Low-disturbance slurry separation type screw dredging collection and lifting device and construction method

Abstract

The present application relates to underwater dredging technology field, especially to a low disturbance sludge separation type spiral dredging collection and lifting device and construction method, the device includes sealed excavation bin, transverse excavation material collecting screw mechanism, vertical lifting screw mechanism and discharge pipe, the sealed excavation bin can walk along the underwater ground, the transverse excavation material collecting screw mechanism can excavate sludge and input sludge into the material collecting cavity through the opening, the vertical lifting screw mechanism is connected between the material collecting cavity and the first end of the discharge pipe, the vertical lifting screw mechanism can transport sludge in the material collecting cavity into the discharge pipe, the second end of the discharge pipe is communicated with the sludge collecting equipment on the ground. The present application can greatly reduce the water content of sludge, thereby increasing the overall conveying capacity of sludge, improving the conveying efficiency and effectively reducing the transportation cost of sludge, improving the dredging efficiency while being conducive to controlling ecological disturbance.

Description

Technical Field

[0001] This invention relates to the field of underwater dredging technology, and in particular to a low-disturbance mud-water separation spiral dredging and collection lifting device and its construction method. Background Technology

[0002] Currently, dredging operations in deep seas, waterways, rivers, reservoirs, and various sedimentation ponds mainly employ excavators or cutter suction dredging equipment. Excavators are suitable for operations with shallow water depths and thin silt layers; cutter suction dredging equipment uses a winch device to first mix the accumulated mud and water into a slurry state, which is then pumped and transported by a mud pump. This method has several drawbacks. First, both agitation and suction require significant power, resulting in high energy consumption. Second, the transported sludge typically has a water content of 80%–90%, leading to low effective solids transport and insufficient dredging efficiency. Third, the high-speed rotation of the cutter head can cause severe disturbance to the bottom sediment, releasing pollutants such as nitrogen, phosphorus, and heavy metals, potentially causing short-term oxygen depletion and explosive algal blooms in the water. Furthermore, construction noise and water flow disturbance can impact the habitat of aquatic organisms, making it particularly unsuitable for ecologically sensitive water bodies such as drinking water sources. Fourth, the complex equipment system results in high costs, and the high water content sludge requires large sedimentation sites or filter presses for dewatering, extending the processing cycle and increasing costs during subsequent drying processes. The wastewater generated during dewatering may also cause secondary pollution.

[0003] Therefore, it is necessary to provide a new low-disturbance mud-water separation spiral dredging and hoisting device and construction method to solve the above-mentioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide a low-disturbance mud-water separation spiral dredging and collection lifting device, which aims to solve the problems of existing equipment easily causing bottom mud disturbance and low dredging efficiency.

[0005] To achieve the above objectives, this invention proposes a low-disturbance sludge-water separation spiral dredging and collection lifting device, comprising a sealed excavation chamber, a transverse excavation and collection spiral mechanism, a vertical lifting spiral mechanism, and a discharge pipe. The sealed excavation chamber forms a collection cavity capable of creating a high-pressure environment, and an opening at the bottom of the sealed excavation chamber communicating with the collection cavity allows the sealed excavation chamber to move along the underwater surface. The transverse excavation and collection spiral mechanism is located at the opening, enabling it to excavate sludge and input it into the collection cavity through the opening. The vertical lifting spiral mechanism connects the collection cavity and the first end of the discharge pipe, transporting the sludge from the collection cavity to the discharge pipe. The second end of the discharge pipe is connected to a sludge collection device on the surface.

[0006] Optionally, the sealed excavation chamber includes a sealed chamber body and a pressurization system. The transverse excavation and material collection auger mechanism and the vertical lifting auger mechanism are respectively disposed on both sides of the sealed chamber body. The sealed chamber body is provided with an inclined surface that is inclined upward in a horizontal direction away from the vertical lifting auger mechanism. The inclined surface has the opening. The sealed chamber body is provided with the material collection chamber. The pressurization system is connected to the material collection chamber and can pressurize the material collection chamber to form a high-pressure environment in the material collection chamber.

[0007] Optionally, the sealed excavation chamber further includes a partition plate disposed within the collection chamber, dividing the collection chamber into a first chamber and a second chamber. The first chamber is connected to the opening and the pressurization system, respectively, and the partition plate is provided with a through hole. The transverse excavation collection screw mechanism is disposed within the first chamber, and the vertical lifting screw mechanism is disposed within the second chamber, with the input end of the vertical lifting screw mechanism corresponding to the through hole.

[0008] Optionally, the transverse tunneling aggregate screw mechanism includes a transverse screw drive and a transverse auger assembly. The transverse screw drive is disposed on the sealed chamber. The transverse auger assembly is rotatably disposed at the opening in the horizontal direction, and the transverse auger assembly is connected to the output shaft of the transverse screw drive. The transverse screw drive can drive the transverse auger assembly to rotate around the central axis of the transverse auger assembly to dynamically seal the opening and bring sludge into the first cavity.

[0009] Optionally, the transverse auger assembly includes a transverse auger shaft and two transverse helical blades. The transverse auger shaft is rotatably connected to the sealing chamber and connected to the output shaft of the transverse helical drive. The two transverse helical blades are symmetrically arranged about the through hole, and the two transverse helical blades are arranged in opposite directions, with a portion of the transverse helical blades exposed in the opening.

[0010] Optionally, the transverse helical blade is a cutting edge type blade.

