorticity field, turbulence intensity field, actual particle cluster position, actual particle cluster velocity, and particle cluster deformation parameters.

[0172] The predictive control decision module takes as input data parameters from the sensing module, the current system state (current potential well position, current power setting), the mission objective (desired delivery path), and the maximum permissible error. The processing includes data fusion and state estimation, fluid-particle coupled dynamics model calculations (obtaining acoustic radiation force, fluid drag force, buoyancy / gravity, and added mass force), extended Kalman filter prediction, and potential well path planning. Output data includes the potential well target position sequence, potential well target velocity, required power level, and prediction confidence level.

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

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

[0175] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

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; 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; The acoustic control 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; 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.

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 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.

5. A suspended sediment transport and reservoir dredging system according to claim 4, 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.

6. The suspended sediment transport and reservoir dredging system according to claim 1, 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.

7. The 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.

8. 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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