Building material treatment device and method

Abstract

The invention is suitable for the field of resource recycling, and provides a building material treatment device and method.The building material treatment device comprises an intelligent engineering chassis driven by electricity and further comprises a material treatment box, the material treatment box is carried on the intelligent engineering chassis, and the interior of the material treatment box is divided into an equipment chamber and a treatment chamber through a vertically-arranged partition plate; and the sewage extraction assembly is located in the equipment chamber, the input end of the sewage extraction assembly is a suction pipe head located at the bottom of the equipment chamber, and the suction pipe head is located on one side of the intelligent engineering chassis and can move in the vertical direction. According to the invention, a traditional extensive mode of passive cleaning and outward transportation landfill is changed, and on-site recovery and resource cyclic utilization of building materials are realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of resource recycling, and particularly relates to a building material processing device and method. BACKGROUND

[0002] In the construction industry, the sand and gravel yard and the concrete mixing station exposed to the open air are the core areas of material transfer and production. These sites are wide in area and large in material accumulation, and it is difficult to achieve full coverage. Every time it rains, rainwater washes away sand, cement and other materials, carries a large amount of fine particles to form high-turbidity sewage, and gathers in low-lying places on the site to form complex composition of silt accumulation water pits.

[0003] At present, the conventional treatment method for the above-mentioned slurry water is passive and extensive. The usual practice is to use excavators or dredging vehicles to dig out the bottom sludge after natural sedimentation, and to transport it to the disposal site together with the solid waste on the site for landfill as construction waste. However, this part of the sludge is actually valuable building materials such as fine sand and cement that have not been effectively utilized. This complete removal mode not only leads to the direct loss of available building materials resources, but also generates additional waste transportation and landfill costs.

[0004] In summary, the prior art does not pay attention to the material loss problem in the yard, resulting in waste of resources, and does not combine environmental protection treatment with production efficiency, but increases the operating cost and environmental burden. Therefore, a building material processing device and method is proposed to solve the above problems. SUMMARY

[0005] The purpose of the embodiment of the present application is to provide a building material processing device and method to solve the problems mentioned in the background.

[0006] The embodiment of the present application is implemented as follows: a building material processing device, comprising an intelligent engineering chassis driven by electricity, further comprising: a material processing box mounted on the intelligent engineering chassis, the material processing box is divided into an equipment room and a processing room by a vertical partition plate inside the material processing box; a sewage pumping assembly located in the equipment room, the input end of the sewage pumping assembly is a suction pipe head located at the bottom of the equipment room, the suction pipe head is located on one side of the intelligent engineering chassis, and the suction pipe head can move in the vertical direction, and the output end of the sewage pumping assembly is located in the discharge pipe connected to the processing room; a screening assembly arranged in the processing room and used for solid-liquid separation of sewage, a drainage port is formed at the bottom of the processing room away from one end of the equipment room.

[0007] Preferably, a visual perception module is arranged on the intelligent engineering chassis, and the visual perception module is used to control the movement of the intelligent engineering chassis and the movement of the suction pipe head in the vertical direction.

[0008] Preferably, the material processing box top is fixedly connected with a top plate corresponding to the position of the partition plate, and the top plate is fixedly connected with the top of the partition plate, and the first cover plate and the second cover plate are rotatably connected on both sides of the top plate, the first cover plate is located at the top of the processing chamber, the second cover plate is located at the top of the equipment chamber, and the operating handle is fixedly connected on the first cover plate and the second cover plate.

[0009] Preferably, one side of the partition plate in the equipment chamber is fixedly connected with a transversely arranged mounting plate, and the sewage extraction assembly further comprises a self-suction sewage pump fixedly connected to the mounting plate, the input end of the self-suction sewage pump is fixedly connected with a water suction pipe in a vertical state through an elbow joint, a first circular hole is formed in the bottom of the processing chamber, the suction pipe head is located in the first circular hole and is slidably sleeved on the water suction pipe, and a lifting assembly for driving the suction pipe head to move in the vertical direction is further arranged in the equipment chamber.