[0011] Optionally, the vertical lifting screw mechanism includes a vertical conveying pipe, a vertical auger assembly, and a vertical screw drive. The first end of the vertical conveying pipe extends into the second cavity and communicates with the through hole, while the outer periphery of the second end communicates with the discharge pipe. The vertical auger assembly is rotatably disposed within the vertical conveying pipe along its extension direction. The vertical screw drive is disposed at the second end of the vertical conveying pipe, and its output shaft is connected to the vertical auger assembly. The vertical screw drive can drive the vertical auger assembly to rotate around its central axis to convey the sludge at the through hole along the vertical conveying pipe to the discharge pipe.

[0012] Optionally, the vertical auger assembly includes a vertical auger shaft and vertical auger blades. The first end of the vertical auger shaft is rotatably connected to the sealed chamber, and the second end is connected to the output shaft of the vertical screw drive. The vertical auger blades are spirally arranged on the vertical auger shaft, and the pitch of the vertical auger blades gradually decreases along the direction from the first end to the second end of the vertical auger shaft.

[0013] Optionally, the low-disturbance mud-water separation spiral dredging and collection lifting device further includes a connecting flange and a sealing ring, wherein the vertical conveying pipe is connected to the sealed chamber through the connecting flange; and the sealing ring is provided between the connecting flange and the edge of the through hole.

[0014] Optionally, the sealed chamber is equipped with lifting lugs for docking with hoisting equipment and wheels for traveling along the underwater surface; the sealed excavation chamber also includes an internal air pressure sensor, an internal water level sensor, and a water pressure monitoring sensor. The internal air pressure sensor and the internal water level sensor are both located inside the collection chamber. The internal air pressure sensor is used to acquire the internal air pressure in the collection chamber, and the internal water level sensor is used to acquire the internal water level in the collection chamber. The water pressure monitoring sensor is located on the outer wall of the sealed chamber to monitor external water pressure outside the sealed chamber.

[0015] Optionally, the sealed excavation chamber further includes a front baffle, which includes a mounting plate and an array of helical teeth. The mounting plate is disposed at the top edge of the opening along the width direction of the sealed chamber body, and the array of helical teeth is disposed on the mounting plate for crushing and excavating silt.

[0016] Optionally, the pressurization system includes a central controller and a pressurization device. The central controller is electrically connected to the pressure regulating 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 in-tank air pressure sensor, the in-tank water level sensor, and the water pressure monitoring sensor.

[0017] In addition, the present invention also provides a low-disturbance sludge-water separation spiral dredging and collection lifting construction method, which uses the low-disturbance sludge-water separation spiral dredging and collection lifting device described above to lift underwater sludge to a sludge collection device on the surface of the water, including the following steps:

[0018] Assemble a low-disturbance mud-water separation spiral dredging and collection lifting device, and connect the discharge pipe to the sludge collection equipment on the water surface via a hose;

[0019] 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 touches the underwater ground.

[0020] The pressurization system of the transverse excavation and collection auger mechanism, the vertical lifting auger mechanism, and the sealed excavation chamber is activated to transport underwater sludge sequentially through the transverse excavation and collection auger mechanism, the sealed excavation chamber, and the vertical lifting auger mechanism to the discharge pipe; 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.

[0021] Optionally, the specific steps for the pressurization system to pressurize the collection chamber of the sealed excavation bin include:

[0022] 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:

[0023] ;

[0024] in: The set safety clearance pressure;

[0025] 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.

[0026] 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.

[0027] Optionally, the preset target air pressure Dynamic updates are performed based on the following formula:

[0028] ;

[0029] 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:

[0030] 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.

[0031] 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.

[0032] Optionally, the central controller employs a proportional-integral-derivative control algorithm based on the water level error. The dynamic adjustment signal for outputting air pressure error specifically includes the following steps:

[0033] 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;

[0034] 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:

[0035] ;

[0036] Where α, β, and γ are the weighting coefficients for overshoot OS, settling time Ts, and integral absolute error IAE, respectively.

[0037] 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.

[0038] Backend optimization mechanisms include:

[0039] Extract data of a specified time period from the historical operation database as the training dataset;

[0040] 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.

[0041] ④ The central controller inputs the current input quantity into the trained PID model and outputs a dynamic adjustment signal.

[0042] In this invention, the sealed excavation chamber can move along the underwater surface to expand the operating range of the low-disturbance mud-water separation spiral dredging and collection lifting device. The lateral excavation and collection spiral mechanism can excavate silt and input it into the collection chamber through the opening. The vertical lifting spiral mechanism can transport the silt in the collection chamber to the discharge pipe, and then into the silt collection equipment on the surface, thereby completing the transportation of silt from underwater to above water. The high-pressure environment inside the sealed excavation chamber can achieve the purpose of mud-water separation during dredging, maintain the gas-liquid balance inside and outside the sealed excavation chamber, reduce the water content of the silt, significantly reduce the water content of the silt, thereby increasing the overall silt transportation volume, improving transportation efficiency, and effectively reducing silt transportation costs. While improving dredging efficiency, it is also beneficial to control ecological disturbance. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the low-disturbance mud-water separation spiral dredging and collection lifting device in an embodiment of the present invention;

[0045] Figure 2 This is a cross-sectional view of the low-disturbance mud-water separation spiral dredging and collection lifting device in an embodiment of the present invention;

[0046] Figure 3 This is a bottom view of the low-disturbance mud-water separation spiral dredging and collection lifting device in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the sealed excavation chamber and the transverse tunneling aggregate screw mechanism in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the control logic of the low-disturbance mud-water separation spiral dredging and lifting construction method in an embodiment of the present invention.

