Low-disturbance mud-water separation type spiral dredging, collecting and lifting device and construction method

Abstract

The invention relates to the technical field of underwater desilting, in particular to a low-disturbance mud-water separation type spiral dredging, collecting and lifting device and a construction method.The device comprises a sealed excavation bin, a transverse tunneling and collecting spiral mechanism, a vertical lifting spiral mechanism and a discharging pipe, and the sealed excavation bin can walk along the underwater ground; the transverse tunneling and material collecting screw mechanism can excavate sludge and input the sludge into the material collecting cavity through the opening; the vertical lifting screw mechanism is communicated between the material collecting cavity and the first end of the discharging pipe, and the vertical lifting screw mechanism can convey sludge in the material collecting cavity into the discharging pipe; and the second end of the discharging pipe is communicated with sludge collecting equipment on the water ground. The water content ratio of the sludge can be greatly reduced, then the total conveying amount of the sludge is increased, the conveying efficiency is improved, the transportation cost of the sludge is effectively reduced, and ecological disturbance can be controlled while the dredging efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater dredging technology field, and particularly relates to a low-disturbance mud-water separation type spiral dredging and collecting and lifting device and a construction method. BACKGROUND

[0002] At present, the dredging operation of deep sea, channel, river, reservoir and various sedimentation tanks mainly adopts excavators or suction dredging equipment. Among them, the excavator is suitable for the operation scene with shallow water depth and thin silt layer; the suction dredging equipment is to stir the accumulated soil and water into slurry state by the stirring device, and then the slurry is pumped and transported. This method has the following problems: first, the stirring and suction need large power, and the energy consumption is large; second, the water content of the transported slurry is usually 80%~90%, the effective solid transportation amount is low, and the dredging efficiency is insufficient; third, the high-speed rotation of the cutter easily causes the disturbance of the bottom mud, which leads to the release of nitrogen, phosphorus, heavy metals and other pollutants, and may cause the problems of short-term oxygen deficiency of water body, explosive proliferation of algae and the like; at the same time, the construction noise and water flow disturbance will have an impact on the habitat environment of aquatic organisms, and is especially not suitable for ecological sensitive water areas such as drinking water sources; fourth, the complex equipment system leads to high cost, and the high-water-content slurry needs to be matched with large-scale sedimentation sites or filter pressing equipment for dewatering treatment, which prolongs the processing period and increases the cost, and the waste water generated by dewatering may also cause secondary pollution.

[0003] Therefore, it is necessary to provide a new low-disturbance mud-water separation type spiral dredging and collecting and lifting device and a construction method to solve the above technical problems. SUMMARY

[0004] The main purpose of the present application is to provide a low-disturbance mud-water separation type spiral dredging and collecting and lifting device, which aims to solve the problem of easy disturbance of the bottom mud and low dredging efficiency of the existing equipment.

[0005] To achieve the above purpose, the present application provides a low-disturbance mud-water separation type spiral dredging and collecting and lifting device, which comprises a sealed excavation bin, a transverse excavation and collecting spiral mechanism, a vertical lifting spiral mechanism and a discharge pipe. A collecting cavity is formed in the sealed excavation bin, a high-pressure environment can be formed in the collecting cavity, and an opening communicating with the collecting cavity is formed at the bottom of the sealed excavation bin. The sealed excavation bin can walk along the underwater ground. The transverse excavation and collecting spiral mechanism is arranged at the opening, and can excavate silt and input the silt into the collecting cavity through the opening. The vertical lifting spiral mechanism is connected between the collecting cavity and the first end of the discharge pipe, and can transport the silt in the collecting cavity into the discharge pipe. The second end of the discharge pipe is communicated with the silt collecting equipment on the ground.

[0006] Optionally, the sealed excavation bin comprises a sealed bin body and a pressurizing system, the lateral excavation aggregate screw mechanism and the vertical lifting screw mechanism are arranged on two sides of the sealed bin body, an inclined surface is arranged on the sealed bin body and inclined upward in a horizontal direction away from the vertical lifting screw mechanism, the inclined surface is provided with the opening, the sealed bin body is provided with the aggregate cavity, the pressurizing system is communicated with the aggregate cavity, and the pressurizing system can pressurize the aggregate cavity to form a high-pressure environment in the aggregate cavity.

[0007] Optionally, the sealed excavation bin further comprises a partition plate, the partition plate is arranged in the aggregate cavity and separates the aggregate cavity into a first cavity and a second cavity, the first cavity is communicated with the opening and the pressurizing system respectively, and a through hole is arranged on the partition plate, the lateral excavation aggregate screw mechanism is arranged in the first cavity, the vertical lifting screw mechanism is arranged in the second cavity, and the input end of the vertical lifting screw mechanism is arranged corresponding to the through hole.

[0008] Optionally, the lateral excavation aggregate screw mechanism comprises a lateral screw driving member and a lateral auger assembly, the lateral screw driving member is arranged on the sealed bin body, and the lateral auger assembly is arranged at the opening in a horizontal direction and connected with the output shaft of the lateral screw driving member, the lateral screw driving member can drive the lateral auger assembly to rotate around the central axis of the lateral auger assembly to dynamically seal the opening and bring the sludge into the first cavity.

[0009] Optionally, the lateral auger assembly comprises a lateral auger shaft and two lateral screw blades, the lateral auger shaft is rotationally connected with the sealed bin body and connected with the output shaft of the lateral screw driving member, the two lateral screw blades are symmetrically arranged about the through hole, the rotation directions of the two lateral screw blades are opposite, and part of the lateral screw blades is exposed to the opening.

[0010] Optionally, the lateral screw blade is a cutting blade type blade.

[0011] Optionally, the vertical lifting screw mechanism comprises a vertical conveying pipe, a vertical auger assembly and a vertical screw driving member, the first end of the vertical conveying pipe extends into the second cavity and is communicated with the through hole, the outer periphery of the second end is communicated with the discharge pipe, the vertical auger assembly is arranged in the vertical conveying pipe in the extension direction of the vertical conveying pipe, the vertical screw driving member is arranged at the second end of the vertical conveying pipe, the output shaft of the vertical screw driving member is connected with the vertical auger assembly, and the vertical screw driving member can drive the vertical auger assembly to rotate around the central axis of the vertical auger assembly to convey the sludge at the through hole to the discharge pipe along the vertical conveying pipe.

[0012] Optionally, the vertical auger assembly comprises a vertical auger shaft and a vertical auger blade, the first end of the vertical auger shaft is rotationally connected with the sealed bin body, and the second end is connected with the output shaft of the vertical screw drive; the vertical auger blade is arranged in a spiral shape on the vertical auger shaft, and the pitch of the vertical auger blade is arranged in a tapering manner along the direction from the first end to the second end of the vertical auger shaft.

[0013] Optionally, the low-disturbance sludge-water separation type screw dredging and collecting lifting device further comprises a connecting flange and a sealing ring, the vertical conveying pipe is connected with the sealed bin body through the connecting flange, and the connecting flange and the edge of the through hole are provided with the sealing ring.

