River channel dredging device

Abstract

The invention discloses a river channel dredging device. The river channel dredging device comprises a control box, a dredging mechanism, a balance mechanism and a walking mechanism. Two desilting mechanisms are respectively fixed on the control box, and the desilting mechanisms are used for excavating and sucking underwater silt; a floating deflection mechanism connected with the walking mechanism and the control box is arranged between the walking mechanism and the control box, the floating deflection mechanism is arranged in a floating mode so that the control box can float and deflect relative to the walking mechanism, and the floating deflection mechanism is provided with a first sensor used for monitoring the deflection state of the floating deflection mechanism. The control box is connected with a balance mechanism and an attitude sensor, a control assembly is arranged in the control box, and the balance mechanism, the attitude sensor and the first sensor are all connected with the control assembly; the control assembly calculates and controls the balance mechanism to output corresponding active balance actions according to the attitude deviation amount detected by the attitude sensor and the floating compensation amount detected by the first sensor.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of underwater dredging equipment, and particularly relates to a riverway dredging device. BACKGROUND

[0002] Underwater dredging operation is a key operation for water conservancy construction and flow channel facility maintenance, but in large caissons, abandoned mine pits, port pile foundations and other underwater infrastructures, due to the internal setting of the separation surface and support and the distribution of the ribbed plate, pipeline and various underwater equipment foundations, the regional environment is complex, the operation channel of the bottom plane area is narrow, the turning radius is cramped, and there are a large number of narrow spaces to limit the reachability of the mechanical arm.

[0003] When dredging in narrow spaces, the one-way dredging structure of the traditional dredging machine has great limitations, and it needs to frequently turn around to make the dredging mechanism face the side narrow space, which seriously affects the efficiency; at the same time, the turbid water and insufficient light in the dredging process make optical observation difficult, and acoustic equipment is easily disturbed by multipath effect in complex structures, resulting in a decrease in the accuracy of environment modeling based on vision or sonar.

[0004] Due to the above problems, the dredging work of wharfs and large deep wells has long been faced with multiple challenges such as dredging difficulty and low efficiency. SUMMARY

[0005] To solve the above problems, the application provides a riverway dredging device, which expands the operation radiation surface through two dredging mechanisms at different angles to improve the adjustability and operability of dredging in narrow spaces; at the same time, edge exploration and obstacle avoidance are carried out according to the perception and calculation of collision inertia, the observation of the visual component in turbid water is assisted, and the traditional rigid collision is converted into elastic collision to improve the buffering effect of the collision and reduce the scratching and damage between the dredging mechanism and the building surface.

[0006] The specific scheme is as follows: a riverway dredging device, comprising a control box, a dredging mechanism, a balancing mechanism and a walking mechanism; The control box is fixed with two dredging mechanisms respectively, and the dredging mechanism is used for dredging and pumping underwater silt; A floating yaw mechanism connected with the walking mechanism and the control box is arranged between the walking mechanism and the control box, the floating yaw mechanism is arranged in a floating manner, so that the control box floats and yaws relative to the walking mechanism, and the floating yaw mechanism is provided with a first sensor for monitoring the yaw state thereof; The control box is connected with a balancing mechanism and an attitude sensor, and a control component is arranged in the control box, and the balancing mechanism, the attitude sensor and the first sensor are connected with the control component; The control component calculates and controls the balancing mechanism to output corresponding active balancing actions according to the attitude deviation detected by the attitude sensor and the floating compensation detected by the first sensor.

[0007] The two dredging units operate in different directions, which increases the operating area and reduces the number and extent of the overall movement and adjustment of the dredging machine. Because the two dredging mechanisms cause an imbalance in the gravity of the dredging machine, reducing its center of gravity stability, especially during collisions, the dredging mechanism will swing randomly and repeatedly. Therefore, a balancing mechanism is set up to adjust the dredging mechanism. When there is a collision and the swaying occurs, the active balancing mechanism of the balancing mechanism will reduce the swing amplitude after the collision. At the same time, a floating swaying mechanism is set up as a buffer mechanism for the collision reaction force. The two work together to transform rigid collisions into flexible motion, so as to counteract the serious swaying problem caused by the imbalance of gravity. This dredging machine is specifically designed for underwater complex spaces such as wharf pile foundations and caissons. The building surfaces in this working environment are mostly high-value engineering surfaces that are corrosion-resistant and erosion-resistant, which are expensive and easily damaged. The dredging machine of this application reduces the number of times it needs to be moved and adjusted during operation. At the same time, the balancing mechanism and the floating swing mechanism work together to reduce the force and amplitude of the dredging mechanism's swing. Therefore, the overall probability of damage caused by mechanical scraping or impact can be greatly reduced, and high-value engineering surfaces can be effectively protected.