[0049] Explanation of icon numbers:

[0050] 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 Front baffle of bin; 1.6.1 Mounting plate; 1.6.2 Displaying helical tooth structure; 2. Lateral excavation aggregate auger mechanism; 2.1 Lateral screw... 2.1 Rotary drive component; 2.2 Horizontal auger assembly; 2.2.1 Horizontal auger shaft; 2.2.2 Horizontal spiral blades; 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 blades; 3.3 Vertical screw drive component; 3.3.1 Reducer; 3.3.2 Motor; 4. Discharge pipe; 5. Connecting flange.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0053] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0054] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0057] This invention proposes a low-disturbance mud-water separation spiral dredging and collection lifting device, which aims to solve the problems of existing equipment easily causing bottom mud disturbance and low dredging efficiency.

[0058] See Figures 1 to 4This embodiment provides a low-disturbance slurry-water separation spiral dredging and collection lifting device, including 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 create 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. 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. The transverse excavation and collection screw mechanism 2 can excavate silt and input silt into the collection chamber 1.1.1 through the opening 1.1.2. The vertical lifting screw mechanism 3 is connected between the collection chamber 1.1.1 and the first end of the discharge pipe 4. The vertical lifting screw mechanism 3 can transport the silt in the collection chamber 1.1.1 to the discharge pipe 4. The second end of the discharge pipe 4 is connected to the silt collection equipment on the surface of the water. In actual operation, the sealed excavation chamber 1 can move along the underwater surface to expand the operating range of the low-disturbance mud-water separation spiral dredging and collection lifting device. The lateral excavation and collection spiral mechanism 2 can excavate silt and input it into the collection chamber 1.1.1 through the opening 1.1.2. The vertical lifting spiral mechanism 3 can transport the silt in the collection chamber 1.1.1 to the discharge pipe 4, and then into the silt collection equipment on the surface, thus completing the silt transportation from underwater to above water. The high-pressure environment inside the sealed excavation chamber 1 can achieve the purpose of mud-water separation during dredging, maintain the gas-liquid balance inside and outside the sealed excavation chamber 1, reduce the water content of the silt, significantly reduce the water content of the silt, thereby increasing the overall silt transportation volume, improving transportation efficiency, and effectively reducing silt transportation costs. While improving dredging efficiency, it is also beneficial to control ecological disturbance. The high-pressure environment formed in this embodiment is a pneumatic high-pressure environment.

[0059] 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 and can pressurize the material collection chamber 1.1.1 to form a high-pressure environment in the material collection chamber 1.1.1. The inclined surface on the sealed chamber 1.1 facilitates the contact between the transverse excavation and collection screw mechanism 2 at the opening 1.1.2 and the silt, bringing the silt into the collection chamber 1.1.1. The pressurization system 1.2 includes a pneumatic pump and an air inlet valve. The pneumatic pump is connected to the collection chamber 1.1.1 through the air inlet valve, and delivers high-pressure gas into the collection chamber 1.1.1 through the air inlet valve to create a high-pressure environment within the collection chamber 1.1.1. This forces the water in the collection chamber 1.1.1 out through the opening 1.1.2, ensuring that the air pressure inside the sealed excavation chamber 1 is balanced with the water pressure outside the chamber. This guarantees that the collection chamber 1.1.1 remains dry or has low water content during the dredging process, achieving underwater dry dredging. Furthermore, in the high-pressure environment, it can work in conjunction with the vertical lifting screw mechanism 3 to promote efficient vertical transport of silt, further improving dredging efficiency.

[0060] Furthermore, the sealed excavation chamber 1 also includes a partition plate 1.3, which is disposed within 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 within the first chamber A, and the vertical lifting screw mechanism 3 is disposed within the second chamber B, with the input end of the vertical lifting screw mechanism 3 corresponding to the through hole 1.3.1. The transverse excavation and collection screw mechanism 2 carries the silt into the first chamber A and through the through hole 1.3.1 to the input end of the vertical lifting screw mechanism 3. Then, the vertical lifting screw mechanism 3 transports the silt from bottom to top into the discharge pipe 4, thereby realizing the underwater silt lifting operation. Under the action of the pressurization system 1.2, the water in the silt entering the first chamber A can be discharged through the opening 1.1.2 to reduce the water content of the silt and improve the dredging efficiency.

[0061] In this embodiment, the transverse excavation and material collection 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 a 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 its central axis to dynamically seal the opening 1.1.2 and carry silt into the first cavity A. The transverse auger assembly 2.2 is clearance-fitted with the opening 1.1.2. The transverse screw drive 2.1 drives the transverse auger assembly 2.2 to rotate to carry silt 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 material collection chamber 1.1.1, thereby maintaining the dry excavation environment inside the material collection chamber 1.1.1.

[0062] Specifically, the transverse auger assembly 2.2 includes a transverse auger shaft 2.2.1 and two transverse spiral 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 spiral drive 2.1. The two transverse spiral blades 2.2.2 are symmetrically arranged about the through hole 1.3.1, and the two transverse spiral blades 2.2.2 are arranged in opposite directions, with a portion of the transverse spiral blades 2.2.2 exposed in the opening 1.1.2. When the transverse spiral drive 2.1 drives the transverse auger shaft 2.2.1 to rotate, the sludge (which may also include mineral material in this embodiment) is gathered from both sides to the middle and squeezed under the action of the two transverse spiral blades 2.2.2. The sludge is then carried through the through hole 1.3.1 of the partition plate 1.3 into the output end of the vertical lifting spiral mechanism 3, and then lifted by the vertical lifting spiral mechanism 3 to the discharge pipe 4 for discharge, realizing continuous spiral conveying of sludge from the bottom to the surface of the water.