[0014] Optionally, the sealed bin body is provided with a lifting lug for docking with a lifting device and a walking wheel capable of walking along an underwater ground; the sealed excavation bin further comprises an in-bin air pressure sensor, an in-bin water level sensor and a water pressure monitoring sensor, the in-bin air pressure sensor and the in-bin water level sensor are arranged in the material collecting cavity, the in-bin air pressure sensor is used to obtain a monitored in-bin air pressure in the material collecting cavity, and the in-bin water level sensor is used to obtain a monitored in-bin water level in the material collecting cavity; the water pressure monitoring sensor is arranged on the outer wall of the sealed bin body and is used to monitor the external water pressure outside the sealed bin body.

[0015] Optionally, the sealed excavation bin further comprises a front baffle, the front baffle comprises a mounting plate and an array of bevel gear structures, the mounting plate is arranged on the top edge of the opening along the width direction of the sealed bin body, and the array of bevel gear structures is arranged on the mounting plate and is used to crush and excavate sludge.

[0016] Optionally, the pressurizing system comprises a central controller and a pressurizing device, the central controller is electrically connected with the pressure adjusting structure of the pressurizing device, and the central controller can dynamically adjust the pressurizing parameters of the pressurizing device according to the monitoring data of the in-bin air pressure sensor, the in-bin water level sensor and the water pressure monitoring sensor.

[0017] In addition, the application further provides a low-disturbance sludge-water separation type screw dredging and collecting lifting construction method, which adopts the low-disturbance sludge-water separation type screw dredging and collecting lifting device to lift underwater sludge to a sludge collecting device on the ground above water, and comprises the following steps: Assembling the low-disturbance sludge-water separation type screw dredging and collecting lifting device, and connecting the discharge pipe with the sludge collecting device on the ground above water through a hose; Using a lifting device to hoist the low-disturbance sludge-water separation type screw dredging and collecting lifting device to the underwater area to be dredged until the walking wheel abuts against the underwater ground; The lateral digging aggregate screw mechanism, the vertical lifting screw mechanism and the pressurization system of the sealed excavation bin are started to sequentially transport the underwater silt into the discharge pipe through the lateral digging aggregate screw mechanism, the sealed excavation bin and the vertical lifting screw mechanism; meanwhile, the hoisting equipment drives the low-disturbance sludge separation type spiral dredging and collecting lifting device to move along the underwater ground.

[0018] Optionally, the specific step of pressurizing the aggregate cavity of the sealed excavation bin by the pressurization system comprises: ①, calculating the external water pressure based on the preset working depth , setting the initial pressurization parameter according to the calculated external water pressure , and the specific calculation formula is as follows: ; Among them: is the set safety excess pressure; ②, the central controller outputs an initial adjustment signal to the pressure adjusting structure of the pressurization device according to the initial pressurization parameter; and the pressurization device outputs the air pressure according to the initial adjustment signal ③, the central controller adopts a proportional-integral-derivative control algorithm to output a dynamic adjustment signal to the pressure adjusting structure of the pressurization device based on the water level error and the air pressure error; the pressurization device outputs the air pressure according to the dynamic adjustment signal; wherein: the water level error , is the monitored water level in the bin, is the preset target water level; the air pressure error , is the monitored air pressure in the bin, is the preset target air pressure.

[0019] Optionally, the preset target air pressure is dynamically updated according to the following formula: ; The central controller can also control the pressurization device to pressurize or depressurize according to the preset air pressure threshold and the preset water level threshold, specifically: When the monitored air pressure in the bin exceeds the preset air pressure threshold, the central controller controls the pressurization device to depressurize at a set depressurization rate; and if the water level in the monitored bin rises for N seconds, the central controller triggers an alarm signal and stops the lateral digging aggregate screw mechanism, wherein the set depressurization rate is 0.01kPa / s-0.1kPa / s; When the monitored water level in the bin exceeds the preset water level threshold, the central controller controls the pressurization device to pressurize at a set pressurization rate; wherein the set pressurization rate is 0.01kPa / s-0.1kPa / s.

[0020] Optionally, the central controller adopts a proportional-integral-derivative control algorithm to output a dynamic adjustment signal based on the water level error And the air pressure error output dynamic adjustment signal specifically includes the following steps: ①, data record and historical operation data set construction: the central controller continuously records data triplets at a fixed sampling period and stores them in the central controller's non-volatile memory in chronological order, thereby constructing a historical operation data set; wherein: the data triplets include input, output and system response, the input is water level error and air pressure error, the output is the dynamic adjustment signal output by the central controller at time t, and the system response is the water level in the monitoring bin and the air pressure in the monitoring bin at t+Δt; ②, objective function establishment: based on the overshoot OS, the adjustment time Ts and the integral absolute error IAE, the objective function J is established, and the specific expression is as follows: ; Wherein, α, β, γ are the weight coefficients of overshoot OS, adjustment time Ts and integral absolute error IAE respectively; ③, the area to be dredged is divided into multiple unit areas, and when any one of the set starting conditions is met, the central controller starts the background optimization mechanism to train the existing PID model based on the historical operation data set and the objective function to obtain the trained PID model; wherein: the set starting conditions include that the low disturbance mud-water separation type screw dredging set-picking lifting device completes the dredging work of a unit area, the water level in the monitoring bin exceeds the preset water level threshold for T1 seconds, and the air pressure in the monitoring bin fluctuates within a time window of T2 seconds The fluctuation amplitude exceeds the set amplitude threshold ΔPmax; The background optimization mechanism includes: Extract data of a set time length from the historical operation database as training data set; Using particle swarm algorithm or particle swarm algorithm, the objective function minimization is taken as the goal, and the model parameters of the trained PID model are obtained in the model parameter field of the current PID model; ④, the central controller inputs the input at the current time into the trained PID model, and outputs to obtain the dynamic adjustment signal.

[0021] The sealed excavation bin can walk along the underwater ground to expand the operation range of the low-disturbance sludge separation type spiral dredging and collecting and lifting device, the transverse excavation and collecting spiral mechanism can excavate sludge and input the sludge into the collecting cavity through the opening, the vertical lifting spiral mechanism can transport the sludge in the collecting cavity into the discharge pipe, and then the sludge is collected into the sludge collecting equipment on the ground, so that the sludge is transported from underwater to the ground, and the high-pressure environment in the sealed excavation bin can achieve the purpose of sludge separation during dredging, maintain the air-liquid balance inside and outside the sealed excavation bin, reduce the water content of the sludge, greatly reduce the water content of the sludge, and increase the overall transportation amount of the sludge, improve the transportation efficiency, and effectively reduce the transportation cost of the sludge, improve the dredging efficiency, and facilitate the control of ecological disturbance. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0023] Figure 1 The structure diagram of the low-disturbance sludge separation type spiral dredging and collecting and lifting device in the embodiment of the present application; Figure 2 The sectional view of the low-disturbance sludge separation type spiral dredging and collecting and lifting device in the embodiment of the present application; Figure 3 The bottom view of the low-disturbance sludge separation type spiral dredging and collecting and lifting device in the embodiment of the present application; Figure 4 The structure diagram of the sealed excavation bin and the transverse excavation and collecting spiral mechanism in the embodiment of the present application; Figure 5 The control logic diagram of the low-disturbance sludge separation type spiral dredging and collecting and lifting construction method in the embodiment of the present application.