[0008] Preferably, the instantaneous motion acceleration of the control box is calculated or obtained in real time through the output data of the attitude sensor. The control component has a preset collision judgment threshold. When the instantaneous motion acceleration exceeds the collision judgment threshold, it is determined that the dredging mechanism has collided.

[0009] The control component analyzes attitude sensor data in real time, calculates the instantaneous acceleration of the control box, and compares it with a preset threshold to determine a collision. It accurately and instantly predicts collisions, realizes rapid identification of abnormal events, and provides an accurate trigger signal for activating high-level balance compensation logic.

[0010] Preferably, when no collision is detected, the balancing mechanism does not participate in the adjustment, and the attitude deviation is entirely offset by the floating compensation of the floating yaw mechanism. When a collision is detected, the control balancing mechanism outputs an action corresponding to the active balancing amount. Among these actions, the floating compensation amount has a maximum value, and the active balancing amount is the difference between the attitude deviation and the maximum value of the floating compensation amount.

[0011] There are two modes for adjusting the yaw rate: When there is no collision, the sway is caused by the reaction force of the dredging mechanism during normal excavation or by the continuous disturbance of factors such as water flow. The sway amplitude is small, and the floating sway mechanism directly compensates for the attitude deviation. When a collision occurs, the balancing mechanism actively compensates for the net deviation after being buffered by the floating yaw mechanism. At this time, the active compensation amount is the difference between the attitude deviation and the maximum floating compensation amount. This avoids overcompensation or undercompensation and achieves efficient coordination between the active and passive mechanisms. The floating yaw mechanism first absorbs most of the high-frequency impact, and the balancing mechanism then accurately corrects the residual deviation, making the system response both fast and stable, with lower energy consumption.

[0012] Preferably, the dredging mechanism is located at the front end and side of the control box, and the sides of the control box and the dredging mechanism are opposite surfaces. The balancing mechanism balances the sway and the gravity of the dredging mechanism to maintain balance.

[0013] The dredging mechanism can be set along different straight lines to effectively dredge the space in two intersecting directions, increasing the working area and improving the flexibility of dredging. When dealing with narrow spaces, dredging can be carried out by the dredging mechanism on the side without changing the orientation. The dredging mechanism on the side can be rolled up. When not in use, it can be rolled up to the top of the control box to further reduce the footprint of the dredging machine. The corresponding structure for rolling up and storing can be achieved using existing technology, which will not be elaborated here.

[0014] Preferably, the floating oscillating mechanism includes: The central ball joint, with its lower part connected to the traveling mechanism and its upper part connected to the control box, is used to bear the load and serve as a motion hub; The elastic damping system consists of multiple sets of spatially symmetrically distributed spring-damper units. Each spring-damper unit is hinged to the traveling mechanism and the control box, respectively, and is used to provide a restoring force to return the control box to the neutral position and dissipate yaw energy.

[0015] The central ball joint is responsible for bearing the load and also provides a low-friction rotation fulcrum for multiple axes; the elastic damping system provides restoring force and energy dissipation in parallel, which can have both high load-bearing capacity and low resistance, as well as good buffering characteristics.

[0016] Preferably, the balancing mechanism includes: a base, which is fixedly connected to the walking mechanism; The roll adjustment module includes a first hydraulic cylinder, the fixed end of which is connected to the base by a ball joint, and the output end of the first hydraulic cylinder is connected to the bottom surface of the control box near the opposite surface by a ball joint. The pitch adjustment module includes a second hydraulic cylinder, the fixed end of which is connected to the base ball joint, and the output end of which is connected to the bottom surface of the control box near the rear end of the control box ball joint. The yaw adjustment module includes a slewing drive and a slewing bearing. The stator of the slewing bearing is connected to the upper end of the floating yaw mechanism, and the rotor of the slewing bearing is fixed to the bottom surface of the control box. The slewing drive and the slewing bearing are connected to drive the slewing bearing.

[0017] By setting up three adjustment modules, the pitch, yaw and roll dimensions can be controlled, and the collision yaw can be actively controlled through the coordinated action of the control components and attitude sensors.