[0063] In this embodiment, the transverse helical blade 2.2.2 is a cutting edge type blade. The cutting edge design of the transverse helical blade 2.2.2 enhances the soil-breaking ability, thereby improving the silt breaking efficiency and thus improving the dredging efficiency.

[0064] In this embodiment, 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 its output shaft 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 its central axis, thereby conveying the sludge at the through hole 1.3.1 along the vertical conveying pipe 3.1 to the discharge pipe 4. The vertical screw drive 3.3 drives the vertical auger assembly 3.2 to rotate, so as to transport the sludge along the vertical conveying pipe 3.1 to the discharge pipe 4, thereby realizing the vertical lifting operation of the sludge.

[0065] Furthermore, 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 screw 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. The vertical auger blades 3.2.2 adopt a variable pitch design, which gradually squeezes the sludge to discharge excess water during the lifting process, while forming a dynamic sealing effect to maintain the dry excavation environment of the sealed chamber 1.1; at the same time, under the action of high pressure, it can help to efficiently transport the sludge along the vertical conveying pipe 3.1.

[0066] In this embodiment, the vertical screw drive 3.3 consists of a reducer 3.3.1 and a motor 3.3.2. The vertical auger shaft 3.2.1 is rigidly connected to the output end of the reducer 3.3.1 via a spline to achieve efficient transmission of lifting power.

[0067] In this embodiment, a radial sealing assembly is provided at the connection points of the transverse auger shaft 2.2.1 and the vertical conveying pipe 3.2.1 with the sealed chamber 1.1. This radial sealing assembly employs a combination of a secondary lip positive pressure type split 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 sealed chamber 1.1. The effectiveness of the radial sealing assembly depends on the stable positive pressure maintained within the sealed chamber, which is one of the core objectives of the aforementioned air and water pressure regulation. The central controller, through the coordinated operation of the pressurization device, the sealed chamber 1.1, the water level sensor within the chamber, and the air pressure sensor within the chamber, achieves dynamic adjustment of the pressurization parameters, resulting in a dynamic sealing effect and maintaining... > This not only achieved water pressure balance, but also provided the necessary "pressure activation source" for the dynamic sealing components, realizing synergistic effects between control and structure.

[0068] Furthermore, the low-disturbance slurry-water separation spiral dredging and 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. The connection between the vertical conveying pipe 3.1 and the sealed chamber 1.1 through the connecting flange 5 and the sealed chamber 1.1 ensures both connection strength and improved sealing performance of the sealed chamber 1.1.

[0069] In this embodiment, the sealed chamber 1.1 is equipped with lifting lugs 1.4 for docking with hoisting equipment and traveling wheels 1.5 capable of moving along the underwater surface. The sealed excavation chamber 1 also includes an internal air pressure sensor and an internal water level sensor, both of which are located within the collection chamber 1.1.1. The internal air pressure sensor monitors the air pressure within the collection chamber 1.1.1, and the internal water level sensor monitors the water level within the collection chamber 1.1.1. The lifting lugs 1.4 on the sealed chamber 1.1 meet the lifting and auxiliary movement requirements of the device and also support the modular integrated installation of the surface platform. Traveling wheels 1.5 are respectively configured on both sides of the sealed chamber 1.1 to reduce the resistance of dredging movement. In this embodiment, the air-liquid balance inside and outside the chamber is maintained in real time through the coordinated monitoring of the internal air pressure sensor and the internal water level sensor to achieve underwater dry dredging operations.

[0070] In addition, the sealed excavation chamber 1 also includes a front baffle 1.6, which includes a mounting plate 1.6.1 and an array of helical teeth structure 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 helical teeth structure 1.6.2 is disposed on the mounting plate 1.6.1 for crushing and excavating silt. Mounting plate 1.6.1 is adapted to the tunneling cutter head through threaded holes to simultaneously complete sludge crushing and tunneling operations during the movement of the low-disturbance sludge-water separation spiral dredging and hoisting device, significantly improving dredging efficiency; the array of inclined teeth structure 1.6.2 includes multiple inclined teeth spaced apart along the width direction of the sealed chamber 1.1, with the inclined teeth gradually tapering away from the opening 1.1.2. When the sealed chamber 1.1 moves, the array of inclined teeth structure 1.6.2 can crush the sludge and act as a guide, and mounting plate 1.6.1 can improve the sealing of the opening 1.1.2, further improving dredging efficiency.

[0071] This embodiment also provides a low-disturbance sludge-water separation spiral dredging and collection lifting construction method, which uses the above-mentioned low-disturbance sludge-water separation spiral dredging and collection lifting device to lift underwater sludge to a sludge collection device on the surface of the water, including the following steps:

[0072] Assemble a low-disturbance mud-water separation spiral dredging and collection lifting device, and connect the discharge pipe 4 to the sludge collection equipment on the water surface via a hose;

[0073] 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 touches the underwater ground;

[0074] The pressurization system 1.2 of the transverse excavation and collection screw mechanism 2, the vertical lifting screw mechanism 3, and the sealed excavation chamber 1 is activated to transport underwater silt sequentially through the transverse excavation and collection screw mechanism 2, the sealed excavation chamber 1, and the vertical lifting screw mechanism 3 to the discharge pipe 4; at the same time, the hoisting equipment drives the low-disturbance mud-water separation type spiral dredging and collection lifting device to move along the underwater ground.