[0024] Explanation of reference numerals: 1, sealed excavation bin; 1.1, sealed bin body; 1.1.1, aggregate chamber; A, first chamber; B, second chamber; 1.1.2, opening; 1.2, pressurization system; 1.3, partition plate; 1.3.1, through hole; 1.4, lifting lug; 1.5, traveling wheel; 1.6, bin front baffle; 1.6.1, mounting plate; 1.6.2, display bevel gear structure; 2, transverse material gathering screw mechanism; 2.1, transverse screw driving part; 2.2, transverse auger assembly; 2.2.1, transverse auger shaft; 2.2.2, transverse screw blade; 3, vertical lifting screw mechanism; 3.1, vertical conveying pipe; 3.2, vertical auger assembly; 3.2.1, vertical auger shaft; 3.2.2, vertical auger blade; 3.3, vertical screw driving part; 3.3.1, speed reducer; 3.3.2, motor; 4, discharge pipe; 5, connecting flange.

[0025] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0028] In addition, the descriptions such as “first”, “second” and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “plurality” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0029] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] In addition, the technical solutions among various embodiments of the present application can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0031] The present application provides a low disturbance sludge separation type spiral dredging and collecting lifting device, which aims to solve the problem that the existing equipment is easy to cause disturbance of bottom mud and has low dredging efficiency.

[0032] Referring to Figures 1 to 4The embodiment provides a low-disturbance sludge separation type spiral dredging and collecting and lifting device, which comprises a sealed excavation bin 1, a transverse dredging and collecting spiral mechanism 2, a vertical lifting spiral mechanism 3 and a discharge pipe 4. A collecting cavity 1.1.1 is formed in the sealed excavation bin 1. A high-pressure environment can be formed in the collecting cavity 1.1.1, and an opening 1.1.2, which is in communication with the collecting cavity 1.1.1, is formed in the bottom of the sealed excavation bin 1. The sealed excavation bin 1 can walk along the underwater ground. The transverse dredging and collecting spiral mechanism 2 is arranged at the opening 1.1.2. The transverse dredging and collecting spiral mechanism 2 can dredge sludge and input the sludge into the collecting cavity 1.1.1 through the opening 1.1.2. The vertical lifting spiral mechanism 3 is in communication between the collecting cavity 1.1.1 and the first end of the discharge pipe 4. The vertical lifting spiral mechanism 3 can transport the sludge in the collecting cavity 1.1.1 into the discharge pipe 4. The second end of the discharge pipe 4 is in communication with sludge collecting equipment on the ground. In actual operation, the sealed excavation bin 1 can walk along the underwater ground to expand the working range of the low-disturbance sludge separation type spiral dredging and collecting and lifting device. The transverse dredging and collecting spiral mechanism 2 can dredge sludge and input the sludge into the collecting cavity 1.1.1 through the opening 1.1.2. The vertical lifting spiral mechanism 3 can transport the sludge in the collecting cavity 1.1.1 into the discharge pipe 4, and then into the sludge collecting equipment on the ground, so as to complete the transportation of the sludge from the underwater ground to the ground. The high-pressure environment in the sealed excavation bin 1 can separate sludge and water during dredging, maintain the air-liquid balance between the inside and outside of the sealed excavation bin 1, reduce the water content of the sludge, greatly reduce the water content of the sludge, increase the overall transportation amount of the sludge, improve the transportation efficiency and effectively reduce the transportation cost of the sludge, improve the dredging efficiency, and facilitate the control of ecological disturbance. The high-pressure environment formed in the embodiment is a gas pressure high-pressure environment.

[0033] The sealed excavation bin 1 comprises a sealed bin body 1.1 and a pressurization system 1.2, the lateral excavation aggregate screw mechanism 2 and the vertical lifting screw mechanism 3 are separately arranged on the two sides of the sealed bin body 1.1, and an inclined surface is arranged on the sealed bin body 1.1 and inclined upward in a horizontal direction away from the vertical lifting screw mechanism 3; the inclined surface is provided with the opening 1.1.2; the sealed bin body 1.1 is provided with the aggregate cavity 1.1.1; the pressurization system 1.2 is in communication with the aggregate cavity 1.1.1, and the pressurization system 1.2 can pressurize the aggregate cavity 1.1.1 to form a high-pressure environment in the aggregate cavity 1.1.1. The inclined surface on the sealed bin body 1.1 facilitates the contact between the lateral excavation aggregate screw mechanism 2 at the opening 1.1.2 and the sludge and the entry of the sludge into the aggregate cavity 1.1.1; the pressurization system 1.2 comprises an air pump and an air inlet valve, the air pump is in communication with the aggregate cavity 1.1.1 through the air inlet valve, and the air pump delivers high-pressure gas into the aggregate cavity 1.1.1 through the air inlet valve to form a high-pressure environment in the aggregate cavity 1.1.1, thereby extruding the water in the aggregate cavity 1.1.1 from the opening 1.1.2, keeping the air pressure in the sealed excavation bin 1 balanced with the water pressure outside the bin, and ensuring that the aggregate cavity 1.1.1 in the bin is always in a water-free or low-water state during the dredging process, thereby realizing underwater dry dredging; and the high-pressure environment can work together with the vertical lifting screw mechanism 3 to boost the efficient vertical delivery of the sludge, thereby further improving the dredging efficiency.

[0034] Further, the sealed excavation bin 1 further comprises a partition plate 1.3 arranged in the aggregate cavity 1.1.1 and separating the aggregate cavity 1.1.1 into a first cavity A and a second cavity B, the first cavity A is in communication with the opening 1.1.2 and the pressurization system 1.2 respectively, and the partition plate 1.3 is provided with a through hole 1.3.1; the lateral excavation aggregate screw mechanism 2 is arranged in the first cavity A, the vertical lifting screw mechanism 3 is arranged in the second cavity B, and the input end of the vertical lifting screw mechanism 3 is correspondingly arranged with the through hole 1.3.1. The lateral excavation aggregate screw mechanism 2 brings the sludge into the first cavity A and delivers the sludge to the input end of the vertical lifting screw mechanism 3 through the through hole 1.3.1, and then the vertical lifting screw mechanism 3 delivers the sludge upward into the discharge pipe 4, thereby realizing the lifting operation of the underwater sludge; and under the action of the pressurization system 1.2, the water in the sludge entering the first cavity A can be discharged through the opening 1.1.2 to reduce the water content of the sludge and improve the dredging efficiency.