[0010] Preferably, the lifting assembly comprises a telescopic driving piece at the bottom of the mounting plate, the telescopic driving piece is fixedly connected with a vertical top column through a cross frame, a second circular hole is formed in the bottom of the equipment chamber, the top column is located in the second circular hole, the top column is fixedly connected with the suction pipe head through a connecting frame, and the connecting frame is located outside the equipment chamber.

[0011] Preferably, the screening assembly comprises an annular fence located in the processing chamber and abutting with the inner wall thereof, the annular fence is fixedly connected with an inclined sieve plate at the top, the sieve plate is fixedly connected with the bottom of the processing chamber through a vertical elastic telescopic piece, and the elastic telescopic piece is treated in a sealed and waterproof manner.

[0012] Another object of the present application is to provide a building material processing method, which comprises the following steps: The visual perception module scans the work site, identifies and locates the spatial position and boundary of the low-lying mud pit, and generates a moving path according to the position of the intelligent engineering chassis; The intelligent engineering chassis is controlled to move along the moving path, so that the intelligent engineering chassis reaches the preliminary position of the low-lying mud pit; The visual perception module obtains real-time image data of the low-lying mud pit, adjusts the position of the intelligent engineering chassis and the lifting height of the suction pipe head according to the real-time image data, and starts the self-suction sewage pump after the adjustment is completed. The extracted mud sewage is transported into the processing chamber, and solid-liquid separation is performed through the sieve plate, so that the solid materials are retained on the sieve plate, and the separated sewage is discharged through the drain.

[0013] Preferably, the step of adjusting the position of the intelligent engineering chassis and the lifting height of the suction pipe head based on real-time monitoring data specifically includes: Based on the real-time image data acquired by the visual perception module, the visual characteristics of the liquid surface in the low-lying mud pit are analyzed to identify the target area representing the deepest region and high-concentration mud. Based on the spatial location of the target area, the final precise pose that the intelligent engineering chassis needs to achieve, and the target depth that the suction tube head needs to descend are calculated. Based on the final precise pose and the visual features of the liquid surface of the water pit, a mesh path is generated, enabling the intelligent engineering chassis to move back and forth in the low-lying mud water pit before reaching the position corresponding to the final precise pose. Once the intelligent engineering chassis is in place, a start command is generated based on the target depth to control the descent of the suction tube head.

[0014] The building material processing apparatus and method provided in this embodiment of the invention have the following advantages: This invention constructs a mobile, automated in-situ treatment system by integrating a material handling tank and its built-in wastewater extraction and screening components onto an intelligent engineering chassis. This system proactively and precisely extracts mud and wastewater from low-lying areas of the material yard and immediately performs efficient solid-liquid separation within the treatment chamber. This directly recovers and retains valuable building materials such as fine sand and cement within the device, while the separated clean water is discharged. This fundamentally changes the traditional, passive cleaning and landfill-based extensive model, enabling on-site recycling and resource reuse of building materials, significantly reducing material loss and waste disposal costs. Furthermore, the integrated, mobile operation method greatly improves processing efficiency and flexibility, and provides targeted and effective treatment for material loss issues in the material yard. Attached Figure Description

[0015] Figure 1 A perspective structural diagram of a building material processing device provided in an embodiment of the present invention; Figure 2 This is a front view of a building material processing device provided in an embodiment of the present invention; Figure 3 This is a perspective view of a building material processing device provided in an embodiment of the present invention. Figure 4 This is an internal structural diagram of the material handling box provided in an embodiment of the present invention; Figure 5 A flowchart of a building material processing method provided in an embodiment of the present invention; Figure 6This is a flowchart illustrating the adjustment of the position of the intelligent engineering chassis and the lifting height of the suction pipe head in a building material processing method provided by an embodiment of the present invention.