[0075] See Figure 5 In this embodiment, the specific steps for the pressurization system to pressurize the collection chamber of the sealed excavation bin include:

[0076] 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:

[0077] ;

[0078] in: The set safety clearance pressure;

[0079] 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.

[0080] 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.

[0081] The preset target air pressure Dynamic updates are performed based on the following formula:

[0082] ;

[0083] 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:

[0084] 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.

[0085] 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.

[0086] Setting the pressure relief rate and setting the pressure increase rate can prevent sudden pressure changes from causing seal failure or equipment damage.

[0087] Specifically, within the sealed excavation chamber, the pressurization parameters are dynamically adjusted through the coordinated operation of a high-pressure system, the sealed chamber body, an internal water level sensor, and an internal air pressure sensor. The specific steps are as follows:

[0088] 1. Sensor placement and data acquisition.

[0089] Install an internal water level sensor (such as an ultrasonic water level gauge or a pressure water level sensor) inside the sealed chamber to monitor the water level in real time.

[0090] An internal pressure sensor (such as an absolute pressure sensor or a differential pressure sensor) is installed inside the sealed chamber to monitor the internal pressure value in real time.

[0091] Install water pressure monitoring sensors (such as water depth pressure sensors) on the outside of the sealed chamber or at the connection point to monitor the external water pressure (i.e., the water pressure at the bottom of the tank) in real time. This water pressure value is related to the working depth.

[0092] All sensor data is transmitted via signal lines to a central controller (such as a PLC or industrial computer) for real-time processing.

[0093] 2. Establishment of gas-liquid equilibrium model.

[0094] Based on the principle of gas-liquid balance, the air pressure inside the sealed chamber Requires external water pressure Maintaining dynamic equilibrium to prevent water from entering the tank. Ideally, ,in For safety residual pressure (usually set at 5-10 kPa to prevent seepage caused by minor fluctuations).

[0095] Water level inside the warehouse With air pressure and external water pressure Relatedly, through the hydrostatic formula: ,in The density of water, This is due to gravitational acceleration. The goal is to raise the water level. Controlled below the bottom of the sealed chamber (i.e.) 0), ensure a dry environment.

[0096] 3. Pressure parameter adjustment logic.

[0097] Initial pressurization: When the system starts, the external water pressure is calculated based on the preset working depth. (For example, ,in (For the depth of the reservoir bottom), and set the initial air pressure. High-pressure systems (such as air compressors or air pumps) are based on Output air pressure and begin draining.

[0098] Real-time dynamic feedback control:

[0099] 1) The central controller continuously monitors the water level inside the tank. With target water level (generally ), and monitor the air pressure inside the chamber. With target air pressure ( ).

[0100] 2) A proportional-integral-derivative (PID) control algorithm is adopted, based on the water level error. and air pressure error The output adjustment signal is sent to the pressure regulating valve or compressor speed central controller of the high-pressure system.

[0101] ①When When the water level rises, the central controller increases the air pressure output to enhance drainage capacity.

[0102] ②When and At this time, the central controller reduces the air pressure output to save energy and avoid overpressure.

[0103] 3) At the same time, external water pressure should be considered. Real-time changes (such as due to equipment submersion or water level fluctuations) are dynamically updated. .

[0104] Multi-parameter coordinated adjustment:

[0105] 1) If the water level sensor detects that the water level is rising continuously and the air pressure has reached the upper limit, the central controller can trigger an alarm or link the transverse tunneling aggregate screw mechanism II to suspend tunneling in order to reduce disturbance.

[0106] 2) The air pressure regulation rate is limited to a safe range (e.g., maximum change rate ≤ 0.1 kPa / s) to prevent sudden pressure changes from causing seal failure or equipment damage.

[0107] 4. Safety and optimization measures.

[0108] Set air pressure and water level safety thresholds: when When the pressure exceeds the maximum permissible pressure (e.g., 1.5 times the working pressure), the high-pressure system automatically releases pressure; when When the water level exceeds the critical level (e.g., 10% of the tank height), the system will automatically raise the tank or increase the atmospheric pressure.

[0109] Regularly calibrate the sensors to ensure data accuracy.

[0110] By learning from historical data, PID parameters can be optimized to improve response speed and stability.

[0111] Precise monitoring and regulation of air and water pressure ensures a dry environment in the sealed excavation chamber, minimizing water flow disturbance and achieving mud-water separation, thereby supporting efficient and continuous conveying of the lateral and vertical auger mechanisms. Integrating this regulation method into the entire system improves the reliability and economy of the mechanism.

[0112] 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:

[0113] 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;

[0114] 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:

[0115] ;

[0116] Where α, β, and γ are the weighting coefficients for overshoot OS, settling time Ts, and integral absolute error IAE, respectively.

[0117] ③ The area to be dredged is divided into multiple unit areas. When any of the following start conditions are set, the central controller initiates a background optimization mechanism to train the existing PID model based on historical operating datasets and the objective function to obtain a trained PID model. The start conditions include: the low-disturbance mud-water separation spiral dredging and lifting device completing dredging operations in one unit area; the water level in the monitoring chamber exceeding a preset water level threshold for T1 seconds; and the air pressure fluctuation in the monitoring chamber exceeding a set amplitude threshold ΔPmax within a time window of T2 seconds. In this embodiment, T1 and T2 are both 30 kPa, and ΔPmax is 0.5 kPa. The current PID parameters cannot enable the system to overcome disturbances (such as water seepage) within the preset threshold time. The system response is too slow or the control strength is insufficient, and the performance no longer meets the basic requirements. Therefore, it is necessary to initiate a background optimization mechanism.