[0035] In the embodiment, the transverse tunneling aggregate screw mechanism 2 comprises a transverse screw driving member 2.1 and a transverse auger assembly 2.2, the transverse screw driving member 2.1 is arranged on the sealed bin body 1.1, the transverse auger assembly 2.2 is arranged at the opening 1.1.2 in a horizontal direction, and the transverse auger assembly 2.2 is connected with the output shaft of the transverse screw driving member 2.1, the transverse screw driving member 2.1 can drive the transverse auger assembly 2.2 to rotate around the central axis of the transverse auger assembly 2.2 to dynamically seal the opening 1.1.2 and bring the sludge into the first cavity A. The transverse auger assembly 2.2 is in clearance fit with the opening 1.1.2, the transverse screw driving member 2.1 drives the transverse auger assembly 2.2 to rotate to bring the sludge into the first cavity A, and the transverse auger assembly 2.2 can dynamically seal the opening 1.1.2 while rotating to ensure the sealing of the aggregate cavity 1.1.1, thereby maintaining the dry digging environment in the aggregate cavity 1.1.1.

[0036] Specifically, the transverse auger assembly 2.2 comprises a transverse auger shaft 2.2.1 and two transverse screw blades 2.2.2, the transverse auger shaft 2.2.1 is rotationally connected with the sealed bin body 1.1 and connected with the output shaft of the transverse screw driving member 2.1, and the two transverse screw blades 2.2.2 are symmetrically arranged about the through hole 1.3.1 and oppositely arranged in terms of rotation direction, and part of the transverse screw blades 2.2.2 is exposed to the opening 1.1.2. When the transverse screw driving member 2.1 drives the transverse auger shaft 2.2.1 to rotate, the sludge (which can also include mining materials in the embodiment) is gathered to the middle part from both sides under the action of the two transverse screw blades 2.2.2 and is extruded, and is brought into the output end of the vertical lifting screw mechanism 3 through the through hole 1.3.1 of the partition plate 1.3, and is then lifted by the vertical lifting screw mechanism 3 to the discharge pipe 4 for discharge, thereby realizing the continuous spiral conveying of the sludge from the water bottom to the water surface.

[0037] In the embodiment, the transverse screw blade 2.2.2 is a cutting blade type blade. The cutting blade type design of the transverse screw blade 2.2.2 can enhance the soil breaking capacity, thereby improving the crushing efficiency of the sludge and being beneficial to improving the dredging efficiency.

[0038] In the embodiment, the vertical lifting screw mechanism 3 comprises a vertical conveying pipe 3.1, a vertical auger assembly 3.2 and a vertical screw driving member 3.3. The first end of the vertical conveying pipe 3.1 extends into the second cavity B and communicates with the through hole 1.3.1, and the outer periphery of the second end communicates with the discharge pipe 4. The vertical auger assembly 3.2 is rotatably arranged in the vertical conveying pipe 3.1 along the extension direction of the vertical conveying pipe 3.1. The vertical screw driving member 3.3 is arranged at the second end of the vertical conveying pipe 3.1, and the output shaft of the vertical screw driving member 3.3 is connected with the vertical auger assembly 3.2. The vertical screw driving member 3.3 can drive the vertical auger assembly 3.2 to rotate around the central axis of the vertical auger assembly 3.2, so as to convey the sludge at the through hole 1.3.1 along the vertical conveying pipe 3.1 into the discharge pipe 4. The vertical screw driving member 3.3 drives the vertical auger assembly 3.2 to rotate, so as to convey the sludge along the vertical conveying pipe 3.1 to the discharge pipe 4, thereby realizing the vertical lifting operation of the sludge.

[0039] Further, the vertical auger assembly 3.2 comprises a vertical auger shaft 3.2.1 and a vertical auger blade 3.2.2. The first end of the vertical auger shaft 3.2.1 is rotatably connected with the sealing bin body 1.1, and the second end is connected with the output shaft of the vertical screw driving member 3.3. The vertical auger blade 3.2.2 is arranged in a spiral shape on the vertical auger shaft 3.2.1, and the pitch of the vertical auger blade 3.2.2 is gradually reduced along the direction from the first end to the second end of the vertical auger shaft 3.2.1. The vertical auger blade 3.2.2 adopts a variable-pitch design. During the lifting process, the sludge is extruded and the excess water is discharged through the gradual change of the pitch, and at the same time, a dynamic sealing effect is formed to maintain the dry excavation environment of the sealing bin body 1.1. Meanwhile, under the action of the high-pressure environment, the sludge can be efficiently conveyed along the vertical conveying pipe 3.1.

[0040] In the embodiment, the vertical screw driving member 3.3 is composed of a speed reducer 3.3.1 and a motor 3.3.2. The vertical auger shaft 3.2.1 is rigidly connected with the output end of the speed reducer 3.3.1 through a spline, so as to realize efficient transmission of the lifting power.

[0041] In this embodiment, the connection between the transverse auger shaft 2.2.1 and the vertical conveying pipe 3.2.1 and the sealing bin body 1.1 is provided with a spiral shaft radial sealing assembly, which adopts a combination structure of a secondary lip positive pressure split type oil seal and a labyrinth seal to seal the annular gap between the transverse auger shaft 2.2.1 and the vertical conveying pipe and the sealing bin body 1.1. The effectiveness of the spiral shaft radial sealing assembly depends on the stable positive pressure maintained in the sealing bin, which is one of the core targets of the aforementioned air pressure and water pressure adjustment. The central controller realizes dynamic adjustment of the pressurization parameters through the cooperative work of the pressurization device, the sealing bin body 1.1, the water level sensor in the bin and the air pressure sensor in the bin, achieves a dynamic sealing effect, maintains Not only the water pressure balance is achieved, but also the necessary "pressure activation source" is provided for the dynamic sealing assembly, realizing the synergistic effect of control and structure.

[0042] Further, the low-disturbance sludge separation type spiral dredging and collecting and lifting device further comprises a connecting flange 5 and a sealing ring, the vertical conveying pipe 3.1 is connected with the sealing bin body 1.1 through the connecting flange 5, and the connecting flange 5 and the edge of the through hole 1.3.1 are provided with the sealing ring. The vertical conveying pipe 3.1 is connected with the sealing bin body 1.1 through the connecting flange 5 and the sealing bin body 1.1, which can not only ensure the connection strength, but also improve the sealing performance of the sealing bin body 1.1.

[0043] In this embodiment, the sealing bin body 1.1 is provided with a lifting lug 1.4 for docking with a lifting device and a walking wheel 1.5 capable of walking along an underwater ground; the sealing excavation bin 1 further comprises an air pressure sensor in the bin and a water level sensor in the bin, both of which are arranged in the material collecting cavity 1.1.1, the air pressure sensor in the bin is used to monitor the air pressure in the material collecting cavity 1.1.1, and the water level sensor in the bin is used to monitor the water level in the material collecting cavity 1.1.1. The sealing bin body 1.1 is provided with a lifting lug 1.4 structure, which not only meets the lifting and auxiliary moving requirements of the device, but also supports the modular integrated installation of the water platform; the walking wheels 1.5 are arranged on both sides of the sealing bin body 1.1 respectively, which is used to reduce the resistance of dredging; the air pressure sensor in the bin and the water level sensor in the bin are used to monitor the air-liquid balance in the bin in real time, so as to realize the underwater dry dredging operation.