[0016] In the attached diagram: 1. Intelligent engineering chassis; 2. Material handling box; 201. Equipment room; 202. Processing room; 3. Suction pipe head; 4. Drain outlet; 5. Self-priming sewage pump; 6. Suction pipe; 7. Bend joint; 8. Discharge pipe; 9. Diversion joint; 10. Visual perception module; 11. Top plate; 12. First cover plate; 13. Second cover plate; 14. Operating handle; 15. Partition plate; 16. Mounting plate; 17. Telescopic drive component; 18. Cross frame; 19. Top column; 20. Connecting frame; 21. Circular enclosure; 22. Screen plate; 23. Elastic telescopic component. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0019] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a building material handling device according to an embodiment of the present invention includes an electrically driven intelligent engineering chassis 1, and further includes: Material handling box 2 is mounted on the intelligent engineering chassis 1. The material handling box 2 is divided into equipment room 201 and processing room 202 by vertically arranged partition 15. The sewage extraction component is located in the equipment room 201. The input end of the sewage extraction component is the suction pipe head 3 located at the bottom of the equipment room 201. The suction pipe head 3 is located on one side of the intelligent engineering chassis 1 and can move vertically. The output end of the sewage extraction component is located in the discharge pipe 8 connected to the treatment room 202. A screening assembly for solid-liquid separation of wastewater is installed in the treatment chamber 202. A drain outlet 4 is provided at the bottom of the treatment chamber 202 and at the end away from the equipment chamber 201.

[0020] In one embodiment of the present invention, a mobile, automated in-situ treatment system is constructed by integrating a material handling box 2 on an intelligent engineering chassis 1 and its built-in sewage extraction and screening components. This system can proactively and precisely extract mud and sewage from low-lying areas of the material yard and immediately perform efficient solid-liquid separation within the treatment chamber 202. This directly recovers and retains valuable building materials such as fine sand and cement within the device, while the separated clean water is discharged. This fundamentally changes the traditional, passive cleaning and landfill-based extensive model, realizing on-site recycling and resource reuse of building materials, significantly reducing material loss and waste disposal costs. Furthermore, the integrated, mobile operation method greatly improves processing efficiency and flexibility, and can effectively address the problem of material loss in the material yard.

[0021] In one example of the present invention, such as Figure 3 As shown, a visual perception module 10 is installed on the intelligent engineering chassis 1. The visual perception module 10 is used to control the movement of the intelligent engineering chassis 1 and the vertical movement of the suction pipe head 3. The visual perception module 10 is installed on the upper part of the intelligent engineering chassis 1. This module integrates a high-precision camera, lidar, and environmental perception sensors. By collecting surrounding environmental data in real time and performing intelligent analysis and processing, it can not only accurately control the autonomous movement path and positioning accuracy of the intelligent engineering chassis 1, but also dynamically adjust the vertical movement position of the suction pipe head 3 according to the depth and state of the mud pit, ensuring the efficiency and accuracy of the suction operation; for example Figure 1 As shown, the top of the material handling box 2 is fixedly connected to a top plate 11 corresponding to the position of the partition 15, and the top plate 11 is fixedly connected to the top of the partition 15. The top plate 11 is rotatably hinged to a first cover plate 12 and a second cover plate 13 on both sides. The first cover plate 12 is located on the top of the processing chamber 202, and the second cover plate 13 is located on the top of the equipment chamber 201. Both the first cover plate 12 and the second cover plate 13 are fixedly connected to an operating handle 14. The operating handle 14 is made of non-slip rubber material, which makes it easy for operators to open the corresponding cover during maintenance or cleaning, so as to realize convenient inspection and maintenance of internal components. This area-separated opening design not only ensures the sealing and safety of the equipment, but also improves the convenience of daily maintenance.

[0022] like Figure 4As shown, in a preferred embodiment of the present invention, a horizontally arranged mounting plate 16 is fixedly connected to one side of the partition 15 inside the equipment chamber 201. The sewage extraction assembly also includes a self-priming sewage pump 5 fixedly connected to the mounting plate 16. The input end of the self-priming sewage pump 5 is fixedly connected to a vertically positioned suction pipe 6 through a bend joint 7. A first circular hole is opened at the bottom of the treatment chamber 202. The suction pipe head 3 is located in the first circular hole and is slidably sleeved on the suction pipe 6. A lifting assembly for driving the suction pipe head 3 to move vertically is also provided inside the equipment chamber 201. The output end of the self-priming sewage pump 5 is connected to a discharge pipe 8 through a bend joint 7. One end of the discharge pipe 8 located inside the treatment chamber 202 is fixedly connected to a deflector joint 9 facing the bottom of the treatment chamber 202. The deflector joint 9 is used to control the orientation of the discharged sewage inside the treatment chamber 202.