[0118] Backend optimization mechanisms include:

[0119] Extract data of a specified time period from the historical operation database as the training dataset;

[0120] 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.

[0121] ④ The central controller inputs the current input quantity into the trained PID model and outputs a dynamic adjustment signal.

[0122] The dynamic adjustment of the pressurization parameters specifically involves:

[0123] 1. Monitoring and signal input: Key parameters are monitored in real time through three sensors.

[0124] External water pressure sensor monitors working water pressure ;

[0125] The internal air pressure sensor monitors the air pressure inside the chamber. ;

[0126] The water level sensor inside the warehouse monitors the water level. ;

[0127] 2. Control logic processing: The central controller makes intelligent decisions.

[0128] o Calculate the target gas pressure based on a gas-liquid equilibrium model;

[0129] Error calculation and fine control are achieved through PID algorithm;

[0130] o Generate precise control signals;

[0131] 3. Execution module, which is used in conjunction with the high-voltage system to receive and execute commands:

[0132] o Adjust the output air pressure according to the control signal;

[0133] o Maintain gas-liquid balance within the sealed chamber;

[0134] 4. Security monitoring and interlocking, an independent security mechanism:

[0135] o Real-time assessment of whether the system is in a safe state;

[0136] Multiple protection measures are triggered in case of an anomaly;

[0137] 5. Closed-loop feedback forms a complete control loop:

[0138] The changes in the state inside the warehouse are fed back to the sensors in real time.

[0139] o Achieve adaptive dynamic adjustment;

[0140] Specifically, the implementation method of the self-learning PID parameter optimization method is as follows:

[0141] To achieve higher precision control and adapt to different reservoir bottom geological conditions and working depths, the central controller further integrates a self-learning PID parameter optimization function based on historical data. The process involves "data recording and dataset construction," "performance index and objective function (mathematical model) establishment," "optimization algorithm execution and parameter optimization," and "smooth parameter switching and verification." Traditional PID parameters (proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd) are usually fixed once set. However, in actual dredging processes, the dynamic characteristics of the sealed chamber change due to variations in sludge viscosity, permeability, and equipment travel speed. Fixed PID parameters are unlikely to maintain optimal performance under all operating conditions.

[0142] Therefore, this embodiment uses the following specific method to achieve online self-tuning and optimization of PID parameters:

[0143] 1. Data recording and dataset construction:

[0144] During each operation, the central controller continuously records a data triplet at a fixed sampling period (e.g., 100ms), including: input (water level error and air pressure error), output (control signal U(t) output at time t), and system response (water level and air pressure in the monitoring chamber at time t+Δt).

[0145] These historical data are stored in the non-volatile memory of the central controller in a time series, forming a continuously growing historical operation database.

[0146] 2. Establishment of performance indicators and objective function (mathematical model):

[0147] The optimization objective is to enable the control system to have a faster response speed, smaller overshoot, and higher steady-state accuracy. To this end, the following performance indicators are defined:

[0148] Overshoot (OS): The maximum percentage by which the air pressure or water level in the chamber exceeds the target value after responding to an external disturbance (such as a sudden descent);

[0149] Settling time (Ts): The time required for the system to recover from a disturbance and remain within the error band of ±2% of the target value.

[0150] Integral absolute error (IAE): The integral of the absolute value of the error over time, IAE = ∫|e(t)|dt, used to comprehensively evaluate dynamic and steady-state performance.

[0151] The above indicators can be combined into a single objective function J, for example: Among them, α, β, and γ can be adjusted according to actual needs to emphasize different performance requirements.

[0152] 3. Optimize algorithm execution and parameter optimization:

[0153] The central controller periodically (e.g., after each dredging area is completed) or when it detects a continuous deterioration in control performance, it initiates a background optimization process.

[0154] The optimization process extracts the most recent period (such as all data since the last optimization) from the historical running database as the training dataset.

[0155] An advanced optimization algorithm is employed, aiming to minimize the objective function J, by searching within the neighborhood of the current PID parameters (Kp0, Ki0, Kd0). Specifically, the following approach can be used:

[0156] Particle Swarm Optimization (PSO) treats a set of PID parameters (Kp, Ki, Kd) as the positions of "particles" in three-dimensional space. The algorithm initializes a particle swarm, and each particle updates its velocity and position (i.e., parameter values) based on its own historical best position and the swarm's historical best position. It iteratively searches for the optimal parameter combination that minimizes the objective function J. This method converges quickly and is suitable for the online optimization described in this invention.

[0157] Genetic Algorithm (GA): Encodes PID parameters as "chromosomes" and evolves through selection, crossover and mutation operations in natural selection, resulting in better parameter combinations generation after generation, ultimately selecting the "individual" with the best performance.

[0158] 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.

[0159] 4. Smooth parameter switching and verification:

[0160] To avoid system oscillations caused by sudden parameter changes, a smooth transition strategy is adopted when updating parameters, such as gradually transitioning from old parameters to new parameters over several seconds using linear interpolation.

[0161] After the update is completed, the central controller continues to monitor the subsequent control performance and stores the operating data under the new parameters into the database, forming a closed-loop learning-optimization-verification cycle, so that the system control performance can continuously improve itself in long-term operation.