[0044] ​Further, the sealed excavation bin 1 further comprises a bin front baffle 1.6, which comprises a mounting plate 1.6.1 arranged at the top edge of the opening 1.1.2 along the width direction of the sealed bin body 1.1, and an array of bevel gear structures 1.6.2 arranged on the mounting plate 1.6.1 for crushing and excavating the sludge. The mounting plate 1.6.1 is adapted to the excavating cutter head through the threaded hole to simultaneously complete the sludge crushing and excavating operation during the low-disturbance sludge-water separation type screw dredging and collecting and lifting device running, significantly improving the dredging efficiency; the array of bevel gear structures 1.6.2 comprises a plurality of bevel gears arranged at intervals along the width direction of the sealed bin body 1.1, and the bevel gears are arranged in a tapered manner away from the opening 1.1.2. When the sealed bin body 1.1 is running, the array of bevel gear structures 1.6.2 can crush the sludge and play a guiding role, and the mounting plate 1.6.1 can improve the sealing performance at the opening 1.1.2, further improving the dredging efficiency.

[0045] The embodiment also provides a low-disturbance sludge-water separation type screw dredging and collecting and lifting construction method. The underwater sludge is lifted to the sludge collecting equipment on the ground above the water by using the low-disturbance sludge-water separation type screw dredging and collecting and lifting device, and the method comprises the following steps: Assembling the low-disturbance sludge-water separation type screw dredging and collecting and lifting device, and connecting the discharge pipe 4 to the sludge collecting equipment on the ground above the water through a hose; Using hoisting equipment to hoist the low-disturbance sludge-water separation type screw dredging and collecting and lifting device to the underwater of the area to be dredged until the walking wheel 1.5 abuts against the underwater ground; Starting the transverse excavating and collecting screw mechanism 2, the vertical lifting screw mechanism 3, and the pressurizing system 1.2 of the sealed excavation bin 1 to sequentially transport the underwater sludge to the discharge pipe 4 through the transverse excavating and collecting screw mechanism 2, the sealed excavation bin 1, and the vertical lifting screw mechanism 3; and simultaneously driving the low-disturbance sludge-water separation type screw dredging and collecting and lifting device to move along the underwater ground by the hoisting equipment.

[0046] Referring to Figure 5 In the embodiment, the specific steps of pressurizing the material collecting cavity of the sealed excavation bin by the pressurizing system comprise: ①, calculating the external water pressure based on the preset working depth Setting the initial pressurizing parameters according to the calculated external water pressure The specific calculation formula is as follows: ; Among them: is the set safety excess pressure; ②, the central controller outputs an initial adjustment signal to the pressure adjusting structure of the pressurizing device according to the initial pressurizing parameters; the pressurizing device outputs the air pressure according to the initial adjustment signal; ③、Central controller adopts proportional-integral-derivative control algorithm based on water level error and air pressure error output dynamic adjustment signal to the pressure regulating structure of the pressurizing device; the pressurizing device outputs air pressure according to the dynamic adjustment signal; wherein: the water level error , for monitoring the water level in the bin, for the preset target water level; the air pressure error , for monitoring the air pressure in the bin, for the preset target air pressure.

[0047] The preset target air pressure is dynamically updated according to the following formula: ; The central controller can also control the pressurizing device to pressurize or depressurize according to the preset air pressure threshold and the preset water level threshold, specifically: When the air pressure in the monitoring bin exceeds the preset air pressure threshold, the central controller controls the pressurizing device to depressurize at a set depressurization rate; and if the water level in the monitoring bin rises for N seconds, the central controller triggers an alarm signal and stops the transverse tunneling aggregate screw mechanism, wherein: the set depressurization rate is 0.01kPa / s-0.1kPa / s; When the water level in the monitoring bin exceeds the preset water level threshold, the central controller controls the pressurizing device to pressurize at a set pressurization rate; wherein: the set pressurization rate is 0.01kPa / s-0.1kPa / s.

[0048] The set depressurization rate and the set pressurization rate can prevent pressure from suddenly changing, causing the seal to fail or the equipment to be damaged.

[0049] Specifically: in the sealed excavation bin, through the coordinated work of the matching high-pressure system, the sealed bin body, the in-bin water level sensor and the in-bin air pressure sensor, dynamic adjustment of the pressurizing parameters is realized. The specific steps are as follows: 1、Sensor arrangement and data acquisition.

[0050] An in-bin water level sensor (such as an ultrasonic water level meter or a pressure type water level sensor) is installed inside the sealed bin for real-time monitoring of the in-bin water level height.

[0051] An in-bin air pressure sensor (such as a absolute pressure sensor or a differential pressure sensor) is installed inside the sealed bin for real-time monitoring of the in-bin air pressure value.

[0052] Install water pressure monitoring sensors (such as water depth pressure sensors) outside the sealed warehouse or connection points to monitor external water pressure (i.e. reservoir bottom water pressure) in real time. The water pressure value is related to the working depth.

[0053] All sensor data is transmitted to the central controller (such as PLC or industrial computer) through signal lines for real-time processing.

[0054] 2. Gas-liquid equilibrium model establishment.

[0055] According to the gas-liquid equilibrium principle, the air pressure in the sealed warehouse needs to be in dynamic balance with the external water pressure to prevent water intrusion into the warehouse. Ideally, where is the safety pressure (usually set to 5-10kPa to prevent minor fluctuations from causing water seepage).

[0056] The water level in the warehouse is related to the air pressure and external water pressure , through the hydrostatic formula: where is the density of water, is the acceleration of gravity. The goal is to control the water level below the bottom of the sealed warehouse (i.e. 0), ensuring a dry environment.

[0057] 3. Pressurization parameter adjustment logic.

[0058] Initial pressurization: at system startup, calculate the external water pressure according to the preset working depth (for example, where is the reservoir bottom depth), and set the initial air pressure . High-pressure systems (such as air compressors or air pumps) output air pressure according to to start draining water.

[0059] Real-time dynamic feedback control: 1) The central controller continuously compares the monitored water level in the warehouse with the target water level (typically ), and monitors the air pressure in the warehouse with the target air pressure ( ).

[0060] 2) Use proportional-integral-derivative (PID) control algorithm to adjust water level error and air pressure error Output a regulation signal to the pressure regulation valve of the high-pressure system or the speed central controller of the compressor.

[0061] ① When (i.e. water level rises), the central controller increases the air pressure output to enhance the drainage capacity.

[0062] ② When and , the central controller reduces the air pressure output to save energy and avoid overpressure.

[0063] 3) At the same time, considering the real-time changes of external water pressure (such as due to equipment sinking or water level fluctuation), dynamically update .

[0064] Multi-parameter coordinated regulation: 1) If the water level sensor detects a continuous rise in water level and the air pressure has reached the upper limit, the central controller can trigger an alarm or suspend the excavation of the lateral excavation aggregate screw mechanism II to reduce disturbance.

[0065] 2) The air pressure regulation rate is limited within a safe range (e.g. maximum change rate ≤0.1 kPa / s), preventing sudden pressure changes from causing seal failure or equipment damage.

[0066] 4、Safety and optimization measures.

[0067] Set air pressure and water level safety thresholds: when exceeds the maximum allowed pressure (e.g. 1.5 times the working pressure), the high-pressure system automatically releases pressure; when exceeds the critical water level (e.g. 10% of the height of the warehouse), the system automatically lifts the warehouse body or increases the air pressure.