[0023] In one embodiment, the lifting assembly includes a telescopic drive 17 located at the bottom of the mounting plate 16. The telescopic drive 17 is fixedly connected to a vertically arranged top column 19 via a crossbeam 18. A second circular hole is provided at the bottom of the equipment chamber 201, and the top column 19 is located inside the second circular hole. The bottom of the top column 19 is fixedly connected to the suction tube head 3 via a connecting frame 20, and the connecting frame 20 is located outside the equipment chamber 201. The telescopic drive 17 can be in the form of an electric telescopic rod or a hydraulic telescopic rod. Through the connection of the crossbeam 18, the top column 19 can be controlled to move up and down, thereby driving the suction tube head 3 to move on the suction pipe 6. In this way, the function of controlling the position and height of the suction tube head 3 can be achieved.

[0024] like Figure 4 As shown, in a preferred embodiment of the present invention, the screening assembly includes an annular enclosure 21 located inside the processing chamber 202 and in contact with its inner wall. An inclined screen plate 22 is fixedly connected to the top of the annular enclosure 21. The screen plate 22 is fixedly connected to the bottom of the processing chamber 202 through a vertically arranged elastic telescopic member 23, and the elastic telescopic member 23 is sealed and waterproof. In one embodiment, the elastic telescopic member 23 can be a spring telescopic rod wrapped with a rubber protective sleeve, or it can be in the form of a spring. Because of the presence of the deflector joint 9, the sewage can impact the screen plate 22. The inclined screen plate 22 can allow solid materials to flow naturally to the lower position, but it is not stable enough. With the above structure, the screen plate 22 has the ability to reciprocate up and down (jump). Of course, this needs to be combined with the impact of the water flow. When performing solid-liquid separation, the screen plate 22 can move back and forth in the vertical direction, thereby achieving a certain vibrating screen effect, which can help the solid materials slide. The function of the annular enclosure 21 is to limit the movement of the screen plate 22 so that it will not deflect.

[0025] As shown in Figure 5, this embodiment of the invention also provides a building material processing method applied to the building material processing device, the building material processing method comprising the following steps; S100 scans the work site through the visual perception module 10, identifies and locates the spatial position and boundary of the low-lying mud and water pit, and generates a movement path based on the position of the intelligent engineering chassis 1. S200, control the intelligent engineering chassis 1 to move autonomously along the moving path, so that the intelligent engineering chassis 1 reaches the initial position of the low-lying mud pit. S300: The visual perception module 10 acquires real-time image data of the low-lying mud puddle, and adjusts the position of the intelligent engineering chassis 1 and the lifting height of the suction pipe head 3 according to the real-time image data. After the adjustment is completed, the self-priming sewage pump 5 is started. S400, the extracted mud and wastewater are transported to the treatment chamber 202, where solid-liquid separation is performed through the screen plate 22, so that the solid material is retained on the screen plate 22, while the separated wastewater is discharged through the drain outlet 4.