[0162] This embodiment introduces a self-learning optimization mechanism based on historical data, transforming the pressure stabilization control system from a static "black box" into an intelligent system capable of adapting to complex and ever-changing underwater environments. It effectively solves the model mismatch problem caused by changes in silt characteristics and equipment wear, consistently maintaining air pressure and water level at high performance levels. This fundamentally ensures the achievement of the goal of low-disturbance, low-moisture dredging, demonstrating the high level of intelligence and advancement of this invention.

[0163] This embodiment is based on the principle of gas-liquid balance. Pressurized drainage empties the water in the sealed dredging chamber, and the incoming air pressure is monitored and adjusted in real time to ensure that the external water pressure is always balanced with the air pressure inside the chamber. This achieves mud-water separation during the dredging process, ensuring that the transported sludge has a low moisture content. Then, the transverse tunneling and collecting screw mechanism 2 is used for tunneling and excavation, gathering the sludge from both sides to the middle. This is linked with the vertical lifting screw mechanism 3 to form a three-dimensional conveying system, continuously lifting the sludge to the water surface through the discharge port. This eliminates the need for stirring and a large amount of water absorption, realizing efficient, economical, green and continuous transportation of sludge (or underwater minerals) from the bottom of the reservoir to the water surface.

[0164] Since the low-disturbance slurry-water separation spiral dredging and lifting construction method includes the low-disturbance slurry-water separation spiral dredging and lifting device as described above, the low-disturbance slurry-water separation spiral dredging and lifting construction method possesses all the beneficial effects of the aforementioned low-disturbance slurry-water separation spiral dredging and lifting device, which will not be elaborated here.

[0165] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. A low-disturbance sludge separation type screw dredging and collecting lifting device, characterized in that it comprises a sealed excavation bin (1), a transverse digging and collecting screw mechanism (2), a vertical lifting screw 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) communicating with the collecting cavity (1.1.1) is formed at the bottom of the sealed excavation bin (1), and the sealed excavation bin (1) can walk along the underwater ground; the transverse digging and collecting screw mechanism (2) is arranged at the opening (1.1.2), the transverse digging and collecting screw mechanism (2) can excavate sludge and input the sludge into the collecting cavity (1.1.1) through the opening (1.1.2); the vertical lifting screw mechanism (3) is connected to the collecting cavity (1.1.1), the vertical lifting screw mechanism (3) can lift the sludge in the collecting cavity (1.1.1) to the discharge pipe (4), and the sludge is discharged from the discharge pipe (4). 1.1.1) and the first end of the discharge pipe (4), the vertical lifting screw 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 communicated with the sludge collecting device on the water surface; The sealed excavation bin (1) comprises a sealed bin body (1.1) and a pressurizing system (1.2), the transverse digging collecting screw mechanism (2) and the vertical lifting screw mechanism (3) are 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 collecting cavity (1.1.1); the pressurizing system (1.2) is communicated with the collecting cavity (1.1.1), and the pressurizing system (1.2) can pressurize the collecting cavity (1.1.1) to form a high-pressure environment in the collecting cavity (1.1.1). The sealed excavation bin (1) further comprises a partition plate (1.3), the partition plate (1.3) is arranged in the collecting cavity (1.1.1) and divides the collecting cavity (1.1.1) into a first cavity (A) and a second cavity (B), the first cavity (A) is communicated with the opening (1.1.2) and the pressurizing system (1.2) respectively, and the partition plate (1.3) is provided with a through hole (1.3.1); the transverse digging collecting 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 arranged correspondingly with the through hole (1.3.1); The transverse digging collecting screw mechanism (2) comprises a transverse screw driving part (2.1) and a transverse auger assembly (2.2), the transverse screw driving part (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) and rotates in a horizontal direction, and the transverse auger assembly (2.2) is connected with the output shaft of the transverse screw driving part (2.1), the transverse screw driving part (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).

2. A low-disturbance, slurry separation screw dredging, collecting and lifting device according to claim 1, characterized in that 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 rotatably connected with the sealed bin body (1.1) and connected with the output shaft of the transverse screw driving part (2.1); the two transverse screw blades (2.2.2) are symmetrically arranged about the through hole (1.3.1), the rotational directions of the two transverse screw blades (2.2.2) are opposite, and part of the transverse screw blade (2.2.2) is exposed to the opening (1.1.2).

3. A low-disturbance, dredging and separating screw device according to claim 2, characterized in that The transverse spiral blade (2.2.2) is a cutting blade type blade.

4. A low-disturbance dredging and separating screw device according to any one of claims 2 to 3, characterized in that The vertical lifting screw mechanism (3) comprises a vertical conveying pipe (3.1), a vertical auger assembly (3.2) and a vertical screw driving part (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 rotationally arranged in the vertical conveying pipe (3.1) along the extension direction of the vertical conveying pipe (3.1); the vertical screw driving part (3.3) is arranged at the second end of the vertical conveying pipe (3.1), and the output shaft of the vertical screw driving part (3.3) is connected with the vertical auger assembly (3.2), the vertical screw driving part (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).

5. A low disturbance dredging and separating screw device according to claim 4, characterized in that 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 rotationally connected with the sealing bin body (1.1), and the second end is connected with the output shaft of the vertical screw driving part (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 arranged in a tapering manner along the direction from the first end to the second end of the vertical auger shaft (3.2.1).

6. A low disturbance dredging and separating screw device according to claim 5, characterized in that The low-disturbance sludge-water separation type spiral dredging and collecting 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.