[0018] Preferably, the balancing mechanism further includes a counterweight adjustment subsystem, which includes a cavity, a fluid pump, and a weight sensor. The cavity is located on the opposite side, the weight sensor is used to monitor the weight distribution, and the control component controls the fluid pump based on the feedback from the weight sensor to transfer fluid between the cavity and the external environment, thereby adjusting the static center of gravity position of the control box.

[0019] The counterweight adjustment subsystem of this application adjusts the static center of gravity of the control box by transferring fluid, which solves the problem of static or quasi-static center of gravity offset caused by asymmetrical arrangement of dredging mechanism or operation reaction. It complements the balancing mechanism and the combination of the two makes the center of gravity management of the robot more optimized under all working conditions, reduces the reference load of the balancing mechanism, and improves the overall energy efficiency.

[0020] The passive buffering of the floating yaw mechanism, the active control of the balancing mechanism, and the static balancing of the counterweight adjustment subsystem together constitute a multi-level, comprehensive attitude stabilization solution. They are optimized for disturbances of different frequencies and natures, and work together to achieve full-spectrum attitude stabilization from "static balancing" to "low-frequency buffering" and then to "high-frequency active suppression".

[0021] Alternatively, the balancing mechanism may include at least six thrusters, used for pitch propulsion, yaw propulsion, and roll propulsion, respectively. At least two thrusters are located at the front and rear of the control box for pitch propulsion, and the two thrusters are set in opposite directions. At least two thrusters are located on the left and right sides of the control box for rolling propulsion, and the two thrusters are set in opposite directions; At least two thrusters are located on the bottom surface of the control box, and the two thrusters are arranged in opposite directions; The control components control the operation of the corresponding thrusters based on feedback.

[0022] This scheme uses water flow propulsion to drive the control box to achieve active balancing and active suppression. Compared with direct mechanical balancing, this scheme is more flexible and convenient to use, but it has higher energy consumption. This scheme can be used independently or in conjunction with the above-mentioned mechanical balancing scheme as an auxiliary mechanism to improve the balancing efficiency of active balancing and reduce the load on the drive.

[0023] Preferably, the control component is also connected to a vision component for observation. The control component receives inertial data and distance information from the attitude sensor and fuses them with the data from the vision component to construct a local environment map and locate obstacles.

[0024] By fusing inertial data from the attitude sensor, distance information from the collision point, and data from the vision component, edge perception and obstacle avoidance can be more accurate, enabling the attitude sensor to assist the vision component in observing turbid water. This solves the problem of insufficient perception capability of a single vision component in turbid water and complex structures in existing technologies. The attitude sensor provides high-frequency, continuous self-motion data, while the vision component provides absolute spatial reference information. The fusion of the two can build a more reliable environmental model, enabling more accurate obstacle localization and avoidance, and improving the robot's autonomy and operational safety.

[0025] Preferably, the attitude sensor is located at the center of gravity of the control box. The attitude sensor integrates a gyroscope, an accelerometer, and a magnetometer. The gyroscope is used to measure angular velocity, the accelerometer is used to measure acceleration, and the magnetometer is used to detect the Earth's magnetic field to determine the reference. The control component comprehensively calculates the data from the three components.

[0026] Preferably, the dredging mechanism includes a robotic arm, an auger, and a sludge pump. The auger is connected to a bucket, which is connected to the robotic arm to control the movement of the auger. The bucket is connected to the sludge pump to pump out the sludge excavated by the auger. The sludge pump is connected to a sewage pipe leading to the water surface to discharge the pumped sludge to the appropriate location.

[0027] Preferably, the control box is equipped with a hydraulic drive assembly, which is connected to the walking mechanism and the dredging mechanism to drive the walking mechanism and the dredging mechanism to move. The control assembly is connected to the hydraulic drive assembly to control the hydraulic drive assembly.

[0028] Preferably, the control box also includes a housing for connecting with the dredging mechanism and the walking mechanism. The housing is internally sealed to ensure its waterproofness and prevent the internal hydraulic drive components and electrical control components from being affected.

[0029] Preferably, the walking mechanism includes two tracks to make the movement more stable.