[0068] Regularly calibrate sensors to ensure data accuracy.

[0069] Optimize PID parameters through historical data learning to improve response speed and stability.

[0070] Through precise air pressure and water pressure monitoring and regulation, the dry environment of the sealed excavation warehouse is ensured, water flow disturbance is minimized, and mud-water separation is achieved, thereby supporting the efficient and continuous transportation of the lateral and vertical screw mechanisms. Integrating this regulation method into the entire system improves the reliability and economy of the mechanism.

[0071] The central controller uses a proportional-integral-derivative control algorithm based on water level error and air pressure error output dynamic regulation signal, which includes the following steps: ①, data record and historical operation data set construction: the central controller continuously records data triples at a fixed sampling period and stores them in the central controller's non-volatile memory in chronological order to construct a historical operation data set; wherein: the data triples include input, output and system response, the input is water level error and air pressure error, the output is the dynamic adjustment signal output by the central controller at time t, and the system response is the water level in the monitoring bin and the air pressure in the monitoring bin at time t+Δt; ②, objective function establishment: based on the overshoot OS, the regulation time Ts and the integral absolute error IAE, the objective function J is established, and the specific expression is as follows: ; Wherein, α, β, γ are the weight coefficients of overshoot OS, regulation time Ts and integral absolute error IAE respectively; ③, the area to be dredged is divided into multiple unit areas, and when any of the set starting conditions is met, the central controller starts the background optimization mechanism to train the existing PID model based on the historical operation data set and the objective function to obtain the trained PID model; wherein: the set starting conditions include that the low disturbance sludge separation type screw dredging set-picking lifting device completes the dredging work of a unit area, the water level in the monitoring bin exceeds the preset water level threshold for T1 seconds, and the air pressure in the monitoring bin fluctuates more than the set amplitude threshold ΔPmax in the time window of T2 seconds; In this embodiment, T1 and T2 are both 30, and ΔPmax is 0.5 kPa. The current PID parameters cannot make the system overcome the disturbance (such as water seepage) within the preset threshold time, the system response is too slow or the control force is insufficient, and the performance has not met the basic requirements, so the background optimization mechanism needs to be started.

[0072] The background optimization mechanism includes: Extracting data of a set time length in the historical operation database as training data set; Using particle swarm algorithm or particle swarm algorithm, the model parameters of the trained PID model are obtained by optimizing the model parameter field of the current PID model with the objective function minimization as the target; ④, the central controller inputs the input at the current time into the trained PID model to output the dynamic adjustment signal.

[0073] The dynamic adjustment of the pressurizing parameters is as follows: 1. Monitoring and signal input, real-time monitoring of key parameters through three sensors: o External water pressure sensor monitors working water pressure ; o Bin air pressure sensor monitors bin air pressure ; o Bin water level sensor monitors bin water level ; 2. Control logic processing, the central controller makes intelligent decisions: o Calculate the target gas pressure based on the gas-liquid equilibrium model; o Error calculation and fine control through PID algorithm; o Generate accurate control signals; 3. Execution module, the supporting high-pressure system receives instructions and executes: o Adjust the output gas pressure according to the control signal; o Maintain the gas-liquid balance in the sealed chamber; 4. Safety monitoring and interlocking, independent safety mechanism: o Real-time judgment of whether the system is in a safe state; o Trigger multiple protection measures when abnormal; 5. Closed-loop feedback, forming a complete control loop: o Real-time feedback of chamber state changes to sensors; o Achieve adaptive dynamic adjustment; Specifically, the specific implementation of the self-learning PID parameter optimization method is as follows: “Data recording and data set construction” — “Performance indicators and target function (mathematical model) establishment” — “Optimization algorithm execution and parameter optimization” — “Parameter smoothing switching and verification” To achieve higher precision control and adapt to different geological conditions of the library bottom and working depth, the central controller further integrates the self-learning PID parameter optimization function based on historical data. Once the traditional PID parameters (proportional coefficient Kp, integral coefficient Ki, and differential coefficient Kd) are set, they are usually fixed and unchanged, but in the actual dredging process, the dynamic characteristics of the sealed chamber will change due to changes in mud viscosity, permeability, and equipment travel speed. Fixed PID parameters are difficult to maintain optimal performance under all working conditions.

[0074] Therefore, the embodiment adopts the following specific method to realize online self-tuning and optimization of PID parameters: 1. Data recording and data set construction: The central controller records a data triple in a fixed sampling period (e.g. 100 ms) during each operation, including: input (water level error and gas pressure error), output (control signal U(t) output at time t), and system response (monitoring chamber water level and monitoring chamber gas pressure at t+Δt).

[0075] These historical data are stored in the non-volatile memory of the central controller in chronological order, forming a growing historical operation database.

[0076] 2. Performance indicators and target function (mathematical model) establishment: The optimization goal is to make the control system faster, smaller overshoot and higher steady-state accuracy. To this end, the following performance indicators are defined: Overshoot (OS): The maximum percentage of the air pressure or water level in the chamber exceeding the target value after responding to external disturbances (such as sudden diving); Adjustment time (Ts): The time required for the system to re-enter and remain within the error band of ±2% of the target value after being disturbed.

[0077] Integral absolute error (IAE): The integral of the absolute value of the error over time, IAE = ∫|e(t)|dt, used to evaluate dynamic and steady-state performance.

[0078] The above indicators are combined into a target optimization function J, for example: Where: α, β, γ can be adjusted according to actual needs to focus on different performance requirements.

[0079] 3. Optimization algorithm execution and parameter optimization: The central controller periodically (e.g. after completing a dredging area) or when detecting continuous deterioration of control performance, starts a background optimization process.

[0080] The optimization process extracts the recent period (e.g. all data since the last optimization) from the historical running database as the training data set.

[0081] Advanced optimization algorithms are used to minimize the target function J, searching in the neighborhood of the current PID parameters (Kp0, Ki0, Kd0). Specifically, the following methods can be used: Particle swarm optimization (PSO): A set of PID parameters (Kp, Ki, Kd) is regarded as the position of a "particle" in three-dimensional space. The algorithm initializes a particle swarm, each particle updates its speed and position (i.e. parameter value) according to its own historical optimal position and group historical optimal position, and through iteration finds the optimal parameter combination that minimizes the target function J. This method converges quickly and is suitable for online optimization described in the invention.

[0082] Genetic algorithm (GA): PID parameters are encoded as "chromosomes", and through simulating selection, crossover and mutation operations in natural selection, a generation of better parameter combinations is evolved, and finally the best "individual" is selected.

[0083] The optimization process runs in the background and does not affect the normal PID control in the foreground. Once the optimization is complete, a new set of PID parameters (Kp_new, Ki_new, Kd_new) is obtained.

[0084] 4. Parameter smoothing switching and verification: To avoid system oscillation caused by parameter mutation, a smooth transition strategy is adopted when updating parameters, for example, gradually transitioning from old parameters to new parameters through linear interpolation within a few seconds.