[0026] In one embodiment, the above four steps constitute a complete automated operation closed loop. First, the visual perception module 10 (such as a binocular camera or LiDAR combined with visual algorithms) actively scans the work site. Through image recognition and spatial modeling technology, it accurately identifies the outline, boundary, and relative spatial position of the low-lying mud pit to the chassis, and generates a movement path that balances efficiency and passability in real time. Then, the intelligent engineering chassis 1, following this path, achieves autonomous movement and positioning through its built-in navigation and control module (which can combine GPS, IMU, and environmental perception data), and stably arrives at the initial work position at the edge of the pit. Subsequently, the visual perception module 10 performs more detailed real-time monitoring of the pit. By analyzing the liquid surface characteristics, turbidity distribution, and visual depth information in the image data, it intelligently determines the optimal suction point and required depth, and then fine-tunes the chassis for precise positioning. Simultaneously, it controls the lifting mechanism of the suction pipe head 3 to lower the pipe head to the predetermined depth below the liquid surface, and then starts the self-priming sewage pump 5. The extracted high-concentration sludge is pumped to the treatment chamber 202, where it undergoes rapid solid-liquid separation as it flows through the screen plate 22. Recyclable solid materials with a particle size larger than the screen opening (such as fine sand and cement particles) are effectively intercepted and collected on the screen plate 22 or in the chamber in front of the screen plate 22, while the separated wastewater is discharged in an orderly manner through the drain outlet 4. This achieves continuous and intelligent operation of on-site and immediate recovery of valuable materials in the sludge and wastewater purification and separation.

[0027] As shown in Figure 6, in a preferred embodiment of the present invention, the step of adjusting the position of the intelligent engineering chassis 1 and the lifting height of the suction pipe head 3 based on real-time monitoring data specifically includes: S301, Based on the real-time image data acquired by the visual perception module 10, analyze the visual characteristics of the liquid surface in the low-lying mud puddle and identify the target area representing the deepest area and high-concentration mud. S302, based on the spatial position of the target area, calculate the final precise pose that the intelligent engineering chassis 1 needs to achieve, and the target depth that the suction tube head 3 needs to descend. S303, a mesh path is generated based on the final precise pose and the visual features of the liquid surface of the water pit, so that the intelligent engineering chassis 1 moves back and forth in the low-lying mud water pit before reaching the position corresponding to the final precise pose. S304, Once the intelligent engineering chassis 1 is in place, a start command is generated based on the target depth to control the descent of the suction tube head 3.

[0028] In one embodiment, by analyzing visual features such as texture, color contrast, and optical distortion of the puddle surface, the system intelligently identifies the core target area with the highest concentration of sediment and mud, and simultaneously estimates its spatial depth. Then, based on the three-dimensional coordinates of the core target area, the optimal working position of the chassis and the theoretical depth of the suction head 3 are precisely calculated. To further improve suction efficiency, the system dynamically generates a mesh-like or reciprocating pre-travel path covering the periphery of the target area based on the puddle outline and surface features. The chassis is controlled to move along this path, and mechanical disturbance resuspends the deposited solid particles, thereby optimizing mud flowability and enabling the system to extract more sediment during wastewater suction. Finally, after the intelligent engineering chassis 1 is precisely positioned, a command is sent to the lifting assembly based on the calculated target depth parameters, driving the suction head 3 to smoothly descend to the predetermined position, completing the preparation for fully automated operation.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0030] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A building material handling device, comprising an electrically driven intelligent engineering chassis (1), characterized in that, Also includes: Material handling box (2), the material handling box (2) is mounted on the intelligent engineering chassis (1), and the material handling box (2) is divided into an equipment room (201) and a processing room (202) by a vertically arranged partition (15); The sewage extraction component is located in the equipment room (201). The input end of the sewage extraction component is a suction pipe head (3) located at the bottom of the equipment room (201). The suction pipe head (3) is located on one side of the intelligent engineering chassis (1) and can move vertically. The output end of the sewage extraction component is located in the discharge pipe (8) connected to the treatment room (202). A screening assembly is installed in the treatment chamber (202) for solid-liquid separation of wastewater. A drain outlet (4) is provided at the bottom of the treatment chamber (202) and at the end away from the equipment chamber (201).

2. The building material processing device according to claim 1, characterized in that, The intelligent engineering chassis (1) is equipped with a visual perception module (10), which is used to control the movement of the intelligent engineering chassis (1) and the vertical movement of the suction tube head (3).