[0030] The beneficial effects of this invention are as follows: (1) This invention effectively improves dredging efficiency and flexibility, and is especially suitable for narrow and complex spaces: by setting two dredging mechanisms in different directions, the radiation area of ​​a single operation is significantly increased, reducing the frequency and range of overall movement and adjustment of the dredging machine. In confined spaces such as wharf pile foundations and caissons, multi-directional dredging can be completed without frequent machine turning, resulting in higher operational continuity and efficiency. The side dredging mechanism can be designed as a rollable storage structure, further reducing the footprint in non-working state and enhancing the machine's environmental adaptability.

[0031] (2) This invention transforms traditional rigid collisions into a controllable elastic collision system, greatly protecting high-value work surfaces: through the synergistic cooperation of the passive buffering of the floating sway mechanism and the active control of the balancing mechanism, when a collision occurs, the floating sway mechanism first absorbs and buffers most of the impact energy, and the balancing mechanism then actively and precisely compensates for the remaining attitude deviation. This multi-level response mechanism of "passive buffering + active sway suppression" effectively suppresses the disorderly and violent swaying of the dredging mechanism caused by gravity imbalance and collision, transforming harmful rigid impacts into flexible and controllable motion, thereby significantly reducing the risk of scratching and impact damage to high-cost and vulnerable engineering surfaces such as wharf pile foundations and caissons by the dredging mechanism.

[0032] (3) This invention achieves intelligent, multi-mode attitude stabilization control with rapid response and optimized energy consumption: The control system intelligently judges collision events based on real-time perceived attitude data and preset thresholds, and switches the adjustment mode accordingly. When there is no collision, it mainly relies on the passive compensation of the floating yaw mechanism, while the balancing mechanism is on standby, resulting in low energy consumption; when a collision occurs, the balancing mechanism is immediately activated to accurately compensate for the net deviation exceeding the maximum buffering capacity of the floating mechanism. This on-demand allocation and active-passive combined control strategy not only ensures rapid and powerful suppression of sudden events such as collisions, but also avoids the ineffective action of the balancing mechanism under continuous small disturbances, resulting in a more reasonable system response and higher overall energy efficiency.

[0033] (4) This invention provides a multi-level, comprehensive solution for center of gravity and attitude management, with excellent system stability: In addition to the dynamic active balancing mechanism, it innovatively integrates a counterweight adjustment subsystem that adjusts the static center of gravity through fluid transfer. This subsystem can compensate for the quasi-static center of gravity shift caused by the asymmetrical arrangement of the dredging mechanism or the reaction force of the operation, thereby reducing the load on the balancing mechanism from the root. Combining the low-frequency buffering of the floating yaw mechanism with the high-frequency active suppression of the balancing mechanism, a full-spectrum attitude stability system covering "static balancing", "passive buffering" and "active control" is formed, enabling the dredging machine to maintain excellent attitude stability and smooth movement under various working conditions.

[0034] (5) This invention enhances environmental perception and autonomous operation capabilities in harsh environments such as turbid water: by fusing high-frequency inertial data and collision information provided by attitude sensors with observation data from vision components, a more reliable local environmental map is constructed and precise obstacle localization is achieved. This multi-sensor fusion strategy effectively compensates for the insufficient perception capability of a single vision system in turbid water, significantly improving the robot's edge exploration, autonomous obstacle avoidance, and navigation capabilities in underwater environments with low visibility and complex structures, thereby enhancing operational safety and autonomy. Attached Figure Description

[0035] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0036] Figure 1 This is a schematic diagram of the three-dimensional structure of Example 1. Figure 1 ; Figure 2 This is a side view of Example 1; Figure 3 This is a front view of Example 1; Figure 4 This is a schematic diagram of the balancing mechanism structure in Example 1; Figure 5 This is a schematic diagram of the floating oscillating mechanism in Example 1; Figure 6 This is a control flowchart of the control component in Example 1; Figure 7 This is a schematic diagram of the working state of the wharf pile foundation in Example 1; Figure 8 This is a schematic diagram of the three-dimensional structure of the balancing mechanism in Example 2. Figure 1 ; Figure 9 This is a schematic diagram of the three-dimensional structure of the balancing mechanism in Example 2. Figure 2 .