[0085] After the update is completed, the central controller continues to monitor the subsequent control performance and stores the operation data under the new parameters into the database, forming a closed-loop learning-optimization-verification cycle, so that the system control performance is constantly self-improved in long-term operation.

[0086] In this embodiment, by introducing such a self-learning optimization mechanism based on historical data, the pressure control system is no longer a fixed "black box", but an intelligent system that can adapt to complex and variable underwater environments. It effectively solves the model mismatch problem caused by changes in silt characteristics, equipment wear, etc., and always controls the air pressure and water level at a high performance level, thereby fundamentally ensuring the realization of the low disturbance and low water content dredging goal, and embodying the high intelligence and advancement of the present application.

[0087] In this embodiment, based on the gas-liquid equilibrium principle, the water in the dredging sealed cabin is drained by pressurization, and the entering air pressure is monitored and adjusted in real time to make the external water pressure always balanced with the cabin air pressure, so that mud-water separation is realized during dredging, and low water content of the transported silt is ensured. Then, the silt is gathered from both sides to the middle through the horizontal tunneling and collecting screw mechanism 2, and the vertical lifting screw mechanism 3 is linked to form a three-dimensional conveying system, so that the silt is continuously lifted to the water surface through the discharge port, the stirring and a large amount of water absorption process are saved, and the efficient, economical and green continuous conveying of silt (or underwater mineral resources) from the bottom of the reservoir to the water surface is realized.

[0088] Since the low-disturbance mud-water separation type screw dredging and collecting and lifting construction method includes the low-disturbance mud-water separation type screw dredging and collecting and lifting device as described above, the low-disturbance mud-water separation type screw dredging and collecting and lifting construction method has all the beneficial effects of the low-disturbance mud-water separation type screw dredging and collecting and lifting device, and will not be described here.

[0089] The above only describes the preferred embodiments of the present application, and does not limit the scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the protection scope of the present application.

Claims

1. A low-disturbance mud-water separation spiral dredging and collection lifting device, characterized in that it includes a sealed excavation chamber (1), a transverse excavation and collection spiral mechanism (2), a vertical lifting spiral mechanism (3), and a discharge pipe (4). The sealed excavation chamber (1) forms a collection cavity (1.1.1), which can form a high-pressure environment. The bottom of the sealed excavation chamber (1) has an opening (1.1.2) communicating with the collection cavity (1.1.1), and the sealed excavation chamber (1) can move along the underwater surface. The transverse excavation and collection spiral mechanism (2) is located at the opening (1.1.2), and the transverse excavation and collection spiral mechanism (2) can excavate silt and input silt into the collection cavity (1.1.1) through the opening (1.1.2). The vertical lifting spiral mechanism (3) communicates with the collection cavity (1.1.1). Between the first end of the discharge pipe (4) and the first end of the collection chamber (1.1.1), the vertical lifting screw mechanism (3) can transport the sludge in the collection chamber (1.1.1) to the discharge pipe (4); the second end of the discharge pipe (4) is connected to the sludge collection equipment on the water surface; The sealed excavation chamber (1) includes a sealed chamber body (1.1) and a pressurization system (1.2). The transverse excavation and material collection screw mechanism (2) and the vertical lifting screw mechanism (3) are respectively disposed on both sides of the sealed chamber body (1.1). The sealed chamber body (1.1) is provided with an inclined surface that is inclined upward in a horizontal direction away from the vertical lifting screw mechanism (3). The inclined surface has the opening (1.1.2). The sealed chamber body (1.1) is provided with the material collection chamber (1.1.1). The pressurization system (1.2) is connected to the material collection chamber (1.1.1). The pressurization system (1.2) can pressurize the material collection chamber (1.1.1) to form a high-pressure environment in the material collection chamber (1.1.1). The sealed excavation chamber (1) further includes a partition plate (1.3), which is disposed in the collection chamber (1.1.1) and divides the collection chamber (1.1.1) into a first chamber (A) and a second chamber (B). The first chamber (A) is connected to the opening (1.1.2) and the pressurization system (1.2) respectively, and the partition plate (1.3) is provided with a through hole (1.3.1). The transverse excavation collection screw mechanism (2) is disposed in the first chamber (A), and the vertical lifting screw mechanism (3) is disposed in the second chamber (B), and the input end of the vertical lifting screw mechanism (3) is correspondingly disposed with the through hole (1.3.1).

2. The low-disturbance slurry-water separation spiral dredging and hoisting device as described in claim 1, characterized in that, The transverse tunneling aggregate screw mechanism (2) includes a transverse screw drive (2.1) and a transverse auger assembly (2.2). The transverse screw drive (2.1) is disposed on the sealed chamber (1.1). The transverse auger assembly (2.2) is rotatably disposed at the opening (1.1.2) in the horizontal direction, and the transverse auger assembly (2.2) is connected to the output shaft of the transverse screw drive (2.1). The transverse screw drive (2.1) can drive the transverse auger assembly (2.2) to rotate around the central axis of the transverse auger assembly (2.2) to dynamically seal the opening (1.1.2) and bring the sludge into the first chamber (A).

3. The low-disturbance slurry-water separation spiral dredging and hoisting device as described in claim 2, characterized in that, The transverse auger assembly (2.2) includes a transverse auger shaft (2.2.1) and two transverse helical blades (2.2.2). The transverse auger shaft (2.2.1) is rotatably connected to the sealed chamber (1.1) and connected to the output shaft of the transverse helical drive (2.1). The two transverse helical blades (2.2.2) are symmetrically arranged about the through hole (1.3.1) and the two transverse helical blades (2.2.2) are arranged in opposite directions. Parts of the transverse helical blades (2.2.2) are exposed in the opening (1.1.2).

4. The low-disturbance mud-water separation spiral dredging and hoisting device as described in claim 3, characterized in that, The transverse helical blade (2.2.2) is a cutting blade type.

5. The low-disturbance mud-water separation spiral dredging and hoisting device as described in any one of claims 2 to 4, characterized in that, The vertical lifting screw mechanism (3) includes a vertical conveying pipe (3.1), a vertical auger assembly (3.2), and a vertical screw drive (3.3). The first end of the vertical conveying pipe (3.1) extends into the second cavity (B) and communicates with the through hole (1.3.1), while the outer periphery of the second end communicates with the discharge pipe (4). The vertical auger assembly (3.2) is rotatably disposed within the vertical conveying pipe (3.1) along its extension direction. The vertical screw drive (3.3) is disposed at the second end of the vertical conveying pipe (3.1), and the output shaft of the vertical screw drive (3.3) is connected to the vertical auger assembly (3.2). The vertical screw drive (3.3) can drive the vertical auger assembly (3.2) to rotate around the central axis of the vertical auger assembly (3.2) so as to convey the sludge at the through hole (1.3.1) along the vertical conveying pipe (3.1) into the discharge pipe (4).

6. The low-disturbance mud-water separation spiral dredging and hoisting device as described in claim 5, characterized in that, The vertical auger assembly (3.2) includes a vertical auger shaft (3.2.1) and vertical auger blades (3.2.2). The first end of the vertical auger shaft (3.2.1) is rotatably connected to the sealed chamber (1.1), and the second end is connected to the output shaft of the vertical helical drive (3.3). The vertical auger blades (3.2.2) are spirally arranged on the vertical auger shaft (3.2.1), and the pitch of the vertical auger blades (3.2.2) gradually decreases along the direction from the first end to the second end of the vertical auger shaft (3.2.1).