7. A low-disturbance dredging and separating screw device according to any one of claims 2 to 3, characterized in that 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 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 both arranged in the material collecting cavity (1.1.1), the in-bin air pressure sensor is used to obtain a monitoring in-bin air pressure in the material collecting cavity (1.1.1), and the in-bin water level sensor is used to obtain a monitoring in-bin water level in the material collecting cavity (1.1.1); the water pressure monitoring sensor is arranged on the outer wall of the sealing bin body and is used to monitor the external water pressure outside the sealing bin body. ​ 8. A low-disturbance, dredging and separating screw device according to claim 7, characterized in that The sealed excavation bin (1) further comprises a bin front baffle (1.6) comprising a mounting plate (1.6.1) arranged on 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.

9. A low-disturbance, dredging and separating screw device according to claim 8, characterized in that The pressurization system comprises a central controller and a pressurization device, the central controller is electrically connected with the pressure adjusting structure of the pressurization device, and the central controller can dynamically adjust the pressurization parameters of the pressurization device according to the monitoring data of the bin internal air pressure sensor, the bin internal water level sensor and the water pressure monitoring sensor.

10. A low-disturbance sludge separation type screw dredging and collecting and lifting construction method, which uses the low-disturbance sludge separation type screw dredging and collecting and lifting device according to claim 9 to lift underwater sludge to a sludge collecting device on the ground, characterized in that, The method comprises the following steps: Assemble the low-disturbance sludge-water separation type screw dredging and collecting lifting device, and connect the discharge pipe (4) with the sludge collecting equipment on the water surface through a hose; Use hoisting equipment to hoist the low-disturbance sludge-water separation type screw dredging and collecting lifting device to the underwater of the area to be dredged until the walking wheel (1.5) abuts against the underwater ground; Start the transverse excavation and collecting screw mechanism (2), the vertical lifting screw mechanism (3) and the pressurization system (1.2) of the sealed excavation bin (1) to sequentially transport the underwater sludge to the discharge pipe (4) through the transverse excavation and collecting screw mechanism (2), the sealed excavation bin (1) and the vertical lifting screw mechanism (3); meanwhile, the hoisting equipment drives the low-disturbance sludge-water separation type screw dredging and collecting lifting device to move along the underwater ground.

11. The low-disturbance dredging and pumping construction method according to claim 10, characterized in that The specific steps that the pressurization system pressurizes the material collecting cavity of the sealed excavation bin comprise: ①, the external water pressure is calculated based on the preset working depth , the initial pressurization parameter is set according to the calculated external water pressure , and the specific calculation formula is as follows: ； wherein: is a set safety margin pressure; ②The central controller outputs an initial adjusting signal to the pressure adjusting structure of the pressurization device according to the initial pressurization parameters; and the pressurization device outputs air pressure according to the initial adjusting signal; ③、the 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 , is for monitoring the water level in the bin, is the preset target water level; the air pressure error , is for monitoring the air pressure in the bin, is the preset target air pressure.

12. The low-disturbance dredging and pumping construction method according to claim 11, characterized in that The preset target air pressure Dynamic updating is performed 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 air pressure in the chamber is monitored exceeds a preset air pressure threshold, the central controller controls the pressurizing device to set a pressure relief change rate for pressure relief; and if the water level in the chamber continues to rise for N seconds, the central controller triggers an alarm signal and stops the lateral tunneling aggregate screw mechanism, wherein: the set pressure relief change rate is 0.01 kPa / s-0.1 kPa / s; When the water level in the tank is monitored When the water level exceeds the preset water level threshold, the central controller controls the pressurizing device to set a pressurizing change rate for pressurizing; wherein: the set pressurizing change rate is 0.01 kPa / s-0.1 kPa / s.

13. The low-disturbance dredging and pumping construction method according to claim 12, characterized in that, The central controller employs a proportional-integral-derivative control algorithm to output dynamic adjustment signals based on water level error and air pressure error, specifically comprising the steps of: ①Data recording and historical operation data set construction: the central controller continuously records data triples at a fixed sampling period and stores them in the non-volatile memory of the central controller in time sequence to construct a historical operation data set; wherein: the data triples comprise input, output and system response, the input is water level error and air pressure error, the output is the dynamic adjusting signal output by the central controller at time t, and the system response is the monitored bin internal water level and the monitored bin internal air pressure at t+Δt; ②Target function establishment: establish a target function J based on the overshoot OS, the regulation time Ts and the integral absolute error IAE, and the specific expression is as follows: ； Wherein, α, β, γ are the weight coefficients of the overshoot OS, the regulation time Ts and the integral absolute error IAE, respectively. ③、the to-be-dredged area is divided into multiple unit areas, 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 target function to obtain the trained PID model; wherein: the set starting conditions include that the low-disturbance sludge separation type spiral dredging set-picking lifting device completes a unit area of dredging operation, the monitored water level in the bin exceeds the preset water level threshold for T1 seconds, and the monitored air pressure in the bin fluctuates by more than the set amplitude threshold ΔPmax within a time window of T2 seconds; the background optimization mechanism includes: extracting data of a set time length from the historical operation database as a training data set; adopting a particle swarm algorithm or a particle swarm algorithm to optimize in the model parameter field of the current PID model with the minimization of the target function as the goal, to obtain the model parameters of the trained PID model; ④、the central controller inputs the input quantity at the current time into the trained PID model, and outputs to obtain a dynamic adjustment signal.

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