[0037] In the attached diagram: 1-Dredging mechanism, 11-Mechanical arm, 12-Auger, 13-Dump, 14-Sewage pump, 2-Control box, 21-Vision component, 3-Balancing mechanism, 31-Base, 32-Roll adjustment module, 33-Pitch adjustment module, 34-Yaw adjustment module, 35-Counterweight adjustment subsystem, 36-Thruster, 4-Floating yaw mechanism, 41-Central ball joint, 42-Elastic damping system, 5-Traveling mechanism, 51-Crawler, 6-Pile foundation. Detailed Implementation

[0038] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0039] Example 1 like Figures 1-6 As shown, a river dredging device in this embodiment includes a control box 2, a dredging mechanism 1, a balancing mechanism 3, and a crawler-type walking mechanism 5. The control box 2 is fixed with two dredging mechanisms 1, which are used to excavate and pump underwater silt. The dredging mechanism 1 includes a robotic arm 11, an auger 12, and a sludge pump 14. An excavator bucket 13 is connected to the auger 12, and the excavator bucket 13 is connected to the robotic arm 11. The robotic arm 11 controls the movement of the auger 12. The excavator bucket 13 is connected to the sludge pump 14 for pumping out the sludge excavated by the auger 12. The sludge pump 14 is connected to a sewage pipe leading to the water surface to discharge the pumped sludge to the corresponding location.

[0040] The dredging mechanism 1 is located at the front and side of the control box 2. The dredging mechanism 1 on the side can be rolled up by the extension and retraction of the mechanical arm 11 and the hinge at the connection point. When not in use, it can be rolled up above the control box 2 to further reduce the floor space occupied by the dredging machine. The sides of the control box 2 and the dredging mechanism 1 are opposite to each other. The balancing mechanism 3 balances the sway and the gravity of the dredging mechanism 1 to maintain balance.

[0041] The balancing mechanism 3 includes: The base 31 is fixedly connected to the traveling mechanism 5; The roll adjustment module 32 includes a first hydraulic cylinder, the fixed end of which is connected to the base 31 by a ball joint, and the output end of which is connected to the bottom surface of the control box 2 near the opposite surface by a ball joint. The pitch adjustment module 33 includes a second hydraulic cylinder. The fixed end of the second hydraulic cylinder is connected to the base 31 by a ball joint, and the output end of the second hydraulic cylinder is connected to the bottom surface of the control box 2 near the rear end by a ball joint. The yaw adjustment module 34 includes a slewing drive and a slewing bearing. The stator of the slewing bearing is connected to the upper end of the floating yaw mechanism 4, and the rotor of the slewing bearing is fixed to the bottom surface of the control box 2. The slewing drive and the slewing bearing are connected to drive the slewing bearing.

[0042] The balancing mechanism 3 also includes a counterweight adjustment subsystem 35, which includes a cavity, a fluid pump, and a weight sensor. The cavity is located on the opposite side, and the weight sensor is used to monitor the weight distribution. The control component controls the fluid pump based on the feedback from the weight sensor to transfer fluid between the cavity and the external environment, thereby adjusting the static center of gravity position of the control box 2.

[0043] A floating yaw mechanism 4 is provided between the walking mechanism 5 and the control box 2 and is connected to both. The floating yaw mechanism 4 is floating so that the control box 2 floats and yaws relative to the walking mechanism 5. The floating yaw mechanism 4 is provided with a first sensor for monitoring its yaw state. The first sensor is an inclination sensor and / or a laser displacement sensor. The floating yaw mechanism 4 includes: The central ball joint 41 is connected to the walking mechanism 5 at its lower part and to the control box 2 at its upper part. It is used to bear the load and serve as a motion hub. The elastic damping system 42 is composed of multiple sets of spring-damper units that are spatially symmetrically distributed. Each spring-damper unit is hinged to the walking mechanism 5 and the control box 2, respectively, and is used to provide a restoring force to return the control box 2 to the neutral position and dissipate the yaw energy.

[0044] The control box 2 is connected to the balancing mechanism 3 and the attitude sensor. The control box 2 contains a control component. The balancing mechanism 3, the attitude sensor, and the first sensor are all connected to the control component. The control components can be used with the NVIDIA Jetson AGX Orin series embedded computer platform in conjunction with the Siemens S7-1500T / S7-1500 + T-CPU series PLC programmable controller; Embedded computer platforms are used to process advanced computing tasks such as data fusion from various sensors, building local environment maps, path planning, and human-computer interaction. The PLC is responsible for executing precise motion control commands, reading sensor data, and controlling hydraulic drives. The software is integrated into the system based on existing mature robot software frameworks.