3. The building material processing device according to claim 1, characterized in that, The material handling box (2) is fixedly connected to a top plate (11) corresponding to the position of the partition (15), and the top plate (11) is fixedly connected to the top of the partition (15). The top plate (11) is rotatably hinged to a first cover plate (12) and a second cover plate (13) on both sides. The first cover plate (12) is located at the top of the processing chamber (202), and the second cover plate (13) is located at the top of the equipment chamber (201). Both the first cover plate (12) and the second cover plate (13) are fixedly connected to an operating handle (14).

4. The building material processing device according to claim 1, characterized in that, A horizontally arranged mounting plate (16) is fixedly connected to one side of the partition (15) in the equipment room (201). The sewage extraction assembly also includes a self-priming sewage pump (5) fixedly connected to the mounting plate (16). The input end of the self-priming sewage pump (5) is fixedly connected to a vertical suction pipe (6) through a bend joint (7). A first circular hole is opened at the bottom of the treatment chamber (202). The suction pipe head (3) is located in the first circular hole and is slidably sleeved on the suction pipe (6). A lifting assembly for driving the suction pipe head (3) to move vertically is also provided in the equipment room (201). The output end of the self-priming sewage pump (5) is connected to the discharge pipe (8) through the bend joint (7). One end of the discharge pipe (8) located in the treatment chamber (202) is fixedly connected to a deflector joint (9) facing the bottom of the treatment chamber (202).

5. The building material processing device according to claim 4, characterized in that, The lifting assembly includes a telescopic drive (17) located at the bottom of the mounting plate (16). The telescopic drive (17) is fixedly connected to a vertically arranged top column (19) via a cross frame (18). A second circular hole is provided at the bottom of the equipment chamber (201). The top column (19) is located inside the second circular hole. The bottom of the top column (19) is fixedly connected to the suction tube head (3) via a connecting frame (20). The connecting frame (20) is located outside the equipment chamber (201).

6. The building material processing device according to claim 1, characterized in that, The sieving assembly includes an annular enclosure (21) located inside the processing chamber (202) and attached to its inner wall. An inclined sieve plate (22) is fixedly connected to the top of the annular enclosure (21). The sieve plate (22) is fixedly connected to the bottom of the processing chamber (202) through a vertically arranged elastic telescopic member (23), and the elastic telescopic member (23) is sealed and waterproof.

7. A method for processing building materials, applied to the building material processing apparatus as described in any one of claims 1 to 6, characterized in that, The building material processing method includes the following steps: The visual perception module (10) scans the work site to identify and locate the spatial location and boundary of the low-lying mud pit, and generates a movement path based on the location of the intelligent engineering chassis (1). Control the intelligent engineering chassis (1) to move autonomously along the moving path, so that the intelligent engineering chassis (1) reaches the initial position of the low-lying mud pit; The visual perception module (10) acquires real-time image data of the low-lying mud pit. Based on the real-time image data, the position of the intelligent engineering chassis (1) and the lifting height of the suction pipe head (3) are adjusted. After the adjustment is completed, the self-priming sewage pump (5) is started. The extracted mud and wastewater are transported to the treatment chamber (202) and separated into solid and liquid by a sieve plate (22). The solid material is retained on the sieve plate (22), while the separated wastewater is discharged through the drain outlet (4).

8. The building material processing method according to claim 7, characterized in that, The steps of adjusting the position of the intelligent engineering chassis (1) and the lifting height of the suction pipe head (3) based on real-time monitoring data specifically include: Based on the real-time image data acquired by the visual perception module (10), the visual characteristics of the liquid surface in the low-lying mud pit are analyzed, and the target area representing the deepest area and high-concentration mud is identified. Based on the spatial location of the target area, the final precise pose that the intelligent engineering chassis (1) needs to achieve, and the target depth that the suction tube head (3) needs to descend are calculated. Based on the final precise pose and the visual features of the liquid surface of the water pit, a mesh path is generated, so that the intelligent engineering chassis (1) moves back and forth in the low-lying mud water pit before reaching the position corresponding to the final precise pose. Once the intelligent engineering chassis (1) is in place, a start command is generated based on the target depth to control the descent of the suction tube head (3).

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