7. The low-disturbance mud-water separation spiral dredging and hoisting device as described in claim 6, characterized in that, The low-disturbance mud-water separation spiral dredging and collection lifting device also includes a connecting flange (5) and a sealing ring. The vertical conveying pipe (3.1) is connected to the sealed chamber (1.1) through the connecting flange (5); and the sealing ring is provided between the connecting flange (5) and the edge of the through hole (1.3.1).

8. The low-disturbance mud-water separation spiral dredging and hoisting device as described in any one of claims 2 to 4, characterized in that, The sealed chamber (1.1) is equipped with lifting lugs (1.4) for docking with hoisting equipment and traveling wheels (1.5) for traveling along the underwater ground; the sealed excavation chamber (1) also includes an internal air pressure sensor, an internal water level sensor, and a water pressure monitoring sensor, wherein the internal air pressure sensor and the internal water level sensor are both located in the material collection chamber ( Within 1.1.1), the air pressure sensor inside the chamber is used to acquire the air pressure inside the collection chamber (1.1.1), and the water level sensor inside the chamber is used to acquire the water level inside the collection chamber (1.1.1); the water pressure monitoring sensor is installed on the outer wall of the sealed chamber body to monitor the external water pressure outside the sealed chamber body.

9. The low-disturbance mud-water separation spiral dredging and hoisting device as described in claim 8, characterized in that, The sealed excavation chamber (1) further includes a front baffle (1.6), which includes a mounting plate (1.6.1) and an array of oblique teeth (1.6.2). The mounting plate (1.6.1) is disposed at the top edge of the opening (1.1.2) along the width direction of the sealed chamber body (1.1), and the array of oblique teeth (1.6.2) is disposed on the mounting plate (1.6.1) for crushing and excavating silt.

10. The low-disturbance mud-water separation spiral dredging and hoisting device as described in claim 9, characterized in that, The pressurization system includes a central controller and a pressurization device. The central controller is electrically connected to the pressure regulation structure of the pressurization device. The central controller can dynamically adjust the pressurization parameters of the pressurization device based on the monitoring data of the air pressure sensor, the water level sensor, and the water pressure monitoring sensor inside the chamber.

11. A low-disturbance sludge-water separation spiral dredging and collection lifting construction method, comprising a sludge collection device as described in claim 10 for lifting underwater sludge to the surface, characterized in that, Includes the following steps: Assemble a low-disturbance mud-water separation spiral dredging and collection lifting device, and connect the discharge pipe (4) to the silt collection equipment on the water surface through a hose; The low-disturbance mud-water separation spiral dredging and collection lifting device is hoisted to the underwater area of ​​the dredging area using hoisting equipment until the traveling wheel (1.5) comes into contact with the underwater ground; Start the pressurization system (1.2) of the transverse tunneling aggregate screw mechanism (2), the vertical lifting screw mechanism (3) and the sealed excavation chamber (1) to transport the underwater silt to the discharge pipe (4) in sequence through the transverse tunneling aggregate screw mechanism (2), the sealed excavation chamber (1) and the vertical lifting screw mechanism (3); at the same time, the hoisting equipment drives the low-disturbance mud-water separation spiral dredging and collection lifting device to move along the underwater ground.

12. The low-disturbance slurry-water separation spiral dredging and hoisting construction method as described in claim 11, characterized in that, The specific steps by which the pressurization system pressurizes the collection chamber of the sealed excavation bin include: ① The external water pressure is calculated based on the preset working depth. The initial pressurization parameters are set based on the calculated external water pressure. The specific calculation formula is as follows: ； in: The set safety clearance pressure; ② The central controller outputs an initial adjustment signal to the pressure regulation structure of the pressurization device based on the initial pressurization parameters; the pressurization device outputs air pressure based on the initial adjustment signal. ③ The central controller adopts a proportional-integral-derivative control algorithm based on water level error. The pressure error is dynamically adjusted by sending a signal to the pressure regulating structure of the pressurizing device; the pressurizing device outputs pressure based on the dynamic adjustment signal; where: water level error , To monitor the water level inside the warehouse, Preset target water level; air pressure error , To monitor the air pressure inside the chamber, The preset target air pressure.

13. The low-disturbance slurry-water separation spiral dredging and hoisting construction method as described in claim 12, characterized in that, The preset target air pressure Dynamic updates are performed based on the following formula: ； The central controller can also control the pressurization device to pressurize or depressurize according to preset air pressure thresholds and preset water level thresholds. Specifically: When monitoring the air pressure inside the chamber When the pressure exceeds the preset threshold, the central controller controls the pressurization device to release pressure at a set pressure change rate; and if the water level in the monitoring chamber rises for N seconds, the central controller triggers an alarm signal and stops the transverse excavation aggregate screw mechanism, wherein the set pressure change rate is 0.01 kPa / s-0.1 kPa / s. When monitoring the water level inside the warehouse When the water level exceeds the preset threshold, the central controller controls the pressurization device to pressurize at a set pressurization rate; wherein: the set pressurization rate is 0.01kPa / s-0.1kPa / s.

14. The low-disturbance slurry-water separation spiral dredging and hoisting construction method as described in claim 13, characterized in that, The central controller uses a proportional-integral-derivative control algorithm based on water level error. The dynamic adjustment signal for outputting air pressure error specifically includes the following steps: ① Data Recording and Construction of Historical Operation Dataset: The central controller continuously records data triplets at a fixed sampling period and stores them in the non-volatile memory of the central controller in time sequence to construct the historical operation dataset; wherein: the data triplets include input, output and system response, the input is water level error and air pressure error, the output is the dynamic adjustment signal output by the central controller at time t, and the system response is the water level and air pressure in the monitoring chamber at time t+Δt; ② Objective Function Establishment: The objective function J is established based on the overshoot OS, settling time Ts, and integral absolute error IAE. The specific expression is as follows: ； Where α, β, and γ are the weighting coefficients for overshoot OS, settling time Ts, and integral absolute error IAE, respectively. ③ Divide the area to be dredged into multiple unit areas. When any of the start conditions are set, the central controller starts the background optimization mechanism to train the existing PID model based on the historical operation dataset and the objective function to obtain the trained PID model. Among them, the start conditions include the low-disturbance mud-water separation spiral dredging and lifting device completing the dredging operation of one unit area, the water level in the monitoring chamber exceeding the preset water level threshold for T1 seconds, and the air pressure in the monitoring chamber fluctuating within a time window of T2 seconds exceeding the set amplitude threshold ΔPmax. Backend optimization mechanisms include: Extract data of a specified time period from the historical operation database as the training dataset; The particle swarm optimization algorithm is used to optimize the model parameters of the current PID model within the range of the current model parameters, with the objective function minimization as the goal, so as to obtain the model parameters of the trained PID model. ④ The central controller inputs the current input quantity into the trained PID model and outputs a dynamic adjustment signal.

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