[0045] The control box 2 is equipped with a hydraulic drive assembly, which is connected to the walking mechanism 5 and the dredging mechanism 1 to drive the walking mechanism 5 and the dredging mechanism 1 to move. The control assembly is connected to the hydraulic drive assembly to control the hydraulic drive assembly.

[0046] The attitude sensor is located at the center of gravity of the control box 2. The attitude sensor integrates a gyroscope, an accelerometer and a magnetometer. The gyroscope is used to measure angular velocity, the accelerometer is used to measure acceleration and the magnetometer is used to determine the reference. The control component calculates the data of the three together, such as Xsens (MTi-600 series) and SBG Systems (Ellipse series).

[0047] The control component calculates and controls the balancing mechanism 3 to output the corresponding active balancing action based on the attitude deviation detected by the attitude sensor and the floating compensation detected by the first sensor.

[0048] The instantaneous motion acceleration of the control box 2 is calculated or obtained in real time by the output data of the attitude sensor. The control component has a preset collision judgment threshold. When the instantaneous motion acceleration exceeds the collision judgment threshold, it is judged that the dredging mechanism 1 has collided.

[0049] When no collision is detected, the balancing mechanism 3 does not participate in the adjustment, and the attitude deviation is entirely offset by the floating compensation of the floating yaw mechanism 4. When a collision is detected, the control balancing mechanism 3 outputs an action corresponding to the active balancing amount. The floating compensation amount has a maximum value, and the active balancing amount is the difference between the attitude deviation and the maximum value of the floating compensation amount.

[0050] The control component is also connected to a vision component 21 for observation. The control component receives inertial data and distance information from the attitude sensor and fuses them with the data from the vision component 21 to construct a local environment map and locate obstacles.

[0051] The control box 2 also includes an outer casing, which is used to connect with the dredging mechanism 1 and the walking mechanism 5. The interior of the outer casing is sealed to ensure its waterproofness and prevent the internal hydraulic drive components and electrical control components from being affected.

[0052] During operation, the dredging mechanism 1 excavates and pumps underwater silt, while the attitude sensor outputs the attitude deviation in real time. When the control component determines a collision through an algorithm, it immediately reads the value of the first sensor, calculates and instructs the balancing mechanism 3 to output the corresponding compensation force. The extension and retraction of the first hydraulic cylinder balances the roll direction, the extension and retraction of the second hydraulic cylinder balances the pitch dimension, and the rotation of the slewing bearing balances the yaw dimension. Through the coordinated action of these three mechanisms, the equipment achieves three-dimensional balance adjustment. At the same time, the elastic damping system 42 absorbs the impact energy. When no collision occurs, the floating yaw mechanism 4 provides passive compensation. The data from the vision component 21 is fused with the data from the attitude sensor to assist navigation and obstacle avoidance, enabling dredging work in complex spaces such as the wharf pile foundation 6.

[0053] Example 2 The difference from Example 1 is that in this example: The balancing mechanism 3 includes 12 thrusters 36, which are used for pitch propulsion, yaw propulsion and roll propulsion respectively; Four thrusters 36 are located at the front and rear of the control box 2 for pitch propulsion. The front has two thrusters 36 in opposite directions, and the rear also has two thrusters 36 in opposite directions. Four thrusters 36 are located on the left and right sides of the control box 2 for rolling propulsion. There are two thrusters 36 in opposite directions on the left side and two thrusters 36 in opposite directions on the right side. Four thrusters 36 are located on the bottom surface of the control box 2. The four thrusters 36 are respectively located at the four corners of the bottom surface of the control box 2. Two thrusters 36 distributed along the diagonal have the same thrusting direction, and two adjacent thrusters 36 have opposite thrusting directions. The control component controls the operation of the corresponding thruster 36 based on feedback.

[0054] The balancing mechanism 3 also includes a counterweight adjustment subsystem 35, which includes a cavity, a fluid pump, and a weight sensor. The cavity is located on the opposite side, and the weight sensor is used to monitor the weight distribution. The control component controls the fluid pump based on the feedback from the weight sensor to transfer fluid between the cavity and the external environment, thereby adjusting the static center of gravity position of the control box 2.

[0055] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0056] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0057] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A river channel dredging apparatus, characterized by, The device comprises a control box, a dredging mechanism, a balancing mechanism and a walking mechanism. The control box is fixed with two dredging mechanisms respectively, which are used for dredging and pumping underwater silt. A floating and yawing mechanism is arranged between the walking mechanism and the control box, and the floating and yawing mechanism is connected with the two mechanisms, and is arranged to make the control box float and yaw relative to the walking mechanism. The control box is connected with the balancing mechanism and an attitude sensor, and a control assembly is arranged in the control box. The control assembly calculates and controls the balancing mechanism to output corresponding active balancing action according to the attitude deviation detected by the attitude sensor and the floating compensation detected by the first sensor.

2. A river channel dredging device according to claim 1, characterized in that The output data of the attitude sensor is used to calculate or obtain the instantaneous motion acceleration of the control box in real time, and a collision judgment threshold is preset in the control assembly.

3. A river channel dredging device according to claim 2, characterised in that, When the instantaneous motion acceleration exceeds the collision judgment threshold, it is judged that the dredging mechanism collides. When no collision is judged, the balancing mechanism does not participate in adjustment, and the attitude deviation is completely offset by the floating compensation of the floating and yawing mechanism.

4. The river channel dredging device according to claim 1, characterized in that, When collision is judged, the balancing mechanism is controlled to output action corresponding to the active balancing amount C, wherein the floating compensation has a maximum value, and the active balancing amount is the difference between the attitude deviation and the maximum value of the floating compensation.

5. The river channel dredging device according to claim 1 or 4, characterized in that, The dredging mechanism is arranged at the front end and the side of the control box, the opposite sides of the control box and the dredging mechanism are opposite sides, and the balancing mechanism balances the yaw and the gravity of the dredging mechanism to keep balance. The floating and yawing mechanism comprises: A center spherical hinge, which is connected with the walking mechanism at the lower part and connected with the control box at the upper part, is used to bear load and serve as a motion pivot; 6. A river channel dredging device as claimed in claim 5, characterized in that An elastic damping system, which is composed of multiple groups of spring-damper units arranged in space symmetry, is hinged to the walking mechanism and the control box respectively, and is used to provide restoring force for returning the control box to neutral position and dissipate yaw energy. The balancing mechanism comprises a base fixedly connected with the walking mechanism; A roll adjusting module comprising a first hydraulic cylinder, the fixed end of the first hydraulic cylinder is connected with the base spherical hinge, and the output end of the first hydraulic cylinder is connected with the bottom surface of the control box near the opposite side position; A pitch adjusting module comprising a second hydraulic cylinder, the fixed end of the second hydraulic cylinder is connected with the base spherical hinge, and the output end of the second hydraulic cylinder is connected with the bottom surface of the control box near the rear end position; A yaw adjusting module comprising a rotary drive and a rotary support, the stator of the rotary support is connected with the upper end of the floating and yawing mechanism, and the rotor of the rotary support is fixed with the bottom surface of the control box, and the rotary drive is connected with the rotary support for driving the rotary support.

7. A river channel dredging device as claimed in claim 6, characterized in that The balancing mechanism further comprises a counterweight adjusting subsystem, which comprises a cavity, a fluid pump and a weight sensor, the cavity is arranged on the opposite surface, the weight sensor is used to monitor the weight distribution, and the control assembly controls the fluid pump according to the feedback of the weight sensor to transfer fluid between the cavity and the external environment, so as to adjust the static gravity center position of the control box.

8. A river channel dredging device as claimed in claim 5, characterized in that The balancing mechanism comprises at least six propellers, respectively used for pitch propulsion, yaw propulsion and roll propulsion. At least two propellers are arranged at the front end and the rear end of the control box respectively for pitch propulsion, and the directions of the two propellers are opposite. At least two propellers are arranged at the left side and the right side of the control box respectively for roll propulsion, and the directions of the two propellers are opposite. At least two propellers are arranged on the bottom surface of the control box, and the directions of the two propellers are opposite. The control assembly controls the operation of the corresponding propeller according to the feedback.

9. The river channel dredging device according to claim 1, characterized in that, The control assembly is further connected with a visual component for observation, the control assembly receives the inertial data and distance information of the attitude sensor, and combines the data with the visual component to construct a local environment map and locate obstacles.

10. The river channel dredging device according to claim 1, characterized in that, The attitude sensor is arranged at the gravity center of the control box, and the attitude sensor is integrated with a gyroscope, an accelerometer and a magnetometer, the gyroscope is used to measure angular velocity, the accelerometer is used to measure acceleration, and the magnetometer is used to determine a reference, and the control assembly comprehensively calculates the data of the three.

Images